Multi-purpose inspection device, locomotive inspection system and locomotive inspection method

Abstract

The application relates to a multi-purpose inspection device, a locomotive inspection system and a locomotive inspection method, and relates to the technical field of locomotive inspection. The multi-purpose inspection device comprises a main body, two lifting assemblies, two robots and two camera assemblies. The main body can move along a set direction. The two lifting assemblies are installed in the main body and can move up and down relative to the main body. The two robots are respectively installed on a corresponding lifting assembly and have multiple degrees of freedom. The two camera assemblies are respectively installed on one end of a corresponding robot away from the lifting assembly. The camera assembly comprises a camera and a heating element, and the heating element is arranged on the side of the camera. The application can improve the detection efficiency and ensure stable operation of the device in a wide temperature range.

Description

Technical Field

[0001] This application relates to the field of locomotive inspection technology, and in particular to a multi-purpose inspection device, a locomotive inspection system, and a locomotive inspection method. Background Technology

[0002] In the railway transportation sector, regular inspections of locomotives are necessary to ensure operational safety, particularly the inspection of critical components under and on the sides of the cars. Currently, these inspections are primarily conducted manually. Workers must enter dimly lit, narrow trenches to inspect the undercarriages, which is not only physically demanding and inefficient but also carries safety risks such as slipping and injuries. Furthermore, manual inspections are prone to omissions and misjudgments due to fatigue or limited visibility, creating potential safety hazards. Summary of the Invention

[0003] Therefore, it is necessary to provide a multi-purpose inspection equipment, locomotive inspection system, and locomotive inspection method to address the safety hazards associated with manual inspection.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0005] In a first aspect, embodiments of this application provide a multi-purpose inspection device, including:

[0006] The main body is capable of moving in a set direction;

[0007] Both lifting components are installed inside the main body and can move up and down relative to the main body in the direction of gravity;

[0008] Two robots are each mounted on a corresponding lifting assembly and have multiple degrees of freedom;

[0009] Two camera assemblies are respectively installed on one end of the robot away from the lifting assembly; each camera assembly includes a camera and a heating element, the heating element being disposed around the camera.

[0010] In one embodiment of the first aspect, the multi-purpose inspection device further includes two control components, each control component having a connecting seat on one side, the connecting seat being connected to a corresponding robot, and the camera component being mounted on the control component; the control component includes an industrial computer and an integrated circuit board, the industrial computer and the integrated circuit board being respectively connected to the camera component.

[0011] In one embodiment of the first aspect, the control component further includes a heating power cord, a temperature sensor, and a first cooling fan. The heating power cord is connected to the heating element, the temperature sensor is capable of acquiring the real-time temperature within the control component, and the first cooling fan is mounted on the side of the control component.

[0012] In one embodiment of the first aspect, the main body includes a chassis, two laser navigation radars and two first monitoring devices, with one laser navigation radar and one first monitoring device located at each opposite end of the chassis.

[0013] In one embodiment of the first aspect, the body further includes safety contacts disposed opposite to each other at both ends of the chassis.

[0014] In one embodiment of the first aspect, the main body further includes a battery pack, a plurality of heating plates and a plurality of heat-conducting plates, the battery pack being installed in a chassis, each of the heating plates being installed on a corresponding heat-conducting plate, and both the heating plates and the heat-conducting plates being located at the bottom of the battery pack.

[0015] In one embodiment of the first aspect, the lifting assembly includes a lifting screw, a linear guide rail, and a servo motor, wherein the servo motor is drivenly connected to the lifting screw, and the linear guide rail is used to guide the lifting assembly to move in a straight line.

[0016] In one embodiment of the first aspect, the main body further includes an electrical control box, which includes a housing, a second monitoring device, a heating fan, a second cooling fan, and a touch screen. The second monitoring device and the touch screen are both disposed on the top of the housing, the heating fan is disposed inside the housing, and the second cooling fan is disposed on the outside of the housing.

[0017] Secondly, this application also provides a locomotive inspection system, including the multi-purpose inspection equipment and charging cabinet described in any of the above embodiments, wherein the charging cabinet is capable of charging the multi-purpose inspection equipment.

