CN110205653B - Intelligent identification and nondestructive dry removal method and system for anode slime on surface of lead-based anode - Google Patents
Intelligent identification and nondestructive dry removal method and system for anode slime on surface of lead-based anode Download PDFInfo
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Abstract
The invention relates to an intelligent identification and nondestructive dry removal method and system for anode slime on the surface of a lead-based anode. The invention utilizes the accurate detection results of different film layers on the surface of the high-lead anode plate and the ranges of the element types and the element contents in the anode mud to quantitatively layer the lead-based film layer and the anode mud. Adopt non-contact optical identification technique, intelligent recognition surface physical information and quick discernment top layer chemical information, acquire anode mud surface three-dimensional space position, size and density etc, and element content such as lead, manganese, the accurate location and the desilting degree of depth of cooperation robot of cooperation three-dimensional space of cooperation of artificial intelligence analysis regulation and control, do not harm the lead-based rete when anode mud is got rid of to the dry process, realize intelligent recognition, accurate location, the intelligent closed-loop control of harmless doing and removing in an organic whole, play important role in the aspect of one kind of heavy metal pollutant source reduction and heavy metal waste water process control that the country strictly controlled.
Description
Technical Field
The application relates to the field of hydrometallurgy, in particular to an intelligent identification and nondestructive dry removal method and system for anode slime on the surface of a lead-based anode.
Background
Lead is one of seven types of heavy metals strictly controlled by the state, and is also important in pollution prevention and control in the metallurgical industry. The hydrometallurgical industries of electrolytic zinc, electrolytic manganese and the like generally adopt a lead-based anode plate with lead content of more than 99% for electrolysis, and lead corrosion causes the generation of a large amount of lead-containing anode mud, wherein the lead content can reach more than 20% at most. The electrolytic zinc industry generates more than 40 ten thousand tons of high-lead anode slime every year, more than 700 ten thousand tons of lead-containing acid leaching residues and 150 ten thousand cubic meters of lead-containing wastewater, so that blood lead events are frequent. Lead-based anode plates generate a large amount of lead corrosion in the initial stage of electrolysis, a proper amount of manganese dioxide is deposited on the surfaces of anodes to form a film layer, the lead corrosion is inhibited, meanwhile, externally-hung anode mud is gradually formed, the thickness of the anode mud is continuously increased due to excessive manganese ions, the voltage of a tank is gradually increased, the cathode plate and the anode plate are easy to be short-circuited, the electrolysis efficiency is greatly influenced, and therefore the anode plates need to be taken out of the tank periodically to scrape the anode mud on the surfaces of the anode plates. At present, anode slime is generally removed in the electrolytic zinc industry by manual shoveling or mechanical throwing, but the slime removing process cannot accurately identify different films on the surface of a high-lead anode plate and the types and the contents of elements in the anode slime, so that the slime removing process continuously damages a lead-based film surface or a lead-based stratum, anode lead is continuously corroded through the film breaking surface, and a large amount of lead-containing anode slime and heavy metal wastewater is generated. According to the invention, through intelligent closed-loop control integrating intelligent identification, accurate positioning and nondestructive dry removal, the lead-based film layer is not damaged while anode slime is removed by a dry method, and the method plays an important role in source reduction of a class of national strictly-controlled heavy metal pollutants and process control of heavy metal wastewater.
Disclosure of Invention
In order to solve one of the technical problems, the invention provides an intelligent identification and nondestructive dry removal method and system for anode slime on the surface of a lead-based anode.
The embodiment of the invention provides an intelligent identification and nondestructive dry removal method for anode slime on the surface of a lead-based anode, which comprises the following steps:
intelligently identifying the anode slime on the surface of the target lead-based anode plate to acquire physical information and chemical information of the anode slime on the surface;
regulating and controlling the anode mud removal depth according to the physical information and the chemical information of the surface anode mud to carry out first removal;
carrying out intelligent identification on the target lead-based anode plate after the first clearing to obtain a positioning clearing point again;
and carrying out secondary removal on the anode mud positioned on the positioning removal point.
