Yiri’s rail-mounted robot system is mainly composed of the robot body, motion mechanism and upper computer monitoring system. The upper computer monitoring terminal sends control commands to underground robots. The rail-mounted robot is a self-powered robot for underground inspection, integrating the sensing technology, robot technology and artificial intelligence analysis technology. It has the functions of real-time power monitoring, self-feeding charging, data collection and analysis, etc. While moving, it is capable of analyzing equipment faults according to videos and infrared thermal images, violations of personnel, etc. The fully charged robot has a life of 8h, of which the motion mileage is up to 12km (0.5m/s by default on the horizontal track).