Fuente: WIPO "processing tomato" The invention discloses an automatic tomato picking method and system based on machine vision. The method comprises the following steps: constructing an automatic tomato picking mobile robot model; the method comprises the following steps: acquiring color image data of tomatoes based on an automatic tomato picking mobile robot model, training a YOLOv8 target segmentation model, and constructing an AI model file; acquiring pose data of the tail end of a mechanical arm based on the tomato automatic picking mobile robot model, and performing hand-eye calibration to generate a calibration file; according to the AI model file and the calibration file, image coordinates of the target tomatoes are obtained, path planning is carried out, and automatic picking of the tomatoes is achieved. According to the embodiment of the invention, the position of the tomato can be accurately identified and can be combined with the tail end coordinate of the robot, so that the working efficiency and the obstacle avoidance capability of the robot in a complex environment are improved, and automatic picking of the tomato is realized. The method can be widely applied to the technical field of machine vision image processing.