Electric iron tower inspection robot with climbing and crossing functions and inspection method

Abstract

The invention discloses an electric iron tower inspection robot with climbing and crossing functions. The electric iron tower inspection robot comprises a moving part, an upper computer module and a lower computer module, the moving part comprises a four-section type mechanical arm, a grabbing mechanism and a rotating device, and the climbing and crossing functions can be achieved. The upper computer module integrates a depth camera and a visual model and is used for acquiring images in real time, detecting obstacles in a climbing path, measuring a target distance and identifying defects of a power transmission line, and transmitting a processed control instruction to the lower computer module through serial port communication; the lower computer module receives a control instruction of the upper computer module, motion control over the mechanical arm and the grabbing mechanism is achieved by driving the rotating device, and the actions of climbing, obstacle crossing and adsorption fixing are completed. The upper computer module and the lower computer module are arranged on the moving part. The electric power iron tower inspection robot can move to realize seamless switching between a climbing mode and an obstacle crossing mode, and can adapt to a complex environment.

Description

Technical Field

[0001] The present invention relates to the field of power system maintenance, and in particular to an electric tower inspection robot with climbing and climbing functions, which can be applied to scenarios such as electric tower inspection, transmission line defect detection, and safe return after mission completion. Background Art

[0002] With the increasing demand for intelligent and automated power systems, traditional manual inspection methods face huge challenges in terms of efficiency, safety and cost. Especially in high altitudes, complex terrain and harsh climate environments, manual inspections are not only high-risk, but also inefficient and costly. In order to improve inspection efficiency and safety and reduce the risks of manual operation, power tower inspection systems based on robot technology have gradually become an important research direction. The development and application of intelligent robot technology has become an important support in the field of power inspection, which can effectively reduce manpower consumption, improve operation safety, and promote the intelligent development of power systems.

[0003] Existing power tower inspection robots mostly adopt a single function design, such as only having climbing or only having defect detection functions, which is difficult to meet the needs of efficient inspection in complex environments. CN119141569A discloses a power tower inspection robot, which has only a simple upward climbing function and cannot avoid large obstacles, so it cannot adapt to complex environments.

[0004] In addition, existing robots still have certain shortcomings in path planning and inspection accuracy. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a power tower inspection robot with climbing and climbing functions, which can realize seamless switching between climbing and obstacle crossing modes and can adapt to complex environments. At the same time, it can accurately determine the path, identify obstacles and defects, improve inspection accuracy, and reduce the risk of manual inspection.

[0006] The invention discloses an electric iron tower inspection robot with climbing and climbing over functions, comprising a moving part, an upper computer module and a lower computer module; the moving part comprises a four-section mechanical arm, a grasping mechanism and a rotating device, and can realize the climbing and climbing over functions; the upper computer module integrates a depth camera and a visual model, and is used for real-time image acquisition, obstacle detection in a climbing path, target distance measurement and power transmission line defect recognition, and transmits processed control instructions to the lower computer module through serial port communication; the lower computer module receives the control instructions of the upper computer module, realizes the motion control of the mechanical arm and the grasping mechanism by driving the rotating device, and completes the climbing, obstacle climbing and adsorption and fixing actions; the upper computer module and the lower computer module are both arranged on the moving part.

[0007] Furthermore, the moving parts include grasping mechanism I, grasping mechanism II, depth camera I, depth camera II, short-range arm I, short-range arm II, long-range arm I, long-range arm II, rotating device I, rotating device II, rotating device III, rotating device IV, and rotating device V. The short-range arm I and the long-range arm I are connected through the rotating device I, the long-range arm I and the long-range arm II are connected through the rotating device II, and the long-range arm II and the short-range arm II are connected through the rotating device III; the grasping mechanism I is connected to the short-range arm I through the rotating device IV, and the depth camera I is arranged on the grasping mechanism I; the grasping mechanism II and the short-range arm II are connected through the rotating device V, and the depth camera II is arranged on the grasping mechanism II.

