The invention discloses a control system of a rail-type inspection robot in a transformer substation based on an ARM. The control system comprises a main controller, a communication module, a motor control module, a navigation positioning module, a safety protection module and a power management module. As for the work process, a background management system sends a work task command to the main controller through the communication module, the position of the robot is determined according to the information obtained by the navigation positioning module, then a motor control module controls a motor to rotate to the designated work position, in the process, the safety protection module detect the advancing direction in real time, if an obstacle is discovered, the obstacle is fed back to themain controller, and the main controller enters a protecting module. The control system can replace manual work to realize all-round and multi-angle inspection work, the safety risk of operation and maintenance staffs is lowered, and the inspection quality is also improved.