随着无人机在电力行业的应用越来越广泛，运维模式也逐渐由“人工巡视为主，无人机巡视为辅”向“无人机巡视为主，人工巡视补充”转变，电力无人机自动巡检技术以其门槛低、简单便捷、高效的特点已逐步成为电力巡视的主要手段。
本书共分为7 章，分别为电力无人机自动巡检、自动巡检基础装备及数据解算、输电线路无人机自动巡检技术、配电线路无人机自动巡检技术、变电站无人机自动巡检技术、自动巡检支撑系统和展望。

本书是基于广东电网大规模无人机自动巡检技术应用的基础上进行编写的，希望可以借本书，大力推广电力无人机自动巡检技术的应用，希望通过在行业内普及电力自动巡检技术，推动国内电力行业的发展和技术研究，加快高校研究的步伐，加速5G及机巢等前沿技术的探索，助力电网运维往简单便捷、高效可靠、提质增效的方向发展

广东电网有限责任公司机巡管理中心成立于2016年7月22日，营业范围包括电力供应工程项目管理服务，网络技术研究、开发、通信技术研究开发、技术服务；工程和技术研究和试验发展，航空技术咨询服务等,当前广东省电网快速发展，广东电网输电线路规模达到9万公里，运用新一代人工智能巡检技术大大提高供电可靠性、节省了人工成本。近三年来，本人及其中心团队首次提出无人机智能巡检方法，建立了广东电网无人机巡检空域调度和大数据智能分析平台。据统计无人机巡检里程32.8万公里，发现紧急重大缺陷近6万，巡检里程及机巡效率由传统人巡4公里/天提升至机巡8公里/天，节省劳动成本3万人*次/年，巡检里程及机巡数据存储量全国。三年来，获智能机巡方面奖项共6项（其中省部级3项）、个人专利及软件著作权3项、出版著作2部，制作企标1项。发表文章3篇（其中E1 检索1篇）

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