A track inspection car
By integrating a laser rangefinder, panoramic camera, and lidar into a track inspection vehicle, the problems of low efficiency and safety hazards in existing technologies have been solved, achieving efficient and accurate track inspection, which is suitable for widespread application.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- EAST CHINA JIAOTONG UNIVERSITY
- Filing Date
- 2025-05-22
- Publication Date
- 2026-06-16
AI Technical Summary
Existing track inspection technologies are inefficient and pose safety hazards. Manual inspection is time-consuming and labor-intensive, and measurement errors are easily generated in vibration environments, making it difficult to meet the inspection needs in complex environments.
Design a track inspection vehicle that integrates a laser rangefinder, a panoramic camera, and a lidar. Improve inspection accuracy through a magnification mechanism and a shock absorption device. Combine the panoramic camera and lidar to detect track deviations and catenary defects. Automated inspection is achieved by using adjustable track wheel sets and a main control system.
It achieves efficient and accurate track inspection, and can simultaneously detect track gauge changes, track deviations and contact wire defects in a single movement, improving inspection efficiency and safety, reducing manpower and energy consumption, and is suitable for widespread application.
Smart Images
Figure CN224361171U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of detection technology, and in particular to a track inspection vehicle. Background Technology
[0002] Existing track inspection technologies mostly employ a single sensor and step-by-step operation, such as manual handheld laser rangefinders or total stations for segmented measurement, which is inefficient and poses safety hazards.
[0003] Traditional manual inspection methods require operators to walk along the tracks carrying equipment, measuring geometric parameters such as track gauge, elevation, and level segment by segment. This is not only time-consuming and labor-intensive, but also carries the risk of operators falling off the tracks or being struck by trains. Furthermore, the inspection efficiency is low, and it is difficult to adapt to the inspection needs in complex environments. Using a total station for segmented measurements not only increases inspection time and is prone to measurement errors in vibration environments, but may also lead to duplicate or missed data collection, affecting the comprehensiveness and accuracy of the inspection results. Utility Model Content
[0004] Therefore, the purpose of this utility model is to provide a track inspection vehicle to solve the technical problems existing in the prior art.
[0005] This utility model provides a track inspection vehicle, including a vehicle body, a laser rangefinder, a panoramic camera, a lidar, and a control panel mounted on the vehicle body. One end of the laser rangefinder is fixed to the side of the vehicle body parallel to its direction of travel and is used to detect changes in track gauge. The laser rangefinder includes a track gauge sensing device, an amplification mechanism, a vibration damping device, and a laser ranging sensor connected in sequence. The amplification mechanism is used to geometrically amplify the track gauge changes sensed by the track gauge sensing device. The laser ranging sensor is used to measure the amplified track gauge to improve detection sensitivity. A mounting platform is provided on the side of the vehicle body perpendicular to its direction of travel. The panoramic camera and lidar are fixed on the mounting platform. The panoramic camera is used to collect images of the track and the inspection net during the vehicle's movement to detect horizontal deviations in the track. The lidar is used in conjunction with the panoramic camera to detect surface defects in the contact wire.
[0006] The beneficial effects of this utility model are as follows: The track inspection vehicle proposed in this utility model includes a vehicle body, a laser rangefinder, a panoramic camera, a lidar, and a control panel mounted on the vehicle body. The laser rangefinder includes a track gauge sensing device, an amplification mechanism, a vibration damping device, and a laser range sensor connected in sequence. The amplification mechanism amplifies track gauge changes, improving the accuracy of track gauge detection. The vibration damping device reduces the impact of vehicle body vibration on track gauge measurement. The panoramic camera and lidar are fixed on the mounting platform and are used to detect horizontal deviations of the track and surface defects of the contact wire. By moving the vehicle body on the track, continuous inspection can be performed, which is highly efficient. The vehicle body integrates multiple detection structures, which can simultaneously detect track gauge changes, track deviations, and contact wire defects in a single movement. It has diverse functions and is suitable for widespread application.
[0007] Preferably, the vehicle body includes an adjustable track wheel assembly and a drive motor. The drive motor is connected to the adjustable track wheel assembly via a transmission shaft to adjust the track wheel assembly according to the track gauge.
