Integrated track inspection device

Abstract

An integrated track inspection device (100), comprising: a device main body (10) and a mobile mechanism (20), wherein two main body units (11) of the device main body (10) are each provided with a plurality of high-precision line laser scanners and a plurality of cameras, and one of the main body units (11) is further provided with an inclinometer (1161), two gyroscopes (1171, 1172), and a GPS module (1181).

Description

Integrated track inspection equipment Technical Field

[0001] This invention belongs to the technical field of track inspection equipment, and specifically relates to a comprehensive track inspection device. Background Technology

[0002] To ensure the stability and safety of rail train operation, regular inspections of the tracks are necessary to promptly detect and eliminate various track defects. Timely problem identification and adjustments also help protect track components and extend their service life. Track inspection items include track geometry measurement, rail surface condition inspection, and inspection of various track components, among many others. To improve inspection efficiency and accuracy, reduce the workload of inspection personnel, and shorten track inspection and maintenance time, increasingly automated inspection equipment is being used. For example, for track geometry measurement, a T-shaped track inspection instrument is commonly used. Its frame is T-shaped with three wheels. One side of the frame has a fixed wheel, and the other side has two spring wheels. The frame is equipped with inclinometers, laser rangefinders, and other detection devices. In use, the three wheels are mounted on the two rails, with the fixed and spring wheels pressed against the inside of the rails. Inspectors push the inspection vehicle along the track, collecting data during movement using the onboard detection devices. The required track geometry data is then calculated based on the collected data.

[0003] While the aforementioned T-type track inspection instrument improves track inspection efficiency to some extent, it still has several problems. The most significant issue is its limited coverage of track inspection items. Many other inspection items, such as the inspection of various geometric dimensions at turnouts and visual inspection of rail surface conditions, still require manual measurement using tools like track gauges, or additional track inspection equipment. This is due to several factors. Firstly, the side wheels of the T-type instrument need to be in close contact with the inside of the rail to obtain accurate track geometry data. This contact method prevents the T-type instrument from moving stably and smoothly at complex turnout structures. For example, it is easily affected by impacts and vibrations when passing through complex track areas such as rail gaps, switch rails, and frog rails, leading to abnormal fluctuations in roll angle measurements and resulting in poor accuracy of the measured horizontal parameters, rendering them unreliable. Secondly, T-type instrument typically only has inclinometers and laser rangefinders, and the data collected based on these devices can only cover a limited number of inspection items.

[0004] Currently, with technological advancements, the requirements and standards for track inspection are constantly increasing. Furthermore, with the expansion of railway lines, train services, and transportation demands, the efficiency of track inspection is also facing ever-growing requirements. Therefore, to meet these demands, a comprehensive track inspection device capable of covering a wide range of inspection items is needed. Summary of the Invention

[0005] This invention addresses the aforementioned problems and aims to provide a comprehensive track inspection device that can fully cover various inspection items of railway tracks and turnouts, while also being more lightweight overall. The invention employs the following technical solution:

[0006] This invention provides a comprehensive track inspection device, which includes: a main body; and a moving mechanism disposed on the main body. The main body can be movably mounted on a track via the moving mechanism. The main body comprises two main units, each positioned above a rail when mounted on the track. Each main unit includes: multiple line laser scanners arranged circumferentially along the corresponding rail and facing the rail, for acquiring track contour data on the corresponding side; multiple cameras for acquiring track images on the corresponding side; one of the main units further includes: an inclinometer for acquiring angle information during the device's movement along the track; two gyroscopes with different axes for acquiring angular velocity information during the device's movement along the track; and a GPS module for acquiring the device's geographical location information. The moving mechanism includes multiple side wheel assemblies for lateral restraint of the device during its movement along the track, each side wheel assembly consisting only of fixed side wheel assemblies.

[0007] The integrated track detection device provided by the present invention may also have the following technical features: the moving mechanism includes two moving units, which are respectively disposed on the two main units. Each moving unit includes: a connecting bracket connected to the main unit; and two traveling wheel assemblies respectively disposed at both ends of the connecting bracket, each including a traveling wheel and an auxiliary conical wheel arranged coaxially. The connecting bracket of one moving unit is fixedly connected to the main unit, and the inclinometer, the gyroscope, and the GPS module are all disposed in this moving unit. The other moving unit further has a floating connecting assembly, and its connecting bracket is rotatably connected to the main unit through the floating connecting assembly.

[0008] The integrated track detection device provided by the present invention may also have the following technical features: In each main unit, there are three line laser scanners, all disposed at the top of the main unit and respectively at the outer end and inner end of the main unit. The tilt direction of the line laser scanner disposed at the outer end is different from the tilt direction of the two line laser scanners disposed at the inner end. In each unit, there are three cameras, respectively disposed below the line laser scanner at the outer end, in the middle of the main unit, and below one of the line laser scanners at the inner end. The connecting bracket is fixedly connected to the main unit. The inclinometer is disposed at the inner end of the unit. Two gyroscopes are respectively disposed on the upper surface and one side of the connecting bracket, with their axes perpendicular to each other. The GPS module is disposed at the outer end of the main unit.

[0009] The integrated track inspection equipment provided by the present invention may also have the following technical features, wherein the main unit further includes: a unit skeleton; and a unit shell covering the unit skeleton, having an opening at the bottom and through holes on both sides, the two through holes being aligned in the width direction of the main unit, the connecting bracket passing through a pair of through holes, in the main unit connected to the floating connecting assembly, the size of the through holes being larger than the cross-sectional size of the connecting bracket, the unit skeleton being an aluminum alloy frame, the connecting bracket being an aluminum alloy bracket, and both having a triangular mesh structure, the unit shell including multiple side plates and a top plate, the side plates and the top plate being carbon fiber plates.

[0010] The integrated track inspection equipment provided by the present invention may also have the following technical features: the traveling wheel includes a hub and a wheel surface covering the outer periphery of the hub; the hub is integrally made of POM material and has multiple annular injection grooves on its outer periphery; the wheel surface is made of ceramic material and is bonded and fixed to the hub; and the auxiliary conical wheel is integrally made of POM material.

[0011] The integrated track inspection equipment provided by the present invention may also have the following technical features, wherein the main unit further includes a sealing assembly, the sealing assembly including: a plurality of pressure strips, each pressure strip being fixed on both sides of the edge of the side plate and the corresponding edge of the top plate, and each pressure strip having a sealing groove on its inner side; and a plurality of sealing strips, respectively disposed in each of the sealing grooves, which are pressed between the edge of the side plate and the corresponding edge of the top plate by the corresponding pressure strip, thereby sealing the gap between the two.

