针对数字化综采工作面的场景构建、虚实交互通道和虚拟模型驱动三大基础问题，提出一种面向智能化综采工作面的实时虚拟监测方法，对高可信度煤层装备联合虚拟仿真与协同规划、实时可靠信息获取与“虚实融合”通道构建技术和虚实融合与感知一致性呈现等方法进行研究，具体包括:

① 基于 Unity3D 开发特点和模型所需特性，分别完成了三机装备数字模型和煤层顶底板模型的构建，将虚拟装备布置在虚拟煤层中，实现各装备之间的虚拟协同以及装备与煤层之间的关系构建，完成了虚拟煤层环境下的装备协同推进仿真并对装备群协同运行进行虚拟规划，实现了高仿真度综采虚拟场景的构建;

② 在装备反映位姿信息的关键位置上布置传感器，通过一系列接口和通道，构建 Unity3D 与组态软件、数据库和计算软件之间的信息交互。 采用分布式协同的驱动模式，优化了数据的传输处理，最终将综采装备的实时运行数据导入虚拟平台，驱动虚拟设备运行，实现了稳定可靠的传感信息协同与调度;

③ 构架了复杂综采虚拟场景实时驱动框架，研究了基于底层模型驱动虚拟单机关键技术，提出了采运装备协同仿真与实时数据驱动的方法、采煤机自动调高方法、刮板输送机和支架协同仿真与实时数据驱动方法、虚拟液压支架群的虚拟驱动方法以及动态透明工作面时空运动学实时分析方法，接着进行了虚拟监测界面设计，实现了传感数据与虚拟仿真运行信息高精度融合。

最后在实验室综采成套试验系统和样机试验平台上分别完成了相关试验，验证了三大模块联合运行的正确性和可靠性。

 试验表明，VR 监测系统运行清晰流畅，虚实映射状态同步，可切换性好，呈现信息准确，后台数据库压力也较小，可以完成预期目标。 在仿真运行中可实时提取出各装备与煤层运行的相关参数，完成高可靠性虚拟规划。

To solve the three basic problems of constructing digital fully mechanized coal mining face,i. e. ,scene construction,virtual real interaction channel and virtual model driven,a real-time virtual monitoring method for the pro- duction system of a fully mechanized coal face was proposed. Some methods were studied,mainly including the joint virtual simulation and collaborative planning of coal seam and equipment with high reliability,the acquisition of real- time reliable information and the channel construction technology of “virtual reality fusion”,the consistency presenta- tion of virtual reality fusion and perception,etc. Firstly,based on the characteristics of Unity3D development and model requirements,the digital model of three machines equipment and the models of roof and floor of coal seam were con- structed respectively. Also,the virtual equipment was arranged in virtual coal seam,then the virtual cooperation be- tween each equipment was realized and the relationship between equipment and coal seam was built. The simulation of equipment co-propulsion in virtual coal seam was completed and the virtual planning of equipment group co-operation was carried out. The construction of fully mechanized mining virtual scene with high fidelity was realized. Secondly, many sensors were arranged on the key positions which can reflect the position and attitude information of equipment. Through a series of interfaces and channels,the information interaction between Unity3D and configuration software, database and computing software was constructed. The data transmission processing was optimized by using distributed collaborative driven mode,and the real-time operation date of fully mechanized mining equipment could be finally im- ported into the virtual platform to drive the virtual equipment,and the cooperation and dispatch of stable and reliable sensor information was realized. Thirdly,the real-time driving frame of complex fully mechanized mining virtual scene was constructed. The key technology of driving virtual single machine based on bottom model was studied. The methods of cooperative simulation and real-time data drive of mining and transportation equipment,automatic height adjustment of shearer,collaborative simulation and real-time data drive of scraper conveyor and hydraulic supports,virtual driving method of virtual hydraulic support groups and real-time analysis of space-time kinematics method of dynamic trans- parent working face were put forward. Then virtual monitoring interface was designed,and the high accuracy fusion of sensing data and virtual simulation operation information was realized. Finally,the related tests were completed on the fully mechanized coal mining test system and the prototype test platform respectively,which verified the correctness and reliability of the joint operation of the three modules. Experiments showed that the VR monitoring system run clearly and smoothly,the virtual reality mapping state was synchronized,the switch ability was good,the presentation information was accurate,and the background database pressure was also small,which can meet the expected goal. In the simulation operation,the relevant parameters of each equipment and coal seam operation can be extracted in real time to complete the high reliability virtual planning.