[0008] Preferably, the shock absorption device includes a damper and a spring sleeved on the outside of the damper. The spring is used to absorb high-frequency vibrations during vehicle operation, and the damper is used to convert the vibrations absorbed by the spring into heat energy for dissipation.
[0009] Preferably, the laser rangefinder is fixedly connected to the vehicle body via two telescopic brackets, which are connected by a connecting component. Each of the two telescopic brackets is provided with a clamping component at the end away from the vehicle body, wherein one clamping component is used to clamp the shock absorption device and the other clamping component is used to clamp the amplification mechanism.
[0010] Preferably, the connecting assembly includes symmetrically arranged connecting shells, each connecting shell having a plurality of lifting lugs, and the two connecting shells are fixed together by screws passing through the lifting lugs.
[0011] Preferably, the clamping assembly includes a clamping block fixed to the end of the telescopic bracket and two symmetrically arranged semi-circular clamping plates. The clamping block clamps one end of the two clamping plates, and the ends of the two clamping plates are connected by screws.
[0012] Preferably, each of the two connecting housings is provided with a boss sleeve at one end that is far apart from each other, and the outer side of the boss sleeve is clamped by a clamping through hole formed by two clamping pieces.
[0013] Preferably, the track gauge sensing device includes a ball bearing and a ball bearing sleeve that are fixedly connected, and the amplification mechanism includes a frustum. The ball bearing is attached to the inner wall of the track, and the ball bearing sleeve is connected to the frustum via a connecting shaft. The connecting shaft is used to transmit the track gauge change sensed by the ball bearing rolling on the inner wall of the track to the amplification mechanism for geometric amplification.
[0014] Preferably, the mounting platform includes several shock-absorbing support members fixed to the vehicle body, a shock-absorbing platform is connected to the top of the several shock-absorbing support members, a mounting frame is fixed on the shock-absorbing platform, the panoramic camera is fixed to the top of the mounting frame, and the lidar is fixed to the side of the mounting frame.
[0015] Preferably, the control panel includes a touch screen and several control buttons for controlling data output, and a seat is provided on the opposite side of the control panel.
[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of the track inspection vehicle according to an embodiment of the present utility model;
[0018] Figure 2 for Figure 1 Schematic diagram of the rolling wheel assembly structure of the CRRC body;
[0019] Figure 3 for Figure 1 Schematic diagram of the mounting platform structure;
[0020] Figure 4 for Figure 1 A schematic diagram of the structure of a laser rangefinder and its connections;
[0021] Figure 5 for Figure 4 A schematic diagram of the explosion structure.
[0022] Explanation of key component symbols:
[0023] 10. Car body; 11. Adjustable track wheel assembly; 12. Drive motor; 13. Drive shaft; 20. Laser rangefinder; 21. Track gauge sensor; 211. Ball bearing; 212. Ball bearing sleeve; 22. Amplification mechanism; 221. Frustum; 222. Connecting shaft; 23. Shock absorber; 231. Damper; 232. Spring; 30. Panoramic camera; 40. LiDAR; 50. Control panel; 51. Touch screen; 52. Control button; 60. Mounting platform; 61. Shock absorber support; 62. Shock absorber platform; 63. Mounting bracket; 70. Telescopic bracket; 71. Connecting assembly; 711. Connecting housing; 712. Lifting lug; 713. Boss sleeve; 72. Clamping assembly; 721. Clamping block; 722. Clamping piece; 73. Sleeve; 80. Seat.
[0024] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this utility model. Detailed Implementation
[0025] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.
[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.
