1.College of Mechanical and Electrical Engineering， China University of Mining and Technology，Xuzhou ，China；2.CNPC Pipeline Bureau No.2 Engineering Company Limited，Xuzhou ，China

Coal mine robots work in underground hazardous gas environment， especially for underground mobile inspection robots.The power supply mode of power system is mainly based on lithium battery power supply.At present， Coal Mine Safety Regulations have strict restrictions on the use of lithium batteries， and its charging must be carried out in a dedicated charging chamber.In order to improve the cruising ability and practicability of coal mine robots， a kind of intelligent and safe charging system for coal mine robots is studied in this paper， and a special charging chamber for coal mine robots is proposed.The underground intelligent rails and indoor charging technology for coal mine robots are designed.It consists of coal mine robots， robots moving rails， intelligentrails for steering of coal mine robots， and indoor charging piles.Through the design of special charging shafts and intelligent rail technologies for underground inspection robots， the patrol robot is charged in the orbit of the mine， which is beneficial to the uninterrupted intelligent inspection of the inspection robot.

国家自然科学基金资助项目（51875568）；国家重点研发计划资助项目（2018YFC0604503）；中国矿业大学大学生创新资助项目（DCXM201933）；国家煤矿安全监察局委托资助项目（2019-行管司-022-2）