Power transmission line multi-rotor unmanned aerial vehicle refined patrol route extraction method

The invention discloses a power transmission line multi-rotor unmanned aerial vehicle refined patrol route extraction method. The method comprises the steps that 1, classified power transmission line laser point cloud data and tower files are acquired; 2, according to the classified power transmission line laser point cloud data and tower files, sequentially determining a space coordinate system of each tower from a small-size side to a large-size side; step 3, extracting coordinates of key points of the tower; 4, determining the position of a shooting point of the unmanned aerial vehicle; 5, aiming at a large-size side, namely from right to left, from top to bottom and from a small-size side to the large-size side, according to the positions of the shooting points obtained in the step 4, solidifying the operation shooting points, and establishing a standardized route library; the problems of low efficiency and poor accuracy of unmanned aerial vehicle refined patrol route planning are solved. 本发明公开了一种输电线路多旋翼无