CN114414598A - Steel structure corrosion positioning non-contact evaluation method in high-altitude closed space - Google Patents
Steel structure corrosion positioning non-contact evaluation method in high-altitude closed space Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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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
Technical Field
The invention relates to the technical field of industrial safety, in particular to a non-contact evaluation method for rust positioning of a steel structure in a high-altitude closed space.
Background
The development of the detection, identification and evaluation standard pertinence research of station houses, main structures, building envelopes and decorative components is an important guarantee for improving operation and maintenance safety, structural applicability and durability, and is necessary for railway transportation safety guarantee. The steel members in the station roof or canopy are susceptible to metal corrosion. When the corrosion is serious, part of metal components can be corroded and fall off, so that a safety event is caused, and even the normal operation of a train is endangered. The rain shielding plate can be scraped to fly due to the corrosion of the nail above the canopy, and people or trains can be hit due to the corrosion and the falling of the metal component below the canopy, even the safety accidents such as line short circuit, fire and the like can occur. If the metal component with serious corrosion can be found in time and replaced in a targeted manner, the phenomenon can be effectively avoided. However, no mature equipment and technology can meet the detection requirement in the current market, so that a detection method capable of effectively judging the corrosion degree of various steel members in the closed space of the station canopy needs to be developed urgently.
Disclosure of Invention
The invention aims to solve the technical problem of providing a non-contact evaluation method for rust positioning of a steel structure in a high-altitude closed space aiming at the defects of the prior art.
The technical scheme of the invention is as follows:
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 comprises the following steps:
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, wherein the information simultaneously comprises corresponding position and time information; and (4) carrying out statistical analysis on the X-ray original data acquired by the detector.
The rust positioning non-contact evaluation method comprises the following steps: 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 IiValue and minimum IiThe difference is made, so that the thickness of the rust can be more accurately inversely calculated; each X-ray valueCorrespond to position and time information and therefore define position areas of different sizes.
The rust positioning non-contact evaluation method is used for registering images in a mode of searching characteristic points when X-ray imaging is continuously carried out on a large-area canopy.
The rust positioning non-contact evaluation method is characterized in that a steel structure rust positioning non-contact evaluation system in a high-altitude closed space comprises the following steps: 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.
According to the corrosion positioning non-contact evaluation method, an AGV intelligent magnetic adsorption vehicle-mounted module above a rain shed adopts a roof autonomous crawling trolley, the roof autonomous crawling trolley is adsorbed on the upper surface of the roof 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, the AGV intelligent magnetic adsorption vehicle-mounted module below the rain shed and an intelligent vehicle-mounted module which synchronously travels on the ground of a platform; 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.
According to the corrosion positioning non-contact evaluation method, 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 in a position opposite to the autonomous crawling trolley of the roof through a magnetic crawler, 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.
According to the rust positioning non-contact evaluation method, the X-ray source is suspended on a cross beam of the roof autonomous crawling trolley through the cradle head, and the cradle head can ensure that the X-ray source is always in a horizontal working state.
According to the rust positioning non-contact evaluation method, the slide rail is arranged 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 so as 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.
According to the corrosion positioning non-contact evaluation method, a ground guarantee vehicle is adopted as an intelligent vehicle-mounted module which synchronously advances on the ground of a platform, and a large anti-falling inflatable cushion is supported above the intelligent vehicle-mounted module and is used for buffering the impact caused by the fact that an AGV intelligent magnetic adsorption vehicle-mounted system below a canopy falls in case.
According to the corrosion positioning non-contact evaluation method, 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 synchronously advance.
X-ray imaging technique combines together with AGV intelligence magnetism adsorption vehicle mounted system, can realize the X-ray scanning formation of image to steel construction in the high-speed railway canopy enclosure space. By carrying out intelligent picture difference comparison and data statistical analysis on the shot pictures, the method is beneficial to identifying the rusted steel member in time and carrying out risk rating and positioning on the rusted part, has important significance for pointedly carrying out station house decoration and building envelope maintenance, reducing unnecessary expense such as rework and the like on a maintenance unit, improving the management level, avoiding accidents and reducing accidents endangering passengers and train operation safety, and has great popularization value.
