Vision-based orchard machinery navigation and positioning method

An orchard machinery navigation and positioning method based on vision comprises the following steps: judging whether orchard machinery receives a satellite navigation signal or not after a system isinitialized, and directly using satellite navigation if the satellite navigation signal is normal; if the satellite navigation signal is lost, performing following visual navigation positioning in themanner that the orchard machinery acquires fruit tree two-dimensional code information attached to a corresponding fruit tree trunk through a depth camera to obtain position coordinates (xn, yn) of each fruit tree in a visual field, then the orchard machinery travels among fruit tree rows, calculates the pose of the orchard machinery relative to a movement starting point in real time by adoptinga visual odometer through images and depth information acquired by a depth camera, and calculates the relative position of the orchard machinery; and the three-dimensional outline of the trunk of thefruit tree and the informati