There is an urgent need of developing grape picking robot with intelligent recognition function due to the decrease of grape picking workers’ population. Acquiring the 3D information of picking coordinate is the key process of constructing intelligent picking equipment. In this paper, based on SSD MobileNet neural network model, transfer learning and central deviation angle method were used to realize the positioning of picking coordinate points of facility cultivation grape by machine vision. After testing 720 fruit labels, 633 stem labels and 603 leaf labels labelled by pretreatment, the general precision was 79.5%, which was close to the inherent accuracy of the original model before transfer learning.

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