Intelligent detection vehicle for detecting feedback lateral resistance of railway track panel in real time

Abstract

The utility model discloses a kind of intelligent detection vehicles of real-time detection feedback railway track row lateral resistance, including main body frame, control running module, steel rail nondestructive fixed connection module, lateral force reverse exerting module, driving device;Main body frame includes I-shaped support and lower frame, and the end of I-shaped support is provided with telescopic support assembly;Lateral force reverse exerting module can slide, and it is installed on I-shaped support and is fixedly connected with lower frame by connecting block;Steel rail nondestructive fixed connection module includes outside rail clamping wheel, and outside rail clamping wheel can be closely attached with steel rail outside rail waist when being released;Control running module is installed on the lower frame, and is driven by driving device.The utility model realizes nondestructive real-time detection to railway track row lateral resistance, reduces the cost and time of test ballast lateral resistance, provides strong support for the maintenance and repair of railway and ballast mechanics state evaluation.

Description

Technical Field

[0001] This utility model belongs to the field of railway ballast track condition detection, and relates to an intelligent detection vehicle that can detect and provide feedback on the lateral resistance of railway track panels in real time. Background Technology

[0002] Ballasted track, as a crucial component of railway infrastructure, bears heavy passenger and freight transport responsibilities. Under the combined effects of long-term train dynamic loads, temperature variations, and complex environmental factors, ballasted track beds are prone to phenomena such as ballast breakage, wear, compaction, and gradation deterioration. This leads to a reduction in lateral resistance, causing changes in track geometry and significantly impacting the safety and stability of train operation. Particularly in areas with concentrated lateral forces, such as curves, bridge ends, and turnout areas, insufficient lateral resistance can easily trigger sleeper lateral displacement, track structural instability, and even increase the risk of derailment. Therefore, achieving real-time and accurate detection of track panel lateral resistance is of great significance for ensuring railway operational safety and scientifically guiding maintenance work.

[0003] Currently, traditional methods for detecting lateral resistance of track beds typically require disassembling fasteners, removing pads, installing a hydraulic loading device on one side of a single sleeper, and placing a displacement sensor on the other side. Resistance is calculated by applying load to each sleeper and measuring displacement. This method is complex, inefficient, heavily reliant on manual labor, and causes significant disturbance to the track bed structure, affecting the accuracy and reliability of the test results. Furthermore, existing dynamic testing equipment, such as track inspection vehicles and integrated inspection vehicles, primarily focus on collecting parameters such as track geometry, rail condition, and vehicle dynamic response, lacking direct and systematic measurement of lateral resistance. With the continuous increase in railway operating speed and axle load, maintenance windows are becoming increasingly tight, especially on busy main lines and special sections. Traditional methods are no longer sufficient for efficient, non-destructive, and wide-range lateral resistance detection, failing to provide real-time and reliable data support for maintenance decisions. Utility Model Content

[0004] Purpose of the utility model: The purpose of this utility model is to address the problems of traditional detection methods being complex to operate, inefficient, heavily reliant on manual labor, and causing significant disturbance to the track bed structure, thus affecting the authenticity and accuracy of the detection results. The utility model provides an intelligent detection vehicle that can detect and provide feedback on the lateral resistance of railway track panels in real time.

[0005] Technical solution: This utility model is an intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels, including a main frame, a control and travel module, a rail non-destructive fixing module, a lateral force reverse application module, and a drive device;

[0006] The main frame includes a support frame and a lower frame. The end of the support frame is provided with a telescopic support assembly, which is fixedly connected to the track bed when extended.

[0007] The lateral force reverse application module includes a horizontal hydraulic cylinder, a pressure sensor, a chute, and a slider. The chute is on the bracket, and the slider is slidably connected in the chute. The slider is fixedly connected to the lower frame. Horizontal hydraulic cylinders for pushing the slider are respectively provided on the left and right sides of the slider. A pressure sensor is provided between the horizontal hydraulic cylinder and the slider. The pressure sensor is used to measure the force between the horizontal hydraulic cylinder and the slider.

