Harvesting device

Summary

The current invention provides a harvesting device for harvesting crop having a target with a peduncle, the harvesting device comprising: a main frame; a cutting device connected to the main frame and configured to cut the peduncle, an imaging system to determine a position of the target with respect to the main frame, a guide system connected to the main frame for guiding the target towards a cutting position with respect to the main frame; - wherein the guide system comprises a forward guide member configured to be the first contact of the harvesting device with the crop.