[0008] Furthermore, the moving part also includes an electromagnetic adsorption device I and an electromagnetic adsorption device II. The electromagnetic adsorption device I is hinged to the grasping mechanism I, and the electromagnetic adsorption device II is hinged to the grasping mechanism II.

[0009] Furthermore, the power tower inspection robot also includes a host computer control subsystem and a slave computer execution subsystem; the host computer control subsystem is the intelligent decision-making center of the robot, which transmits control instructions to the slave computer execution subsystem; the slave computer execution subsystem is responsible for receiving host computer instructions and driving the moving parts to complete climbing, climbing over obstacles and adsorption and fixing actions.

[0010] Furthermore, the host computer control subsystem includes a remote control terminal, a visual processing module, and a wireless communication module: the remote control terminal is used to store the three-dimensional map of the tower, set the inspection path and issue control instructions; the visual processing module is used to integrate the depth camera and the visual model, collect images and environmental data in real time, detect obstacles in the climbing path, measure the target distance, automatically identify transmission line defects (such as rust, broken strands, missing bolts and foreign objects), generate motion planning instructions and synchronize them to the terminal through wireless communication; the wireless communication module is used to synchronize the detection data and task status to the user terminal, and support remote monitoring and emergency command issuance.

[0011] Furthermore, the lower computer execution subsystem includes a rotation device control unit, an electromagnetic adsorption device on-off control unit, and a motion feedback module: the rotation device control unit is used to accurately adjust the rotation angle of each rotation device through a PID algorithm to achieve relative rotation between the robotic arms and opening and closing of the grasping mechanism; the electromagnetic adsorption device on-off control unit is used to dynamically control the power on and off of the electromagnetic adsorption device according to the adsorption requirements to ensure the precise execution of the fixing and releasing actions; the motion feedback module is used to collect the robotic arm posture, joint torque and electromagnetic adsorption device status data in real time, and feed it back to the upper computer to optimize the motion planning.

[0012] Furthermore, the power tower inspection robot also includes an intelligent parachute subsystem, which provides protection for the safe recovery of the robot; the intelligent parachute system includes an intelligent control module, which can dynamically adjust the opening angle and deployment timing of the parachute according to the real-time measurement of the descent height, speed and posture, to ensure that the robot can achieve a smooth landing after the mission is completed or in an emergency; the intelligent control module is set on the robot.

[0013] The inspection method of the power tower inspection robot of the present invention comprises the following steps: 1. starting climbing with a creeping motion; 2. detecting obstacles in a path in real time; 3. avoiding obstacles with a climbing motion; 4. performing defect detection on the inspection area and recording defect data; and 5. returning to the ground through a parachute subsystem after completing the inspection task.

[0014] Further, step ① is specifically as follows: Ⅰ initial fixation: the robot grasps and adsorbs the iron tower through the grasping mechanisms and electromagnetic adsorption devices on both sides to achieve fixation; Ⅱ climbing: the short-range arm Ⅰ and the grasping mechanism Ⅰ remain stationary, the electromagnetic adsorption device Ⅰ remains powered on for adsorption, the grasping mechanism Ⅱ releases the iron tower, the electromagnetic adsorption device Ⅱ is powered off, the remote arm Ⅰ rotates counterclockwise around the rotating device Ⅰ by α°, the remote arm Ⅱ rotates clockwise around the rotating device Ⅱ by 2α°, the grasping mechanism Ⅱ and the electromagnetic adsorption device Ⅱ resume grasping and adsorption of the iron tower, thereby achieving the upward position of the short-range arm Ⅱ; Ⅲ: the short-range arm Ⅰ can be moved upward by performing similar relative movements between the mechanisms, thereby achieving the upward movement of the robot as a whole.

