| The patrol robot for EHV Power Line inspection is a very important subject for power transportation of electricity engineering. The robot systems can observe the power lines and transmit the video signal to supervision station automatically. The style-working will greatly eases people's work condition and improves the patrol efficiency and reliability. The paper presents vision systems' inspection task in the patrol robot for EHV Power Line inspection under high-tech project sponsored.Vision inspection, Image processing and pattern recognition has developed quickly in different automatic inspection systems. But intelligentized patrol in applying to EHV Power Line is quite newly. The first part in the paper retrospected EHV Power Line running and maintenance, and different countries' development in the field. The two means in patrol -inspection are manual-inspection and aerial -survey. The second part presented the basic principles of pattern recognition, statistic pattern methods, principle of species, designing and studying of classifier, and other methods in common use such as neural networks, syntax pattern recognition and methods of fuzzy systems in using pattern recognition. The third part presents a patrol inspection robot system for EHV power line. This system, which contains mobile mechanism, visual inspect system and supervision station, is applied to move along the power lines and detect the breakage of power lines controlled by supervision station. The application technologies such as the methods of remote control, wireless communication and video transmission, image processing, positioning and failure recognition of power lines were introduced. The techniques of inspection and breakage detection of the power line devices were presented more detail. This robot cannot only go forward and back by Tele-operation. Meanwhile, it can observe the power lines and transmit the video signal to supervision station automatically. Then, these images are processed to provide the status of power lines and relative devices. The research includes means and realized technique from visional position feedback of wire (visional servo feedback), realization techniques of image processing and fault, dislocation,metamorphosis -detecting in transmission line, insulator and other electric equipment, realization methods in recording doubtful malfunction image and position, methods' research in visional position measure of spanning obstacles. Patrol robots contain vision inspection systems have accomplished and possess patrol inspection function. The fourth part presents experimental data result and analysis under EHV circumstance and fact transmission line about the patrol inspection robot systems.
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