A robot-based three-dimensional reconstruction tunnel leakage detection device and its usage method

Abstract

The present invention discloses a three-dimensional reconstruction tunnel leakage detection device based on a robot, mainly including a device main body and a bottom plate. A camera is arranged on the left side of the device main body, and a rotating head is arranged on the right side of the camera. A connecting piece is connected to the right side of the rotating head, and a planetary ring is arranged outside the connecting piece. An acoustic radar is arranged above the device main body, and a locator is arranged inside the device main body. A turntable is connected above the device main body, and a lifting rod is arranged above the turntable. For the three-dimensional reconstruction tunnel leakage detection device based on a robot and its using method, the acoustic radar can be used to model the entire tunnel structure, so as to obtain a three-dimensional digital model of the tunnel. At the same time, the locator is linked with the Beidou satellite system to obtain the position of the device during the actual measurement process, and correct and match it with the measurement data of the measuring wheel, so as to obtain the accurate actual position and relative specific position of the tunnel penetration point.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel leakage detection, and specifically to a three-dimensional reconstruction tunnel leakage detection device based on a robot and a usage method thereof. Background Art

[0002] A tunnel is a typical hydraulic engineering structure, mainly for water conveyance or flood discharge. Generally, it is excavated in the mountain. According to its functions, tunnels are generally divided into water release tunnels or flood discharge tunnels. The water release tunnel is used to release the water required for irrigation, power generation, water supply, etc. from the reservoir; the flood discharge tunnel is used to cooperate with the spillway to discharge part of the flood, discharge the tail water of the hydropower station, empty the reservoir for the maintenance of the hub buildings or for the need of war preparedness, and discharge sediment, etc. Therefore, in order to ensure the normal operation of the tunnel, it is necessary to carry out maintenance and detection to ensure the safety and stability of the water flow. Due to the complex internal environment of the tunnel, the tunnel sizes are different and the danger is relatively high, which is not conducive to personnel entry. Therefore, a tunnel leakage detection device is needed. However, there are still some significant problems to be solved in the traditional tunnel leakage detection devices:

[0003] 1. The existing tunnel leakage detection devices generally detect the inside of the tunnel by binding a camera to a remote control vehicle. However, this detection method can only detect whether there are leakage points in the tunnel, but cannot mark the leakage points, resulting in the need to re-investigate and confirm the positions of the leakage points during subsequent maintenance, consuming a large amount of time and cost;

[0004] 2. Since the existing tunnel leakage detection devices use the method of binding a camera to a remote control vehicle for detection and have a relatively high center of mass, and the ground inside the tunnel is often uneven with a large height difference, the high-center-of-gravity vehicle is prone to overturn, resulting in being unable to be recovered and affecting subsequent detection;

[0005] 3. The existing tunnel leakage detection devices can only detect the penetration points, but cannot detect the causes of the formation of the penetration points, which may lead to repeated penetration after the penetration points are repaired.

[0006] In view of the above problems, innovative designs are made on the original three-dimensional reconstruction tunnel leakage detection device based on a robot and its usage method. Summary of the Invention

[0007] The object of the present invention is to provide a three-dimensional reconstruction tunnel leakage detection device based on a robot and its usage method, so as to solve the problems proposed in the above background technology. The existing tunnel leakage detection devices generally detect the interior of the tunnel by binding a camera to a remote control vehicle. However, this detection method can only detect whether there are leakage points in the tunnel, but cannot mark the leakage points, resulting in the need to re-explore and confirm the positions of the leakage points during subsequent maintenance, consuming a large amount of time and cost. The existing tunnel leakage detection devices use the method of binding a camera to a remote control vehicle for detection, and have a relatively high center of mass. The ground inside the tunnel is often uneven with a large drop, and the vehicle with a high center of gravity is prone to tipping over, resulting in being unable to be recovered and affecting subsequent detection. The existing tunnel leakage detection devices can only detect the penetration points, but cannot detect the causes of the formation of the penetration points, which may lead to repeated penetration after the penetration points are repaired, causing repeated situations to occur.

