序前言 章 概述 ····································································· 11.1 机巡技术发展简介 ······································································· 11.1.1 直升机巡检 ···································································· 11.1.2 无人机巡检 ···································································· 21.1.3 机器人巡检 ···································································· 21.2 应用方向 ··················································································· 31.2.1 线路巡视 ······································································· 31.2.2 勘察测量 ······································································· 41.2.3 施工检修 ······································································· 5第2 章 法律法规及标准 ······················································ 82.1 法律 ························································································· 82.2 行政法规 ··················································································· 82.3 通航行业标准 ············································································ 112.4 电力行业标准 ············································································ 122.5 企业标准 ·················································································· 132.6 线路运维 ·················································································· 13第3 章 机巡设备 ······························································ 153.1 直升机巡检设备 ········································································· 153.1.1 直升机 ········································································· 153.1.2 巡检装备 ······································································ 193.1.3 防护设备 ······································································ 263.2 无人机巡检设备 ········································································· 303.2.1 多旋翼无人机 ································································ 303.2.2 固定翼无人机 ································································ 313.2.3 无人直升机 ··································································· 333.3 传感器载荷 ··············································································· 353.3.1 光电吊舱 ······································································ 353.3.2 激光雷达 ······································································ 373.3.3 多光谱载荷 ··································································· 38第4 章 巡视技术 ······························································ 424.1 直升机巡视 ··············································································· 424.1.1 基本要求 ······································································ 424.1.2 作业流程 ······································································ 434.1.3 作业前准备 ··································································· 434.1.4 作业实施 ······································································ 454.1.5 质量控制措施及检验标准 ················································· 454.1.6 数据分析及缺陷管理 ······················································· 464.1.7 巡视资料移交 ································································ 464.2 无人机巡视 ··············································································· 464.2.1 无人直升机巡视 ····························································· 464.2.2 固定翼无人机巡视 ·························································· 484.2.3 多旋翼无人机巡视 ·························································· 504.3 数据处理 ·················································································· 544.3.1 图像拼接技术 ································································ 544.3.2 视频拼接技术 ································································ 594.3.3 智能识别技术 ································································ 62第5 章 检测技术 ······························································ 715.1 激光雷达技术 ············································································ 715.1.1 原理及应用 ··································································· 715.1.2 作业方法 ······································································ 725.1.3 数据处理 ······································································ 735.2 倾斜摄影测量技术 ······································································ 785.2.1 原理及应用 ··································································· 785.2.2 作业方式 ······································································ 795.2.3 数据处理 ······································································ 825.2.4 应用实例 ······································································ 835.3 多光谱检测技术 ········································································· 865.3.1 覆冰多光谱检测技术 ······················································· 875.3.2 山火多光谱载荷检测技术 ················································· 885.3.3 多（高）光谱识别树木种类检测技术 ·································· 89第6 章 施工检修 ······························································ 926.1 直升机施工 ··············································································· 926.1.1 吊装组塔 ······································································ 926.1.2 空中架线 ······································································ 966.2 直升机检修作业 ········································································· 986.2.1 带电水冲洗 ··································································· 986.2.2 带电检修 ···································································· 1056.3 无人机清除异物 ······································································· 1156.3.1 无人机喷火清障 ···························································· 1156.3.2 无人机喷药清巢 ···························································· 1196.3.3 无人机搭载的激光清障装置 ············································ 1206.3.4 无人机搭载的电热丝清障装置 ········································· 121第7 章 机器人巡检 ························································· 1247.1 机器人巡视 ············································································· 1247.1.1 概述 ·········································································· 1247.1.2 技术原理 ···································································· 1257.1.3 巡视作业基本要求 ························································ 1257.1.4 巡视作业过程 ······························································ 1257.2 零值绝缘子检测技术 ································································· 1277.2.1 概述 ·········································································· 1277.2.2 技术原理 ···································································· 1277.2.3 应用情况 ···································································· 1277.3 树木修剪技术 ·········································································· 1297.3.1 概述 ·········································································· 1297.3.2 技术原理 ···································································· 1297.3.3 应用情况 ···································································· 1307.4 除冰技术 ················································································· 1307.4.1 概述 ·········································································· 1307.4.2 技术原理 ···································································· 1307.4.3 应用情况 ···································································· 133第8 章 协同巡检 ···························································· 1348.1 应用定位 ················································································· 1358.2 界面划分 ················································································· 1348.3 巡视周期 ················································································· 1368.4 工作协同要求 ··········································································· 1378.5 协同巡检绩效评估 ····································································· 137第9 章 展望 ·································································· 140参考文献 ········································································

架空输电线路作为电力运输的重要通道，其安全稳定运行是国家稳定、人民安居的坚实基础。传统人工巡检方式已无法满足电网公司当前及未来管理精益化、降本增效的战略发展需要。直升机、无人机以及机器人技术的快速发展，为输电线路提供了一种高效、智能的新型巡检手段。南方电网公司经过多年的探索和实践，已利用直升机、各类无人机及机器人在架空输电线路建设施工、巡视检测、应急消缺、带电作业等方面开展作业，极大限度解放了现场作业人员，提升了输电线路运维水平。 本书共包含9 章，分别为概述、法律法规及标准、机巡设备、巡视技术、检测技术、施工检修、机器人巡检、协同巡检和展望。全书较为全面地介绍了南方电网公司输电线路直升机/无人机巡检技术成果，能够进一步推动机巡新技术在输电线路运维中的应用。