Non-contact Evaluation System for Rust Location of Steel Structures in High-altitude Enclosed Spaces

Abstract

The present invention discloses a non-contact evaluation system for locating steel structure corrosion in high-altitude enclosed spaces. An X-ray source is loaded in the abdomen of a self-crawling trolley on the roof, which is used to emit X-rays directly at the high-altitude steel structure awning; a flat panel detector is used to receive the X-rays after the X-ray source on the awning penetrates the roof, and perform X-ray imaging of the steel structure in the enclosed space of the awning. By performing intelligent picture difference comparison and data statistical analysis on the pictures, it helps to timely identify the corroded steel components, and conduct risk rating and positioning of the corroded parts. This is of great significance for the maintenance unit to carry out targeted station building decoration and maintenance of the enclosure structure, reduce unnecessary cost expenditures such as rework, improve the management level, avoid accidents and reduce the occurrence of unexpected events endangering the safety of passengers and train operation, and has great promotion value.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial safety, and particularly to a non-contact evaluation system for locating steel structure corrosion in a high-altitude enclosed space. Background Art

[0002] Most of the currently constructed railway station buildings adopt large-span steel structures, glass curtain walls, metal or stone curtain wall enclosing structures, etc. At present, most of the station buildings have been built for 10 to 15 years. During the use process, the effects brought by environmental corrosion, wind loads or equipment vibrations, and the structural changes caused by building settlement will all cause varying degrees of damage to the structure. If these damages cannot be detected and discovered in time and given necessary and reasonable repairs, it will affect the use function of the station, and even pose safety hazards to passengers and train operations. For the inspection and evaluation of the safety and usability of the station building decoration and enclosing structure (including decorative hanging components, etc.), there are already "Standard for Reliability Appraisal of Civil Buildings" (GB50292-2015), "Standard for Appraisal of Dangerous Buildings" (JGJ125-2016) and "Railway Station Building Overhaul and Maintenance Guide Manual" compiled by China Railway on behalf of China Railway Corporation, which have given some meaningful regulations and guiding opinions, but the degree of deepening, systematicness, pertinence and operability are still weak. Therefore, carrying out targeted research on the detection, appraisal and evaluation standards of station buildings, main structures, enclosing structures and decorative components is an important guarantee for improving operation and maintenance safety, structural applicability and durability, and is very necessary for railway transportation safety guarantee.

[0003] The steel components in the station roof or canopy are easily affected by metal corrosion. When the corrosion is severe, some metal components will corrode and break off, which will cause safety incidents and even endanger the normal operation of the train. The corrosion and breakage of the nails above the canopy will cause the rain shield to be blown away, and the corrosion and breakage of the metal components below the ceiling will hit people or trains, and even short circuits may occur, resulting in safety accidents such as fires. If the severely corroded metal components can be discovered in time and replaced targeted, the above phenomena can be effectively avoided. However, there are currently no mature devices and technologies on the market that can meet this detection requirement. Therefore, it is urgent to develop a detection system that can effectively distinguish the corrosion degree of various steel components in the enclosed space of the station canopy. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a non-contact evaluation system for locating steel structure corrosion in a high-altitude enclosed space in view of the deficiencies of the prior art.

[0005] The technical solution of the present invention is as follows:

[0006] A non-contact evaluation system for rust location of steel structures in high-altitude enclosed spaces. The steel structure in the high-altitude enclosed space is a high-altitude steel structure awning. It is characterized by including: an AGV intelligent magnetic adsorption vehicle-mounted module above the awning, an AGV intelligent magnetic adsorption vehicle-mounted module below the awning, an intelligent vehicle-mounted module moving synchronously on the platform ground, and a data processing and imaging evaluation module.

[0007] The AGV intelligent magnetic adsorption vehicle-mounted module above the awning uses a roof autonomous crawling vehicle, which is adsorbed on the upper surface of the roof through magnetic tracks. The roof autonomous crawling vehicle is equipped with a motion control module A, a communication module A, a high-precision differential GPS and an inertial navigation unit, an X-ray source and a pan-tilt head. The motion control module A is used to control the roof autonomous crawling vehicle to run synchronously with the AGV intelligent magnetic adsorption vehicle-mounted module below the awning and the intelligent vehicle-mounted module moving synchronously on the platform ground on the roof; rely on high-precision differential GPS and inertial navigation for high-precision positioning and autonomous cruising; an X-ray source is loaded in the abdomen of the roof autonomous crawling vehicle for emitting X-rays directly at the high-altitude steel structure awning.

