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Taking the loading mechanism of a certain underground load-haul-dump (LHD) as the object of study, the article first describes the composition and working principles of the LHD and its loading mechanism, and then probes into the autonomous process based on different loading methods to achieve autonomous loading. A curve describing the movement of the bucket was mapped out and tracked. Then a control algorithm was developed based on expert knowledge, and was tested. According to the test results, the autonomous loading was of high precision and reached the standard for the full-bucket rate. The accuracy and reliability of the algorithm was thus verified.