The invention discloses a crawler-type inspection robot for a transformer substation, a charging device, a charging system and a charging method, and belongs to the technical field of wireless charging. The charging system comprises a transmitting part and receiving part. According to the crawler-type inspection robot for the transformer substation, a coil is arranged in a crawler belt, the coupling coefficient is increased, the energy transmission efficiency and power are improved, the charging process is accelerated, and the inspection robot works uninterruptedly. The wireless electric energy transmission technology is applied to the crawler-type inspection robot, pickup coils are dispersedly embedded into a crawler, and energy transmitting coils are arranged on the ground surface, so the receiving coils and the transmitting coils can be close to each other, the transmission efficiency and power are improved, and the coupling influence among the receiving coils is reduced; a single track receiving coil unit module is packaged in an integrated mode, a plurality of modules are assembled to be spliced into a whole track, and electric energy picked up by a receiving unit is connectedin series, and is output, stabilized voltage and filtered to be charged to a storage battery.