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In order to guide robot arm to be close to apple target accurately, and avoid complex stereo matching of machine vision, a fruit locating method based on laser vision system was presented. According to the features of the system structure, scanning and motion controlling, a coordinate system of laser vision system was established, which was used to represent 3-D spatial information of target. Three different kinds of coordinate systems were transformed for offering directional data to robot arm, which separately belonged to image, laser vision system and robot arm. The grabbing experiment in orchard showed that the accurate grabbing ratio of robot arm was 100% while recognition index RRC was more than 90%.