Path planning method for Camellia oleifera forest trenching operation based on human-robot collaboration

Abstract

In order to realize the independent and safe operation of trenching robot in Camellia oleifera forest, operation path planning is the key link. Aiming at the problem of trenching operation path planning in complex dynamic Camellia oleifera forest environment, a trenching operation path planning method of Camellia oleifera forest based on human-robot collaboration was proposed. In order to meet the requirements of trenching operation in Camellia oleifera forest, the ring trenching operation path was planned around Camellia oleifera tree; Aiming at the unknown obstacles in the dynamic Camellia oleifera forest environment, the digital twin technology was used to map the dynamic Camellia oleifera forest environment into the twin space in real time, assist the operator to recognize the dynamic Camellia oleifera forest environment information and issue decision instructions. According to the man-machine collaborative decision-making instructions and dynamic environmental information, the twin environment model of Camellia oleifera forest was updated in real-time, and the collision detection method combining virtual and real was adopted to avoid collision and re-plan the trenching operation path. The experimental results show that the repetition rate of the trenching operation path of the Camellia oleifera forest planned by this method is reduced by 1.64 percentage points, the slope standard deviation is reduced by 40.365 %, and the operation path is more stable; In addition, the re-planning of the operation path of the trenching robot based on digital twin under human-robot cooperation prevents collision with the dynamic obstacles of the Camellia oleifera forest, which provides a new idea for the intelligentization of the trenching operation of the Camellia oleifera forest.