Automatic tracking obstacle avoidance method suitable for transformer substation inspection robot

The invention discloses an automatic tracking obstacle avoidance method suitable for a transformer substation inspection robot, and aims at overcoming the defects that the transformer substation inspection robot is low in navigation positioning flexibility and has high requirement for the environment and facilitating development of the inspection robot. The method can be combined with the small inspection robot for inspection for a transformation station control room. The method comprises the steps: (1) laying a guide rail; (2) turning on a headlamp; (3) tracking motion; (4) obstacle avoidance; (5) arriving at a destination; and (6) returning to the starting point. Thus, the inspection robot can run along the preset rail, and in the running process, can automatically check the preset rail,and forwarding on the straight and arc-shaped rails can be realized. The robot can be automatically corrected if there is deviation, and thus, returned to the preset rail. When the robot detects thatthere is an obstacle in f