为解决悬臂式掘进机远程控制中存在的控制距离短及高粉尘和高水雾而导致操作人员劳动强度过大，无法真正脱离井下恶劣环境等问题，提出一种悬臂式掘进机虚拟远程操控系统，将虚拟现实技术运用到悬臂式掘进机远程控制中，实现虚拟设备与井下设备同步运动，虚拟模型数据驱动和动态修正等功能。首先，对悬臂式掘进机的机身与截割部进行姿态解析，在Unity 3D开发平台中实现悬臂式掘进机的运动仿真；其次，对可视化人机交互控制进行设计，建立虚拟交互界面，为远程操控者提供可视化控制决策依据，使操作者能在虚拟可视化平台中对悬臂式掘进机进行控制，对关键部位动态修正方法进行解释说明；最后，通过试验验证实时状态下掘进机截割臂在虚拟界面与真实情况下位姿的对比，利用悬臂式掘进机虚拟远程操控系统控制设备截割一个断面，同时采集真实设备与虚拟设备的位姿数据，对2者的截割轨迹进行比较。结果表明：2者截割轨迹重合度达到99.6%，虚拟悬臂式掘进机能够实时准确地呈现真实悬臂式掘进机的位姿状态与变化，对于井下机械设备虚拟远程控制提供理论支撑与应用实践。

In order to solve the problems existing in the remote control of cantilever roadheader,such as short control distance,high dust and water mist,the  very high operator′s labor intensity,and the operator cannot really get rid of the bad underground environment.This paper proposes a virtual remote control system of cantilever roadheader,which applies virtual reality technology to remote control of cantilever roadheader,realizing synchronous motion of virtual equipment and underground equipment,data driving of virtual model,dynamic correction and other functions.Firstly,the attitude analysis of the fuselage and cutting part of the cantilever roadheader was carried out,and the motion simulation of the cantilever roadheader was realized in the Unity 3D development platform.Secondly,design the visual human-computer interaction control,establish the virtual interactive interface,provide the visual control decision basis for the remote operator,enable the operator to control the cantilever roadheader in the virtual visualization platform,and explain the dynamic correction method of key parts.Finally,experiments were conducted to verify the comparison between the virtual interface and the real situation of the cutting arm of the roadheader under real-time conditions.The cantilever roadheader virtual remote control system was used to control the device to cut off a section.Meanwhile,the position and pose data of the real device and the virtual device were collected to compare the cutting trajectories of the two devices.The test results show that the recombination degree of the two cutting trajectories reaches 99.6%,and the virtual cantilever roadheader can accurately present the real cantilever roadheader′s position and change in real time,providing theoretical support and application practice for virtual remote control of underground mechanical equipment.