Over-the-horizon teleoperation system for underground unmanned LHD

This paper puts forward an over-the-horizon teleoperation system to control underground unmanned LHD. A 1:3 scale LHD simulation prototype has been built. Firstly the remote console was designed and completed. Then the operator controls the pedals, buttons and handles on the console to operate the LHD, which is convenient and simple for manipulation. The real-time video signal of the situation and the operating status are displayed on the console. The console consists of the control components, the signal acquisition controller and the host computer. The simulation prototype of the LHD can be safe and reliable teleoperated through this system. The effectiveness of the proposed controlling system is shown by experiments.