关键词: 铲运机, 转角传感器, CAN总线, 智能, Linux

Abstract: In view of the requirement for control technique of underground intelligent load-haul-dump(LHD)，a real-time measurement technology for the intersection angle between the front and rear of the LHD is proposed.The developing background and the status quo of the intelligent LHD are introduced.Combining with the requirement for actual working environment and the accuracy of intelligent control，a real-time measurement method of intersection angle information is developed，including the real-time schemes of design requirements of angle sensor，the data processing system.The software development process based on Monta-Vista Linux operating system is given.In the light of special articulated link structure of LHD front and rear，an initiative angle sensor mounting bracket is designed to solve problems in measurement errors and sensor damage caused by longitudinal force by uneven pavement.Finally，this technology is applied into the intelligent control system of 0.4 m3 LHD.The experimental data show that it is reliable，and can obtain real-time angle information on the vehicle front and rear.The accuracy and stability of angle information meet the needs of real-time control of intelligent LHD.This technology has a good application prospect.

Key words: Load-haul-dump, Angle encoder, CAN bus, Intelligent, Linux