CN114414598A - Steel structure corrosion positioning non-contact evaluation method in high-altitude closed space - Google Patents

Abstract

The invention discloses a non-contact evaluation method for rust positioning of a steel structure in a high-altitude closed space, which comprises the steps of releasing an autonomous crawling trolley for a roof above a canopy, releasing an autonomous crawling trolley for ceiling adsorption below the canopy, and placing an intelligent ground guarantee vehicle below the autonomous crawling trolley for ceiling adsorption on the ground; the roof autonomous crawling trolley performs line-following scanning on the canopy according to a preset route, the X-ray source directly faces the canopy to emit X-rays, meanwhile, the flat panel detector receives the X-rays which are emitted by the X-ray source on the canopy and penetrate through the roof, and steel structure X-ray imaging is performed in the canopy closed space; collecting X-ray imaging information of an X-ray emitted by an X-ray source received by a flat panel detector in real time on a canopy of a high-speed rail station; and (4) carrying out statistical analysis on the X-ray original data acquired by the detector. The method has important significance for the maintenance unit to carry out station house decoration and building envelope maintenance in a targeted manner and reduce the occurrence of accidents endangering the operation safety of passengers and trains.

Description

Non-contact evaluation method for corrosion positioning of steel structures in high-altitude enclosed spaces

technical field

The invention relates to the technical field of industrial safety, in particular to a non-contact evaluation method for corrosion positioning of steel structures in a high-altitude enclosed space.

Background technique

Carrying out targeted research on the detection, identification and evaluation standards of station buildings, main structures, enclosure structures and decorative components is an important guarantee for improving operation and maintenance safety, structural applicability and durability, and is necessary for railway transportation security. Steel members within station roofs or canopies are susceptible to metal corrosion. When the corrosion is severe, some metal components will be corroded and fall off, which will cause safety incidents and even endanger the normal operation of the train. The corrosion of the nails above the canopy will cause the rain shield to be scraped and fly, and the corrosion of the metal components under the roof will hit people or trains, and even cause a short circuit in the line and safety accidents such as fire. If the severely corroded metal components can be found in time and replaced in a targeted manner, the above phenomenon can be effectively avoided. However, there is currently no mature equipment and technology on the market that can meet this detection requirement. Therefore, it is urgent to develop a detection method that can effectively determine the corrosion degree of various steel components in the enclosed space of the station canopy.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a non-contact evaluation method for corrosion positioning of steel structures in a high-altitude enclosed space, aiming at the deficiencies of the prior art.

The technical scheme of the present invention is as follows:

A non-contact evaluation method for corrosion positioning of steel structures in high-altitude closed spaces, based on a non-contact evaluation system for corrosion positioning of steel structures in high-altitude closed spaces to perform non-contact evaluation of corrosion positioning of steel structures in high-altitude closed spaces, comprising the following steps:

A1, release the autonomous crawling trolley on the roof above the canopy, release the autonomous crawling trolley under the canopy, and place the ground intelligent security vehicle on the ground facing the ceiling below the autonomous crawling trolley; The crawling trolley relies on magnetic adsorption track wheels to be adsorbed on the upper and lower surfaces of the canopy;

A2, Roof autonomous crawling trolley, ceiling-adsorbing autonomous crawling trolley and ground support vehicle communicate with each other when working, and at the same time, the linear array (X-ray) detector uses the X-rays emitted by the X-ray source on the shed to carry out the autonomous crawling trolley on and off the shed. synchronous positioning; the roof autonomous crawling trolley scans on the canopy according to the preset route, the X-ray source is emitting X-rays at the canopy, and at the same time the flat panel detector receives the radiation emitted by the X-ray source on the canopy. The X-ray after the roof is penetrated to perform X-ray imaging of the steel structure in the enclosed space of the canopy;

A3: Collect the X-ray imaging information of the canopy of the high-speed railway station received in real time by the flat panel detector, which also includes the corresponding position and time information; perform statistical analysis on the original X-ray data collected by the detector.