Preferably, the process of intelligently identifying the anode slime on the surface of the target lead-based anode plate to obtain the physical information and the chemical information of the anode slime on the surface includes:
identifying the surface of a target lead-based anode plate to obtain element content information and three-dimensional space morphology information;
and acquiring the comprehensive information of the surface anode mud according to the element content information and the three-dimensional space morphology information.
Preferably, the process of performing intelligent identification again on the target lead-based anode plate after the first cleaning to obtain the positioning cleaning point includes:
identifying the surface of the target lead-based anode plate after the first clearing to obtain element content information and three-dimensional space morphology information;
acquiring the removal state of the target lead-based anode plate according to the element content information and the three-dimensional spatial morphology information;
and judging whether the clearing state of the current target lead-based anode plate reaches a preset clearing standard or not, and if not, acquiring a positioning clearing point.
Preferably, the process of performing intelligent identification again on the target lead-based anode plate after the first cleaning to obtain the positioning cleaning point further includes:
performing spectral scanning on the surface of a target lead-based anode plate to acquire optical information;
after analyzing and fitting the optical information, restoring the three-dimensional space morphology information of the surface of the target lead-based anode plate;
and positioning the point positions which do not reach the preset clearing standard in the target lead-based anode plate after the first clearing according to the restored three-dimensional space morphology information and a preset coordinate system to obtain positioning clearing points.
Preferably, after the intelligent identification of the surface anode slime of the target lead-based anode plate is performed to obtain physical information and chemical information of the surface anode slime, the method further includes:
identifying the surface of a target lead substrate anode plate to obtain three-dimensional spatial morphology information;
and positioning the plate surface of the target lead-based anode plate according to the surface anode mud adhesion information, the three-dimensional space morphology information and a preset coordinate system.
Preferably, the method further comprises: and controlling the safety distance when the surface of the target lead substrate anode plate is cleaned for the first time and/or the second time.
The second part of the embodiment of the invention provides an intelligent identification and nondestructive dry removal system for anode slime on the surface of a lead-based anode, which comprises an intelligent surface identification device, a three-dimensional space positioning device and a nondestructive dry method slime removal device;
the surface intelligent identification device is used for intelligently identifying the anode slime on the surface of the target lead-based anode plate to acquire the physical information and the chemical information of the anode slime;
the three-dimensional space positioning device is used for carrying out intelligent identification on the target lead-based anode plate after the first cleaning to obtain a positioning cleaning point again;
the nondestructive dry sludge removal device is used for regulating and controlling the anode sludge removal depth according to the physical information and the chemical information of the surface anode sludge to carry out first removal, and carrying out second removal on the anode sludge positioned on the positioning removal point.
Preferably, the intelligent surface recognition device comprises an element content recognition module, a three-dimensional surface space recognition module and a data processing module;
the element content identification module is used for identifying the surface of the target lead-based anode plate to obtain element content information;
the surface three-dimensional space recognition module is used for acquiring image information of the three-dimensional space morphology of the surface of the target lead-based anode plate;
the data processing module is used for generating three-dimensional space morphology information according to the image information of the three-dimensional space morphology, and acquiring comprehensive information and a clearing state of anode mud on the surface of the target lead-based anode plate according to the three-dimensional space morphology information and the element content information.
Preferably, the intelligent surface recognition device further comprises an optical data collection imaging module;
the optical data collecting and imaging module is used for carrying out spectrum scanning on the surface of the target lead-based anode plate to obtain optical information after anode mud on the surface of the target lead-based anode plate is removed for the first time;
the three-dimensional space positioning device comprises a data processing and analyzing module;
the data processing and analyzing module is used for reducing the three-dimensional spatial morphology information of the surface of the target lead-based anode plate after analyzing and fitting the optical information; and positioning point positions which do not reach the preset clearing standard in the target lead-based anode plate after the first clearing according to the restored three-dimensional space morphology information and a preset coordinate system to obtain positioning clearing points, and positioning the plate surface of the target lead-based anode plate according to the surface anode mud adhesion information, the three-dimensional space morphology information and the preset coordinate system.
