Research on Remote Virtual Control System of Cantilever Roadheader

In order to solve the problems existing in the remote control of cantilever roadheader,such as short control distance,high dust and water mist,the very high operator′s labor intensity,and the operator cannot really get rid of the bad underground environment.This paper proposes a virtual remote control system of cantilever roadheader,which applies virtual reality technology to remote control of cantilever roadheader,realizing synchronous motion of virtual equipment and underground equipment,data driving of virtual model,dynamic correction and other functions.Firstly,the attitude analysis of the fuselage and cutting part of the cantilever roadheader was carried out,and the motion simulation of the cantilever roadheader was realized in the Unity 3D development platform.Secondly,design the visual human-computer interaction control,establish the virtual interactive interface,provide the visual control decision basis for the remote operator,enable the operator to control the cantilever roadheader in the virtual visualization platform,and explain the dynamic correction method of key parts.Finally,experiments were conducted to verify the comparison between the virtual interface and the real situation of the cutting arm of the roadheader under real-time conditions.The cantilever roadheader virtual remote control system was used to control the device to cut off a section.Meanwhile,the position and pose data of the real device and the virtual device were collected to compare the cutting trajectories of the two devices.The test results show that the recombination degree of the two cutting trajectories reaches 99.6%,and the virtual cantilever roadheader can accurately present the real cantilever roadheader′s position and change in real time,providing theoretical support and application practice for virtual remote control of underground mechanical equipment.