Method for controlling switching operation sequences of full-automatic transformer substation based on mobile robot

The invention relates to a method for controlling switching operation sequences of a full-automatic transformer substation based on a mobile robot. The method comprises the following steps: 1) a transformer substation sequential control platform carries out a switching operation and simultaneously sends a device detection command to a mobile robot background through an IEC61850 protocol; 2) the mobile robot background receives the device detection command sent by the transformer substation sequential control platform and then issues the device detection command to the mobile robot; 3) the mobile robot receives the device detection command and then collects visible lights and infrared images of the related devices and uploads to the mobile robot background through a wireless network bridge; 4) the obtained visible lights and the infrared images are analyzed by utilizing an image analysis algorithm and the recognition result is reported to the transformer substation sequential control platform through the IEC61850 protocol; and 5) the transformer substation sequential control platform receives the device state reported by the mobile robot background, drives the continuation of the switching operation according to the state and automatically realizes the switching operation sequential control process for the transformer substation.