中文摘要：

介绍了一种沿架空地线行驶的输电线路自主巡检机器人系统,包括自主巡检机器人本体、地面基站、巡检后台管理系统,以及地线无阻挡道路结构等.开发的新型防震锤线夹、组合悬垂线夹和跨越耐张杆塔头柔性过桥等结构,使得机器人可以无阻挡地通过防震锤、直线杆塔和耐张杆塔等而无需跨越障碍物.着重介绍了自主巡检机器人的如下关键技术：移动机器人机构、自主移动导航、电源及其管理系统和机器人本体的系统集成,给出了自主巡检机器人的一个典型实例.通过不同环境的运行试验,表明提出的巡检机器人系统的正确性和实用性.

英文摘要：

A type of autonomous inspection robot system for transmission line along overhead ground line,including an autonomous inspection robot body,base station,admin system,ground line and no-obstacle moving path.The new type of damper clamp,assembled suspension clamp and flexible overcoming tension bridge,which are developed to enable the robot overcome the damper,suspension tower and the tension tower without encountering obstacles.The key techniques include the inspection robot＇s mechanism,autonomous motion navigation,power source and its management system,and robot body integration.A typical application of autonomous inspection robot is carried out to verify the practicability of the autonomous inspection robot system based on the running tests in different working conditions.