[0018] Thirdly, this application also provides a locomotive inspection method, applied to the locomotive inspection system described in any of the above embodiments, the locomotive inspection method comprising:

[0019] Start the charging cabinet and the multi-purpose inspection equipment. If the battery level of the multi-purpose inspection equipment is lower than the set minimum value, it will start charging automatically.

[0020] Create a new inspection task in the control terminal based on the model of the locomotive to be inspected, and issue the task.

[0021] The multi-purpose inspection equipment leaves the charging parking space and moves to the pit under the locomotive. One of the camera components performs a fine scan of the undercarriage from the front to the rear of the vehicle. After detecting the rear of the vehicle, the other camera component performs a panoramic scan of the undercarriage from the rear to the front of the vehicle.

[0022] After the multi-purpose inspection equipment is transported back to the ground from the trench, it first detects the side of the locomotive away from the charging cabinet from the front to the rear of the vehicle; then it detects the side of the locomotive close to the charging cabinet from the rear to the front of the vehicle.

[0023] After the inspection task is completed, the multi-purpose inspection equipment returns to the charging cabinet for charging, and the control terminal displays the locomotive inspection results.

[0024] Compared to related technologies, the beneficial effects of this application are as follows: This application provides a multi-purpose inspection device, locomotive inspection system, and locomotive inspection method, including a main body, two lifting components, two robots, and two camera components. Each camera component is installed on the end of a corresponding robot furthest from the lifting component, allowing for reciprocating inspections via the two camera components, thus improving inspection efficiency. Simultaneously, each camera component includes a camera and a heating element disposed around the camera. By incorporating a heating element into the camera component, fogging or frost formation on the lens is effectively prevented in low-temperature environments, ensuring stable operation of the equipment over a wide temperature range. This provides the advantages of stable operation over a wide temperature range, preventing fogging or frost formation on the camera lens, and improving inspection reliability and safety. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of the multi-purpose inspection equipment in some embodiments of this application;

[0027] Figure 2 This is a schematic diagram of the camera component structure in some embodiments of this application;

[0028] Figure 3 This is a schematic diagram of the integrated structure of the camera component and the control component in some embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the internal components of the control component in some embodiments of this application;

[0030] Figure 5This is a schematic diagram of the main body structure in some embodiments of this application;

[0031] Figure 6 This is a schematic diagram of the heat-conducting plate structure in some embodiments of this application;

[0032] Figure 7 These are schematic diagrams of the lifting components and the robot in some embodiments of this application;

[0033] Figure 8 This is a schematic diagram of the electrical control box in some embodiments of this application;

[0034] Figure 9 This is a schematic diagram of the internal components of the electrical control box in some embodiments of this application;

[0035] Figure 10 This is a flowchart illustrating the locomotive inspection method in some embodiments of this application.

[0036] Explanation of reference numerals in the attached figures:

[0037] 100. Multipurpose inspection equipment; 110. Main body; 111. Chassis; 112. Laser navigation radar; 113. First monitoring component; 114. Safety radar; 115. Battery pack; 116. Safety contact plate; 117. Heating plate; 118. Heat conduction plate; 119. Electrical control box; 1191. Housing; 1192. Second monitoring component; 1193. Heating fan; 1194. Second cooling fan; 1195. Touch screen; 120. Lifting assembly; 130. Robot; 140. Camera assembly; 141. Camera; 142. Heating component; 150. Control assembly; 151. Connector; 152. Industrial computer; 153. Integrated circuit board; 154. Heating power cord; 155. Temperature sensor; 156. First cooling fan. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation of this application.

[0040] Furthermore, where the term "and / or" appears, "and / or" merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. Where the terms "first" and "second" appear, these terms are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" can explicitly or implicitly include at least one of those features. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figure 1 As shown, this application aims to provide a multi-purpose inspection device 100, a locomotive inspection system, and a locomotive inspection method to solve the technical problems of low efficiency, high labor intensity, susceptibility to harsh environments such as high and low temperatures, and safety hazards in existing manual inspections. This application achieves comprehensive, high-precision, and all-weather automated inspection of large equipment such as locomotives through an integrated intelligent device. The core of this technical solution lies in providing an autonomously movable platform equipped with a flexibly adjustable detection unit, and through a series of temperature control designs, ensuring stable operation of the device within a wide temperature range of -25℃ to 40℃.

