448 results about "Dangerous environment" patented technology

The invention discloses a dangerous environment identification method based on a visual language model and a dynamic scene, particularly relates to the technical field of intelligent risk early warning, and is used for solving the problems of misjudgment and early warning lag caused by lack of event causal chain modeling in the dynamic scene in existing risk identification. According to the method, visual data flow and language description data are fused, a target motion track and a scene change sequence are extracted, a causal logic constraint set is constructed, space-time relevance is verified, a dangerous event causal chain is generated after high-confidence candidate events are screened, and finally a dynamic recognition result is generated based on causal chain overall risk quantification. Through dynamic rule adaptation and causal chain evolution rule matching, the random coexistence event and the real causal relationship are effectively distinguished, the problem of misjudgment caused by static rule stiffness in a traditional method is solved, and the reliability and the disposal timeliness of danger early warning in a complex dynamic scene are improved in combination with a global risk assessment mechanism.

The invention provides an inspection robot path optimization method and system based on dynamic obstacle avoidance, and the method comprises the steps: enabling an inspection robot to carry out the multi-layer convolution processing of gas and wind direction data through obtaining the turbulence data of a gas leakage source, the wind direction data of a meteorological station, and environment reflection feature data in real time, and generating a high-precision gas diffusion prediction map, meanwhile, a transparent obstacle optical contour and an unstructured obstacle geometric parameter are extracted from reflection data, and a three-dimensional space mapping relation with a gas diffusion diagram is established. On the basis of the mapping relation and the preset task priority, path control parameters are dynamically generated, global path node distribution is optimized, and the robot path is made to adapt to the composite risk environment of gas concentration sudden change and obstacle movement in real time. According to the invention, the dynamic obstacle avoidance precision and the safety response speed of the inspection robot path in a complex dangerous environment are improved.

The invention discloses a gas leakage point leakage detection system and method based on an e-dog, and belongs to the technical field of gas leakage detection. Through the autonomous navigation capability of the mobile platform module, the system can automatically avoid obstacles in a complex environment and inspect along a predetermined path, optimizes the inspection path in real time after finding a gas leakage point, improves the inspection efficiency, guarantees the high-density inspection of a key area, and the rapid movement and precise positioning capability of an e-dog, and improves the inspection efficiency. The gas leakage detection is quicker and more efficient, the risk that personnel enter a dangerous environment is reduced, the system has the functions of autonomous navigation, obstacle avoidance, remote control and the like, the intelligent level of detection is improved, the system is suitable for detection requirements of various complex environments and different types of gases, and through cooperative work of the gas detection module and the data acquisition and processing module, the detection efficiency is improved. The gas concentration data can be accurately acquired, the position of the leakage point can be judged, and the leakage point can be quickly and accurately positioned based on the combination of the GPS and the gas concentration data.

The invention provides an unmanned aerial vehicle intelligent power line inspection system, and relates to the technical field of power line inspection. The unmanned aerial vehicle intelligent power line inspection system comprises an unmanned aerial vehicle platform which comprises an unmanned aerial vehicle body, a flight control system, a power system and a navigation system; the sensor module comprises a high-definition camera, an infrared camera, a laser radar and an ultrasonic sensor; the data processing module comprises an embedded processor, a data storage unit and a data transmission module and is used for processing and analyzing the data acquired by the sensor; the intelligent algorithm module is used for intelligently analyzing and judging the state of the power line; and the communication module comprises a wireless communication module and a satellite communication module and is used for realizing data transmission and remote control between the unmanned aerial vehicle and a ground control center. The unmanned aerial vehicle is used for replacing manual inspection, so that the work of personnel in dangerous environments such as high altitude and complex terrains is reduced, and the personnel risk is reduced.

