CN114636715B - High-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of upper shed and lower shed - Google Patents
High-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of upper shed and lower shed Download PDFInfo
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Abstract
The invention discloses a high-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of a greenhouse on the greenhouse, which is characterized in that a suspended ceiling adsorbs X rays emitted by an X ray source carried by an autonomous crawling trolley on the roof to perform synchronous positioning of the autonomous crawling trolley on the greenhouse and under the greenhouse; x-ray detectors in the linear array detector respectively acquire X-rays released by an X-ray source on the shed after penetrating through the roof, and locate four coordinate positions of the X-ray detector on the cross-shaped X-ray detector, wherein the four coordinate positions form a circular area; calculating the position deviation delta x 'and delta y' of the center of the circular area relative to the center point of the flat panel detector, namely the displacement deviation delta x 'and delta y' of the suspended ceiling adsorption autonomous crawling trolley relative to the roof autonomous crawling trolley; the synchronous positioning method can realize the real-time positioning and synchronous operation of the trolley on and off the shed, and ensure a larger data acquisition range and higher image definition.
Description
Technical Field
The invention relates to the technical field of industrial safety, in particular to a high-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of a greenhouse on the greenhouse.
Background
Steel members in station roofs or sheds are susceptible to metal tarnishing. 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 the train is endangered. The rain-proof board is scraped to the corruption of canopy top nail can cause, and the corruption of ceiling below metal component drops and can smash people or train in, can appear the circuit short circuit even, takes place incident such as conflagration. If the metal components with serious rust can be timely found and purposefully replaced, the phenomenon can be effectively avoided. However, no mature equipment and technology exist in the market at present to meet the detection requirement, so that a detection method capable of effectively judging the corrosion degree of various steel components in a station canopy enclosed space is needed to be developed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a high-altitude steel structure rust positioning evaluation method based on synchronous positioning of the upper part and the lower part of a shed aiming at the defects of the prior art.
The technical scheme of the invention is as follows:
the high-altitude steel structure corrosion positioning evaluation method based on the high-altitude steel structure corrosion positioning non-contact evaluation system for steel structure corrosion positioning non-contact evaluation comprises the following steps: the intelligent magnetic adsorption vehicle-mounted module of the AGV above the rain shed, namely the autonomous roof crawling trolley, the intelligent magnetic adsorption vehicle-mounted module of the AGV below the rain shed, namely the suspended ceiling adsorption autonomous crawling trolley, the intelligent vehicle-mounted module on the platform ground, namely the ground intelligent guarantee vehicle, the data processing and imaging evaluation module; the suspended ceiling adsorbs X-rays emitted by an X-ray source carried by the autonomous crawling trolley by means of the roof, and synchronous positioning of the autonomous crawling trolley on and under the shed is carried out; the synchronous positioning method comprises the following steps:
b1, the autonomous crawling trolley for the roof performs line scanning on the canopy according to a preset route, and an X-ray source emits X-rays to the canopy;
2, four X-ray detectors which are mutually perpendicular and cross-shaped in the linear array detector respectively acquire X-rays released by an X-ray source on the shed after penetrating through the roof, and locate four coordinate positions of the X-ray detectors on the four X-ray detectors which are mutually perpendicular and cross-shaped, wherein the four coordinate positions form a circular area;
calculating the position deviation delta x 'and delta y' of the center of the circular area relative to the center point of the flat panel detector, namely the displacement deviation delta x 'and delta y' of the suspended ceiling adsorption autonomous crawling trolley relative to the roof autonomous crawling trolley;
and B4, driving the trolley and the sliding rail to move so as to eliminate displacement deviations delta x 'and delta y', and realizing complete synchronization of intelligent vehicles on and under the shed.