[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0028] Specifically, such as Figures 1 to 5 As shown in this embodiment of the utility model, the track inspection vehicle provided in this embodiment includes a vehicle body 10, a laser rangefinder 20, a panoramic camera 30, a lidar 40, and a control panel 50 mounted on the vehicle body. One end of the laser rangefinder 20 is fixed to the side of the vehicle body parallel to its direction of travel and is used to detect changes in track gauge. The laser rangefinder 20 includes a track gauge sensing device 21, an amplification mechanism 22, and a laser ranging sensor (not shown in the figure) connected in sequence. The amplification mechanism 22 is used to geometrically amplify the track gauge changes sensed by the track gauge sensing device 21. The laser ranging sensor is used to measure the amplified track gauge to improve detection sensitivity. A mounting platform 60 is provided on the side of the vehicle body 10 perpendicular to its direction of travel. The panoramic camera 30 is used to collect images of the track and the inspection net during the movement of the vehicle body to detect horizontal deviations of the track. The lidar 40 is used in conjunction with the panoramic camera 30 to detect defects on the surface of the contact net.
[0029] Optionally, in this embodiment, the laser rangefinder 20 is installed in a dark box at the bottom of the front side of the vehicle body. The laser rangefinder 20 includes a track gauge sensing device 21, an amplification mechanism 22, and a laser ranging sensor connected in sequence. When the detection vehicle moves forward on the track, the track gauge sensing device 21 can sense changes in track gauge in a timely manner. The amplification mechanism 22 can be a triangular amplification mechanism. The track gauge change sensed by the track gauge sensing device 21 is converted into a change in the side length of the amplification mechanism 22. In this application, the amplification ratio is 1:5. The laser ranging sensor is arranged near the amplification mechanism 22 to measure the amplified track gauge, thereby improving the accuracy of the measurement. Figure 1 As shown, a mounting platform 60 is installed on the right side of the vehicle body. A panoramic camera 30 and a lidar 40 are fixed on the mounting platform 60. The panoramic camera 30 is used to acquire track and overhead contact line images, and combined with binocular vision technology, it detects track elevation and horizontal deviations with a detection accuracy of ±0.1mm. The overhead contact line is a high-voltage power transmission line that is erected in a zigzag pattern above the rails in electrified railways to supply current to the pantograph. The quality of the overhead contact line is crucial to the safe operation of the train. The lidar combined with the panoramic camera can detect defects such as wear and cracks on the surface of the overhead contact line.
[0030] Optionally, the vehicle body 10 includes an adjustable track wheel set 11 and a drive motor 12. The drive motor 12 is connected to the adjustable track wheel set 11 via a transmission shaft 13 to adjust the track wheel set according to the track gauge. In this embodiment, the track wheel set adopts an adjustable design, which can automatically adjust the wheel gauge according to the track width to ensure smooth operation of the vehicle body on tracks with different gauges. The drive motor 12 is connected to the wheel set via the transmission shaft 13 to provide power support. The vehicle body is also equipped with a control box, which integrates a motor controller, a power management system, and a communication module, enabling real-time monitoring of the vehicle body's operating status and speed adjustment. Optionally, the vehicle body is also equipped with a braking device to ensure rapid stopping in emergency situations and ensure the safety of the inspection operation. Optionally, the wheel set is made of high-strength alloy material and can automatically adjust the wheel gauge according to the track width to ensure smooth operation of the vehicle body on tracks with different gauges. The wheel set is equipped with bearings and a lubrication system to reduce frictional resistance and extend service life. The vehicle body movement system supports bidirectional movement, enabling it to complete reciprocating inspection tasks without turning around, significantly improving work efficiency. The drive motor provides power support. The motor adopts frequency conversion control technology, which can adjust the vehicle speed according to the detection requirements, with a maximum speed of 20km / h; the vehicle body is also equipped with a control box: the control box can integrate the motor controller, power management system and communication module, which can monitor the vehicle's operating status and adjust the speed in real time.
