中文摘要：

介绍了一种沿（超）高压多分裂输电线路行驶的自主巡检机器人,包括自主巡检机器人本体、地面基站、巡检后台管理系统.机器人机械结构的设计针对多分裂线路特色的障碍物如均压环、间隔棒的结构特点以及线路受到多种作用力后复杂变形的几何特点完成,使得机器人能顺利通过各种障碍物,完成线路的全程自主巡检.通过介绍本系统的关键技术：移动机器人机构、控制系统设计、基于电磁导航与机器视觉的自主巡检系统,给出自主巡检机器人的一个典型实例.不同环境下的现场运行试验表明,该巡检机器人系统正确、实用.

英文摘要：

This paper proposes a type of autonomous inspection robot system for（ultra） high voltage bundled transmission line,including an autonomous inspection robot,base station,backend management system.The design of mechanical structure,aiming at structural features of conductor spacer and grading ring and geometric features of lines carrying capability,makes the robot clear every obstacle on line smoothly,realizes an autonomous inspection through whole course.The key techniques include the inspection robot＇s mechanism,the design of control system,autonomous inspection system basing on electromagnetic navigation and machine vision.A typical application of autonomous inspection robot was carried out in this paper to verify the practicability of the autonomous inspection robot system based on the running tests in different working conditions.