Bogie inspection system

Abstract

The embodiment of the utility model provides a bogie inspection system, and the system comprises a bogie quality inspection robot which comprises a driving platform, a sensor detection module and a main control module, the bottom of the driving platform is provided with a plurality of walking wheel sets, the sensor detection module is used for detecting a bogie through a plurality of sensors, and the sensor detection module is connected with the main control module; the head-mounted equipment is used for assisting an operator in maintenance; and the control equipment is connected with the bogie quality inspection robot and the head-mounted equipment. A bogie is subjected to quality inspection through a bogie quality inspection robot, damage information of the bogie is collected through a sensor detection module, an operator wears head-mounted equipment and portable equipment to receive a control instruction sent by control equipment, the control instruction is played through an audio and video module and the like, and the operator is assisted in overhauling; cooperation of quality inspection of operators and the bogie quality inspection robot is coordinated, and the maintenance efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of railway vehicle maintenance, in particular to a bogie inspection system. BACKGROUND

[0002] In the field of high-speed railway vehicle maintenance, the bogie as a key component directly affects the safety and reliability of the train. With the development of technology, more and more intelligent devices are applied to the maintenance process of the bogie; however, how to effectively coordinate the cooperation between the human and the bogie quality inspection robot, through reasonable human-computer interaction design, pull together the production links and processes, synchronize the upstream and downstream work links, improve the operation efficiency, and ensure the operation safety, has become an important research topic. SUMMARY

[0003] The bogie inspection system provided in the embodiments of the present application solves the problem that the existing bogie inspection system cannot coordinate the cooperation between the human and the bogie quality inspection robot, and the low maintenance efficiency.

[0004] In order to achieve the above purpose, the present application provides the following technical scheme:

[0005] A bogie inspection system, comprising:

[0006] A bogie quality inspection robot, comprising a driving platform, a sensor detection module and a main control module, the bottom of the driving platform is provided with a plurality of groups of running wheel sets, the sensor detection module is used to detect the bogie through a plurality of sensors, and the sensor detection module is connected with the main control module;

[0007] A head-mounted device for assisting maintenance personnel, the head-mounted device comprising a head-mounted support and a portable device, the portable device being detachably fixedly connected to the head-mounted support;

[0008] A control device connected with the bogie quality inspection robot and the head-mounted device respectively.

[0009] Optionally, the sensor detection module comprises:

[0010] An electromagnetic detection module located on the driving platform, used to detect the surface and near-surface damage of the bogie; the main control module is connected with the electromagnetic detection module;

[0011] The electromagnetic detection module comprises a plurality of electromagnetic sensors, and the electromagnetic sensor comprises a magnetic yoke, an excitation coil and a detection coil.

[0012] Optionally, the sensor detection module further comprises:

[0013] An ultrasonic detection module is arranged on the driving platform to detect internal damage of the bogie; the main control module is connected with the ultrasonic detection module;

[0014] The ultrasonic detection module comprises a plurality of detection probes.

[0015] Optionally, the sensor detection module further comprises:

[0016] A 2D color camera is arranged to collect surface image information of the bogie;

[0017] A 3D camera is arranged to collect three-dimensional structure information of the bogie;

[0018] The 2D color camera and the 3D camera are respectively connected with the main control module.

[0019] Optionally, the head-mounted device further comprises a loading assembly arranged to mount the portable device, and the loading assembly comprises:

[0020] A loading fixing frame is fixedly arranged on the headband;

[0021] A magnetic assembly is arranged at an end of the loading fixing frame away from the head-mounted support, and the magnetic assembly comprises a magnetic mounting seat, a magnet and an insulating mounting cover; the magnetic mounting seat has an inner cavity for mounting the magnet; and the insulating mounting cover is detachably fixedly connected with the magnetic mounting seat.

[0022] Optionally, the portable device comprises:

[0023] A device body, an audio module, a camera module, an ambient light sensor, an accelerometer and a gyroscope integrated on the device body;

[0024] A processor connected with the audio module, the camera module, the ambient light sensor, the accelerometer and the gyroscope, respectively.

[0025] Optionally, the portable device further comprises:

[0026] A 5G communication interface connected with the processor;

[0027] And / or, a wireless communication module connected with the processor, and the head-mounted device and the control device are connected via the wireless communication module.