The invention relates to a robot system based on multi-mode perception cooperation and an autonomous navigation method, and the robot system comprises a main body frame which is internally integrated with a central processing unit; the multi-mode sensing module comprises a binocular vision camera, a pressure-sensitive touch array, a microphone array and a gas sensor and is used for collecting environmental data; the flexible joint mechanical arm is composed of at least three bionic joints connected in series, and a shape memory alloy driver and an air pressure feedback device are arranged in each joint. The edge computing unit is in communication connection with the central processing unit and used for processing sensing data in real time and generating action instructions, and the core problems that a traditional robot system is insufficient in sensing capacity in a complex environment, mechanical arm rigid-flexible control is unbalanced, and dynamic scene response lags are solved. And a high-adaptability and high-reliability solution is provided for industrial automation, dangerous environment inspection and other scenes.

The invention belongs to the technical field of polishing robots, and discloses a small workpiece polishing robot production system, and hardware in the system is composed of a conveying device, a first roller way conveying material frame, a workpiece, a feeding photographing recognition camera, a first mechanical arm, a scanning table photographing recognition camera, an abrasive belt side face polishing platform, a second mechanical arm, a double-sided chamfering machine and a first roller way conveying material frame. The device comprises a grinding abrasive belt, a control cabinet, an electric box, a working platform, a tool clamp and a safe and environment-friendly facility. A workpiece is finely ground through the grinding abrasive belt, the grinding abrasive belt can adjust the contact strength between the grinding abrasive belt and the workpiece, the problem that grinding cannot be continued due to abrasion is effectively avoided, the working efficiency of the whole grinding device is remarkably improved, the opportunity that workers make contact with the dangerous environment is reduced through robot operation, and the labor intensity of workers is reduced. And replacement and adjustment can be carried out according to different workpiece shapes and grinding requirements, and various production requirements can be flexibly met.

The invention relates to the technical field of inspection robots, and particularly discloses an underground pipe gallery environment detection system and method based on an inspection robot, and the system comprises a robot inspection system, a data transmission system, a monitoring system, an alarm system, and an artificial auxiliary inspection system. The robot inspection system comprises a pipeline, a charging storage bin, a controller, a carrying mechanism, a ground moving mechanism and an external detection mechanism. The carrying mechanism is arranged outside the charging storage bin; the ground moving mechanism is arranged outside the carrying mechanism; and the external detection mechanism is detachably placed outside the pipeline. Mobile inspection can be quickly and automatically carried out in the pipe gallery, inspection personnel are prevented from directly entering a dangerous environment, data are remotely analyzed in real time, early warning is carried out in time when fault hidden dangers are found, detection operation can be carried out along an external area of a pipeline and a ground area, and comprehensive state information of the pipe gallery is obtained at a time; and the time cost of multiple times of detection is reduced.

The invention relates to an air-ground collaborative exploration method in an unknown environment based on three-dimensional Gaussian splashing, and belongs to the field of air-ground robot collaborative exploration in a dangerous environment. The method comprises the following steps: S1, acquiring image data of a to-be-explored area by using an unmanned aerial vehicle, describing a complex scene and a differentiable rendering technology by using three-dimensional Gaussian distribution, accurately estimating a camera pose of the unmanned aerial vehicle and reconstructing a three-dimensional environment in real time by combining a simultaneous localization and mapping (SLAM) system, traversing a space and marking a series of key waypoints; step S2, the ground robot realizes accurate exploration of a local three-dimensional environment by using waypoints provided by the unmanned aerial vehicle and combining a collaborative mechanism of global planning and local planning; and S3, dynamically updating the path plan through the robot in the exploration process, and constructing a fine three-dimensional map of the exploration area. According to the invention, the air-ground robot can collaboratively explore the unknown environment and establish the environment map.