In the non-contact evaluation method for rust positioning, the statistical analysis method is as follows: the X-ray intensity value I can be divided into different sets according to the size. For the canopy with regular installation, the low I set corresponds to the minimum rust. The high I set corresponds to the place where the degree of corrosion is large, and the I value is the largest in the place where the corrosion penetrates; the attenuation value of the X-ray caused by the steel plate with a fixed thickness that does not rust is constant, and the value collected by the detector is the smallest . The difference between the I _{i value of the original X-ray data collected by the detector and the minimum I i value} can more accurately calculate the thickness of the rust; each X-ray value corresponds to the position and time information, so it can be delineated to different degrees. location area.

In the non-contact evaluation method for corrosion localization, when X-ray imaging is continuously performed on a large-area canopy, the images are registered by searching for feature points.

The non-contact evaluation method for corrosion positioning, the non-contact evaluation system for steel structure corrosion positioning in a high-altitude enclosed space includes: AGV intelligent magnetic adsorption on-board module above the canopy, AGV intelligent magnetic adsorption on-board module below the canopy, and synchronously traveling on the platform ground. Intelligent vehicle module, data processing and imaging evaluation module.

In the non-contact evaluation method for corrosion positioning, the AGV intelligent magnetic adsorption vehicle module above the canopy adopts a roof autonomous crawling trolley, which is adsorbed on the upper surface of the roof through magnetic tracks. The roof autonomous crawling trolley is equipped with a motion control module A and a communication module. A. High-precision differential GPS and inertial navigation unit, X-ray source and gimbal, motion control module A is used to control the roof autonomous crawling car to move synchronously on the roof and the AGV intelligent magnetic adsorption vehicle module under the canopy, and on the platform ground The intelligent vehicle-mounted module keeps running synchronously; it relies on high-precision differential GPS and inertial navigation for high-precision positioning and autonomous cruise; the belly of the roof autonomous crawling car is equipped with an X-ray source, which is used to emit X-rays directly at the high-altitude steel structure canopy.

In the non-contact evaluation method for corrosion positioning, the AGV intelligent magnetic adsorption vehicle-mounted module under the canopy adopts a suspended ceiling adsorption autonomous crawling trolley, which is adsorbed on the lower surface of the roof facing the roof autonomous crawling trolley through the magnetic crawler, and is equipped with motion control. Module B, communication module B, flat panel detector, line array detector, slide rail, camera and rangefinder; the flat panel detector is used to receive the X-rays released by the X-ray source on the shed after penetrating the roof, and carry out the canopy. X-ray imaging of steel structures in a closed space; four line array detectors consisting of X-ray detectors perpendicular to each other are arranged around the flat panel detector. The line array detectors use the X-rays emitted by the X-ray source on the booth , to perform synchronous positioning of the autonomous crawling trolleys above and below the shed to ensure that the flat panel detector can receive the X-rays emitted by the X-ray source mounted on the shed trolley in real time.

In the non-contact evaluation method for corrosion positioning, the X-ray source is suspended on the beam of the roof autonomous crawling trolley through the gimbal, and the gimbal can ensure that the X-ray source is always in a horizontal working state.

In the non-contact evaluation method for corrosion positioning, the slide rail is installed at the bottom of the ceiling to absorb the autonomous crawling trolley, which is a transverse track perpendicular to the advancing direction of the trolley. The displacement deviation of the autonomous crawling car on the shed perpendicular to the direction of travel.

In the non-contact evaluation method for corrosion positioning, the intelligent vehicle-mounted module on the platform ground adopts a ground support vehicle, and a large anti-drop inflatable cushion is supported above it to buffer the AGV intelligent magnetic adsorption vehicle-mounted system under the canopy. Shock caused by a fall.

In the non-contact evaluation method for corrosion positioning, the roof autonomous crawling trolley, the ceiling adsorption autonomous crawling trolley and the ground support vehicle communicate with each other and travel synchronously when working.

The combination of X-ray imaging technology and AGV intelligent magnetic adsorption vehicle system can realize X-ray scanning imaging of steel structures in the enclosed space of high-speed rail canopies. Through intelligent picture difference comparison and data statistical analysis of the captured pictures, it is helpful to identify the corroded steel components in time, and to carry out risk rating and positioning of the corroded parts, which is helpful for the maintenance unit to carry out the station room decoration and decoration in a targeted manner. It is of great significance to maintain the enclosure structure, reduce unnecessary expenses such as rework, improve the management level, avoid accidents and reduce the occurrence of accidents that endanger the safety of passengers and train operation, and has great promotion value.

