Tour inspection method of foreign matters hanging in air based on tour inspection robot of substation

Provided is a tour inspection method of foreign matters hanging in the air based on a tour inspection robot of a substation. The method includes following steps: 1) the tour inspection robot pre-stores a reference image; 2) the tour inspection robot is controlled to acquire and store an onsite image of an overhead line of a tour inspection place; 3) the onsite image is segmented into N lattices, binary processing is performed on each lattice, a recognition characteristic point of each lattice is obtained, and data of the characteristic points is stored; 4) weight configuration is performed on each lattice, and a proportion threshold F of image anomaly is set; 5) the data of the characteristic points of the lattices of the onsite image is compared with data of characteristic points of corresponding lattices of the reference image one by one, and weighted coefficients of N lattices are obtained; and 6) a weighted value f of the onsite image is calculated, and the weighted value f is substituted into a formula (