Data acquisition method and device, electronic equipment and storage medium

The invention discloses a data acquisition method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining obstacle information in the driving direction of a target unmanned vehicle; determining a to-be-used passing mode corresponding to the target unmanned vehicle based on the obstacle information, and controlling the target unmanned vehicle to pass through the to-be-detected tunnel based on the to-be-used passing mode; and when the target unmanned vehicle arrives at a target data acquisition position in the to-be-detected tunnel, target point cloud data at the target data acquisition position is acquired and uploaded. The problems that in a narrow space, when a pipeline or an internal structure in the space is overhauled based on a manual detection mode, the efficiency is low, the risk is high, and the internal structure of the narrow space is possibly damaged are solved. And the point cloud data of the engineering pipeline or the internal structure in the tunnel