Abstract: We design an underground mobile monitoring robot system based on OpenWrt. The system adopts the OpenWrt routing equipment, which establishes a wireless communication link between the coal mine and the ground control terminal, and the remote monitors can obtain downhole real-time pictures and underground environmental composition parameters through the underground moving monitor robots. At the same time, the system is equipped with six degrees of freedom manipulator, which makes it be able to carry underground high-definition camera and other sensors, and realizes non-dead angle monitoring. The experimental results show that the system not only achieves wireless video monitoring and data transmission function, but also has the advantages of low cost, high reliability and strong expansibility.