This Master Thesis aims to develop a system able to detect in a correct and efficient way bunches of grapes and their location in space, and consequently, transmit data to a micro-controller, belonging to a VirtualLab board, to control a 3 degree of freedom robot such that it can perform harvesting of the bunches of grapes. Raspberry Pi 4B with a camera attached to it has been used to perform the computer vision object detection of the target and testing different convolutional neural networks in order to find the most suitable one in terms of performances and accuracy has become one of the most important aspects of the research, together with its training and improvement as well.