A power tower inspection robot with climbing and crossing functions and an inspection method

Abstract

This invention discloses a power tower inspection robot with climbing and traversing functions. It includes a moving component, a host computer module, and a slave computer module. The moving component comprises a four-segment robotic arm, a gripping mechanism, and a rotating device, enabling climbing and traversing. The host computer module integrates a depth camera and a vision model for real-time image acquisition, obstacle detection along the climbing path, target distance measurement, and transmission line defect identification. It also transmits processed control commands to the slave computer module via serial communication. The slave computer module receives the control commands from the host computer module and drives the rotating device to control the movement of the robotic arm and gripping mechanism, completing climbing, obstacle traversing, and adhesion / fixation actions. Both the host computer module and the slave computer module are mounted on the moving component. This power tower inspection robot can seamlessly switch between climbing and obstacle traversing modes and can adapt to complex environments.

Description

Technical Field

[0001] This invention relates to the field of power system maintenance, specifically to a power tower inspection robot with climbing and traversing functions, which can be applied to scenarios such as power tower inspection, transmission line defect detection, and safe return after task completion. Background Technology

[0002] With the increasing demand for intelligent and automated power systems, traditional manual inspection methods face significant challenges in terms of efficiency, safety, and cost. Especially in high-altitude, complex terrain, and harsh weather conditions, manual inspections are not only high-risk but also inefficient and costly. To improve inspection efficiency and safety and reduce the risks of manual operation, power tower inspection systems based on robotic technology have gradually become an important research direction. The development and application of intelligent robot technology has become a crucial support in the field of power inspection, effectively reducing manpower consumption, improving operational safety, and promoting the intelligent development of power systems.

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

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

[0005] The problem this invention aims to solve is to provide a power tower inspection robot with climbing and obstacle-crossing capabilities. It can seamlessly switch between climbing and obstacle-crossing modes, adapting to complex environments. Simultaneously, it can accurately determine paths, identify obstacles and defects, improve inspection accuracy, and reduce the risks associated with manual inspection.

[0006] This invention discloses a power tower inspection robot with climbing and traversing functions. It includes a moving component, a host computer module, and a slave computer module. The moving component comprises a four-segment robotic arm, a gripping mechanism, and a rotating device, enabling climbing and traversing. The host computer module integrates a depth camera and a vision model for real-time image acquisition, obstacle detection along the climbing path, target distance measurement, and power line defect identification. It also transmits processed control commands to the slave computer module via serial communication. The slave computer module receives the control commands from the host computer module and drives the rotating device to control the movement of the robotic arm and gripping mechanism, completing climbing, obstacle traversing, and adsorption / fixing actions. Both the host computer module and the slave computer module are mounted on the moving component.

[0007] Furthermore, the moving parts include gripping mechanism I, gripping mechanism II, depth camera I, depth camera II, proximal arm I, proximal arm II, remote arm I, remote arm II, rotating device I, rotating device II, rotating device III, rotating device IV, and rotating device V. Proximal arm I and remote arm I are connected via rotating device I, remote arm I and remote arm II are connected via rotating device II, and remote arm II and proximal arm II are connected via rotating device III. Gripping mechanism I is connected to proximal arm I via rotating device IV, and depth camera I is mounted on gripping mechanism I. Gripping mechanism II is connected to proximal arm II via rotating device V, and depth camera II is mounted on gripping mechanism II.

[0008] Furthermore, the moving parts also include electromagnetic adsorption device I and electromagnetic adsorption device II, with electromagnetic adsorption device I hinged to gripping mechanism I and electromagnetic adsorption device II hinged to gripping mechanism II.

[0009] Furthermore, the power tower inspection robot also includes an upper computer control subsystem and a lower computer execution subsystem. The upper computer control subsystem is the robot's intelligent decision-making center, which transmits control commands to the lower computer execution subsystem. The lower computer execution subsystem is responsible for receiving commands from the upper computer and driving the moving parts to complete climbing, obstacle crossing, and adsorption fixation actions.

[0010] Furthermore, the host computer control subsystem includes a remote control terminal, a vision processing module, and a wireless communication module: the remote control terminal is used to store the 3D map of the tower, set the inspection path, and issue control commands; the vision processing module is used to integrate a depth camera and a vision model, acquire images and environmental data in real time, detect obstacles in the climbing path, measure the target distance, automatically identify defects in the power transmission line (such as corrosion, broken strands, missing bolts, and foreign objects entangled), generate motion planning commands, and synchronize them to the terminal via wireless communication; the wireless communication module is used to synchronize detection data and task status to the user terminal, supporting remote monitoring and the issuance of emergency commands.

