CN110205653A - A kind of lead-based anode surface anode mud intelligent recognition and lossless dry removal method and system - Google Patents
A kind of lead-based anode surface anode mud intelligent recognition and lossless dry removal method and system Download PDFInfo
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- CN110205653A CN110205653A CN201910515826.4A CN201910515826A CN110205653A CN 110205653 A CN110205653 A CN 110205653A CN 201910515826 A CN201910515826 A CN 201910515826A CN 110205653 A CN110205653 A CN 110205653A
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Abstract
The present invention relates to a kind of lead-based anode surface anode mud intelligent recognition and lossless dry removal method and system, which includes surface intelligent identification device, three dimension location device, lossless dry method desludging device.The present invention utilizes the accurate testing result to element species and content range in high chloride plate surface difference film layer and the earth of positive pole, carries out quantification layering to lead base film layer and the earth of positive pole.Using non-contact optical identification technology, intelligent recognition surface physics information and quickly identification surface layer chemical information, obtain earth of positive pole surface three dimension spatial position, size and consistency etc., and lead, the constituent contents such as manganese, cooperation artificial intelligence analysis regulates and controls the precise positioning of three-dimensional space cooperation robot and desilts depth, lead base film layer is not damaged while dry method removes the earth of positive pole, realize intelligent recognition, precise positioning, it is lossless dry except in the intelligent closed-loop control of one, it plays a significant role in terms of a kind of heavy metal contaminants source reduction and heavy metal wastewater thereby process control that country keeps under strict control.
Description
Technical field
This application involves field of hydrometallurgy more particularly to a kind of lead-based anode surface anode mud intelligent recognitions and lossless dry
Except method and system.
Background technique
Lead is the most important thing of one of seven kinds of a kind of heavy metals that country keeps under strict control and metallurgy industry pollution prevention.Electrolysis
The lead-based anode plate that the hydrometallurgys industry such as zinc, electrolytic manganese generallys use 99% or more lead tolerance is electrolysed, molten due to lead
Erosion leads to generation largely containing lead anode slurry, wherein leaded reach as high as 20% or more.Electrolytic zinc industry generates high lead sun every year
More than 40 ten thousand tons of pole mud, leaded acid leaching residue are up to more than 700 ten thousand tons, 150 ten thousand stere of lead waste water, and blood lead event is caused to take place frequently.Lead
Base anode plate generates a large amount of lead corrosions at electrolysis initial stage, and suitable manganese dioxide is molten to lead after anode surface deposits and to form film layer
Inhibiting effect is played in erosion, while the plug-in earth of positive pole also gradually forms, and excessive manganese ion causes earth of positive pole thickness to be continuously increased, no
Only tank voltage gradually rises, and cathode-anode plate is easy short circuit, significantly impacts electrolytic efficiency, it is therefore desirable to periodically to anode plate
Slot strikes off the earth of positive pole on its surface out.Currently, electrolytic zinc industry generally use manually root out or machinery get rid of beat mode remove anode
Mud, but element species and content in high chloride plate surface difference film layer and the earth of positive pole can not be precisely identified due to desilting process,
Lead to desilt process and be constantly damaged to lead base film surface or lead base stratum, anode lead is constantly dissoluted by rupture of membranes surface, is caused
The largely generation containing lead anode slurry and heavy metal wastewater thereby.The present invention is removed by intelligent recognition, precise positioning, lossless do in one
Intelligent closed-loop control does not damage lead base film layer while dry method removes the earth of positive pole, heavy metal-polluted in one kind that country keeps under strict control
It plays a significant role in terms of dye object source reduction and heavy metal wastewater thereby process control.
Summary of the invention
One of to solve above-mentioned technical problem, the present invention provides a kind of lead-based anode surface anode mud intelligent recognition and nothings
Damage dry removal method and system.
First aspect of the embodiment of the present invention provides a kind of lead-based anode surface anode mud intelligent recognition and lossless do removes side
Method, which comprises
The physical message and chemistry that intelligent recognition obtains surface anode mud are carried out to the target lead-based anode plate surface earth of positive pole
Information；
It is clear for the first time that depth progress is removed according to the physical message of the surface anode mud and the chemical information regulation earth of positive pole
It removes；
Target lead-based anode plate after removing to first time carries out intelligent recognition again and obtains positioning removing point；
Second is carried out to the earth of positive pole being located on the positioning removing point to remove.