[0012] The integrated track inspection equipment provided by the present invention may also have the following technical features: the side plate consists of two pieces, the top plate consists of one piece with a bent portion, the two side plates and the top plate form a four-sided enclosing structure, one corner of the side plate is rounded, the bent portion of the top plate is arc-shaped, and the plurality of pressure strips include a plurality of straight pressure strips and a plurality of curved pressure strips. The curved pressure strips are used to be set at the rounded corners of the side plates, and the cross-sections of the straight pressure strips and the curved pressure strips in the extension direction are both L-shaped.

[0013] The integrated track inspection equipment provided by the present invention may also have the following technical features: one end of the straight pressure strip is wider than the other end, and a fixing hole is provided on the wider end for installing an upper handle; one end of the curved pressure strip is wider than the other end, and a fixing hole is provided on the wider end for installing an outer handle; the traveling wheel assembly also includes a traveling wheel bracket, one end of which is fixedly connected to one end of the connecting bracket, and the other end is in the shape of a semi-closed shell for connecting and accommodating the traveling wheel; and a wheel end handle is provided on the traveling wheel bracket.

[0014] The integrated track inspection device provided by the present invention may also have the following technical features: the device further includes an inspection auxiliary mechanism, which includes: a light-shielding assembly comprising multiple light-shielding plates disposed below the unit body; and a supplementary lighting assembly comprising multiple lamp tubes disposed in the lower part of the unit body for supplementary lighting for the camera and the line laser scanner. In each unit body, there are at least four lamp tubes, two of which are disposed along the width direction of the unit body, respectively below the line laser scanner at the outer end and below one line laser scanner at the inner end, and are horizontally staggered from the corresponding side camera. The other two lamp tubes extend along the length direction of the main unit, respectively disposed inside both sides of the main unit in the width direction, and their length is such that the lamp tubes do not interfere with the line lasers projected by the line laser scanners on both sides.

[0015] The integrated track inspection device provided by the present invention may also have the following technical features: the device further includes an external battery disposed on the outer surface of one of the main units, wherein the outer surface of the main unit also has a plurality of spring slots, the external battery being box-shaped and detachably disposed on the outer surface of the main unit through the plurality of spring slots.

[0016] The role and effect of invention

[0017] The integrated track inspection equipment provided by this invention includes a main body and a moving mechanism. It can be mounted on and moved along the track, collecting track data during movement. Since each of the two main units of the main body contains multiple high-precision line laser scanners and multiple cameras, and one of the main units also includes an inclinometer, two gyroscopes, and a GPS module, the equipment can collect multi-source track data, including contour data, image data, angle information, angular velocity information, and geographical location information. Based on this multi-source data, it can essentially comprehensively cover a large number of track inspection items for railway tracks and turnouts. During use, manual inspection or additional inspection equipment is unnecessary, making operation more convenient. The multi-source data can also be used for mutual reference; for example, data collected by one or more types of inspection components can be used to compensate and correct data collected by other inspection components, thereby obtaining more accurate inspection data.

[0018] Furthermore, since the device only has multiple fixed side wheel assemblies and no lateral clamping mechanisms such as spring side wheels, it can avoid the impact of the clamping contact method on the device's movement at the turnout, enabling the device to move more stably and smoothly at the turnout and improving the accuracy of data acquisition at the turnout. Attached Figure Description

[0019] Figure 1 is a perspective view of the integrated track detection equipment in this embodiment;

[0020] Figure 2 is a side view of the integrated track detection equipment and track in this embodiment;

[0021] Figure 3 is a perspective view of the main unit in this embodiment;

[0022] Figure 4 is a perspective view of the skeleton plate in the main unit in this embodiment;

[0023] Figure 5 is a perspective view of the skeleton connecting rod in the main unit of this embodiment;

[0024] Figure 6 is a perspective view of one end of the straight pressure strip in this embodiment;

[0025] Figure 7 is a perspective view of the curved pressure strip in this embodiment;

[0026] Figure 8 is a schematic diagram showing the positional distribution of the detection components in the main body of the device in this embodiment;

[0027] Figure 9 is a perspective view of the moving unit in this embodiment;

[0028] Figure 10 is a perspective view of the walking wheel assembly in this embodiment;

[0029] Figure 11 is an exploded view of the walking wheel in this embodiment;

[0030] Figure 12 is a cross-sectional view of the walking wheel assembly in this embodiment.

[0031] Reference numerals: Integrated track inspection equipment 100; Equipment body 10; Main body unit 11; Unit skeleton 111; Skeleton plate 1111; Triangular through hole 11111; First solid plate part 11112; Power key hole 11112a; Display hole 11112b; Second solid plate part 11113; Through hole 11113a; Skeleton connecting rod 1112; Unit shell 112; Side plate 1121; Top plate 1122; Connecting end plate 1123; Connecting plate part 11231; Butt hole 11231a; Straight pressure strip 1 124; First straight plate portion 11241; Sealing strip groove 11251a; Mounting plate portion 11241b; Fixing hole 11241c; Second straight plate portion 11242; Bent pressure strip 1125; First bent plate portion 11251; Second bent plate portion 11252; Sealing strip groove 11251a; Mounting plate portion 11242b; Fixing hole 11242c; Upper handle 1131; Outer handle 1132; Line laser scanner 1141-1146; Two-dimensional camera 1151-1156; Inclinometer 1161; Gyroscopes 1171, 1172; GPS module 1181; Motion mechanism 20; Motion unit 21; Connecting bracket 211; Wheel assembly 212; Wheel bracket 2125; Shaft 2121; Bearing 2122; Wheel 2123; Hub 21231; Glue injection groove 21231a; Wheel surface 21232; Auxiliary cone wheel 2124; Fixed side wheel assembly 213; Side wheel bracket 2131; Main side wheel 2132; Auxiliary side wheel 2133; Mileage detection component 214 ; Component housing 2141; Odometer detector 2142; Detector elevation plate 2143; Floating connection assembly 215; Fixed bracket 2151; Connecting shaft 2152; Wheel end handle 216; Push mechanism 30; Push rod 31; Angle adjustment assembly 32; Detection auxiliary mechanism 40; Light blocking component 41; Side shield 411; End light shield 412; Light blocking cloth 413; Supplemental lighting assembly 42; Side shield 411; End light shield 412; Electronic control assembly 50; External battery 51; Computing device 52. Detailed Implementation

[0032] To make the technical means, creative features, objectives and effects of the present invention easy to understand, the integrated track detection device of the present invention will be specifically described below in conjunction with embodiments and accompanying drawings.

