Inspection platform for inspecting underfloor areas of rail vehicles

Abstract

The invention relates to an inspection platform (1) for inspecting underfloor areas of rail vehicles and to a method for operating the inspection platform (1). Said inspection platform (1) comprises a support apparatus (2) having wheels (10, 11, 12, 13) for supporting and moving the support apparatus (2) on rails of a rail vehicle track and having at least one drive (3, 31) for at least one of the wheels (10, 11), wherein the inspection platform (1) comprises at least one imaging sensor (5) and at least one energy storage means (4) for supplying at least the at least one drive (3, 31) and the at least one imaging sensor (5) with power, wherein at least the at least one energy storage means (3, 31) is connected or connectable exchangeably with the support apparatus (2) and wherein the support apparatus (2) is divided into at least two parts and the at least two parts (21, 22) of the support apparatus (2) are connected movably together or the at least two parts (21, 22) of the support apparatus (2) are connectable together.

Description

[0001]202317366 Foreign version 1 Description Inspection platform for inspecting underfloor areas of rail vehicles The invention relates to an inspection platform for inspecting underfloor areas of rail vehicles and a method for operating the inspection platform, wherein the inspection platform comprises a carrier device with wheels for supporting and moving the carrier device on rails of a track of the rail vehicle and with at least one drive for at least one of the wheels as well as at least one imaging sensor and at least one energy storage device for supplying at least the at least one drive and the at least one imaging sensor with energy. Rail vehicles are subjected to regular visual inspections in depots. To examine the underfloor areas of the rail vehicles, these are usually equipped with a pit. The delivery of rail vehicles to depots is time- andcost-intensive. A train driver must be commissioned to order and pay for a route to the corresponding depot as well as the infrastructure around the depot. Inspection platforms for inspecting underfloor areas of rail vehicles have now become known. These platforms can be guided underneath the rail vehicle on the same rails in order to carry out the visual inspection automatically or to assist the service technician in carrying out the visual inspection. EP3519269B1 and EP3531101B1 relate to generic inspection platforms. EP3531102B1 teaches an inspection platform according to the preamble of independent patent claim 1. 202317366 Foreign version 2 The invention is based on the object of specifying a mobile inspection platform for inspecting underfloor areas of rail vehicles at any location on a track infrastructure. The problem is solved by the subject matter of the independent patent claims 1 and 15. Further developmentsand embodiments of the invention can be found in the features of the dependent patent claims. An inspection platform according to the invention for inspecting underfloor areas of rail vehicles comprises a carrier device with wheels for supporting and moving the carrier device on rails of a track of the rail vehicle and with at least one drive for at least one of the wheels. In addition, the inspection platform comprises at least one imaging sensor, and optionally at least one lighting device for a recording area of ​​the at least one imaging sensor, and at least one energy storage device for supplying at least the at least one drive and the at least one imaging sensor with energy, in particular electrical energy. Furthermore, at least the at least one energy storage device is exchangeably connected to the carrier device or is designed to be connectable to the carrier device.Furthermore, the support device is divided into at least two parts, wherein the at least two parts of the support device are connected to one another so as to be movable relative to one another, or the at least two parts of the support device are designed so as to be connectable to one another. The inspection platform is thus of modular construction, wherein it can be easily and quickly disassembled and reassembled into the individual modules or components. Thus, its modules or components are individually easy to transport and easily and quickly assembled at the site of use. The support device forms a basic module of the inspection platform on which the other modules or components of the inspection platform, i.e. at least the at least one energy storage device, are replaceably connected to the support device or can be connected to the support device. The replaceable components of the inspection platform can advantageously be assembled without special tools, for example, only witha screwdriver or Allen key, another commercially available screw head drive or similar, in particular completely tool-free, to physically connect to or detach from the carrier device. Furthermore, the carrier device as such is divided, in particular in its width, into at least two parts, wherein the at least two parts of the carrier device are movably connected to one another or the at least two parts of the carrier device are designed to be detachably connected to one another. This further facilitates the transport of the carrier device and enables easy insertion of the carrier device into the track of the rail vehicle. In one embodiment, the at least two parts of the carrier device can be transported physically separately from one another and detachably connected to one another again for use. The disassembly of the carrier device into the at least two parts and theThe assembly of the at least two parts is advantageously carried out without special tools, for example only with a screwdriver or Allen key, another commercially available screw head drive or similar, in particular even completely tool-free. The at least two parts of the carrier device each have correspondingly complementary connection partners, for example connecting fittings or quick-action, plug-in or snap-in closures, which enable interlocking and securing, in particular while forming a positive connection. Thus, the at least two parts of the carrier device can be connected to one another easily and quickly, in particular without tools, for example plugged together, or detached from one another. According to another embodiment, the at least two parts of the carrier device are movably connected to one another, so that a relative movement of the at least two parts of theThe support device can be designed to be connected to one another in an articulated manner, movable relative to one another, or in particular foldable. Thus, the at least two parts of the support device can be connected to one another in a displaceable manner, for example, telescopically displaceable relative to one another, or they can be connected to one another in a foldable manner. This makes the support device adjustable, particularly in its width, and thus smaller for transport. Furthermore, simplified insertion of the support device into the