1.Changzhou Research Institute Co.,Ltd.,China Coal Technology and Engineeing Group，Changzhou , China; 2.Tiandi(Changzhou)Automation Co., Ltd.,Changzhou , China; 3.Changsha Intelligent Driving Institute, Changsha , China

Coal mine transportation robot is an important component of coal mine robot system, which can accomplish transport mission of coal, machinery and personnel, and it has a strong practical significance for the construction of mining intelligent transportation system and the realization of unmanned mining.In order to elaborate the future development trends and key technologies of coal mine transportation robots, the research history and product application status of the intelligent development of coal mine transportation equipment in China were summarized from three aspects:coal mine main transportation, auxiliary transportation, and open-air transportation.The functional requirements of transportation robots in the key R & D catalog of coal mine robots were proposed.Based on the 11 types of transportation robots initially defined in the document, three types of coal mine transportation robot systems were proposed from the perspective of robotics: induction robots, cleaning service robots, auto driving system and unmanned vehicle.Considering safety as the first element, one kind of general security objective was proposed from the perspective of coal mine robots: active safety systems and linkage safety systems.Taking the above four aspects as main line, the future development trend of coal mine transportation robot was analyzed comprehensively.Finally, by passing the special technology of coal mine robots, and focusing on the common research of three types of transportation robots, several key technologies suitable for them were proposed: real-time target detection, coal mine environment positioning navigation and obstacle-avoidance in coal mine, path planning and trajectory tracking control, drive-by-wire technology, and manned/unmanned system collaboration, systems.The application of various technologies in different robots were analyzed in detail, and it was pointed out that the development goal of coal mine transportation robots is to form a man-machine integration state: manned mining intelligent transportation system, and unmanned transportation robot platform.