A portable rail damage detection robot and method

Abstract

The present application relates to the technical field of rail damage detection, and particularly relates to a portable rail damage detection robot and method. The present application comprises a clamping mechanism, a protective shell, a running mechanism and a detection mechanism, the clamping mechanism is assembled above the rail, the top of the clamping mechanism is assembled with the protective shell, the inner side of the protective shell is assembled with the running mechanism and the detection mechanism. Through the structural design of the clamping mechanism, the protective shell, the running mechanism and the detection mechanism, the present application can realize the rapid disassembly of the equipment, effectively reduce the running resistance and protect the internal components, ensure the stable operation of the robot along the center line of the rail, realize the intelligent identification and accurate positioning of the track damage through the cooperation and control of the proposed mechanisms, and realize the efficient detection and accurate positioning of the surface defects of the rail through the innovative mechatronic architecture design, combined with autonomous navigation positioning and intelligent damage identification algorithm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rail damage detection, and particularly relates to a portable rail damage detection robot and method. BACKGROUND

[0002] As a core load-bearing component of railway track structure, the service state of the rail is directly related to the train operation safety and track system reliability. With the passage of time, the rail surface is prone to produce complex damage such as wavy wear, fish scale cracks and spalling. Therefore, the demand for rail surface defect detection is rapidly increasing.

[0003] At present, track detection is mostly carried out by manual detection and comprehensive track inspection vehicles. However, the traditional manual track detection method has the disadvantages of low efficiency and insufficient accuracy. The modern large-scale comprehensive track inspection vehicle also has the problems of high cost and existence of a vacancy period. Therefore, the present application provides a portable rail damage detection robot and method. SUMMARY

[0004] The present application aims to provide a portable rail damage detection robot and method to solve the problems in the background art.

[0005] In order to solve the above technical problems, the present application adopts the following technical solutions:

[0006] A portable rail damage detection robot comprises a clamping mechanism, a protective shell, a running mechanism and a detection mechanism. The clamping mechanism is arranged above the rail. The top of the clamping mechanism is equipped with the protective shell. The inner side of the protective shell is equipped with the running mechanism and the detection mechanism. The clamping mechanism is used to position the running mechanism on the rail. The running mechanism is used to drive the detection mechanism to move on the rail. The detection mechanism is used to detect the damage on the rail surface.

[0007] Preferably, the protective shell is composed of two half shells. The two half shells are fixed at one end by screws and half shell connecting plates. The bottom of the two half shells is fixed with a half shell mounting plate.

[0008] Preferably, the running mechanism comprises a battery box, a battery box support plate, a traction plate, a hub motor, a steering wheel and a connecting rod steering structure. The inner side of one of the half shells is equipped with the traction plate. The top of the traction plate is fixed with the battery box support plate. The top of the battery box support plate is fixed with the battery box. The top of the battery box is fixed with a control box. The inner side of both ends of the traction plate is respectively provided with two hub motors and two steering wheels. The two steering wheels are connected by the connecting rod steering structure.

[0009] Preferably, the clamping mechanism comprises a vehicle bottom plate, a side clamping plate, a rotating disc, a tension spring, a tension spring fixing pin, a pull rod, a clamping plate connecting rod, a bottom guide wheel and a bottom clamping plate, the bottom of the half shell mounting plate is equipped with the vehicle bottom plate, the traction plate is equipped on the top of the vehicle bottom plate, the two sides of the vehicle bottom plate are rotationally connected with the side clamping plate, the inner side of the vehicle bottom plate and at one end of the traction plate is rotationally connected with the rotating disc, one end of the vehicle bottom plate and at the position on both sides of the rotating disc is fixed with the tension spring fixing pin, one end of the tension spring fixing pin is fixed with the tension spring, one end of the tension spring is fixed with the rotating disc, the two ends of the rotating disc are rotationally connected with the pull rod, one end of the pull rod is rotationally connected with the side clamping plate, the bottom of the side clamping plate is rotationally connected with the bottom clamping plate through the clamping plate connecting rod, and the two ends of the bottom clamping plate are rotationally connected with the bottom guide wheel.