track, particularly between the rails of the track, is possible. If the support device is designed to be divided or divisible in its width, i.e., between the opposing wheels of the support device for supporting and moving the support device on the two opposing rails of a track of the rail vehicle, it can be divided, folded, or pushed together.be transported to the track and, when inserted into the track, can be connected, unfolded, or pushed apart so that the wheels of the support device support it on the rails of the track. Lifting the inspection platform or the support device from the track is also significantly simplified. Preferably, the at least two parts of the support device are connected to one another via a joint. Furthermore, the joint can be designed to be lockable. The at least two parts of the support device are connected to one another, for example, via a hinge or folding joint. In order to prevent relative movement of the at least two parts of the support device during the intended use of the inspection platform, the hinge or folding joint is lockable, whereby the at least two parts of the support device are fixed to one another.In the intended state of the inspection platform, the support device is inserted into the track and folded out so that the at least two parts lie in a common plane. To lift the support device out of the track and for transport, it can be folded together. Similarly, the support device can be folded out for insertion into the track. In a further development, the at least two parts of the support device are movably connected to one another in such a way that a linear relative movement of the at least two parts of the support device to one another can be carried out. Thus, the at least two parts of the support device are connected to one another in a displaceable manner. The connection of the at least two parts of the support device for carrying out a lateral movement of the at least two parts of the support device to one another can be carried out in addition to or alternatively to the above-described articulated connection of the at least two parts of theThe support device can be connected to a support structure, in particular via a hinge or folding joint. According to one embodiment, the first part of the support device carries at least one, in particular at least two first wheels. The second part of the support device carries at least one second wheel. The first and second parts of the support device are connected to one another so that they can be moved linearly in a plane, so that the first wheels and the second wheel can also be moved towards and / or away from one another in the plane. In a further embodiment, however, it is provided that at least one, in particular at least two first wheels are arranged on the first part of the support device. The second part of the support device is connected to the first part in an articulated manner, so that the two parts of the support device can be folded towards one another. In addition, a third part of the support device, which in turn carries the at least one second wheel,movably connected to the second part of the carrier device such that a linear relative movement of the third part of the carrier device to the second part of the carrier device can be carried out. According to a further development of the invention, the carrier device has at least one carrying handle. In a divisible carrier device, each of the at least two separable parts of the carrier device can each have at least one carrying handle. According to a further development, the carrier device comprises a framework made of mounting profiles, in particular of a lightweight construction, in particular made of aluminum or plastic. In a further development, the carrier device is designed as a framework made of mounting profiles and is manufactured in a lightweight construction, in particular from aluminum profiles. Mounting profiles can also be referred to as construction profiles and are known as such from the prior art, usually made of aluminum. They areUsually elongated, they are designed as solid or hollow profiles, and can be rectangular in cross-section or take on other shapes. They can be connected to one another to form a frame or rack using complementary angles or other connecting components, for example, plugged together using connectors and then fixed to one another using screw connections. Likewise, articulated connectors are suitable for connecting mounting profiles to one another in an articulated manner. The above-mentioned lockable joint for the articulated connection of the at least two parts of the support device can be designed as such an articulated connector for mounting profiles. The support device is designed to be portable at least without the at least one energy storage device and without the at least one imaging sensor. 202317366 Foreign version 7 In a further development, at least the at least one energy storage device is interchangeably connected to one or more mounting profiles of the support device or to one or moredesigned to be detachably connectable to several mounting profiles of the support device. A rechargeable battery or accumulator is preferably used as the energy storage device. This serves as an energy source and is dimensioned such that it provides sufficient electrical energy to supply the at least one drive as well as the at least one imaging sensor and, if applicable, the at least one lighting device with electrical energy for a predetermined period of the intended use of the inspection platform. In particular, the inspection platform is completely battery-operated; i.e., all energy for the operation of the inspection platform, for example also from other electrical consumers of the inspection platform, during its intended use is provided from the at least one energy storage device. For energy distribution on the inspection platform, the support device canEnergy distribution network, also called energy supply network or simply energy network, which is in particular permanently arranged on the support device. This can include electrical conductors, such as power cables. The mounting profiles of the support device can also be designed as electrical conductors. According to a further development, the at least one imaging sensor is also replaceably connected to the support device or designed to be connectable to the support device, for example, replaceably connected to one or more mounting profiles of the support device or designed to be detachably connectable to one or more mounting profiles of the support device. Imaging sensors can be optical detectors or optoelectronic sensors, such as photocells, photomultipliers, photodiodes or phototransistors, CCD or CMOS sensors, optical 3D sensors, or even laser triangulation sensors.Laser light section sensors, infrared sensors, ultrasonic sensors, X-ray sensors, lidar sensors, or time-of-flight sensors, as well as corresponding lenses and sensor illumination, have become known and are hereby deemed to be included. The imaging sensor is, in particular, a commercially available