Preferably, described that the physics that intelligent recognition obtains surface anode mud is carried out to the target lead-based anode plate surface earth of positive pole
The process of information and chemical information includes:
Identification is carried out to target lead-based anode plate surface and obtains constituent content information and three-dimensional space topographical information；
The surface anode mud integrated information is obtained according to the constituent content information and three-dimensional space topographical information.
Preferably, the target lead-based anode plate after the removing to first time carries out intelligent recognition again and obtains positioning
Removing the process put includes:
Target lead-based anode plate surface after removing to first time carries out identification and obtains constituent content information and three-dimensional
Space topographical information；
The removing shape of the target lead-based anode plate is obtained according to the constituent content information and three-dimensional space topographical information
State；
Judge whether the removing state of current goal lead-based anode plate reaches preset removing standard, if not up to,
It then obtains positioning and removes point.
Preferably, the target lead-based anode plate after the removing to first time carries out intelligent recognition again and obtains positioning
Remove the process of point further include:
Spectral scan is carried out to target lead-based anode plate surface and obtains optical information；
After carrying out analysis fitting to the optical information, the three-dimensional space pattern of the target lead-based anode plate surface is believed
Breath is restored；
According to after reduction three-dimensional space topographical information and preset coordinate system to first time remove after
The point that removing standard is not up to preset in target lead-based anode plate carries out positioning and obtains positioning removing point.
Preferably, the object that intelligent recognition obtains surface anode mud is carried out to the target lead-based anode plate surface earth of positive pole described
After managing information and chemical information, the method also includes:
Identification is carried out to target lead-based anode plate surface and obtains three-dimensional space topographical information；
Adhere to information, three-dimensional space topographical information and preset coordinate system to described according to the surface anode mud
The plate face of target lead-based anode plate is positioned.
Preferably, the method also includes: control to target lead-based anode plate surface carry out first time removing and/or second
Safe distance when secondary removing.
Second part of the embodiment of the present invention provides a kind of lead-based anode surface anode mud intelligent recognition and lossless dry remove is
System, the system comprises surface intelligent identification device, three dimension location device and lossless dry method desludging devices；
The surface intelligent identification device obtains table for carrying out intelligent recognition to the target lead-based anode plate surface earth of positive pole
The physical message and chemical information of surface anode mud；
The three dimension location device, for carrying out intelligence again to the target lead-based anode plate after first time removing
It can identification acquisition positioning removing point；
The lossless dry method desludging device, for regulating and controlling sun according to the physical message and chemical information of the surface anode mud
Pole mud removes depth and carries out first time removing, and carries out second to the earth of positive pole being located on the positioning removing point and remove.
Preferably, the surface intelligent identification device includes constituent content identification module, surface three dimension space identity module
And data processing module；
The constituent content identification module obtains constituent content letter for carrying out identification to target lead-based anode plate surface
Breath；
The surface three dimension space identity module, the figure of the three-dimensional space pattern for obtaining target lead-based anode plate surface
As information；
The data processing module, for generating three-dimensional space pattern letter according to the image information of the three-dimensional space pattern
Breath, and according to the three-dimensional space topographical information and the comprehensive letter of the constituent content acquisition of information target lead-based anode plate surface earth of positive pole
Breath and removing state.
Preferably, the surface intelligent identification device further includes optical data collection image-forming module；
The optical data collection image-forming module, for clear for the first time to the progress of the target lead-based anode plate surface earth of positive pole
After removing, spectral scan is carried out to target lead-based anode plate surface and obtains optical information；
The three dimension location device includes Data Management Analysis module；
The Data Management Analysis module, after carrying out analysis fitting to the optical information, by the target lead base
The three-dimensional space topographical information of anode plate surface is restored；And it according to the three-dimensional space topographical information after reduction and presets
Coordinate system to first time remove after target lead-based anode plate in not up to preset removing standard point
Carry out positioning obtain positioning remove point, and according to the surface anode mud adhere to information, three-dimensional space topographical information and in advance
The coordinate system of setting positions the plate face of the target lead-based anode plate.