The positioning evaluation method comprises the following steps:
a1, releasing the autonomous crawling trolley of the roof above a canopy, releasing the autonomous crawling trolley of the ceiling to the lower part of the canopy by adsorption, and placing the ground intelligent guarantee vehicle below the autonomous crawling trolley of the ceiling by adsorption on the ground; 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 means of magnetic adsorption crawler wheels;
a2, the autonomous roof crawling trolley carries out line scanning on the canopy according to a preset route, an X-ray source emits X-rays to the canopy, and meanwhile, a flat panel detector receives the X-rays released by the X-ray source on the canopy after penetrating through the roof, and carries out X-ray imaging of a steel structure in a closed space of the canopy; the roof autonomous crawling trolley, the suspended ceiling adsorption autonomous crawling trolley and the ground guarantee trolley are mutually communicated when in operation, and meanwhile, the linear array (X-ray) detector performs synchronous positioning of the autonomous crawling trolley on and under the shed by means of X-rays emitted by an X-ray source on the shed;
a3, collecting X-ray imaging information of a rainshed of a high-speed railway station, which is received by a flat panel detector in real time, wherein the information simultaneously comprises corresponding position and time information; and carrying out statistical analysis on the X-ray original data acquired by the detector.
The positioning evaluation method comprises the following steps: the X-ray intensity value I can be divided into different sets according to the size, and for the awning with regular installation, the low I set corresponds toIs the area with the least rust; the high I set corresponds to the place with large corrosion degree, and the I value of the place where the corrosion is penetrated is the largest; the attenuation value of the stainless steel plate with fixed thickness on X-rays is fixed, and the value acquired by the detector is minimum. The detector acquires X-ray original data I i Value and minimum I i The values are differed, and the thickness of the rust can be calculated reversely more accurately; each X-ray value corresponds to a location and time information, so that location areas of different degrees of tarnishing can be delineated.
According to the positioning evaluation method, when X-ray imaging is continuously carried out on a large-area awning, the images are registered in a mode of searching characteristic points.
According to the positioning 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 belt, the roof autonomous crawling trolley is provided with a motion control module A, a communication module A, a high-precision differential GPS and 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 synchronously run above the roof, the AGV intelligent magnetic adsorption vehicle-mounted module below the rain shed and an intelligent vehicle-mounted module 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; the abdomen of the autonomous crawling trolley for the roof is provided with an X-ray source which is used for emitting X-rays to the high-altitude steel structure canopy.
According to the positioning evaluation method, an AGV intelligent magnetic adsorption vehicle-mounted module below a rain shed is used for adsorbing an autonomous crawling trolley for a suspended ceiling, and is adsorbed at a position, opposite to the autonomous crawling trolley, on the lower surface of a roof through a magnetic crawler belt, and a motion control module B, a communication module B, a flat panel detector, a linear array detector, a sliding rail, a camera and a range finder are mounted; the flat panel detector is used for receiving X-rays released by the X-ray source on the canopy after penetrating through the roof and carrying out X-ray imaging of the steel structure in the closed space of the canopy; four mutually perpendicular cross linear array detectors which are formed by the X-ray detectors are arranged around the flat panel detector, and the linear array detectors can synchronously position the autonomous crawling trolley 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.
According to the positioning evaluation method, the X-ray source is hung on the cross beam of the autonomous crawling trolley of the roof 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 positioning evaluation method, 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 in the direction perpendicular to the advancing direction.
According to the positioning evaluation method, an intelligent vehicle-mounted module synchronously travelling on the ground of a platform adopts a ground guarantee vehicle, and a larger anti-falling inflatable cushion is supported above the intelligent vehicle-mounted module and is used for buffering impact caused by the fact that an AGV intelligent magnetic adsorption vehicle-mounted system below a canopy falls in case.
The X-ray imaging technology is combined with the AGV intelligent magnetic adsorption vehicle-mounted system, and X-ray scanning imaging of the steel structure in the closed space of the high-speed railway canopy can be achieved. The intelligent picture difference comparison and the data statistical analysis are carried out on the shot pictures, so that the steel member with rust can be identified in time, the risk rating and positioning are carried out on the rust part, and the intelligent picture difference comparison and the data statistical analysis have important significance in pertinence on station house decoration and maintenance of building enclosures, reduction of unnecessary cost expenditure such as reworking and the like, improvement of management level, prevention of accidents and reduction of accidents endangering passengers and train operation safety accidents, and have great popularization value.
