Subway station inspection vehicle automatic positioning and obstacle avoidance device based on track guidance

Abstract

The utility model relates to the technical field of inspection vehicles, and discloses a subway station inspection vehicle automatic positioning and obstacle avoidance device based on track guidance, which comprises a subway track, guide rails are arranged on both sides of the subway track, a plurality of permanent magnets are linearly arranged in the guide rails at unequal intervals, guide wheels are arranged on the upper sides of the guide rails, and the guide wheels are arranged on the guide rails. An electromagnet is arranged in the guide wheel, a support is arranged on the guide wheel, a Hall sensor is arranged on one side of the support, a lifting mechanism is fixedly arranged on the upper side of the support, a vehicle body is fixedly arranged on the upper side of the lifting mechanism, and a walking mechanism is arranged on the lower side of the vehicle body. According to the utility model, through the walking mechanism, the vehicle body, the lifting mechanism, the bracket, the guide wheels, the guide rails, the electromagnets and the Hall sensors, and the plurality of permanent magnets are arranged at unequal intervals, the problems that the sensing positioning technology is influenced by the environment, the inspection vehicle cannot be accurately positioned, and the station inspection work is influenced are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection car, especially based on rail guide subway station inspection car automatic positioning and obstacle avoidance device. BACKGROUND

[0002] The subway inspection is the important link of guaranteeing the safe and reliable operation of the subway system, and relates to the comprehensive inspection of the track, equipment, environment and the like. With the progress of the society and the development of the technology, the inspection car assisted / substituted manual inspection appears, and the unmanned inspection car becomes a future development trend. Especially in the high-risk, bad and repetitive operation environment, the unmanned inspection becomes the primary choice to replace the manual inspection.

[0003] Through the search, the patent publication number CN218647347U discloses a subway inspection vehicle, which comprises a vehicle body and first and second mechanical arms arranged on the vehicle body; a PLC controller and an industrial computer are arranged in the vehicle body; a laser radar and a navigation camera are arranged on the front and rear walls of the vehicle body respectively, and the laser radar is arranged above the vertical line of the navigation camera, and the navigation camera is arranged at the center position of the front and rear walls of the whole vehicle body; laser ranging sensors are arranged on the left and right sides of the vehicle body respectively; obstacle avoidance sensors are arranged on the front and rear walls and the left and right sides of the vehicle body respectively. The laser radar has the advantages of fast scanning speed, strong anti-interference performance and high stability, and can assist the inspection vehicle and navigate the inspection vehicle to keep a certain distance from the track; the laser ranging sensors on the left and right sides of the vehicle body can obtain the accurate positioning of the inspection vehicle in combination with the laser radar during the operation of the vehicle body; at the same time, the navigation camera enables the inspection vehicle to accurately position its own position to complete the inspection.

[0004] However, the above-mentioned inspection car is unstable in the actual use due to the uneven illumination, water accumulation, dust and other environmental disturbances in the tunnel, and the influence of bad weather (such as heavy rain and low temperature); therefore, when the sensing positioning technology is affected by the environment, the inspection car cannot be accurately positioned, which affects the inspection work of the station. UTILITY MODEL CONTENT

[0005] In order to make up for the above shortcomings, the utility model provides a subway station inspection car automatic positioning and obstacle avoidance device based on rail guide, which aims to solve the problem that the sensing positioning technology cannot accurately position the inspection car when affected by the environment, which affects the inspection work of the station.

[0006] In order to achieve the above object, the utility model discloses the following technical scheme: subway station inspection car automatic positioning and barrier device based on track guide, including subway track, the both sides of subway track all are provided with guide rail, the inside linear inequality of guide rail is provided with a plurality of permanent magnet, the upper side of guide rail is provided with guide wheel, the inside of guide wheel is provided with electromagnet, the upper side of guide wheel is provided with support, the one side of support is provided with hall sensor, the upper side of support is fixedly provided with lifting mechanism, the upper side of lifting mechanism is fixedly provided with car body, the lower side of car body is provided with walking mechanism.

