Abstract:At present, the weeding work in domestic substations is mainly done manually, and the quality of weeding is significantly affected by the skill level of weeding workers. In addition, in the process of weeding, the weeding workers may contact with the high-voltage equipment in the substation due to their own carelessness, and there is the risk of personal electric shock, which shows that weeding automation is imperative.Based on the research at home and abroad of Weeding robots ,the purpose and practical significance of developing the Weeding robot are expounded in this article;After analyzing and demonstrating the feasibility of Weeding robot with LEGO (Lego) material,the structure of Weeding robot was designed;The spraying trajectory of the Weeding robot was planned,and the semicircle surface and plane spraying operation were realized,and a PID control algorithm is used to design the motion path of the robot car with irregular curve.