[0015] Further, step ③ is specifically as follows: when it is detected that the obstacle distance is less than or equal to the preset climbing threshold, the upper computer module immediately generates a climbing motion instruction; after receiving the instruction, the lower computer module drives the rotating device to coordinate the relative movement of multiple robotic arms, the short-range arm I and the grasping mechanism I remain stationary, the electromagnetic adsorption device I remains powered on for adsorption, the grasping mechanism II releases the tower structure, the electromagnetic adsorption device II is powered off, the short-range arm II rotates 180° counterclockwise around the rotating device III, the long-range arm II rotates 90° counterclockwise around the rotating device II, the long-range arm I rotates 180° counterclockwise around the rotating device I, the grasping mechanism II and the electromagnetic adsorption device II resume grasping and adsorption of the tower, and adjust the robot posture to maintain balance, ensuring that the entire avoidance process is smooth and reliable.

[0016] The advantages of the inspection robot of the present invention are: 1. The four-section mechanical arm of the moving parts takes into account flexibility and stability, and realizes seamless switching between climbing and obstacle crossing modes through coordinated movement of the rotating device, and can adapt to complex environments; 2. The visual system is combined with a deep learning algorithm to accurately determine the path, identify obstacles and defects, improve the inspection accuracy, and reduce the risk of manual inspection; 3. The modular design supports the rapid replacement of key components (such as electromagnetic adsorption devices, cameras), thereby improving maintenance efficiency; 4. The parachute system dynamically adjusts the parachute opening strategy to ensure the safe recovery of equipment and reduce operation and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the moving parts of the robot of the present invention;

[0018] Figure 2 It is a subsystem interaction block diagram of the robot of the present invention;

[0019] Figure 3 This is the control flow chart of the host computer;

[0020] Figure 4 It is the execution control logic diagram of the lower computer;

[0021] Figure 5 is a schematic diagram of the robot climbing of the present invention;

[0022] Figure 6 It is a schematic diagram of the robot of the present invention climbing over. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Example 1

[0025] from Figure 1 , Figure 2 It can be seen that the present invention is a power tower inspection robot with climbing and climbing functions, which includes a moving part, an upper computer module 17, and a lower computer module 18; the moving part includes a four-section mechanical arm, a grasping mechanism, and a rotating device, which can realize the climbing and climbing functions; the upper computer module integrates a depth camera and a visual model, which is used to collect images in real time, detect obstacles in the climbing path, measure the target distance, and identify transmission line defects, and transmit the processed control instructions to the lower computer module through serial port communication; the lower computer module receives the control instructions of the upper computer module, realizes the motion control of the mechanical arm and the grasping mechanism by driving the rotating device, and completes the climbing, climbing over obstacles and adsorption and fixing actions; the upper computer module 17 and the lower computer module 18 are both arranged on the moving part.

[0026] The inspection robot of the present invention can realize automatic climbing of power towers, path obstacle avoidance, transmission line defect detection and safe return after task completion in complex environments, which greatly improves inspection efficiency and operation safety.

[0027] Example 2

[0028] from Figure 1It can be seen that the power tower inspection robot of the present invention: the moving parts include grasping mechanism I3, grasping mechanism II4, depth camera I5, depth camera II6, short-range arm I7, short-range arm II8, long-range arm I9, long-range arm II10, rotating device I11, rotating device II12, rotating device III13, rotating device IV14, rotating device V15, the short-range arm I7 and the long-range arm I9 are connected by the rotating device I11, the long-range arm I9 and the long-range arm II10 are connected by the rotating device II12, and the long-range arm II10 and the short-range arm II8 are connected by the rotating device III13; the grasping mechanism I3 and the short-range arm I7 are connected by the rotating device IV14, and the depth camera I5 is arranged on the grasping mechanism I3; the grasping mechanism II4 and the short-range arm II8 are connected by the rotating device V15, and the depth camera II6 is arranged on the grasping mechanism II4.

[0029] The robot of the present invention: the short-range arm is responsible for adsorption and fixation while ensuring the obstacle crossing height, and the long-range arm provides the obstacle crossing span; the grasping mechanism realizes opening and closing by means of the rotation of the rotating device, thereby completing the grasping and attachment of the iron tower structure to achieve physical fixation; the pictures and data collected by the depth camera are transmitted to the upper computer module.