[0008] To achieve the above object, the present invention provides the following technical solution: A three-dimensional reconstruction tunnel leakage detection device based on a robot, including a device main body and a bottom plate. A camera is arranged on the left side of the device main body, and a rotating head is arranged on the right side of the camera. A connecting piece is connected to the right side of the rotating head, and a planetary ring is arranged outside the connecting piece. An acoustic radar is arranged above the device main body, and a locator is arranged inside the device main body. A turntable is connected above the device main body, and a lifting rod is arranged above the turntable. Linking blocks are connected to both sides of the lifting rod, and hydraulic rods are arranged below the linking blocks. An extension rod is arranged inside the lifting rod, a liquid guiding port is arranged at one end of the extension rod, and a liquid storage box is connected above the extension rod. A mass block is arranged inside the device main body, a measuring plate is arranged on the right side of the mass block, and a measuring wheel is connected below the measuring plate. Support platforms are arranged on both sides of the bottom plate, connecting rods are connected inside the support platforms, and moving wheels are arranged below the connecting rods.

[0009] Preferably, the camera is rotatably connected to an angle plate, the angle plate is fixedly connected to the rotating head, and the angle plate is symmetrically arranged about the horizontal midline of the camera. The rotating head is rotatably connected to the device main body, and the rotation center of the rotating head is coaxially and fixedly arranged with the rotation center of the connecting piece.

[0010] Preferably, a planetary gear is arranged on the right side of the connecting piece, the connecting piece is rotatably connected to the planetary gear, the planetary gear is meshed with a toothed ring, and the planetary gears are arranged in a circular matrix inside the toothed ring. The planetary gear is meshed with a sun gear, and the number of teeth of the planetary gear is less than that of the sun gear. The planetary ring is fixedly connected to the toothed ring, and the planetary ring is fixedly connected to the device main body by screws.

[0011] Preferably, the moving wheels are rotatably connected to the wheel seats, and a motor structure is arranged inside the wheel seats. The wheel seats are fixedly connected to the connecting rods, and the connecting rods are slidably connected to the support platforms. The connecting rods are integrally formed with the top plates, and the connecting rods and the top plates form a spring return structure through the buffer springs. The support platforms are fixedly connected to the bottom plates, and the support platforms are arranged in a matrix around the bottom plates. The bottom plates are slidably connected to the device main body through the slide rails.

[0012] Preferably, the mass block is made of a high-density lead block, and the mass block is slidably connected to the guide rails. The guide rails are integrally formed with the device main body, and the guide rails are symmetrically arranged about the vertical midline of the mass block. The mass block and the dampers form a damping buffer structure, and the dampers are symmetrically arranged about the horizontal midline of the mass block.

[0013] Preferably, the measuring plate is slidably connected to the device main body, and the measuring plate and the device main body are mutually engaged. The measuring plate and the pressure springs form a spring return structure, and the pressure springs are symmetrically arranged about the vertical midline of the measuring plate. The measuring plate is rotatably connected to the measuring wheels, and the measuring wheels and the encoder form a belt drive structure through the transmission belt, and the transmission ratio of the transmission belt is 1.

[0014] Preferably, the turntable is rotatably connected to the device main body, and the turntable is meshed with the gear shaft, and the turntable is fixedly connected to the hydraulic rod. The right end of the hydraulic rod is rotatably connected to the linkage shaft, and the linkage shaft is fixedly connected to the linkage block, and the linkage block is triangularly arranged. The linkage block is rotatably connected to the lifting rod, and the linkage block is rotatably connected to the turntable.

[0015] Preferably, a chute is arranged inside the lifting rod, and the chute is symmetrically arranged about the horizontal midline of the lifting rod. The chute is slidably connected to the extension rod through the threaded slider, and the threaded slider is integrally formed with the extension rod. The threaded slider is threadedly connected to the lead screw, and the lead screw is rotatably connected inside the lifting rod. The extension rod is fixedly connected to the liquid guide pipe, and the liquid guide pipe is hermetically connected to the liquid storage box, and the liquid guide pipe is hermetically connected to the liquid guide port.