[0010] Preferably, the clamping mechanism further comprises a side guide wheel base, a side guide wheel and a rotating disc limiting pin, the two ends of one side of the side clamping plate are rotationally connected with the side guide wheel base, the inner side of the side guide wheel base is rotationally connected with the side guide wheel, and the two ends of the top of the rotating disc are fixed with the rotating disc limiting pin.

[0011] Preferably, the top of the vehicle bottom plate is uniformly fixed with a plurality of magnets, and the magnets are magnetically connected with the half shell mounting plate.

[0012] Preferably, the four end corners of the top of the traction plate are slidingly connected with a compression spring base, the bottom of the compression spring base is fixed with the vehicle bottom plate, the outer side of the compression spring base is sleeved with a compression spring, and the bottom of the compression spring is tightly attached to the top of the traction plate.

[0013] Preferably, one of the side clamping plates is provided with a distance measuring wheel on the side close to each other, two tail support wheel bases are installed on the end of the vehicle bottom plate away from the rotating disc, and one end of the tail support wheel base is rotationally connected with a tail support wheel.

[0014] Preferably, the detection mechanism comprises a mounting frame, a rail surface shooting camera, a laser shooting camera, a laser lamp and an RGB lamp, the top of the vehicle bottom plate is fixed with the mounting frame, the top of the inner side of the mounting frame is fixed with the rail surface shooting camera and the laser lamp, one end of the inner side of the mounting frame is fixed with the laser shooting camera, and one side of the inside of the mounting frame is fixed with the RGB lamp.

[0015] A use method of a portable steel rail damage detection robot, which is suitable for the portable steel rail damage detection robot and comprises the following steps:

[0016] S1: exporting the steel rail surface image and the laser contour image collected by the detection robot, and sorting them according to the mile position in the name;

[0017] S2: pre-processing and splicing the steel rail surface image;

[0018] S3: Manually label the damage area in the rail surface image processed in S2, including rail scratches, rail cracks, rail spalling, and rail corrugation. Use the labeling tool Label Img to draw a bounding box for each damage target and generate a YOLO format label file, which is stored in a text file with the same name as the image. Save all images and label files according to the training set and test set, and finally build a rail damage detection dataset that meets the YOLOv8 training requirements;

[0019] S4: Extract the center line of the laser profile image and calculate the rail damage amount;

[0020] S5: Divide the dataset in S2 into training set and test set according to 8:2, and input the data of training set into yolov8 for training;

[0021] S6: Test yolov8 using the test set and output the detection class discrimination result;

[0022] S7: Match the image recognition in S6 and the wear depth in S3 through the mileage position information to realize the identification and judgment of rail damage.

[0023] It can be seen without doubt that the above technical solutions of the present application can certainly solve the technical problems to be solved by the present application.

[0024] At the same time, through the above technical solutions, the present application at least has the following beneficial effects:

[0025] The present application realizes the rapid disassembly of the equipment, effectively reduces the running resistance and protects the internal components, ensures the stable operation of the robot along the center line of the rail, realizes the intelligent identification and accurate positioning of the rail damage through the cooperation and control of the proposed mechanisms, and realizes the efficient detection and accurate positioning of the surface defects of the rail through the innovative mechatronic architecture design, combined with autonomous navigation positioning and intelligent damage identification algorithm. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 The structural schematic diagram of the present application;

[0028] Figure 2The connection structure schematic diagram of the half shell and the half shell connecting plate of the application;

[0029] Figure 3 The connection structure schematic diagram of the traction plate and the battery box supporting plate of the application;

[0030] Figure 4 The connection structure schematic diagram of the car bottom plate and the side clamping plate of the application;

[0031] Figure 5 The connection structure schematic diagram of the mounting frame and the rail surface shooting camera of the application;

[0032] Figure 6 The position relation schematic diagram of the protective shell and the steel rail of the application;

[0033] Figure 7 The running schematic diagram on the surface of the steel rail of the application;

[0034] Figure 8 The running flow schematic diagram of the application.