[0028] Optionally, the head-mounted support comprises:

[0029] A headband arranged to adjustably surround the head from a top area and a side area of the head; the headband has a limiting mounting groove;

[0030] A support assembly is arranged on the headband and can be adjustably wrapped around the head from the occipital region; the support assembly is hinged with the headband, and the support assembly has a rotation axis;

[0031] The rotation axis is configured to:

[0032] The support assembly can be driven to rotate around the rotation axis to adjust a first swing angle between the support assembly and the arched profile surface of the headband;

[0033] The support assembly can be driven to adjust a pitch angle to adjust a second swing angle between the support assembly and the arched profile surface of the headband in a vertical projection plane;

[0034] The support assembly can be driven to adjust a heading angle to adjust a third swing angle between the support assembly and the arched profile surface of the headband in a horizontal projection plane;

[0035] A universal adjustment assembly is fixedly connected to one end of the support assembly and located in the limiting installation groove, can rotate around the axis of the universal adjustment assembly in the limiting installation groove, and the limiting installation groove limits the axial movement of the universal adjustment assembly;

[0036] The universal adjustment assembly is perpendicular to the axis of the support assembly to form the rotation axis.

[0037] Optionally, the universal adjustment assembly comprises:

[0038] A first hemispherical part;

[0039] A second hemispherical part, the first hemispherical part and the second hemispherical part are concentrically arranged and radially butt-jointed, the radius of the second hemispherical part is greater than that of the first hemispherical part, and the second hemispherical part is detachably fixedly connected with the support assembly;

[0040] The circumferential side wall of the limiting installation groove has an arc-shaped limiting surface matched with the profile surface of the second hemispherical part to limit the axial movement of the universal adjustment assembly.

[0041] Optionally, the limiting installation groove further comprises:

[0042] A limiting bottom surface connected with the arc-shaped limiting surface and used for limiting the maximum swing angle of the pitch angle and the heading angle of the universal adjustment assembly.

[0043] Compared with the prior art, the bogie inspection system provided in the embodiments of the present application has the following technical effects:

[0044] In the application, the bogie is inspected by the bogie inspection robot, the damage and fault information of the bogie is collected by the sensor detection module and is sent to the control device; the operator wears the head-mounted device and receives the control instruction sent by the control device through the portable device, and plays through the audio and video module, assisting the operator to carry out maintenance; coordinating the cooperation of the operator and the bogie inspection robot, improving the maintenance efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0045] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The illustrative embodiments of the application and their descriptions are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0046] Figure 1 A structure schematic diagram of a bogie inspection system provided by an embodiment of the application;

[0047] Figure 2 An axonometric structure schematic diagram of a head-mounted support provided by an embodiment of the application;

[0048] Figure 3 A lateral structure schematic diagram of Figure 2 ;

[0049] Figure 4 An A-A direction cross-sectional structure schematic diagram of Figure 3 ;

[0050] Figure 5 A local enlarged structure schematic diagram of Figure 4 ;

[0051] Figure 6 An exploded structure schematic diagram of a floating telescopic arch arm provided by an embodiment of the application;

[0052] Figure 7 An exploded structure schematic diagram of a floating telescopic arch arm provided by another embodiment of the application;

[0053] Figure 8 An installation structure schematic diagram of a head-mounted support and a portable device provided by an embodiment of the application;

[0054] Figure 9 A front view structure schematic diagram of Figure 8 ;

[0055] Figure 10 An exploded structure schematic diagram of a head-mounted support provided by an embodiment of the application.

[0056] The marks in the drawings are as follows:

[0057] Head-mounted device 100, control device 200, bogie inspection robot 300;

[0058] Headband 1, support assembly 2, rotation axis 3, universal adjusting assembly 4, loading assembly 5, portable device 6;

[0059] Limiting installation groove 11, arc-shaped limiting surface 111, limiting bottom surface 112, limiting recess 113;

[0060] Headband arch 12, floating telescopic arch arm 13, inner arch arm shell 131, outer arch arm shell 132;

[0061] Head beam 121, filling sponge 122, head beam silica gel 123;

[0062] Support mounting seat 21, contact shell 22, filling sponge 23, contact shell silica gel 24;

[0063] First half-sphere part 41, second half-sphere part 42, mounting hole 43, rubber damping part 44;

[0064] First radial section 421, second radial section 422;

[0065] Loading fixing frame 51, magnetic attraction assembly 52, magnetic attraction mounting seat 521, magnet 522, insulation mounting cover 523. DETAILED DESCRIPTION

[0066] The bogie inspection system provided by the embodiment of the present application can coordinate the cooperation between the person and the bogie quality inspection robot, and improve the maintenance efficiency.