[0030] Example 3

[0031] from Figure 1 It can be seen that the electric tower inspection robot of the present invention: the moving parts also include an electromagnetic adsorption device Ⅰ1 and an electromagnetic adsorption device Ⅱ2, the electromagnetic adsorption device Ⅰ1 is hinged to the grasping mechanism Ⅰ3, and the electromagnetic adsorption device Ⅱ2 is hinged to the grasping mechanism Ⅱ4.

[0032] When the electromagnetic adsorption device is powered on, the adsorption force is enhanced to ensure climbing stability; the grabbing mechanism and the electromagnetic adsorption device work together to achieve firm adsorption and fixation of the tower.

[0033] The moving parts adopt modular design, and the key parts (including electromagnetic adsorption device, rotating device, etc.) are all pluggable structures, so that they can be quickly replaced and maintained without disassembling the main structure, thereby improving the reliability and service life of the equipment. The entire moving parts are made of high-strength aluminum alloy material, which has the advantages of high strength, corrosion resistance and light weight; it can adapt to complex climbing and obstacle crossing requirements; while reducing the overall weight, it improves the wind load and impact resistance.

[0034] Example 4

[0035] like Figure 2 As shown, the power tower inspection robot of the present invention also includes a host computer control subsystem and a slave computer execution subsystem; the host computer control subsystem is the intelligent decision-making center of the robot, which transmits control instructions to the slave computer execution subsystem; the slave computer execution subsystem is responsible for receiving the host computer instructions and driving the moving parts to complete climbing, climbing over obstacles and adsorption and fixing actions.

[0036] Example 5

[0037] The power tower inspection robot of the present invention: the upper computer control subsystem includes a remote control terminal, a visual processing module, and a wireless communication module: the remote control terminal is used to store a three-dimensional map of the tower, set the inspection path and issue control instructions; the visual processing module is used to integrate a depth camera and a visual model, collect images and environmental data in real time, detect obstacles in the climbing path, measure the target distance, automatically identify transmission line defects (such as rust, broken strands, missing bolts and foreign body entanglement, etc.), generate motion planning instructions and synchronize them to the terminal through wireless communication; the wireless communication module is used to synchronize the detection data and task status to the user terminal, and support remote monitoring and emergency instruction issuance.

[0038] The workflow of the host computer control subsystem is as follows: Figure 3 As shown: 1. Environmental perception and data acquisition: 1) The depth camera collects point cloud data and high-definition images of the tower surface; 2) The PP-YOLOE model processes the image in real time to identify the obstacle type, size and transmission line defect characteristics; 2. Path planning and instruction generation: 1) Based on the tower 3D map and real-time obstacle data, the optimal climbing path is generated; 2) When the obstacle distance is ≤ the preset threshold, the climbing action instructions are planned (such as adjusting the span of the robotic arm or switching the adsorption point); 3. Data synchronization and remote interaction: 1) The detection results (defect type, coordinates, timestamp) are uploaded to the user terminal through the wireless communication module; 2) Receive emergency stop, return or parameter adjustment instructions issued by the user.

[0039] Example 6

[0040] The electric tower inspection robot of the present invention: the lower computer execution subsystem includes a rotation device control unit, an electromagnetic adsorption device on-off control unit, and a motion feedback module: the rotation device control unit is used to accurately adjust the rotation angle of each rotation device through a PID algorithm to achieve relative rotation between mechanical arms and opening and closing actions of the grasping mechanism; the electromagnetic adsorption device on-off control unit is used to dynamically control the power on and off of the electromagnetic adsorption device according to the adsorption demand to ensure the accurate execution of the fixing and releasing actions; the motion feedback module is used to collect the mechanical arm posture, joint torque and electromagnetic adsorption device status data in real time, and feed back to the upper computer to optimize the motion planning.