[0008] The left and right sides of the lower frame are rotatably connected to rail non-destructive fastening modules. The rail non-destructive fastening module includes a connecting rod and an outer rail clamping wheel. The outer rail clamping wheel can be closely attached to the outer rail web when the rail non-destructive fastening module is lowered.

[0009] The control and travel module is mounted on the lower frame and is driven by the drive device.

[0010] Furthermore, the bracket is an I-shaped bracket, and the telescopic support assembly consists of four sets, respectively disposed at the four extension ends of the I-shaped bracket. Each telescopic support assembly includes a support base, a telescopic rod, and a vertical force sensor.

[0011] Furthermore, a counterweight plate is provided inside the support base, and the bottom surface of the support base is roughened.

[0012] Furthermore, the bottom of the support base is provided with spikes that can be inserted into the ballast shoulder.

[0013] Furthermore, the control travel module includes four guide travel wheels and front and rear axles. Each pair of guide travel wheels is connected by the front and rear axles respectively. A horizontal clamping cylinder is provided in the middle of each front and rear axle. The horizontal clamping cylinder applies a horizontal force to both sides in the direction of the rail, so that the guide travel wheels are tightly fitted with the inner side of the rail.

[0014] Furthermore, it also includes a sleeper displacement detection and track mileage recording device and a track panel lateral resistance recording and feedback system. The sleeper displacement detection and track mileage recording device includes a first high-definition camera and a second high-definition camera. The first high-definition camera and the second high-definition camera are installed on both sides below the I-shaped bracket. The first high-definition camera and the second high-definition camera have built-in image sensors, and their optical axes are parallel to the normal of the track plane. They continuously collect images of the sleeper area at a fixed sampling frequency and output them to the track panel lateral resistance recording and feedback system.

[0015] Furthermore, the track panel lateral resistance recording and feedback system includes a data receiving and processing module, a data recording and analysis module, and a feedback output module. The data receiving and processing module is communicatively connected to the image sensor and is used to receive, filter, amplify, and perform analog-to-digital conversion on raw data to obtain real-time monitoring values ​​of the track panel lateral resistance. The data recording and analysis module is communicatively connected to the data receiving and processing module and is used to store historical and real-time track panel lateral resistance data. The feedback output module is communicatively connected to the data recording and analysis module.

[0016] Furthermore, it also includes a nighttime lighting system, which comprises several LED lights respectively installed around the lower frame. This provides strong support for the nighttime operation of the intelligent inspection vehicle that monitors and provides real-time feedback on the lateral resistance of the railway track panels.

[0017] Furthermore, the driving device is a rechargeable sodium-ion battery pack.

[0018] Operating principle: By setting up a control travel module, a non-destructive rail fixing module, a main frame module, a lateral force reverse application module, a sleeper displacement detection and track mileage recording device, a drive device, and a track panel lateral resistance recording and feedback system, the lateral resistance of railway tracks can be detected and fed back in real time. The intelligent inspection vehicle applies a horizontal lateral force to the rails, causing the center sleeper of the track panel under test to displace by 2mm. This horizontal force is then used as the lateral resistance of the track panel, achieving non-destructive real-time detection of the lateral resistance of railway tracks. This reduces the cost and time of testing the lateral resistance of the track bed, providing strong support for railway maintenance and track bed mechanical condition assessment.

[0019] Beneficial effects: (1) It realizes intelligent detection of the lateral resistance of railway track panels, getting rid of the traditional method of removing test sleeper fasteners, pulling out pads, installing jacks on one side of the sleeper and displacement sensors on the other side of the sleeper to detect the lateral resistance value of the track bed. It has the advantages of high efficiency and convenience, and can provide real-time feedback on the lateral resistance of the track panel during the detection process, while greatly reducing the disturbance to the original structure of the track bed.

