A cherry tomato harvesting robot equipped with a-D vision sensor was constructed for experimental purposes. The 3-D sensor emitted 3 laser beams with 2 components of wavelengths: a red (wavelength 685 nm) and an infrared (830 nm). Three Position-sensitive devices (PSDs) were used to detect the light beams which were reflected from the crop. The shape of the crop was determined by scanning the laser beams. Red ripe tomatoes were detected based on the ratio of the red to the infrared reflected signals. To avoid a collision, the location of the stems and leaves was also recognized using the image processing software.