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China have a large of coal resources, while the accidents due to gas explosions, gushing water, fire and other factors often happened every year. This paper presents a system of robot's sensors and obstacle avoidance which suitable for detecting mine environmental information. The sensor system that composed of gas sensors, temperature sensors, pressure sensors and obstacle avoidance sensors, enable the robot to finish the detection of mine information successfully and play an important role in taking rescue work favorably. The system of obstacle avoidance is mainly composed of industrial computer and its board. The robot can realize the intelligent and autonomous obstacles-avoiding movement in mine by an advanced navigation technology of fuzzy neural network based on T-S model. The simulation experiments show that this system of sensors can achieve security obstacle avoidance, and detect the information in mine accurately and timely which can support accurate foundation for rescue work.