Development of automatic line-tracking inspection device for high voltage transmission lines based on ground control

A new inspection device which can move on the high voltage transmission lines and control on the ground by people is presented. This device has three mechanical arms, every arm can lift and rotate automatically, and manipulator can open and close automatically. The flexible design is used in lower riding wheel, this design can make the upper and lower riding wheel automatically adjustment, so as to adapt to the change of wire diameter. Automatic checking and autonomous negotiating obstacles are realized successfully in this device. The biggest breakthrough is that its automatic on-line or offline can be completed by operator operating the auxiliary tools on the ground. The process of on-line or off-line automatically and the process of negotiating obstacles are discussed in this paper, and also the design of control system is introduced. This control system is consisted of the device main body control system and the ground monitoring system. The results of experiments with simulation transmission lines demonstrate that the device has realized the specified work tasks and runs smoothly.