[0067] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application are further described in detail below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict.

[0068] Please refer to Figure 1 , Figure 1 The structure schematic diagram of the bogie inspection system provided by the embodiment of the present application.

[0069] In a specific embodiment, the bogie inspection system provided by the application comprises a bogie quality inspection robot 300, a head-mounted device 100 and a control device 200; wherein the bogie quality inspection robot 300 comprises a driving platform, a sensor detection module and a main control module, the bottom of the driving platform is provided with a plurality of groups of running wheel sets, the sensor detection module is used for detecting the bogie through a plurality of sensors, and the sensor detection module is connected with the main control module; wherein the bottom of the driving platform is provided with a plurality of groups of running wheel sets, at least two groups of running wheel sets are arranged opposite to each other along the transverse direction of the driving platform, the running wheel sets drive the driving platform to run, and preferably walk along the preset maintenance path stored in the main control module; the main control module can be a PLC controller, and in other embodiments, other processors or computing units can be used, which are all within the protection scope of the application. The main control module is connected with the upper computer by using a network communication module, the network communication module comprises an Ethernet interface and a wireless communication unit for data transmission and remote control; the Ethernet interface uses an industrial Ethernet interface, such as a gigabit Ethernet, to ensure the stability of data transmission; the wireless communication unit is a 4G / 5G network, which realizes remote data transmission and supports dual-mode communication, thereby improving the reliability of data communication.

[0070] The sensor detection module detects the bogie through a plurality of sensors, which can specifically include an electromagnetic detection module, an ultrasonic detection module, a 2D color camera, a 3D camera, an infrared sensor, a laser scanner and a force sensor, etc., and is used for detecting the physical state and structural integrity of the bogie. Each module is specifically described as follows:

[0071] The electromagnetic detection module is located on the driving platform and can detect the surface and near-surface damage of the bogie; the main control module is connected with the electromagnetic detection module; the electromagnetic detection module is preferably located at the front end of the driving platform and is used for detecting the surface and near-surface damage of the bogie, i.e., the magnetic field anomaly caused by the surface defects of the bogie steel structure, and detecting the blind area of the bogie surface by conventional ultrasonic detection; the electromagnetic detection module comprises a plurality of electromagnetic sensors, and the electromagnetic sensor comprises a magnetic yoke, an excitation coil and a detection coil, and the specific structure thereof can be set by referring to the prior art, which will not be described here.

[0072] The ultrasonic detection module is located on the driving platform and is used for detecting the internal damage of the bogie; the main control module is connected with the ultrasonic detection module; the ultrasonic detection module is an ultrasonic sensor, which detects the defects such as cracks on the outer surface of the bogie during the operation of the driving platform; the ultrasonic detection module comprises a plurality of detection probes for detecting the internal damage of the bogie.

[0073] Optionally, a 2D color camera is used to collect surface image information of the bogie, and the 2D color camera collects surface damage of the bogie and directly observes the surface condition of the bogie; the resolution of the 2D color camera is not less than 1920x1080, ensuring the image definition; the frame rate thereof is above 30fps, realizing stable image collection of a fast-moving vehicle or a detection device; and an industrial-grade camera is adopted, which has a dustproof and shockproof design and is suitable for different environmental conditions.

[0074] Further, a 3D camera is used to collect three-dimensional structure information of the bogie and accurately measure shape parameters thereof, based on a structured light or laser scanning technology, with high precision and an error below sub-millimeter level; the 3D camera captures three-dimensional structure information of the surface of the bogie, which can be used to identify problems such as wear and depression of the bogie; and the 3D camera has a high dynamic range (HDR) and is suitable for stable work under different lighting conditions, so that the camera can adapt to different working environments under different lighting conditions, improve image quality, and reduce detection errors caused by sudden changes in light. Preferably, the 2D color camera and / or the 3D camera are arranged in two groups and located on the lateral sides of the driving platform.

[0075] The bogie quality inspection robot 300 sends information detected by the sensor detection module to the main control module, which can process data of the sensor detection module in real time, perform preliminary fault diagnosis, collect detection data for real-time analysis, identify fault types and positions, arrange the detection results into a report, and send the report to the control device 200 and the head-mounted device 100 through a 5G network.

[0076] The control device 200 is connected to the bogie quality inspection robot 300, preferably through a 5G network, and judges whether a serious fault occurs according to the detection report; if a serious fault is detected, manual intervention is immediately notified; when a serious fault is detected, the robot notifies manual re-inspection or repair; if no serious fault is detected, the process ends.

