Abstract: The battery used by the patrol robot of substation is powered by batteries, existing has some problems such as long charging time, low automation degree of charging and being unable to realize 24-hour interrupted uninterruptible power supply. In view of this situation, a hybrid power supply method combining the wireless power supply system of multi-guide rail and battery is proposed. The scheme method enables the robot to obtain the required electric energy and charge the battery during the inorbit. When the robot derails as inspecting, it gets electricity from the battery. In order to estimate the remaining battery power accurately, the Kalman filter algorithm is applied. The accuracy of estimating remaining battery residual power estimation and the stability of wireless power supply of multiple guides are simulated and analyzed by Matlab respectively, through which the feasibility of the scheme method is verified.