Live cleaning robot system and method for insulators of transformer substation

The invention provides a live cleaning robot system and method for insulators of a transformer substation. The live cleaning robot system comprises a cleaning part and an insulator positioning part, wherein the cleaning part is used for starting live cleaning of the insulator when the center of a semicircular encircling device is superposed with the axis of each insulator; the insulator positioning part comprises at least two image acquisition devices; the image acquisition devices are uniformly arranged in the semicircular encircling device and used for acquiring images of the semicircular encircling device in the semicircular range and simultaneously transmitting the images to a processor; the processor performs image segmentation on the images based on a Cartesian space threshold segmentation algorithm, and checks in real time whether all images received simultaneously contain the insulators or not according to a multi-scale insulator sample library; if yes, whether the axes of theinsulators are located at