The invention relates to a
coal mine rail
robot inspection method based on multi-sensor equipment fusion, a rail
robot carries an
obstacle avoidance camera, a pan-tilt camera, an
obstacle avoidance sensor and an
encoder, and the method comprises the following steps: S1, the rail
robot runs along a rail and obtains position information; s2, the track robot obtains a track condition image in the moving direction in the moving process, and meanwhile the distance of an obstacle in the moving direction is judged; s3, if it is judged that an obstacle exists in the track condition image and the
object distance of the obstacle is smaller than a braking threshold value, the track robot starts to
brake, and otherwise, the track robot continues to move; s4, after the rail robot moves to the target position, the rail robot stops, the target is detected, and after detection is completed, the rail robot continues to run along the rail; and S5, repeating the steps S1 to S4 until the inspection is completed. Through control and
data acquisition of a plurality of sensors, precise positioning of the inspection target and the track robot is realized, the inspection efficiency is improved, and the situation of
false alarm touch is reduced.