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Due to the change in life style and the gradual rise of health awareness, more and more people have given up their jobs, returned to the countryside, and bought or rented a small piece of land to live the life of small farmers. Therefore, small agricultural machinery will gradually have a place in the future market. In this paper, aiming at small and medium-sized farmers of cucumber planting, we have designed a prototype of a mobile robot for harvesting low-hanging crop like cucumbers. It is based on the NI roboRIO controller, and Mecanum-wheels are used as the moving wheel. After preliminary real-machine simulation, it was verified that the designed robot can meet the needs of assisting the harvesting of hanging crops.