[0045] This application provides a multi-purpose inspection device 100, whose basic architecture includes a main body 110. The main body 110 carries all other components of the device and is capable of moving along a set direction, which can be a preset path or a preset direction. Thus, the main body 110 constitutes the mobile platform for the entire device. Its design purpose is to transport the inspection system to a designated working position, replacing manual reciprocating movement and forming the basis for automated inspection. By giving the device mobility, the problems of limited inspection range and low movement efficiency of manual inspection are solved, achieving global coverage of large inspected objects (such as locomotives).

[0046] Inside the main body 110, two lifting components 120 are installed. Each lifting component 120 can independently move up and down relative to the main body 110 along the direction of gravity. This design aims to provide the inspection unit with vertical freedom of movement to adapt to the inspection needs of different height parts of the object being inspected, such as the transition from the underside of the vehicle to the side. By setting two independent lifting components 120, the two inspection units can operate asynchronously or synchronously in the vertical direction, improving the flexibility and efficiency of the inspection.

[0047] A robot 130 is mounted on each lifting assembly 120. The robot 130 has multiple degrees of freedom, such as a six-axis robot 130, enabling a wide range of highly flexible attitude adjustments of the end effector in three-dimensional space. Mounting the robot 130 on the lifting assembly 120 allows for precise attitude adjustment and local position compensation of the detection unit after the lifting assembly 120 provides basic height positioning. This enables the detection unit to penetrate deep into complex structures or capture images of targets at optimal angles, solving the problem of difficulty in reaching targets due to confined space or challenging angles during manual inspection.

[0048] Continue reading Figure 2 As shown, a camera assembly 140 is installed at the end of each robot 130 away from the lifting assembly 120. The camera assembly 140 is the core sensing unit of this device, used to acquire image information. Its design purpose is to perform the final detection task. By placing the camera assembly 140 at the end of the robot 130, it can follow the flexible movement of the robot 130 and reach the detection area. In addition, each camera assembly 140 also includes a camera 141 and a heating element 142 disposed around the camera 141. The purpose of the heating element 142 is to actively heat the camera 141 when the device is working in a low-temperature environment, ensuring that the photosensitive element and internal circuit of the camera 141 are within the normal operating temperature range, thereby solving the problem that conventional cameras 141 cannot start or their performance degrades at low temperatures, and ensuring the reliability of the device in extreme low-temperature environments such as -25℃.

[0049] Continue reading Figure 3 and Figure 4 As shown, further, in a preferred embodiment, to achieve independent control and data processing of the camera assembly 140, this application also includes two control components 150. Each control component 150 has a connector 151 on one side, which connects to a corresponding robot 130, while the camera assembly 140 is mounted on the control component 150. This structural layout allows the control component 150, camera assembly 140, and end effector of the robot 130 to form an integrated functional module. The control component 150 includes an industrial computer 152 and an integrated circuit board 153, which are electrically connected to the camera assembly 140. This design aims to achieve edge computing and distributed control. The industrial computer 152 is responsible for processing the raw image data acquired by the camera 141 and executing complex image algorithms, while the integrated circuit board 153 may be responsible for coordinating the power supply, communication, and basic logic of the various units within the control component 150. By setting up independent control components 150, a large number of computational tasks are completed at the front end, greatly reducing the burden on the electrical control box 119 and improving the system's real-time response speed and overall processing capability.

[0050] In another preferred embodiment, to ensure that the control component 150 itself can adapt to high and low temperature environments, the control component 150 also includes a sophisticated temperature control system. This temperature control system includes a heating power cord 154, a temperature sensor 155, and a first cooling fan 156. The heating power cord 154 is connected to the heating element 142 in the aforementioned camera component 140, providing it with the electrical energy required for heating. The temperature sensor 155 is used to monitor the internal temperature of the control component 150 in real time. The first cooling fan 156 is installed on the side of the control component 150 for forced air cooling of the interior in high-temperature environments. Based on feedback from the temperature sensor 155, the system can intelligently control the start and stop of the heating element 142 and the speed of the first cooling fan 156, forming a closed-loop temperature control system. This design ensures that the core electronic components within the control component 150 (such as the industrial computer 152) always operate within a suitable temperature range, thereby guaranteeing the stability and reliability of the entire detection front-end within a wide temperature range of -25℃ to 40℃.

