Collision detection and early warning method of coal mine fully-mechanized coal mining equipment based on VR (virtual reliability)

The invention discloses a collision detection and early warning method of coal mine fully-mechanized coal mining equipment based on VR (virtual reliability). The collision detection and early warningmethod comprises the following steps of enabling a collision detection module to transmit rays, enabling the rays to collide with equipment added with collision bodies in the virtual scene, and returning back the collision information; calculating the length of ray between the ray and all collision bodies, namely the distance D between the equipment; comparing the detected distance D between the equipment and the preset distance threshold value of the system; when the distance D between the equipment is smaller than the threshold value, enabling an early warning module to warn, so as to warn an operator to take measures; according to the prompt of the system, judging the relative distance between the equipment, so as to reach the purpose of early warning and detection. The collision detection and early warning met