Safety control method and system for foot type inspection robot for transformer substation

The invention discloses a safety control method and system for a foot-type inspection robot for a transformer substation. The method comprises the steps of acquiring pavement feature information and to-be-inspected power equipment information in a set range around the robot, and forming three-dimensional point clouds; converting coordinates of the three-dimensional point clouds into coordinates in a ground coordinate system; determining the range of an advancing channel based on the size of the foot type robot; and determining a passing strategy of the foot type robot based on the number of the point clouds in the distance range of the advancing channel. According to the method and the system, obstacle avoidance can be realized in a foot lifting and squatting mode, meanwhile, it is guaranteed that swing legs are vertically lifted when the foot type robot advances, and the phenomenon that the swing legs kick the ground or the vertical surface to affect the balance can be avoided. 本发明公开了一种变电站足式巡检机器人安全控制方法及系统，包括