Abstract: To alleviate the poor planning effect of UAV power patrol routes and low cruise efficiency of UAV power patrol,as well as avoid the threat of unreliable path,a research method for intelligent planning and independent patrol of UAV power patrol inspection routes is presented in this paper. The threat probability of the current routes and the cost to be paid on each route are calculated to obtain the available flying route of UAV power patrol inspection.The heuristic algorithm is applied to continuously traverse and calculate the priority of the two nodes,optimize the static and dynamic route planning effect of the flying route,collect the maximum safe distance of the transmission line and the number of hidden dangers in the transmission line according to the inspection report and power inspection requirements,and realize the intelligent route planning and independent inspection of UAV inspection. The experimental results show that after the optimal patrol route is applied for the patrol inspection,the route planning effect is good,the cruise efficiency is high,and the intelligent obstacle avoidance is carried out in full accordance with the requirements of power patrol inspection,and the autonomous patrol inspection effect is guaranteed.