[0035] In the drawings, the component list represented by each sign is as follows:

[0036] In the drawings: 1, protective shell; 2, clamping mechanism; 3, walking mechanism; 4, detection mechanism; 5, half shell; 6, half shell connecting plate; 7, half shell mounting plate; 8, battery box; 9, battery box supporting plate; 10, traction plate; 11, wheel hub motor; 12, steering wheel; 13, connecting rod steering structure; 14, car bottom plate; 15, side clamping plate; 16, rotating disc; 17, tension spring; 18, tension spring fixing pin; 19, pull rod; 20, clamping plate connecting rod; 21, bottom guide wheel; 22, bottom clamping plate; 23, side guide wheel base; 24, side guide wheel; 25, rotating disc limiting pin; 26, magnet; 27, compression spring base; 28, compression spring; 29, distance measuring wheel; 30, tail support wheel base; 31, tail support wheel; 32, mounting frame; 33, rail surface shooting camera; 34, laser shooting camera; 35, laser lamp; 36, RGB lamp. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the application more clear and understandable, the application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the application and do not limit the application.

[0038] Example 1

[0039] Reference Figures 1-8, including clamping mechanism 2, protective shell 1, running mechanism 3 and detection mechanism 4, the clamping mechanism 2 is assembled above the rail, the top of the clamping mechanism 2 is equipped with the protective shell 1, the inner side of the protective shell 1 is equipped with the running mechanism 3 and the detection mechanism 4, the clamping mechanism 2 is used for positioning the running mechanism 3 on the rail, the running mechanism 3 is used for driving the detection mechanism 4 to move on the rail, and the detection mechanism 4 is used for detecting the damage of the rail surface, in order to reduce the running resistance of the robot and protect the internal structure, a streamlined protective shell 1 is used to envelope the internal mechanism.

[0040] The protective shell 1 is composed of two half shells 5, the two half shells 5 are fixed at one end close to each other by screws and half shell connecting plates 6, the bottom of the two half shells 5 is fixed with a half shell mounting plate 7, and the two half shells 5 are connected by the corresponding matching surfaces and matching holes through the half shell connecting plate 6 and the half shell mounting plate 7; the half shell mounting plate 7 is provided with a positioning pin and multiple threaded holes, the positioning pin is used for quick positioning with the clamping mechanism, and the threaded holes are matched with iron-nickel screws to be adsorbed on the magnet 26, so as to realize quick installation and disassembly of the half shell 5 and the clamping mechanism.

[0041] The running mechanism 3 includes a battery box 8, a battery box support plate 9, a traction plate 10, a wheel hub motor 11, a steering wheel 12 and a connecting rod steering structure 13, the inner side of one half shell 5 is equipped with the traction plate 10, the top of the traction plate 10 is fixed with the battery box support plate 9, the top of the battery box support plate 9 is fixed with the battery box 8, the top of the battery box 8 is fixed with a control box, the inner side of the two ends of the traction plate 10 is respectively provided with two wheel hub motors 11 and two steering wheels 12, the two steering wheels 12 are connected through the connecting rod steering structure 13, and the two wheel hub motors 11 are connected with the traction plate 10 through the corresponding matching surfaces and matching holes, so as to bear the load of the battery box 8 and provide driving force; the steering wheel 12 provides steering capability for the running mechanism and is installed on the connecting rod steering structure 13 through the corresponding matching surfaces and matching holes; the connecting rod steering structure 13 realizes steering wheel rotation in a four-connecting-rod mode and is installed on the traction plate 10 through the corresponding matching surfaces and matching holes; the traction plate 10 and the battery box support plate 9 are metal structural parts made of 6061 aluminum alloy, used to bear the load of the robot and transmit traction force, and are provided with corresponding matching holes to complete installation and matching with various devices; the battery box 8 is connected to the traction plate 10 through the battery box support plate 9, and bears the load from the clamping mechanism while accommodating the battery; the motor driving board and the robot main control board are accommodated in the control box, and the control box is installed on the battery box 8 through the corresponding matching surfaces and matching holes.