[0077] The head-mounted device 100 is connected to the control device 200 through a 5G wireless communication module, realizing real-time exchange of data and decision support; it has audio and video communication and AI assistant functions to improve maintenance efficiency and accuracy.

[0078] The head-mounted device 100 includes a head-mounted bracket and a portable device, and the portable device is detachably fixed to the head-mounted bracket; the head-mounted bracket can be made of lightweight materials to reduce the burden on the head of the operator; specifically, carbon fiber composite materials can be used, which are light and strong. Noise reduction microphones and speakers can be arranged on the two sides of the head-mounted bracket to provide stereo sound effect and reduce background noise; sensors can be integrated on the front and sides of the head-mounted bracket to sense the working environment and user actions.

[0079] Specifically, the head-mounted frame includes a display module, an audio module, a sensor module, and a computing module; it also incorporates a cooling system, such as heat sinks and ventilation holes, to prevent overheating during prolonged use; the device has a built-in rechargeable battery, providing long battery life. A power management system optimizes battery usage and extends battery life; the device has interfaces on the side for connecting portable devices or performing software updates; and 5G and Wi-Fi antennas are built-in to ensure stable wireless connectivity.

[0080] The audio module integrates a noise-canceling microphone and a high-fidelity speaker to ensure clear voice communication; the sensors include a high-definition camera, an ambient light sensor, an accelerometer, and a gyroscope to sense the working environment and user actions.

[0081] In one specific embodiment, the portable device includes:

[0082] The device body integrates an audio module, a camera module, an ambient light sensor, an accelerometer, and a gyroscope.

[0083] The processor is connected to the audio module, camera module, ambient light sensor, accelerometer, and gyroscope, respectively.

[0084] The processor is a high-performance processor capable of handling AI algorithms and real-time data analysis, and its configuration can be tailored to existing technologies.

[0085] In another embodiment, the portable device further includes:

[0086] 5G communication interface, connected to the processor;

[0087] And / or, a wireless communication module, connected to the processor, connects the head-mounted device 100 and the control device 200 via the wireless communication module.

[0088] like Figures 2-10 As shown, Figure 2 This is an isometric structural diagram of a head-mounted support provided in an embodiment of this application; Figure 3 for Figure 2 A schematic diagram of the lateral structure; Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure along the middle AA direction; Figure 5 for Figure 4 A partially enlarged structural diagram; Figure 6 This is an exploded structural diagram of the floating telescopic arch arm provided in the embodiments of this application; Figure 7 An exploded structural diagram of a floating telescopic arch arm provided in another embodiment of this application; Figure 8 This is a schematic diagram of the installation structure of the head-mounted bracket and portable device provided in the embodiments of this application; Figure 9 for Figure 8 Front view structural diagram;Figure 10 An exploded structural schematic view of a head-mounted support provided by an embodiment of the present application.

[0089] In one embodiment, the head-mounted support provided by the present application comprises a headband 1 and a support assembly 2; the headband 1 is configured to adjustably enclose the head from the top and side regions of the head;

[0090] The support assembly 2 is arranged on the headband 1 and is configured to adjustably enclose the head from the back region of the head; the support assembly 2 has a rotation axis 3, which enables the support assembly 2 to be hinged to the headband 1.

[0091] The rotation axis 3 is configured to:

[0092] drive the support assembly 2 to rotate around the rotation axis 3 to adjust a first swing angle between the support assembly 2 and the arc-shaped profile surface of the headband 1; the support assembly 2 is arranged between the arc-shaped profile surface of the headband 1 and the profile surface of the support assembly 2, and the rotation axis 3 drives the support assembly 2 to rotate around its own axis, thereby adjusting the first swing angle between the profile surface of the support assembly 2 and the arc-shaped profile surface of the headband 1, so that the wearer can adjust the support position of the support assembly 2 in the back region of the head according to the need, and make it more fit the head shape in this region.

[0093] drive the support assembly 2 to adjust a pitch angle, so as to adjust a second swing angle between the support assembly 2 and the arc-shaped profile surface of the headband 1 in the vertical projection direction;

[0094] drive the support assembly 2 to adjust a yaw angle, so as to adjust a third swing angle between the support assembly 2 and the arc-shaped profile surface of the headband 1 in the horizontal projection direction.

