Abstract: The mechanization of orchards in hilly and mountainous areas is an important means to improve production efficiency and increase the economic income of fruit farmers. This paper summarizes the research status of key technologies of orchard work platforms at home and abroad, analyzes the latest research results of work platforms, compares the performance differences between different types of chassis structures, and summarizes the types and characteristics of common work platform lifting mechanisms and automatic leveling mechanisms as well as the features and research progress in safety and stability. This paper also discusses the application of unmanned driving technology in work platforms and summarizes the common path planning technology routes. It points out that the supporting facilities in the mechanization development of orchards are not perfect, and the platform has poor scalability and low level of intelligence, etc., and puts forward some suggestions that the orchard operating platform should develop towards the aspects of strong adaptability, chassis specialization, high intelligence of the whole machine, and high leveling accuracy.

Key words: orchard mechanization, operation platform, automatic driving, lifting platform, automatic leveling

摘要： 果园机械化是提升生产效率、增加果农经济收入的重要手段。总结国内外果园作业平台关键技术研究进展，分析作业平台最新的研究成果，对比不同类型底盘结构之间的性能差异，概括常见作业平台升降机构、自动调平机构的类型与特点以及安全与稳定性方面的研究进展，探讨无人驾驶技术在作业平台中的应用情况并阐述常见路径规划技术路线。指出果园机械化发展存在配套设施不完善以至平台扩展性差、智能化程度低等问题，并提出果园作业平台应向着适应性强、底盘专用化、整机高度智能化、调平精度高等发展建议。

关键词: 果园机械化, 作业平台, 自动驾驶, 升降平台, 自动调平