camera, for example an area or line scan camera, a high-speed camera, a high-resolution camera, or an intelligent camera. This makes the inspection platform suitable at least for optical inspection. The inspection platform can have additional components or modules that are interchangeably connected to the carrier device or designed to be connectable to the carrier device. These include, for example (non-exhaustive list): - Additional sensors, measuring transducers and / or measuring transducers and / or measuring converters for inspecting the underfloor area of ​​rail vehicles, such as: o Optical sensors such as barcode scannersor QR code scanner; o RFID reader for the automatic and contactless identification and localization of RFID transponders of the rail vehicle; o Radiation detectors for electromagnetic radiation; o LiDAR, radar, laser, for example for distance measurement; - at least one lighting device for illuminating at least one recording area of ​​the at least one imaging sensor, in particular comprising at least one LED, optionally designed as a stroboscope synchronized with the at least one imaging sensor; 202317366 Foreign version 9 - at least one communication device for establishing a wireless connection to an external evaluation or control device; - at least one computing unit for processing data from the imaging sensor and / or for processing control data of the drive; - at least one device for orienting the inspection platform in relation to the environment and / or toan underfloor area of ​​the rail vehicle; - At least one controllable or program-controlled positioning unit for positioning sensors or measuring devices or lighting in free space, in particular the underfloor area of ​​the rail vehicle; - Protective devices for protection against collisions; - At least one controllable or program-controlled positioning unit for positioning manipulation devices. The at least one communication device for establishing a wireless connection with an external evaluation or control device can be part of the at least one computing unit for processing data from the imaging sensor and / or for processing control data of the drive. However, it can also be part of the other components. Thus, the at least one imaging sensor could have a communication device for transmitting acquired image data directly to a land-based evaluation device.to send. The drive could also have its own communication device to receive control data from a land-based control device. A control device can be designed as a simple remote control, in particular a radio remote control, in order to be able to operate the inspection platform from any location. Additionally or alternatively, the control device is equipped with automated control functions. Thus, the inspection platform can be moved automatically beneath the rail vehicle by radio using a remote control or by a programmable logic controller and associated control elements on the inspection platform. A display medium can be provided as a simple evaluation device, with which the images of the at least one imaging sensor can be displayed, in particular in real time. In addition, the evaluation device can also include image processing, for examplean image recognition system, in particular in the form of software, in order to semi- or fully automatically evaluate the image material for inspecting the vehicle. The control device and the evaluation device are advantageously integrated in order to be able to carry out the evaluation or display of the image data from the at least one imaging sensor, in particular in real time, as well as the control of the at least one drive, optionally automatically, in particular depending on the image data and / or the data from the at least one device for orientation in an underfloor area of ​​the rail vehicle. A commercially available computer, in particular a so-called electronic terminal such as a laptop, a tablet computer, a smartphone or a comparable device that includes a complementary communication device, can be used as an external evaluation or control device. The at least one communication device for producing aA wireless connection of the inspection platform can be designed to establish a wireless connection, for example via WLAN or WiFi, 3GPP (GSM, LTE, 5G / NR), Bluetooth, or a comparable technology, with the external evaluation or control device. If the components of the inspection platform, such as the at least one imaging sensor or the at least one drive, have their own communication devices, and the inspection platform has at least one computing unit for processing data from the imaging sensor and / or for processing control data from the drive, the computing unit and other components can also communicate wirelessly with each other. Additionally or alternatively, the computing unit and other components can also be connected to each other via wires, with the wires then being permanently mounted on the support device, analogous to electrical conductors.are arranged. The at least one computing unit, in particular including a communication device, is designed to process commands and forward commands from the external control device to the drive and / or to forward acquired data from the at least one imaging sensor to the external evaluation device. This can also include so-called pre-processing. Data from the at least one imaging sensor is in particular image data acquired by it. Control data of the drive can include control signals for the drive of an external control device or data from the drive that is important for the control. Furthermore, the computing unit can be suitably designed for the (pre-)processing of data from the at least one device for orientation in an underfloor area of ​​the rail vehicle. The computing unit can comprise a memory for the (intermediate) storage of said data.For example, Hall sensors, limit switches, or the above-mentioned sensors, such as the at least one imaging sensor, in particular a camera, LiDAR, radar, or laser sensors, serve as a device for orienting the inspection platform on the underfloor area of ​​the rail vehicle, so that automatic retraction of the inspection platform on the vehicle is also possible. The device enables the determination of the position of the inspection platform relative to the underbody of the rail vehicle, i.e., in relation to the rail vehicle, and optionally in relation to the surroundings of the inspection platform. The device for orientation can have the at least one imaging sensor or be formed from the at least one imaging sensor and the at least one computing unit. The interchangeable components of the inspection platform are advantageously connected to theSupport device connected or connectable to it. This can concern the mechanical connection, as well as an electromagnetic connection, in particular for the transmission of electrical energy. The interfaces can thus effect the detachable mechanical connection of the replaceable components with the support platform, as well as the electromagnetic connection with the power supply network of the support platform and