Preferably, the lossless dry method desludging device includes that dry method removes module, safe distance protective module and control mould
Block, the safe distance protective module are mounted in the removing module；
The removing module, for removing the target lead-based anode plate surface earth of positive pole；
The safe distance protective module, between removing module and target lead-based anode plate surface described in real-time detection
Distance；
The control module, it is deep with preset removing to the earth of positive pole for adhering to information according to the surface anode mud
Degree control removes module and carries out first time removing to the target lead-based anode plate surface earth of positive pole, and removes to the positioning is located at
The earth of positive pole on point carries out second and removes；It is also used to remove module and target lead-based anode plate surface according to real-time detection
The distance between control remove the safe distance between module and target lead-based anode plate surface.
Beneficial effects of the present invention are as follows: the present invention uses Fully-mechanized operation, and the manual operation of abandoning tradition mentions significantly
High earth of positive pole elimination efficiency, system is without often replacement loss, and daily maintenance is simple, and production cost is low.Meanwhile the present invention is logical
The earth of positive pole of target lead-based anode plate surface can be carried out thoroughly and targetedly removing by crossing multiple removing, and elimination effect is more
It is good.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is a kind of lead-based anode surface anode mud intelligent recognition and lossless dry removal method described in the embodiment of the present invention 1
Flow chart；
Fig. 2 is a kind of lead-based anode surface anode mud intelligent recognition described in the embodiment of the present invention 2 and lossless dry removes system
Schematic illustration；
Fig. 3 is the schematic illustration of surface intelligent identification device described in the embodiment of the present invention 2；
Fig. 4 is the schematic illustration of three dimension location device described in the embodiment of the present invention 2；
Fig. 5 is the schematic illustration of lossless dry method desludging device described in the embodiment of the present invention 2.
Appended drawing reference:
1, surface intelligent identification device, 2, three dimension location device, 3, lossless dry method desludging device.
Specific embodiment
In order to which technical solution in the embodiment of the present application and advantage is more clearly understood, below in conjunction with attached drawing to the application
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the application a part implement
Example, rather than the exhaustion of all embodiments.It should be noted that in the absence of conflict, embodiment and reality in the application
The feature applied in example can be combined with each other.
Embodiment 1
As shown in Figure 1, the present embodiment proposes a kind of lead-based anode surface anode mud intelligent recognition and lossless dry removal method,
The described method includes:
S101, to the target lead-based anode plate surface earth of positive pole carry out intelligent recognition obtain surface anode mud physical message and
Chemical information.
Specifically, the method that the present embodiment is proposed is needed when handling target lead-based anode plate Anodic mud
To the specific attachment of the earth of positive pole, including bond area of the earth of positive pole on target lead-based anode plate or attachment thickness etc.
Deng.
In the present embodiment, it in order to obtain the specific attachment of the earth of positive pole, needs first to the table of target lead-based anode plate
Face carries out identification and obtains constituent content information and three-dimensional space topographical information.Wherein, constituent content information may include to manganese, zinc
Etc. the content information of element-specifics identification.It can recognize there are the above element-specific and if constituent content reaches a certain level
It is set to the earth of positive pole.Then the region position that the earth of positive pole is located on target lead-based anode plate is determined by three-dimensional space topographical information again
It sets.It can determine that target lead-based anode surface after constituent content information and three-dimensional space topographical information are finally carried out integrated treatment
The earth of positive pole attachment.
S102, regulate and control earth of positive pole removing depth progress first according to the physical message and chemical information of the surface anode mud
Secondary removing.
Specifically, remove can be regarded as slightly desilting process for the first time in the present embodiment.In this course, it can use
Preset removing depth is purged the earth of positive pole of target lead-based anode plate surface.Certainly, the preset removing
Depth is relevant to the attachment thickness of the earth of positive pole to a certain extent.If preset depth of removing is greater than the earth of positive pole
If thickness, it be easy to cause target lead-based anode dash-board injury.Therefore, can be on the basis of the highest height of the earth of positive pole, and pass through
The mode of Set scale is purged.For example, by remove depth be redefined for the earth of positive pole it is practical adhere to thickness 50% to
80% or 60% to 90% etc..It in actual application, can also be by the working experience of technical staff come to for the first time
The removing depth of removing is set, such as 1mm-5mm etc..