The invention discloses a construction engineering safety supervision method based on a gradient boosting tree and related equipment, which can timely discover and deal with potential safety risks and realize real-time supervision of a construction site. The method comprises the following steps: acquiring historical data of a construction site, wherein the historical data comprises historical construction environment parameters, behavior data of historical constructors and physiological index data; preprocessing the historical data to obtain preprocessed data; training a gradient boosting tree model by using the preprocessed data to obtain a target gradient boosting tree model, the target gradient boosting tree model being used for identifying and predicting behaviors and potential dangerous environments of workers on the construction site; behavior data, construction environment parameters and physiological index data of workers on a construction site are collected in real time; and inputting the behavior data of the field staff, the construction environment parameters and the physiological index data of the staff into the target gradient boosting tree model to obtain a risk assessment result.

Disclosed in the present application is a robot fault diagnosis method and apparatus suitable for special dangerous environments. The method comprises: performing fault prediction by using a kurtosis measurement-based fault prediction method, so as to obtain anomaly points; arranging measured vibration signals to obtain aligned target vibration signals; performing feature extraction processing on a source domain to obtain original fault features; inputting the original fault features into a preset model, and performing forward propagation on the preset model to obtain a degenerative feature layer; predicting the remaining useful lives for samples in the source domain, and extracting a highly mixed sample of the source domain and a target domain; acquiring a prediction error of the remaining useful lives of the samples in the source domain as a first training objective; acquiring a distribution difference error of the samples in the source domain and the target domain as a second training objective; and constructing an overall training objective, and performing training according to the overall training objective so as to obtain a target model. The present application can improve the accuracy of predicting the remaining useful lives for robots, and can be widely used in the technical field of robot fault diagnosis.

The invention relates to the field of robot control, and discloses an autonomous transfer robot control method, device, equipment and medium in an anti-explosion environment, and the method comprises the steps: collecting the multi-modal environment data of a target anti-explosion environment, carrying out the data correction of the multi-modal environment data, obtaining the multi-modal correction data, and storing the multi-modal correction data in a database; layered redundancy fusion positioning is carried out on the autonomous transfer robot by using the multi-modal correction data to obtain a real-time pose of the autonomous transfer robot, multi-source obstacle detection is carried out on a target anti-explosion environment by using the multi-modal correction data, a dynamic obstacle map is generated, and the real-time pose of the autonomous transfer robot is obtained. And constructing a structured semantic map of the target explosion-proof environment according to the multi-modal correction data and the dynamic obstacle map, and performing path planning and motion control on the autonomous transfer robot according to the real-time pose and the structured semantic map to obtain a target control result. According to the invention, the positioning and navigation stability of the autonomous transfer robot in explosion-proof dangerous environments such as smoke, dust, weak light and strong reflection is improved.

The invention discloses wearable electronic equipment for occupational environment health monitoring. The problems that existing fixed and handheld monitoring equipment is poor in real-time performance and insufficient in individual protection are solved. The wearable electronic equipment comprises a main control module, an environment sensing module, a positioning module, a motion sensor, an alarm module, a wireless communication module and a data storage module, the main control module processes the collected environment, position and activity state information, compares the information with a preset safety threshold value, immediately starts multi-mode grading alarm when dangerous parameters exceed the standard, uploads the information to a monitoring center or a cloud platform through dual-mode communication, and uploads a protection mode from passive response to active early warning. According to the invention, one-stop monitoring of a complex dangerous environment is realized, active continuous monitoring and active early warning can be realized without personnel operation, effective transmission of information is guaranteed by multi-mode alarm, an end-edge-cloud protection system is constructed, wearing is comfortable, operation is not affected, and all-weather safety monitoring is realized.

The invention relates to the technical field of oil chromatography automatic maintenance, and provides an oil chromatography automatic maintenance system and method based on a mobile robot, and the system comprises the mobile robot which comprises a mobile chassis, a robot body, a visual module and a laser radar; the robot body, the visual module and the laser radar are all arranged on the movable chassis; the central control machine is arranged on the movable chassis and comprises a data processing module, a navigation sensing module and a controller module; the data processing module is electrically connected with the monitoring platform, the navigation sensing module is electrically connected with the visual module and the laser radar through the data processing module, and the controller module is electrically connected with the robot body and the visual module through the data processing module. The system can realize real-time analysis of oil chromatography data and accurate positioning of faults, so that the maintenance process is more efficient and accurate. The oil chromatogram automatic maintenance system avoids the requirement that workers work in dangerous environments such as high pressure and high temperature.