[0008] The AGV intelligent magnetic adsorption vehicle-mounted module below the awning uses a ceiling adsorption autonomous crawling vehicle, which is adsorbed on the lower surface of the roof at a position directly opposite to the roof autonomous crawling vehicle through magnetic tracks. It is equipped 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 rangefinder; the flat panel detector is used to receive the X-rays after the X-ray source above the awning penetrates the roof and perform X-ray imaging of the steel structure in the enclosed space of the awning; four mutually perpendicular X-ray detectors in a cross shape are arranged around the flat panel detector to form a linear array detector. The linear array detector uses the X-rays emitted by the X-ray source above the awning to perform synchronous positioning of the autonomous crawling vehicles above and below the awning, ensuring that the flat panel detector can receive the X-rays emitted by the X-ray source carried by the vehicle above the awning in real time.

[0009] In the rust location non-contact evaluation system described above, the X-ray source is suspended on the cross beam of the roof autonomous crawling vehicle through a pan-tilt head, and the pan-tilt head can ensure that the X-ray source is always in a horizontal working state.

[0010] In the rust location non-contact evaluation system described above, the slide rail is installed at the bottom of the ceiling adsorption autonomous crawling vehicle and is a transverse track perpendicular to the forward direction of the vehicle. The flat panel detector can move horizontally on this track to correct the displacement deviation of the autonomous crawling vehicle below the awning relative to the autonomous crawling vehicle above the awning in the direction perpendicular to the traveling direction.

[0011] In the rust location non-contact evaluation system described above, the intelligent vehicle-mounted module moving synchronously on the platform ground uses a ground support vehicle, and a relatively large anti-drop inflatable cushion is set up above it to buffer the impact caused by the possible fall of the AGV intelligent magnetic adsorption vehicle-mounted system below the awning.

[0012] For the described non-contact evaluation system for rust location, the roof autonomous crawling vehicle, the ceiling adsorption autonomous crawling vehicle, and the ground support vehicle communicate with each other and move synchronously during operation.

[0013] For the described non-contact evaluation system for rust location, the roof autonomous crawling vehicle and the ceiling adsorption autonomous crawling vehicle adopt wide magnetic adsorption crawler wheels, which have strong suction and obstacle-crossing ability and will not fall into the gaps under the ceiling.

[0014] For the described non-contact evaluation system for rust location, the vehicle traveling on the platform ground has ordinary wheels without crawlers.

[0015] For the described non-contact evaluation system for rust location, the three intelligent vehicle-mounted systems, namely the roof autonomous crawling vehicle, the ceiling adsorption autonomous crawling vehicle, and the ground support vehicle, communicate with each other and perform synchronous positioning by means of a wireless bridge.

[0016] For the described non-contact evaluation system for rust location, a 160KV portable X-ray source is adopted. The radiation use angle of the X-ray is 50 degrees, with a conical emission and a circular cross-section. Its radius is proportional to the distance between the X-ray source and the detector.

[0017] For the described non-contact evaluation system for rust location, the data processing and imaging evaluation module includes a signal acquisition unit: collecting the X-ray imaging information of the high-speed railway station rain shed by the X-rays emitted by the X-ray source received by the flat panel detector in real time. This information also contains the corresponding position and time information; an image stitching unit: when continuously performing X-ray imaging on a large-area rain shed, the images can be registered by finding feature points; a statistical analysis unit: (1) performing statistical analysis on the raw X-ray data collected by the detector. The X-ray intensity value I can be divided into different sets according to its magnitude. For a rain shed with regular installation, the low-I set corresponds to the area with the least rust; the high-I set corresponds to the area with a large degree of rust, and the I value is the largest at the rust-eroded place; (2) the attenuation value caused by a non-rusting steel plate with a fixed thickness to the X-ray is certain, and the value collected by the detector is the smallest; the difference between the raw X-ray data I i value collected by the detector and the minimum I i value can be used to accurately back-calculate the thickness of the rust.

