基于点云模型的三维航线规划系统，该系统利用高精度的输电线路三维激光点云数据，综合考虑多机型多旋翼飞行能力、作业特点、飞行安全、作业效率、起降条件、相机焦距、安全距离、巡查部件大小、云台角度、机头朝向等的基础上进行全自动航线规划，输出高精度地理坐标的航线规划成果以供多旋翼无人机进行自动化。
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