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According to the requirement of agriculture intelligent development, a multi-type fruit harvesting robot was developed, which could realize the harvesting of single fruit and a string of fruits. The software design and hardware structure of fruit harvesting robot were described. The vision identification and positioning method of litchi and citrus were researched. The behavior control method of manipulator was also researched. The work flow of harvesting robot was expounded. The harvesting experiment of litchi and citrus were designed, and the test results indicated that every modules run well. The harvesting success rate of multi-type fruit harvesting robot for litchi was 80%, and for citrus was 85%. The average execution time of a single harvest cycle for two kinds of fruit was 28s.