Abstract:In order to solve the problem of artificial water flushing equipment of Substation, this paper introduces a new live water flushing working mobile robot of substation and its open control system architecture. Firstly, it introduces the overall design of the live water flushing working mobile robot of substation, and then gives its open control system architecture. The live water flushing working mobile robot of substation uses open control system based on PC, touch screen and motion controller, so it can improve the openness and interaction performance of the control system; And control system based on the idea of hierarchical control is divided into three levels including the organization level, the coordination level and the execution level, so ensures the real-time work of motion control algorithm and the coordination of each subsystem through the cooperation of each layer.