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架空輸電線路作為電力運輸?shù)闹匾ǖ�，其安全穩(wěn)定運行是國家穩(wěn)定、人民安居的堅實基礎。傳統(tǒng)人工巡檢方式已無法滿足電網(wǎng)公司當前及未來管理精益化、降本增效的戰(zhàn)略發(fā)展需要。直升機、無人機以及機器人技術的快速發(fā)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(wǎng)公司經(jīng)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(yè)等方面開展作業(yè)，極大限度解放了現(xiàn)場作業(yè)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(guī)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(xié)同巡檢和展望。全書較為全面地介紹了南方電網(wǎng)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。

架空輸電線路作為電力運輸?shù)闹匾ǖ�，其安全穩(wěn)定運行是國家穩(wěn)定、人民安居的堅實基礎。目前，我國110kV 及以上輸電線路已達百萬公里，80%以上的線路位于遠離城鎮(zhèn)、遠離交通干線、人煙稀少的高山大嶺地區(qū)。傳統(tǒng)人工巡檢主要依靠作業(yè)人員搭乘車輛或徒步親臨現(xiàn)場，通過目視查找缺陷并記錄巡視情況，人均維護線路近30km，巡線需求和人力缺員的矛盾日益突出，已無法滿足南方電網(wǎng)公司當前及未來管理精益化、降本增效的戰(zhàn)略發(fā)展需要。近年來，直升機、無人機以及機器人技術的快速發(fā)展，為輸電線路提供了一種高效、智能的新型巡檢手段。 2013 年，南方電網(wǎng)公司黨組進行專項研究，確定在全網(wǎng)逐步推廣輸電線路直升機巡視作業(yè)，全面啟動輸電線路機巡人巡協(xié)同配合新型運維模式的規(guī)劃推廣。南方電網(wǎng)公司先后印發(fā)《南方電網(wǎng)架空輸電線路直升機巡視作業(yè)業(yè)務推進方案》《南方電網(wǎng)十三五輸電線路機巡人巡協(xié)同巡檢推進方案》《南方電網(wǎng)輸電線路機巡人巡協(xié)同巡檢工作指導意見》等指導性文件，分步有序推進機巡精益化巡維工作的開展，確立了截至2020 年底，全面建成機巡為主、人巡為輔的架空輸電線路巡檢模式的機巡業(yè)務發(fā)展目標，以從根本上解決輸電線路運維質(zhì)量和管理效益的問題。經(jīng)過五年時間的探索和實踐，南方電網(wǎng)公司形成了一支產(chǎn)、學、研、用密切聯(lián)合的創(chuàng)新型隊伍，各單位通過科技研發(fā)、職工創(chuàng)新、技術改造等多種形式，已利用直升機、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(yè)等方面開展作業(yè)，并深入探索激光雷達、多光譜雷達、噴火裝置等新型傳感器/作業(yè)設備，推動作業(yè)裝備智能化、現(xiàn)場作業(yè)多用化、數(shù)據(jù)處理自動化，部分技術成果已常規(guī)化應用于南方電網(wǎng)公司生產(chǎn)運維，極大限度解放了現(xiàn)場作業(yè)人員，提升了輸電線路運維水平。本書較為全面地介紹了南方電網(wǎng)公司輸電線路直升機/無人機巡檢技術成果，可供從事輸電線路機巡技術研究、設備生產(chǎn)、線路運維的人員學習使用，也可供相關從業(yè)人員和學生參考，希望對我國架空輸電線路機巡技術水平提升起到一定推動作用。本書由南方電網(wǎng)公司生產(chǎn)技術部牽頭編寫，編寫過程中得到了南方電網(wǎng)各�。ḿ墸╇娋W(wǎng)公司、南網(wǎng)科研院的大力支持，在此表示感謝！由于編者的水平有限，書中難免存在疏漏和不足之處，懇請讀者批評指正。編者 2018 年12 月

序
前言
第1 章概述
1.1 機巡技術發(fā)展簡介
1.1.1 直升機巡檢
1.1.2 無人機巡檢
1.1.3 機器人巡檢
1.2 應用方向
1.2.1 線路巡視
1.2.2 勘察測量
1.2.3 施工檢修
第2 章法律法規(guī)及標準
2.1 法律
2.2 行政法規(guī)
2.3 通航行業(yè)標準
2.4 電力行業(yè)標準
2.5 企業(yè)標準
2.6 線路運維
第3 章機巡設備
3.1 直升機巡檢設備
3.1.1 直升機
3.1.2 巡檢裝備
3.1.3 防護設備
3.2 無人機巡檢設備
3.2.1 多旋翼無人機
3.2.2 固定翼無人機
3.2.3 無人直升機
3.3 傳感器載荷
3.3.1 光電吊艙
3.3.2 激光雷達
3.3.3 多光譜載荷
第4 章巡視技術
4.1 直升機巡視
4.1.1 基本要求
4.1.2 作業(yè)流程
4.1.3 作業(yè)前準備
4.1.4 作業(yè)實施
4.1.5 質(zhì)量控制措施及檢驗標準
4.1.6 數(shù)據(jù)分析及缺陷管理
4.1.7 巡視資料移交
4.2 無人機巡視
4.2.1 無人直升機巡視
4.2.2 固定翼無人機巡視
4.2.3 多旋翼無人機巡視
4.3 數(shù)據(jù)處理
4.3.1 圖像拼接技術
4.3.2 視頻拼接技術
4.3.3 智能識別技術
第5 章檢測技術
5.1 激光雷達技術
5.1.1 原理及應用
5.1.2 作業(yè)方法
5.1.3 數(shù)據(jù)處理
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(yè)方式 ······································································ 79
5.2.3 數(shù)據(jù)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(yè) ········································································· 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(yè)基本要求 ························································ 125
7.1.4 巡視作業(yè)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(xié)同巡檢 ···························································· 134
8.1 應用定位 ················································································· 135
8.2 界面劃分 ················································································· 134
8.3 巡視周期 ················································································· 136
8.4 工作協(xié)同要求 ··········································································· 137
8.5 協(xié)同巡檢績效評估 ····································································· 137
第9 章展望 ·································································· 140
參考文獻 ········································································

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