[0033] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] <Example>

[0035] Figure 1 is a perspective view of the integrated track detection equipment in this embodiment, and Figure 2 is a side view of the integrated track detection equipment and the track in this embodiment.

[0036] As shown in Figures 1 and 2, the integrated track inspection equipment 100 is an H-shaped integrated track inspection equipment (inspection vehicle), which includes: equipment body 10, moving mechanism 20, pushing mechanism 30, light-shielding mechanism 40, and electrical control components 50.

[0037] The main body 10 of the equipment is roughly in the shape of a long rectangular parallelepiped, and includes two main body units 11. Each main body unit 11 is also roughly in the shape of a rectangular parallelepiped, and they are connected at one end along their length to form a whole.

[0038] Figure 3 is a perspective view of the main unit in this embodiment, Figure 4 is a perspective view of the skeleton plate in the main unit in this embodiment, and Figure 5 is a perspective view of the skeleton connecting rod in the main unit in this embodiment.

[0039] As shown in Figures 3 to 5, each main unit 11 includes a unit skeleton 111, a unit shell 112, an upper handle 113, a sealing assembly 114, and multiple detection components.

[0040] The unit frame 111 is an aluminum alloy frame, comprising two frame plates 1111 and multiple frame connecting rods 1112. As shown in Figure 4, the frame plate 1111 is a long strip frame plate with multiple rows of rounded triangular through holes 11111 distributed on it. In each row, the multiple triangular through holes are arranged alternately with their pointed corners facing upwards and downwards, forming a uniformly wide support strip between adjacent triangular through holes, thus forming a triangular mesh structure. Therefore, the frame plate 1111 is very lightweight yet possesses sufficient structural strength. The frame plate 1111 also has multiple mounting holes, and the two frame plates 1111 are parallel to each other and aligned in the thickness direction. The skeleton connecting rod 1112 is a hollow square column with triangular mesh structures on all four sides. The size of the triangular through holes on the skeleton connecting rod 1112 is smaller than that on the skeleton plate 1111. Each skeleton connecting rod 1112 has solid plates at both ends, which are fixed to the corresponding mounting holes on the two skeleton plates 1111. Thus, the two skeleton plates 1111 are fixedly connected by multiple skeleton connecting rods 1112 to form an integral skeleton (frame). In addition, the skeleton connecting rod 1112 also serves as a mounting rod for multiple detection components.

[0041] The frame plate 1111 has a first solid plate portion 11112 on one side along its length, and a second solid plate portion 11113 on the other side of its length, with no through holes in the solid plate portions. One of the main body units 11 has a power button hole 11112a and a display screen hole 11112b on its first solid plate portion 11112. Both main body units 11 have a roughly rounded rectangular through hole 11113a on their second solid plate portions 11113.

[0042] The unit outer shell 112 covers the unit frame 111 and includes two parallel and oppositely arranged side plates 1121, a bent top plate 1122, and a connecting end plate 1123. Except for the connecting end plate 1123, the other three plates are made of carbon fiber. The four plates are combined to form a five-sided enclosure structure. The bottom of the main unit 11 is open, allowing the detection components inside the main unit 11 to detect the track below through the bottom opening. The bend of the top plate 1122 is arc-shaped, making the upper end of the main unit 11 arc-shaped (i.e., a rounded corner when viewed from the side). The thickness of the end plate 1123 is greater than that of the side plates and the top plate. The connecting end plates 1123 of the two main units 11 are joined together and fixed by multiple fasteners. Multiple holes and slots are formed on the end plate 1123 to facilitate the routing of multiple detection components inside the two main units 11. The connecting end plate 1123 has two outwardly protruding connecting plate portions 11231 on each side in the width direction. The outer end of the connecting plate portion 11231 is arc-shaped and has a mating hole 11231a. When installed on the frame, the multiple connecting plate portions 11231 on both sides are located outside the unit shell 112 in the width direction of the unit body 11. Therefore, it is convenient to install mating bolts on the outside of the shell to connect the two main body units 11, making the operation more convenient.

[0043] The unit housing 112 also includes a sealing assembly, comprising a plurality of straight pressure strips 1124, a plurality of curved pressure strips 1125, and a plurality of sealing strips (not shown in the figure). The straight pressure strips 1124 are used to seal the straight edges of the unit housing 112; the curved pressure strips 1125 are used to seal the curved edges of the unit housing 112 (the bends in the top plate 1122).

[0044] Figure 6 is a perspective view of one end of the straight pressure strip in this embodiment.

[0045] As shown in Figure 6, the straight pressure strip 1124 is generally long and straight, with an L-shaped cross-section in its extension direction. The straight pressure strip 1124 has a first straight plate portion 11241 and a second straight plate portion 11242 that are approximately perpendicular to each other. Multiple mounting holes are provided on each of the two straight plate portions for fixing with corresponding mounting holes on the side plate and top plate. The thickness of the first straight plate portion 11241 is greater than the thickness of the second straight plate portion 11242, and one end of the first straight plate portion 11241 is wider, forming a mounting plate portion 11241a with a rounded edge. A fixing hole 11241c with a diameter larger than the other mounting holes on the pressure strip is formed on the mounting plate portion 11241b, used to fix the pressure strip and to install the upper handle 1131. The inner side of the first straight plate portion 11241 (the side facing the second straight plate portion 11242) has a sealing strip groove 11241a, which is a groove with a rectangular cross-section. Its extension direction is consistent with the extension direction of the first straight plate portion 11241, and its groove depth is less than the diameter of the sealing strip.

[0046] Figure 7 is a perspective view of the curved strip in this embodiment.

[0047] As shown in Figure 7, the curved pressure strip 1125 is roughly L-shaped with rounded corners. One side of the L is shorter and is used to connect with the straight pressure strip 1124 on the upper part of the unit housing 112. Together, they seal a horizontal edge at the upper end of the unit housing 112. The other side of the L is relatively longer and is used to seal a vertical edge on the side of the unit housing 112.

[0048] The curved strip 1125 also has an L-shaped cross-section in its extension direction. The curved strip 1125 has a first curved plate portion 11251 and a second curved plate portion 11252 that are approximately perpendicular to each other. The first curved plate portion 11251 is bent along its thickness direction, and the second curved plate portion 11252 is bent along its width direction. Multiple mounting holes are provided on each of the two curved plate portions. The inner side of the first curved plate portion 11251 (i.e., the side facing the second curved plate portion 11252) has a sealing strip groove 11251a, which is a rectangular groove with the same extension direction as the first curved plate portion 11251. The groove depth is less than the diameter of the sealing strip. At one end of the long side of the curved pressure strip 1125, the width of the first curved plate portion 11251 increases to form a mounting plate portion 11251b, one end of which has a rounded edge. A fixing hole 11251c with a diameter larger than other mounting holes on the pressure strip is formed on the mounting plate portion 11251b. This fixing hole 11251c is also used to install the end handle 1132. In addition, the thickness at both ends of the first curved plate portion 11251 is less than the thickness of its middle section, so that the two ends can be fitted with other structures of the main body unit 11 for installation.