The invention relates to the technical field of oil and gas equipment, in particular to an oil pipe remote directional lifting system and method for under-pressure operation. In the process of lifting the oil pipe, the oil pipe is positioned and supported for at least two times. The system is composed of a control unit, a traction unit and a guide unit. The control unit sends signals to the traction unit and the guide unit in a remote control mode. The traction unit is responsible for clamping and stably lifting the oil pipe, and the guide unit is used for accurately positioning and centralizing the oil pipe in the lifting process, so that unnecessary swinging of the oil pipe caused by external factors can be prevented, more importantly, the oil pipe can be prevented from colliding with a wellhead operation platform, equipment is protected from being damaged, and the service life of the oil pipe is prolonged. And the oil pipe lifting operation is carried out in a remote operation mode, so that the personal safety of constructors is guaranteed, the opportunity that the constructors make direct contact with the dangerous environment is reduced, and meanwhile the operation precision and the working efficiency are improved.

The invention discloses a device and method for unfolding a flexible mold bag in an underground goaf of a coal mine, and belongs to the technical field of coal mine safety, the device comprises an anchor rod group used for fixing the flexible mold bag on a roadway coal wall and a suspension part fixed on a roadway top plate, the anchor rod group comprises a plurality of anchor rods, and the suspension part is used for fixing the flexible mold bag on the roadway coal wall. One end of the flexible mold bag is fixedly connected with the roadway coal wall through a plurality of anchor rods; one end of the suspension part is mounted at the top of a roadway coal wall, the other end of the suspension part is mounted on a roadway top plate far away from the roadway coal wall, a plurality of hanging rings are arranged on the suspension part, and the suspension part hangs the top of the flexible mold bag through the hanging rings; a rotating mechanism is arranged on the roadway top plate beside the hanging piece, a traction rope is arranged on the rotating mechanism, one end of the traction rope is connected with a hanging ring used for hanging the top of the other end of the flexible mold bag, and the other end of the traction rope is reserved outside the wind shielding curtain; according to the invention, the flexible mold bag can be conveniently, quickly and effectively unfolded in a dangerous environment in a goaf in a safe area of a roadway.

The invention discloses a safety control method and device for an intelligent cockpit voice interaction system. The method comprises the steps that vehicle dynamic information and driver dynamic information are acquired; judging whether the driver is in a fatigue or sleep state or not according to the dynamic information of the driver so as to evaluate the dangerous state of the driver; according to the vehicle dynamic information, the state of the vehicle and whether dangerous conditions exist around are detected, and therefore vehicle dangerous state evaluation is achieved; according to the driver and vehicle dangerous state evaluation result, the intelligent cockpit voice interaction system is switched to a corresponding working mode, the working mode comprises a common working mode, a safe working mode and a dangerous environment mode, in the common working mode, the vehicle receives all voice commands and executes corresponding operation, and in the dangerous environment mode, the vehicle receives all the voice commands; in the safe working mode, the vehicle receives a voice command of a registered person and executes corresponding operation, and in the dangerous environment mode, the vehicle receives physical key triggering and executes corresponding operation in cooperation with a voice command of a driver.