[0031] Optionally, the laser rangefinder 20 also includes a vibration damping device 23 connected to the amplification mechanism. The vibration damping device 23 includes a damper 231 and a spring 232 acting in parallel with the damper 231. The spring 232 absorbs high-frequency vibrations during vehicle operation, and the damper 231 converts the absorbed vibrations into heat energy for dissipation. The vibration damping device 23 can absorb high-frequency vibrations during vehicle operation, ensuring the detection accuracy of the laser rangefinder 20 in complex environments. Figure 4 and Figure 5 As shown, the laser rangefinder 20 is fixedly connected to the vehicle body 10 via two telescopic brackets 70. The two telescopic brackets 70 are connected by a connecting component 71. Each of the two telescopic brackets 70 is provided with a clamping component 72 at the end away from the vehicle body. One clamping component is used to clamp the shock absorption device 23, and the other clamping component is used to clamp the amplification mechanism 22. Optionally, the clamping assembly 72 includes a clamping block 721 located at the end of the telescopic bracket and symmetrical semi-circular clamping plates 722. The clamping block 721 has a through hole, and the two ends of the clamping plates 722 are clamped and fixed by screws to clamp the clamping block at the upper end of the two clamping plates, forming a clamping through hole in the middle of the two clamping plates. The connecting assembly 71 has two symmetrically arranged connecting housings 711. For ease of description, in this application, the two connecting parts have symmetrical appearance structures and form a cavity in the middle after connection. The amplification mechanism 22 includes a frustum 221, which is placed in the formed cavity. The damper part passes through one of the connecting housings, and the connecting amplification mechanism is placed in the other connecting housing and contacts the damper. The two connecting housings 711 are provided with a plurality of lugs 712, and the two connecting housings 711 are fixed by screws passing through the lugs 712.
[0032] Optionally, the track gauge sensing device 21 includes a fixedly connected ball bearing 211 and a ball bearing sleeve 212, and the amplification mechanism 22 includes a frustum 221. The ball bearing 211 rests against the inner wall of the track, and the ball bearing sleeve 212 is connected to the frustum 221 via a connecting shaft 222. The connecting shaft 222 is used to transmit the track gauge change sensed by the ball bearing 211 rolling on the inner wall of the track to the amplification mechanism for geometric amplification. The ball bearing 211, resting against the inner wall of the track, can drive the triangular amplification mechanism to move laterally according to the track gauge change via the connecting shaft 222, and then measure the track gauge change according to the geometric amplification principle. Furthermore, both the first connecting housing and the second connecting housing have a boss sleeve 713 at their far ends. The outer side of the boss sleeve 713 is clamped by a clamping through hole formed by two clamping plates, and the damper part passes through one of the boss sleeves. In some optional embodiments, a sleeve 73 is also fitted inside the boss sleeve, and the shaft of the damper and the connecting shaft can slide inside the sleeve. The boss sleeve and the sleeve are connected by a key on the sleeve.
[0033] Optionally, the mounting platform 60 is a platform with shock absorption effect, including several shock-absorbing support components 61 mounted on the vehicle body. The shock-absorbing support components 61 can be formed by spring-damping. A shock-absorbing platform 62 is connected to the top of the shock-absorbing support components 61, and a mounting frame 63 is fixed on the shock-absorbing platform 62. The panoramic camera 30 is fixed to the top of the mounting frame 63, and the lidar 40 is fixed to the side of the mounting frame 63. The panoramic camera 30 includes an auxiliary light source and an image processing unit. The panoramic camera 30 is used to acquire images of the track and the contact wire during travel. The auxiliary light source uses LED supplementary lights, which can provide uniform illumination in low-light environments to ensure image acquisition quality. The image processing unit uses edge detection algorithms (such as the Canny operator) to extract the track contour, and combines feature point matching technology (such as SIFT / SURF) to perform three-dimensional reconstruction, calculating geometric parameters such as track orientation, elevation, and level. The track gauge ratio is calculated using the formula a=B / R (track width / image resolution), and the elevation and level deviations of the track are detected using binocular vision technology, with a detection accuracy of ±0.1mm. The lidar 40 is used to scan the contact network point cloud data, build a three-dimensional model, and capture defects such as wear and cracks on the contact network surface by combining images captured by the panoramic camera 30.