[0018] The combination of X-ray imaging technology and the AGV intelligent magnetic adsorption vehicle system can achieve X-ray scanning imaging of steel structures in the enclosed space of high-speed railway canopies. By performing intelligent picture difference comparison and data statistical analysis on the captured pictures, it helps to promptly identify corroded steel components, and conduct risk rating and positioning of the corroded parts. This is of great significance for maintenance units to carry out targeted station building decoration and enclosure structure maintenance, reduce unnecessary cost expenditures such as rework, improve management levels, avoid accidents, and reduce the occurrence of unexpected events endangering the safety of passengers and train operations, and has great promotion value. It helps railway managers at all levels to dynamically monitor the corrosion situation of steel components in the canopies of high-speed railway stations across the country in real time, improve the event management tracking ability, and enhance the scientific decision-making management level. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of a non-contact evaluation system for positioning the corrosion of steel structures in a high-altitude enclosed space;

[0020] 10 High-speed railway station canopy, 21 Motion control module, 22 Magnetic adsorption track, 23 X-ray source, 24 GPS, 25 Communication module I, 26 Cloud platform, 31 Motion control module, 33 Communication module II, 34 Battery, 35 Rangefinder, 36 Lighting lamp, 37 Camera, 38 Magnetic adsorption track, 39 Flat panel detector, 40 Linear array detector, 42 Slide rail, 43 Inflatable pad, 44 Motion control module;

[0021] Figure 2 It is a schematic diagram of the intelligent transportation system above the canopy;

[0022] Figure 3 It is a schematic diagram of the intelligent transportation system below the canopy; A Top view, B Bottom view;

[0023] Figure 4 It is a schematic diagram of the detection process;

[0024] Figure 5 It is a flowchart of the synchronous positioning method for intelligent vehicles above and below the canopy;

[0025] Figure 6 It is the irradiation area of the X-ray on the linear array;

[0026] Figure 7 It is a schematic diagram of the principle of the synchronous positioning method for intelligent vehicles above and below the canopy; DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be described in detail below in conjunction with specific embodiments.

[0028] Reference Figure 1, a non-contact evaluation system for steel structure corrosion positioning in a high-altitude enclosed space, including: an AGV intelligent magnetic adsorption vehicle-mounted module above the canopy, an AGV intelligent magnetic adsorption vehicle-mounted module below the canopy, an intelligent vehicle-mounted module moving synchronously on the platform ground, and a data processing and imaging evaluation module;

[0029] The AGV intelligent magnetic adsorption vehicle-mounted module above the canopy, Figure 2 It is a schematic diagram of the intelligent transportation system above the canopy. In this embodiment, it is a roof autonomous crawling vehicle, which is magnetically adsorbed on the upper surface of the roof through magnetic tracks during operation. The roof autonomous crawling vehicle is equipped with a motion control module A, a communication system A, a high-precision differential GPS and an inertial navigation unit, an X-ray source and a pan-tilt head. The motion control module A is used to control the roof autonomous crawling vehicle to run synchronously with the AGV intelligent magnetic adsorption vehicle-mounted module below the canopy and the intelligent vehicle-mounted module moving synchronously on the platform ground on the roof; rely on high-precision differential GPS and inertial navigation for high-precision positioning and autonomous cruising; an X-ray source is loaded in the abdomen of the roof autonomous crawling vehicle for X-ray imaging, and the X-ray source is suspended on the crossbeam of the roof autonomous crawling vehicle through a pan-tilt head; the pan-tilt head can ensure that the X-ray source is always in a horizontal working state.

[0030] The AGV intelligent magnetic adsorption vehicle-mounted module below the canopy, Figure 3 It is a schematic diagram of the intelligent transportation system below the canopy. In this embodiment, it is a ceiling adsorption autonomous crawling vehicle, which is magnetically adsorbed on the lower surface of the roof at a position directly opposite to the roof autonomous crawling vehicle during operation, and 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.

[0031] The flat panel detector is used to receive the X-rays that penetrate the roof after being released by the X-ray source above the canopy, and perform X-ray imaging of the steel structure in the enclosed space below the canopy; the slide rail is installed at the bottom of the ceiling adsorption autonomous crawling vehicle and is a transverse track perpendicular to the forward direction of the vehicle. The flat panel detector can move horizontally on this track to correct the displacement deviation of the autonomous crawling vehicle below the canopy relative to the autonomous crawling vehicle above the canopy in the direction perpendicular to the traveling direction;

[0032] Four mutually perpendicular X-ray detectors in a cross shape are arranged around the flat panel (X-ray) detector to form a linear array (X-ray) detector. The linear array (X-ray) detector uses the X-rays emitted by the X-ray source above the canopy to perform synchronous positioning of the autonomous crawling vehicles above and below the canopy, ensuring that the flat panel detector can receive the X-rays emitted by the X-ray source carried by the vehicle above the canopy in real time.

