Environmental Reconstruction And Virtual Manipulation Technology Of Coal Mine Detection Robot

Underground coal mines have disasters frequently,but there is a great deal of hidden danger in traditional rescue.Using coal mine rescue and environment detection robot instead of firefighters for environmental detection,assessment and rescue after disaster is a hot topic at home and abroad in recent years.Currently,the control of the detection robot has low detection efficiency with complex environment based on autonomous navigation or video remote control.Established a multidimensional space that integrates human perception and multiple digital information interactions based on virtual reality technology provides technical support for mechanical operations in hazardous and complex environments.This paper uses virtual simulation technology,precise positioning technology,environment reconstruction technology and remote manipulation technology,set up robot virtual prototypes and underground environment,completed dynamic data programming based on multiple sensor data fusion,realized environment reconstruction and remote virtual control with coal mine detection robot.It will effectively improve rescue efficiency.According to the insufficiency of control of the detection robot system,this paper uses Unity3D-the virtual reality software platform to established a 3D visualization remote intelligent control system for coal mine detection robots.Developing data communication interface to achieve multiple sensor data collection and processing,completed the dynamic programming of detection robot driven by sensor data,realized the virtual control strategy called "virtual and real synchronization,data driven,remote intervention,human-machine cooperation and automatic control".Targeting the precise positioning of the robot,based on the initial map database,this paper uses inertial navigation to get the pose and posture of the robot and calibrate the forward displacement of the robot by adding road signs.Also,ultrasonic sensors are installed on two sides of the robot fuselage,and the data is fused by the extended Kalman filter algorithm to obtain the precise position of the robot.The real-time pose synchronization between the virtual robot and the detection robot is realized through the virtual reality data interface.For the unstructured underground environment after the disaster,the paper proposes an environment reconstruction based on virtual reality technology.Using laser scanner to scan environmental information,then,take data registration combining the position of the robot,adopting solid grid cloning technology with Unity3D to implement local map reconstruction.Under complex conditions,the operator can remotely control the detection robot based on the virtual scene and the reconstruction environment.Finally,an experimental platform is built to verify the function and performance of the system.Experiments have shown that the command is sent correctly,the data is received accurately,the system runs smoothly,the system can realize the reconstruction of the underground environment at real time and remote virtual control the coal mine detection robot.The research of this technology can make up for the lack of current control technology for coal mine detection robot and it provide a strong support for coal mine rescue.