针对先进实验超导托卡马克（EAST）腔远程检测可视化和安全性的需要，设计并实现了一个高效的虚拟现实仿真系统。该系统采用高性能的开源三维图形渲染引擎 OpenSceneGraph开发。虚拟现实仿真系统接收控制系统发送来的柔性内窥机械臂的实时位置数据来更新虚拟现实仿真系统中虚拟柔性内窥机械臂的位置。能通过快速碰撞检测确保远程检测的安全。该虚拟现实仿真系统还具有3D显示、操作培训等功能，也可以在规划的轨迹应用到柔性内窥机械臂之前进行正确性的验证。另外，通过虚拟现实仿真系统可以直接控制远程柔性内窥机械臂执行任务。%Considering the requirements for visualization and safety in experimental advanced superconducting Tokamak (EAST)blanket remote inspection,an efficient virtual reality simulation system was designed and implemented.The system developed by an open source high-performance 3D graphics toolkit (OpenScene-Graph)can update the position of flexible in-vessel inspection robot upon receiving the data from the control system.Though fast collision between the flexible in-vessel inspection robot and EAST blanket,the system can ensure the safety of remote detection;in addition,the system boasting of stereo display and operator training can validate the planned trajectory before being applied to the actual flexible in-vessel inspection robot;and moreover,the system can directly take control of remote flexible in-vessel inspection robot to execute inspec-tion tasks.At present,this system enjoys a successful application in the EAST blanket blanket remote inspec-tion.
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