A first aspect provides a harvesting device for harvesting a crop. The device comprises a sensor for generating a signal upon detection of crop, a primary gripper for gripping and holding the crop and a cutting module comprising a cutter for cutting the crop. The device further comprises a transportation module for moving cut crop away from a harvesting position, the transportation device having the primary gripper connected thereto. The device also comprises a processing unit arranged to receive the signal from the sensor, control the primary gripper to grip the crop upon reception of the signal control the cutting module to cut the crop after the primary gripper has gripped the crop and control the transportation module to move the cut crop away from the harvesting position. Stems of the crop are oriented in the same direction, under an angle smaller than ninety degrees relative to the ground.
