分析了井下钻孔机器人避障中超声波传感器的局限性，并提出解决方案。
Analyzed the limitation of the ultrasonic sensor in the underground drilling robot avoids obstacle, put forward the scheme solved.
利用超声波对钻成孔进行检测，可以直观地给出钻孔的垂直度、孔径等参数。
The image of drilling hole can be intuitively given by using ultrasonic detection.
结合设备所采用的超声波多工具钻孔技术；解决的关键技术和整机的实用效果。
In combination with the ultrasonic multi-tooling techniques, the key problems tackled in the research and the practical application of the machine are also presented.
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