[0011] Furthermore, the lower-level 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 precisely adjust the rotation angle of each rotation device through a PID algorithm to realize the relative rotation between the robotic arms and the opening and closing actions of the gripping 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 fixing and releasing actions; the motion feedback module is used to collect real-time data on the robotic arm posture, joint torque, and electromagnetic adsorption device status, and feed it back to the upper-level computer to optimize motion planning.

[0012] Furthermore, the power tower inspection robot also includes an intelligent parachute subsystem, which ensures the safe recovery of the robot. The intelligent parachute system includes an intelligent control module that can dynamically adjust the parachute opening angle and deployment timing based on real-time measurements of descent altitude, speed, and attitude, ensuring that the robot can land smoothly after completing its mission or in an emergency. The intelligent control module is installed on the robot.

[0013] The inspection method of the power tower inspection robot of the present invention is as follows: ① start climbing with a creeping motion; ② detect obstacles in the path in real time; ③ avoid obstacles with a vaulting motion; ④ perform defect detection on the inspection area and record defect data; ⑤ after the inspection task is completed, return to the ground through the parachute subsystem.

[0014] Further, step ① specifically includes: Ⅰ Initial fixation: The robot uses the gripping mechanisms on both sides and the electromagnetic adsorption device to grip and adsorb the iron tower to achieve fixation; Ⅱ Climbing: The near arm Ⅰ and gripping mechanism Ⅰ remain stationary, the electromagnetic adsorption device Ⅰ remains energized and adsorbed, the gripping mechanism Ⅱ releases the iron tower, the electromagnetic adsorption device Ⅱ is de-energized, the long arm Ⅰ rotates counterclockwise by α° around the rotating device Ⅰ, the long arm Ⅱ rotates clockwise by 2α° around the rotating device Ⅱ, and the gripping mechanism Ⅱ and the electromagnetic adsorption device Ⅱ resume gripping and adsorption of the iron tower, thereby realizing the upward movement of the near arm Ⅱ; Ⅲ: The upward movement of the near arm Ⅰ can be completed by the mechanisms performing similar relative movements, thereby realizing the upward movement of the robot as a whole.

[0015] Furthermore, step ③ specifically involves: when the distance to the detected obstacle is less than or equal to the preset overcoming threshold, the host computer module immediately generates an overcoming motion command; after receiving the command, the slave computer module drives the rotating device to coordinate the relative movement of multiple robotic arms. The proximal arm I and the gripping mechanism I remain stationary, the electromagnetic adsorption device I remains energized and adsorbs, the gripping mechanism II releases the tower structure, the electromagnetic adsorption device II is de-energized, the proximal arm II rotates 180° counterclockwise around the rotating device III, the remote arm II rotates 90° counterclockwise around the rotating device II, the remote arm I rotates 180° counterclockwise around the rotating device I, the gripping mechanism II and the electromagnetic adsorption device II resume gripping and adsorption of the tower, and adjust the robot's posture to maintain balance, ensuring that the entire avoidance process is stable and reliable.

[0016] The advantages of the inspection robot of this invention are: 1. The four-segment robotic arm of the moving parts balances flexibility and stability, and achieves seamless switching between climbing and obstacle-crossing modes through the coordinated movement of the rotation device, which can adapt to complex environments; 2. The vision system, combined with deep learning algorithms, accurately determines the path, identifies obstacles and defects, improves inspection accuracy, and reduces the risks of manual inspection; 3. The modular design supports the rapid replacement of key components (such as electromagnetic adsorption devices and cameras), improving maintenance efficiency; 4. The parachute system dynamically adjusts the parachute opening strategy to ensure safe recovery of the equipment and reduce operation and maintenance costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the robot's moving parts according to the present invention;

[0018] Figure 2 This is a block diagram showing the interaction of the robot's subsystems according to the present invention.

[0019] Figure 3 This is the control flowchart for the host computer.