[0033] The intelligent vehicle-mounted module moving synchronously on the platform ground is a ground support vehicle in this embodiment. A large anti-fall inflatable cushion is supported on top of the intelligent vehicle-mounted module to cushion the impact caused by the AGV intelligent magnetic adsorption vehicle-mounted system falling under the canopy.

[0034] The autonomous roof crawler, ceiling adsorption crawler, and ground support vehicle communicate with each other and operate synchronously. Both the above- and below-roof systems utilize wide magnetic tracks, which provide strong suction and obstacle-crossing capabilities, while preventing them from falling into gaps under the ceiling. The platform-surface vehicle uses conventional wheels and lacks tracks.

[0035] The three intelligent vehicle-mounted systems, namely the roof autonomous crawling vehicle, the ceiling adsorption autonomous crawling vehicle and the ground support vehicle, use a wireless bridge to communicate with each other and synchronize positioning.

[0036] Taking into account the characteristics of the station and the requirements of X-ray imaging, a 160KV portable X-ray source is used. The ray has a 50-degree angle of use, conical emission, and a circular cross-section. Its radius is proportional to the distance between the ray source and the detector.

[0037] The data processing and imaging evaluation module includes a signal acquisition unit: it collects X-rays emitted by the X-ray source received by the flat-panel detector in real time to perform X-ray imaging information on the high-speed railway station canopy, and this information also includes the corresponding position and time information; an image stitching unit: when performing continuous X-ray imaging on a large area of the canopy, the image can be aligned by finding feature points; a statistical analysis unit: (1) it performs statistical analysis on the raw X-ray data collected by the detector. The X-ray intensity value I can be divided into different sets according to its size. For a canopy that is installed neatly, the low I set corresponds to the area with the least rust; the high I set corresponds to the area with the greatest degree of rust, and the I value is the largest where the rust has penetrated. (2) The attenuation value of X-rays caused by a fixed-thickness steel plate that does not rust is certain, and the value collected by the detector is the smallest. The detector collects the raw X-ray data I i Value and minimum I i By subtracting the values, the thickness of the corrosion can be calculated more accurately. (3) Each X-ray value corresponds to position and time information, so the location areas with different degrees of corrosion can be delineated.

[0038] By using the above-mentioned statistical analysis method or artificial intelligence image comparison method, the software can automatically identify the degree of rust of the steel structure in the enclosed space of the high-speed railway station canopy, locate and visualize it, and circle different rust levels on the canopy map, which has positive significance for operation and maintenance management.

[0039] refer to Figure 4 The non-contact evaluation method for locating corrosion of steel structures in high-altitude enclosed spaces includes the following steps:

[0040] A1: Release the roof autonomous crawling trolley above the canopy, release the ceiling suction autonomous crawling trolley below the canopy, and place the ground intelligent support vehicle directly below the ceiling suction autonomous crawling trolley. The roof autonomous crawling trolley and ceiling suction autonomous crawling trolley are attached to the upper and lower surfaces of the canopy using magnetic tracks.

[0041] A2: The autonomous crawling vehicle on the roof scans along a preset route on the canopy. The X-ray source emits X-rays directly toward the canopy. Simultaneously, the flat-panel detector receives X-rays released by the X-ray source on the canopy that have penetrated the roof, generating X-ray images of the steel structure within the canopy's enclosed space. The autonomous crawling vehicle on the roof, the autonomous crawling vehicle for ceiling adsorption, and the ground support vehicle communicate with each other during operation. Simultaneously, the linear array (X-ray) detector uses X-rays emitted by the X-ray source on the canopy to synchronously locate the autonomous crawling vehicles on and below the canopy.