[0095] It can be understood that, for the pitch angle and the yaw angle, the end of the rotation axis 3 close to the head of the wearer is the front end, and the end away from the head of the wearer is the rear end, and a right-handed rectangular coordinate system xyz is established, the rotation axis 3 is located on the x-axis, the pitch angle is the angle obtained by rotating the rotation axis 3 around the z-axis, and the yaw angle is the angle obtained by rotating the rotation axis 3 around the y-axis; when the pitch angle of the rotation axis 3 changes, the support assembly 2 is simultaneously driven to adjust the pitch angle, and in the vertical projection (xoy plane), the second swing angle between the support assembly 2 and the arc-shaped profile surface of the head-mounted is adjusted, so as to adjust the relative spatial pose of the support assembly 2 and the head-mounted, and make the support assembly 2 more fit the back head shape, thereby improving the wearing comfort. Similarly, for the adjustment of the yaw angle of the rotation axis 3, when the yaw angle of the rotation axis 3 changes, the support assembly 2 is simultaneously driven to adjust the yaw angle, and in the horizontal projection plane (xoz plane), the third swing angle between the support assembly 2 and the arc-shaped profile surface of the head-mounted is adjusted.

[0096] In the present application, the head is surrounded from the top area, the side area and the back area of the head by the headgear and the support assembly 2 to realize multi-directional covering of the head. The support assembly 2 is hinged with the headgear, and the setting of the rotation axis 3 adjusts the swing angle between the support assembly 2 and the arched profile surface of the headgear, weakens the pose constraint between the support assembly 2 and the headgear 1, improves the matching degree of the support assembly 2 to the head profile, improves the matching ability of the headgear support to the head profile, and improves the wearing stability and comfort of the headgear support.

[0097] As shown in Figure 2 , 10 In some embodiments, the headgear 1 includes:

[0098] a headgear arch 12;

[0099] a pair of floating telescopic arch arms 13, which are fixed on the opposite sides of the headgear arch 12, and the universal adjustment assembly 4 is hinged on the floating telescopic arch arms 13. Any floating telescopic arch arm 13 is connected with a group of support assemblies 2 through the universal adjustment assembly 4. The headgear arch 12 can move in the radial direction of the arched profile of the headgear 1, and the floating telescopic arch arm 13 can move in the profile line of the arched profile of the headgear 1. The floating telescopic arch arm 13 includes an inner arch arm shell 131 and an outer arch arm shell 132, which are clamped on the outer side of the headgear arch 12. One of the inner arch arm shell 131 and the outer arch arm shell 132 is provided with a rack, and the end of the profile line of the headgear arch 12 is provided with a clamping protrusion. The clamping protrusion cooperates with the rack to stop the telescopic movement of the floating telescopic arch arm 13 in the profile line direction of the headgear arch 12. The movement of the headgear arch 12 in the radial direction of the arched profile of the headgear 1 can be realized by setting an elastic material, such as a plastic plate with elastic properties or an arched plate of metal material. In an embodiment, the headgear arch 12 includes a head beam 121, a filling sponge 122 and a head beam silica gel 123. The head beam 121 and the head beam silica gel 123 are detachably fixedly connected, and form a cavity for placing the filling sponge.

[0100] The support assembly 2 includes a contact shell 22, a filling sponge 23 and a contact shell silica gel 24. The contact shell silica gel 24 forms a cavity with the contact shell 22, and the two are detachably fixedly connected. The cavity has a filling sponge. In other embodiments, the specific material of the filler can be set as needed. The support mounting seat 21 is arranged on the contact shell 22 to realize the hinge connection between the headgear 1.

[0101] As shown in Figures 4-5As shown, specifically, the hinge between the support assembly 2 and the headband 1 is achieved by providing the universal adjusting assembly 4; a limiting installation groove 11 is provided on the headband 1, one end of the universal adjusting assembly 4 is fixedly connected with the support assembly 2, the universal adjusting assembly 4 is installed in the limiting installation groove 11 of the headband 1, the limiting installation groove 11 limits the axial movement thereof, and it can be understood that the limiting installation groove 11 leaves a certain gap with the universal adjusting assembly 4, which enables the universal adjusting assembly 4 to rotate without axial movement. The universal adjusting assembly 4 can rotate around its own axis, realizing the hinge rotation of the support assembly 2 relative to the headband 1, and the rotation axis 3 is the axis of the axis of the universal adjusting assembly 4 perpendicular to the connecting surface of the support assembly 2, that is, the connecting surface of the support assembly 2 and the universal adjusting assembly 4.