[0020] Figure 4 This is the execution control logic diagram of the lower-level machine;

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

[0022] Figure 6 This is a schematic diagram of the robot of the present invention climbing over obstacles. Detailed Implementation

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

[0024] Example 1

[0025] from Figure 1 , Figure 2 As can be seen, the present invention discloses a power tower inspection robot with climbing and traversing functions, which includes a moving part, a host computer module 17, and a slave computer module 18. The moving part includes a four-segment robotic arm, a gripping mechanism, and a rotating device, which can realize climbing and traversing functions. The host computer module integrates a depth camera and a vision model for real-time image acquisition, detection of obstacles in the climbing path, measurement of target distance, and identification of transmission line defects. It also transmits the processed control commands to the slave computer module through serial communication. The slave computer module receives the control commands from the host computer module and realizes the motion control of the robotic arm and gripping mechanism by driving the rotating device to complete the climbing, traversing of obstacles, and adsorption and fixation actions. Both the host computer module 17 and the slave computer module 18 are mounted on the moving part.

[0026] The inspection robot of this invention can automatically climb power towers, avoid obstacles, detect transmission line defects, and safely return after completing the task in complex environments, greatly improving inspection efficiency and operational safety.

[0027] Example 2

[0028] from Figure 1As can be seen, the power tower inspection robot of the present invention includes the following moving parts: gripping mechanism I3, gripping mechanism II4, depth camera I5, depth camera II6, short arm I7, short arm II8, long arm I9, long arm II10, rotating device I11, rotating device II12, rotating device III13, rotating device IV14, and rotating device V15. Short arm I7 and long arm I9 are connected through rotating device I11, long arm I9 and long arm II10 are connected through rotating device II12, and long arm II10 and short arm II8 are connected through rotating device III13. Gripping mechanism I3 is connected to short arm I7 through rotating device IV14, and depth camera I5 is mounted on gripping mechanism I3. Gripping mechanism II4 is connected to short arm II8 through rotating device V15, and depth camera II6 is mounted on gripping mechanism II4.

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

[0030] Example 3

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

[0032] When the electromagnetic adsorption device is powered on, it enhances the adsorption force and ensures climbing stability; the gripping mechanism works in conjunction with the electromagnetic adsorption device to achieve firm adsorption and fixation of the iron tower.

[0033] The moving parts adopt a modular design, with key components (including electromagnetic adsorption devices and rotating mechanisms) being pluggable structures. This allows for quick replacement and maintenance without disassembling the main structure, thereby improving the equipment's reliability and lifespan. The entire moving part is made of high-strength aluminum alloy, offering advantages such as high strength, corrosion resistance, and lightweight design. It can adapt to complex climbing and obstacle-crossing requirements, reducing overall weight while enhancing wind load and impact resistance.

[0034] Example 4

[0035] like Figure 2 As shown, the power tower inspection robot of the present invention includes an upper computer control subsystem and a lower computer execution subsystem. The upper computer control subsystem is the intelligent decision-making center of the robot, which transmits control commands to the lower computer execution subsystem. The lower computer execution subsystem is responsible for receiving commands from the upper computer and driving the moving parts to complete climbing, obstacle crossing and adsorption fixation actions.

[0036] Example 5

[0037] This invention relates to a power tower inspection robot: the host computer control subsystem includes a remote control terminal, a vision processing module, and a wireless communication module. The remote control terminal is used to store 3D maps of the towers, set inspection paths, and issue control commands. The vision processing module integrates a depth camera and a vision model to acquire images and environmental data in real time, detect obstacles in the climbing path, measure target distances, automatically identify power line defects (such as corrosion, broken strands, missing bolts, and foreign object entanglement), generate motion planning commands, and synchronize them to the terminal via wireless communication. The wireless communication module is used to synchronize detection data and task status to the user terminal, supporting remote monitoring and emergency command issuance.

[0038] The workflow of the host computer control subsystem is as follows: Figure 3 As shown: 1. Environmental perception and data acquisition: 1) Depth camera acquires point cloud data and high-definition images of the tower surface; 2) PP-YOLOE model processes the images in real time to identify obstacle types, sizes, and power line defect characteristics; 2. Path planning and command generation: 1) Generate the optimal climbing path based on the tower's 3D map and real-time obstacle data; 2) When the obstacle distance is ≤ a preset threshold, plan the climbing action command (such as adjusting the robotic arm span or switching the adsorption point); 3. Data synchronization and remote interaction: 1) Upload the detection results (defect type, coordinates, timestamp) to the user terminal via the wireless communication module; 2) Receive emergency stop, return, or parameter adjustment commands issued by the user.