[0051] Continue reading Figure 5 As shown, further, to achieve high-precision autonomous movement and environmental perception of the main body 110, the main body 110 includes a chassis 111, two laser navigation radars 112, and two first monitoring components 113. The chassis 111 is the physical foundation of the main body 110. The two laser navigation radars 112 and the two first monitoring components 113 are respectively arranged in pairs at opposite ends of the chassis 111 (e.g., in the front and rear directions). The laser navigation radars 112 are used for real-time positioning and map building by scanning the surrounding environmental features, ensuring that the main body 110 travels with high precision on the preset path. The dual-radar configuration provides redundancy and a wider scanning range, improving the robustness of positioning. The first monitoring component 113 can be a wide-angle camera, used to monitor the environment around the device's travel path, assist in obstacle avoidance, and provide environmental video streams to remote operators. Through the above configuration, the problems of complex deployment and poor flexibility of traditional track-type or magnetic strip navigation devices are solved, achieving high-precision, trackless autonomous navigation.

[0052] In one optional embodiment, the main body 110 also includes a safety radar 114, which is installed at the front or rear of the main body 110 and can realize 360° all-round monitoring around the vehicle body. It is responsible for real-time perception of the surrounding environment, preventing collisions, and protecting the safety of personnel and equipment.

[0053] In one alternative embodiment, the main body 110 also includes an outer cover that covers the chassis 111 of the main body 110. The outer cover is used to protect the precision components inside the equipment, such as the lifting assembly 120 and the electrical control box 119, from external environmental disturbances such as dust and rain, thereby enhancing the durability and environmental adaptability of the equipment.

[0054] In an optional embodiment, to further enhance the safety of the device, the main body 110 also includes safety contact pieces 116 disposed at opposite ends of the chassis 111. The safety contact pieces 116 may be made of rubber material, which can effectively prevent the main body 110 from making hard contact with the obstacle when it collides with the obstacle, thus avoiding damage to the device.

[0055] Continue reading Figure 5 and Figure 6 As shown, in another preferred embodiment, the main body 110 further includes a battery pack 115, a plurality of heating plates 117, and a plurality of heat-conducting plates 118. The battery pack 115 is installed inside the chassis 111, and the plurality of heating plates 117 are respectively installed on the corresponding heat-conducting plates 118. The heat-conducting plates 118 can be copper plates or aluminum plates with good thermal conductivity, and the heating plates 117 and the heat-conducting plates 118 are all located at the bottom of the battery pack 115.

[0056] In one optional embodiment, a heat-insulating bakelite board is also provided below the heating plate 117 to guide heat upwards to the battery pack 115, reducing heat loss towards the chassis 111 and thus improving heating efficiency. When the ambient temperature is too low, the heating plate 117 generates heat, which is evenly transferred to the casing of the battery pack 115 through the heat-conducting plate 118, thereby raising the overall temperature of the battery. This bottom heating and natural heat rise design, combined with the sealed battery compartment, can efficiently and evenly keep or raise the temperature of the battery pack 115, thereby ensuring the charging and discharging efficiency and lifespan of the battery in low-temperature environments such as -25°C, and guaranteeing the device's endurance and operational reliability.

[0057] Continue reading Figure 7 As shown, the specific structure of the lifting assembly 120 further includes a lifting screw, a linear guide rail, and a servo motor. The servo motor, as the power source, is connected to the lifting screw via a reducer. The lifting screw precisely converts the rotational motion of the servo motor into linear lifting motion. The linear guide rail provides guidance and support for the lifting platform, ensuring that it moves only in a vertical direction during lifting and resisting lateral torque. The closed-loop control characteristics of the servo motor ensure that the lifting assembly 120 can be precisely positioned to any height, and the movement is smooth and shock-free. This classic combination of drive and guide solves the problems of oil leakage, insufficient positioning accuracy, and difficulty in speed control that may exist in traditional hydraulic or pneumatic lifting methods, achieving high-precision and high-stability positioning of the detection unit in the vertical direction.