[0042] The clamping mechanism 2 comprises a vehicle bottom plate 14, side clamping plates 15, a rotating disc 16, tension springs 17, tension spring fixing pins 18, pull rods 19, clamping plate connecting rods 20, bottom guide wheels 21 and bottom clamping plates 22, the bottom of the half-shell mounting plate 7 is provided with the vehicle bottom plate 14, the traction plate 10 is arranged on the top of the vehicle bottom plate 14, the two sides of the vehicle bottom plate 14 are rotationally connected with the side clamping plates 15, the inner side of the vehicle bottom plate 14 and located at one end of the traction plate 10 is rotationally connected with the rotating disc 16, one end of the vehicle bottom plate 14 and located at the two sides of the rotating disc 16 is fixed with the tension spring fixing pin 18, one end of the tension spring fixing pin 18 is fixed with the tension spring 17, one end of the tension spring 17 is fixed with the rotating disc 16, the two ends of the rotating disc 16 are rotationally connected with the pull rod 19, one end of the pull rod 19 is rotationally connected with the side clamping plate 15, the bottom of the side clamping plate 15 is rotationally connected with the bottom clamping plate 22 through the clamping plate connecting rod 20, and the two ends of the bottom clamping plate 22 are rotationally connected with the bottom guide wheel 21. The clamping mechanism 2 further comprises a side guide wheel base 23, a side guide wheel 24 and a rotating disc limiting pin 25, the two ends of one side of the side clamping plate 15 are rotationally connected with the side guide wheel base 23, the inner side of the side guide wheel base 23 is rotationally connected with the side guide wheel 24, and the two ends of the top of the rotating disc 16 are fixed with the rotating disc limiting pin 25; the side clamping plate 15 is matched with the corresponding matching hole on the vehicle bottom plate 14 to realize rotary motion; the bottom clamping plate 22 is matched with the side clamping plate 15 through the corresponding matching hole and then fixed by using the clamping plate connecting rod 20; one end of the tension spring 17 is fixed on the tension spring fixing pin 18, and the other end is connected to the rotating disc 16; the side clamping plate 15 is rotationally connected with the pull rod 19 on the rotating disc 16 to realize the inward rotation of the side clamping plate 15; the tension spring 17 and the pull rod 19 are arranged on the two sides of the rotating disc 16 in a central symmetry mode to realize the synchronous opening and closing of the two side clamping plates 15, so that the side guide wheel 24 contacts the steel rail to complete the lateral clamping of the clamping mechanism on the steel rail and make the clamping mechanism located at the center of the steel rail; the rotating disc limiting pin 25 is arranged on the rotating disc 16 to limit the rotation angle of the rotating disc 16, so that the tension spring 17 is always in a stretched state and the tension spring 17 is prevented from falling off the tension spring fixing pin 18; the tail support wheel 31 provides additional support force for the tail of the clamping mechanism, and is matched with the tail support wheel base 30 through the corresponding shaft hole.

[0043] A plurality of magnets 26 are fixedly arranged on the top of the vehicle bottom plate 14, and the magnets 26 are magnetically connected with the half-shell mounting plate 7; the magnets 26 can complete the quick installation and disassembly of the protective shell 1 through the adsorption with the protective shell 1.

[0044] The four end corners of the top of the traction plate 10 are slidingly connected with the compression spring bases 27, the bottoms of the compression spring bases 27 are fixed with the vehicle bottom plate 14, the outer sides of the compression spring bases 27 are sleeved with the compression springs 28, the bottoms of the compression springs 28 are tightly combined with the top of the traction plate 10, the compression spring bases 27 pass through the corresponding matching holes of the traction plate 10 and then the compression springs 28 are installed, so that the compression springs 28 are located between the traction plate 10 and the compression spring bases 27, and the whole clamping mechanism is lifted upward by the elastic force of the compression springs 28 until the guide wheels 21 are combined with the steel rail, so that the clamping mechanism is clamped vertically on the steel rail.