Drawings
FIG. 1 is a schematic diagram of a steel structure corrosion positioning non-contact evaluation system in a high-altitude closed space;
10 high-speed rail station rainshed, 21 motion control module, 22 magnetic adsorption crawler belt, 23X-ray source, 24GPS,25 communication module I,26 cradle head, 31 motion control module, 33 communication module II, 34 battery, 35 distance measuring instrument, 36 illuminating lamp, 37 camera, 38 magnetic adsorption crawler belt, 39 flat panel detector, 40 linear array detector, 42 slide rail, 43 inflatable cushion and 44 motion control module;
FIG. 2 is a schematic view of an intelligent delivery system above a canopy; A. b are views at different angles respectively;
FIG. 3 is a schematic view of an intelligent delivery system under a canopy; a top view, B bottom view;
FIG. 4 is a schematic view of a detection process;
FIG. 5 is a flow chart of a method for synchronously positioning intelligent vehicles on and off a shed;
FIG. 6 is an irradiation area of X-rays on a linear array;
FIG. 7 is a schematic diagram illustrating a method for synchronously positioning intelligent vehicles on and off a shed;
Detailed Description
The present invention will be described in detail with reference to specific examples.
Referring to fig. 1, the non-contact evaluation system for the rust positioning of the steel structure in the high-altitude closed space comprises: the system comprises an AGV intelligent magnetic adsorption vehicle-mounted module above a canopy, an AGV intelligent magnetic adsorption vehicle-mounted module below the canopy, an intelligent vehicle-mounted module which synchronously travels on the ground of a platform, and a data processing and imaging evaluation module;
an AGV intelligent magnetic adsorption vehicle-mounted module above a canopy, a schematic diagram of an intelligent carrying system above the canopy is shown in FIG. 2, and the AGV intelligent magnetic adsorption vehicle-mounted module is an autonomous roof crawling trolley which is adsorbed on the upper surface of the canopy through a magnetic crawler in the working process, the autonomous roof crawling trolley is provided with a motion control module A, a communication system 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 autonomous roof crawling trolley to keep synchronous operation on the canopy, 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 abdomen of the autonomous crawling trolley of the roof and is used for X-ray imaging, and the X-ray source is suspended on a cross beam of the autonomous crawling trolley of the roof through a cradle head; the holder can ensure that the X-ray source is always in a horizontal working state.
On-vehicle module of canopy below AGV intelligent magnetism, FIG. 3 is canopy below intelligence delivery system schematic diagram, adsorbs the dolly of independently crawling for the furred ceiling in this embodiment, and it adsorbs the position that the dolly of independently crawling to the roof under the roof through the magnetism track in the course of the work, carries with motion control module B, communication system and flat (X ray) detector, linear array (X ray) detector, slide rail, panoramic camera and distancer.
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; the sliding rail is arranged 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 so as 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;
four mutually perpendicular cross linear array (X-ray) detectors consisting of X-ray detectors are arranged around the flat panel (X-ray) detector, and the linear array (X-ray) detectors perform synchronous positioning of the trolley independently crawling on 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.
Platform is the ground support car at this embodiment of the on-vehicle module of intelligence of marcing in step on the ground, and a great dropproof inflatable packer has been propped up to its top for the impact that causes in case of falling in the buffering canopy below AGV intelligent magnetism adsorption vehicle mounted system.
The roof independently crawls the dolly, the furred ceiling adsorbs and communicates each other when independently crawling dolly and ground guarantee car work, and the synchronous marching. The upper shed system and the lower shed system adopt wide magnetic adsorption crawler wheels, have strong suction and obstacle crossing capability, and cannot fall into gaps below the suspended ceiling; the trolley which advances on the platform ground is a common wheel and has no track.
Three intelligent vehicle-mounted systems, namely a roof autonomous crawling trolley, a suspended ceiling adsorption autonomous crawling trolley and a ground support vehicle, are communicated with each other and synchronously positioned in a wireless network bridge mode.
In consideration of the characteristics of the station shed and the requirement of X-ray imaging, a 160KV portable X-ray source is adopted, the ray use angle is 50 degrees, the cone-shaped emission is realized, the section is a circular section, and the radius of the circular section is in direct proportion to the distance between the ray source and the detector.
