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WEN Shiwei, E-mail: wsw142301@nwafu.edu.cn
Outline
As one of the world leading apple producers, China is facing increasing agricultural labor shortages caused by rising labor costs and demographic shifts. Promoting the automation and intelligent transformation of orchard operations has become a key factor in improving agricultural efficiency. In response to the standardized cultivation patterns of modern apple orchards, this study designs and implements an autonomous navigation system based on the fusion of Global Navigation Satellite System (GNSS) and vision-based navigation. The system is built on an Ackermann-steering chassis and integrates a front-wheel angle detection module and automatic steering control. To enhance the system adaptability in complex orchard environments, a dynamic navigation mode switching strategy is proposed, which relies on key parameters such as point cloud data quality, GNSS positioning accuracy, and path deviation. This enables intelligent switching between GNSS and vision-based navigation modes, allowing the system to meet varying accuracy requirements across different operational areas. In terms of path planning, a full-coverage navigation strategy is developed by combining a shuttle-style inter-row pattern with third-order Bézier curves. Inter-row paths are extracted by filtering, down sampling, and linearly fitting the stereo vision point cloud to determine the navigation centerline. Headland turning paths are generated based on orchard geometry parameters using Bézier curves, optimizing turning maneuvers and reducing unnecessary travel. Field tests demonstrate that the system achieves high-precision path tracking at various travel speeds, with a minimum lateral deviation of 0.052 meters. During headland turning, the average navigation deviations for two-row and single-row crossings are 0.052 meters and 0.066 meters, respectively, meeting the accuracy requirements of practical orchard operations. In conclusion, the proposed navigation system demonstrates strong environmental adaptability and navigation precision, providing solid technical support for the engineering application of automated orchard equipment.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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