[0049] In this embodiment, the pressure strip is made of POM and the sealing strip is made of silicone foam. The sealing strip has a circular cross-section and is embedded in the sealing strip groove of each pressure strip. After the pressure strip is installed on the outer shell plate and pressed, the sealing strip is compressed and its cross-section becomes similar to a rounded rectangle, thus sealing the gap between the side plate and the top plate.

[0050] The sealing assembly can seal the connection between the side panel and the top panel of the unit housing 112, which mainly prevents rainwater from entering the housing through the gap between the side panel and the top panel and affecting the internal detection components, electrical equipment, wires, etc.

[0051] The upper handle 1131 is located above the end of the unit housing 112 with the end plate 1123, and the outer handle 1132 is located at the lower part of the outer end of the unit housing 112. After the two unit bodies 11 are combined, the two upper handles 1131 are located at the upper middle part of the entire equipment body 10, and the two outer handles 1132 are located at the lower part of both ends of the entire equipment body 10 in the length direction, which makes it convenient for the testing personnel to move the equipment.

[0052] The multiple detection components include multiple line laser scanners, multiple 2D cameras, an inclinometer, at least one gyroscope, and a GPS module.

[0053] Figure 8 is a schematic diagram showing the positional distribution of the detection components in the main body of the device in this embodiment.

[0054] In this embodiment, six high-precision line laser scanners 1141-1146, six two-dimensional cameras 1151-1156, one inclinometer 1161, two high-precision fiber optic gyroscopes 1171 and 1172, and one GPS module 1181 are provided.

[0055] As shown in Figure 8, the main body 11 on one side (right side of the figure) is equipped with three line laser scanners 1141-1143, three cameras 1151-1153, two gyroscopes 1171 and 1172, and a GPS module 1181.

[0056] All three line laser scanners are positioned near the top of the main unit 11. Line laser scanner 1411 is fixed at the outer end of the main unit 11 along its length and is tilted. Line laser scanner 1412 is fixed at the middle of the main unit 11 along its length and is also tilted, with a smaller tilt angle than line laser scanner 1141. Line laser scanner 1143 is fixed at the inner end of the main unit 11 along its length and is also tilted, but in a different direction than the other two line laser scanners. When the device is placed on the track in the turnout area, line laser scanner 1411 tilts towards... The outer side of the base rail 9 can cover part of the outer side and top surface of the base rail 9, as well as part of the outer side and top surface of the rail components (if any) on the outer side of the base rail, such as the position of the switch rail 8 in the figure; the line laser scanner 1412 is slightly tilted toward the top surface of the rail, and can completely cover the top surface and part of the inner side of the base rail 9, as well as part of the top surface of the rail components on the outer side of the base rail 9 and the top surface of the rail components on the inner side of the base rail 9; the line laser scanner 1143 is tilted toward the inner side of the rail, and can substantially completely cover the top surface and part of the inner side of the base rail 9, as well as the top surface and part of the inner side of the rail components on the inner side of the base rail 9.

[0057] Three cameras 1151-1153 are respectively positioned at the center of the main unit 11 in the height direction, and are all vertically arranged with their detection ends pointing vertically downwards. Camera 1151 is located at the outer end of the main unit 11 in the length direction, directly below the line laser scanner 1411. Camera 1152 is located at the center of the main unit 11 in the length direction. Camera 1153 is located at the inner end of the main unit 11 in the length direction, below the line laser scanner 1142. At the track, the three cameras can cover one side of the rail and rail components such as fasteners beside the rail; at the turnout, the three cameras can cover one side of the main rail, and other rail components such as the switch rail or guard rail beside the main rail. Furthermore, the installation positions of the three cameras do not affect the laser lines projected by the three line laser scanners.

[0058] Inclinometer 1161 is located at the lower part of main body unit 11 and at the inner end of main body unit 11 in length direction, and is used to detect changes in the angle of the device.

[0059] Two fiber optic gyroscopes, 1171 and 1172, are respectively located at the middle of the length direction and the middle of the height direction of the main body unit 11. Their axes are perpendicular to each other and are used to detect the height and orientation of the track, respectively.

[0060] GPS module 1181 is located on the top of main unit 11 and at the outer end of the main unit 11 in the length direction, and is used to obtain the geographical location of the device.

[0061] On the other side (left side of the figure), in the unit body 11, there are three laser scanners 1144-1146 and three identical ones 1154-1156. Their distribution is very similar to that of the corresponding detection components in the unit body 11 on the other side. The only difference is that these detection components in the two unit bodies 11 are arranged in a mirror image along the center line of the entire length of the device body 10.

[0062] The moving mechanism 20 includes two moving units 21 for enabling the equipment to be placed on a track and moved (walked) along the track.

[0063] Figure 9 is a perspective view of the moving unit in this embodiment.

[0064] As shown in Figure 9, one of the mobile units 21 includes a connecting bracket 211, two walking wheel assemblies 212, a fixed side wheel assembly 213, a mileage detection assembly 214, a floating connecting assembly 215, and a wheel end handle 216.

[0065] The connecting bracket 211 is also a square-column aluminum alloy frame with a rectangular cross-section in its extending direction and the aforementioned triangular mesh structure. The cross-sectional dimensions of the connecting bracket 211 are slightly smaller than the dimensions of the through holes 11113a on the unit housing 112, and it passes through the through holes 11113a. Both ends of the connecting bracket 211 extend to the outside of the housing. The two wheel assemblies 212 are fixedly mounted on both ends of the connecting bracket 211.

[0066] Figure 10 is a perspective view of the walking wheel assembly in this embodiment, Figure 11 is an exploded view of the walking wheel structure in this embodiment, and Figure 12 is a cross-sectional view of a portion of the walking wheel assembly structure in this embodiment. The walking wheel bracket and wheel end handle are omitted in Figure 12.

[0067] As shown in Figures 10 to 12, the walking wheel assembly 212 includes a walking wheel bracket 2125, a rotating shaft 2121, a pair of bearings 2122, a walking wheel 2123, and an auxiliary cone wheel 2124.

