Pipeline three-dimensional curve measuring robot and implementation method therefor

A pipeline three-dimensional curve measuring robot, comprising:

• an electronic bin, a sliding rod connecting to a center of each of both sides of the electronic bin, a wheel bracket connecting to the sliding rod through a linear bearing, at least two sets of walking wheels evenly distributed on the wheel bracket, at least one set of odometer wheels having an independent retractable wheel bracket arranged on the sliding rod on one side, and an encoder installed on each of the odometer wheels;
• each of the sliding rods on each of both sides of the linear bearing has a spring installed;
• the electronic bin has an inertial measurement unit, a collection control module, and a power supply module, arranged inside the electronic bin;
• each set of the walking wheels makes a geometric center of the inertial measurement unit locate on a central axis of the electronic bin, by the springs contracting synchronously;
• and
• the collection control module controls the inertial measurement unit and the encoder to collect synchronously a plurality of measurement data, and compares a plurality of three-dimensional curves solved from the measurement data with a plurality of three-dimensional curve data at a plurality of reference time points of the pipeline, and obtains a deformation quantity of the three-dimensional curve of the pipeline.