thus an electrical connection with the replaceable energy storage device. Conventional quick-release or snap-in fasteners, bayonet fasteners, complementary plug-in, clamp, and / or screw fasteners can serve as mechanical connections. Magnetic connections are also possible. The connections via the interfaces can be established and released quickly and easily, advantageously without special tools, for example, only with a screwdriver or Allen key that must be carried along, or another commercially availableScrew head drive or similar, in particular even completely tool-free. The replaceable components can have connecting elements that are complementary to the profile of the mounting profile of the support device. In this case, the interfaces are formed by the mounting profile of the support device on the one hand and by the complementary connecting elements of the replaceable components on the other. In a further development, the interfaces are designed as mutually complementary plug-in connectors. In particular, the replaceable energy storage device is connected or connectable to the support device via mutually complementary plug-in connectors. The other replaceable components, such as in particular the imaging sensor or the computing unit, can also be connected or connectable to the support device via mutually complementary plug-in connectors. However, they can also be connected to the support device via other connection forms.be connected or connectable. For example, the mechanical connection can be realized by means of magnetism. The electrical connection for energy transmission can be wired via connectors or wirelessly inductively. An additional electromechanical connection for data transmission can also be wired via connectors or wirelessly, for example radio-frequency, separate from the energy transmission. In principle, different connections are possible for the energy storage device and the imaging sensor or the other replaceable components. According to a further development, the at least one imaging sensor is arranged on an actively adjustable articulated arm (robot arm) on the carrier device so that it can be moved relative to the carrier device. The robot arm could be fixedly connected to the carrier device, in which case the imaging sensor is then detachably connected or connectable to the robot arm.Advantageously, the robot arm is interchangeably connected or connectable to the carrier device, in particular via mutually complementary plug connectors. Actuators can also be arranged on a robot arm. Thus, at least the at least one energy storage device, but optionally also the other interchangeable components of the inspection platform, such as the at least one imaging sensor and / or the other sensors for inspecting the underfloor area of ​​rail vehicles, the computing unit or the robot arm, are further developed, connected to the carrier device via mutually complementary plug connectors or connectable to the carrier device. The wheels, however, are in particular fixedly arranged on the carrier device and connected thereto. The at least one drive can also be fixedly arranged on the carrier platform. At least one of the wheels of the carrier device is driven or by means of the at least oneDrive. The carrier device comprises, in particular, at least three wheels for supporting and moving the carrier device on the rails of the track of the rail vehicle and at least one drive for at least one of the at least three wheels. The at least one drive comprises, in particular, at least one electric motor. According to this embodiment, the drive of the at least one driven wheel is electric. In a further development, the at least one drive has a worm gear. The worm gear is arranged between the electric motor and the driven wheel. It is advantageously integrated into a drive housing. A drive shaft as the output shaft of the drive advantageously forms the axle of the at least one driven wheel. No chains or belts are then arranged between the drive and the driven wheel. According to an advantageous embodiment, the inspection platform is freelyof traction drives. It can also be referred to as a direct drive. In particular, each driven wheel of the inspection platform has its own drive. Accordingly, a drive can be directly assigned to each driven wheel. In a further development, the inspection platform has at least two driven wheels, one arranged on each side of the carrier device, for supporting and advancing the carrier device on both rails of the track of the rail vehicle. A further development provides that at least two first wheels are arranged on a first side of the carrier device for supporting and advancing the carrier device on a first rail of the track of the rail vehicle, and wherein at least one further, second wheel is arranged on a second side of the carrier device opposite the first side for supporting and advancing the carrier device on asecond rail of the track of the rail vehicle. In a further development, the at least one further, second wheel is arranged in a plane of the carrier device so as to be linearly movable relative to the carrier device and is preloaded or can be preloaded against the second rail. According to a further development, the at least one further, second wheel is driven. The at least one drive of the inspection platform is assigned to the at least one further, second wheel. As explained above, at least one of the first wheels can also be driven. The driven wheels are in particular free of mechanical couplings to one another. As already explained above, the at least two parts of the carrier device can be connected to one another so as to be movable relative to one another such that a linear relative movement of the at least two parts of the carrier device to one another can be carried out. The at least one second wheel and the at least one drive for the at least oneThe second wheel is arranged on a second or third part of the carrier device, - wherein the second part of the carrier device is connected to the first part of the carrier device in a linearly movable manner relative to the first part of the carrier device, or - wherein the third part of the carrier device is connected to the second part of the carrier device in a linearly movable manner relative to the second part of the carrier device, and the second part of the carrier device is articulated to the first part of the carrier device, so that the first and second parts of the carrier device can be folded toward one another. At least the first wheel, in particular two first wheels, are then arranged on the first part of the carrier device, wherein at least one of the first wheels can also be driven, and the drive for the at least one first 202317366 foreign version 16 driven wheel is in turn arranged accordingly on the first part of the carrier device. The linearly movable parttogether with the at least one second wheel and the drive for the second wheel can be pre-tensioned, for example by means of a spring, in particular a compression spring, away from the other part of the support device and thus pointing