[0007] Through the above technical scheme: through the adhesion of guide wheel and guide rail, the attraction between electromagnet and permanent magnet, the path of car body is corrected to a certain extent, the car body can move along the subway track through walking mechanism, in the process of car body walking, through the numbering of a plurality of permanent magnets, the detection of permanent magnet magnetic force intensity of unequal distance arrangement through hall sensor, combined with car body, and then the accurate positioning of car body is realized.

[0008] As a further description of the above technical scheme:

[0009] The lifting mechanism includes a support plate and a lifting assembly, the upper end of the support plate is fixedly arranged on the car body, the lower end of the support plate is fixedly arranged on the upper side of the support, the upper side of the lifting assembly is fixedly connected to the lower side of the car body, and the lower side of the lifting assembly is fixedly arranged on the support plate.

[0010] Through the above technical scheme: when the support plate and the lifting assembly are supported by the car body, the lifting of the support plate is realized through the lifting of the lifting assembly, and then the lifting action of the car body is realized.

[0011] As a further description of the above technical scheme:

[0012] The lifting assembly includes a cylinder, a spring, a connecting block and a fixed plate, the upper side of the cylinder is fixedly connected to the lower side of the car body, the output end of the cylinder is fixedly arranged on the upper side of the spring, the lower side of the spring is fixedly arranged on the upper side of the connecting block, the connecting block is rotatably connected with a connecting rod, the fixed plate has two, the lower sides of the two fixed plates are fixedly connected to the support plate, and the two ends of the connecting rod of the connecting block are fixedly connected to the side walls between the two fixed plates.

[0013] Through the above technical scheme: through the telescopic of the output end of the cylinder, the support plate can be pulled up and put down, and then the lifting function of the lifting assembly is realized.

[0014] As a further description of the above technical scheme:

[0015] The lower side of the vehicle body is fixedly connected with a scraper, the lower side of the scraper is attached to the upper side of the guide rail, the side away from the scraper of the bracket is fixedly connected with an extension plate, and the Hall sensor is arranged on the lower side of the extension plate.

[0016] Through the above technical scheme: when the vehicle body is walking, in addition to the detection of the permanent magnet by the Hall sensor, the upper side of the guide rail is cleaned by the scraper, thereby realizing the cleaning ability of the vehicle body to the guide rail.

[0017] As a further description of the above technical scheme:

[0018] The front of the vehicle body is provided with a visual sensor, an ultrasonic sensor and an LED lamp group.

[0019] Through the above technical scheme: the LED lamp group provides light for the ultrasonic sensor, the obstacle detection is realized through the ultrasonic sensor, and the target recognition and image acquisition functions are realized through the visual sensor.

[0020] As a further description of the above technical scheme:

[0021] The upper side of the vehicle body is provided with a laser radar and a communication module, and the tail of the vehicle body is provided with an infrared sensor.

[0022] Through the above technical scheme: the communication module realizes the signal connection between the vehicle body and the external device, the laser radar realizes the perception of the environment by the vehicle body, and the infrared sensor improves the environmental perception ability of the device.

[0023] As a further description of the above technical scheme:

[0024] The inside of the vehicle body is provided with an inertial navigation unit.

[0025] Through the above technical scheme: the speed, position and attitude information in the movement of the vehicle body can be obtained through the inertial navigation unit, thereby helping to adjust the movement path of the vehicle body and improving the stability and positioning accuracy of the vehicle body.

[0026] As a further description of the above technical scheme:

[0027] The inside of the vehicle body is provided with a control unit, and the control unit, laser radar, communication module, visual sensor, ultrasonic sensor, LED lamp group, infrared sensor, walking mechanism, lifting mechanism, Hall sensor, inertial navigation unit and electromagnet are electrically connected.

[0028] Through the above technical scheme: through the control unit, the signals between the laser radar, the communication module, the visual sensor, the ultrasonic sensor, the LED lamp group, the infrared sensor, the walking mechanism, the lifting mechanism, the Hall sensor, the inertial navigation unit, the control unit and the electromagnet are received, processed and transmitted, and then the intelligent function of the device is realized.