The invention relates to a leakage monitoring and emergency processing method and system for a positive-pressure explosion-proof robot. The method comprises the steps that running state data of the positive-pressure explosion-proof robot in the running process are captured through a multi-parameter linkage monitoring network composed of a gas sensor, a pressure sensor and a temperature sensor; secondly, feature processing is conducted on the data, and leakage feature values such as the gas concentration change rate, the pressure fluctuation amplitude and the temperature gradient are extracted; determining a leakage risk level according to a preset risk assessment model; based on the spatial distribution characteristic of the multi-parameter linkage monitoring network and the time sequence change rule of the leakage characteristic value, the leakage position is positioned and analyzed; according to an emergency processing instruction generated according to the leakage risk level and the leakage position, starting emergency processing measures in a targeted manner; according to the scheme, the operation safety and reliability of the positive-pressure explosion-proof robot in a dangerous environment can be improved.

Embodiments include thermal covers to help drain fluids away from dangerous environments, e.g., in an engine bay in a vehicle. Thermal covers can comprise a hat portion extending between two distal edges, support straps beneath the hat portion and extending between the distal edges, and thermal insulation disposed between the hat portion and the support straps. These can be coupled to the floor so as to allow space below for the flow of fluid. This allows the fluid to flow to holes in the floor of the engine bay, allowing the fluid (which could be flammable) to be drained away from potentially dangerous environments in the engine bay which may involve high temperatures.

The invention belongs to the technical field of industrial safety monitoring and emergency response, and discloses a dynamic response system and method for risk real-time assessment and early warning in a dangerous environment, and the system collects gas, personnel and environment data in real time through a multi-source sensor, builds a "instant-accumulation-prediction" three-dimensional risk model, and carries out the real-time assessment and early warning of the risk. And the safety threshold is dynamically adjusted according to the environmental parameters. Based on a multi-dimensional risk assessment result, the system automatically determines an early warning level, and synchronously triggers personnel terminal early warning information pushing and linkage control of ventilation, isolation doors and other devices. A reinforcement learning mechanism is innovatively introduced, the system can continuously optimize key parameters based on historical early warning event data, and a complete closed loop from risk perception, intelligent decision and linkage execution to self-optimization is realized. The system effectively solves the problems of single risk assessment, fixed threshold, response lag, lack of adaptive ability and the like in a traditional method, and significantly improves the accuracy, real-time performance and overall safety of dangerous environment risk management.

Devices and methods for detecting and reporting a battery tamper event with regard to an intrinsically-safe or explosion-proof device while the device is located in a hazardous environment. The device may include a location sensor for determining that the device is in a hazardous location. While in the hazardous location, the device may detect an open enclosure event using a sensor and, if so, it may monitor for detection of a battery tampering event. The battery tampering event may include battery replacement or battery charging. The battery tamper event may be reported to a remote server over a wireless channel when it occurs.

The invention belongs to the technical field of fire rescue equipment, and particularly relates to an automatic fire extinguishing device for a fire rescue quadruped robot and a fire extinguishing method of the automatic fire extinguishing device, which are combined with a flexible moving system of the quadruped robot, realize accurate injection and effectively control fire spreading through real-time detection of fire source position information by a visual identification module. Compared with a traditional manual fire extinguishing mode, the device can automatically execute the fire extinguishing task in the dangerous environment, the risk of firefighters is remarkably reduced, and the rescue safety is improved. And quick response to a fire source and efficient fire extinguishing are realized. Through the communication part, communication with an external terminal is kept in real time, an instruction is received, image information collected by the visual identification module is returned, and efficient unmanned fire extinguishing is achieved. The overall structural design is compact, operation is easy and convenient, good environment adaptability is achieved, fire extinguishers of different sizes are supported, efficient operation can be conducted in various complex fire-fighting scenes, and therefore the safety and efficiency of the fire extinguishing task are improved.

