抄録
Image system recognizing the position of the fruit with the preparation of the manipulator is necessary for the development of the robot automating for the harvesting of the tomato. When there is only one fruit, it is easy work, because the red color may be searched. Actually, there are many mature and immature fruits together on the branch. The quality deteriorates, when immature fruit is injured. It is important to harvest only the matured fruit without injuring another fruit. It is necessary to harvest from the fruit in the front, when there is a fruit in multiple conditions. The thermal image was utilized in order to recognize the mature and immature fruit. And, it was developed and was utilized by the new wire size reduction method in order to separate multiple fruits. As the result, it succeeded in the separation of the fruit.
