基于OGRE的铰接式地下矿车驾驶模拟系统

Driving Simulator of Articulated Underground Mining Vehicle Based on OGRE

针对地下矿车的工作环境,以自主研发的铰接式地下矿车为原型,分别建立了驾驶模拟系统场景模型、车辆三维模型及巷道模型。充分考虑驾驶模拟器的实时性及真实性需要,建立了地下矿车的三自由度动力学及运动学非线性离散化模型。使用开源图形引擎OGRE驱动模型及场景,将动力学及运动学模型与OGRE融合。使用光线投射方法,虚拟出激光测距传感器,为地下矿车智能控制技术研究提供了良好平台。

Taking a self-developed articulated underground mining vehicle as prototype,the driving simulation scene model,3-D vehicle model and tunnel model were established for the working environment of underground vehicles.A 3-DOF kinematics and dynamics nonlinear discrete model was built up to ensure the real-time driving simulator and reality.The models and the scene were driven by using an open-source graphics engine and an object-oriented graphics rendering engine.Ray casting method was used to virtualize the laser measurement sensors in simulator so that it could provide support for intelligent technique research of underground mining vehicle.