[0042] A3 collects X-rays emitted by the X-ray source and received by the flat-panel detector in real time to perform X-ray imaging of the high-speed railway station canopy. This information also includes the corresponding position and time information; statistical analysis is performed on the raw X-ray data collected by the detector;

[0043] The statistical analysis method is as follows: X-ray intensity values I can be divided into different groups according to their size. For neatly installed awnings, low I groups correspond to areas with minimal rust; high I groups correspond to areas with severe rust, and areas with rust penetration have the highest I values. Rust-free steel plates of fixed thickness have a certain attenuation value for X-rays, and the value collected by the detector is the smallest. The detector collects raw X-ray data I i Value and minimum I i By subtracting the values, the thickness of the corrosion can be calculated more accurately; each X-ray value corresponds to position and time information, so the location areas of different sizes can be delineated;

[0044] When continuously performing X-ray imaging on a large area of awning, the images can be registered by finding feature points; Figure 6 For the irradiation area of the X-ray array, the intelligent vehicle-mounted system under the canopy is equipped with a "cross" shaped X-ray detector array. 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 are arranged in sequence 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 in a cone shape downward. The area irradiated by the X-rays is a circular cross-section, and the linear array detectors inside are irradiated by the X-rays and have grayscale value output ( Figure 6In the circular area), the detectors in the area outside the circular cross-section do not receive X-ray irradiation and have no gray value output. The dividing line between the two areas intersects the linear array 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, that is, X A 、 X B 、Y C 、Y D , and the coordinates of the center O point are ( , ).

[0045] Figure 5 is the flow chart of the synchronous positioning method for the intelligent vehicles above and below the shed; Figure 7 is the schematic diagram of the principle of the synchronous positioning method for the intelligent vehicles above and below the shed; when the on-shed and off-shed vehicle-mounted systems are synchronized and the X-ray source above the shed is aligned with the center of the flat panel detector below the shed ( Figure 7 in the circular area), there are:

[0046]

[0047]

[0048]

[0049]

[0050] When the on-shed and off-shed vehicle-mounted systems are not synchronized ( Figure 7 the gray discontinuous circle in), the X-ray source and the origin O of the X-Y coordinate system of the linear array are not coincident up and down. Assuming that the intersections 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' respectively, and the center is O', then the offset values Δx and Δy of the off-shed relative to the on-shed system center are:

[0051]

[0052]

[0053] The on-shed intelligent vehicle-mounted system completes autonomous travel along the set detection line with the help of high-precision differential GPS. The off-shed system 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 on-shed system. Nevertheless, there will still be a small displacement deviation value (Δx' and Δy'). Δy' is corrected by the straight-line forward or backward movement of the AB-phase coded deceleration motor, and Δx' is corrected by the movement of the sliding rail moving panel on the abdomen of the off-shed vehicle-mounted system and the linear array detector along the vertical track direction.

[0054] There are 2 rangefinders, 1 lighting lamp and 1 camera on each of the four sides of the intelligent vehicle system, which can obtain the images around the vehicle body and the distances of obstacles in real time, and send out alarm messages in a timely manner.

[0055] It should be understood that those of ordinary skill in the art can make improvements or transformations according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A non-contact evaluation system for locating the corrosion of steel structures in high-altitude enclosed spaces. The steel structure in the high-altitude enclosed space is a high-altitude steel structure canopy, and it is characterized in that include: AGV intelligent magnetic adsorption vehicle module above the canopy, AGV intelligent magnetic adsorption vehicle module below the canopy, intelligent vehicle module moving synchronously on the platform ground, data processing and imaging evaluation module; The AGV intelligent magnetic adsorption vehicle module under the canopy adopts a ceiling adsorption autonomous crawling trolley, which is adsorbed on the lower surface of the roof directly opposite the autonomous crawling trolley on the roof through magnetic tracks. It is equipped 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 rangefinder; the flat-panel detector is used to receive X-rays from the X-ray source on the canopy after it penetrates the roof, and perform X-ray imaging of the steel structure in the enclosed space of the canopy; four mutually perpendicular cross-shaped X-ray detectors are arranged around the flat-panel detector to form a linear array detector. The linear array detector uses the X-rays emitted by the X-ray source on the canopy to perform synchronous positioning of the autonomous crawling trolleys on and under the canopy, ensuring that the flat-panel detector can receive the X-rays emitted by the X-ray source carried by the trolley on the canopy in real time; the method of synchronous positioning is as follows: The X-ray source carried by the intelligent vehicle system above the canopy emits X-rays in a conical shape downward, and the area irradiated by the X-rays is a circular cross-section; the dividing line between the two regions inside and outside the circular cross-section intersects the linear array detector at four points A, B, C, and D respectively; by monitoring whether there is a grayscale value output, the coordinate values of the four points are captured in real time, namely X A 、 X B 、Y C 、Y D , and the coordinates of the center point O are ( , ); When the onboard systems on the shed and below are synchronized, and the ray source on the shed is aligned with the center of the flat-panel detector below the shed, we have: ; ; ; ; When the on - gantry and off - gantry vehicle systems are out of sync, the ray source and the origin O of the linear array X - Y coordinate system do not coincide vertically. Assume that at this time, the intersections of the X - ray irradiation area on the linear array and the linear array X - Y coordinate system are A', B', C' and D' respectively, and the center is O'. Then the offset values and are: ; ; Δy’ uses the AB-phase coded deceleration motor to move linearly forward or backward to complete the deviation correction, and Δx’ uses the sliding rail moving panel on the abdomen of the undercarriage system and the linear array detector to move along the vertical track direction to complete the deviation correction.

