This thesis treats an alternative method to perform an automatic harvesting of the grape bunches. The project tries to imitate the manual harvesting as much as it can, so that the bunch of grape is safely collected without being damaged. The thesis is divided into eight chapters, each of which treats a main topic. The paper begins with an introduction, in which the story of the harvesting of the grapes is shortly reported, along with the reasons why the current mechanical harvesting techniques can be improved in some respects. Then, the thesis treats the three main issues of this project, starting from the recognition of the bunch of grape, going to the recognition of the petiole of the just found bunch of grape, ending up to the targeting of that petiole in the space.