[0020] (2) The lateral resistance of the track panel is not affected by environmental factors such as temperature, visibility, terrain and detection time during the detection process, and the lateral resistance of the track panel can be obtained in real time during the effective railway maintenance window. Attached Figure Description

[0021] Figure 1 A three-dimensional view of an intelligent detection vehicle for real-time detection and feedback of the lateral resistance of the track panel, provided for an embodiment of this utility model;

[0022] Figure 2 A top view of an intelligent detection vehicle for real-time detection and feedback of the lateral resistance of the track panel, provided as an embodiment of this utility model;

[0023] Figure 3 A front view of an intelligent detection vehicle for real-time detection and feedback of the lateral resistance of the track panel, provided as an embodiment of this utility model;

[0024] Figure 4 A bottom view of an intelligent detection vehicle for real-time detection and feedback of the lateral resistance of the track panel, provided for an embodiment of this utility model;

[0025] Figure 5 A schematic diagram of a non-destructive rail fastening module provided for an embodiment of this utility model;

[0026] Figure 6 A schematic diagram of a testing vehicle in a non-testing state provided for an embodiment of this utility model;

[0027] Figure 7 A schematic diagram of the detection status of a detection vehicle provided in an embodiment of this utility model;

[0028] Figure 8 A schematic diagram of horizontal force application and vehicle displacement detection provided for an embodiment of this utility model;

[0029] Figure 9 A side view showing the positional relationship between the testing vehicle and the track panel during the testing process, provided as an embodiment of this utility model;

[0030] Figure 10 This is a top view showing the positional relationship between the testing vehicle and the track panel during a testing process, as provided in an embodiment of this utility model. Detailed Implementation

[0031] The technical solution of this utility model will be further described below with reference to the accompanying drawings.

[0032] like Figure 1-4 As shown, an intelligent inspection vehicle for real-time detection and feedback of the lateral resistance of railway track panels includes a control and travel module, a rail non-destructive fixing module, a main frame module, a lateral force reverse application module, a sleeper displacement detection and track mileage recording device, a drive device 37, a night lighting system, and a track panel lateral resistance recording and feedback system 42.

[0033] In the embodiments provided by this invention, the control travel module includes a first guide travel wheel 1, a second guide travel wheel 2, a third guide travel wheel 3, a fourth guide travel wheel 4, and front and rear axles. The first guide travel wheel 1 and the second guide travel wheel 2 are controlled by a drive device 37, enabling continuous rolling on the rails and ensuring smooth travel of the intelligent inspection vehicle on the test section. After completing the inspection at one test point, the intelligent inspection vehicle travels at a speed of 1 km / h to the next test point.

[0034] In the embodiments provided by the present invention, see Figure 5 and6 The rail non-destructive fastening module includes a first horizontal clamping cylinder 6, a second horizontal clamping cylinder 7, a first bearing 8, a first arc-shaped connecting rod 9, a first outer rail clamping wheel 10, a second bearing 11, a second arc-shaped connecting rod 12, and a second outer rail clamping wheel 13.

[0035] The first horizontal clamping cylinder 6 and the second horizontal clamping cylinder 7 are located at the middle of the front and rear axles of the traveling module, respectively. During the inspection process, a horizontal force F pointing towards the rail can be applied to both sides to ensure that the first guide traveling wheel 1, the second guide traveling wheel 2, the third guide traveling wheel 3, and the fourth guide traveling wheel 4 are tightly fitted to the inner side of the rail, achieving a non-destructive connection between the inspection vehicle and the inner side of the rail during the inspection. After the inspection is completed, the horizontal clamping cylinders slowly retract until they return to their original state.

[0036] The first arc-shaped connecting rod 9 is connected to the first outer rail clamping wheel 10 as a whole, and can rotate around the first bearing 8 installed on the left side of the lower frame 14. The second arc-shaped connecting rod 12 is connected to the second outer rail clamping wheel 13 as a whole, and can rotate around the second bearing 11 installed on the right side of the lower frame 14. Before reaching the inspection point, the arc-shaped connecting rod and the outer rail clamping wheel are in a locked state and have no contact with the rail surface. When the inspection operation begins, the arc-shaped connecting rod and the outer rail clamping wheel are lowered until the wheel edge is in close contact with the outer rail web of the rail. Under the combined action of the horizontal clamping cylinder, the intelligent inspection vehicle and the rail form a stable force transmission system.

[0037] In the embodiments provided by the present invention, see Figure 6 and 7 The main frame module includes a lower frame 14 and an I-beam bracket 15. The ends of the I-beam bracket 15 are equipped with retractable support components. The main frame module adopts a low and symmetrical structure to reduce errors caused by bending deformation during inspection and improve the accuracy of inspection results. The lower frame 14 and the I-beam bracket 15 are the central parts of the intelligent inspection vehicle, and other components are directly or indirectly mounted on them.

