According to the control requirements of an unknown environment in an accident site of an underground mine, the paper had a study on the principle and framework mode of the intelligent control system based on the multi sensors.A three layer distribution type modularization control structure of the mine detection robot was provided.The key decision planning system was designed with the multi intelligent agent principle .Each function of the Agent was distributed according to the beha vior decision process of the robot.There would be a mutual coordination and cooperation between each modular according to the reaction type behavior regulations to C omplete the decision and control process of the detection robot.The experiments showed that the system could make the mine detection robot with the capacity to handl e the complicated mission and the topography environment in the underground mine.Thus the intelligent control of the robot could be realized.