[0068] The wheel support 2125 includes an extension frame portion 21251 and a wheel housing portion 21252. The extension frame portion 21251 is used to fix itself to the connecting bracket 211. After fixing, the extension frame portion 21251 extends outward at an angle relative to the connecting bracket 211. The extension frame portion 21251 also has a triangular mesh structure. The wheel housing portion 21252 is formed at the outer end of the extension frame portion 21251. It is a semi-enclosed shell shape that matches the cylindrical wheel and has a locking hole, a pair of axle mounting holes, and other structures.

[0069] A pair of bearings 2122 are respectively installed in the shaft mounting holes at the ends of the traveling wheel bracket 2125. The shaft 2121 is set at the end of the traveling wheel bracket 2125 through the pair of bearings, and one end of the shaft 2121 extends out of the bracket. The shaft 2121 includes a main rod and two transmission rods set on the main rod and perpendicular to the main rod. The two transmission rods drive the traveling wheel and the auxiliary cone wheel to rotate respectively.

[0070] The wheel 2123 includes a hub 21231 and a wheel surface 21232. The hub 21231 is integrally machined from POM material, and its overall shape is roughly cylindrical. It has multiple fan-shaped light-reducing holes extending along its axial direction and distributed circumferentially. Multiple locking holes 21231a are distributed along its circumferential edge, and a pivot connection hole is located in the center. Furthermore, multiple parallel annular injection grooves 21231b are provided on the outer circumferential surface of the hub 21231. The cross-section of the injection grooves 21231b in the circumferential direction is roughly rectangular. The wheel surface 21232 is made of ceramic material, is cylindrical, and relatively thin. It is fitted onto the outer circumference of the hub 21231, and the two are bonded and fixed together by applying adhesive to the injection grooves 21231b.

[0071] The auxiliary cone wheel 2124 is a one-piece molded part, which is integrally machined from POM material. Its overall shape is a frustum cone, and it also has multiple fan-shaped light-reducing holes that extend along its axis and are distributed along its circumference. It has a pivot connection hole in the middle.

[0072] The traveling wheel 2123 is mounted on the rotating shaft 2121, and a large portion of the upper part of the traveling wheel 2123 is housed within the wheel housing 21252 of the traveling wheel bracket 2125, providing protection for it. The auxiliary cone wheel 2124 is also mounted on the rotating shaft 2121 and is located on the outer side of the wheel housing 21252. The traveling wheel 2123 is closer to the center of the entire equipment than the corresponding auxiliary cone wheel 2124. The larger end of the auxiliary cone wheel 2124 faces the traveling wheel 2123, and the smaller end faces outwards, serving as an auxiliary mechanism when the equipment passes through the turnout point.

[0073] The traveling wheels 2123 serve both load-bearing and walking functions, and are relatively more prone to wear. Therefore, using POM hub components in combination with ceramic material wheel surface components can reduce the wear rate of the traveling wheels, while also meeting insulation requirements and making the overall weight of the traveling wheels lighter.

[0074] When the equipment travels over the turnout points, especially those with severe wear, the traveling wheel 2123 may become stuck in the harmful space of the turnout without the auxiliary cone wheel 2124. The auxiliary cone wheel 2124 protects the traveling wheel 2123 from falling into this harmful space. Since the auxiliary cone wheel 2124 is used relatively infrequently, its wear is not significant. Therefore, it is made of POM plastic, which meets both insulation requirements and a certain degree of wear resistance, thus fulfilling its usage requirements.

[0075] Optionally, the traveling wheel assembly 212 may also include a locking element (not shown in the figure), which is disposed on one side of the unit bracket 211. Its locking end can pass through the locking hole on the wheel body receiving part 2111 and be embedded in a locking engagement hole on the traveling wheel 2123, thereby locking the traveling wheel 2123 so that the device can be stably parked on the track.

[0076] The fixed side wheel assembly 213 is mounted on the end of the unit bracket 211 and is located next to the corresponding traveling wheel assembly 212, closer to the center of the overall equipment than the traveling wheel assembly 212. The fixed side wheel assembly 213 includes a side wheel bracket 2131, a main side wheel 2132, and two auxiliary side wheels 2133. All side wheels are olive-shaped and mounted on the side wheel bracket via shafts and bearings. The diameter of the main side wheel 2132 is larger than the diameter of the auxiliary side wheels 2133. The size and installation position of the side wheels ensure that when the equipment is placed on the rail and the traveling wheels are in contact with the rail surface, the edge of the side wheel can rest against the working edge of the rail 16mm below the rail surface.

[0077] It is worth noting that, considering the movement and inspection needs of the device at the turnout, the equipment in this embodiment does not have lateral clamping mechanisms such as spring side wheels, but only four fixed side wheel assemblies. Furthermore, through modeling analysis and repeated experimental adjustments, suitable installation positions were designed for the four fixed side wheel assemblies, enabling the equipment to pass normally through the frog rail area. Setting lateral clamping mechanisms such as spring side wheels would affect the movement and inspection accuracy of the equipment at the turnout; several examples are given below to illustrate this:

[0078] For example, due to the gap between the wing rail and the center rail, when passing through this position, the gap may cause the spring side wheel to lose support, resulting in the device shifting or getting stuck.

[0079] In the front section of the track, there is a certain height difference between the top surface of the base rail and the top surface of the track. Due to the limitation of the spring force, the spring side wheel may not be able to adapt to the change in height difference, which may cause the overall center of gravity of the device to shift or jump, thus affecting the detection accuracy; it may also cause the entire device to become unstable and unable to continue moving along the track.

[0080] As the width of the tip of the track gradually narrows, when spring side wheels are used to press the track components on both sides, interference may occur between the spring side wheels or fixed side wheels and the track components near the gauge point, resulting in unstable movement and affecting the detection accuracy.

[0081] Because the tip of the point rail is relatively sharp, the side wheel does not make sufficient contact with the rail. As a result, the spring side wheel cannot apply uniform pressure when passing through the point rail section, causing the entire device to drift or misalign relative to the rail, which in turn affects the detection accuracy.

[0082] In the discontinuous area between the switch rail and the center rail, the side wheels become suspended or lose support, causing the device to be unable to maintain a stable posture.

[0083] Therefore, the device in this embodiment does not have a lateral clamping mechanism such as a spring side wheel. Instead, the device can move stably and smoothly in the turnout area by using a fixed side wheel assembly with a modeled and designed installation position.

