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。

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。目前，我国110kV 及以上输电线路已达百万公里，80%以上的线路位于远离城镇、远离交通干线、人烟稀少的高山大岭地区。传统人工巡检主要依靠作业人员搭乘车辆或徒步亲临现场，通过目视查找缺陷并记录巡视情况，人均维护线路近30km，巡线需求和人力缺员的矛盾日益突出，已无法满足南方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。近年来，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。 2013 年，南方电网公司党组进行专项研究，确定在全网逐步推广输电线路直升机巡视作业，全面启动输电线路机巡 人巡协同配合新型运维模式的规划推广。南方电网公司先后印发《南方电网架空输电线路直升机巡视作业业务推进方案》《南方电网十三五输电线路机巡 人巡协同巡检推进方案》《南方电网输电线路机巡 人巡协同巡检工作指导意见》等指导性文件，分步有序推进机巡精益化巡维工作的开展，确立了截至2020 年底，全面建成机巡为主、人巡为辅的架空输电线路巡检模式的机巡业务发展目标，以从根本上解决输电线路运维质量和管理效益的问题。经过五年时间的探索和实践，南方电网公司形成了一支产、学、研、用密切联合的创新型队伍，各单位通过科技研发、职工创新、技术改造等多种形式，已利用直升机、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，并深入探索激光雷达、多光谱雷达、喷火装置等新型传感器/作业设备，推动作业装备智能化、现场作业多用化、数据处理自动化，部分技术成果已常规化应用于南方电网公司生产运维，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，可供从事输电线路机巡技术研究、设备生产、线路运维的人员学习使用，也可供相关从业人员和学生参考，希望对我国架空输电线路机巡技术水平提升起到一定推动作用。本书由南方电网公司生产技术部牵头编写，编写过程中得到了南方电网各省（级）电网公司、南网科研院的大力支持，在此表示感谢！由于编者的水平有限，书中难免存在疏漏和不足之处，恳请读者批评指正。 编 者 2018 年12 月

本书由中国南方电网有限责任公司生产技术部牵头，组织南方电网科学研究院等相关单位的专家学者共同编写而成，人员包括刘启宏、汪际峰、 牛保红、钟连宏、丁士 李志强、黎小林、樊灵孟、刘昌、李锐海、谢松瑜、吴新桥、廖永力、张贵峰、冯瑞发、田治仁、张巍、韩玉康、张建刚、李庭坚、彭炽刚、李雄刚、张峰、刘高、彭向阳、沈志、马仪、黄俊波、孙斌、李维鹏、于虹、黄绪勇、柯磊、彭赤、张伟、毛先胤、杨磊、虢韬、陈凤翔、刘宇、黄海鹏、张欣、陈城、李勋、李瀚儒、张雷、陈旭

序 前言 第1 章 概述 1.1 机巡技术发展简介 1.1.1 直升机巡检 1.1.2 无人机巡检 1.1.3 机器人巡检 1.2 应用方向 1.2.1 线路巡视 1.2.2 勘察测量 1.2.3 施工检修 第2 章 法律法规及标准 2.1 法律 2.2 行政法规 2.3 通航行业标准 2.4 电力行业标准 2.5 企业标准 2.6 线路运维 第3 章 机巡设备 3.1 直升机巡检设备 3.1.1 直升机 3.1.2 巡检装备 3.1.3 防护设备 3.2 无人机巡检设备 3.2.1 多旋翼无人机 3.2.2 固定翼无人机 3.2.3 无人直升机 3.3 传感器载荷 3.3.1 光电吊舱 3.3.2 激光雷达 3.3.3 多光谱载荷 第4 章 巡视技术 4.1 直升机巡视 4.1.1 基本要求 4.1.2 作业流程 4.1.3 作业前准备 4.1.4 作业实施 4.1.5 质量控制措施及检验标准 4.1.6 数据分析及缺陷管理 4.1.7 巡视资料移交 4.2 无人机巡视 4.2.1 无人直升机巡视 4.2.2 固定翼无人机巡视 4.2.3 多旋翼无人机巡视 4.3 数据处理 4.3.1 图像拼接技术 4.3.2 视频拼接技术 4.3.3 智能识别技术 第5 章 检测技术 5.1 激光雷达技术 5.1.1 原理及应用 5.1.2 作业方法 5.1.3 数据处理 5.2 倾斜摄影测量技术 ······································································ 78 5.2.1 原理及应用 ··································································· 78 5.2.2 作业方式 ······································································ 79 5.2.3 数据处理 ······································································ 82 5.2.4 应用实例 ······································································ 83 5.3 多光谱检测技术 ········································································· 86 5.3.1 覆冰多光谱检测技术 ······················································· 87 5.3.2 山火多光谱载荷检测技术 ················································· 88 5.3.3 多（高）光谱识别树木种类检测技术 ·································· 89 第6 章 施工检修 ······························································ 92 6.1 直升机施工 ··············································································· 92 6.1.1 吊装组塔 ······································································ 92 6.1.2 空中架线 ······································································ 96 6.2 直升机检修作业 ········································································· 98 6.2.1 带电水冲洗 ··································································· 98 6.2.2 带电检修 ···································································· 105 6.3 无人机清除异物 ······································································· 115 6.3.1 无人机喷火清障 ···························································· 115 6.3.2 无人机喷药清巢 ···························································· 119 6.3.3 无人机搭载的激光清障装置 ············································ 120 6.3.4 无人机搭载的电热丝清障装置 ········································· 121 第7 章 机器人巡检 ························································· 124 7.1 机器人巡视 ············································································· 124 7.1.1 概述 ·········································································· 124 7.1.2 技术原理 ···································································· 125 7.1.3 巡视作业基本要求 ························································ 125 7.1.4 巡视作业过程 ······························································ 125 7.2 零值绝缘子检测技术 ································································· 127 7.2.1 概述 ·········································································· 127 7.2.2 技术原理 ···································································· 127 7.2.3 应用情况 ···································································· 127 7.3 树木修剪技术 ·········································································· 129 7.3.1 概述 ·········································································· 129 7.3.2 技术原理 ···································································· 129 7.3.3 应用情况 ···································································· 130 7.4 除冰技术 ················································································· 130 7.4.1 概述 ·········································································· 130 7.4.2 技术原理 ···································································· 130 7.4.3 应用情况 ···································································· 133 第8 章 协同巡检 ···························································· 134 8.1 应用定位 ················································································· 135 8.2 界面划分 ················································································· 134 8.3 巡视周期 ················································································· 136 8.4 工作协同要求 ··········································································· 137 8.5 协同巡检绩效评估 ····································································· 137 第9 章 展望 ·································································· 140 参考文献 ········································································