摘要：In order to improve the operating precision of the harvesting robot,a vision system for intelligently identifying and locating the mature tomato was *** active detection method based on structured-light stereo vision was expected to deal with the problem of variable illumination and target occlusion in the *** maximum between-cluster variances of hue(H)and saturation(S)value were adopted as the threshold for color segmentation,which weakened the impact on the image caused by the light intensity *** the limit on the pixel size and circularity of the candidate areas,the vision system recognized the fruit area and removed the noise *** fruit’s 3D position was computed on the basis of spatial relationship between the laser plane and the camera,when the linear laser was projected on the centre area of the mature *** blue view-scanning laser stripe pixels on the mature fruit were extracted according to its Cb color *** the field test results show,the measurement error on the fruit radius is less than 5 mm,the centre distance error between the fruit and camera is less than 7 mm,and the single axis coordinate error is less than 5.6 *** structured-light vision system could effectively identify and locate mature fruit.