[0041] The core control logic of the lower computer execution subsystem is as follows: Figure 4As shown: 1. Command parsing and allocation: 1) Receive motion commands sent by the host computer (such as "climb to coordinates X, Y, Z" or "climb over obstacles"); 2) Decompose the commands into underlying control signals such as the rotation angle of the rotating device and the on-off timing of the electromagnetic adsorption device; 2. Robot arm motion control: 1) The rotating device realizes precise positioning of the robot arm through closed-loop control, with an error range of ≤±0.5°; 2) The grasping mechanism and the electromagnetic adsorption device work together to ensure that each section of the robot arm is adsorbed and fixed before starting the next section of movement; 3. Real-time feedback and correction: 1) The grasping force of the grasping mechanism is monitored by a force sensor. If it is lower than the safety threshold, emergency braking is triggered and re-adsorption is carried out; 2) The inertial measurement unit (IMU) detects the posture deviation of the robot arm and dynamically adjusts the joint angle through the PID algorithm to restore balance.

[0042] Example 7

[0043] The electric tower inspection robot of the present invention also includes an intelligent parachute subsystem, which provides protection for the safe recovery of the robot; the intelligent parachute system includes an intelligent control module, which can dynamically adjust the opening angle and deployment timing of the parachute according to the real-time measured descent height, speed and posture, to ensure that the robot can achieve a smooth landing after the mission is completed or in an emergency; the intelligent control module 16 is arranged on the robot.

[0044] After the inspection mission, it can return to the ground through moving parts; the intelligent parachute subsystem can shorten the time to return to the ground.

[0045] The functions of the intelligent parachute subsystem include: 1) Sensor cluster: integrated air pressure sensor, inertial measurement unit (IMU) and anemometer to monitor descent height, speed and ambient wind speed in real time; 2) Intelligent parachute opening control module: dynamically calculate the best parachute opening time and angle based on sensor data to ensure a smooth landing of the robot after the parachute is deployed; 3) Emergency trigger mechanism: automatically trigger the parachute deployment program when a mechanical failure or communication interruption is detected to avoid equipment damage.

[0046] The triggering and execution process of the intelligent parachute subsystem is as follows: 1. Task completion judgment: 1) When the host computer detects that the inspection task is completed, it sends a "prepare for landing" command to the parachute subsystem; 2) The subsystem starts the altitude sensor and anemometer to continuously monitor environmental parameters; 2. Parachute opening strategy calculation: 1) The parachute opening angle θ is dynamically calculated based on the current altitude H, descent speed V and wind speed W, and the formula is: θ = K H ·H+K V ·V+K W W+C; where K H , K V , K Ware the weight coefficients of altitude, speed and wind speed respectively, and C is a constant term; 2) If it is detected that the current altitude is less than the safe altitude or the descent speed is greater than the critical speed, the parachute will be forced to open immediately; 3. Parachute deployment and landing: 1) The servo drives the parachute to deploy according to the calculated angle and maintains balance through the attitude adjustment plate; 2) After landing, the robotic arm retraction command is triggered to reduce the space occupied by the equipment for easy recovery.

[0047] Example 8

[0048] The inspection method of the inspection robot of the present invention includes: 1. starting climbing with a creeping motion; 2. detecting obstacles in the path in real time; 3. avoiding obstacles with a climbing motion; 4. performing defect detection on the inspection area and recording defect data; 5. returning to the ground through a parachute subsystem after completing the inspection task.

