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 Through the establishment of digital coal mine virtual scene, real-time acquisition of gas and ventilation and other safety alarm data based on the entire underground mine safety tour roaming. The Hermite curve is used to plan the roaming path. The virtual person replaces the current safety inspector to maintain the equipment. The dichotomy method iteratively solves the pose of the virtual inspector to achieve the real-time display of the inspector position and the safety inspection process to have Interactivity and speed controllability. This technology has been applied in table 3D coal mine production safety virtual reality system, which shows that coal mine can utilize a highly interactive visual platform to ensure production safety