Preferably, the nondestructive dry-method sludge removal device comprises a dry-method removal module, a safe distance protection module and a control module, wherein the safe distance protection module is installed on the removal module;
the removing module is used for removing anode mud on the surface of the target lead-based anode plate;
the safety distance protection module is used for detecting the distance between the cleaning module and the surface of the target lead substrate anode plate in real time;
the control module is used for controlling the cleaning module to perform first cleaning on the anode mud on the surface of the target lead-based anode plate according to the surface anode mud adhesion information by a preset cleaning depth, and performing second cleaning on the anode mud on the positioning cleaning point; and the device is also used for controlling the safety distance between the cleaning module and the surface of the target lead-based anode plate according to the distance between the cleaning module and the surface of the target lead-based anode plate detected in real time.
The invention has the following beneficial effects: the method adopts full-mechanical operation, abandons the traditional manual operation, greatly improves the anode mud removal efficiency, does not need frequent replacement and loss of the system, and has simple daily maintenance and low production cost. Meanwhile, the invention can thoroughly and pertinently remove the anode mud on the surface of the target lead-based anode plate through multiple removal, and the removal effect is better.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of an intelligent identification and nondestructive dry removal method for anode slime on the surface of a lead-based anode according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram illustrating a lead-based anode surface anode slime intelligent identification and nondestructive dry removal system according to embodiment 2 of the present invention;
fig. 3 is a schematic view of a surface intelligent recognition apparatus according to embodiment 2 of the present invention;
fig. 4 is a schematic diagram of a three-dimensional positioning apparatus according to embodiment 2 of the present invention;
FIG. 5 is a schematic view of the lossless dry-method desilting apparatus according to embodiment 2 of the present invention.
Reference numerals:
1. the device comprises a surface intelligent identification device, a three-dimensional space positioning device and a lossless dry-method mud removal device.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following further detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings makes it clear that the described embodiments are only a part of the embodiments of the present application, and are not exhaustive of all embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example 1
As shown in fig. 1, the present embodiment provides an intelligent identification and nondestructive dry removal method for anode slime on a lead-based anode surface, including:
s101, intelligently identifying the anode slime on the surface of the target lead-based anode plate to acquire physical information and chemical information of the anode slime.
Specifically, when the method provided by this embodiment is used to treat the anode slime on the target lead-based anode plate, specific adhesion conditions of the anode slime are required, including an adhesion area or an adhesion thickness of the anode slime on the target lead-based anode plate, and the like.
In this embodiment, in order to obtain the specific adhesion condition of the anode mud, the surface of the target lead-based anode plate needs to be identified first to obtain the element content information and the three-dimensional morphology information. The element content information may include identification of content information of specific elements such as manganese and zinc. The anode slime can be identified when the above specific elements are present and the content of the elements reaches a certain level. And then determining the region position of the anode mud on the target lead-based anode plate according to the three-dimensional space morphology information. And finally, comprehensively processing the element content information and the three-dimensional space morphology information to judge the adhesion condition of the anode mud on the surface of the target lead-based anode.
S102, regulating and controlling the anode mud removal depth according to the physical information and the chemical information of the surface anode mud to carry out first removal.
Specifically, in this embodiment, the first cleaning is understood as a coarse desilting process. In the process, the anode slime on the surface of the target lead substrate anode plate can be removed by adopting a preset removing depth. Of course, the predetermined depth of removal is somewhat related to the attached thickness of the sludge. If the preset removing depth is larger than the thickness of the anode mud, the target lead-based anode plate is easy to damage. Therefore, the anode slime can be removed by setting the proportion based on the highest height of the anode slime. For example, the removal depth is set in advance to 50% to 80% or 60% to 90% or the like of the actual adhesion thickness of the anode slime. In practical application, the removal depth of the first removal can also be set by the working experience of the technician, for example, 1mm to 5 mm.
S103, carrying out intelligent identification on the target lead-based anode plate after the first clearing to obtain a positioning clearing point again.
