With the release of the "Catalogue of Key Research and Development of Coal Mine Robots" issued by the National Coal Mine Safety Supervision Bureau and the Heilongjiang Provincial Development and Reform Commission and other six departments on the issuance of the "Implementation Plan for Accelerating the Development of Low-altitude Economy in Heilongjiang Province" and other policy support and technological progress, coal mine robot applications It is entering a stage of rapid development. Based on the high requirements of high-quality development of the coal industry for coal mine safety, the team has developed a kind of cooperative inspection robot based on the application of transcellular air-ground amphibious multi-scene application in combination with university research institutes, simulated practice mines and Xutuan coal mine substation to solve the problems of frequent coal mine safety accidents, poor operation reliability and low work efficiency of traditional inspection robots. The robot has the advantages of wide coverage, strong system reliability, fast response speed and high cost-effectiveness. Robot collaboration by carrying multi-line radar and camera mapping inspection robot for the entire unmanned mine or substation to create a three-dimensional point cloud map. Create inspection conditions for other robots based on this map. A drone with an integrated cell structure to respond to emergencies or complex terrain. The UAV uses a Dynamixel steering gear to realize arm steering, combined with FOC algorithm to drive a brushless motor, which can switch between flight and land modes in 1.2 seconds. On the outside of robot collaboration, we have a QT-based key control interface to ensure that staff can perform remote observation and maintenance work anytime and anywhere. At present, the project has completed the whole process of inspection in the simulated mine and Xutuan Coal Mine Substation in the school and put it into use in advance.