With the rapid growth of grid load, the length of transmission lines is increasing year by year. The contradiction between the increase in overhead transmission line operation and maintenance workload and the shortage of personnel has become increasingly prominent. UAV autonomous inspections are more and more widely used in transmission line inspections. However, the current point cloud collection of traditional UAVs has the problems of long collection period and low quality. In this paper, through the combination of front-end vision algorithm and autonomous flight technology, the whole process of unmanned aerial vehicle point cloud acquisition is realized. It also introduced the UAV inspection content and clarified the relevant technical requirements for UAV inspection shooting and storage. The operation process and method of drone inspection have been standardized. This can improve the efficiency of drone inspections. And it helps to improve the intrinsic safety level of the line.