Fuente: WIPO "processing tomato" The invention discloses a multi-task visual perception tomato maturity detection method which comprises the following steps: constructing an observation model according to position distribution information of tomato fruits; processing actual position information and scanning position information of the tomatoes by using a volume Kalman filter, and calculating a covariance matrix of tomato position coordinates and a covariance matrix of obstacle position coordinates; calculating a volume point according to the covariance matrix of the tomato position coordinates and the covariance matrix of the obstacle position coordinates, and obtaining coordinate information of the tomato position after visual perception; performing state volume point propagation to obtain an estimated value of the tomato position; and fuzzy control is utilized to take the matching degree of the actual variance and the theoretical variance of the residual error of the lycopene content as an input quantity and a noise regulation factor in the process of measuring the tomato hardness as an output quantity, and the input quantity is taken as a final positioning result after visual fusion filtering. The tomato maturity can be effectively, intelligently and nondestructively detected, and the method has good robustness and superiority.