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The paper presents the modes of operation of Telerescuer robot controlled by an innovative human-machine interface. The robot is designed to perform inspections during the rescue actions in subterranean areas of the coal mines affected by catastrophic events. In order to make navigation of the robot as simple as possible, the immersive human-machine interface has been developed, whose purpose is not only to navigate, but also to supervise semi-autonomous mission of the robot. In addition, the paper presents experiments with triangulation of the point clouds resulting from the 3D scanner installed on the robot as well as architecture of other main components of the whole Telerescuer system, developed in collaboration of academic and industrial partners from Poland, Czech Republic and Spain. Keywords—human-machine interaction, inspection robot, rescue action, teleimmersion.

Immersive human machine interface for controlling the operation of the Telerescuer robot