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Safe and reliable electricity supply system is the basic condition for human daily life and production operations . Long-distance power transmission must rely on high-voltage transmission lines , and its ability to be safe and stable operation of a direct impact on the reliability of the power system . Therefore, regular high-voltage power line inspection and maintenance is a very important job . Traditional power line inspection manual inspection method and helicopter aerial survey method , low efficiency , high cost , heavy workload , operating dangerous drawbacks . The design and development of high-voltage power line inspection robot that can improve inspection efficiency and accuracy , and reduce costs , and eliminate potential accidents . The paper discusses in detail the design and development process of a high-voltage power line inspection robot control system features modular design methods to develop each subsystem . First, through the analysis of the process of inspection robot for the job , to establish the overall design of the system . Hardware design , around the PC/104 single board computer , designed and developed a motion control module , data acquisition module , image acquisition modules, wireless communication module . PC/104 single board computer has a resource-rich , compact structure , development shortcuts and other advantages ; the CPLD development of motion control card , the development of flexible , easy program modification , stepper motor control 19 Road signal easily achieve speed control , direction control and position control ; the AD7891 chip collection data acquisition module with high conversion accuracy analog signal , digital signal collected by interrupt reuse ; image acquisition module has a split screen function , 4-channel images can be displayed simultaneously ; industrial grade wireless module the structures of the upper and lower machine data transmission channel , has a strong anti-jamming capability compact , lightweight , low power consumption . Lower machine applications in terms of software design , based on Visual C development , give full play to the PC/104 hardware advantage , shorten the software development cycle ; SCADA software based on Visual Basic development , have improved the monitoring function . Finally, experiments of motion control system operation , testing and inspection . The experimental results show that the inspection robot with crawling , obstacle clearance , inspection of operating capacity , the basic realization of the design requirements of the system has a certain value .
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