Abstract: In view of problem that existing underground locomotive anti-collision system had no corresponding treatment measures for complex terrain such as corners, ramps and ballasts, and it was easy to cause false alarms, an anti-collision warning system for mine locomotive was designed. The system uses two-dimensional scanning laser radar to realize obstacle detection, radar scanning angle is 270° and recognition distance is more than 60 m. Special terrain detection such as corners and real-time positioning of the locomotive are realized by RFID technology, and operating status of the locomotive speed, direction, and track can be obtained. Information interaction with adjacent locomotive is realized by Lora wireless data transparent transmission technology. The on-site industrial test results show that the system can accurately locate the locomotive, and the special roadway terrain identification and obstacle/terrain recognition have good real-time performance, which can meet the needs of underground applications.