S103, intelligent recognition acquisition positioning removing is carried out again to the target lead-based anode plate after first time removing
Point.
Specifically, after the earth of positive pole to target lead-based anode plate surface carries out slightly desilting process for the first time, the present embodiment
Continue the identification of target lead-based anode plate progress again after removing to first time.The identification process and the identification earth of positive pole
The process of attachment is similar, obtains the target lead-based anode plate surface remaining anode mud after removing for the first time first
Constituent content information and target lead-based anode plate surface three-dimensional space topographical information.Then according to the constituent content information
The removing state of current goal lead-based anode plate is obtained with three-dimensional space topographical information.Finally judge current goal lead-based anode plate
Removing state whether reach expected, if reached, completion desilt work, if not up to, obtain positioning remove point.Its
In, judging whether to reach expected standard can be according to element-specific component content ratio in the earth of positive pole.If removed in first time
After, element-specific component content ratio has reached preset element-specific component content ratio in the earth of positive pole, then table
Ming and Qing is on the contrary then below standard except up to standard.
In the present embodiment, it is the below standard point of the target lead-based anode plate surface earth of positive pole that point is removed in positioning.It is obtaining
When point is removed in positioning, need to carry out spectral scan to target lead-based anode plate surface to obtain optical information, then to optical information
After carrying out analysis fitting, the three-dimensional space topographical information of target lead-based anode plate surface is restored.Finally, after according to reduction
Three-dimensional space topographical information and preset coordinate system to first time remove after target lead-based anode plate in not
Reach preset removing standard point carry out positioning obtain positioning remove point.
S104, the earth of positive pole progress removed on point positioned at the positioning is removed for the second time.
Specifically, second of removing can be regarded as essence and desilt process in the present embodiment.Removing for the first time is to target lead base
The earth of positive pole of anode plate surface does global purge.It is then to carry out specific aim removing to below standard point that second, which is removed,.?
After secondary removing, whether up to standard to removing again it can also detect.If there are still below standard points, just
Continue third time to remove, until removing is up to standard.In the mistake being purged to the target lead-based anode plate surface earth of positive pole
Safe distance when controlling removing constantly is needed in journey, to prevent remove device from accidentally injuring target lead-based anode plate.Wherein, this implementation
In example, the area up to standard for being target plaque is removed greater than 2 × 2mm, height opposed peripheral regions difference in height is greater than 2mm.
In the present embodiment, surface anode mud attachment information is obtained carrying out identification for the first time to target lead-based anode plate surface
Later, it is also necessary to which target lead-based anode plate plate face is positioned.Specifically, by knowing to target lead-based anode plate surface
It Huo Qu not three-dimensional space topographical information.Then information, three-dimensional space topographical information are adhered to according to surface anode mud and preset
Coordinate system the plate face of the target lead-based anode plate is positioned.
It is worth noting that, first time described in the present embodiment removes and " first " and " second " in second of removing
It can be regarded as preceding primary removing and rear primary removing, it is not stringent to indicate to only include reset procedure twice.Due to being difficult to ensure
Just the earth of positive pole is thoroughly removed completely in limited reset procedure several times, therefore, the present embodiment can carry out more according to the actual situation
Secondary removing.
Embodiment 2
As shown in Fig. 2, the present embodiment proposes a kind of lead-based anode surface anode mud intelligent recognition and lossless dry except system,
The system comprises surface intelligent identification device 1, three dimension location device 2 and lossless dry method desludging devices 3；
The surface intelligent identification device 1, for carrying out intelligent recognition acquisition to the target lead-based anode plate surface earth of positive pole
The physical message and chemical information of surface anode mud；
The three dimension location device 2, for being carried out again to the target lead-based anode plate after first time removing
Intelligent recognition obtains positioning and removes point；
The lossless dry method desludging device 3, for for the physical message and chemical information according to the surface anode mud
Regulate and control the earth of positive pole and remove depth progress first time removing, and for the second time to the earth of positive pole progress removed positioned at the positioning on point
It removes.