Drawings
FIG. 1 is a schematic diagram of a steel structure rust positioning non-contact evaluation system in a high-altitude enclosed space;
the system comprises a 10 high-speed rail station awning, a 21 motion control module, a 22 magnetic adsorption crawler, a 23X-ray source, a 24GPS, a 25 communication module I, a 26 cradle head, a 31 motion control module, a 33 communication module II, a 34 battery, a 35 range finder, a 36 illuminating lamp, a 37 camera, a 38 magnetic adsorption crawler, a 39 flat panel detector, a 40 linear array detector, a 42 sliding rail, a 43 inflatable cushion and a 44 motion control module;
FIG. 2 is a schematic diagram of an intelligent carrying system above a canopy; A. b is view at different angles
FIG. 3 is a schematic diagram of an intelligent carrying system under a canopy; a top view, B bottom view;
FIG. 4 is a schematic diagram of a detection flow;
FIG. 5 is a flow chart of a method for synchronously positioning intelligent vehicles on and off a shed;
FIG. 6 is an illuminated area of X-rays on a linear array;
FIG. 7 is a schematic diagram of a synchronous positioning method of 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, a steel structure rust positioning non-contact evaluation system in a high-altitude closed space comprises: the system comprises an AGV intelligent magnetic adsorption vehicle-mounted module above a rain shed, an AGV intelligent magnetic adsorption vehicle-mounted module below the rain shed, an intelligent vehicle-mounted module on the ground of a platform for synchronous running, a data processing and imaging evaluation module;
fig. 2 is a schematic diagram of an intelligent carrying system above a rain shed, in this embodiment, an autonomous roof climbing trolley is adsorbed on the upper surface of the roof through a magnetic crawler in the working process, the autonomous roof climbing trolley is provided 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 cradle head, and the motion control module A is used for controlling the autonomous roof climbing trolley to synchronously run on the roof, the intelligent magnetic adsorption vehicle module below the rain shed and the intelligent vehicle module on the platform floor; high-precision positioning and autonomous cruising are carried out by means of a high-precision differential GPS and inertial navigation; the abdomen of the autonomous roof crawling trolley is provided with an X-ray source for X-ray imaging, and the X-ray source is hung on a cross beam of the autonomous roof crawling trolley through a cradle head; the cradle head can ensure that the X-ray source is always in a horizontal working state.
Fig. 3 is a schematic diagram of an intelligent carrying system below the awning, in this embodiment, a suspended ceiling is used for adsorbing an autonomous crawling trolley, and the autonomous crawling trolley is adsorbed on the lower surface of a roof through a magnetic crawler in the working process and is opposite to the position of the autonomous crawling trolley, and a motion control module B, a communication system, a flat panel (X-ray) detector, a linear array (X-ray) detector, a sliding rail, a panoramic camera and a range finder are mounted on the autonomous crawling trolley.
The flat panel detector is used for receiving X-rays released by the X-ray source on the canopy after penetrating through the roof and carrying out X-ray imaging of the steel structure of 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 in the direction perpendicular to the advancing direction;
four mutually perpendicular cross linear array (X-ray) detectors consisting of the X-ray detectors are arranged around the flat panel (X-ray) detector, and the linear array (X-ray) detector performs synchronous positioning of the autonomous crawling trolley 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.
The intelligent vehicle-mounted module synchronously advancing on the ground of the platform is a ground guarantee vehicle in the embodiment, and a larger anti-falling inflatable cushion is supported above the intelligent vehicle-mounted module and used for buffering impact caused by the fact that an AGV intelligent magnetic adsorption vehicle-mounted system below a canopy falls in case of falling.
The roof autonomous crawling trolley, the suspended ceiling adsorption autonomous crawling trolley and the ground guarantee trolley are mutually communicated and run synchronously when working. The two systems on the shed and the shed adopt wide magnetic adsorption crawler wheels, have stronger suction force and obstacle crossing capability, and cannot fall into a gap below the suspended ceiling; the trolley running on the platform ground is a common wheel and has no caterpillar band.
The three intelligent vehicle-mounted systems, namely the roof autonomous crawling trolley, the suspended ceiling adsorption autonomous crawling trolley and the ground guarantee trolley are mutually communicated and synchronously positioned in a wireless network bridge mode.