Description of drawings

Figure 1 is a schematic diagram of a non-contact evaluation system for corrosion positioning of steel structures in high-altitude enclosed spaces;

10 High-speed rail station canopy, 21 motion control module, 22 magnetic adsorption track, 23 X-ray source, 24 GPS, 25 communication module I, 26 PTZ, 31 motion control module, 33 communication module II, 34 battery, 35 distance meter, 36 Lights, 37 cameras, 38 magnetic crawler tracks, 39 flat panel detectors, 40 line array detectors, 42 slide rails, 43 inflatable pads, 44 motion control modules;

Figure 2 is a schematic diagram of the intelligent transport system above the canopy; A and B are views from different angles;

Figure 3 is a schematic diagram of the intelligent transport system under the canopy; A top view, B bottom view;

Figure 4 is a schematic diagram of the detection process;

Fig. 5 is a flow chart of a method for synchronizing positioning of intelligent vehicles on and off the shed;

Fig. 6 is the irradiation area of X-ray on the line array;

FIG. 7 is a schematic diagram of the principle of the synchronous positioning method of the intelligent vehicle under the shed;

Detailed ways

The present invention will be described in detail below with reference to specific embodiments.

Referring to Figure 1, the non-contact evaluation system for corrosion positioning of steel structures in high-altitude enclosed spaces includes: AGV intelligent magnetic adsorption vehicle module above the canopy, AGV intelligent magnetic adsorption vehicle module below the canopy, intelligent vehicle-mounted modules that travel synchronously on the platform ground, data Processing and imaging evaluation modules;

The AGV intelligent magnetic adsorption vehicle-mounted module above the canopy, Figure 2 is a schematic diagram of the intelligent carrying system above the canopy, in this embodiment, it is an autonomous crawling car on the roof, which is adsorbed on the upper surface of the roof through the magnetic crawler during the working process, and the roof autonomously The crawling trolley is equipped with a motion control module A, a communication system A, a high-precision differential GPS and inertial navigation unit, an X-ray source and a gimbal. The motion control module A is used to control the AGV on the roof and under the canopy of the autonomous crawling trolley. The intelligent magnetic adsorption vehicle-mounted module and the intelligent vehicle-mounted module traveling synchronously on the platform ground keep running synchronously; rely on high-precision differential GPS and inertial navigation for high-precision positioning and autonomous cruise; the belly of the roof autonomous crawling car is loaded with an X-ray source, which uses For X-ray imaging, the X-ray source is suspended on the beam of the roof autonomous crawling trolley through the gimbal; the gimbal can ensure that the X-ray source is always in a horizontal working state.

The AGV intelligent magnetic adsorption vehicle module under the canopy. Figure 3 is a schematic diagram of the intelligent transportation system under the canopy. In this embodiment, it is an autonomous crawling trolley that is adsorbed by the ceiling. It is adsorbed on the lower surface of the roof through the magnetic crawler during the working process and faces the roof. The position of the autonomous crawling trolley is equipped with a motion control module B, a communication system, a flat panel (X-ray) detector, a linear array (X-ray) detector, a slide rail, a panoramic camera and a rangefinder.

The flat-panel detector is used to receive the X-rays released by the X-ray source on the shed after penetrating the roof, and perform X-ray imaging of the steel structure in the enclosed space of the canopy; The lateral track in the forward direction, on which the flat panel detector can move laterally to correct the displacement deviation of the autonomous crawling trolley under the shed relative to the autonomous crawling trolley on the shed perpendicular to the travel direction;

Four linear array (X-ray) detectors composed of X-ray detectors that are perpendicular to each other are arranged around the flat panel (X-ray) detector. The linear array (X-ray) detectors are emitted by the X-ray source on the booth The X-ray of the shed can be synchronized with the autonomous crawling trolley above and below the shed to ensure that the flat panel detector can receive the X-rays emitted by the X-ray source mounted on the shed trolley in real time.

The intelligent vehicle-mounted module traveling synchronously on the platform ground is a ground support vehicle in this embodiment. A large anti-drop inflatable cushion is supported above it to buffer the AGV intelligent magnetic adsorption vehicle-mounted system under the canopy in case of a fall. impact.

