Development of a Mobile Inspection Robot for High Voltage Power Transmission Line

摘要

An inspection robot for 220 kV high-voltage transmission line is presented. Its characteristics are as follow. Firstly, it achieves the automatic motion on a live line (rolling, crawling and spanning obstacles) with the minimal freedom degrees, smart mechanical structure and the mixed reaction with multi-transducers and machine vision. Secondly, it can automatically supply the electrical energy for itself through current transformer technique. Last, it can detect and diagnose the malfunction of the lines with visible light and infrared imaging instruments, and has the function of management for the inspecting data and diagram information. The robot has passed the test on a field live line and demonstrates its broad application prospect.