Fecha de publicación: 24/05/2024 Fuente: WIPO "processing tomato" The invention discloses a tomato robot capable of picking shielded parts and a control method of the tomato robot. The tomato robot comprises a chassis, walking wheels, an electrical box, a picking mechanism and a branch and leaf processing mechanism. The picking mechanism comprises a picking assembly and a lifting rotation adjusting mechanism; a camera is arranged on the picking assembly and is in signal connection with the electrical box; branch and leaf treatment mechanisms are arranged on the two sides of the picking mechanism, and each branch and leaf treatment mechanism comprises a second lifting mechanism, a second horizontal rotating mechanism, a second telescopic mechanism, a shifting rod located at the tail end of the second telescopic mechanism and a cutting blade; a tomato image data set, an image processing module and a control module are arranged in the electrical box. According to the condition that the branches and the leaves shield the tomatoes, the branches and the leaves forming shielding tomatoes and obstructing picking are pushed aside or cut by means of the branch and leaf processing mechanism, misjudgment on the mature tomatoes is reduced, the accuracy and the picking rate of the mature tomatoes are improved, and damage to the tomatoes in the picking process is reduced.