[0034] Optionally, the control panel 50 includes a touchscreen 51 and several control buttons 52 for controlling data output. Operators can view test data, adjust test parameters, and control vehicle operation in real time via the touchscreen 51. The control buttons 52 are used to adjust the operation of the main control system within the control box. The main control system can integrate a redundant control system, a data fusion module, and a remote communication module, supporting real-time data upload and manual intervention. The redundant control system includes a main control unit and a backup control unit. When the main control unit fails, the backup control unit automatically takes over to ensure the normal operation of the test vehicle. The data fusion module integrates laser ranging, visual inspection, and contact wire scanning data to generate a comprehensive test report. The remote communication module supports 5G / fiber optic transmission, enabling real-time upload of test data to a cloud platform. Maintenance personnel can monitor the test vehicle's status in real time via a remote terminal and formulate maintenance plans based on the test results. Furthermore, a seat 80 is provided on the opposite side of the control panel 50 for convenient operation.
[0035] When the track inspection vehicle provided by this utility model is in operation, firstly, the inspection vehicle is placed on the track, and the vehicle movement system is started to ensure that the wheel set automatically adjusts the wheel gauge and runs smoothly. Then, the power switch is turned on, the main control system is started to perform a self-check, and after confirming that all modules are working normally, the inspection vehicle enters the "ready" state.
[0036] Next, the drive motor is started, and the vehicle moves slowly at a speed of 5 km / h. The main control system determines the initial position through a dual positioning mode using odometer and fastener counting, while the panoramic camera acquires track images and performs calibration. The laser rangefinder detects track gauge changes in real time, and the data is fed back to the main control system. If the track gauge exceeds the threshold, an alarm is issued.
[0037] Subsequently, the panoramic camera uses AI algorithms to calculate track geometry parameters, displaying real-time data such as track alignment, elevation, and level. When deviations exceed acceptable limits, repair suggestions are generated. LiDAR scans the contact network point cloud data, the panoramic camera captures surface defects, a vibration damping platform ensures detection stability, and a pressure feedback unit automatically adjusts the clamping force. The main control system displays the contact network status in real-time and generates maintenance suggestions when wear or cracks are detected.
[0038] Finally, the main control system integrates the test data and uploads it to the cloud platform, where maintenance personnel can monitor it in real time via remote terminals. After the test task is completed, the vehicle movement system is stopped, the main control system is shut down, the test data is recorded, and a final report is generated.
[0039] In summary, the track inspection vehicle provided by this utility model has at least the following beneficial effects:
[0040] (1) High-precision laser rangefinder
[0041] The track inspection vehicle of this invention employs a laser rangefinder, which amplifies track gauge changes several times through an amplification mechanism. Combined with a spring-damped vibration reduction device, this significantly improves detection sensitivity. The laser rangefinder sensor achieves a measurement accuracy of ±0.05mm, enabling it to capture minute changes in track gauge in real time, ensuring high precision and reliability of the inspection results.
[0042] (2) Intelligent visual track detection module
[0043] The visual track detection module is equipped with multiple high-definition cameras and AI algorithms, enabling it to automatically detect track geometric parameters, including alignment, elevation, and level. Through binocular vision technology and image processing algorithms, it achieves a detection accuracy of ±0.1mm, quickly identifying track deviations and generating repair suggestions, significantly improving detection efficiency and accuracy.
[0044] (3) Contact wire detection module with strong vibration resistance
[0045] The overhead contact line inspection module is equipped with a lidar unit and a panoramic camera, mounted on a vibration damping platform. The platform, consisting of a spring-damping assembly and a pressure feedback unit, can absorb over 80% of vibration energy, ensuring the stability of the inspection unit in complex environments. The lidar and panoramic camera accurately identify wear and cracks in the overhead contact line, and the inspection results are fed back to the main control system in real time, ensuring efficient monitoring of the overhead contact line's condition.
[0046] (4) Integrated main control system and remote monitoring
[0047] The main control system integrates redundant control, data fusion, and remote communication modules, supporting real-time data upload and cloud analysis. Through the 5G / fiber optic communication module, test data can be uploaded to the cloud platform in real time. Maintenance personnel can monitor the status of the testing vehicle remotely and formulate maintenance plans based on the test results, significantly improving maintenance efficiency.
