In view of the actual needs on the fault detection and foreign object removal of GIS compartment

a kind of detection and maintenance robot of gas-insulated switchgear that combines a flexible arm and a wheeled mobile plat-form is developed. On the basis of this robot

the robot control system with the microprocessor STM32 and the computing module Jetson Xavier NX as the core and fusion of multi-sensor is designed

which realizes the functions of real-time remote video detection and motion control of the robot and

with combination of the foreign object detection and positioning algorithm

realizes a intelligent control scheme of flexible arm. The final test results show that the robot can operate smoothly inside the compartment of GIS

realize fault detection and removal foreign object and possess a good real-time performance.