[0039] Example 6

[0040] This invention relates to a power tower inspection robot: the lower-level 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 precisely adjust the rotation angle of each rotation device through a PID algorithm to realize the relative rotation between the robotic arms and the opening and closing actions of the gripping mechanism. The electromagnetic adsorption device on / off control unit is used to dynamically control the power supply and de-energization of the electromagnetic adsorption device according to the adsorption requirements to ensure the precise execution of fixing and releasing actions. The motion feedback module is used to collect real-time data on the robotic arm posture, joint torque, and electromagnetic adsorption device status, and feed this data back to the upper-level computer to optimize motion planning.

[0041] The core control logic of the lower-level machine 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 low-level control signals such as the rotation angle of the rotating device and the on / off timing of the electromagnetic adsorption device; 2. Robotic arm motion control: 1) The rotating device achieves precise positioning of the robotic arm through closed-loop control, with an error range of ≤ ±0.5°; 2) The gripping mechanism and the electromagnetic adsorption device work together to ensure that the next segment of the robotic arm starts moving only after each segment is adsorbed and fixed; 3. Real-time feedback and correction: 1) The gripping force of the gripping mechanism is monitored by a force sensor. If it is lower than the safety threshold, emergency braking is triggered and the robotic arm is re-adsorbed; 2) The inertial measurement unit (IMU) detects the attitude deviation of the robotic arm and dynamically adjusts the joint angles through a PID algorithm to restore balance.

[0042] Example 7

[0043] The present invention relates to a power tower inspection robot, which also includes an intelligent parachute subsystem. The intelligent parachute subsystem provides a guarantee for the safe recovery of the robot. The intelligent parachute subsystem 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 altitude, speed and attitude, to ensure that the robot can land smoothly after the task is completed or in an emergency. The intelligent control module 16 is installed on the robot.

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

[0045] The intelligent parachute subsystem has the following functions: 1) Sensor cluster: integrates barometric pressure sensor, inertial measurement unit (IMU) and anemometer to monitor descent altitude, speed and ambient wind speed in real time; 2) Intelligent parachute deployment control module: dynamically calculates the best parachute deployment time and angle based on sensor data to ensure the robot lands smoothly after the parachute is deployed; 3) Emergency triggering mechanism: automatically triggers the parachute deployment program when 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) The host computer detects that the inspection task has been completed and sends a "prepare to land" command to the parachute subsystem; 2) The subsystem activates the altitude sensor and anemometer to continuously monitor environmental parameters; 2. Parachute deployment strategy calculation: 1) The parachute deployment angle θ is dynamically calculated based on the current altitude H, descent speed V, and wind speed W, and the formula is: in, , , The weighting coefficients for altitude, speed, and wind speed are respectively, and C is a constant term; 2) If the current altitude is detected to be lower than the safe altitude or the descent speed is detected to be greater than the critical speed, the forced parachute deployment is triggered immediately; 3. Parachute deployment and landing: 1) The servo drives the parachute to deploy at 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 and facilitate recovery.

[0047] Example 8

[0048] The inspection method of the inspection robot of this invention is as follows: ① start climbing with a creeping motion; ② detect obstacles in the path in real time; ③ avoid obstacles with a vaulting motion; ④ perform defect detection on the inspection area and record defect data; ⑤ after the inspection task is completed, return to the ground through the parachute subsystem.

[0049] Example 9

[0050] The inspection method of the inspection robot of this invention: Step ① specifically includes: Ⅰ Initial fixing: such as Figure 5 As shown in Figure A, the robot uses gripping mechanisms on both sides and an electromagnetic adsorption device to grasp and adhere to the iron tower to achieve fixation; II. Climbing: as shown in Figure A. Figure 5 As shown in Figure B, the short-range arm I7 and gripping mechanism I3 remain stationary, the electromagnetic adsorption device I1 remains energized and adsorbs, gripping mechanism II4 releases the tower, the electromagnetic adsorption device II2 is de-energized, the long-range arm I9 rotates counterclockwise by α° around the rotating device I11 in the direction shown (depending on the path planning strategy), and the long-range arm II10 rotates clockwise by 2α° around the rotating device II12 in the direction shown. Gripping mechanism II4 and electromagnetic adsorption device II2 resume gripping and adsorption of the tower, thereby achieving the upward movement of the short-range arm II10. Similarly, by performing similar relative movements between the mechanisms, the upward movement of the short-range arm I7 can be achieved, thus realizing the upward movement of the robot as a whole. Figure 5 As shown in C.

[0051] Example 10

[0052] The inspection method of the inspection robot of the present invention: Step ② specifically involves: during the climbing process, the robot continuously uses a depth camera to collect image data of the surface of the power tower and the surrounding environment, and the integrated PP YOLOE vision model performs real-time analysis of the images to detect obstacles in the climbing path and measure the distance between the obstacles and the robot.

