The invention belongs to the technical field of
artificial intelligence, and provides a
closed space unmanned aerial vehicle autonomous
obstacle avoidance inspection method and equipment based on AI
image analysis, and the method comprises the steps: firstly obtaining fixed structure features and multi-
source data of a
closed space; then, according to the fixed structure features, the multi-
source data and an improved visual SLAM
algorithm, high-precision positioning and three-dimensional map construction are carried out in a GPS-free environment, and dynamic obstacles are recognized in the constructed three-dimensional map in real time; according to the IMU data, the real-time
pose of the unmanned aerial vehicle is determined; and finally, according to the real-time
pose, the three-dimensional map and the dynamic obstacle information, a deep
reinforcement learning model is adopted to carry out path planning and
obstacle avoidance decision making. According to the method, enhanced
loopback detection is realized through multi-
source data fusion and an improved visual SLAM
algorithm in combination with fixed structure features of a
closed space, positioning accumulative errors in a GPS-free environment are effectively eliminated, and
global consistency and positioning precision of a three-dimensional map are remarkably improved.