[0016] Another technical solution provided by the present invention is: a method for using a three-dimensional reconstruction tunnel leakage detection device based on a robot, including the following steps:

[0017] (1) Prepare the equipment: Prepare the three-dimensional reconstruction tunnel leakage detection device based on the robot, a wireless receiver, a control computer, and an experimental analyzer;

[0018] (ii) Conducting detection: placing the robot-based three-dimensional reconstruction tunnel leakage detection device at the tunnel entrance and making the measuring wheel touch the ground. Then, using a control computer to control the robot-based three-dimensional reconstruction tunnel leakage detection device to move into the tunnel through a wireless receiver, and controlling the camera to detect the inside of the tunnel. At the same time, the sonic radar is activated to detect the inside of the tunnel and a three-dimensional model of the tunnel is established based on the detection data of the sonic radar. At the same time, the measurement data of the measuring wheel and the positioning data of the Beidou satellite through the locator are combined to obtain the length of the tunnel. When the camera detects leakage, damage and other problems in the tunnel, it can quickly find the precise location of the leakage and damage based on the established model;

[0019] Sample collection: When the leakage damage location is found, the turntable and the lifting rod are controlled, and the liquid guide port is sent to the leakage location by the extension rod to collect the liquid sample, and then the robot-based three-dimensional reconstruction tunnel leakage detection device is retracted out of the tunnel;

[0020] Leakage analysis: first remove the liquid storage box, and then analyze the collected samples through the experimental analyzer, so as to prove the leakage location and explore the cause of the engineering quality according to the analysis results.

[0021] Compared with the prior art, the beneficial effects of the present invention are: the robot-based three-dimensional reconstruction tunnel leakage detection device and the use method of the robot-based three-dimensional reconstruction tunnel leakage detection device,

[0022] 1. The acoustic radar can be used to model the entire tunnel structure, thereby obtaining a three-dimensional model of the tunnel. At the same time, the locator is linked with the Beidou satellite system to obtain the location of the device, and matched with the measurement data of the measuring wheel to obtain the specific location of the penetration point;

[0023] 2. The four moving wheels are controlled separately to make the movement of the whole device more flexible. The buffer springs can be used to buffer the four moving wheels separately to prevent the vehicle from tipping over due to the impact of road stones. At the same time, the mass blocks are set to make the center of the device lower, making the movement more stable. The dampers can ensure that the device will not tip over when there is a large shake.

[0024] 3. By using the lifting rod and extension rod, the liquid guide port can collect penetration samples from the penetration point and bring them back. By analyzing the penetration samples, the cause of tunnel penetration can be determined, and the cause of penetration can be eliminated during maintenance to ensure that penetration will not occur again. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall front cross-sectional structure of the present invention;

[0026] Figure 2 For the present invention Figure 1 Schematic diagram of the enlarged structure at position A in the present invention;

[0027] Figure 3 Schematic diagram of the overall top view sectional structure of the present invention;

[0028] Figure 4 Schematic diagram of the overall left view sectional structure of the present invention;

[0029] Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure at position B in the present invention;

[0030] Figure 6 Schematic diagram of the top view sectional structure of the connection between the mass block and the buffer rod of the present invention;

[0031] Figure 7 Schematic diagram of the left view sectional structure of the connection between the device main body and the measuring plate of the present invention;

[0032] Figure 8 Schematic diagram of the three - dimensional structure of the bottom plate of the present invention.

