Control of Inspection Robots for Power Transmission Lines Based on Remote Video over Internet

This paper presents the structure and configuration of a control system and a videos transmission system of a tribrachiation mobile robot for inspection of power transmission lines. The robot can negotiate obstacles autonomously on the simulated line in the lab. The efficiency and consistency of video transmission is very important remote monitoring and control systems. To enhance the efficiency and consistency, this paper discusses the design process of the remote video transmission and the remote control scheme for inspection robots. It also analyzes the factors that affect consistency of the videos and finds out a method to achieve this function. The efficiency of the video transmission design and the feasibility of the remote control scheme are illustrated by the experiments and simulation results