[0038] The retractable support assembly includes a first support base 16, a first telescopic rod 17, a first vertical force sensor 18, a second support base 19, a second telescopic rod 20, a second vertical force sensor 21, a third support base 22, a third telescopic rod 23, a third vertical force sensor 24, a fourth support base 25, a fourth telescopic rod 26, and a fourth vertical force sensor 27.

[0039] The telescopic support assembly is used to fix the bracket 15 to the track bed during inspection and to eliminate interference from the weight of the intelligent inspection vehicle. Under the action of the telescopic rod, the support base can move vertically and longitudinally. In the non-inspection state, the telescopic rod retracts, the support base does not contact the track bed and is close to the lower frame 14, minimizing the overall volume of the intelligent inspection vehicle for easy transport and movement. In the inspection state, the telescopic rod extends, bringing the support base into contact with the track bed and fixing it in place. In a specific implementation, the fixing can be achieved by installing a counterweight plate inside the support base and roughening the bottom surface of the support base, or by providing spikes at the bottom of the support base that can be driven into the ground. The inner distance between the front and rear support bases is slightly greater than the length of five sleepers. Under the combined action of the four support bases, the support reaction force gradually increases until the lower edge of the intelligent inspection vehicle's wheel just barely touches the upper surface of the rail. This state can be determined by measuring the resultant force of the support reaction force at the contact point between the support base and the telescopic rod, which is exactly equal to the weight of the intelligent inspection vehicle. The specific formula is as follows:

[0040] (1)

[0041] In the formula, F1 is the support reaction force measured by the first vertical force sensor, F2 is the support reaction force measured by the second vertical force sensor, F3 is the support reaction force measured by the third vertical force sensor, F4 is the support reaction force measured by the fourth vertical force sensor, and G is the weight of the intelligent inspection vehicle when it is fully supported. This eliminates the interference of the intelligent inspection vehicle's gravity, ensuring that the force on the rail is only in the horizontal direction.

[0042] In the embodiments provided by the present invention, see Figure 8 , 9The lateral force reversal module includes a first horizontal cylinder 28, a second horizontal cylinder 29, a first horizontal force sensor 30, a second horizontal force sensor 31, a slide 32, a slider 33, and a connecting block 34. All lateral force reversal modules are mounted on an I-beam bracket 15. The slider 33 is fixedly connected to the lower frame 14 via the connecting block 34, forming a single unit. When detection begins at a measuring point, the horizontal cylinder on one side applies a gradually increasing horizontal force to the slider 34, causing the slider 34 to slide along the slide 32. Under the action of the connecting block 34, the intelligent detection vehicle undergoes horizontal displacement, generating a horizontal lateral force in the same direction on both sides of the rails, thus causing the sleepers to displace in this direction. Taking five sleepers as a group of rail panels A, when the displacement of the center sleeper Ac in a group of rail panels A reaches 2mm, the force value measured by the horizontal force sensor installed between the horizontal cylinder and the slider 33 is the lateral resistance value of that group of rail panels. After the inspection is completed, the horizontal cylinder retracts and the slider returns to its initial position. When the intelligent inspection vehicle starts inspection work at the next measurement point, the horizontal cylinder on the other side applies a horizontal force, which can avoid applying too much force in the same direction to the entire track and causing disturbance to the railway structure, thus maintaining the original geometric shape of the railway.

[0043] In the embodiments provided by the present invention, the sleeper displacement detection and track mileage recording device includes a first high-definition camera 35 and a second high-definition camera 36. Based on machine vision technology, it realizes automatic identification of the sleeper centerline and spacing calculation, obtains the displacement of the center sleeper of the track panel under the action of horizontal force and the mileage of each sleeper from the initial sleeper, and outputs it to the track panel lateral resistance recording and feedback system 42, providing a basis for the evaluation of the lateral stability of the track bed. The specific measurement steps are as follows:

[0044] (1) A high-definition camera is installed on the side of the vehicle frame and has a built-in image sensor. In this embodiment, an industrial-grade CMOS sensor is used. Its optical axis is parallel to the normal of the track plane and continuously collects images of the sleeper area at a fixed sampling frequency of 100Hz.