Roof autonomous crawling trolley, ceiling adsorption autonomous crawling trolley and ground support vehicle communicate with each other and move synchronously when working. The two systems above the shed and below the shed use wide magnetic adsorption track wheels, which have strong suction and obstacle-surmounting ability, and will not fall into the gap under the ceiling;

The three intelligent vehicle-mounted systems, namely the roof autonomous crawling trolley, the ceiling adsorption autonomous crawling trolley and the ground support vehicle, communicate with each other and synchronize positioning by means of wireless bridges.

Taking into account the characteristics of the shed and the requirements of X-ray imaging, a 160KV portable X-ray source is used with a ray angle of 50 degrees, a cone-shaped emission, a circular cross-section, and its radius is proportional to the distance between the ray source and the detector.

Data processing and imaging evaluation module, including signal acquisition unit: collects the X-ray imaging information of the high-speed railway station canopy received in real time by the flat panel detector, and the information also includes the corresponding position and time information; When continuous X-ray imaging is performed, the image can be registered by searching for feature points; Statistical analysis unit: (1) Statistical analysis is performed on the original X-ray data collected by the detector, and the X-ray intensity value I can be divided according to size For different sets, for the regular installation of the canopy, the low I set corresponds to the area with the least rust; the high I set corresponds to the place with a large degree of rust, and the place where the rust penetrates has the largest I value. (2) The attenuation value of the X-ray caused by the steel plate with a fixed thickness that does not rust is constant, and the value collected by the detector is the smallest. The difference between the I _{i value of the original X-ray data collected by the detector and the minimum I i value} can be used to calculate the corrosion thickness more accurately. (3) Each X-ray value corresponds to the position and time information, so the position areas of different sizes can be delineated.

Using the above statistical analysis method or artificial intelligence image comparison method, the corrosion degree of the steel structure in the enclosed space of the high-speed railway station canopy can be automatically identified with the help of software, and positioning and visual imaging can be performed. Operation and maintenance management has positive significance.

Referring to Figure 4, the non-contact evaluation method for corrosion positioning of steel structures in high-altitude enclosed spaces includes the following steps:

A1, release the autonomous crawling trolley on the roof above the canopy, release the autonomous crawling trolley under the canopy, and place the ground intelligent security vehicle on the ground facing the ceiling below the autonomous crawling trolley; The crawling trolley relies on magnetic adsorption track wheels to be adsorbed on the upper and lower surfaces of the canopy;

A2, Roof autonomous crawling trolley, ceiling-adsorbing autonomous crawling trolley and ground support vehicle communicate with each other when working, and at the same time, the linear array (X-ray) detector uses the X-rays emitted by the X-ray source on the shed to carry out the autonomous crawling trolley on and off the shed. synchronous positioning; the roof autonomous crawling trolley scans on the canopy according to the preset route, the X-ray source is emitting X-rays at the canopy, and at the same time the flat panel detector receives the radiation emitted by the X-ray source on the canopy. The X-ray after the roof is penetrated to perform X-ray imaging of the steel structure in the enclosed space of the canopy;

A3, collect the X-ray imaging information of the high-speed railway station canopy received by the flat panel detector in real time, and the information also includes the corresponding position and time information; perform statistical analysis on the original X-ray data collected by the detector;

The statistical analysis method is as follows: the X-ray intensity value I can be divided into different sets according to the size. For a canopy with regular installation, the low I set corresponds to the area with the least rust; the high I set corresponds to the rust. Where the degree of corrosion is large, the I value is the largest in the place where the rust penetrates; the attenuation value of the X-ray caused by the steel plate with a fixed thickness that does not rust is constant, and the value collected by the detector is the smallest. The difference between the I _{i value of the original X-ray data collected by the detector and the minimum I i value} can more accurately calculate the thickness of the rust; each X-ray value corresponds to the position and time information, so it can be delineated to different degrees. location area;