Specifically, after the first coarse desliming process is performed on the anode slime on the surface of the target lead-based anode plate, the present embodiment continues to perform the second recognition on the target lead-based anode plate after the first removal is completed. The identification process is similar to the process of identifying the adhesion condition of the anode slime, and firstly, the element content information of the anode slime remained on the surface of the target lead-based anode plate after the first cleaning and the three-dimensional space morphology information of the surface of the target lead-based anode plate are obtained. And then acquiring the removal state of the current target lead-based anode plate according to the element content information and the three-dimensional spatial morphology information. And finally, judging whether the cleaning state of the current target lead-based anode plate reaches the expectation, if so, finishing the mud removal work, and if not, acquiring a positioning cleaning point. Wherein, whether the expected standard is met or not can be judged according to the content proportion of the specific element components in the anode mud. If the content proportion of the specific element components in the anode mud reaches the preset content proportion of the specific element components after the first removal is finished, the removal is up to the standard, otherwise, the removal is not up to the standard.
In this embodiment, the location clearing point is a point position where the anode slime on the surface of the target lead-based anode plate does not reach the standard. When the positioning clearing points are obtained, the surface of the target lead-based anode plate needs to be subjected to spectral scanning to obtain optical information, and then the three-dimensional spatial morphology information of the surface of the target lead-based anode plate is restored after the optical information is analyzed and fitted. And finally, positioning the point positions which do not reach the preset clearing standard in the target lead-based anode plate after the first clearing according to the restored three-dimensional space morphology information and a preset coordinate system to obtain positioning clearing points.
And S104, carrying out secondary cleaning on the anode mud on the positioning cleaning point.
Specifically, in this embodiment, the second cleaning is understood as a fine silt removing process. The first cleaning is to integrally clean anode mud on the surface of the target lead-based anode plate. And the second clearing is to perform targeted clearing on the unqualified point positions. After the second clearing is finished, whether the clearing reaches the standard can be detected again. And if the point which does not reach the standard still exists, continuing to carry out third clearing until the clearing reaches the standard. The safe distance in the process of removing the anode mud on the surface of the target lead-based anode plate needs to be controlled constantly so as to prevent the target lead-based anode plate from being accidentally injured by a removing device. In this embodiment, the standard removal means that the area of the target plaque is larger than 2 × 2mm, and the height difference with respect to the peripheral area is larger than 2 mm.
In this embodiment, after the surface of the target lead-based anode plate is identified for the first time to obtain the surface anode slime attachment information, the surface of the target lead-based anode plate needs to be positioned. Specifically, three-dimensional spatial morphology information is acquired by identifying the surface of the target lead-based anode plate. And then positioning the plate surface of the target lead-based anode plate according to the surface anode mud adhesion information, the three-dimensional space morphology information and a preset coordinate system.
It is to be noted that "first" and "second" in the first cleaning and the second cleaning described in the present embodiment may be understood as a previous cleaning and a subsequent cleaning, and do not strictly mean that only two cleaning processes are included. Since it is difficult to ensure that the anode slime is completely removed in a limited number of removal processes, the present embodiment can perform multiple removal processes according to practical situations.
Example 2
As shown in fig. 2, the embodiment provides an intelligent identification and nondestructive dry removal system for anode slime on the surface of a lead-based anode, and the system includes an intelligent surface identification device 1, a three-dimensional space positioning device 2 and a nondestructive dry-method slime removal device 3;
the surface intelligent identification device 1 is used for intelligently identifying anode slime on the surface of the target lead-based anode plate to obtain physical information and chemical information of the anode slime;
the three-dimensional space positioning device 2 is used for carrying out intelligent identification on the target lead-based anode plate after the first cleaning to obtain a positioning cleaning point again;
and the nondestructive dry sludge removal device 3 is used for regulating and controlling the anode sludge removal depth according to the physical information and the chemical information of the surface anode sludge to carry out first removal and carrying out second removal on the anode sludge positioned on the positioning removal point.
Specifically, the surface intelligent recognition device 1 comprises an element content recognition module, a surface three-dimensional space recognition module and a data processing module;
the element content identification module is used for identifying the surface of the target lead-based anode plate to obtain element content information of specific elements on the surface of the target lead-based anode plate, wherein the specific elements can be manganese or zinc and other elements;
the surface three-dimensional space recognition module is used for acquiring image information of the three-dimensional space morphology of the surface of the target lead-based anode plate;
the data processing module is used for generating three-dimensional space morphology information according to the image information of the three-dimensional space morphology, and acquiring comprehensive information and a clearing state of anode mud on the surface of the target lead-based anode plate according to the three-dimensional space morphology information and the element content information.