[0058] Continue reading Figure 8 and Figure 9As shown, in a preferred embodiment, the main body 110 further includes an electrical control box 119. The electrical control box 119 serves as the "brain" and "central nervous system" of the device, integrating core electrical components such as the main controller, driver, and power module. To adapt to high and low temperature environments, the electrical control box 119 is also equipped with an independent temperature control system, including a heating fan 1193 located inside the box 1191 and a second cooling fan 1194 located outside the box 1191. The heating fan 1193 can be used to heat the entire interior at low temperatures, while the second cooling fan 1194 can dissipate heat through a heat exchanger or air duct at high temperatures.

[0059] In addition, the top of the enclosure 1191 of the electrical control box 119 is equipped with a second monitoring device 1192 and a touch screen 1195. The second monitoring device 1192 is used to monitor the status of the equipment itself or a specific viewing angle, while the touch screen 1195 provides an intuitive human-machine interface, allowing on-site personnel to view equipment status, set parameters, and perform manual control operations. The design of this electrical control box 119 integrates all main control electrical components and provides environmental protection, improving the system's integration and reliability, and providing a convenient local operation entry point.

[0060] Embodiments of this application also provide a locomotive inspection system. This system includes not only the multi-purpose inspection device 100 described in any of the above embodiments, but also a charging cabinet. The charging cabinet can automatically or manually charge the multi-purpose inspection device 100. Throughout the automated operation process, the charging cabinet serves as a fixed energy replenishment station for the equipment. When the equipment completes its task or its battery is low, it can utilize its autonomous navigation function to precisely connect to the charging cabinet for charging, achieving closed-loop energy management for the entire system. This systematic design enables the multi-purpose inspection device 100 to achieve long-term unattended and continuous operation, making it a key component in realizing a truly automated inspection system.

[0061] Continue reading Figure 10 As shown, embodiments of this application also provide a locomotive inspection method applied to the aforementioned locomotive inspection system. This method organically connects the functions of various components of the equipment to form a complete automated operation process. The method specifically includes the following steps:

[0062] S10 performs startup and self-test charging.

[0063] Before the mission begins, the charging cabinet and multi-purpose inspection device 100 are activated. After activation, the device performs a series of self-checks, including status checks on all sensors, motors, robot 130, and camera components 140. Simultaneously, the device checks its own battery level; if the level is below a preset minimum, it automatically docks with the charging cabinet and begins charging until the battery is sufficient to perform a complete mission. This step ensures the device is in optimal condition and has adequate energy reserves before the mission.

[0064] S20: Execute the creation and issuance of a new task. Operators can select or create an inspection task based on the specific model of the locomotive to be inspected via a control terminal (e.g., the touchscreen 1195 of the electrical control box 119 or a remote mobile app / host computer software). The task includes information such as the coordinates of all items to be inspected for that locomotive model, the inspection sequence, the robot 130's posture, and the camera 141's parameters. After the task is created, the operator issues the task command, and the multi-purpose inspection equipment 100 receives the command and begins automatic execution.

[0065] S30, Perform Under-Vehicle Inspection. The multi-purpose inspection equipment 100, utilizing its laser navigation radar 112 and other navigation systems, autonomously leaves the charging parking space and precisely navigates to the pit beneath the vehicle. Upon reaching the starting position, one robot 130 and its onboard camera assembly 140 begin a detailed scan of the under-vehicle components, i.e., high-resolution, multi-angle detailed imaging of key components. The main body of the equipment 110 slowly moves along the pit from the front to the rear of the vehicle. Once the rear is detected, the other robot 130 and its camera assembly 140 activate, performing a rapid panoramic scan of the entire under-vehicle from rear to front to obtain a complete image of the under-vehicle, used to identify macroscopic defects or for comparison with the detailed scan image. The collaborative operation of the two robots 130, one performing a detailed scan and the other a panoramic scan, greatly improves the efficiency and completeness of the under-vehicle inspection.

[0066] S40, Perform vehicle side inspection. After completing the undercarriage inspection, the multi-purpose inspection equipment 100 is transported back to the ground via a ramp or lifting platform. Then, the equipment begins to inspect the vehicle sides. For example, it first inspects the side of the vehicle away from the charging cabinet from the front to the rear. During this process, the two lifting components 120 adjust the base height of the robot 130, and the robot 130 extends its arms so that the camera component 140 can cover inspection points at different heights from the edge of the undercarriage to the side of the vehicle. After completing the inspection on one side, the equipment will move to the other side of the vehicle, that is, the side closer to the charging cabinet, and then inspect from the rear to the front. This orderly path planning ensures comprehensive coverage of both sides of the vehicle without any omissions.

