電力無人機(jī)自動(dòng)駕駛技術(shù)及應(yīng)用

前言
1 電力無人機(jī)自動(dòng)巡檢 ································································· 1
1.1 無人機(jī)自動(dòng)巡檢簡述 ······························································ 1
1.2 無人機(jī)自動(dòng)巡檢流程 ······························································ 1
1.3 無人機(jī)自動(dòng)巡檢發(fā)展現(xiàn)狀 ························································ 2
小結(jié) ·························································································· 4
2 自動(dòng)巡檢基礎(chǔ)裝備及數(shù)據(jù)解算 ····················································· 5
2.1 自動(dòng)巡檢機(jī)型介紹 ································································· 5
2.2 自動(dòng)巡檢適配傳感器 ····························································· 10
2.3 作業(yè)場景與傳感器組合 ·························································· 14
2.4 數(shù)據(jù)采集和解算 ··································································· 16
2.5 自動(dòng)巡檢支撐平臺與數(shù)據(jù)分析系統(tǒng) ··········································· 35
3 輸電線路無人機(jī)自動(dòng)巡檢技術(shù) ··················································· 39
3.1 術(shù)語和定義 ········································································· 39
3.2 自動(dòng)巡檢航線規(guī)劃 ································································ 40
3.3 輸電線路無人機(jī)自動(dòng)巡檢作業(yè) ················································· 50
3.4 巡檢數(shù)據(jù)管理 ······································································ 71
3.5 巡檢數(shù)據(jù)軟硬件參數(shù)推薦 ······················································· 72
小結(jié) ························································································· 73
4 配電線路無人機(jī)自動(dòng)巡檢技術(shù) ··················································· 74
4.1 術(shù)語和定義 ········································································· 74
4.2 航線規(guī)劃 ············································································ 76
4.3 配電無人機(jī)自動(dòng)巡檢內(nèi)容 ······················································· 81
4.4 配電無人機(jī)自動(dòng)巡檢作業(yè)數(shù)據(jù)處理及歸檔 ································· 85
4.5 數(shù)據(jù)資源評估 ······································································ 89
小結(jié) ························································································· 91
5 變電站無人機(jī)自動(dòng)巡檢技術(shù) ······················································· 92
5.1 術(shù)語和定義 ········································································· 92
5.2 變電站三維建模 ··································································· 93
5.3 變電站無人機(jī)自動(dòng)巡視航線規(guī)劃 ············································· 103
5.4 變電站無人機(jī)機(jī)巢與自動(dòng)巡檢作業(yè)·········································· 107
小結(jié) ························································································ 109
6 自動(dòng)巡檢支撐系統(tǒng) ································································· 111
6.1 自動(dòng)識別子系統(tǒng) ·································································· 111
6.2 樹障識別子系統(tǒng) ·································································· 116
7 展望 ··················································································· 126
7.1 技術(shù)展望 ··········································································· 126
7.2 無人駕駛模式變革 ······························································· 129
7.3 運(yùn)維策略變革 ····································································· 131
7.4 輸變配一體化設(shè)想 ······························································· 132
小結(jié) ························································································ 133
附錄A 現(xiàn)場風(fēng)險(xiǎn)管控一覽表 ······················································· 134
附錄B 無人機(jī)巡檢內(nèi)容一覽表 ···················································· 1