In consideration of the characteristics of a booth and the X-ray imaging requirements, a 160KV portable X-ray source is adopted, the using angle of rays is 50 degrees, the rays are emitted in a conical shape, the cross section is a circular cross section, and the radius of the circular cross 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: collecting X-ray imaging information of a rainshed 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 X-ray imaging is continuously carried out on a large-area awning, the images can be registered in a mode of searching characteristic points; statistical analysis unit: (1) The method comprises the steps that statistics analysis is carried out on original X-ray data collected by a detector, X-ray intensity values I can be divided into different sets according to the size, and for a regularly installed awning, a low I set corresponds to a region with minimal rust; the high I set corresponds to the place with large corrosion degree, and the I value of the place where the corrosion is penetrated is the largest. (2) The attenuation value of the stainless steel plate with fixed thickness on X-rays is fixed, and the value acquired by the detector is minimum. The detector acquires X-ray original data I i Value and minimum I i The difference is made, and the thickness of the rust can be calculated reversely more accurately. (3) Each X-ray value corresponds to position and time information, so that a location area of varying degrees of size can be delineated.
By using the statistical analysis method or the artificial intelligence picture comparison method, the rust degree of the steel structure in the closed space of the awning of the high-speed rail station can be automatically identified by means of software, positioning and visual imaging are performed, and different rust grades are defined on the awning map, so that the method has positive significance for operation and maintenance management.
Referring to fig. 4, the non-contact evaluation method for rust positioning of the steel structure in the high-altitude enclosed space comprises the following steps:
a1, releasing the autonomous crawling trolley of the roof above a canopy, releasing the autonomous crawling trolley of the ceiling to the lower part of the canopy by adsorption, and placing the ground intelligent guarantee vehicle below the autonomous crawling trolley of the ceiling by adsorption on the ground; 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 means of magnetic adsorption crawler wheels;
a2, the autonomous roof crawling trolley carries out line scanning on the canopy according to a preset route, an X-ray source emits X-rays to the canopy, and meanwhile, a flat panel detector receives the X-rays released by the X-ray source on the canopy after penetrating through the roof, and carries out X-ray imaging of a steel structure in a closed space of the canopy; the roof autonomous crawling trolley, the suspended ceiling adsorption autonomous crawling trolley and the ground guarantee trolley are communicated with each other during operation, and meanwhile, the linear array (X-ray) detector performs synchronous positioning of the autonomous crawling trolley on the greenhouse and under the greenhouse by means of X-rays emitted by an X-ray source on the greenhouse;
a3, collecting X-ray imaging information of the rainshed of the high-speed railway station, which is received by the flat panel detector in real time, wherein the information simultaneously comprises corresponding position and time information; carrying out statistical analysis on the original X-ray data acquired by the detector;
the statistical analysis method comprises the following steps: the X-ray intensity value I can be divided into different sets according to the size, and for a regularly installed awning, the low I set corresponds to the area with the least rust; the high I set corresponds to the place with large corrosion degree, and the I value of the place where the corrosion is penetrated is the largest; the attenuation value of the stainless steel plate with fixed thickness on X-rays is fixed, and the value acquired by the detector is minimum. The detector acquires X-ray original data I i Value and minimum I i The values are differed, and the thickness of the rust can be calculated reversely more accurately; each X-ray value corresponds to position and time information, so that position areas with different degrees can be defined;
when X-ray imaging is continuously carried out on a large-area awning, the images can be registered in a mode of searching characteristic points;
FIG. 6 is an irradiation area of X-rays on a linear array, and FIG. 7 is a schematic diagram of a synchronous positioning method of intelligent vehicles on and off a shed; the intelligent vehicle-mounted system below the rain shed 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, a plurality of detectors are sequentially arranged on scale values of the two coordinate systems, an X-ray source carried by the intelligent vehicle-mounted system above the rain shed emits X rays downwards in a conical shape, an area irradiated by the X rays is a circular section, linear array detectors in the area are irradiated by the X rays and all have gray value output (circular area in figure 6), and the detectors in the area outside the circular section are not irradiated by the X rays and have no gray value output, and a boundary line of the two areas and the linear array are respectively intersected with A, B,Four points C and D. By monitoring whether the gray value is output or not, coordinate values of four points, namely X, can be captured in real time A 、X B 、Y C 、Y D The circle center O point coordinates are
FIG. 5 is a flow chart of a method for synchronously positioning intelligent vehicles on and off a shed; the method comprises the following steps:
b1, the autonomous crawling trolley for the roof performs line scanning on the canopy according to a preset route, and an X-ray source emits X-rays to the canopy;
2, four X-ray detectors which are mutually perpendicular and cross-shaped in the linear array (X-ray) detector respectively acquire X-rays released by an X-ray source on the shed after penetrating through the roof, and locate four coordinate positions of the X-rays on the four X-ray detectors which are mutually perpendicular and cross-shaped, wherein the four coordinate positions form a circular area;
calculating the position deviation delta x 'and delta y' of the center of the circular area relative to the center point of the flat panel detector, namely the displacement deviation delta x 'and delta y' of the suspended ceiling adsorption autonomous crawling trolley relative to the roof autonomous crawling trolley;
and B4, driving the trolley and the sliding rail to move so as to eliminate displacement deviations delta x 'and delta y', and realizing complete synchronization of intelligent vehicles on and under the shed.