When continuous X-ray imaging is performed on a large-area canopy, the image can be registered by searching for feature points; Figure 6 shows the irradiation area of X-rays on the line array, and Figure 7 shows the principle of the synchronous positioning method of intelligent vehicles above and below the shed. Schematic diagram; the intelligent vehicle-mounted system under the canopy is equipped with a "cross"-shaped X-ray detector array, and the two detector arrays form an XY coordinate system (Figure 6, the Y axis is parallel to the track direction, the X axis is perpendicular to the track direction, and several detectors The X-ray detectors are arranged in turn on the scale values of the two coordinate systems. The X-ray source carried by the intelligent vehicle-mounted system above the canopy emits X-rays downward in a cone shape, and the area irradiated by the X-rays is a circular section, and the linear array detector inside it When irradiated by X-rays, all have gray value output (circular area in Figure 6), while the detectors in the area outside the circular section are not irradiated by X-rays and have no gray value output. The linear arrays intersect at four points A, B, C and D. By monitoring whether there is gray value output, the coordinate values of the four points can be captured in real time, namely X _A , X _B , Y _C , Y _D , and the center of the circle is O point The coordinates are

Figure 5 is a flow chart of the method for synchronizing positioning of intelligent vehicles on and off the shelf; when the on-vehicle and off-vehicle systems are synchronized, when the radiation source on the shelf and the center of the panel detector under the shelf are aligned (circular area in Figure 7), there are:

X _A = -X _B

Y _C = -Y _D

When the on-board and off-vehicle systems are not synchronized (the gray discontinuous circle in Figure 7), the ray source and the origin O of the linear array X-Y coordinate system do not overlap up and down. The intersection points of the system are A', B', C' and D' respectively, and the center of the circle is O', then the offset values Δx and Δy of the system under the shed relative to the center of the system on the shed are:

The intelligent vehicle-mounted system on the shed uses high-precision differential GPS to complete the autonomous travel of the set detection line. The system under the shed controls the AB-phase coded deceleration motor to travel the same displacement value in a straight line according to the deviation displacement value relative to the system on the shed. Generate a small amount of displacement deviation value (Δx' and Δy'), Δy' uses the AB-phase coded gear motor to run straight or backward to complete the deviation correction, Δx' uses the slide rail on the abdomen of the vehicle-mounted system under the shed to move the panel and the linear array detector along the vertical direction Movement in the track direction completes the deviation correction.

There are 2 rangefinders, 1 lighting lamp and 1 camera on the four sides of the intelligent transportation system, which can obtain the distance of the surrounding images and obstacles in real time, and send out alarm messages in time.

It should be understood that, for those skilled in the art, improvements or changes can be made according to the above description, and all these improvements and changes should fall within the protection scope of the appended claims of the present invention.

Claims (10)

1. A non-contact evaluation method for positioning corrosion of a steel structure in a high-altitude closed space is used for non-contact evaluation of the corrosion of the steel structure in the high-altitude closed space based on a non-contact evaluation system for positioning corrosion of the steel structure in the high-altitude closed space, and is characterized by comprising the following steps of:

a1, releasing the roof autonomous crawling trolley above a canopy, releasing the suspended ceiling adsorption autonomous crawling trolley below the canopy, and placing the ground intelligent guarantee vehicle under the ground opposite to the suspended ceiling adsorption autonomous crawling trolley; the roof autonomous crawling trolley and the suspended ceiling adsorption autonomous crawling trolley are adsorbed on the upper surface and the lower surface of the canopy by virtue of the magnetic adsorption crawler wheels;

a2, the roof autonomous crawling trolley, the suspended ceiling adsorption autonomous crawling trolley and the ground support trolley are communicated with each other during working, and meanwhile, a linear array (X-ray) detector carries out synchronous positioning on the autonomous crawling trolley on the shed and the autonomous crawling trolley under the shed by means of X-rays emitted by an X-ray source on the shed; the roof autonomous crawling trolley performs line-following scanning on the canopy according to a preset route, the X-ray source directly faces the canopy to emit X-rays, meanwhile, the flat panel detector receives the X-rays which are emitted by the X-ray source on the canopy and penetrate through the roof, and steel structure X-ray imaging is performed in the canopy closed space;

a3, acquiring X-ray imaging information of a canopy of a high-speed rail station, which is received by a flat panel detector in real time and simultaneously contains corresponding position and time information; and (4) carrying out statistical analysis on the X-ray original data acquired by the detector.

