Method for detecting and monitoring verticality and appearance quality defects of bridge pier column through unmanned aerial vehicle

The invention discloses a method for detecting and monitoring verticality and appearance quality defects of a bridge pier column by an unmanned aerial vehicle, and relates to the technical field of engineering. According to the method, an unmanned aerial vehicle is used for detection and monitoring, the unmanned aerial vehicle carries a three-dimensional laser scanner, a CCD image processor and a phase range finder, firstly, a three-dimensional model of the pier stud is created, and the height H, the diameter D and other structural sizes of the pier stud are calculated; the unmanned aerial vehicle flies around the pier column for a second circle, four measuring lines of each pier column are identified on the basis of the three-dimensional model established during the first circle of flight, and the phase range finder is used for accurate measurement; the phase range finder measures the horizontal distance d and the relative elevation h of each point on each measuring line according to the spacing, calculates