The utility model relates to the technical field of pneumatic control systems, in particular to a single-action pneumatic PST system, which comprises a pneumatic actuating mechanism, a cam valve and an explosion-proof junction box, a valve position transponder is arranged at the front end of the pneumatic actuating mechanism, one end of the cam valve is communicated with a filtering pressure reducing valve, one end of the filtering pressure reducing valve is communicated with a safety valve, and the other end of the filtering pressure reducing valve is communicated with an explosion-proof junction box. And one end of the explosion-proof junction box is connected with a first electromagnetic valve and a second electromagnetic valve respectively. According to the improved single-action pneumatic PST system, the first electromagnetic valve, the hand-operated direction valve and the second electromagnetic valve are adopted, and when the single-action pneumatic PST system is used, flexible control can be conducted when the single-action pneumatic PST system faces complex working conditions and different operation requirements; the explosion-proof junction box and the energy accumulator are adopted, when the single-action pneumatic PST system is used, the electrical safety of the system in a dangerous environment can be guaranteed, meanwhile, the pressure of the system can be kept within a relatively stable range, and the stability of the system during use is improved.

The invention provides a high-altitude falling detection method based on mobile terminal multi-sensor fusion, and the method comprises the steps: collecting the multi-sensor data of a mobile terminal, and carrying out the preprocessing of the multi-sensor data; processing the preprocessed multi-sensor data to obtain key features of high-altitude falling detection; and based on the high-altitude falling detection key features, high-altitude falling is detected. Through the method disclosed by the invention, whether the high-altitude operation personnel fall can be effectively monitored and identified, an intelligent safety guarantee means is provided for personnel in remote or dangerous environments such as high-altitude operation, field investigation, field exploration, field travel and the like, the response time after an accident occurs is shortened, and the safety of the personnel is improved. Therefore, the life safety of personnel is effectively guaranteed. The method is high in detection accuracy and has portability, usability and real-time performance.

The invention discloses a mechanical arm teleoperation training method based on force feedback, and the method comprises the steps: constructing a hot chamber virtual environment containing a mechanical arm model and an operation object through a scene simulation platform Unity, and configuring a joint position according to a real mechanical arm DH parameter; the dynamics simulation platform AppeliaSim builds a corresponding dynamics model, and an inverse kinematics solution and collision detection function is configured; integrating a force feedback device, and constructing a working space mapping model to convert hand motion into an expected pose of the tail end of the mechanical arm; the double platforms synchronize data through a dynamic link library, and the object control and force sense calculation module calculates collision force and bolt assembling and disassembling torque and transmits the collision force and the bolt assembling and disassembling torque to force feedback equipment. The method does not need to depend on a real mechanical arm, safety risks and high cost are avoided, training repeatability and pertinence are improved, immersion and operation precision are enhanced through force sense and visual sense synchronous feedback, the training period is shortened, and the method is suitable for fine operation training of the mechanical arm in a dangerous environment.

The invention relates to the technical field of intelligent environment detection, and particularly discloses an underground pipe gallery detection method based on a robot and a pipe gallery detection robot, and the method comprises the steps: obtaining the topological data of a pipe gallery through a multi-source sensing device, constructing a three-dimensional space model of the pipe gallery through the combination of a high-precision Beidou / UWB fusion positioning technology, and obtaining a three-dimensional space model of the pipe gallery; geometric parameters and initial defect distribution of the to-be-detected pipe gallery are marked; based on the three-dimensional space model, a pipe gallery detection robot is deployed, and multi-dimensional data of the pipe gallery environment and the equipment state are synchronously collected in the advancing process; according to the invention, robot inspection is introduced, so that personnel are prevented from being directly exposed in a dangerous environment, the safety risk of the inspection personnel is remarkably reduced, and the problem of high risk in manual inspection is effectively solved; meanwhile, through an automatic and intelligent robot inspection mode, the robot flexibly shuttles around the pipe gallery, all-directional and dead-corner-free detection of the pipe gallery is achieved, the inspection time is greatly shortened, and the detection comprehensiveness and accuracy are remarkably improved.

