電力無人機自動駕駛技術及應用

前言
1 電力無人機自動巡檢 ································································· 1
1.1 無人機自動巡檢簡述 ······························································ 1
1.2 無人機自動巡檢流程 ······························································ 1
1.3 無人機自動巡檢發(fā)展現(xiàn)狀 ························································ 2
小結(jié) ·························································································· 4
2 自動巡檢基礎裝備及數(shù)據(jù)解算 ····················································· 5
2.1 自動巡檢機型介紹 ································································· 5
2.2 自動巡檢適配傳感器 ····························································· 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 輸電線路無人機自動巡檢技術 ··················································· 39
3.1 術語和定義 ········································································· 39
3.2 自動巡檢航線規(guī)劃 ································································ 40
3.3 輸電線路無人機自動巡檢作業(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 配電線路無人機自動巡檢技術 ··················································· 74
4.1 術語和定義 ········································································· 74
4.2 航線規(guī)劃 ············································································ 76
4.3 配電無人機自動巡檢內(nèi)容 ······················································· 81
4.4 配電無人機自動巡檢作業(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 變電站無人機自動巡檢技術 ······················································· 92
5.1 術語和定義 ········································································· 92
5.2 變電站三維建模 ··································································· 93
5.3 變電站無人機自動巡視航線規(guī)劃 ············································· 103
5.4 變電站無人機機巢與自動巡檢作業(yè)·········································· 107
小結(jié) ························································································ 109
6 自動巡檢支撐系統(tǒng) ································································· 111
6.1 自動識別子系統(tǒng) ·································································· 111
6.2 樹障識別子系統(tǒng) ·································································· 116
7 展望 ··················································································· 126
7.1 技術展望 ··········································································· 126
7.2 無人駕駛模式變革 ······························································· 129
7.3 運維策略變革 ····································································· 131
7.4 輸變配一體化設想 ······························································· 132
小結(jié) ························································································ 133
附錄A 現(xiàn)場風險管控一覽表 ······················································· 134
附錄B 無人機巡檢內(nèi)容一覽表 ···················································· 1