With the development of agriculture. the complexity and dynamism of orchard environments pose challenges to the perception and positioning of inter-row environments for agricultural vehicles. This paper proposes a method for extracting navigation lines and measuring pedestrian obstacles. The improved YOLOv5 algorithm is used to detect tree trunks between left and right rows in orchards. https://www.getpureroutine.com/quick-grab-poise-pads-overnght-bulk-16-supply-mega-offer/