towards the second rail. To insert the support device, this linearly movable part can be retracted against the pre-tension, i.e. towards the other part of the support device. Once inserted into the track, the wheels are then tensioned against the tracks. Subsequently, the replaceable components can be mounted on the support device and the inspection platform can be moved underneath the rail vehicle to be inspected to carry out its intended task. The linearly movable second or third part of the support device can be designed to accommodate replaceable components of the inspection platform. The second part of the support device that is linearly movable to the first part or the linearly movable to theThe third part of the carrier device, which is movable relative to the second part, can be arranged as a carriage of a straight guide on the first or second part of the carrier device, which in turn comprises corresponding guide means. Further developed, at least one of the at least two first wheels and the at least one further, second wheel are driven, wherein the inspection platform comprises a first drive for at least one of the at least two first wheels and a second drive for the at least one further, second wheel, wherein the first and the second drives are electronically synchronizable or synchronized. The inspection platform can comprise a control device for electronically synchronizing the first and the second drive, which is connected to the first and the second drive, either wired or wirelessly. 202317366 Foreign Version 17 Due to the direct drives of the wheels and the electronically controlled synchronization of theDrive units, each located on a rail track, without mechanical couplings such as traction drives, can achieve both a weight saving and an increased installation space on the support device, which can be used for the other components of the inspection platform. According to a further development, a third wheel is arranged on the first side of the support device and is aligned on a rail foot of the first rail of the track of the rail vehicle for supporting and moving the support device, and at least two fourth wheels are arranged on the second side of the support device opposite the first side and are aligned on a rail foot of the second rail of the track of the rail vehicle for supporting and moving the support device, wherein the at least two first wheels are arranged on a running flank or on an inner profile of aweb are aligned directly below the running flank of the first rail, and wherein the at least one further, second wheel is aligned to support and move the carrier device on a running flank or on an inner profile of a web of the second rail. The running flank is the side surface of the rail head of a rail. The rail head and rail foot are usually connected by a web, which can also be referred to as a shaft. The first wheels and the at least one second wheel can be arranged horizontally on the support platform during the intended use of the inspection platform or in the plane of the support platform, i.e. with essentially vertical axes during the intended use of the inspection platform or axes perpendicular to the plane of the support platform, in order to run on the opposing running flanks or on the inner profiles of the respective web 202317366 Foreign version 18 ofRails, i.e., the first and second rails of the track. The at least one third wheel and the fourth wheels, however, are aligned at an angle between 45° and 90° to the horizontal during the intended use of the inspection platform, or at an angle between 45° and 90° to the plane of the support platform and thus also to the first wheels and the at least one second wheel, in order to roll on the opposing rail feet of the rails, i.e., the first and second rails of the track. With only three wheels, two first wheels on the first side of the support device and a second wheel on the second side of the support device, these are each aligned at an angle between 45° and 90° to the horizontal during the intended use of the inspection platform, or at an angle between 45° and 90° to the plane of the support platform, and are designed to support and move the support device onthe rail feet of the respective rails of the track of the rail vehicle. In a further development, the inspection platform comprises exactly six wheels, wherein two first wheels are arranged on the first side of the support device and are aligned for supporting and moving the support device on the running flank or on the inner profile of the web of the first rail, and wherein a second wheel is arranged on the second side of the support device and is aligned for supporting and moving the support device on the running flank or on the inner profile of the web of the second rail, wherein a third wheel is arranged on the first side of the support device and is aligned for supporting and moving the support device on the rail foot of the first rail of the track of the rail vehicle, and wherein two fourth wheels are arranged on the second side of the support device opposite the first side and are aligned for supporting and moving theSupport device on the rail foot of the second rail of the track of the rail vehicle. 202317366 Foreign Version 19 In a further development, at least the second wheel is driven, in particular the second wheel and one of the first wheels are driven. Compared to eight wheels, six wheels result in a weight saving. Nevertheless, a sufficiently stable running of the inspection platform on the track is achieved. The width of the inspection platform, the support device including the wheels in the operational state, i.e. with the at least two parts of the support device in one plane, is preferably less than the track gauge, i.e. the distance between the rails of the track. The length of the inspection platform is advantageously less than its width. This further facilitates the portability of the support device. Compared to the very large and heavy inspection platforms of the prior art, which onlyThe inspection platform according to the invention is modular and thus mobile, making it suitable for use in the depot itself or on fixed tracks in the depot area and, once deployed, cannot be removed from these tracks. This allows the inspection platform according to the invention to visually inspect the underfloor area of ​​a rail vehicle at any siding. This eliminates the need to transport the rail vehicle to the depot if no particular anomalies are found during the inspection. This enormously increases maintenance efficiency. The tracks in the depot could be freed up for heavy maintenance, or the depots could be equipped with fewer tracks, which would lead to enormous cost savings. 