[0084] The mileage detection component 214 is disposed at one or more of the traveling wheels 2123 and is used to detect the wheel rotation angle as the equipment moves along the track, thereby obtaining the mileage data of the equipment traveling along the track. The mileage detection component 214 includes a component housing 2141, a mileage detector (mileage encoder) 2142, a detector elevation plate 2143, etc. The component housing 2141 is fixed to the outside of one side of the wheel housing 21252 of the traveling wheel bracket 2125 (the side near the middle of the equipment), and the mileage detector 2142 is disposed inside the housing, with its detection end connected to the shaft of the traveling wheel.

[0085] The floating connection assembly 215 includes a fixed bracket 2151, a connecting shaft 2152, and two bearings. The fixed bracket 2151 has a structure basically the same as the connecting bracket 211 described above. Its two ends are fixed to the two skeleton plates 1111 of the main body unit 11, and it is installed on one side of the through hole 11113a. The connecting shaft 2152 is cylindrical. One end is fixed to the middle of the connecting bracket 211, and the other end is set on the fixed bracket 2151 through two bearings, so that the connecting bracket 211 can rotate relative to the fixed bracket 2151. The rotation of the connecting bracket 211 is limited by the through hole 11113a and can only rotate a small range. That is, the two traveling wheels 2123 on this side can be offset slightly relative to the main body 10 of the equipment. Thus, during the process of the equipment traveling along the track, the four traveling wheels 2123 can adapt to a certain degree of changes in the track structure, so that the four traveling wheels 2123 can keep as close as possible to the rail surface.

[0086] The structure of the other moving unit 21 is similar to that of the moving unit 21 described above, except that the other moving unit 21 does not have a floating connection component 215. Its connecting bracket 211 passes through the through hole 11113a and is fixedly connected to the unit body 11. In other words, there is no relative displacement between the detection component on this side and the traveling wheel. That is, the detection component on this side is more stable relative to the track below. Therefore, in some track detection projects, the track data collected by the detection component on this side is used as a reference, and the track data on the other side is calculated from the reference or compensated and corrected according to the reference.

[0087] In use, when conveying or transporting the equipment, the aforementioned fixed bracket 2151 and connecting bracket 211 can be pre-assembled in the equipment body 10. The equipment body 10 (or two main body units 11 respectively) and the four traveling wheel assemblies 212 equipped with these brackets can be conveyed and transported separately. Then, the four traveling wheel assemblies 212 can be assembled from the outside of the equipment body 10 for use.

[0088] The pushing mechanism 30 includes a push rod 31 and an angle adjustment component 32. The angle adjustment component 32 is located in the middle of the length of the equipment body 10 and near the bottom of the equipment body 10. The push rod 31 is T-shaped, with one end connected to the lower middle part of the equipment body 10 through the angle adjustment component 32. Its angle relative to the equipment body 10 is adjustable. After adjustment, the angle can be locked by a corresponding locking component. The push rod 31 has a multi-segment nested structure, and its overall length is also adjustable.

[0089] The detection auxiliary mechanism 40 includes a light-shielding component 41 and a supplementary light component 42.

[0090] The light-shielding component 41 is located below the main body 10 of the device and is used to block external ambient light, thereby reducing the impact of changes in external ambient light on the 2D camera and line laser sensor and improving the quality of acquired data. The light-shielding component 41 includes four side shielding plates 411 and two end light-shielding plates 412, all of which are rectangular plates with rounded corners.

[0091] One end of the side shield 411 is connected to the lower edge of the side plate 1121 in the width direction, and the side shield 411 is inclined outward relative to the side plate 1211. The other end of the side shield 411 extends to approximately the axle of the traveling wheel 2123. Therefore, when the equipment is placed on the track, the gap between the lower end of the side shield 411 and the rail is very small, ensuring that it does not interfere with the rail or other track components while achieving maximum shading area. One end of the end light shield 412 is connected to the lower edge of the top plate 1122, and the end light shield 412 is inclined outward relative to the vertical plate portion of the top plate 1122. Its width is basically the same as the width of the side shield 411.

[0092] Optionally, the light-shielding component 41 may also include multiple light-shielding cloths 413. The light-shielding cloths 413 are generally trapezoidal in shape and are placed between adjacent side shielding plates 411 and end light-shielding plates 412. They are fixed to the shielding plates on both sides by adhesive strips or straps, thereby further blocking external light from below the corners of the main body 10 of the device.

[0093] In an alternative, the light-shielding element 41 can also be other enclosure structures, such as a skirt-like shape that is surrounded on three sides and open on one side, which is similar to the overall shape formed by multiple side shielding plates 411, an end light-shielding plate 412 and two light-shielding cloths 413 under the main body of a unit 11.

[0094] In this embodiment, to reduce the overall weight of the device, the main unit 11 is relatively small, especially its overall height, which is only slightly greater than the vertical height of the internal detection components. Therefore, the detection ends of the internal camera and line laser scanner are relatively closer to the bottom opening of the unit housing 112, making them more susceptible to external light. Therefore, providing a shielding component is essential.

[0095] The supplementary lighting assembly 42 includes multiple lamp tubes 421. In this embodiment, each main unit 11 has four lamp tubes, two of which have their length direction aligned with the width direction of the main unit 11 (hereinafter referred to as longitudinal), and the other two have their length direction aligned with the length direction of the main unit 11 (hereinafter referred to as transverse). Taking one main unit 11 as an example, the first lamp tube 421 is longitudinally positioned below the online laser scanner 1141, and is closer to the middle of the device body 10 relative to the 2D camera 1151. The second lamp tube 421 is longitudinally positioned below the online laser scanner 1142, and is closer to the outer end of the device body 10 in the length direction relative to the camera 1152. The third and fourth lamp tubes 421 are transversely positioned at the lower part of the two side plates 1211, and are both located below the connecting bracket 211. The ends of the length direction of the third and fourth lamp tubes 421 do not interfere with the laser line plane of the online laser scanners 1141 and 1142 on both sides.

[0096] Therefore, multiple lamps 421 can provide supplementary lighting for its shooting and scanning, and the lamps 421 make full use of the space outside the detection range of multiple detection components, and their installation position will not affect the camera shooting or the scanning of the line laser sensor.

[0097] The electronic control unit 50 includes an external battery 51, a computing device 52 (laptop), a data acquisition unit, a switch, and multiple fans.

[0098] Multiple spring clips (four in this embodiment) are installed on the top plate of one of the unit bodies 11 for securing the external battery 51. The external battery 51 is generally box-shaped and detachably mounted on the top plate of the unit body 11. A power display screen is provided on the external battery 51 or the device body 10 to display the approximate remaining power of the external battery 51. With the battery externalized, it is easy to replace the battery and continue testing when the power is low during long-term testing. Furthermore, the rest of the device and the battery can be transported and moved separately during equipment transport and handling, or the battery can be installed after the device is placed on the track, making it more flexible.