[0033] In the figure: 1. Device main body; 2. Camera; 3. Angle plate; 4. Connecting piece; 5. Planetary ring; 6. Ring gear; 7. Moving wheel; 8. Gear shaft; 9. Bottom plate; 10. Mass block; 11. Measuring wheel; 12. Wheel seat; 13. Measuring plate; 14. Guide rail; 15. Pressure spring; 16. Turntable; 17. Extension rod; 18. Liquid guide pipe; 19. Positioner; 20. Sun gear; 21. Planetary gear; 22. Liquid guide port; 23. Sonic radar; 24. Rotating head; 25. Hydraulic rod; 26. Liquid storage box; 27. Lifting rod; 28. Linking block; 29. Linking shaft; 30. Chute; 31. Threaded slider; 32. Support platform; 33. Lead screw; 34. Top plate; 35. Connecting rod; 36. Buffer spring; 37. Slide rail; 38. Damper; 39. Transmission belt; 40. Encoder. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figure 1 and Figure 4, the present invention provides a technical solution: a three-dimensional reconstruction tunnel leakage detection device based on a robot, including a device main body 1 and a bottom plate 9. In order to prevent the camera 2 from rotating too fast and resulting in unclear display, a camera 2 is provided on the left side of the device main body 1, and a rotating head 24 is provided on the right side of the camera 2. A connecting piece 4 is connected to the right side of the rotating head 24, and a planetary ring 5 is provided on the outside of the connecting piece 4. An acoustic radar 23 is provided above the device main body 1, and a locator 19 is provided inside the device main body 1. The camera 2 is rotatably connected to an angle plate 3, and the angle plate 3 is fixedly connected to the rotating head 24. Moreover, the angle plate 3 is symmetrically arranged about the horizontal midline of the camera 2. The rotating head 24 is rotatably connected to the device main body 1, and the rotation center of the rotating head 24 is coaxially and fixedly arranged with the rotation center of the connecting piece 4. A planetary gear 21 is provided on the right side of the connecting piece 4, and the connecting piece 4 is rotatably connected to the planetary gear 21. The planetary gear 21 is meshed with a toothed ring 6, and the planetary gears 21 are arranged in an annular matrix inside the toothed ring 6. The planetary gear 21 is meshed with a sun gear 20, and the number of teeth of the planetary gear 21 is less than that of the sun gear 20. The planetary ring 5 is fixedly connected to the toothed ring 6, and the planetary ring 5 is fixedly connected to the device main body 1 by screws. The planetary gear 21 and the sun gear 20 are used to reduce the speed of the motor, and at the same time, the planetary reduction structure can reduce the reduction volume.

[0036] Please refer to Figure 1-4 , in order to enable sampling of the penetration point, a turntable 16 is connected above the device main body 1, and a lifting rod 27 is provided above the turntable 16. Linkage blocks 28 are connected to both sides of the lifting rod 27, and a hydraulic rod 25 is provided below the linkage blocks 28. An extension rod 17 is provided inside the lifting rod 27, and a liquid guide port 22 is provided at one end of the extension rod 17. A liquid storage box 26 is connected above the extension rod 17. The turntable 16 is rotatably connected to the device main body 1, and the turntable 16 is meshed with a gear shaft 8. Moreover, the turntable 16 is fixedly connected to the hydraulic rod 25. The right end of the hydraulic rod 25 is rotatably connected to a linkage shaft 29, and the linkage shaft 29 is fixedly connected to the linkage block 28. The linkage block 28 is triangularly arranged, and the linkage block 28 is rotatably connected to the lifting rod 27 and the turntable 16. A chute 30 is provided inside the lifting rod 27, and the chute 30 is symmetrically arranged about the horizontal midline of the lifting rod 27. The chute 30 is slidably connected to the extension rod 17 through a threaded slider 31, and the threaded slider 31 is integrally formed with the extension rod 17. The threaded slider 31 is threadedly connected to a lead screw 33, and the lead screw 33 is rotatably connected inside the lifting rod 27. The extension rod 17 is fixedly connected to a liquid guide pipe 18, and the liquid guide pipe 18 is hermetically connected to the liquid storage box 26 and hermetically connected to the liquid guide port 22. By rotating the turntable 16 and through the combined action of the lifting rod 27 and the extension rod 17, the liquid guide port 22 is made to contact the penetration point, thereby performing sampling.