[0067] S50 completes its task and returns to charging. Once all inspection tasks are completed, the multi-purpose inspection equipment 100 automatically ends its task and uses its autonomous navigation function to return to the parking space where the charging cabinet is located for charging, preparing for the next task. Simultaneously, all image data collected during the inspection process, analysis results, and generated inspection reports are uploaded to the server and displayed on the control terminal for review and processing by relevant personnel. The entire process thus forms a closed loop, achieving full automation from task assignment to result presentation.

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A multi-purpose inspection device, characterized in that, include: The main body is capable of moving in a set direction; Both lifting components are installed inside the main body and can move up and down relative to the main body in the direction of gravity; Two robots are each mounted on a corresponding lifting assembly and have multiple degrees of freedom; Two camera assemblies are respectively installed on one end of the robot away from the lifting assembly; each camera assembly includes a camera and a heating element, the heating element being disposed around the camera.

2. The multi-purpose inspection equipment according to claim 1, characterized in that, The multi-purpose inspection equipment also includes two control components. Each control component has a connecting seat on one side, and the connecting seat is connected to a corresponding robot. The camera component is mounted on the control component. The control component includes an industrial computer and an integrated circuit board, and the industrial computer and the integrated circuit board are respectively connected to the camera component.

3. The multi-purpose inspection equipment according to claim 2, characterized in that, The control component also includes a heating power cord, a temperature sensor, and a first cooling fan. The heating power cord is connected to the heating element, the temperature sensor can acquire the real-time temperature inside the control component, and the first cooling fan is installed on the side of the control component.

4. The multi-purpose inspection equipment according to claim 1, characterized in that, The main body includes a chassis, two laser navigation radars and two first monitoring devices, with one laser navigation radar and one first monitoring device at each opposite end of the chassis.

5. The multi-purpose inspection equipment according to claim 4, characterized in that, The main body also includes safety contact plates, which are disposed opposite to each other at both ends of the chassis.

6. The multi-purpose inspection equipment according to claim 4, characterized in that, The main body also includes a battery pack, multiple heating plates and multiple heat-conducting plates. The battery pack is installed in the chassis, and each heating plate is installed on the corresponding heat-conducting plate. Both the heating plate and the heat-conducting plate are located at the bottom of the battery pack.

7. The multi-purpose inspection equipment according to claim 1, characterized in that, The lifting assembly includes a lifting screw, a linear guide rail, and a servo motor. The servo motor is connected to the lifting screw, and the linear guide rail is used to guide the lifting assembly to move in a straight line.

8. The multi-purpose inspection equipment according to claim 1, characterized in that, The main body also includes an electrical control box, which includes a box body, a second monitoring device, a heating fan, a second cooling fan, and a touch screen. The second monitoring device and the touch screen are both located on the top of the box body, the heating fan is located inside the box body, and the second cooling fan is located on the outside of the box body.

9. A locomotive inspection system, characterized in that, The invention includes the multi-purpose inspection equipment and charging cabinet as described in any one of claims 1 to 8, wherein the charging cabinet is capable of charging the multi-purpose inspection equipment.

10. A locomotive inspection method, characterized in that, The locomotive inspection method, applied to the locomotive inspection system of claim 9, includes: Start the charging cabinet and the multi-purpose inspection equipment. If the battery level of the multi-purpose inspection equipment is lower than the set minimum value, it will start charging automatically. Create a new inspection task in the control terminal based on the model of the locomotive to be inspected, and issue the task. The multi-purpose inspection equipment leaves the charging parking space and moves to the pit under the locomotive. One of the camera components performs a fine scan of the undercarriage from the front to the rear of the vehicle. After detecting the rear of the vehicle, the other camera component performs a panoramic scan of the undercarriage from the rear to the front of the vehicle. After the multi-purpose inspection equipment is transported back to the ground from the trench, it first detects the side of the locomotive away from the charging cabinet from the front to the rear of the vehicle; then it detects the side of the locomotive close to the charging cabinet from the rear to the front of the vehicle. After the inspection task is completed, the multi-purpose inspection equipment returns to the charging cabinet for charging, and the control terminal displays the locomotive inspection results.

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