输电线路杆塔攀爬巡视机器人研制

输电线路杆塔结构复杂，而针对杆塔巡视的攀爬机器人的研究比较少。基于杆塔的T型防坠落导轨，研制了一种采用永磁吸附方式实现杆塔攀爬功能的巡视机器人，解决了机器人在输电线路杆塔上的可靠吸附及攀爬巡视问题。杆塔巡检人员通过遥控系统对机器人进行远程控制，利用机器人搭载的云台摄像头获取图像视频信息，并通过图传系统传输到手持显示终端，实现了对杆塔及防坠落导轨的巡视工作，能有效地发现杆塔存在的问题，便于杆塔巡检人员及时掌握缺陷信息并消除缺陷，为巡检人员提供科学的决策依据。

Development of Climbing Inspection Robot for Power Towers

Due to the complicated structure of power towers, researches rarely focus on climbing robot for tower inspection. Based on the T-shaped fall-prevention rail of tower, an inspection robot is developed with tower climbing function realized through permanent-magnetic adhesion, which has solved the adhesion and climbing problems for inspection. The robot is operated by inspector through remote-control system. The image and video information is obtained via pan/tilt camera on the robot and can be transmitted to handheld display-terminal through image transmission system. The robot inspection of tower and fall-prevention rail is thus achieved and any defects of towers can be discovered effectively. The developed robot is convenient for inspectors to keep well informed about tower defects and remove them timely.