[0037] Please refer to Figure 1 ,Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , in order to enable the device to perform shock absorption well and detect the distance, a mass 10 is arranged inside the device main body 1, a measuring plate 13 is arranged on the right side of the mass 10, a measuring wheel 11 is connected below the measuring plate 13, support platforms 32 are arranged on both sides of the bottom plate 9, a connecting rod 35 is connected inside the support platform 32, a moving wheel 7 is arranged below the connecting rod 35, the moving wheel 7 is rotatably connected to a wheel seat 12, a motor structure is arranged inside the wheel seat 12, the wheel seat 12 is fixedly connected to the connecting rod 35, the connecting rod 35 is slidably connected to the support platform 32, the connecting rod 35 is integrally arranged with the top plate 34, and the connecting rod 35 and the buffer spring 36 form a spring return structure through the top plate 34. The support platform 32 is fixedly connected to the bottom plate 9, and the support platforms 32 are arranged in a matrix around the bottom plate 9. The bottom plate 9 is slidably connected to the device main body 1 through a slide rail 37. The mass 10 is made of a high-density lead block, and the mass 10 is slidably connected to a guide rail 14. The guide rail 14 is integrally arranged with the device main body 1, and the guide rail 14 is symmetrically arranged about the vertical center line of the mass 10. The mass 10 and a damper 38 form a damping buffer structure, and the damper 38 is symmetrically arranged about the horizontal center line of the mass 10. The measuring plate 13 is slidably connected to the device main body 1, and the measuring plate 13 and the device main body 1 are engaged with each other. The measuring plate 13 and a pressure spring 15 form a spring return structure, and the pressure spring 15 is symmetrically arranged about the vertical center line of the measuring plate 13. The measuring plate 13 is rotatably connected to the measuring wheel 11, and the measuring wheel 11 and an encoder 40 form a belt drive structure through a transmission belt 39, and the transmission ratio of the transmission belt 39 is 1. By arranging the buffer spring 36, the whole device will not shake violently when moving, and when the shaking amplitude is large, the vibration force can be absorbed by the mass 10 and the damper 38 to reduce the shaking amplitude of the whole device. By arranging the measuring wheel 11, the moving distance of the device can be detected, so as to obtain the moving data of the device.

[0038] Please refer to Figure 1-8 , the present invention provides another technical solution: a method for using a three-dimensional reconstruction tunnel leakage detection device based on a robot, including the following steps:

[0039] 1. Prepare equipment: Prepare the three-dimensional reconstruction tunnel leakage detection device based on the robot, a wireless receiver, a control computer and an experimental analyzer;

[0040] Second, conduct detection: Place the robot-based three-dimensional reconstruction tunnel leakage detection device at the tunnel entrance, and make the measuring wheel 11 contact the ground. Then, use the control computer to control the robot-based three-dimensional reconstruction tunnel leakage detection device to move into the tunnel through the wireless receiver, and control the camera 2 to detect the inside of the tunnel. At the same time, enable the acoustic radar 23 to detect the inside of the tunnel and establish a three-dimensional model of the tunnel according to the detection data of the acoustic radar 23. At the same time, combine the measurement data of the measuring wheel 11 with the Beidou satellite positioning data through the locator 19 to obtain the tunnel length. When the camera 2 detects problems such as tunnel leakage and damage, it can quickly find the precise location of the leakage and damage according to the established model;

[0041] Third, sample collection: When the leakage and damage position is found, control the turntable 16 and the lifting rod 27, and use the extension rod 17 to send the liquid guide port 22 to the leakage position to collect liquid samples. Then, make the robot-based three-dimensional reconstruction tunnel leakage detection device retreat out of the tunnel;

[0042] Fourth, leakage analysis: First, remove the liquid storage box 26, and then analyze the collected samples through an experimental analyzer, so as to demonstrate the leakage position and explore the engineering texture reasons according to the analysis results.

