Aiming at problems of a high-voltage transmission line inspection robot in crossing obstacles such as easily crashed, obstacles detected mistakenly and poor ability of anti-interference, the control strategy of double central processing unit (CPU) redundancy control, triple modular redundancy fault-tolerant in sensors of detecting and the anti-interference in the hardware is considered in the control system design based on distributed control by introduction. The experimental results show that the control method can enhance the reliability of control system and improve the work ability of the inspection robot greatly.