[0102] In this embodiment, the universal adjusting assembly 4 includes a first half-sphere part 41 and a second half-sphere part 42, the first half-sphere part 41 and the second half-sphere part 42 are concentrically arranged and radially butted, the radius of the second half-sphere part 42 is greater than that of the first half-sphere part 41, the second half-sphere part 42 is fixedly and detachably connected with the support assembly 2, and preferably, the fixing with the support assembly 2 is achieved by the radial section of the second half-sphere part 42 protruding from the first half-sphere part 41, so as to have sufficient installation space for the setting of the fixing structure; the circumferential sidewall of the limiting installation groove 11 has an arc-shaped limiting surface 111 matched with the profile surface of the second half-sphere part 42, limiting the axial movement of the universal adjusting assembly 4; the curvature radius of the arc-shaped limiting surface 111 can be set according to the curvature radius of the second half-sphere part 42. On the axial section of the limiting installation groove 11, the maximum diameter of the arc-shaped limiting surface 111 is located on the perpendicular bisector of the axial center line, and the diameters decrease along the axial direction to both sides, respectively; it can be understood that based on the structure of the arc-shaped limiting surface 111, one side of the limiting installation groove 11 is a tapered slot, thereby preventing the universal adjusting assembly 4 from disengaging from the limiting installation groove 11 and limiting and fixing the universal adjusting assembly 4. Preferably, the first half-sphere part 41 and the second half-sphere part 42 are integrally arranged and can be processed by injection molding or other processes.

[0103] Specifically, the limiting installation groove 11 further includes a limiting bottom surface 112 connected with the circumferential sidewall, which is used for limiting the maximum swing angle of the pitch angle and the heading angle of the universal adjusting assembly 4; when the second half-sphere part 42 rotates in the limiting cavity formed by the arc-shaped limiting surface 111 and contacts the limiting bottom surface 112, the limiting bottom surface 112 limits the rotation thereof.

[0104] Meanwhile, the limiting bottom surface 112 is provided with a limiting groove 113 recessed in the axial direction, the first hemispherical part 41 is located in the limiting groove 113 and can rotate relative to the limiting groove 113, the limiting groove 113 is used for supporting the first hemispherical part 41 and ensuring that the axis of the universal adjusting assembly 4 is collinear with the axis of the limiting installation groove 11; the limiting groove 113 is an arc-shaped structure, the radial section of the second hemispherical part 42 can abut against the side wall of the limiting groove 113 to limit the maximum swing angle of the pitch angle and the heading angle of the universal adjusting assembly 4; the axial length of the side wall of the limiting groove 113 is used to limit the maximum swing angle of the second hemispherical part 42, which, together with the limiting bottom surface 112, limits the swing angle of the universal adjusting assembly 4; in other embodiments, one of the limiting bottom surface 112 and the limiting groove 113 can be provided alone to simplify the structure of the device.

[0105] Further, the second hemispherical part 42 comprises:

[0106] a first radial section 421 and a second radial section 422 arranged in parallel in the axial direction, the first radial section 421 is connected to the radial section of the first hemispherical part 41; the second radial section 422 is arranged opposite to the end surface of the supporting installation seat 21;

[0107] The second hemispherical part 42 also has a plurality of installation holes 43 penetrating the first radial section 421 and the second radial section 422 in the axial direction, a threaded fastener is located in the installation hole 43 to fix the universal adjusting assembly 4 and the supporting assembly 2.

[0108] The installation hole 43 is arranged at the part of the second hemispherical part 42 protruding from the radial section of the first hemispherical part 41, each installation hole 43 is uniformly arranged in the circumferential direction of the first radial section 421, and the installation hole 43 is preferably arranged as four; the threaded fastener can be arranged as a screw and can be arranged as needed. The supporting installation seat 21 is arranged on the supporting assembly 2, the supporting installation seat 21 is a cylindrical structure, the radial end wall of the supporting installation seat 21 is connected to the second radial section 422, and the axis of the supporting installation seat 21 is coaxially arranged with the rotation axis 3.

[0109] In order to reduce the weight of the head-mounted support, the first hemispherical part 41 is a thin-walled structure with an internal cavity, the hollow cavity of the first hemispherical part 41 extends in the axial direction towards the second hemispherical part 42 and penetrates the second hemispherical part 42; thereby the first hemispherical part 41 and the second hemispherical part 42 can be respectively lightened.

[0110] In this specific embodiment, the headband 1 and the supporting assembly 2 are in a damping rotary fit, so that the supporting assembly 2 can be fixed after rotation; specifically, a rubber damping piece 44 is embedded on the circumferential outer wall of the universal adjusting assembly 4, the rubber damping piece 44 is arranged in a ring around the circumference to increase the contact area with the limiting installation groove 11 and improve the damping effect.