[0045] One side of each of the side clamping plates 15 close to each other is provided with a distance measuring wheel 29, and the end of the vehicle bottom plate 14 away from the rotating disc 16 is provided with two tail support wheel bases 30, one end of each of the tail support wheel bases 30 is rotatably connected with a tail support wheel 31, and in addition, the distance measuring wheel 29 is installed on the side clamping plate 15, and the running distance of the whole detection robot is calculated through the rotation angle of the distance measuring wheel 29.

[0046] The detection mechanism 4 includes a mounting frame 32, a rail surface shooting camera 33, a laser shooting camera 34, a laser lamp 35 and an RGB lamp 36, the top of the vehicle bottom plate 14 is fixed with the mounting frame 32, the top of the inner side of the mounting frame 32 is fixed with the rail surface shooting camera 33 and the laser lamp 35, one end of the inner side of the mounting frame 32 is fixed with the laser shooting camera 34, and one side of the inside of the mounting frame 32 is fixed with the RGB lamp 36, wherein the mounting frame 32 is composed of polylactic acid (PLA) structural parts, and is used for installing other devices in the detection mechanism; the laser shooting camera 34 cooperates with the laser lamp 35 to realize the collection of the depth data of the steel rail surface; and the rail surface shooting camera 33 cooperates with the RGB lamp 36 to realize the collection of the defect data of the steel rail surface.

[0047] Embodiment 2

[0048] A use method of the portable steel rail damage detection robot is suitable for the portable steel rail damage detection robot, and includes the following steps.

[0049] S1: exporting the steel rail surface image and the laser contour image collected by the detection robot, and sorting according to the mile position in the name;

[0050] S2: preprocessing and splicing the steel rail surface image: S2.1, adopting Fourier frequency domain transformation to separate the illumination component of the steel rail surface image;

[0051] S2.2, eliminating the mirror reflection interference of the steel rail surface image through a high-pass filter.

[0052] S2.3, based on the mile position x1 identified by the current steel rail surface image file name and the mile position x2 identified by the next image file name, cutting the current image to retain the part corresponding to the mile interval [x1, x2] in the image.

[0053] S2.4, the image blocks obtained by step S2.3 are spliced in order of mileage, and the splicing is continued until the total length of the spliced image is greater than a preset value L (L = 2000), and the spliced long image is cropped from the starting position x3 to obtain an image segment with a length of L, so that a large range of rail damage can be completely contained in the image, and the ending position x4 of the current cropping in the last image block is recorded, and the image block is retained. The retained image block is used as the starting point of a new image sequence. The starting position x3 of the next splicing is set as the ending position x4 of the current cropping (relative to the new image sequence). The subsequent preprocessed image blocks (from S2.3) are continuously added to the end of the new image sequence. Finally, S2.4 is repeatedly executed, and the updated image sequence and starting position x3 are used to perform splicing, length checking, cropping, new starting point determination and position updating operations again, and the process is repeated until all images are processed;

[0054] S3: manually label the damage areas in the rail surface image processed by S2, including rail scratches, rail cracks, rail block drop, and rail wave abrasion. A bounding box is drawn for each damage target using the labeling tool Label Img, and a label file in YOLO format is generated and stored in a text file with the same name as the image. All images and label files are saved according to the training set and test set, and finally a rail damage detection dataset that meets the YOLOv8 training requirements is constructed;

[0055] S4: extract the center line of the laser profile image and calculate the rail damage amount: S4.1, convert the laser profile image to a grayscale image and use Gaussian blur to denoise the image.

[0056] S4.2, crop the laser profile image to reduce the amount of calculation.

[0057] S4.3, use the multi-scale Steger algorithm to extract the rail profile of the laser rail profile image.

[0058] S4.4, use the normal vector projection method to compare the actual rail profile with the standard rail profile to complete the wear depth measurement of the rail damage;

[0059] S5: divide the dataset in S2 into a training set and a test set in a ratio of 8:2, and input the data of the training set into yolov8 for training;

[0060] S6: test yolov8 using the test set and output the detection category discrimination result;

[0061] S7: match the image recognition in S6 and the wear depth in S3 through the mileage position information to realize the identification and evaluation of the rail damage.