[0053] Example 11

[0054] The inspection method of the inspection robot of this invention: Step ③ specifically involves: when the distance to an obstacle is detected to be less than or equal to a preset overcoming threshold, the host computer module immediately generates an overcoming motion command; after receiving the command, the slave computer module drives the rotation device to coordinate the relative movement of multiple robotic arms to complete the overcoming motion. Figure 6After the fixed posture shown in Figure A is prepared, the proximal arm I7 and the gripping mechanism I3 remain stationary, the electromagnetic adsorption device I1 remains energized and adsorbs, the gripping mechanism II4 releases the iron tower structure, the electromagnetic adsorption device II2 is de-energized, and the proximal arm II8 rotates 180° counterclockwise around the rotating device III13 (as shown in Figure A). Figure 6 As shown in Figure B), the remote arm II10 rotates 90° counterclockwise around the rotating device II12 (as shown in Figure B). Figure 6 As shown in C), the remote arm I9 rotates 180° counterclockwise around the rotating device I11 (as shown in C). Figure 6 As shown in D), the gripping mechanism II4 and the electromagnetic adsorption device II2 restore the gripping 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 this invention: Step ④ specifically involves: when the robot arrives at the inspection area, the system switches to the defect detection mode; at this time, the depth camera and vision model continue to collect and analyze images of the transmission line, which can detect defects such as corrosion, broken strands, missing bolts, and foreign object entanglement; after the detection data is processed in real time by the host 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 maintenance personnel can keep abreast of the equipment status and formulate subsequent maintenance plans.

[0057] The robot is equipped with the function of detecting defects in power transmission lines. It identifies defects, records the defect type, occurrence time and specific location information, and generates a detection report for subsequent maintenance reference.

[0058] Example 13

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

[0060] Throughout the inspection process, the host computer module, slave computer module, and various motion execution components of the inspection robot achieve real-time information sharing through a high-speed data bus and wireless communication module. The host computer module is not only responsible for the acquisition and processing of image data, but also for monitoring the robot's motion status and defect detection results. It can also issue emergency commands through a remote terminal to ensure that the robot remains under control in complex environments.

[0061] The advantages of the inspection robot of this invention are: 1. The four-segment robotic arm of the moving parts balances flexibility and stability, and achieves seamless switching between climbing and obstacle-crossing modes through the coordinated movement of the rotation device, which can adapt to complex environments; 2. The vision system, combined with deep learning algorithms, accurately determines the path and identifies obstacles and defects, improving inspection accuracy and reducing the risks of manual inspection; 3. The modular design supports the rapid replacement of key components (such as electromagnetic adsorption devices and cameras), improving maintenance efficiency; 4. The parachute subsystem dynamically adjusts the parachute opening strategy to ensure safe recovery of the equipment and reduce operation and maintenance costs.

[0062] Therefore, the inspection robot of this invention can automatically climb power transmission towers, avoid obstacles, detect transmission line defects, and safely return after completing its task in complex environments, greatly improving inspection efficiency and operational safety while reducing labor costs and operational risks. This robot is widely applicable to 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 traversing capabilities, characterized by: It includes a moving part, a host computer module (17), and a slave computer module (18); the moving part includes a four-segment robotic arm, a gripping mechanism, and a rotating device, which can realize climbing and traversing functions; the host computer module integrates a depth camera and a vision model, which is used to acquire images in real time, detect obstacles in the climbing path, measure the target distance, and identify transmission line defects, and transmit the processed control commands to the slave computer module through serial communication; the slave computer module receives the control commands from the host computer module, and realizes the motion control of the robotic arm and gripping mechanism by driving the rotating device, and completes the climbing, traversing obstacles, and adsorption fixation actions; both the host computer module (17) and the slave computer module (18) are set on the moving part; the moving part includes The device includes electromagnetic adsorption device I (1), electromagnetic adsorption device II (2), gripping mechanism I (3), gripping mechanism II (4), depth camera I (5), depth camera II (6), short arm I (7), short arm II (8), long arm I (9), long arm II (10), rotating device I (11), rotating device II (12), rotating device III (13), rotating device IV (14), and rotating device V (15). Short arm I (7) and long arm I (9) are connected by rotating device I (11), long arm I (9) and long arm II (10) are connected by rotating device II (12), and long arm II (10) and short arm II (8) are connected by rotating device III (13). I (3) is connected to the proximal arm I (7) via the rotating device IV (14), and the depth camera I (5) is mounted on the gripping mechanism I (3); the gripping mechanism II (4) is connected to the proximal arm II (8) via the rotating device V (15), and the depth camera II (6) is mounted on the gripping mechanism II (4); the electromagnetic adsorption device I (1) is hinged to the gripping mechanism I (3), and the electromagnetic adsorption device II (2) is hinged to the gripping mechanism II (4); its inspection method is as follows: ① start climbing with a creeping motion; ② detect obstacles in the path in real time; ③ avoid obstacles with a vaulting motion; ④ perform defect detection on the inspection area and record defect data; ⑤ after the inspection task is completed, return to the ground through the parachute subsystem; step ③ Specifically, when the distance to an obstacle is detected to be less than or equal to a preset overcoming threshold, the host computer module immediately generates an overcoming motion command. After receiving the command, the slave computer module drives the rotating device to coordinate the relative movement of multiple robotic arms. The proximal arm I and the gripping mechanism I remain stationary, the electromagnetic adsorption device I remains energized and adsorbs, the gripping mechanism II releases the tower structure, the electromagnetic adsorption device II is de-energized, the proximal arm II rotates 180° counterclockwise around the rotating device III, the remote arm II rotates 90° counterclockwise around the rotating device II, the remote arm I rotates 180° counterclockwise around the rotating device I, the gripping mechanism II and the electromagnetic adsorption device II resume gripping and adsorption of the tower, and adjust the robot's posture to maintain balance, ensuring that the entire avoidance process is smooth and reliable.