[0049] Example 9

[0050] The inspection method of the inspection robot of the present invention: Step ① is specifically as follows: Ⅰ Initial fixation: Figure 5 As shown in A, the robot grabs and adsorbs the tower through the grasping mechanism and electromagnetic adsorption device on both sides to achieve fixation; Ⅱ Climbing: Figure 5 As shown in B, the short-range arm Ⅰ7 and the grasping mechanism Ⅰ3 remain stationary, the electromagnetic adsorption device Ⅰ1 remains powered on for adsorption, the grasping mechanism Ⅱ4 releases the iron tower, the electromagnetic adsorption device Ⅱ2 is powered off, the long-range arm Ⅰ9 rotates counterclockwise around the rotating device Ⅰ11 by α° (depending on the path planning strategy) in the direction shown in the figure, and the long-range arm Ⅱ10 rotates clockwise around the rotating device Ⅱ12 by 2α° in the direction shown in the figure, and the grasping mechanism Ⅱ4 and the electromagnetic adsorption device Ⅱ2 resume grasping and adsorption of the iron tower, thereby realizing the upward movement of the short-range arm Ⅱ10. Similarly, the short-range arm Ⅰ7 can be moved upward by performing similar relative movements between the mechanisms, thereby realizing the upward movement of the robot as a whole, as shown in FIG. Figure 5 As shown in C.

[0051] Example 10

[0052] The inspection method of the inspection robot of the present invention: Step ② is specifically as follows: during the climbing process, the robot continuously uses the depth camera to collect image data of the surface of the power tower and the surrounding environment, and the integrated PP YOLOE visual model performs real-time analysis on the image, detects obstacles in the climbing path, and measures the distance between the obstacle and the robot;

[0053] Embodiment 11

[0054] The inspection method of the inspection robot of the present invention: Step ③ is specifically as follows: when the obstacle distance is detected to be less than or equal to the preset crossing threshold, the upper computer module immediately generates a crossing motion instruction; after receiving the instruction, the lower computer module drives the rotating device to coordinate the relative movement of multiple mechanical arms to complete the Figure 6After the fixed posture shown in A is prepared, the short-range arm Ⅰ7 and the grasping mechanism Ⅰ3 remain stationary, the electromagnetic adsorption device Ⅰ1 remains powered on for adsorption, the grasping mechanism Ⅱ4 releases the iron tower structure, the electromagnetic adsorption device Ⅱ2 is powered off, and the short-range arm Ⅱ8 rotates 180° counterclockwise around the rotating device Ⅲ13 (as shown in FIG. Figure 6 B), the remote arm II 10 rotates 90° counterclockwise around the rotating device II 12 (as shown in FIG. Figure 6 C), the remote arm Ⅰ9 rotates 180° counterclockwise around the rotating device Ⅰ11 (as shown in FIG. Figure 6 D), the grasping mechanism II4 and the electromagnetic adsorption device II2 resume grasping and adsorption of the iron tower, and adjust the robot's posture to maintain balance, ensuring that the entire avoidance process is smooth and reliable.

[0055] Example 12

[0056] The inspection method of the inspection robot of the present invention: Step ④ is specifically: when the robot arrives at the inspection area, the system switches to the defect detection mode; at this time, the depth camera and the visual model continue to collect and analyze images of the transmission line, and can detect defects such as rust, broken strands, missing bolts, and foreign body entanglement; after the detection data is processed in real time by the upper computer module, a detection report containing the defect type, occurrence time and specific location is generated, and uploaded to the remote terminal through the wireless communication module, so that the operation and maintenance personnel can timely grasp the equipment status and formulate subsequent maintenance plans.

[0057] The robot has the function of detecting defects in power transmission lines. It can identify defects, record the defect type, occurrence time and specific location information, and generate a detection report for reference in subsequent maintenance.

[0058] Embodiment 13

[0059] The inspection method of the inspection robot of the present invention: Step ⑤ is specifically as follows: when the inspection task is completed or an abnormal situation is encountered, the robot automatically switches to a safe return mode; the intelligent parachute subsystem collects the robot's descent height, speed and posture information in real time through sensors, and the intelligent control module calculates the best landing strategy, dynamically adjusts the parachute opening angle and deployment timing; the parachute subsystem is quickly deployed after startup to ensure that the robot obtains sufficient deceleration and stabilizing force in the air, thereby achieving a smooth and safe landing.