[0062] In summary, it can be seen that:

[0063] The present application aims at the technical problem: at present, track detection is mostly detected by artificial detection and comprehensive track detection vehicle, and the traditional artificial track detection method is often accompanied by low efficiency and insufficient accuracy, and the modern large-scale comprehensive track detection vehicle faces the situation of high cost and existence of window period; The technical scheme of the above embodiments is adopted. At the same time, the implementation process of the above technical scheme is:

[0064] In the track line field, first, open the side clamping plates 15 on both sides of the clamping mechanism to accommodate the steel rail, and then place them on the steel rail; Then, release the clamping mechanism, so that the side guide wheels 24 fit the steel rail; Finally, press the clamping mechanism downward, so that the bottom guide wheels 21 fit the steel rail to complete the installation process, as shown in Figure 6 ;

[0065] After turning on the power switch of the detection robot battery box 8, install the protective shell 1, and then set the forward distance and forward speed of the robot through the upper computer, and the robot will run along the steel rail and automatically take pictures after the detection mechanism is running, thereby realizing automatic collection of steel rail data, as shown in Figure 7 ;

[0066] The robot will stop automatically after reaching the specified distance, and after turning off the power of the protective shell 1, the clamping mechanism can be opened to take down the robot, and after all data collection is completed, the robot can be placed on its matching track, which is convenient for saving and transporting the detection robot.

[0067] Through the above settings, the above technical problems can be solved, and the following technical effects can be achieved:

[0068] Through the structural design of the clamping mechanism 2, the protective shell 1, the walking mechanism 3 and the detection mechanism 4, the present application can realize fast disassembly and assembly of the equipment, effectively reduce the running resistance and protect the internal components, ensure the stable operation of the robot along the center line of the steel rail, realize intelligent identification and accurate positioning of track damage through the cooperation and control of the proposed mechanisms, and realize efficient detection and accurate positioning of the surface defects of the steel rail through the innovative mechatronic architecture design, combined with autonomous navigation positioning and intelligent damage identification algorithm.

[0069] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connection", "connecting", "fixed", and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0070] Obviously, the above-described embodiments are only a part of the embodiments of the present application, and are not all the embodiments. The preferred embodiments of the present application are shown in the drawings, but do not limit the patent scope of the present application. The present application can be realized in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing specific embodiments, or make equivalent substitutions for part of the technical features. Any equivalent structure made by using the content of the present application specification and drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the present application.

Claims

1. A portable rail damage detection robot, characterized in that, The system includes a protective shell (1), a clamping mechanism (2), a traveling mechanism (3), and a detection mechanism (4). The protective shell (1) is mounted on top of the rail. The clamping mechanism (2) is mounted on both sides of the bottom of the protective shell (1). The traveling mechanism (3) and the detection mechanism (4) are mounted on the inner side of the protective shell (1). The clamping mechanism (2) is used to position the protective shell (1) on the rail. The traveling mechanism (3) is used to drive the protective shell (1) to move on the rail. The detection mechanism (4) is used to detect damage to the surface of the rail. The protective shell (1) is composed of two half-shells (5). The two half-shells (5) are connected at one end close to each other. The two half-shells (5) are fixed with screws and half-shell connecting plates (6). Half-shell mounting plates (7) are fixed to the bottom of the two half-shells (5). The traveling mechanism (3) includes a battery box (8), a battery box support plate (9), a traction plate (10), a hub motor (11), a steering wheel (12), and a linkage steering structure (13). The traction plate (10) is installed on the inner side of one of the half-shells (5). The battery box support plate (9) is fixed to the top of the traction plate (10). The battery box (8) is fixed to the top of the battery box support plate (9). The control box is fixed to the top of the battery box (8). Two hub motors are installed on the inner sides of the two ends of the traction plate (10). 11) and two steering wheels (12), the two steering wheels (12) are connected by a linkage steering structure (13), the clamping mechanism (2) includes a vehicle floor plate (14), side clamping plates (15), a turntable (16), a tension spring (17), a tension spring fixing pin (18), a pull rod (19), a clamping plate connecting rod (20), a bottom guide wheel (21) and a bottom clamping plate (22), the bottom of the half shell mounting plate (7) is fitted with a vehicle floor plate (14), the traction plate (10) is fitted on the inner side of the vehicle floor plate (14), the side clamping plates (15) are rotatably connected to both sides of the vehicle floor plate (14), the inner side of the vehicle floor plate (14) and away from the traction plate (10) is rotatably connected to a turntable (16). One end of the vehicle floor plate (14) and both sides of the turntable (16) are fixed with tension spring fixing pins (18). One end of each tension spring fixing pin (18) is fixed with a tension spring (17). One end of each tension spring (17) is fixed to the turntable (16). Both ends of the turntable (16) are rotatably connected with pull rods (19). One end of each pull rod (19) is rotatably connected to a side clamping plate (15). The bottom of each side clamping plate (15) is rotatably connected to a bottom clamping plate (22) via a clamping plate connecting rod (20). Both ends of the bottom clamping plate (22) are rotatably connected with bottom guide wheels (21).