Regarding the acquisition of Δx 'and Δy', when the on-ceiling and off-ceiling vehicle systems are synchronized, there are:
X A ＝-X B
Y C ＝-Y D
when the upper and lower vehicle-mounted systems of the shed are not synchronous (gray discontinuous circles in fig. 7), the ray source is not overlapped with the origin O of the X-Y coordinate system of the linear array, and the intersection points of the X-ray irradiation area on the linear array and the X-Y coordinate system of the linear array are assumed to be a ', B ', C ' and D ', respectively, and the circle center is O ', then the offset values Δx ' and Δy ' under the shed relative to the center of the system on the shed are:
the intelligent vehicle-mounted system on the shed completes autonomous running of a set detection line by means of a high-precision differential GPS, the system under the shed controls the AB phase encoding speed reduction motor to linearly run by 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') still can be generated, the delta y 'linearly run or retreat by the AB phase encoding speed reduction motor to complete deviation correction, and the delta x' moves along the vertical track direction by using a sliding rail moving panel and a linear array detector on the abdomen of the vehicle-mounted system under the shed to complete deviation correction.
Four sides of the intelligent carrying system are respectively provided with 2 range finders, 1 lighting lamp and 1 camera, so that the distance between the image around the vehicle body and the obstacle can be obtained in real time, and an alarm message can be sent out in time.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.
Claims (6)
1. The method for evaluating the corrosion positioning of the high-altitude steel structure synchronously positioned under the greenhouse is based on a high-altitude steel structure corrosion positioning non-contact evaluation system for performing steel structure corrosion positioning non-contact evaluation and is characterized in that the high-altitude steel structure corrosion positioning non-contact evaluation system comprises the following components: the intelligent magnetic adsorption vehicle-mounted module of the AGV above the rain shed, namely the autonomous roof crawling trolley, the intelligent magnetic adsorption vehicle-mounted module of the AGV below the rain shed, namely the suspended ceiling adsorption autonomous crawling trolley, the intelligent vehicle-mounted module on the platform ground, namely the ground intelligent guarantee vehicle, the data processing and imaging evaluation module; the suspended ceiling adsorbs the autonomous crawling trolley, is adsorbed on the lower surface of the roof opposite to the position of the autonomous crawling trolley through the magnetic crawler, and is provided with a motion control module B, a communication module B, a flat panel detector, a linear array detector, a sliding rail, a camera and a range finder; the flat panel detector is used for receiving X-rays released by the X-ray source on the canopy after penetrating through the roof and carrying out X-ray imaging of the steel structure in the closed space of the canopy; four linear array detectors which are perpendicular to each other and are formed by X-ray detectors are arranged around the flat panel detector; 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 in the direction perpendicular to the advancing direction; the suspended ceiling adsorbs X-rays emitted by an X-ray source carried by the autonomous crawling trolley by means of the roof, and synchronous positioning of the autonomous crawling trolley on and under the shed is carried out, 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; the synchronous positioning method comprises the following steps:
b1, the autonomous crawling trolley for the roof performs line-following scanning above the canopy according to a preset route, and the X-ray source emits X-rays to the canopy;
2, four X-ray detectors which are mutually perpendicular and cross-shaped in the linear array detector respectively acquire X-rays released by an X-ray source on the shed after penetrating through the roof, and locate four coordinate positions of the X-ray detectors on the four X-ray detectors which are mutually perpendicular and cross-shaped, wherein the four coordinate positions form a circular area;
calculating the position deviation delta x 'and delta y' of the center of the circular area relative to the center point of the flat panel detector, namely the displacement deviation delta x 'and delta y' of the suspended ceiling adsorption autonomous crawling trolley relative to the roof autonomous crawling trolley;
b4, driving the trolley and the sliding rail to move to eliminate displacement deviations delta x 'and delta y', so as to realize complete synchronization of intelligent vehicles on and under the shed;
the method for evaluating the rust positioning of the high-altitude steel structure comprises the following steps:
