In this paper image processing based yield counting system and health monitoring of citrus fruit is being processed. The model which is explained in the paper can be worked in any graphical area. The system consists of an automatic robot which revolves around. The axis of citrus tree and clicks various images from different angle. Then this images are processed by image processing algorithm and color based counting of fruit is presented at the output. The system is being designed to automatically and accurately calculated the yield of citrus group tree and health monitoring is temperature and moisture of tree is also include in system