Electric power tunnel inspection system and method based on robot

The robot-based electric power tunnel inspection system comprises a robot and an application platform, the robot runs along a track in a tunnel, the lower bottom surface of the robot is movably connected with a mechanical arm, and the tail end of the mechanical arm is connected with an image acquisition module; and the application platform is in communication connection with the image acquisition module, receives the tunnel internal image information acquired by the image acquisition module, generates a three-dimensional model of an inspection scene, and realizes inspection by using an observation point set in the three-dimensional model and corresponding action data. The safety of equipment and cables can be guaranteed, efficient and flexible control experience can be provided at the same time, special requirements in the power industry are met, and the user experience effect is improved. 本发明涉及基于机器人的电力隧道巡检系统及方法，包括机器人和应用平台，机器人沿隧道内部的轨道运行，下底面活动连接机械臂，机械臂末端连接图像采集模块；应用平台与图像采集模块通信连接，接收图像采集模块获取的隧道内部图像信息并生成巡检场景的三维模型，