基于虚拟现实的煤矿救援机器人远程控制技术

Study on remote control technology of mine rescue robot based on virtual reality

针对当前煤矿井下救援机器人自主导航效率低下,难以满足矿难时效性的救援要求,提出了一种基于虚拟现实(VR)的煤矿救援机器人远程控制方案,以虚拟仿真技术、智能检测与控制、远程通信、环境动态建模等技术为基础,以煤矿救援机器人的远程控制为目标,建立了煤矿救援机器人虚拟仿真模型以及井下工作环境场景,对传感器数据进行解析动态建模,完成机器人井下的以巷道为基础的局部定位,并实时更新煤矿救援机器人井下作业场景,为机器人自主控制增加了判据。此方案定位于复杂工况下有效的人工远程干预,借助VR技术充分融合人、机和环境信息,可有效提升井下矿难救援效率。

According to a low automatic navigation efficiency of the mine rescue robot in the present mines and hard to meet the rescue re- quirements of the mine disaster timeliness ,a remote control plan of the urine rescue robot was provided based on VR. Based on the virtual simulation technology, intelligent detection and control, remote communication, environment dynamic, modeling and other technology, with the remote control of the mine rescue robot as the target,a virtual simulation model of the mine rescue robot and the working environment scene in the underground mine were established. An analysis of the dynamic modeling was conducted on the data from the sensors, The lo- cal positioning of the robot in the underground mine was completed with the mine roadway as the basis. Meanwhile,the operation scene of the mine rescue robot should be timely updated in order to increase the criteria to the automatic control of the mine robot. The plan was to effective manual remote interferences under the complicated perf-rmances. With the help of the VR technology ,the human, machine ad en- vironment information was integrated and the rescue efficiency of the urine disaster could be effectively improved.