Tunnel safety detection method and device and readable storage medium

The invention discloses a tunnel safety detection method and device and a readable storage medium, and belongs to the technical field of unmanned aerial vehicles. The method is used for controlling an unmanned aerial vehicle cluster, the unmanned aerial vehicle cluster comprises a cluster head unmanned aerial vehicle deployed at a tunnel portal and at least one cluster member unmanned aerial vehicle deployed in a tunnel, the cluster head unmanned aerial vehicle and the cluster member unmanned aerial vehicle are connected through a chain network, and after the cluster member unmanned aerial vehicle collects detection data, the cluster head unmanned aerial vehicle is connected with the cluster member unmanned aerial vehicle. Marking a node mark and a time mark on the detection data; obtaining routing information, and sending the detection data to a processing end based on the routing information; when the processing end receives the detection data, determining a tunnel position according to the node mark and th