基于虚拟现实的露天矿应急救援路径规划研究

Planning on emergency rescue path of open-pit mine based on virtual reality

露天矿环境复杂,当事故发生时,复杂的道路情况将极大影响救援速度,从而错失最佳救援时机,而传统的路径规划方法大多基于简化的数据及模型,与实际环境数据结合程度较低。为解决上述问题,基于WebGL绘图协议搭建虚拟三维场景,构建无人机倾斜摄影实景三维模型,利用改进A*算法,综合考虑路径长度、道路坡度、地面障碍等因素进行露天矿应急救援路径规划并开展了验证实验,结果表明:虚拟现实技术解决了传统路径规划与实际场景数据结合不紧密的问题,使模拟的路径结果更加真实有效,改进A*算法充分考虑了露天矿的三维地形地貌因素,使规划的线路更加平缓,有效提升了救援效率。

Because of complex environment complex,once the accident occurs,the poor road conditions of open-pit mine will badly affect the rescue efficiency,leads to loss of more rescue opportunities.The traditional path planning methods were mostly based on simple data and models,and little combination with the actual environmental data.In order to solve the above problems,the virtual three-dimensional scene was built with the help of WebGL drawing protocol,and the real three-dimensional model of UAV tilt photography was introduced.The emergency rescue path plan of open pit mine was carried out by improved A*algorithm and considering the factors such as path length,road slope and ground obstacles.The verification test results show that the virtual reality technology solved the problem that the traditional path planning was not closely in conjunction with the actual scene data,and made the simulated path results more realistic and effective.The improved A*algorithm fully involved in the three-dimensional terrain and landform factors of open-pit mine,so that the planned line became gentle,and effectively improved the rescue efficiency.