2. The rust location non-contact evaluation system according to claim 1, wherein The X-ray source is suspended on the crossbeam of the roof autonomous crawling vehicle through a pan-tilt platform, which ensures that the X-ray source is always in a horizontal working state.

3. The non-contact evaluation system for rust location according to claim 1, wherein The AGV intelligent magnetic adsorption vehicle-mounted module above the canopy adopts a roof autonomous crawling car, which is adsorbed on the upper surface of the roof through magnetic tracks. The roof autonomous crawling car is equipped with motion control module A, communication module A, high-precision differential GPS and inertial navigation unit, X-ray source and pan-tilt. Motion control module A is used to control the roof autonomous crawling car on the roof to maintain synchronous operation with the AGV intelligent magnetic adsorption vehicle-mounted module below the canopy and the intelligent vehicle-mounted module moving synchronously on the platform ground; high-precision positioning and autonomous cruising are carried out by relying on high-precision differential GPS and inertial navigation; 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.

4. The rust location non-contact evaluation system according to claim 1, wherein The slide rail is installed at the bottom of the ceiling adsorption autonomous crawling trolley. It is a horizontal track perpendicular to the trolley's forward direction. The flat-panel detector moves laterally on this track to correct the displacement deviation of the autonomous crawling trolley under the shed relative to the autonomous crawling trolley above the shed perpendicular to the direction of travel.

5. The rust location non-contact evaluation system according to claim 1, wherein The intelligent vehicle-mounted module moving synchronously on the platform ground uses a ground support vehicle, on top of which a large anti-fall inflatable cushion is supported to cushion the impact caused by the AGV intelligent magnetic adsorption vehicle-mounted system under the canopy in case of a fall.

6. The rust location non-contact evaluation system according to claim 1, characterized in that, The roof autonomous crawling trolley, ceiling adsorption autonomous crawling trolley and ground support vehicle communicate with each other and move synchronously when working.

7. The rust location non-contact evaluation system according to claim 1, characterized in that The roof autonomous crawling trolley and ceiling adsorption autonomous crawling trolley adopt wide magnetic adsorption track wheels, which have strong suction and obstacle-crossing capabilities, and will not fall into the gap under the ceiling.

8. The rust location non-contact evaluation system according to claim 1, wherein The trolley that moves on the platform floor has ordinary wheels and no tracks.

9. The rust location non-contact evaluation system according to claim 1, characterized in that The three intelligent vehicle-mounted systems, namely the roof autonomous crawling vehicle, the ceiling adsorption autonomous crawling vehicle and the ground support vehicle, use a wireless bridge to communicate with each other and synchronize positioning.

10. The rust location non-contact evaluation system according to claim 1, characterized in that, A 160 KV portable X-ray source is adopted, with a ray use angle of 50 degrees, conical emission, and a circular cross-section. Its radius is proportional to the distance between the ray source and the detector.

11. The rust location non-contact evaluation system according to claim 1, characterized in that, The data processing and imaging evaluation module includes a signal acquisition unit: collecting the X-ray imaging information of the high-speed railway station canopy by the X-rays emitted by the X-ray source received in real time by the flat panel detector. This information also includes the corresponding position and time information. Image stitching unit: When performing continuous X-ray imaging on a large-area awning, the images are registered by finding feature points; Statistical analysis unit: (1) Statistically analyze the original X-ray data collected by the detector. The X-ray intensity value I can be divided into different sets according to its magnitude. For an awning with regular installation, the low-I set corresponds to the area with the least rust; the high-I set corresponds to the area with a large degree of rust, and the I value is the largest at the rusted-through area; (2) The attenuation value caused by a non-rusting steel plate with a fixed thickness to X-rays is constant, and the value collected by the detector is the smallest; The difference between the X-ray raw data I i value and the minimum I i value is used to accurately back-calculate the thickness of the rust.

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