Path planning method and system for inspection robot in transformer substation

The invention provides an inspection robot path planning method and system in a transformer substation, and relates to the technical field of transformer substation inspection robots, and the specific scheme comprises the steps: constructing a transformer substation path undirected graph, and setting the optimal illumination intensity condition of each node in the transformer substation path undirected graph; using an improved ant colony algorithm to iteratively update pheromone values among nodes in the transformer station path undirected graph until iteration stop conditions are met; when iteration is stopped, the path with the maximum pheromone value is the optimal path; according to the method, the influence of illumination intensity on the quality of images collected by the robot is considered, the ant colony algorithm is improved, and the optimal inspection path is obtained by selecting nodes and updating pheromones based on the optimal illumination intensity condition of the nodes, the predicted illumi