2. The rust positioning non-contact evaluation method according to claim 1, wherein the statistical analysis method comprises: the X-ray intensity values I can be divided into different sets according to the size, and for a regular rainshed, the low I set corresponds to an area with the minimum rusting; the high I set corresponds to a place with large corrosion degree, and the I value of the place corroded by corrosion is the largest; the attenuation value of the stainless steel plate with fixed thickness to X-ray is constant, and the value collected by the detector is minimum. The detector acquires X-ray original data I_iValue and minimum I_iThe difference is made, so that the thickness of the rust can be more accurately inversely calculated; each X-ray value corresponds to position and time information, so that localized areas of different rust levels can be defined.

3. The rust positioning non-contact evaluation method according to claim 1, wherein when X-ray imaging is continuously performed on a large-area rain shed, the images are registered in a manner of finding characteristic points.

4. The rust positioning non-contact evaluation method according to claim 1, wherein the steel structure rust positioning non-contact evaluation system in the high-altitude enclosed space comprises: canopy top AGV intelligent magnetism adsorbs on-vehicle module, canopy below AGV intelligent magnetism adsorbs on-vehicle module, platform subaerial intelligent on-vehicle module, data processing and the formation of image evaluation module that advances in step.

5. The rust positioning non-contact evaluation method according to claim 4, characterized in that an AGV intelligent magnetic adsorption vehicle-mounted module above the canopy adopts a roof autonomous crawling trolley which is adsorbed on the upper surface of the canopy through a magnetic crawler, the roof autonomous crawling trolley is provided with a motion control module A, a communication module A, a high-precision differential GPS, an inertial navigation unit, an X-ray source and a cloud deck, and the motion control module A is used for controlling the roof autonomous crawling trolley to keep synchronous operation on the roof with the AGV intelligent magnetic adsorption vehicle-mounted module below the canopy and an intelligent vehicle-mounted module which synchronously travels on the platform ground; high-precision positioning and autonomous cruising are carried out by means of a high-precision differential GPS and inertial navigation; an X-ray source is loaded on the belly of the autonomous crawling trolley of the roof and is used for emitting X-rays to the high-altitude steel structure canopy.

6. The rust positioning non-contact evaluation method according to claim 4, characterized in that an AGV intelligent magnetic adsorption vehicle-mounted module below a canopy is a suspended ceiling adsorption autonomous crawling trolley, is adsorbed on the lower surface of a roof through a magnetic crawler at a position opposite to the roof autonomous crawling trolley, and is provided with a motion control module B, a communication module B, a flat panel detector, a linear array detector, a slide rail, a camera and a distance meter; the flat panel detector is used for receiving X rays which are released by the X-ray source on the shed and penetrate through the roof, and carrying out X-ray imaging on the steel structure in the space enclosed by the canopy; four mutually perpendicular cross linear array detectors composed of X-ray detectors are arranged around the flat panel detector, and the linear array detectors perform synchronous positioning of the automatic crawling trolley on the shed and under the shed by means of X-rays emitted by the X-ray source on the shed, so that the flat panel detector can receive the X-rays emitted by the X-ray source carried by the trolley on the shed in real time.

7. The rust positioning non-contact evaluation method according to claim 4, wherein the X-ray source is suspended on a beam of an autonomous crawling trolley of the roof through a cradle head, and the cradle head can ensure that the X-ray source is always in a horizontal working state.

8. The rust positioning non-contact evaluation method according to claim 4, wherein the slide rail is installed at the bottom of the suspended ceiling adsorption autonomous crawling trolley and is a transverse rail perpendicular to the advancing direction of the trolley, and the flat panel detector can transversely move on the rail to correct displacement deviation of the autonomous crawling trolley under the shed relative to the autonomous crawling trolley on the shed, wherein the displacement deviation is perpendicular to the advancing direction.

9. The rust positioning non-contact evaluation method according to claim 4, characterized in that a ground support vehicle is adopted as an intelligent vehicle-mounted module which synchronously runs on the platform ground, and a larger anti-falling inflatable cushion is erected above the intelligent vehicle-mounted module and used for buffering the impact of an AGV intelligent magnetic adsorption vehicle-mounted system below a canopy in case of falling.

10. The rust positioning non-contact evaluation method according to claim 4, wherein the roof autonomous crawling trolley, the ceiling adsorption autonomous crawling trolley and the ground support trolley are communicated with each other and synchronously travel during working.

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