[0048] (5) High efficiency, energy saving and multi-functional integration
[0049] The track inspection vehicle is driven by a motor and features adjustable track wheels, supporting bidirectional movement and adaptive gauge adjustment, enabling smooth operation on tracks with varying gauges. The vehicle can complete multiple inspections in one go, including track clearance, gauge, and catenary condition checks, significantly improving operational efficiency while reducing labor costs and energy consumption, aligning with green and environmentally friendly design principles.
[0050] It should be noted that the above implementation process is only to illustrate the feasibility of this application, but it does not mean that the track inspection vehicle of this application has only the above implementation processes. On the contrary, as long as the track inspection vehicle of this application can be implemented, it can be included in the feasible implementation scheme of this application.
[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0052] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A track inspection vehicle, characterized in that, The system includes a vehicle body, a laser rangefinder, a panoramic camera, a lidar, and a control panel mounted on the vehicle body. One end of the laser rangefinder is fixed to the side of the vehicle body parallel to its direction of travel and is used to detect changes in track gauge. The laser rangefinder includes a track gauge sensing device, an amplification mechanism, a vibration damping device, and a laser ranging sensor connected in sequence. The amplification mechanism is used to geometrically amplify the track gauge changes sensed by the track gauge sensing device. The laser ranging sensor is used to measure the amplified track gauge to improve detection sensitivity. A mounting platform is provided on the side of the vehicle body perpendicular to its direction of travel. The panoramic camera and lidar are fixed on the mounting platform. The panoramic camera is used to collect images of the track and the contact wire during the vehicle's movement to detect horizontal deviations in the track. The lidar is used in conjunction with the panoramic camera to detect surface defects in the contact wire.
2. The track inspection vehicle according to claim 1, characterized in that, The vehicle body includes an adjustable track wheel assembly and a drive motor. The drive motor is connected to the adjustable track wheel assembly via a transmission shaft to adjust the track wheel assembly according to the track gauge.
3. The track inspection vehicle according to claim 1, characterized in that, The shock absorption device includes a damper and a spring sleeved on the outside of the damper. The spring is used to absorb high-frequency vibrations during vehicle operation, and the damper is used to convert the vibrations absorbed by the spring into heat energy for dissipation.
4. The track inspection vehicle according to claim 3, characterized in that, The laser rangefinder is fixedly connected to the vehicle body via two telescopic brackets, which are connected by a connecting component. Each of the two telescopic brackets is provided with a clamping component at the end away from the vehicle body. One clamping component is used to clamp the shock absorption device, and the other clamping component is used to clamp the amplification mechanism.
5. The track inspection vehicle according to claim 4, characterized in that, The connecting assembly includes symmetrically arranged connecting shells, each with a number of lifting lugs, and the two connecting shells are fixed together by screws passing through the lifting lugs.
6. The track inspection vehicle according to claim 5, characterized in that, The clamping assembly includes a clamping block fixed to the end of the telescopic bracket and two symmetrically arranged semi-circular clamping plates. The clamping block clamps one end of the two clamping plates, and the ends of the two clamping plates are connected by screws.
7. The track inspection vehicle according to claim 6, characterized in that, Both of the two connecting housings are provided with boss sleeves at their opposite ends, and the outer side of the boss sleeves is clamped by clamping through holes formed by two clamping pieces.
8. The track inspection vehicle according to claim 7, characterized in that, The track gauge sensing device includes a fixedly connected ball bearing and a ball bearing sleeve. The amplification mechanism includes a frustum. The ball bearing is attached to the inner wall of the track. The ball bearing sleeve is connected to the frustum via a connecting shaft. The connecting shaft is used to transmit the track gauge change sensed by the ball bearing rolling on the inner wall of the track to the amplification mechanism for geometric amplification.
9. The track inspection vehicle according to claim 1, characterized in that, The mounting platform includes several shock-absorbing support components fixed to the vehicle body. A shock-absorbing platform is connected to the top of the shock-absorbing support components. A mounting frame is fixed on the shock-absorbing platform. The panoramic camera is fixed to the top of the mounting frame, and the lidar is fixed to the side of the mounting frame.
10. The track inspection vehicle according to claim 1, characterized in that, The control panel includes a touch screen and several control buttons for controlling data output, and a seat is provided on the opposite side of the control panel.