The invention discloses a tunnel safety pre-warning robot device. The tunnel safety pre-warning robot device comprises a camera support base, a laser radar, a radar bracket, a camera base, a camera, athree-dimensional laser scanner, an antenna support, an audible and visual alarm, a robot shell, a connecting rod, a water detecting antenna and a walking track; a driving system is powered by a lithium battery, a discharge current is large, and power is provided for each mobile unit; and the laser radar is used for locating a robot in a tunnel. The three-dimensional laser scanner is used for monitoring and measuring a tunnel surrounding rock. The audible and visual alarm gives an alarm in time for potential safety hazards. The water detecting antenna is used for realizing look-ahead water detection in the tunnel. According to requirements, the robot reaches the predetermined position to start vehicle-mounted detection instruments for personnel positioning in the tunnel; and each vehicle-mounted detection instrument is grouped into a control system, and data collection, analysis, pre-warning and alarm are carried out according to design and standard requirements.