Specifically, surface intelligent identification device 1 includes constituent content identification module, surface three dimension space identity module sum number
According to processing module；
The constituent content identification module obtains target lead-based anode for carrying out identification to target lead-based anode plate surface
The constituent content information of plate surface element-specific, the element-specific can be the elements such as manganese or zinc；
The surface three dimension space identity module, the figure of the three-dimensional space pattern for obtaining target lead-based anode plate surface
As information；
The data processing module, for generating three-dimensional space pattern letter according to the image information of the three-dimensional space pattern
Breath, and according to the three-dimensional space topographical information and the comprehensive letter of the constituent content acquisition of information target lead-based anode plate surface earth of positive pole
Breath and removing state.
In the present embodiment, constituent content identification module and surface three dimension space identity module are all made of contactless knowledge
Not, the surface identification process for the target lead-based anode plate that area is 1m × 2m can be completed in 1s-5s.Constituent content identification module
It can be with the constituent content information of each element-specific in the earth of positive pole of quick obtaining target lead-based anode plate surface.Pass through the specific member
The constituent content information of element can determine element-specific component content ratio.And then it is obtained by element-specific component content ratio
Earth of positive pole attachment and judge whether the subsequent earth of positive pole is removed up to standard.Data processing module can complete three-dimensional in 1s-5s
The fitting of the image information of space pattern forms the surface three dimension information of complete target lead-based anode plate.
Surface intelligent identification device 1 further includes optical data collection image-forming module, for target lead-based anode plate table
After surface anode mud carries out first time removing, spectral scan is carried out to target lead-based anode plate surface and obtains optical information, obtains mesh
The three-dimensional space topographical information of lead-based anode plate surface is marked, and carries out data collection and fitting imaging；
Three dimension location device 2 includes Data Management Analysis module, for carrying out analysis fitting to the optical information
Afterwards, the three-dimensional space topographical information of the target lead-based anode plate surface is restored；And according to the three-dimensional space after reduction
Topographical information and preset coordinate system first time is removed after target lead-based anode plate in not up to set in advance
The point of fixed removing standard carries out positioning and obtains positioning removing point, and adheres to information, three-dimensional according to the surface anode mud
Space topographical information and preset coordinate system position the plate face of the target lead-based anode plate.
Lossless dry method desludging device 3 includes removing module, safe distance protective module and control module, the safe distance
Protective module is mounted in the removing module；
The removing module, for removing the target lead-based anode plate surface earth of positive pole；
The safe distance protective module, between removing module and target lead-based anode plate surface described in real-time detection
Distance；
The control module, it is deep with preset removing to the earth of positive pole for adhering to information according to the surface anode mud
Degree control removes module and carries out first time removing to the target lead-based anode plate surface earth of positive pole, and removes to the positioning is located at
The earth of positive pole on point carries out second and removes；It is also used to remove module and target lead-based anode plate surface according to real-time detection
The distance between control remove the safe distance between module and target lead-based anode plate surface.
In the present embodiment, the spacing removed between module and target lead-based anode plate surface can carry out accurate stepping.It is logical
The adjusting of every grade of 1mm-5mm can be carried out by crossing control module, realized with this and slightly removed to the target lead-based anode plate surface earth of positive pole
Mud and essence desilt the switching of operating mode.In addition, in practical applications, can will remove module and be mounted on robot arm or machine
In people's module, which can realize free displacement, driven convenient for control module by robot module and remove module work
More accurate positioning is removed out.
In addition, the present embodiment removes module and target lead-based anode plate surface by safe distance protective module real-time detection
The distance between.And 1mm- is maintained at for the distance between module and target lead-based anode plate surface is removed by control module
Between 10mm.Its specific safe distance can be set by control module.
