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In order to improve orchard automation, an identification and location system of apple picking robot was developed. In order to overcome dependence of existing system on the working distance, human picking process using a web camera and a Kinect sensor was imitated. Compared with manual measurements after calibration, the standard deviation of binocular vision in three directions were 3.4 cm, 1.2 cm and 1.2 cm, respectively. An apple detection and location method was developed based on color, shape and position. The results showed that when the working distance was about 240 cm, the mature apples can still be accurately identified and located, the standard deviation of binocular vision in depth direction was 4.9 cm. When the working distance was about 150 cm, the standard deviation of binocular vision in depth direction was 2.4 cm. When the working distance was less than 100 cm, the standard deviation in depth direction was less than 1.0 cm with web camera. 