智能化农业装备学报（中英文）2026，Vol.7Issue(1)：31-42,12.DOI:10.12398/j.issn.2096-7217.2026.01.004
基于视觉融合与GNSS的苹果采摘机器人自主导航系统设计与试验
Design and experiment of autonomous navigation system for apple picking robot based on visual fusion and GNSS
摘要
Abstract
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.关键词
视觉融合导航/梭式套行全局路径规划/苹果采摘机器人/标准化果园/导航模式动态切换策略Key words
vision-based fusion navigation/shuttle coverage global path planning/apple harvesting robot/standardized orchard/dynamic navigation mode switching strategy分类
农业科技引用本文复制引用
问仕威,葛亚豪,贾炯龙,卫乃硕,陈雨,陈军..基于视觉融合与GNSS的苹果采摘机器人自主导航系统设计与试验[J].智能化农业装备学报（中英文）,2026,7(1):31-42,12.基金项目
陕西省科学技术厅项目(32272001) （32272001）
国家重点研发计划项目子课题(2022YFD1900304) Shaanxi Provincial Department of Science and Technology Project(32272001) （2022YFD1900304）
Sub-project of the National Key R&D Program of China(2022YFD1900304) （2022YFD1900304）