[0099] The top plate of another main unit 11 is also equipped with multiple spring-lock brackets and spring locks for fixing the computing device 52 (laptop). The computing device 52 is detachably mounted on the main unit 11. The computing device 52 is connected to each detection component through a data acquisition device and corresponding wires, and can acquire the corresponding detection data from each detection component through the data acquisition device, and then perform further calculation and analysis.

[0100] In addition, an electrical control housing section (box structure) is separated at the inner end of one or two main units 11 by a partition plate, and the aforementioned inclinometer, switch, fan, etc. are installed in the electrical control housing section.

[0101] Furthermore, to minimize the weight of the equipment, the overall size of the main body 10 in this embodiment is designed to be as small as possible. Line laser scanners 1141 and 1146 are installed at the two ends of the main body 10, meaning the total length of the main body 10 is approximately the distance between the two line laser scanners plus the width of the side strips. The total width of the main body 10 is close to the width of the line laser scanners. The height of the main body 10 is slightly greater than the vertical height of the line laser scanners after installation. In this embodiment, the overall dimensions of the equipment are: length 2300–2400 mm, width 700–780 mm, and height 550–600 mm. The dimensions of the main body 10 are specifically: length 2200–2300 mm, width 320–360 mm, and height 240–270 mm.

[0102] By reducing the overall size, especially the size of the main body of the equipment, and by adopting the aforementioned triangular mesh structure aluminum alloy frame, carbon fiber outer side plates, and the aforementioned walking wheel assembly structure and materials, as well as externally mounting the battery, the overall weight of the equipment can be greatly reduced. In this embodiment, the overall weight of the equipment (excluding the battery) is only 50-60 kg, which is far lower than the overall weight of similar equipment. For example, compared with the track inspection equipment in CN116923474A previously applied for by the applicant, the overall weight of the equipment in this embodiment is reduced by more than 20 kg.

[0103] The role and effect of the embodiments

[0104] The integrated track inspection equipment provided in this embodiment includes a main body and a moving mechanism. It can be mounted on and moved along the track, collecting track data during movement. Since the main body contains multiple high-precision line laser scanners and multiple cameras in its two main units, and one of the main units also includes an inclinometer, two gyroscopes, and a GPS module, the equipment can collect multi-source track data, including contour data, image data, angle information, angular velocity information, and geographical location information. Based on this multi-source data, it can essentially comprehensively cover a large number of track inspection items for railway tracks and turnouts. During use, manual inspection or additional inspection equipment is unnecessary, making operation more convenient. The multi-source data can also be used for mutual reference; for example, data collected by one or more inspection components can be used to compensate and correct data collected by other inspection components, thereby obtaining more accurate inspection data.

[0105] Furthermore, since the device only has multiple fixed side wheel assemblies and no lateral clamping mechanisms such as spring side wheels, it can avoid the impact of the clamping contact method on the device's movement at the turnout, enabling the device to move more stably and smoothly at the turnout and improving the accuracy of data acquisition at the turnout.

[0106] In this embodiment, the overall size of the main body of the device is designed to be as small as possible. The overall length is only slightly larger than the distance between the two outermost line laser scanners, the overall width is only slightly larger than the width of one line laser scanner, and the overall height is only slightly larger than the vertical height of the line laser scanner after installation. Therefore, a compact vehicle structure can be formed, which greatly reduces the overall weight of the device.

[0107] Furthermore, the main frame and wheel brackets of the equipment are made of aluminum alloy with a triangular mesh structure, and are combined with carbon fiber shell plates, POM plastic wheel hubs and auxiliary cone wheels, which can further reduce the overall weight of the equipment.

[0108] Furthermore, the device's battery has been improved to a removable and replaceable external battery. This not only reduces the overall weight of the device after removing the battery, but also allows for easy replacement of the external battery during prolonged testing or when the battery is low, enabling continued testing. The appropriate capacity of the external battery can also be selected in advance according to the specific testing task requirements, offering greater flexibility. Moreover, during equipment transport and handling, other parts of the device and the external battery can be transported and handled separately, making it more convenient and particularly suitable for testing scenarios where transport and handling are relatively difficult, such as elevated track inspection. Compared to similar track inspection equipment previously designed by the applicant, the device in this embodiment is more than 20 kg lighter, significantly reducing the burden on inspection personnel during handling and trolley testing, making equipment transport more convenient and less prone to collisions.

[0109] Furthermore, the wheel bracket on one side of the equipment is fixed to the main body of the unit, while the other side is connected to the main body of the unit in a floating (small-amplitude rotation) manner through a floating connection component. Therefore, when the equipment passes through uneven sections of the track, the four traveling wheels can be adjusted adaptively through the floating connection component, so that the four traveling wheels can maintain contact with the track surface as much as possible, making the equipment move more stably and the data collected more accurate.

[0110] Furthermore, the inclinometer, two gyroscopes, and GPS module are all housed in a single unit that is fixed to the wheel bracket. This avoids the impact of floating on the detection, and allows the detection data on the other side to be calculated from the multiple detection components and results on one side as a benchmark, or the detection results on the other side to be compensated and corrected accordingly using the benchmark, thereby improving the detection accuracy.

[0111] Furthermore, the main body of the equipment is also equipped with a sealing assembly, including multiple pressure strips and sealing strips. The sealing strips are assembled and pressed together via grooves on the pressure strips, sealing the gap between the side plates and the top plate. This prevents external rainwater from entering the casing through the gap and affecting or even damaging the internal electrical components. Since the equipment is typically used in outdoor environments, it inevitably encounters rain and snow. The sealing assembly effectively protects the high-precision detection components, which are costly to operate, thus extending the equipment's service life. Moreover, encasing the sealing strips within the pressure strips not only improves the appearance but also protects the sealing strips, preventing them from deteriorating and failing after a period of use due to exposure.

[0112] Furthermore, a light-shielding component and a supplementary lighting component are also installed below the main body of the equipment. The light-shielding component includes multiple inclined light-shielding plates, and may also include corner shielding cloths. The light-shielding plates are designed in conjunction with the wheel bracket structure, and have a large area, extending all the way to the central axle of the walking wheel. Therefore, they can effectively block most of the external ambient light, thereby avoiding the impact of excessively bright or changing ambient light on the camera and line laser scanner. In addition, multiple lamp tubes are used for supplementary lighting to ensure sufficient light, so that both detection components can collect more accurate data.