In this embodiment, the element content identification module and the surface three-dimensional space identification module both adopt non-contact identification, and can complete the surface identification process of the target lead-based anode plate with the area of 1m × 2m within 1s-5 s. The element content identification module can quickly acquire element content information of each specific element in anode mud on the surface of the target lead-based anode plate. The content ratio of the specific element component can be determined by the element content information of the specific element. And further obtaining the adhesion condition of the anode slime through the content proportion of the specific element components and judging whether the subsequent anode slime removal reaches the standard or not. The data processing module can complete the fitting of the image information of the three-dimensional space morphology within 1s-5s to form complete surface three-dimensional information of the target lead-based anode plate.
The surface intelligent recognition device 1 further comprises an optical data collecting and imaging module, wherein the optical data collecting and imaging module is used for performing spectral scanning on the surface of the target lead-based anode plate to obtain optical information after anode mud on the surface of the target lead-based anode plate is removed for the first time, obtaining three-dimensional space morphology information of the surface of the target lead-based anode plate, and performing data collection and synthetic imaging;
the three-dimensional space positioning device 2 comprises a data processing and analyzing module, and is used for restoring the three-dimensional space morphology information of the surface of the target lead-based anode plate after analyzing and fitting the optical information; and positioning point positions which do not reach the preset clearing standard in the target lead-based anode plate after the first clearing according to the restored three-dimensional space morphology information and a preset coordinate system to obtain positioning clearing points, and positioning the plate surface of the target lead-based anode plate according to the surface anode mud adhesion information, the three-dimensional space morphology information and the preset coordinate system.
The nondestructive dry-method desilting device 3 comprises a cleaning module, a safe distance protection module and a control module, wherein the safe distance protection module is arranged on the cleaning module;
the removing module is used for removing anode mud on the surface of the target lead-based anode plate;
the safety distance protection module is used for detecting the distance between the cleaning module and the surface of the target lead substrate anode plate in real time;
the control module is used for controlling the cleaning module to perform first cleaning on the anode mud on the surface of the target lead-based anode plate according to the surface anode mud adhesion information by a preset cleaning depth, and performing second cleaning on the anode mud on the positioning cleaning point; and the device is also used for controlling the safety distance between the cleaning module and the surface of the target lead-based anode plate according to the distance between the cleaning module and the surface of the target lead-based anode plate detected in real time.
In this embodiment, the distance between the cleaning module and the surface of the target lead substrate anode plate can be precisely stepped. The control module can adjust each gear by 1-5 mm, so that the switching of the working modes of rough sludge removal and fine sludge removal on the anode sludge on the surface of the target lead-based anode plate is realized. In addition, in practical application, the cleaning module can be arranged on a robot arm or a robot module, the robot module can realize free displacement, and the control module can drive the cleaning module to perform more accurate positioning cleaning through the robot module.
In addition, the distance between the cleaning module and the surface of the target lead substrate anode plate is detected in real time by the safe distance protection module. And the distance between the cleaning module and the surface of the target lead-based anode plate is kept between 1mm and 10mm by the control module. The specific safety distance can be set through the control module.
