Method and system for intelligently monitoring train pantograph in real time based on three-dimensional full visual angle of unmanned plane group

The invention discloses a method and system for intelligently monitoring a train pantograph in real time based on a three-dimensional full visual angle of an unmanned plane group. The method makes the most of the maneuverability of an unmanned plane platform through introducing an unmanned plane pantograph detection device for the omnibearing detection of the pantograph. The method achieves the active and quick searching and tracking of a to-be-detected train pantograph, and guarantees the controllability and accuracy of the detection of the to-be-detected train pantograph. A plurality of groups of unmanned planes work at the same time in different regions, and the work efficiency is improved through the parallel working of the plurality of groups of unmanned planes, thereby ironing out the defects of a single group of unmanned plane in detection capability. Meanwhile, the unmanned planes are used for scanning the pantograph at different angles, thereby achieving the three-dimensional reconstruction of the pantograph, and achieving the full-visual-angle real-time detection of the state of the train pantograph, and avoiding a visual angle blind region of a pantograph monitoring system and a detection blind region of a pantograph fault technically. The method can effectively improve the detection efficiency of abnormalities, and can remarkably improve the operation safety of a train.