架空輸電線路作為電力運(yùn)輸?shù)闹匾ǖ�，其安全穩(wěn)定運(yùn)行是國(guó)家穩(wěn)定、人民安居的堅(jiān)實(shí)基礎(chǔ)。傳統(tǒng)人工巡檢方式已無(wú)法滿(mǎn)足電網(wǎng)公司當(dāng)前及未來(lái)管理精益化、降本增效的戰(zhàn)略發(fā)展需要。直升機(jī)、無(wú)人機(jī)以及機(jī)器人技術(shù)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(guò)多年的探索和實(shí)踐，已利用直升機(jī)、各類(lèi)無(wú)人機(jī)及機(jī)器人在架空輸電線路建設(shè)施工、巡視檢測(cè)、應(yīng)急消缺、帶電作業(yè)等方面開(kāi)展作業(yè)，極大限度解放了現(xiàn)場(chǎng)作業(yè)人員，提升了輸電線路運(yùn)維水平。 本書(shū)共包含9 章，分別為概述、法律法規(guī)及標(biāo)準(zhǔn)、機(jī)巡設(shè)備、巡視技術(shù)、檢測(cè)技術(shù)、施工檢修、機(jī)器人巡檢、協(xié)同巡檢和展望。全書(shū)較為全面地介紹了南方電網(wǎng)公司輸電線路直升機(jī)/無(wú)人機(jī)巡檢技術(shù)成果，能夠進(jìn)一步推動(dòng)機(jī)巡新技術(shù)在輸電線路運(yùn)維中的應(yīng)用。
架空輸電線路作為電力運(yùn)輸?shù)闹匾ǖ�，其安全穩(wěn)定運(yùn)行是國(guó)家穩(wěn)定、人民安居的堅(jiān)實(shí)基礎(chǔ)。目前，我國(guó)110kV 及以上輸電線路已達(dá)百萬(wàn)公里，80%以上的線路位于遠(yuǎn)離城鎮(zhèn)、遠(yuǎn)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(chē)輛或徒步親臨現(xiàn)場(chǎng)，通過(guò)目視查找缺陷并記錄巡視情況，人均維護(hù)線路近30km，巡線需求和人力缺員的矛盾日益突出，已無(wú)法滿(mǎn)足南方電網(wǎng)公司當(dāng)前及未來(lái)管理精益化、降本增效的戰(zhàn)略發(fā)展需要。近年來(lái)，直升機(jī)、無(wú)人機(jī)以及機(jī)器人技術(shù)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(jìn)行專(zhuān)項(xiàng)研究，確定在全網(wǎng)逐步推廣輸電線路直升機(jī)巡視作業(yè)，全面啟動(dòng)輸電線路機(jī)巡 人巡協(xié)同配合新型運(yùn)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(jī)巡視作業(yè)業(yè)務(wù)推進(jìn)方案》《南方電網(wǎng)十三五輸電線路機(jī)巡 人巡協(xié)同巡檢推進(jìn)方案》《南方電網(wǎng)輸電線路機(jī)巡 人巡協(xié)同巡檢工作指導(dǎo)意見(jiàn)》等指導(dǎo)性文件，分步有序推進(jìn)機(jī)巡精益化巡維工作的開(kāi)展，確立了截至2020 年底，全面建成機(jī)巡為主、人巡為輔的架空輸電線路巡檢模式的機(jī)巡業(yè)務(wù)發(fā)展目標(biāo)，以從根本上解決輸電線路運(yùn)維質(zhì)量和管理效益的問(wèn)題。經(jīng)過(guò)五年時(shí)間的探索和實(shí)踐，南方電網(wǎng)公司形成了一支產(chǎn)、學(xué)、研、用密切聯(lián)合的創(chuàng)新型隊(duì)伍，各單位通過(guò)科技研發(fā)、職工創(chuàng)新、技術(shù)改造等多種形式，已利用直升機(jī)、無(wú)人機(jī)及機(jī)器人在架空輸電線路建設(shè)施工、巡視檢測(cè)、應(yīng)急消缺、帶電作業(yè)等方面開(kāi)展作業(yè)，并深入探索激光雷達(dá)、多光譜雷達(dá)、噴火裝置等新型傳感器/作業(yè)設(shè)備，推動(dòng)作業(yè)裝備智能化、現(xiàn)場(chǎng)作業(yè)多用化、數(shù)據(jù)處理自動(dòng)化，部分技術(shù)成果已常規(guī)化應(yīng)用于南方電網(wǎng)公司生產(chǎn)運(yùn)維，極大限度解放了現(xiàn)場(chǎng)作業(yè)人員，提升了輸電線路運(yùn)維水平。
本書(shū)較為全面地介紹了南方電網(wǎng)公司輸電線路直升機(jī)/無(wú)人機(jī)巡檢技術(shù)成果，可供從事輸電線路機(jī)巡技術(shù)研究、設(shè)備生產(chǎn)、線路運(yùn)維的人員學(xué)習(xí)使用，也可供相關(guān)從業(yè)人員和學(xué)生參考，希望對(duì)我國(guó)架空輸電線路機(jī)巡技術(shù)水平提升起到一定推動(dòng)作用。本書(shū)由南方電網(wǎng)公司生產(chǎn)技術(shù)部牽頭編寫(xiě)，編寫(xiě)過(guò)程中得到了南方電網(wǎng)各�。�(jí)）電網(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(shū)中難免存在疏漏和不足之處，懇請(qǐng)讀者批評(píng)指正。
編 者
2018 年12 月
本書(shū)由中國(guó)南方電網(wǎng)有限責(zé)任公司生產(chǎn)技術(shù)部牽頭，組織南方電網(wǎng)科學(xué)研究院等相關(guān)單位的專(zhuān)家學(xué)者共同編寫(xiě)而成，人員包括劉啟宏、汪際峰、 牛保紅、鐘連宏、丁士 李志強(qiáng)、黎小林、樊靈孟、劉昌、李銳海、謝松瑜、吳新橋、廖永力、張貴峰、馮瑞發(fā)、田治仁、張巍、韓玉康、張建剛、李庭堅(jiān)、彭熾剛、李雄剛、張峰、劉高、彭向陽(yáng)、沈志、馬儀、黃俊波、孫斌、李維鵬、于虹、黃緒勇、柯磊、彭赤、張偉、毛先胤、楊磊、虢韜、陳鳳翔、劉宇、黃海鵬、張欣、陳城、李勛、李瀚儒、張雷、陳旭
序
前言
第1 章 概述
1.1 機(jī)巡技術(shù)發(fā)展簡(jiǎn)介
1.1.1 直升機(jī)巡檢
1.1.2 無(wú)人機(jī)巡檢
1.1.3 機(jī)器人巡檢
1.2 應(yīng)用方向
1.2.1 線路巡視
1.2.2 勘察測(cè)量
1.2.3 施工檢修
第2 章 法律法規(guī)及標(biāo)準(zhǔn)
2.1 法律
2.2 行政法規(guī)
2.3 通航行業(yè)標(biāo)準(zhǔn)
2.4 電力行業(yè)標(biāo)準(zhǔn)
2.5 企業(yè)標(biāo)準(zhǔn)
2.6 線路運(yùn)維
第3 章 機(jī)巡設(shè)備
3.1 直升機(jī)巡檢設(shè)備
3.1.1 直升機(jī)
3.1.2 巡檢裝備
3.1.3 防護(hù)設(shè)備
3.2 無(wú)人機(jī)巡檢設(shè)備
3.2.1 多旋翼無(wú)人機(jī)
3.2.2 固定翼無(wú)人機(jī)
3.2.3 無(wú)人直升機(jī)
3.3 傳感器載荷
3.3.1 光電吊艙
3.3.2 激光雷達(dá)
3.3.3 多光譜載荷
第4 章 巡視技術(shù)
4.1 直升機(jī)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(zhǔn)備
4.1.4 作業(yè)實(shí)施
4.1.5 質(zhì)量控制措施及檢驗(yàn)標(biāo)準(zhǔn)
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(wú)人機(jī)巡視
4.2.1 無(wú)人直升機(jī)巡視
4.2.2 固定翼無(wú)人機(jī)巡視
4.2.3 多旋翼無(wú)人機(jī)巡視
4.3 數(shù)據(jù)處理
4.3.1 圖像拼接技術(shù)
4.3.2 視頻拼接技術(shù)
4.3.3 智能識(shí)別技術(shù)
第5 章 檢測(cè)技術(shù)
5.1 激光雷達(dá)技術(shù)
5.1.1 原理及應(yīng)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(cè)量技術(shù)
