针对煤矿井下综采工作面生产安全、设备运行状况监测等问题，设计了一种柔性轨道式综采工作面巡检机器人系统。重点介绍了该机器人系统的组成结构，分别论述了巡检机器人本体、基站和远程工作站的设计方法，阐述了适用于工作面狭小空间、多弯曲度的柔性轨道组成和结构设计，最后介绍了包括多机器人协作方法等巡检机器人系统的控制软件设计方法。研究表明：该巡检机器人系统监测功能齐全、适应能力强，解决了在煤矿井下工作面有限空间内、复杂工况下的生产监控问题。

In view of the problems of production safety and equipment operation monitoring of fully-mechanized mining face in underground coal mine, a flexible track inspection robot system for fully-mechanized face was designed.Composition of robot system was introduced, and design methods of inspection robot body, base station and remote workstation were discussed respectively. The flexible track composition and structure design suitable for narrow space and multi-curvature of the working surface were expounded. Finally, the control software design method of the inspection robot system such as a multi-robot cooperation method was introduced. The research shows that the inspection robot system has complete monitoring functions and strong adaptability, which solves the production monitoring problem under complicated working conditions in the limited space of coal mine working face.