Abstract: In order to improve the intelligence level of cucumber harvesting and reduce the amount of human labor,a robot system for cucumber harvesting is developed.The hardware structure of robot system is described,and a three-layer system control strategy is proposed.In the system,two core programs of navigation control and harvesting control are designed. Then,the harvest procedure of robot is expounded.The performance test of cucumber harvesting robot in greenhouse indicates that every module runs well,and the visual recognition algorithm can extract the target information effectively. The success rate for harvesting cucumbers is 85%,and the execution time of a single harvest cycle is 28.6 s.The cucumber harvesting robot works with good stability and practicability in greenhouse.