A fully mechanized working face inspection system based on SLAM and virtual reality
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摘要: 针对综采工作面巡检机器人由于缺乏尺度信息导致可靠性较低的问题，将虚拟现实（VR）技术引入综采工作面巡检中，设计了基于即时定位与地图构建（SLAM）和VR的综采工作面巡检系统。该系统包括位于井下的巡检机器人子系统和位于地面的VR实时渲染子系统2个部分。巡检机器人子系统利用激光SLAM技术实现实时三维扫描，并建立三维地图，同时利用全景相机实时捕获综采工作面的场景，将实时获取的激光点云及全景视频传输到VR实时渲染子系统。VR实时渲染子系统采用GPU加速技术对激光点云进行着色，通过对Unreal三维引擎渲染部分进行定制化开发，实现对激光点云的实时渲染，并将激光点云投屏到VR眼镜上。远程操作人员通过VR眼镜实时获取现场三维场景，通过操作手柄远程控制巡检机器人动作，从而实现基于第一视角的综采工作面巡检。井下工业性试验结果表明，该系统可实现视角自由切换，并对场景进行放大，从而能够更好地观察到细节部分，精确性和可靠性更高；采用GPU加速技术进行点云着色，处理时间明显比CPU处理时间短，GPU实时性更高，整个系统的延时能满足巡检任务需求。Abstract: The reliability of the inspection robot in the fully mechanized working face is low due to the lack of scale information. In order to solve the above problem, virtual reality (VR) technology is introduced into the inspection of fully mechanized working face. A fully mechanized working face inspection system based on simultaneous localization and mapping (SLAM) and VR is designed. The system includes two parts: an inspection robot subsystem located underground and a VR real-time rendering subsystem located on the ground. The inspection robot subsystem utilizes laser SLAM technology to achieve real-time 3D scanning and establish a 3D map. At the same time, a panoramic camera is used to capture the scene of the fully mechanized working face in real-time. The real-time obtained laser point cloud and panoramic video are transmitted to the VR real-time rendering subsystem. The VR real-time rendering subsystem uses GPU acceleration technology to color laser point clouds. By customizing the rendering part of the Unreal 3D engine, real-time rendering of the laser point cloud is achieved, and the laser point cloud is projected onto the VR glasses. Remote operators obtain real-time 3D scenes through VR glasses, and remotely control the movements of the inspection robot through the operating handle. The fully mechanized working face inspection based on the first perspective is achieved. The underground industrial test results show that the system can achieve free switching of perspectives and zoom in on the scene. It enables better observation of details, with higher accuracy and reliability. By using GPU acceleration technology for point cloud coloring, the processing time is significantly shorter than CPU processing time. GPU has higher real-time performance, and the entire system's latency can meet the requirements of inspection tasks.
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Key words:
- fully mechanized working face /
- inspection robot /
- laser SLAM /
- VR /
- GPU acceleration /
- real time rendering /
- 3D perception
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图 1 基于SLAM和VR的综采工作面巡检系统结构
Figure 1. Structure of fully mechanized working face inspection system based on SLAM and VR
图 6 球幕坐标与经纬图坐标的变换
Figure 6. The transformation of spherical screen coordinates and latitude map coordinates
表 1 CPU与GPU处理时间对比
Table 1. Comparison of CPU and GPU processing time
scan序号 1 2 3 4 5 CPU处理
时间/s121 127 200 167 134 GPU处理
时间/s0.5 0.45 0.3 0.39 0.36 
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