Abstract: In order to solve the problem of manual inspection of return air roadway in Zhangjiamao Coal Mine, an intelligent inspection robot system of return air roadway with the functions of equipment inspection and environment detection is designed. Through the detailed research and design of the inspection robot, drive execution, damper control, communication network construction, energy supply and other subsystems in the system, it can walk autonomously and locate accurately in the complex unstructured environment of coal mine, and collect the image, sound and environmental parameters of the inspection site in real time by carrying a variety of sensors. It can realize the functions of working condition detection, deformation detection, gas concentration and other environmental perception, data processing and early warning, and human-computer interaction. The practical application results show that the inspection robot system can replace the manual inspection, realize the detection, early warning, judgment and analysis of return air roadway, reduce the workload and safety risk of inspection personnel, simplify the complexity of inspection task, reduce the number of inspection personnel, and achieve “reducing personnel and increasing efficiency”.