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In trackless transport of underground mines, accidents are much more frequent and serious due to the lack of effective safety warning measures. In this paper, a method of anti-collision for trackless equipment based on lidar was described. The background of the technology was recommended and the characteristics of roadway and data processing method were introduced. The method of processing radar data was proposed and a distance model was built, so the distance judgment method was provided. Finally, the method was applied on a Load-Haul-Dump (LHD) and it was proved that this method had obvious effectiveness and wide application for unmanned LHD in deep mining.

Research on Anti-collision Method of Trackless Equipment in Underground Mine