[0045] (2) The camera's intrinsic parameters (focal length f, principal point coordinates) and extrinsic parameters (lens distortion coefficients) are calibrated using a preset calibration board, establishing a mapping relationship between the image pixel coordinate system and the physical space of the orbit. Let the physical coordinates of the feature points on the calibration board be (X, Y, Z), and the corresponding pixel coordinates be (u, v). A projection matrix is ​​established using a perspective transformation model:

[0046] (2)

[0047] (3)

[0048] In the formula, f x f y For the normalized focal length, δ u δv This is the distortion compensation amount. After calibration, a rectangular coordinate system is established with the track extension direction as the X-axis.

[0049] (3) The acquired video frames are converted to grayscale, histogram equalized, and adaptively filtered to eliminate uneven lighting and rail reflection interference. The Canny operator is used to extract the edge features of the sleepers, and connected components are generated by combining morphological operations to select candidate regions that meet the geometric features of the sleepers. Based on the symmetry of the sleepers, principal axis analysis is performed on each sleeper region to calculate the minimum bounding rectangle of the sleeper profile, and the central axis is taken as the centerline of the sleeper. The coordinates of the endpoints (x1, y1), (x2, y2) of the centerline are fitted by the following formula:

[0050] (4)

[0051] (5)

[0052] (6)

[0053] (4) Identify the centerlines of two adjacent sleepers in the image and calculate their pixel distance ΔP along the sleeper direction (Y-axis). py Pixel distance ΔP along the orbital direction (X-axis) px The spatial resolution ρ is calculated according to the calibration parameters using formula (7):

[0054] (7)

[0055] Where La is the known physical dimension of the calibration plate, and P t Let its pixel length be denoted as d. From this, the actual displacement d of the center sleeper of the track can be output. ym and the actual center distance d of the sleepers xi The calculation formula is as follows:

[0056] (8)

[0057] (9)

[0058] In the formula, θ is the angle compensation factor between the camera optical axis and the sleeper plane. The correspondence between the m-th track section and the i-th sleeper is:

[0059] (10)

[0060] (5) Based on the above calculation, the distance d between the i-th sleeper and the (i-1)-th sleeper is obtained. xi The mileage K of the sleeper to be tested si It can be calculated according to formula (11):

[0061] (11)

[0062] In the formula, K s0 This refers to the initial sleeper mileage.

[0063] In the embodiments provided by the present invention, the drive device 37 adopts a rechargeable sodium-ion battery pack with a range of 100km, which can meet the working requirements of the intelligent inspection vehicle for real-time detection and feedback of the lateral resistance of railway track panels.

[0064] In the embodiments provided by the present invention, the night lighting system includes a first LED light 38, a second LED light 39, a third LED light 40 and a fourth LED light 41, which provides strong support for the night operation of the intelligent inspection vehicle that detects and provides feedback on the lateral resistance of the railway track in real time.

[0065] In the embodiments provided by this invention, the track panel lateral resistance recording and feedback system includes a data receiving and processing module, a data recording and analysis module, and a feedback output module. The data receiving and processing module, communicatively connected to the image sensor, is used to receive, filter, amplify, and perform analog-to-digital conversion on the raw data to obtain real-time monitoring values ​​of the track panel lateral resistance. The data recording and analysis module, communicatively connected to the data receiving and processing module, is used to store historical and real-time track panel lateral resistance data and analyze its changing trends using a built-in algorithm to predict future lateral resistance values. The feedback output module, communicatively connected to the data recording and analysis module, is used to generate a maintenance guidance report containing the fault mileage location and abnormal data when the measured track panel lateral resistance is abnormal or exceeds a safety threshold.