[0029] The utility model has the advantages of the following:

[0030] 1. In the utility model, through the walking mechanism, the movement of the vehicle body is realized, through the driving of the lifting mechanism, the bracket is lowered, the lower side of the guide wheel is attached to the upper side of the guide rail, and then when the vehicle body moves, the guide wheel rolls on the upper side of the guide rail, through the attraction between the permanent magnet and the electromagnet, the unequal spacing arrangement of the plurality of permanent magnets and the detection of the Hall sensor to the permanent magnet, the problem that the sensing positioning technology cannot accurately position the inspection vehicle when affected by the environment and affects the station inspection work is solved.

[0031] 2. In the utility model, through the mutual cooperation between the control unit, the laser radar, the communication module, the visual sensor, the ultrasonic sensor, the LED lamp group, the infrared sensor, the walking mechanism, the lifting mechanism, the Hall sensor, the inertial navigation unit and the electromagnet, the collaborative optimization mechanism of multi-sensor fusion is realized, and the accuracy of positioning and obstacle avoidance is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is the front side three-dimensional structure schematic view of the automatic positioning and obstacle avoidance device of the subway station inspection vehicle based on track guidance provided by the utility model;

[0033] Figure 2 It is the rear side three-dimensional structure schematic view of the vehicle body of the automatic positioning and obstacle avoidance device of the subway station inspection vehicle based on track guidance provided by the utility model;

[0034] Figure 3 It is the lifting mechanism three-dimensional structure schematic view of the automatic positioning and obstacle avoidance device of the subway station inspection vehicle based on track guidance provided by the utility model;

[0035] Figure 4 It is Figure 3 It is the enlarged schematic view of A in the middle;

[0036] Figure 5 It is the internal structure schematic view of the vehicle body of the automatic positioning and obstacle avoidance device of the subway station inspection vehicle based on track guidance provided by the utility model;

[0037] Figure 6 It is the guide wheel cross section structure schematic view of the automatic positioning and obstacle avoidance device of the subway station inspection vehicle based on track guidance provided by the utility model;

[0038] Figure 7 The utility model provides a rail section structure schematic view of automatic positioning and barrier avoidance device of subway station inspection vehicle based on track guide.

[0039] Legend:

[0040] 1, subway track;2, guide rail;3, car body;4, laser radar;5, communication module;6, visual sensor;7, ultrasonic sensor;8, LED lamp group;9, infrared sensor;10, scraper;11, walking mechanism;12, lifting mechanism;120, support plate;121, lifting assembly;1210, air cylinder;1211, spring;1212, connecting block;1213, fixed plate;13, support;14, guide wheel;15, extension plate;16, hall sensor;17, inertial navigation unit;18, control unit;19, electromagnet;20, permanent magnet. DETAILED DESCRIPTION

[0041] The technical scheme in the embodiments of the utility model will be apparently and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the utility model.

[0042] Embodiment 1:

[0043] Reference Figures 1-7 The utility model provides an embodiment: automatic positioning and barrier avoidance device of subway station inspection vehicle based on track guide, including subway track 1, both sides of subway track 1 are provided with guide rail 2, the inside linear inequality of guide rail 2 is provided with a plurality of permanent magnet 20, the upper side of guide rail 2 is provided with guide wheel 14, the inside of guide wheel 14 is provided with electromagnet 19, is provided with support 13 on guide wheel 14, one side of support 13 is provided with hall sensor 16, the upper side of support 13 is fixedly provided with lifting mechanism 12, the upper side of lifting mechanism 12 is fixedly provided with car body 3, and the lower side of car body 3 is provided with walking mechanism 11.

[0044] In this embodiment, the guide rail 2 is made of aluminum alloy material, and the walking mechanism 11 is used to drive the vehicle body 3 to move, which is a prior art. The installation intervals of the plurality of permanent magnets 20 are not equal. Specifically, the vehicle body 3 is driven by the walking mechanism 11 to move, the lifting mechanism 12 is driven to lower the support 13, and the lower side of the guide wheel 14 is attached to the upper side of the guide rail 2. When the vehicle body 3 moves, the lifting mechanism 12 is driven to move, and the vehicle body 3 is driven to move, so that the guide wheel 14 rolls on the upper side of the guide rail 2, thereby driving the electromagnet 19 to move. The attraction between the permanent magnet 20 and the electromagnet 19 arranged inside the guide rail 2 helps the vehicle body 3 to correct the path to a certain extent. The interval time of the two permanent magnets 20 is detected by the Hall sensor 16 when the vehicle body 3 moves. Combined with the driving speed of the vehicle body 3, the interval of the two permanent magnets 20 can be calculated. By numbering and recording the interval of the plurality of permanent magnets 20, the vehicle body 3 can be positioned, thereby solving the problem that the sensing positioning technology is affected by the environment and cannot accurately position the inspection vehicle, affecting the station inspection work.

