Autonomous leakage point positioning method of under-pressure leaking stoppage robot

The invention discloses an autonomous leakage point positioning method of an under-pressure leaking stoppage robot. The autonomous leakage point positioning method comprises the following steps that an RGB image and a depth image at a pipeline are acquired through a camera assembly; background noise of the RGB image and the depth image is filtered to obtain a denoised background; a pipeline leakage point is identified through a trained YOLO v4 model, and the rough three-dimensional position of the pipeline leakage point is roughly positioned through the pipeline leakage point position information obtained through identification in combination with the image information; a mechanical arm on the robot moves the tail end of a probe carrying a pressure sensor to the position near the leakage point based on the rough three-dimensional position; the contact state of the tail end of the probe and the pipeline is obtained through pressure data collected by the pressure sensor; and by circularly correcting the positio