A fully mechanized coalface is a rugged environment that has poor visibility. The traditional video monitoring system has problems such as a lack of realism, a blurry monitoring effect, and poor reliability. It is an important task to monitor the operations of the three-machine equipment (we will refer to the shearer, hydraulic support, and scraper conveyor as the three-machine equipment) intuitively, accurately, and timely and ensure that it is operating safely. This study proposed a cross-platform Web3D monitoring system for the three-machine equipment. First, the virtual mesh model and skeleton model that was embedded in the mesh model were established according to three-machine ontology and basic motion units. Second, the kinematic model of the three-machine skeleton was established via the inverse kinematic modeling of the hydraulic support and the coordinate calculation of the vertices on the three-machine skeleton. Third, the motion data, which were captured by sensors, were applied to drive the movement of the three-machine skeleton and mesh model. Finally, WebGL, which is the latest Internet graphics standard, was used to render the three-machine models, and the performance of this monitoring system is tested on different equipment in the laboratory. The results of the test show that the three-machine cross-platform monitoring system has splendid performance, and it realizes cross-platform 3D monitoring effectively in the laboratory. In the future, this system will be used as a supervisory tool and be integrated with the traditional monitoring system to monitor the three-machine equipment with the field staff.

中文翻译：

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基于骨架模型和传感器数据的综采工作面三机设备跨平台Web3D监控系统

综采工作面是恶劣的环境，视野不佳。传统的视频监控系统存在缺乏现实感，监控效果模糊，可靠性差等问题。直观，准确，及时地确保三机设备的运行（我们将采煤机，液压支架和刮板输送机称为三机设备）的运行并确保其安全运行是一项重要的任务。这项研究为三机设备提出了一个跨平台的Web3D监视系统。首先，根据三机本体和基本运动单元，建立了虚拟网格模型和嵌入网格模型的骨架模型。第二，通过液压支架的逆运动学建模和三机骨架上顶点的坐标计算，建立了三机骨架的运动学模型。第三，将传感器捕获的运动数据应用于驱动三机骨架和网格模型的运动。最后，使用最新的Internet图形标准WebGL绘制三机模型，并在实验室的不同设备上测试了此监视系统的性能。测试结果表明，三机跨平台监控系统具有出色的性能，在实验室中可以有效实现跨平台的3D监控。在将来，