The lead-based anode plate surface earth of positive pole that the present embodiment is proposed is dry except detailed process is as follows for system:
The target lead-based anode plate vertical hanging that pending surface anode mud is removed is on conveyor chain, in conveyor chain
Drive down toward flow chart；
Be distributed in surface intelligent identification device 1 perpendicular to the side of conveyor chain to the surface of target lead-based anode plate into
Row quickly identification, and the surface anode mud attachment information and three-dimensional space topographical information that identification obtains are exported to three-dimensional space and determined
Position device 2 and lossless dry method desludging device 3；
After three dimension location device 2 receives three-dimensional space topographical information and surface anode mud attachment information, pass through
Preset coordinate system carries out the plate face positioning of target lead-based anode plate, and location information is sent to lossless dry method and is desilted
Device 3；
Lossless dry method desludging device 3 according to three-dimensional space topographical information and location information, to target lead-based anode plate into
The row earth of positive pole is removed；It is used first by lossless dry method desludging device 3 and slightly desilts mode to entire target lead-based anode plate surface
The removing of 1mm-5mm depth is carried out, the depth of the removing is on the basis of the height of the highest earth of positive pole；After removing one time, to removing
Face carries out elemental recognition and surface three dimension space identity again, and judges mesh according to the elemental composition ratio that elemental recognition obtains
Mark lead-based anode plate surface remove it is whether up to standard, if up to standard, terminate the removing work in the face, another side is purged or
Next block of lead-based anode plate is purged；If below standard, specific coordinate is provided by three dimension location device 2；
Lossless dry method desludging device 3 removes point according to the coordinate pair positioning provided and carries out targeted elimination；After targeted elimination, then carry out with this
Elemental recognition and surface three dimension space identity, are purged below standard point again, terminate until whole is up to standard
The removing work in the face；Same reset procedure is carried out using another side of the same mode to target lead-based anode plate；
Target lead-based anode plate two sides remove it is up to standard after, by the target lead-based anode plate after removing in conveyor chain
Drive it is next walk, next block of lead-based anode plate for clearance, which is moved to, to be removed region and repeats above-mentioned reset procedure.
The present embodiment is based on element species, the difference of ingredient and content in high chloride plate surface difference film layer and the earth of positive pole
It is different, propose lead base film layer and the earth of positive pole quantitative confining method layered；Based on non-contact optical recognition mode, utilize
Surface three dimension intelligent recognition and element quickly identify that quick obtaining earth of positive pole surface three dimension space physics information and lead manganese element contain
The chemical information of amount regulates and controls the precise positioning of three-dimensional space cooperation robot by artificial intelligence analysis and desilts depth, dry
Method does not damage lead base film layer while removing the earth of positive pole, realize that intelligent recognition, precise positioning, lossless do are removed in the intelligence of one
Closed-loop control plays important in terms of a kind of heavy metal contaminants source reduction and heavy metal wastewater thereby process control that country keeps under strict control
Effect.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (10)
1. a kind of lead-based anode surface anode mud intelligent recognition and lossless dry removal method, which is characterized in that the described method includes:
The physical message and chemical information that intelligent recognition obtains surface anode mud are carried out to the target lead-based anode plate surface earth of positive pole；
It removes depth according to the physical message of the surface anode mud and the chemical information regulation earth of positive pole and carries out first time removing；
Target lead-based anode plate after removing to first time carries out intelligent recognition again and obtains positioning removing point；
Second is carried out to the earth of positive pole being located on the positioning removing point to remove.
2. the method according to claim 1, wherein described carry out intelligence to the target lead-based anode plate surface earth of positive pole
The physical message of energy identification acquisition surface anode mud and the process of chemical information include:
Identification is carried out to target lead-based anode plate surface and obtains constituent content information and three-dimensional space topographical information；
The surface anode mud integrated information is obtained according to the constituent content information and three-dimensional space topographical information.
3. the method according to claim 1, wherein the target lead-based anode after the removing to first time
Plate carries out the process that intelligent recognition acquisition positioning removing is put again
Target lead-based anode plate surface after removing to first time carries out identification and obtains constituent content information and three-dimensional space
Topographical information；
The removing state of the target lead-based anode plate is obtained according to the constituent content information and three-dimensional space topographical information；
Judge whether the removing state of current goal lead-based anode plate reaches preset removing standard, if not up to, obtaining
Positioning is taken to remove point.