2. The power tower inspection robot according to claim 1, characterized in that: It also includes a host computer control subsystem and a slave computer execution subsystem; the host computer control subsystem is the robot's intelligent decision-making center, which transmits control commands to the slave computer execution subsystem; the slave computer execution subsystem is responsible for receiving commands from the host computer and driving the moving parts to complete climbing, obstacle crossing and adsorption fixation actions.

3. The power tower inspection robot according to claim 2, characterized in that: The host computer control subsystem includes a remote control terminal, a vision processing module, and a wireless communication module: the remote control terminal is used to store 3D maps of the tower, set inspection paths, and issue control commands; the vision processing module is used to integrate a depth camera and a vision model, acquire images and environmental data in real time, detect obstacles in the climbing path, measure target distances, automatically identify power line defects, generate motion planning commands, and synchronize them to the terminal via wireless communication; the wireless communication module is used to synchronize detection data and task status to the user terminal, supporting remote monitoring and the issuance of emergency commands.

4. The power tower inspection robot according to claim 2, characterized in that: The lower-level 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 precisely adjust the rotation angle of each rotation device through a PID algorithm to realize the relative rotation between the robotic arms and the opening and closing actions of the gripping mechanism. The electromagnetic adsorption device on / off control unit is used to dynamically control the power supply and de-energization of the electromagnetic adsorption device according to the adsorption requirements to ensure the precise execution of fixing and releasing actions. The motion feedback module is used to collect real-time data on the robotic arm posture, joint torque, and electromagnetic adsorption device status, and feed it back to the upper-level computer to optimize motion planning.

5. The power tower inspection robot according to claim 1, characterized in that: It also includes an intelligent parachute subsystem, which provides a guarantee 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 altitude, speed and attitude, to ensure that the robot can land smoothly after the mission is completed or in an emergency; the intelligent control module (16) is installed on the robot.

6. The power tower inspection robot according to claim 1, characterized in that: Step ① is as follows: Ⅰ Initial Fixation: The robot uses the gripping mechanisms on both sides and the electromagnetic adsorption device to grip and adsorb the iron tower to achieve fixation; Ⅱ Climbing: The short arm Ⅰ and gripping mechanism Ⅰ remain stationary, the electromagnetic adsorption device Ⅰ remains energized and adsorbed, the gripping mechanism Ⅱ releases the iron tower, the electromagnetic adsorption device Ⅱ is de-energized, the long arm Ⅰ rotates counterclockwise by α° around the rotating device Ⅰ, the long arm Ⅱ rotates clockwise by 2α° around the rotating device Ⅱ, and the gripping mechanism Ⅱ and the electromagnetic adsorption device Ⅱ resume gripping and adsorption of the iron tower, thereby realizing the upward movement of the position of the short arm Ⅱ; III: By performing similar relative movements between mechanisms, the position of the proximal arm I can be moved upward, thereby enabling the robot as a whole to move upward.

Images