Aiming at problem that environment of substation is complex

manual inspection is labour-intensive and inefficiency

inspection robot system based on laser radar is studied. The environment map is built by laser simultaneous localization and mapping（ SLAM） algorithm

and real-time positioning is carried out by using adaptive Monte Carlo localization（ AMCL） algorithm

combined with data of laser and odometer. The global path planning and point to point navigation algorithm is designed for the substation environment

calibrate the inspection coordinates and the key points in the path. The experimental results show that the inspection robot can work effectively indoors and outdoors. The mean absolute error of X and Y directions both indoor and outdoor test conditions is less than 2 cm

and the mean absolute error of angles is less than 2°.