Abstract: Tomato is one of the varieties with the largest planted area in facility agriculture. With the increasing shortage of labor in agricultural production, the cost of manual tomato harvesting continues to increase,accounting for about 33% to 50%. It is imminent to realize automated tomato harvesting in facility agriculture.By analyzing the physical and mechanical characteristics and planting environment of growing small tomatoes in the greenhouse, a robot for harvesting tomatoes is designed for the tomatoes, which is composed of walking mechanism, identification system, mechanical arm, end effector and control system. Among them, the walking mechanism can run on the ground and on the track, and can realize in-situ turning, which can be adapted to work in a greenhouse planting environment; combined with yolo v3 and traditional image processing methods to identify the picking points of tomato stalks, and obtain the fruit based on the depth camera. The spatial coordinates of the picking point of the stalk; a special end effector for the tomato with a clipping and shearing unit is designed to realize the cutting and clamping of the stalk; the control system of the tomato picking robot is built based on the ROS system. In the field picking test of the trial-produced serial harvesting tomato picking robot prototype, the picking success rate was 93%, and the picking effect was good.