The data processing and imaging evaluation module comprises a signal acquisition unit: 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, wherein the information simultaneously comprises corresponding position and time information; an image stitching unit: when the X-ray imaging is continuously carried out on the large-area canopy, the images can be registered in a mode of searching for characteristic points; a statistical analysis unit: (1) the method comprises the following steps of collecting X-ray original data by a detector, carrying out statistical analysis, dividing an X-ray intensity value I into different sets according to the size, wherein for a regular installation of a rain shed, a low I set corresponds to a region with minimum rust; the high I set corresponds to the place with large corrosion degree, and the I value of the place with corrosion penetration is the largest. (2) 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 IiValue and minimum IiThe difference of the values can accurately back calculate the thickness of the rust. (3) Each X-ray value corresponds to position and time information, so that different degrees of size of the position area can be defined.
By utilizing the statistical analysis method or the artificial intelligent picture comparison method, the corrosion degree of the steel structure in the closed space of the canopy of the high-speed rail station can be automatically identified by means of software, positioning and visual imaging are carried out, different corrosion grades are defined on a canopy map, and the method has positive significance for operation and maintenance management.
Referring to fig. 4, the non-contact evaluation method for the rust positioning of the steel structure in the high-altitude closed space comprises the following steps:
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, wherein the information simultaneously comprises corresponding position and time information; collecting X-ray original data by a detector, and performing statistical analysis;
the statistical analysis method comprises the following steps: 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 IiValue and minimum IiThe 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 position areas of different degrees can be defined;
when the large-area canopy is subjected to continuous X-ray imaging, images can be registered in a mode of searching for characteristic points; FIG. 6 is an irradiation area of X-rays on a linear array, and FIG. 7 is a schematic diagram of a method for synchronously positioning intelligent vehicles on and under a shed; the intelligent vehicle-mounted system below the canopy is provided with a cross-shaped X-ray detector array, the two detector arrays form an X-Y coordinate system (figure 6, the Y axis is parallel to the track direction, the X axis is perpendicular to the track direction, and a plurality of detectors are sequentially arranged on scale values of the two coordinate systemsThe detectors are X-ray illuminated and all have gray value outputs (circular areas in fig. 6), while the detectors in areas outside the circular cross-section do not receive X-ray illumination and do not have gray value outputs. The two area boundaries intersect the linear arrays at A, B, C and D points, respectively. By monitoring the presence or absence of the output of the magnitude, the coordinate values of the four points, i.e. X, can be captured in real timeA、XB、YC、YDThe center of the circle is O point coordinate
FIG. 5 is a flow chart of a method for synchronously positioning intelligent vehicles on and off a shed; when the on-shed and off-shed loading systems are synchronized, the on-shed source is centered with the off-shed panel detectors (circular area in fig. 7), with:
XA＝-XB
YC＝-YD
when the on-board and off-board systems of the shed are not synchronized (gray discontinuous circles in fig. 7), the source of radiation does not vertically coincide with the origin O of the X-Y coordinate system of the linear array, assuming that the intersection points of the X-ray irradiation area on the linear array and the X-Y coordinate system of the linear array are a ', B ', C ' and D ', and the center of the circle is O ', then the offset values Δ X and Δ Y under the shed relative to the center of the on-board system are:
the intelligent vehicle-mounted system on the shed finishes the autonomous advance of a set detection line by means of a high-precision differential GPS, the system under the shed controls an AB-phase coding speed reducing motor to linearly advance to the same displacement value according to the deviation displacement value relative to the system on the shed, a small amount of displacement deviation values (delta x 'and delta y') are generated, the delta y 'finishes the deviation correction by linearly advancing or retreating the AB-phase coding speed reducing motor, and the delta x' finishes the deviation correction by moving a sliding rail moving panel and a linear array detector on the belly of the vehicle-mounted system under the shed along the direction of a vertical rail.
Four sides of intelligence delivery system have 2 distancers, 1 light and 1 camera respectively, can acquire the distance of image and barrier around the automobile body in real time, in time send alarm information.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
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 IiValue and minimum IiThe 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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