a1, releasing the autonomous crawling trolley of the roof above a canopy, releasing the autonomous crawling trolley of the ceiling to the lower part of the canopy by adsorption, and placing the ground intelligent guarantee vehicle below the autonomous crawling trolley of the ceiling by adsorption on the ground; 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 means of magnetic adsorption crawler wheels;
a2, the autonomous roof crawling trolley carries out line scanning on the canopy according to a preset route, an X-ray source emits X-rays to the canopy, and meanwhile, a flat panel detector receives the X-rays released by the X-ray source on the canopy after penetrating through the roof, and carries out X-ray imaging of a steel structure in a closed space of the canopy; the roof autonomous crawling trolley and the suspended ceiling are mutually communicated when being adsorbed by the autonomous crawling trolley and the ground guarantee trolley are operated;
a3, collecting X-ray imaging information of a rainshed of a high-speed railway station, which is received by a flat panel detector in real time, wherein the information simultaneously comprises corresponding position and time information; and carrying out statistical analysis on the X-ray original data acquired by the detector.
2. The positioning evaluation method according to claim 1, wherein the statistical analysis method is: the X-ray intensity value I can be divided into different sets according to the size, and for a regularly installed awning, the low I set corresponds to the area with the least rust; the high I set corresponds to the place with large corrosion degree, and the I value of the place where the corrosion is penetrated is the largest; the attenuation value of the stainless steel plate with fixed thickness on X-rays is fixed, and the value acquired by the flat panel detector is minimum; the flat panel detector acquires X-ray original data I i Value and minimum I i The values are differed, and the thickness of the rust can be calculated reversely more accurately; each X-ray value corresponds to a location and time information, so that location areas of different degrees of tarnishing can be delineated.
3. The positioning evaluation method according to claim 1, wherein the images are registered by searching for feature points when continuously performing X-ray imaging on a large-area canopy.
4. The positioning evaluation method according to claim 1, wherein 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 and 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 synchronously run on the roof, the AGV intelligent magnetic adsorption vehicle-mounted module below the rain shed and an intelligent vehicle-mounted module on the platform floor; high-precision positioning and autonomous cruising are carried out by means of a high-precision differential GPS and inertial navigation; the abdomen of the autonomous crawling trolley for the roof is provided with an X-ray source which is used for emitting X-rays to the high-altitude steel structure canopy.
5. The positioning evaluation method according to claim 1, wherein the X-ray source is suspended on a cross beam of the autonomous crawling trolley for the roof by a cradle head, and the cradle head can ensure that the X-ray source is always in a horizontal working state.
6. The positioning evaluation method according to claim 1, wherein the intelligent vehicle-mounted module synchronously travelling on the ground of the platform adopts a ground guarantee vehicle, and a larger anti-falling inflatable cushion is supported above the ground guarantee vehicle for buffering impact caused by the AGV intelligent magnetic absorption vehicle-mounted system under the rain shed in case of falling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210221779.4A CN114636715B (en) | 2022-03-09 | 2022-03-09 | High-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of upper shed and lower shed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210221779.4A CN114636715B (en) | 2022-03-09 | 2022-03-09 | High-altitude steel structure corrosion positioning evaluation method based on synchronous positioning of upper shed and lower shed |
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| CN101515370B (en) * | 2009-03-06 | 2011-05-18 | 北京航空航天大学 | Calibration method of projection coordinate of ray source focus in three-dimensional microscopic CT scanning system |
| WO2011156526A2 (en) * | 2010-06-08 | 2011-12-15 | Accuray, Inc. | Imaging methods and target tracking for image-guided radiation treatment |
| TWI588446B (en) * | 2013-03-14 | 2017-06-21 | Tokyo Electron Ltd | X-ray non-destructive inspection device |
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| US10127691B2 (en) * | 2016-11-21 | 2018-11-13 | The Boeing Company | Geometry correction for computed tomography |
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