[0045] Referring to Figures 2-3 , the lifting mechanism 12 comprises a support plate 120 and a lifting assembly 121. The upper end of the support plate 120 is fixedly arranged on the vehicle body 3, and the lower end of the support plate 120 is fixedly arranged on the upper side of the support 13. The upper side of the lifting assembly 121 is fixedly connected to the lower side of the vehicle body 3, and the lower side of the lifting assembly 121 is fixedly arranged on the support plate 120.

[0046] Specifically, the angle between the support plate 120 and the lower side of the vehicle body 3 can be changed to a certain extent by the fixed arrangement of the support plate 120 and the vehicle body 3. The angle between the support plate 120 and the support 13 can be changed to a certain extent by the fixed arrangement of the support plate 120 and the support 13. The support plate 120 and the lifting assembly 121 are supported by the vehicle body 3. When the lifting assembly 121 is lifted, the lower end of the support plate 120 can be lifted, thereby achieving the lifting of the support 13.

[0047] Referring to Figures 2-4 , the lifting assembly 121 comprises a cylinder 1210, a spring 1211, a connecting block 1212 and a fixed plate 1213. The upper side of the cylinder 1210 is fixedly connected to the lower side of the vehicle body 3, and the output end of the cylinder 1210 is fixedly arranged on the upper side of the spring 1211. The lower side of the spring 1211 is fixedly arranged on the upper side of the connecting block 1212. The connecting block 1212 is rotatably connected with a connecting rod. There are two fixed plates 1213, and the lower sides of the two fixed plates 1213 are fixedly connected to the support plate 120. The two ends of the connecting rod of the connecting block 1212 are fixedly connected to the side walls between the two fixed plates 1213.

[0048] Specifically, through the driving of the output end of the air cylinder 1210, the spring 1211 is driven to move, and then the movement of the connecting block 1212 is driven, and through the connection of the connecting block 1212 connecting rod and the fixing plate 1213, the connection of the fixing plate 1213 and the support plate 120, the lifting of the support plate 120 is realized. When the vehicle body 3 moves, the guide wheel 14 moves on the guide rail 2. If it passes through an uneven road, the distance between the air cylinder 1210 and the connecting block 1212 has a certain redundancy through the expansion and contraction of the spring 1211, which helps to improve the stability of the vehicle body 3 during movement.

[0049] Referring to Figures 1-3 , the lower side of the vehicle body 3 is fixedly connected with the scraper 10, the lower side of the scraper 10 is attached to the upper side of the guide rail 2, the side away from the scraper 10 of the support 13 is fixedly connected with the extension plate 15, and the Hall sensor 16 is arranged on the lower side of the extension plate 15;

[0050] Specifically, through the attachment of the scraper 10 and the guide rail 2, the scraper 10 can clean the upper side of the guide rail 2 when the vehicle body 3 moves, thereby reducing the interference between the Hall sensor 16 and the electromagnet 19 and the permanent magnet 20. Through the arrangement of the extension plate 15, there is a certain distance between the Hall sensor 16 and the electromagnet 19, thereby reducing the influence of the electromagnet 19 on the Hall sensor 16, thereby improving the accuracy of the device.

[0051] Referring to Figure 1 , the front of the vehicle body 3 is provided with a visual sensor 6, an ultrasonic sensor 7 and an LED lamp group 8;

[0052] Specifically, the LED lamp group 8 can provide light assistance for the visual sensor 6, the visual sensor 6 is used to shoot images and videos of the inspection area, identify specific target objects, and provide certain position information according to the pictures, and the ultrasonic sensor 7 is used to detect obstacles around the vehicle body 3, thereby realizing the obstacle avoidance function of the device.

