针对目前井巷掘进中使用激光指向仪进行导向所表现的占用大量工作时间、误差较大、不能测掘锚机中轴线滚动角度等问题,在借鉴盾构自动导向系统工作原理的基础上,研究出一种新型的井巷掘进自动导向系统,具有自动化程度高,实时性好等显著优点,极大地提高了井巷开挖的可控性和掘进速度。

According to the complicated mine environment when a mine disaster occurred,a class expansion type rapid expanded random tree（CERRT） algorithm for the mine rescue robot was provided.With the planning route advantages of the rapid expanded random RRT tree algorithm in the unknown environment,the method could apply the class expansion idea into the RRT algorithm and could have the features to avoid obstacles and rapidly seek the target in the unknown environment.The simulation was applied to prove the affectivity of the method.In comparison with the conventional method,the route planning and the avoiding obstacle capacity of the method was improved and the time to seek the target was reduced.This method could provide the references for the rescue robot seeking the target in the molybdenum mine,the copper mine and other mines.