Substation unmanned aerial vehicle inspection route planning method and system

The invention relates to the technical field of unmanned aerial vehicle inspection, and discloses a transformer substation unmanned aerial vehicle inspection route planning method and system, and the method comprises the steps: obtaining the three-dimensional point cloud data of a transformer substation in an inspection region, and dividing the transformer substation into a plurality of sub-regions in the three-dimensional point cloud data according to equipment intervals; extracting inspection point locations in each sub-region in the three-dimensional point cloud data, and generating corresponding waypoints based on the inspection point locations; planning an intra-region route and an intra-region safety channel of each sub-region according to the waypoint, and planning a cross-region safety channel among the sub-regions according to the intra-region safety channels of all the sub-regions; generating inspection route model data according to the cross-region safety channel, the intra-region ...