[0053] Referring to Figure 2 , the upper side of the vehicle body 3 is provided with a laser radar 4 and a communication module 5, and the tail of the vehicle body 3 is provided with an infrared sensor 9;

[0054] Specifically, the communication module 5 is used for data and command transmission between the vehicle body 3 and the background, which is prior art. The laser radar 4 creates a three-dimensional point cloud map of the surrounding environment by emitting a laser beam and measuring the time of reflected light, which is used for map construction and motion monitoring of the vehicle body 3 during inspection, and detects the temperature of the surrounding equipment through the infrared sensor 9 to avoid damage to the equipment due to overheating, thereby helping to improve the inspection function of the vehicle body 3.

[0055] Referring to Figure 5 , the inside of the vehicle body 3 is provided with an inertial navigation unit 17;

[0056] Specifically, the inertial navigation unit 17 is mainly composed of an accelerometer and a gyroscope. The accelerometer measures the acceleration of the vehicle body 3 in the inertial space, and then calculates the acceleration of the vehicle body 3 in the gravitational field. The gyroscope measures the angular velocity of the rotation of the vehicle body 3 around the three axes, and calculates the attitude change of the vehicle body 3. Through the integral calculation of the acceleration and angular velocity data, the speed, position and attitude information of the vehicle body 3 can be obtained, which helps to improve the stability of the vehicle body 3.

[0057] Embodiment 2:

[0058] With reference to Figures 1-6 The control unit 18, the laser radar 4, the communication module 5, the visual sensor 6, the ultrasonic sensor 7, the LED lamp set 8, the infrared sensor 9, the walking mechanism 11, the lifting mechanism 12, the Hall sensor 16, the inertial navigation unit 17 and the electromagnet 19 are electrically connected.

[0059] In this embodiment, the control unit 18 is used to receive data between various components on the vehicle body 3. After processing and analysis, corresponding control instructions are generated according to the preset algorithm and logic, and are transmitted to the corresponding execution components and the background. For the prior art, specifically, when using the device, the preset inspection instructions of the background are transmitted to the control unit 18 through the communication module 5. The control unit 18 controls the walking mechanism 11 to start, and drives the vehicle body 3 to move to the specified position. The control unit 18 controls the lifting mechanism 12 to drive, so that the guide wheel 14 descends and is attached to the upper side of the guide rail 2. Through the driving of the walking mechanism 11, the vehicle body 3 is moved. The control unit 18 controls the LED lamp set 8 to start, and supplements the light on the front side of the vehicle body 3. The visual sensor 6, the ultrasonic sensor 7, the laser radar 4, the infrared sensor 9 take photos, object recognition, obstacle detection and map construction, and motion monitoring around the vehicle body 3, and transmit the data to the control unit 18. Then the data is transmitted to the background through the communication module 5. During the driving of the vehicle body 3, the attraction between the permanent magnet 20 and the electromagnet 19, the detection of the permanent magnet 20 by the Hall sensor 16 and the effect of the inertial navigation unit 17 are combined, and the signals received by the control unit 18 from various sensors are used to adjust the movement of the vehicle body 3. Therefore, high-precision positioning is realized while real-time obstacle avoidance of the vehicle body 3 is taken into account.

[0060] Working principle: when using the device, the vehicle body 3 is moved through the driving of the walking mechanism 11. Through the cooperation between the control unit 18 and the laser radar 4, the communication module 5, the visual sensor 6, the ultrasonic sensor 7, the LED lamp set 8, the infrared sensor 9, the walking mechanism 11, the lifting mechanism 12, the Hall sensor 16, the inertial navigation unit 17 and the electromagnet 19, the precise positioning and obstacle avoidance function of the vehicle body 3 in the normal environment inspection are realized.

