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A small power transmission line inspection robot with the function of autonomous coordinated motion is designed. In order to realize autonomous crossing of tower head, insulator. Perception of poles with different spacing and coordinated motion of multiple robots within a certain length of operation range, the robot can realize autonomous crossing of tower head. This paper focuses on the multi-machine coordinated control strategy based on ADRC technology. Considering the complexity of transmission line environment, a multi-sensor fusion algorithm based on Internet of Things framework is introduced in the design of robot ontology. Finally, a prototype is made through algorithm simulation and design to test the effectiveness of the experimental device and control strategy.