架空輸電線路機巡技術（簡體書）

架空輸電線路作為電力運輸的重要通道，其安全穩定運行是國家穩定、人民安居的堅實基礎。傳統人工巡檢方式已無法滿足電網公司當前及未來管理精益化、降本增效的戰略發展需要。直升機、無人機以及機器人技術的快速發展，為輸電線路提供了一種高效、智能的新型巡檢手段。南方電網公司經過多年的探索和實踐，已利用直升機、各類無人機及機器人在架空輸電線路建設施工、巡視檢測、應急消缺、帶電作業等方面開展作業，極大限度解放了現場作業人員，提升了輸電線路運維水平。
本書共包含9 章，分別為概述、法律法規及標準、機巡設備、巡視技術、檢測技術、施工檢修、機器人巡檢、協同巡檢和展望。全書較為全面地介紹了南方電網公司輸電線路直升機/無人機巡檢技術成果，能夠進一步推動機巡新技術在輸電線路運維中的應用。

序
前言
第1 章 概述 ····································································· 1
1.1 機巡技術發展簡介 ······································································· 1
1.1.1 直升機巡檢 ···································································· 1
1.1.2 無人機巡檢 ···································································· 2
1.1.3 機器人巡檢 ···································································· 2
1.2 應用方向 ··················································································· 3
1.2.1 線路巡視 ······································································· 3
1.2.2 勘察測量 ······································································· 4
1.2.3 施工檢修 ······································································· 5
第2 章 法律法規及標準 ······················································ 8
2.1 法律 ························································································· 8
2.2 行政法規 ··················································································· 8
2.3 通航行業標準 ············································································ 11
2.4 電力行業標準 ············································································ 12
2.5 企業標準 ·················································································· 13
2.6 線路運維 ·················································································· 13
第3 章 機巡設備 ······························································ 15
3.1 直升機巡檢設備 ········································································· 15
3.1.1 直升機 ········································································· 15
3.1.2 巡檢裝備 ······································································ 19
3.1.3 防護設備 ······································································ 26
3.2 無人機巡檢設備 ········································································· 30
3.2.1 多旋翼無人機 ································································ 30
3.2.2 固定翼無人機 ································································ 31
3.2.3 無人直升機 ··································································· 33
3.3 傳感器載荷 ··············································································· 35
3.3.1 光電吊艙 ······································································ 35
3.3.2 激光雷達 ······································································ 37
3.3.3 多光譜載荷 ··································································· 38
第4 章 巡視技術 ······························································ 42
4.1 直升機巡視 ··············································································· 42
4.1.1 基本要求 ······································································ 42
4.1.2 作業流程 ······································································ 43
4.1.3 作業前準備 ··································································· 43
4.1.4 作業實施 ······································································ 45
4.1.5 質量控制措施及檢驗標準 ················································· 45
4.1.6 數據分析及缺陷管理 ······················································· 46
4.1.7 巡視資料移交 ································································ 46
4.2 無人機巡視 ··············································································· 46
4.2.1 無人直升機巡視 ····························································· 46
4.2.2 固定翼無人機巡視 ·························································· 48
4.2.3 多旋翼無人機巡視 ·························································· 50
4.3 數據處理 ·················································································· 54
4.3.1 圖像拼接技術 ································································ 54
4.3.2 視頻拼接技術 ································································ 59
4.3.3 智能識別技術 ································································ 62
第5 章 檢測技術 ······························································ 71
5.1 激光雷達技術 ············································································ 71
5.1.1 原理及應用 ··································································· 71
5.1.2 作業方法 ······································································ 72
5.1.3 數據處理 ······································································ 73
5.2 傾斜攝影測量技術 ······································································ 78
5.2.1 原理及應用 ··································································· 78
5.2.2 作業方式 ······································································ 79
5.2.3 數據處理 ······································································ 82
5.2.4 應用實例 ······································································ 83
5.3 多光譜檢測技術 ········································································· 86
5.3.1 覆冰多光譜檢測技術 ······················································· 87
5.3.2 山火多光譜載荷檢測技術 ················································· 88
5.3.3 多(高)光譜識別樹木種類檢測技術 ·································· 89
第6 章 施工檢修 ······························································ 92
6.1 直升機施工 ··············································································· 92
6.1.1 吊裝組塔 ······································································ 92
6.1.2 空中架線 ······································································ 96
6.2 直升機檢修作業 ········································································· 98
6.2.1 帶電水沖洗 ··································································· 98
6.2.2 帶電檢修 ···································································· 105
6.3 無人機清除異物 ······································································· 115
6.3.1 無人機噴火清障 ···························································· 115
6.3.2 無人機噴藥清巢 ···························································· 119
6.3.3 無人機搭載的激光清障裝置 ············································ 120
6.3.4 無人機搭載的電熱絲清障裝置 ········································· 121
第7 章 機器人巡檢 ························································· 124
7.1 機器人巡視 ············································································· 124
7.1.1 概述 ·········································································· 124
7.1.2 技術原理 ···································································· 125
7.1.3 巡視作業基本要求 ························································ 125
7.1.4 巡視作業過程 ······························································ 125
7.2 零值絕緣子檢測技術 ································································· 127
7.2.1 概述 ·········································································· 127
7.2.2 技術原理 ···································································· 127
7.2.3 應用情況 ···································································· 127
7.3 樹木修剪技術 ·········································································· 129
7.3.1 概述 ·········································································· 129
7.3.2 技術原理 ···································································· 129
7.3.3 應用情況 ···································································· 130
7.4 除冰技術 ················································································· 130
7.4.1 概述 ·········································································· 130
7.4.2 技術原理 ···································································· 130
7.4.3 應用情況 ···································································· 133
第8 章 協同巡檢 ···························································· 134
8.1 應用定位 ················································································· 135
8.2 界面劃分 ················································································· 134
8.3 巡視週期 ················································································· 136
8.4 工作協同要求 ··········································································· 137
8.5 協同巡檢績效評估 ····································································· 137
第9 章 展望 ·································································· 140
參考文獻 ········································································