Real-time Display Method for Mining Vehicle Simulation based on Virtual reality

Mining vehicles are of high importance in the transportation industry, and autonomous mining vehicles have a great need in the coal mining industry. For autonomous mining vehicle testing, testing at the field test site is costly, time consuming, and extremely dangerous. This paper proposes a real-time display method of mining vehicle results based on virtual reality. The method design can display the simulation results in real time through the same simulation platform, so that the driver can intuitively feel the dynamic responsiveness of the mining vehicle, and then can control the mining vehicle of the virtual scene in real time. In addition, the analog driving function can also be realized by externally connecting components such as a steering wheel and a pedal. Based on the method proposed in this paper, comparing the results of the driver's control of the vehicle with the virtual track-based path tracking control, it is found that the autonomous path tracking control shows that the absolute advantage to the driver control with less error and smoother steering operation, so that the effectiveness of the mining vehicle path tracking control algorithm established in this paper is further verified.

I. Introduction

In the domestic mining industry, mining vehicles have become an integral part of the mining industry. As an important part of construction machinery, mining vehicles have become an ideal transportation tool for large-scale mining areas because of their high efficiency, heavy load, strong flexibility and good economical performance [1]-[3]. They are widely distributed in coal mining and metallurgy industries [4]. With the advancement of China's mining technology, the intelligent and autonomous mining vehicles have become an important technological development direction in the future [5].