The research and development of a number of underground coal mine detection and inspection robot, suitable for underground mining working face, return air lane, shaft, roadway and other working environment, has the functions of autonomous movement, positioning, image acquisition, intelligent perception, early warning, human-computer interaction and other functions, to realize equipment operation condition detection, facility condition diagnosis, deformation detection, hazardous gas concentration and concentration distribution, and environmental temperature sense It has strong ability to surmount obstacles and environmental adaptability. At the same time, it can be equipped with multi joint manipulator to carry out underground remote control operation.