| In order to guarantee the safe and steady operation of high-voltage power transmission line, it is necessary to inspect it periodically. At present manual inspection along the transmission line tower by tower is usually used to do it. It is laborious, high cost and dangerous. Now as the development of robot technology, it is necessary to develop line-inspecting robot, which aims at the relief of workload. This paper focuses on 110kV high voltage transmission line inspecting robot.Firstly, the researches on inspection robot are introduced, especially some typical robot prototypes. And some key technologies of inspection robot are proposed.Aim at the actual conditions and the type of obstacles of 110kV high voltage transmission line, an overall new mechanical configuration is designed. Then a Cyclic-Coordinate Descent iterative algorithm was introduced, the inverse kinematics of the robot was analyzed. Simulated experiment shows the recursion algorithm is strong compatible and well convergent. It is well compatible for on-line computation and propitious to the kinematics controlling of inspection robot. And the feasibility of the mechanical configuration is validated simultaneously.About the characteristics of multi-joint inspection robot's complicated operating environment and various sensor information, hybrid control method which was self-control based on repository plus remote master-slave control based on sight was adopted to successfully resolve the problems that were hard for robots to control. Under the self-control mode, robot's independent creep and crossing obstacle were realized, with layered hierarchical control structure adopted and tasks reasonably allocated and coordinated.To resolve the energy problem caused by inspection robot for transmission line, a integrated device was designed to charge up Self-supplying Power Source and intelligent battery of high-voltage overhead power transmission lines. It can not only changes magnetism energy around the high voltage transmission lines into energy, to supply power for external load, but also charge backup battery by charging circuit. So it eliminated the infection on inspection work caused by changing battery frequently, inspection efficiency was enhanced greatly.Aiming at the complex context of experiment simulation line, According to the shape difference of typical obstacles, many kinds of image processing technologies and a suit of strong anti-jamming, high speed fuzzy model obstacle recognition algorithm based on the principle of the largest membership function were integrated to realize the accurate, reliable identification for the typical obstacles to transmission line.Broken signal is decomposed by six level wavelet using db4 wavelet base, aiming at the non-stationary nature of strand broken signal and the time-frequency character of wavelet bases. In order to resolve problems caused by simply adopting wavelet transform, such as more decomposition information, too many eigenvalues that hard to extract, and difficulties to realize online inspection and diagnosis, the wavelet energy entropy is introduced in the paper. When smaller BP network is adopted, the online precise diagnosis to the aluminum stranded conductor strand broken by inspection robot will be realized. System experiment shows the feasibility and the validity of the method of strand broken detection and diagnosis based on wavelet entropy.
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