Abstract: Harvesting robots are one of the key technologies in agroforestry modernization.Harvesting robots were classified by harvesting objects，including apple harvesting robot，strawberry harvesting robot，tomato harvesting robot，cucumber harvesting robot，forest logging robot and so on.According to types of harvesting robots，harvesting robots key technologies at home and abroad were researched and key technologies such as navigation and obstacle avoidance ability，visual system and end-effector，in the process of harvesting robots development were disscussed.On this basis，through analysis of advantages and disadvantages of existing harvesting robots，the problems of end-effector，image recognition technology，navigation and positioning technology，flexible structure and robot design were put forward.Finally，direction of development of future harvesting robots for agriculture and forestry was prospected.