4. according to the method described in claim 3, it is characterized in that, the target lead-based anode to after removing for the first time
Plate carries out intelligent recognition again and obtains the process that point is removed in positioning further include:
Spectral scan is carried out to target lead-based anode plate surface and obtains optical information；
After carrying out analysis fitting to the optical information, by the three-dimensional space topographical information of the target lead-based anode plate surface into
Row reduction；
According to after reduction three-dimensional space topographical information and preset coordinate system to first time remove after target
The point that removing standard is not up to preset in lead-based anode plate carries out positioning and obtains positioning removing point.
5. the method according to claim 1, wherein being carried out described to the target lead-based anode plate surface earth of positive pole
After intelligent recognition obtains the physical message and chemical information of surface anode mud, the method also includes:
Identification is carried out to target lead-based anode plate surface and obtains three-dimensional space topographical information；
Adhere to information, three-dimensional space topographical information and preset coordinate system to the target according to the surface anode mud
The plate face of lead-based anode plate is positioned.
6. the method according to claim 1, wherein the method also includes: control to target lead-based anode plate
Safe distance when surface carries out first time removing and/or removes for second.
7. a kind of lead-based anode surface anode mud intelligent recognition and lossless dry removing system, which is characterized in that the system comprises tables
Face intelligent identification device, three dimension location device and lossless dry method desludging device；
The surface intelligent identification device obtains surface sun for carrying out intelligent recognition to the target lead-based anode plate surface earth of positive pole
The physical message and chemical information of pole mud；
The three dimension location device, for carrying out intelligent knowledge again to the target lead-based anode plate after first time removing
It Huo Qu not position and remove point；
The lossless dry method desludging device, for regulating and controlling the earth of positive pole according to the physical message and chemical information of the surface anode mud
It removes depth and carries out first time removing, and second is carried out to the earth of positive pole being located on the positioning removing point and is removed.
8. system according to claim 7, which is characterized in that the surface intelligent identification device includes constituent content identification
Module, surface three dimension space identity module and data processing module；
The constituent content identification module obtains constituent content information for carrying out identification to target lead-based anode plate surface；
The surface three dimension space identity module, the image letter of the three-dimensional space pattern for obtaining target lead-based anode plate surface
Breath；
The data processing module, for generating three-dimensional space topographical information according to the image information of the three-dimensional space pattern,
And according to the three-dimensional space topographical information and constituent content acquisition of information target lead-based anode plate surface earth of positive pole integrated information
With the state of removing.
9. system according to claim 7, which is characterized in that the surface intelligent identification device further includes that optical data is received
Collect image-forming module；
The optical data collection image-forming module, for carrying out first time removing to the target lead-based anode plate surface earth of positive pole
Afterwards, spectral scan is carried out to target lead-based anode plate surface and obtains optical information；
The three dimension location device includes Data Management Analysis module；
The Data Management Analysis module, after carrying out analysis fitting to the optical information, by the target lead-based anode
The three-dimensional space topographical information of plate surface is restored；And according to the three-dimensional space topographical information and preset seat after reduction
Mark system carries out the point of not up to preset removing standard in the target lead-based anode plate after first time removing
Positioning obtains positioning and removes point, and adheres to information, three-dimensional space topographical information according to the surface anode mud and preset
Coordinate system the plate face of the target lead-based anode plate is positioned.
10. system according to claim 7, which is characterized in that the lossless dry method desludging device includes that dry method removes mould
Block, safe distance protective module and control module, the safe distance protective module are mounted in the removing module；
The removing module, for removing the target lead-based anode plate surface earth of positive pole；
The safe distance protective module, for described in real-time detection removing module and target lead-based anode plate surface between away from
From；
The control module, for adhering to information to the earth of positive pole with preset removing depth control according to the surface anode mud
System removes module and carries out first time removing to the target lead-based anode plate surface earth of positive pole, and removes on point to the positioning is located at
The earth of positive pole carry out second and remove；It is also used to remove between module and target lead-based anode plate surface according to real-time detection
Distance controlling remove the safe distance between module and target lead-based anode plate surface.
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