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Inspection robot is a promising technique in automatic fault detecting for high-voltage power transmission lines. However, the small energy capacity and poor life of the battery hold back the application of inspection robots. To solve this problem, a self-power supply system is designed to realize the online battery charging by utilizing the voltage induced from the current on the transmission line in this paper. The key issues in the optimal design and practical implementation are discussed in details, including the induction module, the power conversion module. Experiments have been carried on to demonstrate the validity and effectiveness of the designed self-power supply system for inspection robots.