The existing manual inspection and cleaning of tunnels and bridge bottoms requires a huge and very dangerous workload. The design of a tunnel inspection and cleaning unmanned aerial vehicle (UAV) is based on the inspection robot, which provides power and water tanks for the drone to ensure its range. The drone is equipped with an AI infrared camera matrix, which automatically detects and analyzes faults and accurately reports their location. In the cleaning mode, a cleaner composed of four brush heads automatically adapts to different curved surfaces, cleans without dead corners, and recycles sewage to avoid splashing onto passersby. At the same time, painting and wall painting operations can be carried out to beautify the tunnel and clean up vines that have damaged the wall.