202317366 Foreign Version 20 This is accompanied by the reliefexisting depot infrastructure, as inspection work on underfloor areas can be carried out outside the depot, - the expansion of the maintenance throughput of existing depot facilities, as sidings outside the depot area can be used for other inspection work, - the targeted inspection of underfloor areas on sidings without an employee having to go under the vehicle, which, without a pit, generally poses a significant risk of injury, - the time-efficient assessment of the underfloor area in the event of damage to the rail vehicle during operation, so that the rail vehicle can be returned to operation as quickly as possible without any findings, without having to be brought to a depot. The inspection platform according to the invention is configured to carry out a method according to the invention. It comprises the aforementioned components for carrying out the respective method stepsuitable means. The method according to the invention for operating an inspection platform according to the invention comprises the following method steps: - Transporting the support device and at least the at least one energy storage device of the inspection platform, which has been detached from the support device, to the track of the rail vehicle; - Inserting the support device into the track by connecting the at least two parts of the support device that can be releasably connected to one another or by moving the at least two parts of the support device that are movably connected to one another; 202317366 Foreign version 21 - Connecting at least the at least one energy storage device, which can be exchangeably connected to the support device, to the support device inserted into the track; - Driving the inspection platform on the track under a rail vehicle by means of the wheels and the at least one drive of the inspection platform and examining the undercarriage of theRail vehicle at least by means of the at least one imaging sensor of the inspection platform. The inspection platform is transported to the track, in particular manually and, as far as its replaceable components, such as the at least one energy storage device, are concerned, in disassembled form. The support device and the replaceable components, such as the at least one energy storage device, can thus be carried separately to the track. The support device can be carried by carrying handles provided for this purpose. The at least two parts of the support device, which can be releasably connected to one another, can also be transported to the track detached from one another. If the at least two parts of the support device are connected to one another in a movable manner, for example via a lockable joint, the support device can be transported to the track in a folded or pushed-together state, in particular by means of the carrying handle provided for this purpose. SubsequentlyFirst, the support device is inserted into the track. For this purpose, the at least two parts of the support device that have been detached from one another are releasably connected to one another in the track, or the at least two parts of the support device that have been moved towards one another and are movably connected to one another are moved away from one another in the track, in particular until the wheels of the support device reach the desired rolling surfaces of the respective tracks, in particular the respectively opposite inner profiles of the webs of the track rails and / or the respectively opposite rail feet of the track rails. This can be done by pushing apart or unfolding the at least two parts of the support device that have initially been pushed together or folded together for transport. The pushing together or folding together can take place against a pre-tension, wherein the at least two parts of the support device are then secured to one another for transport.are and this locking is released during insertion. If the support device is inserted into the track in its intended state, the lockable joint can be locked, so that folding of the at least two parts of the support device during operation of the inspection platform is prevented. Before commissioning of the inspection platform, the components of the inspection platform that can be exchangeably connected to the support device, such as the at least one energy storage device that can be exchangeably connected to the support device, must then be connected to the support device, in particular by means of interfaces that are designed to be complementary to one another. The connection comprises the mechanical connection to the support platform as well as an electromagnetic connection, at least for energy transmission. If at least the at least one energy storage device is connected to the support device as intended, the at least oneoperation and any other components of the inspection platform can be put into operation – their power supply is now ready or can initially be switched on for this purpose. Thus, the at least one imaging sensor, the computing unit for processing data from the imaging sensor and / or for processing control data of the drive, and / or the at least one communication device for establishing a wireless connection with an external evaluation or control device can be connected to the carrier platform and put into operation. In addition, the external evaluation or control device can be connected to the at least one communication device of the inspection platform, in particular wirelessly, for example by radio. The inspection platform is ready for operation. 202317366 Foreign Version 23 The inspection platform can then be placed on the track of the rail vehicle under the rail vehicle.be driven to inspect the undercarriage of the rail vehicle. For this purpose, the at least one drive drives the at least one driven wheel of the carrier device, which rolls over the wheels on the rails of the track, and at least the at least one imaging sensor of the inspection platform transmits image data from an underbody, from a chassis or bogie, or from other underfloor components of the rail vehicle, in particular by means of the communication device of the inspection platform, for example via the computer unit of the inspection platform, to the external evaluation or control device. To remove the inspection platform from the track, in particular after completion of its intended purpose, the inspection platform is moved out from under the rail vehicle, switched off if necessary, and first the energy storage device and possibly other, in particular all other,Replaceable components are removed from the carrier device, and the carrier device is pushed together or folded. The invention allows for numerous embodiments. It is explained in more detail with reference to the following figures, each of which shows an exemplary embodiment. Identical elements in the figures are provided with the same reference numerals. Fig. 1 shows an embodiment of the inspection platform with six wheels, Fig. 2 shows another embodiment of the inspection platform with three wheels. Fig. 1 shows an embodiment of the self-propelled, modular inspection platform 1 for inspecting underfloor areas, i.e. in particular an underbody or chassis of rail vehicles. The inspection platform 1 comprises a two-part carrier device 2. The first part 21 of the carrier device 2 and the second part 22 of the carrier device 2 are connected via a joint 23connected to one another. The support