In order to solve the problem that the current infrastructure construction and control work has many inspection items, complex content, many participants, large time span, irregular problems, and poor communication conditions on the infrastructure site or no communication signals, an intelligent sensing system based on Unmanned Aerial Vehicle (UAV) inspection is constructed in this paper. It uses UAV to act as the "information collector" of the intelligent sensing monitoring system of the construction site inspection, and combines the "information transmission network" composed of the 3G/4G communication network, the microwave communication network and the laser communication device to construct the intelligent sensing monitoring system for the inspection of the infrastructure on site. Remote security checks can be performed on a regular basis. The experimental test results show that the system can monitor the construction process of the infrastructure well, which is of great significance to promote the standardization of construction and ensure the safety of construction. This work is supported by National Natural Science Foundation of China (No. 60673072).