Virtual simulation and remote control system for coal mine roadheader robot

For problems that existing roadheader monitoring methods of video monitoring and telemetering had unclear monitoring images and cannot show pose and working conditions of roadheader, a virtual simulation and remote control system for coal mine roadheader robot was proposed. Design scheme of the system was introduced, and key technologies were researched including improvement of roadheader robot, remote control platform based on virtual reality and control model of roadheader robot. The system integrates underground miners, roadheader robot and underground environment information by use of virtual reality technology, and realizes functions of motion control of excavation process and mine roadway excavation control, which takes automatic tunneling of roadheader and remote intervention by human. The experimental result shows validity and good control performance of the system.