The orchard management system encounters skilled labor shortages globally. Additional care, such as spraying at the tree location and continuous monitoring, is also required for the site-specific plantation in the orchard. Automation systems could be used in the agriculture sector to address labor shortages. Object detection is a significant task in autonomous operation to avoid collisions and ensure safety in orchards. Moreover, data sharing is one of the key points in innovative agricultural practices. A Zigbee sensor network is one of the potential ways for data sharing and being used because of its low power consumption, independent networking, and scalable capabilities, which provide accurate monitoring at the individual orchard tree management level. In visual SLAM navigation, a customized iteration of VINS Fusion was chosen primarily because of its remarkable real-time operational efficiency and precision, attributed to its IMU and GPS data incorporation. In brief, this study presents the Simultaneous Localization and Mapping (SLAM) and YOLOV5, which is referred to in the survey as a Visual Simultaneous Localization and Mapping (VSLAM) system. It can be used for autonomous navigation on orchard vehicles. Furthermore, the performance of the orchard autonomous system using Zigbee communication and visual SLAM technology can also improve the efficiency of agricultural works for site-specific management in the orchard.