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.

针对煤矿灾害发生后复杂的矿井环境，提出一种用于救援机器人的分级扩展式快速扩展随机树(CERRT)算法。

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Building of Mine Fire rescue DSS (MFRDSS) can provide referential or usable plans and measurements for the work of disaster rescue, and aid people to make decisions.

建立矿井火灾救灾决策支持系统(MFRDSS)能够给救灾工作提供可供参考或使用的救灾方案和措施，起到辅助决策的作用。

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However, refuge chamber or rescue capsule is a closed space, it for the underground work who cannot evacuate provide a avoid disaster in time and win the rescue time when coal mine accident.

然而，避难硐室或救生舱就是这样一个在煤矿发生事故时为无法及时撤离的井下作业人员提供一个躲避灾难、赢得救援时间的安全的密闭空间。

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