The invention discloses a multi-source information fused intelligent inspection system, method and equipment with a target guiding function. The system comprises an inspection management platform, a data base station, a wireless routing base station, a quadruped robot, a pose sensor and a multi-mode sensor unit, wherein the inspection management platform, the data base station, the wireless routing base station, the quadruped robot, the pose sensor and the multi-mode sensor unit comprise a laser radar, a visible light camera and an infrared thermal imager; a control processing terminal is arranged on the quadruped robot and is used for acquiring data acquired by the multi-mode sensor unit and the pose sensor, processing the acquired data and outputting a control signal according to external instruction data, so that the quadruped robot moves according to an inspection planning path; the multi-mode sensor unit and the pose sensor are controlled to work; and the inspection management platform is used for analyzing and processing the data acquired and processed by the control processing terminal, and outputting instruction data including an inspection planning path to the control processing terminal. According to the invention, the inspection safety of engineering scenes in dangerous environments such as underground spaces and tailings ponds can be improved.

The invention relates to the technical field of leg blind area detection, in particular to a fireman leg blind area detection system based on radar perception, comprising a fireman leg blind area monitoring device based on radar perception, the monitoring device comprises a controller, a laser ranging module, a power supply and an alarm, the controller is used for analyzing and processing data transmitted by the laser ranging module in real time, the laser ranging module is responsible for detecting obstacles or moving objects near legs in real time, and when it is detected that a dangerous obstacle or object approaches, the controller controls the alarm to give an alarm to a fireman in time through the alarm feedback module, so that the fireman is protected against danger. And the power supply is used for supplying power. The laser ranging module and the controller are matched for use, so that the problem of sensing blind areas of legs of firemen in a complex environment can be effectively solved, accidental injuries caused by approaching of obstacles or dangerous objects are reduced, and the firemen can adapt to various complex and dangerous environments.

Embodiments include thermal covers to help drain fluids away from dangerous environments, e.g., in an engine bay in a vehicle. Thermal covers can comprise a hat portion extending between two distal edges, support straps beneath the hat portion and extending between the distal edges, and thermal insulation disposed between the hat portion and the support straps. These can be coupled to the floor so as to allow space below for the flow of fluid. This allows the fluid to flow to holes in the floor of the engine bay, allowing the fluid (which could be flammable) to be drained away from potentially dangerous environments in the engine bay which may involve high temperatures.

The invention discloses a virtual sensory integration training method based on force feedback, and the method comprises the steps: constructing a hot chamber virtual environment containing a mechanical arm model and an operation object through a scene simulation platform, and configuring a joint position according to a real mechanical arm parameter; the dynamics simulation platform builds a corresponding dynamics model and configures inverse kinematics solution and collision detection functions; force feedback equipment is integrated, and a working space mapping model is constructed to convert hand motion into the expected pose of the tail end of the mechanical arm; the double platforms synchronize data through a dynamic link library, and a force sense calculation module calculates collision force and bolt assembling and disassembling torque and transmits the collision force and the bolt assembling and disassembling torque to force feedback equipment. The method does not need to depend on a real mechanical arm, safety risks and high cost are avoided, training repeatability and pertinence are improved, immersion and operation precision are enhanced through force sense and visual sense synchronous feedback, the training period is shortened, and the method is suitable for fine operation training of the mechanical arm in a dangerous environment.

The disclosure describes systems of navigating a hazardous environment. The system includes personal protective equipment (PPE) and computing device(s) configured to process sensor data from the PPE, generate pose data of an agent based on the processed sensor data, and track the pose data as the agent moves through the hazardous environment. The PPE may include an inertial measurement device to generate inertial data and a radar device to generate radar data for detecting a presence or arrangement of objects in a visually obscured environment. The PPE may include a thermal image capture device to generate thermal image data for detecting and classifying thermal features of the hazardous environment. The PPE may include one or more sensors to detect a fiducial marker in a visually obscured environment for identifying features in the visually obscured environment. In these ways, the systems may more safely navigate the agent through the hazardous environment.