Abstract: Manual, high-definition video and robot inspection often have inspection blind spots in substations. The intelligent inspection system of unmanned aerial vehicles can cover the blind spots in ground inspection of substations. Route planning is carried out for high-altitude equipment in substations, such as insulator strings, bus bars, portal frames, etc. Autonomous inspection of unmanned aerial vehicles is carried out to find hidden dangers and defects of equipment in time. Machines can improve the inspection efficiency of substations on behalf of people.