电力无人机自动驾驶技术及应用

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