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A drum type fallen peanut picking up machine was designed to address the issues of excessive fallen peanut and difficulty in recycling after peanut harvest. The excavation and picking device, upward conveying device, screening and collecting device were designed and related parameters were calculated. The current research status and existing problems of fallen peanut picking up machine were introduced, providing ideas and key solutions for future design. Firstly, the entire machine was constructed to determine the main technical parameters of drum type fallen peanut picking up machine and introduce its working principle, then the key devices and parameters were designed and optimized. In the excavation and picking device, the excavation angle and shovel surface width of the excavation shovel were determined, and the structure and material design of the feeding roller and guide grid were carried out.The force analysis and kinematic analysis were conducted on the fallen peanut-soil mixture on the upward conveying device, and the theoretical value range of the angle between the upward conveying monomer and the upward conveying chain, as well as the operating speed of the upward conveying chain, were obtained. Through kinematic analysis of the fallen peanut-soil mixture in the screening and collecting device, the diameter D of the roller screen, the pore width K of the screen mesh, the rotational speed n of the roller screen, and the installation angle of the roller screen were obtained. Through EDEM simulation analysis, the angle between the upward conveying monomer and the upward conveying chain, speed of the upward conveying chain, the leakage and lifting situation of two factors were observed. Using pick up rate and trash content as evaluation indicators, through single factor and double factor simulation analysis of upward conveying device operation parameters, the angle between the upward conveying monomer and the upward conveying chain, the running speed of upward conveying chain, and the impact of their interaction on peanut lifting efficiency and trash content were clarified. The optimal parameter combination was obtained as follows: the angle between the upward conveying monomer was 45°, upward conveying chain running speed was 1.5m/s. According to the preliminary design, peanut varieties were pre-picked, and field tests were conducted after measuring the soil moisture content and the distribution of fallen peanut. The field test results of the prototype showed that the pick up rate of the whole machine was 95%, and the trash content was 8.5%, which met the design requirements of the whole machine.