Intelligent bridge inspection method and inspection system based on unmanned aerial vehicle

The invention relates to the technical field of intelligent bridge inspection methods and equipment, in particular to an intelligent bridge inspection method and system based on an unmanned aerial vehicle, and the system comprises a current flight attitude module, a hovering module, a multi-sensor fusion obstacle avoidance reminding module, an emergency obstacle avoidance module, a positioning and attitude recording module and an anti-falling module. Compared with the prior art, the method has the advantages that the unmanned aerial vehicle and the unmanned aerial vehicle hangar are loaded on the pickup truck, a battery is automatically replaced in the process, human intervention of detection personnel is not needed, the unmanned aerial vehicle automatically lands on the unmanned aerial vehicle hangar after completing a task, and the detection personnel drive the pickup truck to the next bridge to execute a detection task; data are automatically uploaded to a cloud platform processing center, automatic modeli