Abstract: In order to improve the picking efficiency of Zanthoxylum zanthio, reduce the cost of finished products and protect the safety of fruit farmers, an automatic identification Zanthoxylum picking machine is designed for the color and shape characteristics of ripe Zanthoxylum Zanthoxylum fruit and its cluster and fruiting characteristics by relying on HSV color infrared recognition and wavelet transformation. The picker mainly includes the visual recognition part, the robotic arm movement part, the fruit storage part and the body drive part. Through dynamic simulation, all parts cooperate with each other to realize visual recognition and positioning picking of Zanthoxylum peppercorn fruits. This machine basically realizes the automatic picking of peppercorn fruits, which plays a certain role in promoting the efficiency of peppercorn picking and reducing costs.