Power transmission line inspection robot is a kind of special robot. It is designed for automatic inspection for power transmission lines. The robot can help reducing the labor intensity and dangerous factors of artificial work and improving the efficiency and quality of inspection task. Nowadays, research on inspection robot is mostly carried out on mechanical design，control system design and fault identification, so the research level of inspection robot has been improved in great degree recently. However, duration is still hindrance preventing the inspection robot to be applied in power transmission lines. Most inspection robots are powered by Li-batteries, they cannot work for long time without constant power source, so the robot cannot complete inspection task quite well as it needs to be taken off from the transmission line for charging frequently. Aiming at the energy supplying task, a wireless power transfer technique based power supply station for inspection robot was designed to solve the duration issue. As the intensity of magnetic field around ground line is weak, the robot cannot induce power from the ground line directly. Besides, there is safe distance between ground and power lines, it is impossible to set up physical connection between them, so we utilized wireless power transfer method for charging the robot. In this paper, we focused on induction power supply and wireless power transfer technique and the realization of charging system was also discussed in detail. Firstly, the former research work of inspection robot is reviewed, and the research of on-line charging of inspection robot is introduced. According to the key points of this paper, comparison and classification of wireless power transfer technology is reviewed and the magnetic resonance coupling technology which is applied in this paper is addressed in detail. Secondly, the working condition and magnetic field environment of the inspection robot is introduced and the distribution of magnetic field is modeled. According to the obstacle, control system and mechanical system of the robot are provided, and the principle of obstacle crossing is addressed in detail. Aiming at the on line charging issue, on line charging system is presented and the construction and working principle are given. Aiming at optimization and management of power system, energy consumption analysis is provided for improving the efficiency of power consumption of robot as for prolonging the duration p...
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