The specific process of the lead-based anode plate surface anode slime drying and removing system provided by the embodiment is as follows:
vertically suspending a target lead-based anode plate to be subjected to surface anode mud removal on a transmission chain, and driving the target lead-based anode plate to an operation procedure by the transmission chain;
the intelligent surface recognition devices 1 distributed on the side surface vertical to the transmission chain rapidly recognize the surface of the target lead-based anode plate, and output the surface anode slime adhesion information and the three-dimensional space morphology information obtained by recognition to the three-dimensional space positioning device 2 and the lossless dry method slime removing device 3;
after receiving the three-dimensional space morphology information and the surface anode mud adhesion information, the three-dimensional space positioning device 2 performs plate surface positioning on the target lead-based anode plate through a preset coordinate system and sends positioning information to the lossless dry-method mud removal device 3;
the nondestructive dry method sludge removal device 3 removes anode sludge of the target lead-based anode plate according to the three-dimensional space morphology information and the positioning information; firstly, removing the surface of the whole target lead substrate anode plate by a nondestructive dry method mud removing device 3 in a coarse mud removing mode, wherein the depth of removing is based on the height of the highest anode mud; after the lead-based anode plate is removed for one time, element identification and surface three-dimensional space identification are carried out on the removed surface again, whether the removal of the surface of the target lead-based anode plate reaches the standard is judged according to the element component proportion obtained by the element identification, if the removal of the surface reaches the standard, the removal work of the surface is finished, and the other surface is removed or the next lead-based anode plate is removed; if the standard is not met, giving a specific coordinate through the three-dimensional space positioning device 2; the nondestructive dry method desilting device 3 carries out fixed-point removal on the positioning removal points according to the given coordinates; after fixed-point removal, the element identification and the surface three-dimensional space identification are carried out, the point positions which do not reach the standard are removed again, and the removal work of the surface is finished until all the point positions reach the standard; the same cleaning process is carried out on the other surface of the target lead-based anode plate in the same mode;
after the two surfaces of the target lead-based anode plate are removed to reach the standard, the removed target lead-based anode plate is driven by the transmission chain to move, the next lead-based anode plate to be cleaned moves to the removal area, and the removal process is repeated.
The embodiment provides a quantitative defining method of a layered structure of a lead-based film layer and anode slime based on different film layers on the surface of a high-lead anode plate and the difference of element types, components and contents in the anode slime; based on a non-contact optical recognition mode, surface three-dimensional intelligent recognition and element quick recognition are utilized, physical information of three-dimensional space on the surface of anode slime and chemical information of lead and manganese element content are quickly acquired, accurate positioning and sludge removal depth of a three-dimensional space cooperation robot are analyzed and controlled through artificial intelligence, a lead-based film layer is not damaged when the anode slime is removed through a dry method, intelligent closed-loop control integrating intelligent recognition, accurate positioning and lossless dry removal is realized, and important functions are played in the aspects of source reduction and heavy metal wastewater process control of one type of severely-controlled heavy metal pollutants in the country.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. The intelligent identification and nondestructive dry removal method for anode slime on the surface of the lead-based anode is characterized in that
The method comprises the following steps:
intelligently identifying anode slime on the surface of a target lead-based anode plate to acquire physical information of the anode slime
And chemical information;
regulating and controlling the anode mud removal depth according to the physical information and the chemical information of the surface anode mud to carry out the second step
Primary clearing;
carrying out intelligent identification again on the target lead-based anode plate after the first clearing to obtain, position and clear
Point;
and carrying out secondary removal on the anode mud positioned on the positioning removal point.
2. The method of claim 1, wherein the target lead anode plate surface is treated
The process of carrying out intelligent identification on the anode slime to acquire physical information and chemical information of the surface anode slime comprises the following steps:
identifying the surface of a target lead-based anode plate to obtain element content information and three-dimensional space morphology information;
acquiring the surface anode mud comprehensive message according to the element content information and the three-dimensional space morphology information
And (4) information.
3. The method of claim 1, wherein the first purge is completed
The process of carrying out intelligent identification again on the target lead-based anode plate to obtain the positioning clearing point comprises the following steps:
identifying the surface of the target lead-based anode plate after the first clearing to obtain element content information
And three-dimensional spatial topography information;
acquiring the target lead-based anode plate according to the element content information and the three-dimensional space morphology information
A clear state;
judging whether the current clearing state of the target lead-based anode plate reaches the preset clearing standard or not, if not, judging whether the clearing state of the current target lead-based anode plate reaches the preset clearing standard or not
And if so, acquiring a positioning clearing point.
4. The method of claim 3, wherein the first purge is completed
The process of carrying out intelligent identification again on the target lead-based anode plate to obtain the positioning clearing point further comprises the following steps:
performing spectral scanning on the surface of a target lead-based anode plate to acquire optical information;
analyzing and fitting the optical information, and then determining the three-dimensional space of the surface of the target lead-based anode plate
Reducing the morphology information;
removing for the first time according to the restored three-dimensional space morphology information and a preset coordinate system
Positioning, acquiring and positioning the point position which does not reach the preset clearing standard in the finished target lead-based anode plate
The spot is cleared.
