This paper discussed about the most difficult problems in the vision of harvesting robot, including recognizing and locating problem existed in the recognition of the fruit object in fruit images.

• 摘要通过分析目前果蔬图像中识别果蔬对象存在的问题，研究了果蔬采摘机器人视觉中的两大难题：识别果蔬和定位果蔬。