Fuente: WIPO "tomato" A harvesting method using a harvesting apparatus is provided. The harvesting apparatus includes a harvesting mechanism for harvesting a harvesting target that grows on a plant. The method includes: determining a vertical inclination, which is an inclination with respect to a vertical direction, of the harvesting target from an acquired image of the harvesting target; adjusting an angle of the harvesting mechanism with respect to the vertical inclination; bringing the harvesting mechanism closer to the harvesting target; and separating the harvesting target from the plant by the harvesting mechanism.