The IMS1015 line comprehensive inspection robot is an intelligent inspection robot system that integrates multiple inspection contents of tunnels and tracks. It is used to solve the problems of time-consuming and laborious inspection, low efficiency, and human factors affecting the inspection process of subway engineering and structural inspection. Adopting a four person one machine and manned driving mode, joint inspection is carried out on multiple items such as vehicle/equipment intrusion, tunnel surface and structural defects, rail surface damage and geometric parameters, rail internal inspection, and third rail geometric parameters and surface defects.