[0043] Working principle: According to Figure 1-8, first, place the device on the ground so that the moving wheels 7 are in contact with the ground, and at the same time the measuring wheels 11 are also in contact with the ground. Due to the mass of the device body 1, at this time, the measuring plate 13 slides within the device body 1, causing the compression spring 15 to compress, thereby generating pressure to make the measuring wheels 11 closely contact the ground. Then, control the device to move forward. At this time, the wheel seat 12 causes the moving wheels 7 to rotate and move into the tunnel. At the same time, the acoustic radar 23 operates to establish a three-dimensional model of the tunnel. At the same time, the locator 19 communicates with the Beidou satellite to obtain the position of the device. Meanwhile, when the device is moving, at this time, the measuring wheels 11 roll on the ground, driving the transmission belt 39, causing the encoder 40 to rotate, thereby obtaining data on the moving distance. After the device enters the tunnel, at this time, the motor drives the sun gear 20 to rotate, and the sun gear 20 will drive the planet gear 21 to rotate on the gear ring 6. After reducing the motor speed, it is output to the connecting piece 4. At this time, the connecting piece 4 rotates within the planet ring 5, causing the rotating head 24 to rotate. At this time, it drives the angle plate 3 to rotate, and at the same time the angle plate 3 drives the camera 2 to rotate, so that the camera 2 rotates at all angles to detect the entire tunnel. During the movement, if the moving wheels 7 touch a stone on the ground, at this time, the connecting rod 35 will slide within the support platform 32, and at the same time the top plate 34 at the top of the connecting rod 35 will stretch the buffer spring 36 to ensure the stability of the bottom plate 9 and prevent the device body 1 connected above from shaking. When there is a large shake, at this time, the mass block 10 within the device body 1 slides on the guide rail 14 and unloads the force through the damper 38, so that the shaking force of the entire device is absorbed by the mass block 10 and the damper 38, making the device body 1 stable. When the penetration point is found, at this time, the device body 1 slides on the bottom plate 9 through the slide rail 37. Then, the motor drives the gear shaft 8 to rotate, and the gear shaft 8 causes the turntable 16 to rotate. At the same time, the hydraulic rod 25 contracts, driving the linkage block 28 through the linkage shaft 29. Since the linkage block 28 is triangularly arranged, the linkage block 28 rotates through the rotating shaft at one corner, driving the lifting rod 27. At this time, the motor drives the lead screw 33 to rotate, causing the threaded slider 31 to slide within the chute 30. At this time, the extension rod 17 extends, so that the liquid guide port 22 contacts the leakage point. Then, the leaked liquid enters the liquid guide pipe 18 through the liquid guide port 22 and flows into the liquid storage box 26. After that, the device is restored, and then the moving wheels 7 reverse to exit the tunnel. At this time, removing the liquid storage box 26 can take out the liquid sample to detect the reason for the gap penetration. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0044] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot-based three-dimensional reconstruction tunnel leakage detection device, comprising a device main body (1) and a bottom plate (9), characterized in that: A camera (2) is provided on the left side of the device main body (1), and a rotating head (24) is provided on the right side of the camera (2). A connecting piece (4) is connected to the right side of the rotating head (24), and a planetary ring (5) is provided on the outer side of the connecting piece (4). An acoustic radar (23) is provided above the device main body (1), and a locator (19) is provided inside the device main body (1). A turntable (16) is connected above the device main body (1), and a lifting rod (27) is provided above the turntable (16). Linking blocks (28) are connected to both sides of the lifting rod (27), and a hydraulic rod (25) is provided below the linking blocks (28). An extension rod (17) is provided inside the lifting rod (27), a liquid guide port (22) is provided at one end of the extension rod (17), and a liquid storage box (26) is connected above the extension rod (17). A mass block (10) is provided inside the device main body (1), a measuring plate (13) is provided on the right side of the mass block (10), and a measuring wheel (11) is connected below the measuring plate (13). Support platforms (32) are provided on both sides of the bottom plate (9), a connecting rod (35) is connected inside the support platforms (32), and a moving wheel (7) is provided below the connecting rod (35); The moving wheel (7) is rotatably connected to a wheel seat (12), and a motor structure is provided inside the wheel seat (12). The wheel seat (12) is fixedly connected to the connecting rod (35), the connecting rod (35) is slidably connected to the support platform (32), the connecting rod (35) is integrally provided with a top plate (34), and the connecting rod (35) and a buffer spring (36) form a spring reset structure through the top plate (34). The support platform (32) is fixedly connected to the bottom plate (9), and the support platforms (32) are arranged in a matrix around the bottom plate (9). The bottom plate (9) is slidably connected to the device main body (1) through a slide rail (37); The mass block (10) is made of a high-density lead block, and the mass block (10) is slidably connected to a guide rail (14). The guide rail (14) is integrally provided with the device main body (1), and the guide rail (14) is symmetrically arranged about the vertical center line of the mass block (10). The mass block (10) and a damper (38) form a damping buffer structure, and the damper (38) is symmetrically arranged about the horizontal center line of the mass block (10); A chute (30) is provided inside the lifting rod (27), and the chute (30) is symmetrically arranged about the horizontal center line of the lifting rod (27). The chute (30) is slidably connected to the extension rod (17) through a threaded slider (31), and the threaded slider (31) is integrally provided with the extension rod (17). The threaded slider (31) is threadedly connected to a lead screw (33), and the lead screw (33) is rotatably connected inside the lifting rod (27). The extension rod (17) is fixedly connected to a liquid guide pipe (18), the liquid guide pipe (18) is hermetically connected to the liquid storage box (26), and the liquid guide pipe (18) is hermetically connected to the liquid guide port (22).

