电力无人机自动驾驶技术及应用

　　随着无人机在电力行业的应用越来越广泛，运维模式也逐渐由“人工巡视为主，无人机巡视为辅”向“无人机巡视为主，人工巡视补充”转变，电力无人机自动巡检技术以其门槛低、简单便捷、高效的特点已逐步成为电力巡视的主要手段。本书共分为7 章，分别为电力无人机自动巡检、自动巡检基础装备及数据解算、输电线路无人机自动巡检技术、配电线路无人机自动巡检技术、变电站无人机自动巡检技术、自动巡检支撑系统和展望。

　　广东电网有限责任公司机巡管理中心成立于2016年7月22日，营业范围包括电力供应工程项目管理服务，网络技术研究、开发、通信技术研究开发、技术服务；工程和技术研究和试验发展，航空技术咨询服务等，当前广东省电网快速发展，广东电网输电线路规模达到9万公里，运用新一代人工智能巡检技术大大提高供电可靠性、节省了人工成本。近三年来，本人及其中心团队首次提出无人机智能巡检方法，建立了广东电网无人机巡检空域调度和大数据智能分析平台。据统计无人机巡检里程32.8万公里，发现紧急重大缺陷近6万，巡检里程及机巡效率由传统人巡4公里/天提升至机巡8公里/天，节省劳动成本3万人*次/年，巡检里程及机巡数据存储量全国。三年来，获智能机巡方面奖项共6项（其中省部级3项）、个人专利及软件著作权3项、出版著作2部，制作企标1项。发表文章3篇（其中E1 检索1篇）

前言
1 电力无人机自动巡检 ································································· 1
1.1 无人机自动巡检简述 ······························································ 1
1.2 无人机自动巡检流程 ······························································ 1
1.3 无人机自动巡检发展现状 ························································ 2
小结 ·························································································· 4
2 自动巡检基础装备及数据解算 ····················································· 5
2.1 自动巡检机型介绍 ································································· 5
2.2 自动巡检适配传感器 ····························································· 10
2.3 作业场景与传感器组合 ·························································· 14
2.4 数据采集和解算 ··································································· 16
2.5 自动巡检支撑平台与数据分析系统 ··········································· 35
3 输电线路无人机自动巡检技术 ··················································· 39
3.1 术语和定义 ········································································· 39
3.2 自动巡检航线规划 ································································ 40
3.3 输电线路无人机自动巡检作业 ················································· 50
3.4 巡检数据管理 ······································································ 71
3.5 巡检数据软硬件参数推荐 ······················································· 72
小结 ························································································· 73
4 配电线路无人机自动巡检技术 ··················································· 74
4.1 术语和定义 ········································································· 74
4.2 航线规划 ············································································ 76
4.3 配电无人机自动巡检内容 ······················································· 81
4.4 配电无人机自动巡检作业数据处理及归档 ································· 85
4.5 数据资源评估 ······································································ 89
小结 ························································································· 91
5 变电站无人机自动巡检技术 ······················································· 92
5.1 术语和定义 ········································································· 92
5.2 变电站三维建模 ··································································· 93
5.3 变电站无人机自动巡视航线规划 ············································· 103
5.4 变电站无人机机巢与自动巡检作业·········································· 107
小结 ························································································ 109
6 自动巡检支撑系统 ································································· 111
6.1 自动识别子系统 ·································································· 111
6.2 树障识别子系统 ·································································· 116
7 展望 ··················································································· 126
7.1 技术展望 ··········································································· 126
7.2 无人驾驶模式变革 ······························································· 129
7.3 运维策略变革 ····································································· 131
7.4 输变配一体化设想 ······························································· 132
小结 ························································································ 133
附录A 现场风险管控一览表 ······················································· 134
附录B 无人机巡检内容一览表 ···················································· 1