关键词: 地下遥控铲运机, 多传感器数据融合, 环境识别系统, 超声波测距模块, PIC单片机

Abstract: A new recognition method for remote control load-haul-dump is advanced in the paper, which is based on available environment-identification methods and makes use of ultrasonic distance measuring, multi-sensor data fusion and power drag principle.The PIC single chip is made to be able to communicate with a PC machine by level translators.The recognition system is capable of real-time data acquisition and processing to acquire the precise information of environment or obstacles, which will assist the control operations such as obstacle avoidance, safe driving, clusters optimization and navigation or positioning, making the remote control room and on-board computer system work more synergistically and effectively.The new recognition method has achieved good effects as verified by the results of Matlab programming and LHD simulative driving.

Key words: Underground remote control LHD machine, Multi-sensor data fusion, Environmental recognition , system, Ultrasonic distance measuring module, PIC single chip