[0111] On the basis of the above-mentioned embodiments, the head-mounted support further comprises a loading assembly 5 for mounting the portable device 6; the loading assembly 5 comprises a loading fixing frame 51 fixed to the headband 1;

[0112] A magnetic attraction assembly 52 is located at one end of the loading fixing frame 51 away from the headband 1, the magnetic attraction assembly 52 comprises a magnetic attraction mounting seat 521, a magnet 522 and an insulating mounting cover 523, the magnetic attraction mounting seat 521 has a built-in cavity for mounting the magnet 522, and the insulating mounting cover 523 is detachably fixedly connected with the magnetic attraction mounting seat 521. Thus, the portable device 6 and the head-mounted support are conveniently mounted and fixed, and are convenient to disassemble and assemble. Further, in order to improve the magnetic attraction effect, a through hole penetrating the wall thickness is arranged on the magnetic attraction mounting seat 521, so as to facilitate the magnetic induction lines to pass through. Taking the portable device 6 as an example, which is a camera, the camera can be quickly separated from the head-mounted support and quickly combined with the head-mounted support. When detailed shooting is needed or the camera needs to be removed for viewing, the camera is conveniently disassembled to form a handheld camera; after the handheld camera completes the work, the camera can be combined with the head-mounted support again by the magnetic attraction mode to form a head-mounted camera to work. Further, the camera can also have functions of “voice interaction”, “video recording”, “gesture recognition” and the like, so as to facilitate interaction with the user and fully liberate the user's hands; the camera also has a night vision function, which can provide illumination for the user at night, not only making the device more convenient and clear when used at night, but also replacing the headlamp used by the user at night, reducing the wearing burden of the user, so that the user can focus on the operation of the hands.

[0113] In another embodiment, the master device comprises:

[0114] A data processing module receives data transmitted by the bogie quality inspection robot and the head-mounted device, including images, videos and sensor data;

[0115] A data analysis layer uses machine learning and deep learning algorithms to analyze the data, identify fault patterns and maintenance needs;

[0116] A knowledge base integrates a rich fault diagnosis and maintenance knowledge base to assist in analysis and provide decision support;

[0117] A user interface provides an intuitive user interface, allowing operators to easily access analysis results and recommendations;

[0118] The interactive interface is a web client interface that can be accessed by operators through standard web browsers. The interface is designed to be simple and intuitive, with clear function zoning for quick navigation and operation. The dashboard window displays key performance indicators and real-time data, including fault detection rates, maintenance progress, and historical trends. The task management window allows operators to create, assign, and track maintenance tasks. The report generation window generates detailed maintenance reports and analysis documents with one click. The fault diagnosis window provides diagnostic tools to help quickly identify and resolve technical issues.

[0119] Meanwhile, the integration of voice recognition and natural language processing technology enables operators to interact with the system through voice commands. Operators can perform common tasks such as querying fault status and requesting maintenance guidance through voice commands. The system can understand natural language queries and provide corresponding feedback or perform corresponding operations. The system can provide voice feedback, reading analysis results or maintenance suggestions, so that operators can receive information even when they are busy. Both the web client and voice dialogue mode can share data in real time, ensuring that all operators have access to the latest information. Multi-user online collaboration is supported, with real-time updates to task status and maintenance progress. Through the web client or voice dialogue mode, operators can quickly contact remote experts for video calls or voice consultations.

[0120] The master control device is a mature existing technology, and the improvement of the present application lies in the connection relationship between the master control device, the head-mounted device, and the bogie quality inspection robot.

[0121] In the above-mentioned inspection system, the bogie quality inspection robot reduces the time and labor intensity of manual inspection, significantly improving the speed and coverage of inspection. The real-time communication and AI guidance function of the head-mounted device enables on-site operators to quickly respond and perform complex maintenance tasks, reducing decision-making and execution time. The autonomous navigation and precise detection capabilities of the quality inspection robot reduce the need for manual work in dangerous or hard-to-reach areas, reducing the risk of work. The environmental perception function of the head-mounted device helps operators identify potential safety risks in time and take measures in advance to avoid accidents.

[0122] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they understand the basic creative concept. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0123] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. A bogie inspection system, characterized in that, The application relates to a bogie quality inspection robot, a head-mounted device and a control device. The bogie quality inspection robot comprises a driving platform, a sensor detection module and a main control module. The driving platform is provided with a plurality of groups of walking wheels at the bottom. The sensor detection module is used for detecting the bogie through a plurality of sensors.