device 2, the first part 21 as well as the second part 22, comprises mounting profiles manufactured in a lightweight construction, which are assembled together to form a framework, frame or rack for receiving further components. At least three wheels 10, 11 and at least one drive for at least one wheel 11 are firmly connected to the support device 2. Here, the support device 2 comprises six wheels 10, 11, 12, 13 as well as two drives 3, 31 for at least one wheel 10, 11 on each side of the support device 2. The first wheels 10 and the second wheel 11 are aligned horizontally and further designed to support and move the inspection platform on the mutually facing inner profiles of the webs of the rails of the track under the rail vehicle. The first wheels 10 are arranged on a first side 8 of the carrier device 2 on the first part 21 of the carrier device 2 and roll on a first rail. The firstDrive 3 is directly connected to one of the first wheels 10. The second wheel 11 is arranged on a second side 9 of the carrier device 2 on the second part 22 of the carrier device 2 and rolls on a second rail. The second drive 31 is connected to the second wheel 11. The first and second drives 3, 31 each have an electric motor. In addition, the inspection platform 1 here also comprises a third wheel 12 on the first side 8 and two fourth wheels 13 on the second side 9 of the inspection platform 1, which are not themselves driven but are also each firmly connected to the carrier device 2, or rather to the first and second parts 21, 22 of the carrier device 2. The third and fourth wheels 12, 13 are vertically aligned here and are further designed to support and move the inspection platform on the mutually facing sides of the rail feet of the rails of the trackbeneath the rail vehicle. The inspection platform 1 is then designed to travel on the track beneath the rail vehicle, i.e., guided along the rails of the same rail track of the rail vehicle. The inspection platform 1 further comprises at least one energy storage device 4, which is replaceably connected to the support device 2, here the second part 22 of the support device 2, via mutually complementary plug connectors. The energy storage device 4 serves to supply at least the drives 3 and 31 with electrical energy. Furthermore, the energy storage device 4 can also supply other components of the inspection platform with electrical energy. These include, in particular, at least one imaging sensor 5, which is replaceably arranged, in particular, on a robot arm (not shown here) on the support device. The robot arm (not described in more detail here) can be detachably attached to the mounting profiles of the support device 2 orat interfaces provided thereon for the detachable mounting of further components. In principle, different connections for energy storage device 4 and imaging sensor 5 or other interchangeable components are possible, e.g., a mechanical and electrical connection of the energy storage device via a plug connection, optionally with a securing mechanism, as well as a mechanical connection of the robot arm via magnetism, whereby an electrical connection of the robot arm for supplying the robot arm and the imaging sensor with electrical energy from the energy storage device can be realized inductively, and an electronic data connection of the robot arm and / or the imaging sensor can be realized by means of one or more plug connections or wirelessly via radio. In addition to the mechanical and electromagnetic coupling, the electrical connection for transmitting energy as well as the data connection can also be realizedfall apart, the latter can be effected in particular via a radio connection. In addition to the at least one imaging sensor 5 and the at least one energy storage device, further components can be replaceably connected to the carrier device 2 or detachably connected to the carrier device 2. Thus, among other things, the at least one computing unit 6 can also be replaceably connected or connectable to the carrier device 2, in particular via mutually complementary plug connectors. The computing unit 6 is here housed in a splash-proof housing with an openable housing cover, so that the computing unit 6 is easily accessible and replaceable. The computing unit 6 can be connected via a data connection both to the at least one drive 3, 31 and to the at least one imaging sensor 5 and its robot arm. The computing unit 6 can then simultaneously serve as a communication device for producinga wireless connection to an external evaluation or control device, for example a tablet PC, which in turn simultaneously has an image output unit. Control signals from the external evaluation or control device are received by the computing unit 6 and, if necessary further processed, forwarded to the drives 3, 31 and / or the robot arm and / or the at least one imaging sensor 5. The drives 3, 31 are advantageously electronically synchronized, a task also performed by the suitably designed computing unit 6. In addition, image data from the at least one imaging sensor 5 is transmitted from the computing unit, possibly preprocessed, to the external evaluation or control device. 202317366 Foreign version 27 To remove the inspection platform 1, the replaceable components, including the at least one energy storage device 4, are first removed fromof the support device 2 is released and removed, and the support device 2 is folded together at the joint 23. The support device 2 can then be manually carried away using the carrying handle 24. Insertion into the track between its rails is carried out in reverse. To ensure stable running, the second wheel 11 together with the second drive 31 is arranged on a carriage as the third part of the support device 2, which is linearly displaceable in a plane relative to the second part 22 of the support device 2 and is pretensioned, in particular, by means of a spring such that the second wheel 11 is pressed against the second rail and the opposite first wheels 10 are pressed against the corresponding first rail. In the embodiment according to Fig. 2, the inspection platform 1 has only three wheels 10, 11, which are connected to the support device 2. Two first wheels 10 are arranged on a first side 8 of the support device 2 and are inclined in order to be able to move on aRail foot of the first rail. The second wheel 11 is arranged on a second side 9 of the support device 2 and is also inclined in order to be supported on a rail foot of the second rail. The second wheel is driven and in turn pre-tensioned against the second rail. The support device 2 is in turn divided into two parts, with a second part 22, to which the second wheel 11 and the drive 31 are fastened, being movably connected to the first part 21 of the support device 2 in a linear manner. The insertion and removal of the support device 2 is primarily facilitated by the movably connected parts 21, 22 of the support device 2. 202317366 Foreign version 28 Regardless of the grammatical gender of a particular term, persons with male, female or other gender identity are also included.