[0113] Furthermore, in each main unit, three cameras are set up in the space not covered by the laser lines of three line laser scanners, and multiple lamps are set up in the space not covered by the laser lines of the three line laser scanners and not within the field of view of the three cameras. Therefore, although the overall size of the main unit is greatly reduced, the internal space is very limited, and a large number of detection components are set up inside, through reasonable layout, multiple detection components, lamps, etc. will not interfere with each other and can all work normally. Moreover, the main unit has a compact structure, which makes it more convenient to transport and handle.

[0114] The above embodiments are merely illustrative of specific implementations of the present invention, and the present invention is not limited to the scope of the description of the above embodiments. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are only for illustrating the principles of the present invention. Various changes and modifications can be made to the present invention without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A comprehensive track inspection device, characterized in that, include: Equipment body; as well as A moving mechanism is provided on the main body of the equipment, allowing the main body of the equipment to be movably mounted on a track via the moving mechanism. The main body of the equipment comprises two main units. When the main body of the equipment is installed on the track, the two main units are respectively located above the two rails of the track. The two main body units each include: Multiple line laser scanners are arranged circumferentially along the corresponding rail and all face the rail, for collecting track contour data on the corresponding side; Multiple cameras are used to capture track images on the corresponding side; One of the main body units further includes: Inclinometer, used to collect angle information during the movement of the device along the track; Two gyroscopes with different axes are used to collect angular velocity information of the device as it moves along the track; and The GPS module is used to obtain the device's geographical location information. The moving mechanism includes multiple side wheel assemblies for laterally limiting the device as it moves along the track, and the side wheel assembly includes only fixed side wheel assemblies.

2. The integrated track inspection equipment according to claim 1, Its features are: The moving mechanism includes two moving units, which are respectively disposed on the two main units. The two moving units each include: The connecting bracket is connected to the main body unit; and Two traveling wheel assemblies are respectively disposed at both ends of the connecting bracket, each including a coaxially arranged traveling wheel and an auxiliary conical wheel. One of the mobile units has its connecting bracket fixedly connected to the main unit, and the inclinometer, gyroscope, and GPS module are all housed in this mobile unit. Another of the mobile units further has a floating connection assembly, through which the connecting bracket is rotatably connected to the main unit.

3. The integrated track inspection equipment according to claim 2, characterized in that: in, In each main body unit, there are three line laser scanners, all disposed at the top of the main body unit, and respectively disposed at the outer end and inner end of the main body unit. The tilt direction of the line laser scanner disposed at the outer end is different from the tilt direction of the two line laser scanners disposed at the inner end. In each unit body, there are three cameras, respectively located below the line laser scanner at the outer end, in the middle of the main body unit, and below one of the line laser scanners at the inner end. The connecting bracket is fixedly connected to the main body unit. The inclinometer is located at the inner end of the main body unit. The two gyroscopes are respectively located on the upper surface and one side of the connecting bracket, with their axes perpendicular to each other. The GPS module is located at the outer end of the main body unit.

4. The integrated track inspection equipment according to claim 2, Its features are: The main body unit further includes: Unit skeleton; and The unit outer shell covers the unit frame, has an opening at the bottom, and through holes on both sides, with the two through holes aligned along the width direction of the main unit. The connecting bracket is inserted through a pair of the through holes. In the main body unit connected to the floating connection assembly, the size of the through hole is larger than the cross-sectional size of the connection bracket. The unit frame is an aluminum alloy frame, and the connecting bracket is an aluminum alloy bracket, both having a triangular mesh structure. The unit housing includes multiple side panels and a top panel, both of which are made of carbon fiber.

5. The integrated track inspection equipment according to claim 4, characterized in that: in, The traveling wheel includes a hub and a wheel surface covering the outer periphery of the hub. The wheel hub is integrally made of POM material, and its outer circumference has multiple annular injection grooves. The wheel surface is made of ceramic material and is bonded and fixed to the wheel hub. The auxiliary cone wheel is made of POM material in one piece.

6. The integrated track inspection equipment according to claim 4, Its features are: The main body unit also includes a sealing assembly. The sealing assembly includes: Multiple pressure strips, each pressure strip is fixed on both sides to the edge of the side plate and the corresponding edge of the top plate, and each pressure strip has a sealing groove on its inner side; and Multiple sealing strips are respectively disposed in each of the sealing strip grooves, and are pressed between the edge of the side plate and the corresponding edge of the top plate by the corresponding pressure strip, thereby sealing the gap between the two.

7. The integrated track inspection equipment according to claim 6, characterized in that: in, The side panels consist of two pieces, and the top panel consists of one piece with a bent portion. The two side panels and the top panel together form a four-sided enclosure structure. One corner of the side panel is rounded, and the bent portion of the top panel is arc-shaped. The plurality of pressure strips includes a plurality of straight pressure strips and a plurality of curved pressure strips, wherein the curved pressure strips are used to be positioned at the rounded corners of the side panel. Both the straight and curved pressure strips have L-shaped cross-sections in their extension directions.

8. The integrated track inspection equipment according to claim 7, characterized in that: in, The straight pressure strip has a width at one end that is greater than the width at the other end, and a fixing hole is provided on the wider end for mounting the upper handle. The curved pressure strip has a width at one end that is greater than the width at the other end, and a fixing hole is provided on the wider end for installing the outer handle. The walking wheel assembly also includes a walking wheel bracket, one end of which is fixedly connected to one end of the connecting bracket, and the other end is a semi-enclosed shell for connecting and accommodating the walking wheel. The walking wheel bracket is equipped with a wheel end handle.

9. The integrated track inspection equipment according to claim 3, characterized in that, Also includes: Testing support institutions, including: The light-shielding assembly includes multiple light-shielding plates disposed below the unit body; and The supplementary lighting assembly includes multiple lamp tubes, each disposed in the lower part of the unit body, for providing supplementary lighting for the camera and the line laser scanner. In each of the aforementioned unit bodies, there are at least four lamp tubes. Two of the lamps are arranged along the width of the unit body, one below the line laser scanner at the outer end and the other below one of the line laser scanners at the inner end, and are horizontally offset from the cameras on the corresponding sides. The other two lamps extend along the length of the main unit and are respectively disposed inside the width of the main unit, and their lengths are such that the lamps do not interfere with the line lasers projected by the line laser scanners on both sides.

10. The integrated track inspection equipment according to claim 1, characterized in that, Also includes: An external battery is disposed on the outer surface of one of the main body units. The outer surface of the main unit also has multiple spring slots. The external battery is box-shaped and is detachably mounted on the outer surface of the main unit via multiple spring slots.

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