A strawberry-picking robot was developed, consisting of a crawler walking mechanism, a machine vision based precision motion positioning mechanism, and an end-effector cutting and gripping strawberry peduncles synchronously, for application to an elevated substrate culture. And the robot was controlled by a layering control system whose kernel was ARM9. The field test in greenhouse indicated that the robot could recognize, locate and pick ripe strawberries in elevated substrate culture with the success rate of 88%, without damaging the fruits, and the execution time of a single pick cycle was 18.54s.