5. The method of claim 2, wherein the target lead-based anode plate is plated on the target lead-based anode plate
After the surface anode slime is intelligently identified to obtain the physical information and the chemical information of the surface anode slime, the method
Further comprising:
according to the comprehensive information of the surface anode mud, the three-dimensional space morphology information and a preset coordinate system
And positioning the plate surface of the target lead-based anode plate.
6. The method of claim 1, further comprising: control the aim
And marking a safety distance when the surface of the lead substrate anode plate is subjected to first cleaning and/or second cleaning.
7. Lead-based anode surface anode slime intelligent identification and nondestructive dry removal system is characterized in that
The system comprises a surface intelligent recognition device, a three-dimensional space positioning device and a nondestructive dry-method mud removal device;
the surface intelligent recognition device is used for intelligently recognizing anode slime on the surface of the target lead-based anode plate
Acquiring physical information and chemical information of the surface anode mud;
the three-dimensional space positioning device is used for removing the target lead-based anode plate after the first removal
Carrying out intelligent identification to obtain a positioning clearing point;
the nondestructive dry method mud removing device is used for removing mud according to the physical information and the chemical information of the surface anode mud
Regulating and controlling the anode slime removing depth to carry out first removal, and positioning the anode slime on the removing point
A second purge is performed.
8. The system of claim 7, wherein the surface intelligent recognition device comprises
The device comprises an element content identification module, a surface three-dimensional space identification module and a data processing module;
the element content identification module is used for identifying the surface of the target lead-based anode plate to obtain the element content
Amount information;
the surface three-dimensional space identification module is used for acquiring the three-dimensional space shape of the surface of the target lead-based anode plate
(ii) image information of the landscape;
the data processing module is used for generating a three-dimensional space according to the image information of the three-dimensional space morphology
The shape information is obtained, and the target lead-based anode plate is obtained according to the three-dimensional shape information and the element content information
Comprehensive information and removal state of the surface anode mud.
9. The system of claim 8, wherein the surface intelligent recognition device further comprises
The optical data collection imaging module is included;
the optical data collecting and imaging module is used for carrying out the second treatment on the anode mud on the surface of the target lead-based anode plate
After the first cleaning, performing spectral scanning on the surface of the target lead-based anode plate to obtain optical information;
the three-dimensional space positioning device comprises a data processing and analyzing module;
the data processing and analyzing module is used for analyzing and fitting the optical information and then enabling the optical information to be used as the target
Reducing the three-dimensional space morphology information of the surface of the lead-labeled anode plate; and according to the reduced three-dimensional space shape
Appearance information and a preset coordinate system are used for the unreached target lead-based anode plate after the first cleaning
Positioning to a preset point position of a clearing standard to obtain a positioning clearing point, and obtaining a surface cleaning point according to the surface cleaning point
Pole mud comprehensive information, three-dimensional space morphology information and preset coordinate system for the target lead-based anode
The board surface of the board is positioned.
10. The system of claim 7, wherein the non-destructive dry de-sliming device
Comprises a dry cleaning module, a safe distance protection module and a control module, wherein the safe distance protection module is arranged
Is arranged on the cleaning module;
the removing module is used for removing anode mud on the surface of the target lead-based anode plate;
the safety distance protection module is used for detecting the cleaning module and the target lead-based anode plate meter in real time
The distance between the faces;
the control module is used for presetting the anode slime according to the surface anode slime adhesion information
The cleaning depth control cleaning module is used for cleaning anode mud on the surface of the target lead-based anode plate for the first time and cleaning anode mud on the surface of the target lead-based anode plate for the first time
The anode mud on the positioning clearing point is cleared for the second time; and is also used for detecting the clearance according to real time
The distance between the removing module and the surface of the target lead-based anode plate controls the removing module and the surface of the target lead-based anode plate
A safe distance between the faces.
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