Tomato-harvesting robot binocular stereo vision system has been designed and developed to make it possible for automatic picking up operation of matured tomatoes.Based on VFW method

image acquisition system is designed.The identification of visual system is developed through the difference between the color characteristics of ripe tomatoes and background.After accurate identification

the spatial location information is obtained through camera calibration and ripe tomatoes centroid matching.The experimental results show that the identification rate of the vision system can reach 98 %

and identification average time is about 0.21 s.When the working distance is less than 500mm

except for individual singular points

the absolute error of distance-mensuring can be controlled within 14 mm.It can meet the needs of practical work very well.