Autonomous obstacle avoidance inspection robot suitable for multiple tracks

The invention discloses an autonomous obstacle avoidance inspection robot suitable for multiple tracks, which comprises a base platform (1) for placing a sensor, pipe body clamping seats (2) are arranged on two sides of the bottom of the base platform (1), optical shafts (3) are arranged in the pipe body clamping seats (2), advancing assemblies (4) matched with the tracks are arranged at two ends of each optical shaft (3), the advancing assembly (4) on one side is fixed with one end of the optical shaft (3), and the advancing assembly (4) on the other side is fixed with the other end of the optical shaft (3). The advancing assembly (4) on the other side is movably connected with the optical shafts (3), and a trapezoid lead screw (5) is arranged in the middle of the advancing assembly (4) fixed to the optical shafts (3) and located between the optical shafts (3) on the two sides. The distance between the advancing assemblies on the two sides can be adjusted to adapt to tracks with different track gauges, and t