Claims

202317366 Foreign version 29 patent claims 1. Inspection platform (1) for inspecting underfloor areas of rail vehicles, comprising a carrier device (2) with wheels (10, 11, 12, 13) for supporting and moving the carrier device on rails of a track of the rail vehicle and with at least one drive (3, 31) for at least one of the wheels (10, 11), wherein the inspection platform (1) comprises at least one imaging sensor (5) and at least one energy storage device (4) for supplying at least the at least one drive (3, 31) and the at least one imaging sensor (5) with energy, characterized in that at least the at least one energy storage device (4) is or can be connected interchangeably to the carrier device (2), and wherein the carrier device (2) is divided into at least two parts, and the at least two parts (21,22) of the support device (2) are connected to one another so as to be movable relative to one another, or the at least two parts (21, 22) of the support device (2) are detachably connected to one another.

2. Inspection platform according to claim 1, characterized in that the at least two parts (21, 22) of the support device (2) are connected to one another via a lockable joint (23).

3. Inspection platform according to one of claims 1 or 2, characterized in that the support device (2) comprises a framework made of mounting profiles.

4. Inspection platform according to one of claims 1 to 3, characterized in that the support device (2) has at least one carrying handle (24). 202317366 Foreign Version 30 5. Inspection platform according to one of claims 1 to 4, characterized in that the at least one imaging sensor (5) is or can be exchangeably connected to the carrier device (2).

6. Inspection platform according to claim 5, characterized in that the at least one imaging sensor (5) is arranged on a robot arm, wherein the robot arm is or can be exchangeably connected to the carrier device (2).

7. Inspection platform according to one of claims 1 to 6, characterized in that the inspection platform (1) comprises at least one communication device for establishing a wireless connection to an external evaluation or control device. 8.Inspection platform according to one of claims 1 to 7, characterized in that the inspection platform (1) comprises at least one computing unit (6) for processing data from the at least one imaging sensor (5) and / or for processing control data from the at least one drive (3, 31), wherein the at least one computing unit (6) is or can be exchangeably connected to the carrier device (2).

9. Inspection platform according to one of claims 1 to 8, characterized in that the inspection platform (1) comprises at least one device for orienting the inspection platform (1) to the underfloor area of the rail vehicle. 202317366 Foreign version 31 10. Inspection platform according to one of claims 1 to 9, characterized in that the at least one energy storage device (4) is or can be connected to the carrier device (2) via mutually complementary plug connectors.

11. Inspection platform according to one of claims 1 to 10, characterized in that at least two first wheels (10) are arranged on a first side (8) of the carrier device (2) for supporting and advancing the carrier device on a first rail of the track of the rail vehicle, and wherein at least one second wheel (11) is arranged on a second side (9) of the carrier device (2) for supporting and advancing the carrier device (2) on a second rail of the track of the rail vehicle, wherein the at least one second wheel (11) is preloaded or can be preloaded against the second rail so as to be movable relative to the carrier device.Inspection platform according to claim 11, characterized in that the at least one second wheel (11) is driven.

13. Inspection platform according to one of claims 11 or 12, characterized in that the inspection platform comprises a first drive (3) for at least one of the at least two first wheels (10) and a second drive (31) for the at least one second wheel (11), wherein the first and the second drive (3, 31) are electronically synchronizable or synchronized.

14. Inspection platform according to one of claims 11 to 13, characterized in that at least one third wheel (12) on the first side. 202317366 Foreign version 32 (8) of the carrier device (2) and is aligned for supporting and advancing the carrier device (2) on a rail foot of the first rail of the track of the rail vehicle, and wherein at least two fourth wheels (13) are arranged on the second side (9) of the carrier device (2) and are aligned for supporting and advancing the carrier device (2) on a rail foot of the second rail of the track of the rail vehicle, wherein the at least two first wheels (10) are aligned for supporting and advancing the carrier device (2) on a running flank or on an inner profile of a web of the first rail, and wherein the at least one second wheel (11) is aligned for supporting and advancing the carrier device (2) on a running flank or on an inner profile of a web of the second rail. 15.Method for operating an inspection platform according to one of claims 1 to 14, characterized by the following method steps: - transporting the support device (1) and at least the at least one energy storage device (4) of the inspection platform (1) detached from the support device (2) to the track of the rail vehicle; - inserting the support device (2) into the track by connecting the at least two parts (21, 22) of the support device that can be releasably connected to one another or by moving the at least two parts (21, 22) of the support device (2) that can be moved relative to one another; - connecting at least the at least one energy storage device (4) that can be exchangeably connected to the support device (2) to the support device inserted into the track;. 202317366 Foreign version 33 - Moving the inspection platform (1) on the track under a rail vehicle by means of the at least one drive (3, 31) and the wheels (10, 11, 12, 13) and examining the undercarriage of the rail vehicle by means of the at least one imaging sensor (5) of the inspection platform (1).

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