[0060] During the entire inspection process, the upper computer module, the lower computer module and each motion execution component of the inspection robot realize real-time information sharing through the high-speed data bus and the wireless communication module. The upper computer module is not only responsible for the collection and processing of image data, but also can monitor the robot's motion status and defect detection results, and can issue emergency commands through the remote terminal to ensure that the robot is always in a controllable state in a complex environment.

[0061] The advantages of the inspection robot of the present invention are: 1. The four-section mechanical arm of the moving parts takes into account flexibility and stability, and realizes seamless switching between climbing and obstacle crossing modes through coordinated movement of the rotating device, and can adapt to complex environments; 2. The visual system is combined with a deep learning algorithm to accurately determine the path, identify obstacles and defects, improve the inspection accuracy, and reduce the risk of manual inspection; 3. The modular design supports the rapid replacement of key components (such as electromagnetic adsorption devices, cameras), thereby improving maintenance efficiency; 4. The parachute subsystem dynamically adjusts the parachute opening strategy to ensure the safe recovery of equipment and reduce operation and maintenance costs.

[0062] Therefore, the inspection robot of the present invention can realize automatic climbing of power towers, path obstacle avoidance, transmission line defect detection and safe return after task completion in complex environments, which greatly improves inspection efficiency and operation safety, while reducing labor costs and operation risks. The robot is widely used in power system inspections in complex environments, has significant application value, and provides strong support for the intelligent development of power grids.

Claims

1. A power tower inspection robot with climbing and climbing functions, characterized by: It comprises a moving part, an upper computer module (17) and a lower computer module (18); the moving part comprises a four-section mechanical arm, a grasping mechanism and a rotating device, and can realize climbing and climbing over functions; the upper computer module integrates a depth camera and a visual model, and is used for real-time image acquisition, obstacle detection in a climbing path, target distance measurement and power transmission line defect identification, and transmits processed control instructions to the lower computer module through serial port communication; the lower computer module receives the control instructions of the upper computer module, realizes the motion control of the mechanical arm and the grasping mechanism by driving the rotating device, and completes the climbing, climbing over obstacles and adsorption and fixing actions; the upper computer module (17) and the lower computer module (18) are both arranged on the moving part.

2. The power tower inspection robot according to claim 1 is characterized in that: The moving parts include a grasping mechanism I (3), a grasping mechanism II (4), a depth camera I (5), a depth camera II (6), a short-range arm I (7), a short-range arm II (8), a long-range arm I (9), a long-range arm II (10), a rotating device I (11), a rotating device II (12), a rotating device III (13), a rotating device IV (14), and a rotating device V (15). The short-range arm I (7) and the long-range arm I (9) are connected via the rotating device I (11). The long-range arm I (9) and the remote arm II (10) are connected via a rotating device II (12), and the remote arm II (10) and the short-range arm II (8) are connected via a rotating device III (13); the grasping mechanism I (3) and the short-range arm I (7) are connected via a rotating device IV (14), and a depth camera I (5) is arranged on the grasping mechanism I (3); the grasping mechanism II (4) and the short-range arm II (8) are connected via a rotating device V (15), and a depth camera II (6) is arranged on the grasping mechanism II (4).

3. The power tower inspection robot according to claim 2 is characterized in that: The moving parts also include an electromagnetic adsorption device I (1) and an electromagnetic adsorption device II (2). The electromagnetic adsorption device I (1) is hinged to the grasping mechanism I (3), and the electromagnetic adsorption device II (2) is hinged to the grasping mechanism II (4).

4. The power tower inspection robot according to claim 2 is characterized in that: It also includes a host computer control subsystem and a slave computer execution subsystem; the host computer control subsystem is the intelligent decision-making center of the robot, which transmits control instructions to the slave computer execution subsystem; the slave computer execution subsystem is responsible for receiving host computer instructions and driving the moving parts to complete climbing, climbing over obstacles and adsorption and fixing actions.

