【摘要】 通过建立数字化煤矿虚拟场景,实时采集瓦斯和通风量等安全报警数据为基础,对整个地下矿井进行安全巡检漫游。采用Hermite曲线拟合规划漫游路径,虚拟人替代现实中的安全巡检员进行设备维护,二分法迭代求解虚拟巡检员位姿,达到巡检员位置显示实时性,并使安全巡检过程具有交互性和速度可控性、这一技术已应用在桌三维煤矿生产安全虚拟现实系统中,说明煤矿能利用一个交互性较强的可视化平台来保证生产安全更多还原

【Abstract】 Based on establishing the virtual scene of digital colliery and gathering in real time the safety-alarming data,such as gas output and air-ventilation volume,etc,this system can realize roaming about and inspecting the safety condition in underground mine.The traveling path is programmed with Hermite curve fitting method.The virtual inspector replaces the hu- man-being safety inspectors to travel around and carry "out the maintenance of equipment while the position and orientation of the virtual human is solved with dichotomy iterative method and displayed in real time,which also makes the process of Security inspection interactive and velocity can be regulated.This approach has applied to a 3-D colliery security system based on virtual reality and that the results proved that a coal mine can use an interactive visual manage- ment platform for dependable safety of production.更多还原