[0066] In summary, this invention provides an intelligent inspection vehicle for real-time detection and feedback of the lateral resistance of railway track panels. By incorporating a control and travel module, a non-destructive rail fastening module, a main frame module, a lateral force reverse application module, a sleeper displacement detection and track mileage recording device, a drive unit, a nighttime lighting system, and a track panel lateral resistance recording and feedback system, this intelligent inspection vehicle can detect and provide feedback on the lateral resistance of railway track panels in real time. Using five sleepers as a track panel group, the intelligent inspection vehicle applies a horizontal force to the rails, causing the center sleeper of the track panel under test to displace by 2mm. This horizontal force is then used as the lateral resistance of the track panel, achieving non-destructive real-time detection of the lateral resistance of railway track panels. This reduces the cost and time of testing the lateral resistance of the track bed, providing strong support for railway maintenance and track bed mechanical condition assessment.

[0067] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An intelligent inspection vehicle for real-time detection and feedback of the lateral resistance of railway track panels, characterized in that, It includes the main frame, control and travel module, rail non-destructive fixing module, lateral force reverse application module, and drive device; The main frame includes a bracket (15) and a lower frame (14). The end of the bracket (15) is provided with a telescopic support assembly, which is fixedly connected to the track bed when it is extended. The lateral force reverse application module includes a horizontal hydraulic cylinder, a pressure sensor, a slide groove (32) and a slider (33). The slide groove (32) is on the bracket (15), and the slider (33) is slidably connected in the slide groove (32). The slider (33) is fixedly connected to the lower frame (14). Horizontal hydraulic cylinders for pushing the slider are respectively provided on the left and right sides of the slider. A pressure sensor is provided between the horizontal hydraulic cylinder and the slider (33). The pressure sensor is used to measure the force between the horizontal hydraulic cylinder and the slider. The lower frame (14) is rotatably connected to the left and right sides by a rail non-destructive fastening module. The rail non-destructive fastening module includes a connecting rod and an outer rail clamping wheel. When the rail non-destructive fastening module is lowered, the outer rail clamping wheel can be in close contact with the outer rail web of the rail. The control and travel module is mounted on the lower frame (14) and is driven by the drive device.

2. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 1, characterized in that, The bracket (15) is an I-shaped bracket, and the telescopic support assembly consists of four sets, which are respectively set at the four extension ends of the I-shaped bracket. The telescopic support assembly includes a support base, a telescopic rod and a vertical force sensor.

3. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 2, characterized in that, The support base is equipped with a counterweight plate, and the bottom surface of the support base is roughened.

4. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 2, characterized in that, The bottom of the support base is provided with spikes that can be inserted into the ballast shoulder.

5. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 1, characterized in that, The control travel module includes four guide travel wheels and front and rear axles. Each pair of guide travel wheels is connected by the front and rear axles respectively. A horizontal clamping cylinder is provided in the middle of each front and rear axle. The horizontal clamping cylinder applies a horizontal force to both sides in the direction of the rail, so that the guide travel wheels are tightly fitted with the inner side of the rail.

6. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 1, characterized in that, It also includes a sleeper displacement detection and track mileage recording device and a track panel lateral resistance recording and feedback system. The sleeper displacement detection and track mileage recording device includes a first high-definition camera (35) and a second high-definition camera (36). The first high-definition camera (35) and the second high-definition camera (36) are installed on both sides below the bracket (15). The first high-definition camera (35) and the second high-definition camera (36) have built-in image sensors. Their optical axes are parallel to the normal of the track plane. They continuously collect images of the sleeper area at a fixed sampling frequency and output them to the track panel lateral resistance recording and feedback system.

7. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 6, characterized in that, The track panel lateral resistance recording and feedback system includes a data receiving and processing module, a data recording and analysis module, and a feedback output module. The data receiving and processing module is communicatively connected to the image sensor and is used to receive, filter, amplify, and perform analog-to-digital conversion on raw data to obtain real-time monitoring values ​​of the track panel lateral resistance. The data recording and analysis module is communicatively connected to the data receiving and processing module and is used to store historical and real-time track panel lateral resistance data. The feedback output module is communicatively connected to the data recording and analysis module.

8. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 1, characterized in that, It also includes a night lighting system, which includes a number of LED lights respectively installed around the lower frame (14).

9. The intelligent detection vehicle for real-time detection and feedback of the lateral resistance of railway track panels according to claim 1, characterized in that, The drive device (37) is a rechargeable sodium-ion battery pack.

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