2. The portable rail damage detection robot according to claim 1, characterized in that, The clamping mechanism (2) further includes a side guide wheel base (23), a side guide wheel (24) and a turntable limiting pin (25). The two ends of one side of the side clamping plate (15) are rotatably connected to the side guide wheel base (23), and the inner side of the side guide wheel base (23) is rotatably connected to the side guide wheel (24). The two ends of the top of the turntable (16) are fixed with turntable limiting pins (25).

3. The portable rail damage detection robot according to claim 1, characterized in that, Multiple magnets (26) are evenly distributed and fixed on the top of the vehicle floor plate (14), and the magnets (26) are all magnetically connected to the half-shell mounting plate (7).

4. The portable rail damage detection robot according to claim 3, characterized in that, The four corners of the top of the traction plate (10) are slidably connected to spring bases (27). The bottom of the spring bases (27) is fixed to the vehicle floor (14). Springs (28) are sleeved on the outside of the spring bases (27). The bottom of the springs (28) is tightly fitted to the top of the traction plate (10).

5. A portable rail damage detection robot according to claim 4, characterized in that, The two side clamping plates (15) are each provided with a measuring wheel (29) on the side that is close to each other. The end of the vehicle floor plate (14) away from the turntable (16) is equipped with two tail support wheel bases (30). One end of each tail support wheel base (30) is rotatably connected to a tail support wheel (31).

6. The portable rail damage detection robot according to claim 4, characterized in that, The detection mechanism (4) includes a mounting frame (32), a track surface camera (33), a laser camera (34), a laser light (35), and an RGB light (36). The mounting frame (32) is fixed on the top of the vehicle floor (14). The track surface camera (33) and the laser light (35) are fixed on the top of the inner side of the mounting frame (32). The laser camera (34) is fixed on one end of the inner side of the mounting frame (32). The RGB light (36) is fixed on one side inside the mounting frame (32).

7. A method of using a portable rail damage detection robot, applicable to the portable rail damage detection robot described in any one of claims 1-6, characterized in that, Includes the following steps: S1: Export the rail surface images and laser profile images collected by the inspection robot, and sort them according to the mileage position in their names; S2: Preprocess and stitch the image of the rail surface; S3: Manually label the damaged areas in the rail surface images processed in S2, including rail scratches, rail cracks, rail spalling, and rail corrugation; use the labeling tool LabelImg to draw bounding boxes for each damage target and generate YOLO format label files, storing them as text files with the same names as the images; save all images and label files separately as training and testing sets, and finally construct a rail damage detection dataset that meets the training requirements of YOLOv8; S4: Extract the centerline of the laser contour image and calculate the rail damage; S5: Divide the dataset in S2 into training and test sets in an 8:2 ratio, and input the training set data into YOLOv8 for training; S6: Test YOLOv8 using the test set and output the detection category discrimination results; S7: By matching the mileage location information with the image recognition in S6 and the wear depth in S3, track damage can be identified and assessed.

Images