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78
5.2.1 原理及應(yīng)用 ···································································
78
5.2.2 作業(yè)方式
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79
5.2.3 數(shù)據(jù)處理
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82
5.2.4 應(yīng)用實(shí)例
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83
5.3 多光譜檢測(cè)技術(shù)
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86
5.3.1 覆冰多光譜檢測(cè)技術(shù) ······················································· 87
5.3.2 山火多光譜載荷檢測(cè)技術(shù) ·················································
88
5.3.3 多（高）光譜識(shí)別樹(shù)木種類(lèi)檢測(cè)技術(shù) ·································· 89
第6 章 施工檢修 ······························································
92
6.1 直升機(jī)施工 ···············································································
92
6.1.1 吊裝組塔
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6.1.2 空中架線
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6.2 直升機(jī)檢修作業(yè)
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98
6.2.1 帶電水沖洗
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6.2.2 帶電檢修 ····································································
105
6.3 無(wú)人機(jī)清除異物
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115
6.3.1 無(wú)人機(jī)噴火清障 ····························································
115
6.3.2 無(wú)人機(jī)噴藥清巢 ····························································
119
6.3.3 無(wú)人機(jī)搭載的激光清障裝置 ············································ 120
6.3.4 無(wú)人機(jī)搭載的電熱絲清障裝置 ········································· 121
第7 章 機(jī)器人巡檢 ·························································
124
7.1 機(jī)器人巡視
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7.1.1 概述
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7.1.2 技術(shù)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(guò)程 ······························································
125
7.2 零值絕緣子檢測(cè)技術(shù) ·································································
127
7.2.1 概述
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7.2.2 技術(shù)原理
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7.2.3 應(yīng)用情況
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7.3 樹(shù)木修剪技術(shù)
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129
7.3.1 概述 ··········································································
129
7.3.2 技術(shù)原理
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7.3.3 應(yīng)用情況
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7.4 除冰技術(shù) ·················································································
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7.4.1 概述
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7.4.2 技術(shù)原理
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7.4.3 應(yīng)用情況 ····································································
133
第8 章 協(xié)同巡檢 ····························································
134
8.1 應(yīng)用定位
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8.2 界面劃分
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8.3 巡視周期
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8.4 工作協(xié)同要求 ···········································································
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8.5 協(xié)同巡檢績(jī)效評(píng)估
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第9 章 展望 ··································································
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參考文獻(xiàn) ········································································ |
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