Distribution network unmanned aerial vehicle autonomous patrol route planning method and system

The invention discloses a distribution network unmanned aerial vehicle autonomous patrol route planning method and system. The method comprises the steps that a plane coordinate map is established; connecting the starting point and the target point to obtain a direct track, determining an ideal track based on an intersection position of the direct track and an obstacle, segmenting the plane coordinate map and determining a sampling point distribution area; sampling points are randomly generated based on sampling point distribution, a gravitational field is established with the starting point and the ideal track as the center, a repulsive field is established with the obstacle as the center to guide the search direction of the RRT algorithm, and a random tree is reversely established from the target point to plan the unmanned aerial vehicle patrol optimal track. According to the method, a starting point, the gravitational action of an ideal track and the repulsive force action of an obstacle are introduced to