2. The three-dimensional reconstruction tunnel leakage detection device based on a robot according to claim 1, characterized in that: The camera (2) is rotatably connected to the angle plate (3), and the angle plate (3) is fixedly connected to the rotating head (24). The angle plate (3) is symmetrically arranged with respect to the horizontal midline of the camera (2). The rotating head (24) is rotatably connected to the device main body (1), and the rotation center of the rotating head (24) is coaxially and fixedly arranged with the rotation center of the connecting piece (4).

3. A three-dimensional reconstruction tunnel leakage detection device based on a robot according to claim 1, characterized in that: A planetary gear (21) is arranged on the right side of the connecting piece (4), and the connecting piece (4) is rotatably connected to the planetary gear (21). The planetary gear (21) is meshed with the gear ring (6), and the planetary gears (21) are arranged in an annular matrix inside the gear ring (6). The planetary gear (21) is meshed with the sun gear (20), and the number of teeth of the planetary gear (21) is less than that of the sun gear (20). The planetary ring (5) is fixedly connected to the gear ring (6), and the planetary ring (5) is fixedly connected to the device main body (1) by screws.

4. The three-dimensional reconstruction tunnel leakage detection device based on a robot according to claim 1, wherein: The measuring plate (13) is slidably connected to the device main body (1), and the measuring plate (13) and the device main body (1) are engaged with each other. The measuring plate (13) and the pressure spring (15) form a spring return structure, and the pressure spring (15) is symmetrically arranged with respect to the vertical midline of the measuring plate (13). The measuring plate (13) is rotatably connected to the measuring wheel (11), and the measuring wheel (11) and the encoder (40) form a belt drive structure through the transmission belt (39), and the transmission ratio of the transmission belt (39) is 1.

5. A three-dimensional reconstruction tunnel leakage detection device based on a robot according to claim 1, characterized in that: The turntable (16) is rotatably connected to the device main body (1), and the turntable (16) is meshed with the gear shaft (8), and the turntable (16) is fixedly connected to the hydraulic rod (25). The right end of the hydraulic rod (25) is rotatably connected to the linkage shaft (29), and the linkage shaft (29) is fixedly connected to the linkage block (28), and the linkage block (28) is triangular. The linkage block (28) is rotatably connected to the lifting rod (27), and the linkage block (28) is rotatably connected to the turntable (16).

6. A method for using a three-dimensional reconstruction tunnel leakage detection device based on a robot as described in claim 1, characterized in that, It includes the following steps: (1) Prepare the equipment: Prepare the robot-based three-dimensional reconstruction tunnel leakage detection device, wireless receiver, control computer and experimental analyzer; (2) Conduct detection: Place the robot-based three-dimensional reconstruction tunnel leakage detection device at the tunnel entrance and make the measuring wheel (11) contact the ground. Then, use the control computer to control the robot-based three-dimensional reconstruction tunnel leakage detection device to move into the tunnel through the wireless receiver, and control the camera (2) to detect the inside of the tunnel. At the same time, enable the acoustic radar (23) to detect the inside of the tunnel and establish a three-dimensional model of the tunnel according to the detection data of the acoustic radar (23). At the same time, combine the measurement data of the measuring wheel (11) with the Beidou satellite positioning data through the locator (19) to obtain the tunnel length. When the camera (2) detects tunnel leakage and damage, quickly find the accurate position of the leakage and damage according to the established model; (3) Sample collection: When the leakage and breakage location is found, by controlling the turntable (16) and the lifting rod (27), and using the extension rod (17) to send the liquid guide port (22) to the leakage location to collect liquid samples, and then making the robot-based three-dimensional reconstruction tunnel leakage detection device retreat out of the tunnel; (4) Leakage analysis: First, remove the liquid storage box (26), and then analyze the collected samples through an experimental analyzer, so as to demonstrate the leakage location and explore the reasons for the engineering texture according to the analysis results.

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