5. The power tower inspection robot according to claim 4 is characterized in that: The upper computer control subsystem includes a remote control terminal, a visual processing module, and a wireless communication module: the remote control terminal is used to store the three-dimensional map of the tower, set the inspection path, and issue control instructions; the visual processing module is used to integrate the depth camera and the visual model, collect images and environmental data in real time, detect obstacles in the climbing path, measure the target distance, automatically identify transmission line defects (such as rust, broken strands, missing bolts, and foreign objects), generate motion planning instructions, and synchronize them to the terminal through wireless communication; the wireless communication module is used to synchronize the detection data and task status to the user terminal, and support remote monitoring and emergency command issuance.

6. The power tower inspection robot according to claim 4 is characterized in that: The lower computer execution subsystem includes a rotation device control unit, an electromagnetic adsorption device on-off control unit, and a motion feedback module: the rotation device control unit is used to accurately adjust the rotation angle of each rotation device through the PID algorithm to achieve the relative rotation between the robotic arms and the opening and closing of the grasping mechanism; the electromagnetic adsorption device on-off control unit is used to dynamically control the power on and off of the electromagnetic adsorption device according to the adsorption requirements to ensure the precise execution of the fixing and releasing actions; the motion feedback module is used to collect the robotic arm posture, joint torque and electromagnetic adsorption device status data in real time, and feed it back to the upper computer to optimize the motion planning.

7. The power tower inspection robot according to claim 4 is characterized in that: It also includes an intelligent parachute subsystem, which provides protection for the safe recovery of the robot; the intelligent parachute system includes an intelligent control module, which can dynamically adjust the opening angle and deployment timing of the parachute according to the real-time measurement of the descent height, speed and posture, to ensure that the robot can achieve a smooth landing after the mission is completed or in an emergency; the intelligent control module 16 is set on the robot.

8. The inspection method of the power tower inspection robot is characterized by: ① Start climbing with a creeping motion; ② Detect obstacles in the path in real time; ③ Avoid obstacles with a clambering motion; ④ Perform defect detection in the inspection area and record defect data; ⑤ After the inspection task is completed, return to the ground through the parachute subsystem.

9. The inspection method according to claim 8, characterized in that: Step ① is specifically as follows: Ⅰ Initial fixation: the robot grasps and adsorbs the iron tower through the grasping mechanisms and electromagnetic adsorption devices on both sides to achieve fixation; Ⅱ Climbing: the short-range arm Ⅰ and the grasping mechanism Ⅰ remain stationary, the electromagnetic adsorption device Ⅰ remains powered on for adsorption, the grasping mechanism Ⅱ releases the iron tower, the electromagnetic adsorption device Ⅱ is powered off, the remote arm Ⅰ rotates α° counterclockwise around the rotating device Ⅰ, the remote arm Ⅱ rotates 2α° clockwise around the rotating device Ⅱ, the grasping mechanism Ⅱ and the electromagnetic adsorption device Ⅱ resume grasping and adsorption of the iron tower, thereby achieving the upward movement of the short-range arm Ⅱ; Ⅲ: The short-range arm Ⅰ can be moved upward by performing similar relative movements between the mechanisms, thereby realizing the upward movement of the entire robot.

10. The inspection method according to claim 8, characterized in that: Step ③ is specifically as follows: when the obstacle distance is detected to be less than or equal to the preset climbing threshold, the upper computer module immediately generates a climbing motion instruction; after receiving the instruction, the lower computer module drives the rotating device to coordinate the relative movement of multiple robotic arms, the short-range arm I and the grasping mechanism I remain stationary, the electromagnetic adsorption device I remains powered on for adsorption, the grasping mechanism II releases the tower structure, the electromagnetic adsorption device II is powered off, the short-range arm II rotates 180° counterclockwise around the rotating device III, the long-range arm II rotates 90° counterclockwise around the rotating device II, the long-range arm I rotates 180° counterclockwise around the rotating device I, the grasping mechanism II and the electromagnetic adsorption device II resume grasping and adsorption of the tower, and adjust the robot posture to maintain balance, ensuring that the entire avoidance process is smooth and reliable.

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