A kind of substation equipment mobile inspection system based on mobile robot is introduced to help operators find equipment abnormity such as surface and overheat defectiveness by remote or autonomous control. The overall structure of mobile robot system and the substation equipment inspection system on the robot platform are described. The implementation of primary equipment visible and infrared image inspection

meters autoexamination and mobile object detection by using sensors such as visible and infrared light CCD camera

high performance directional mic is given. The industrial operation of the system shows that the combination of the non-contact mobile inspection mode of the robot system with the contact mode of the substation automatic system can form a kind of full monitor system for the substation to greatly improve the safety and reliability of the substation operation.