Abstract: The three-dimensional obstacle avoidance and detection system is developed based on the analysis of the existing obstacle avoidance technology for trackless equipment.An intelligent obstacle avoidance and early warning method for trackless mining equipment in underground mine based on three-dimensional environment detection is proposed.The background of the technology is introduced and the roadway detection model is established,including the methods for transverse distance and longitudinal distance judgment.The method is applied to a LHD and the results show that the method has effectiveness and wide application prospects for unmanned LHD.