[0061] When the sensing positioning is affected by the environment, the driving of the output end of the air cylinder 1210 drives the spring 1211 to move, and then drives the movement of the connecting block 1212, and through the connection of the connecting block 1212 connecting rod and the fixed plate 1213, the connection of the fixed plate 1213 and the support plate 120, the lifting of the support plate 120 is realized, and then the bracket 13 is lowered, and the lower side of the guide wheel 14 and the upper side of the guide rail 2 are fitted, when the vehicle body 3 moves, the lifting mechanism 12 is driven to move, and then the vehicle body 3 is driven to move, so that the guide wheel 14 rolls on the upper side of the guide rail 2, thereby driving the electromagnet 19 to move, and through the attraction between the permanent magnet 20 arranged inside the guide rail 2 and the electromagnet 19, the guide wheel 14 helps the path correction of the vehicle body 3 to a certain extent, through the unequal arrangement of multiple permanent magnets 20, the Hall sensor 16 detects the time of two permanent magnets 20 when the vehicle body 3 moves, and the distance between the two permanent magnets 20 can be calculated by combining the driving speed of the vehicle body 3, and through the numbering and distance recording of multiple permanent magnets 20, the vehicle body 3 can be positioned, thereby solving the problem that the sensing positioning technology is affected by the environment, and cannot accurately position the inspection vehicle, affecting the station inspection work.

[0062] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing detailed description of the present application, for the person skilled in the art, it still can be modified, or part of the technical features of the equivalent replacement, within the spirit and principles of the present application, any modification, equivalent replacement, improvement, etc., should be included in the scope of protection of the present application.

Claims

1. An automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance, comprising subway track (1), characterized in that: The subway track (1) is provided with guide rails (2) on both sides. Multiple permanent magnets (20) are arranged linearly and unequally inside the guide rails (2). A guide wheel (14) is provided on the upper side of the guide rails (2). An electromagnet (19) is provided inside the guide wheel (14). A bracket (13) is provided on the guide wheel (14). A Hall sensor (16) is provided on one side of the bracket (13). A lifting mechanism (12) is fixedly provided on the upper side of the bracket (13). A car body (3) is fixedly provided on the upper side of the lifting mechanism (12). A traveling mechanism (11) is provided on the lower side of the car body (3).

2. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 1, characterized in that: The lifting mechanism (12) includes a support plate (120) and a lifting assembly (121). The upper end of the support plate (120) is fixedly mounted on the vehicle body (3), and the lower end of the support plate (120) is fixedly mounted on the upper side of the bracket (13). The upper side of the lifting assembly (121) is fixedly connected to the lower side of the vehicle body (3), and the lower side of the lifting assembly (121) is fixedly mounted on the support plate (120).

3. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 2, characterized in that: The lifting assembly (121) includes a cylinder (1210), a spring (1211), a connecting block (1212), and a fixing plate (1213). The upper side of the cylinder (1210) is fixedly connected to the lower side of the vehicle body (3). The output end of the cylinder (1210) is fixedly disposed on the upper side of the spring (1211). The lower side of the spring (1211) is fixedly disposed on the upper side of the connecting block (1212). A connecting rod is rotatably connected to the connecting block (1212). There are two fixing plates (1213). The lower sides of the two fixing plates (1213) are fixedly connected to the support plate (120). The two ends of the connecting rod of the connecting block (1212) are respectively fixedly connected to the side wall between the two fixing plates (1213).

4. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 1, characterized in that: A scraper (10) is fixedly connected to the lower side of the vehicle body (3). The lower side of the scraper (10) is in contact with the upper side of the guide rail (2). An extension plate (15) is fixedly connected to the side of the bracket (13) away from the scraper (10). The Hall sensor (16) is located on the lower side of the extension plate (15).

5. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 1, characterized in that: The front of the vehicle body (3) is equipped with a vision sensor (6), an ultrasonic sensor (7), and an LED light group (8).

6. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 1, characterized in that: The upper side of the vehicle body (3) is equipped with a laser radar (4) and a communication module (5), and the rear of the vehicle body (3) is equipped with an infrared sensor (9).

7. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 1, characterized in that: An inertial navigation unit (17) is installed inside the vehicle body (3).

8. The automatic positioning and obstacle avoidance device for subway station inspection vehicles based on track guidance according to claim 1, characterized in that: The vehicle body (3) is equipped with a control unit (18), which is electrically connected to the laser radar (4), communication module (5), vision sensor (6), ultrasonic sensor (7), LED light group (8), infrared sensor (9), walking mechanism (11), lifting mechanism (12), Hall sensor (16), inertial navigation unit (17), and electromagnet (19).

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