2. The bogie inspection system of claim 1, wherein, The sensor detection module is connected with the main control module. The head-mounted device is used for assisting maintenance personnel. The head-mounted device comprises a head-mounted support and a portable device.

3. The bogie inspection system of claim 2, wherein, The portable device is detachably fixedly connected to the head-mounted support. The control device is connected with the bogie quality inspection robot and the head-mounted device respectively. The sensor detection module comprises an electromagnetic detection module.

4. The bogie inspection system of claim 1, wherein, The electromagnetic detection module is located on the driving platform and is used for detecting surface and near-surface damage of the bogie. The main control module is connected with the electromagnetic detection module. The electromagnetic detection module comprises a plurality of electromagnetic sensors. The electromagnetic sensor comprises a magnetic yoke, an excitation coil and a detection coil.

5. The bogie inspection system of claim 1, wherein, The sensor detection module further comprises an ultrasonic detection module. The ultrasonic detection module is located on the driving platform and is used for detecting internal damage of the bogie. The main control module is connected with the ultrasonic detection module.

6. The bogie inspection system of claim 1, wherein, The ultrasonic detection module comprises a plurality of detection probes. The sensor detection module further comprises a 2D color camera and a 3D camera. The 2D color camera is used for collecting surface image information of the bogie.

7. The bogie inspection system of claim 6, wherein, The 3D camera is used for collecting three-dimensional structure information of the bogie. The 2D color camera and the 3D camera are connected with the main control module respectively. The head-mounted device further comprises a loading assembly for mounting the portable device.

8. The bogie inspection system of claim 1, wherein, The loading assembly comprises a loading fixing frame and a magnetic attraction assembly. The loading fixing frame is fixedly arranged on the head-mounted support. The magnetic attraction assembly is located at one end of the loading fixing frame away from the head-mounted support. The magnetic attraction assembly comprises a magnetic attraction mounting seat, a magnet and an insulating mounting cover. The magnetic attraction mounting seat has an inner cavity for mounting the magnet. The insulating mounting cover is detachably fixedly connected with the magnetic attraction mounting seat. The portable device comprises a device body and a processor. The device body is integrated with an audio module, a camera module, an ambient light sensor, an accelerometer and a gyroscope. The processor is connected with the audio module, the camera module, the ambient light sensor, the accelerometer and the gyroscope respectively. The portable device further comprises a 5G communication interface connected with the processor. And / or, a wireless communication module connected with the processor. The head-mounted support comprises a headband and a support assembly. The headband is used for adjustably surrounding the head from the top and side areas. The headband has a limiting mounting groove. The support assembly is arranged on the headband and can adjustably surround the head from the back area. The support assembly is hinged with the headband and has a rotation axis. The rotation axis is configured to: Drive the support assembly to rotate around the rotation axis to adjust a first swing angle between the support assembly and the arc-shaped profile surface of the headband. Drive the support assembly to adjust the pitch angle to adjust a second swing angle between the support assembly and the arc-shaped profile surface of the headband in the vertical projection plane. The support assembly is capable of being driven to adjust the heading angle to adjust the third swing angle between the support assembly and the arc-shaped contour surface of the headband in the horizontal projection surface; A gimbal adjustment assembly is fixedly connected to one end of the support assembly and located in the limiting installation slot, is capable of rotating around the axis of the gimbal adjustment assembly in the limiting installation slot, and the limiting installation slot limits the axial movement of the gimbal adjustment assembly; The gimbal adjustment assembly is perpendicular to the axis of the support assembly to form the rotation axis.

9. The bogie inspection system of claim 8, wherein, The gimbal adjustment assembly comprises: A first half-sphere part; A second half-sphere part, the first half-sphere part and the second half-sphere part are concentrically arranged and radially butt-jointed, the radius of the second half-sphere part is greater than that of the first half-sphere part, and the second half-sphere part is detachably fixedly connected to the support assembly; The circumferential side wall of the limiting installation slot has an arc-shaped limiting surface matched with the contour surface of the second half-sphere part to limit the axial movement of the gimbal adjustment assembly.

10. The bogie inspection system of claim 9, wherein, The limiting installation slot further comprises: A limiting bottom surface connected to the arc-shaped limiting surface for limiting the maximum swing angle of the pitch angle and the heading angle of the gimbal adjustment assembly.

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