掘进机作为挖掘巷道的主要装备，是保证煤矿巷道截面成型的重要前提。目前，掘进机主要依靠人工操作，存在劳动强度大，作业环境恶劣等问题，迫切需要研发一种掘进机智能化远程监控系统。本文以EBZ160可伸缩型悬臂式掘进机为研究对象，主要研发掘进机位姿状态检测与控制系统。 研究分析了掘进机在巷道中的工作状态，建立了掘进机的位姿坐标系，提出了掘进机检测与控制系统总体方案。研究分析了掘进机检测系统的需求，提出了硬件系统框架，对传感器等进行了选型，构建了传感检测子系统、控制子系统、数据通讯子系统。分析了掘进机上位远程监控系统的功能需求，提出了远程控制系统的框架及工作流程。利用组态软件设计了适合于EBZ160型掘进机的远程控制系统，建立了掘进机状态信息数据库，通过监控软件实现了掘进机位姿检测与控制系统的远程化、可视化。 最后，利用实验室研发的智能掘进机实验平台，对本文设计开发的掘进机位姿检测和控制系统进行相关实验。结果表明，基于组态王的掘进机位姿检测与控制系统各功能模块达到预期目标，能够实时采集和控制掘进机位姿状态，为实现掘进机位姿检测与远程控制奠定了良好的基础。

Roadheader is the main equipment of mining roadway, which is an important premise to guarantee section forming of coal mine tunnel. At present，roadheader mainly depends on manually operated ,which has some problems such as labor intensity, badly working condition and etc. Therefore, it is urgent to develop a kind of intelligent remote monitoring system of roadheader. By the EBZ160 Telescopic boom type roadheader as the research object, the detection and control system of position and posture of roadheader was studied. The working state of roadheader in roadway was studied and analyzed, coordinate system of roadheader position and posture was established and the overall program of detection and control system of roadheader was proposed. The needs of detection system of roadheader was studied and analyzed, the framework of hardware system was proposed, the selection for sensors was ascertained and the construction of sensing subsystem, control subsystem, data communication subsystem have been finished. Functional requirements of a remote monitoring system of roadheader was studied and remote control framework and workflow of the system was put forward.The remote control system for EBZ160 type roadheader was designed by using configuration software. State information database of roadheader was set up.The long-range visualization of position detection and control system of roadheader was realized through the monitoring software. Finally, the relevant experiments have been done to design and develop position detection and control system of roadheader by using intelligent roadheader experiment platform developed in the laboratory. The experiment results show that each function of roadheader position detection and control system based on kingview module can achieve expected goals. It is able to collect and control position state of roadheader real-time, and lay a good foundation for achieving position detection and remote control of roadheader.