JP2020164903A - Inspection device, system, and detection method in electrorefining - Google Patents

Abstract

To provide a device, a system, and a method of detecting a short circuit in electrorefining.SOLUTION: The device comprises a magnetic sensor 20 and/or an infrared sensor, a travel information detector, a controller, a storage, and a travel driver 10, the magnetic sensor and/or the infrared sensor measuring magnetic flux and/or infrared rays at an upper edge of a cathode plate of an electrolysis tank or at a crossbar and measuring magnetic flux and/or infrared rays at an upper edge corner of an anode plate of the electrolysis tank, the storage storing a travel route instruction, the controller outputting a drive instruction to the travel driver according to the travel route instruction, the travel information detector outputting information on a route whereon the device is currently travelling to the controller, and the controller outputting a revised travel route instruction to the travel driver according to the information.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to inspection devices, systems, and detection methods in electrolytic refining. In particular, the present disclosure relates to inspection devices, systems, and detection methods in electrolytic refining for detecting short circuits.

When electrolytic copper is produced in an electrolytic refining facility, it usually has the following configurations: an electrolytic cell, a bus bar, an anode, a cathode, and a cathode supporting rod (crossbar) for supporting the cathode (FIG. 2 of Patent Document 2). 6). An electrolytic solution such as dilute sulfuric acid is held in the electrolytic cell. A blister copper is used as a material for the anode. By passing electricity through the bus bar to the anode, copper dissolves in the electrolytic solution, and finally electrolytic copper is formed on the cathode side. A copper plate or a stainless steel plate called a seed plate is used as the cathode.

The anode and the cathode are arranged alternately side by side (FIG. 2 of Patent Document 1 and FIG. 6 of Patent Document 2). When electrolytic copper is formed on the cathode side, bumps often occur. Since the distance between the anode and the cathode is very small, bumps generated from the cathode side often reach the anode side and cause a short circuit (Patent Documents 2 and 5). When a short circuit occurs, the electrolytic current tends to concentrate there, which hinders electrolytic refining.

Patent Document 1 discloses that a traveling rail is provided so that the inspection device can move as a method of detecting a short circuit. Further, Patent Document 1 discloses that the inspection device is provided with wheels, and it is possible to move along the traveling rail.

Patent Document 2 discloses a method of hanging an inspection device from a crane as a method of detecting a short circuit. Further, Patent Document 2 discloses that a rail is provided around the crane and the crane moves along the rail.

Jitsufuku No. 2-35813 JP-A-11-323591A

In both the method of Patent Document 1 and the method of Patent Document 2, it is necessary to provide a movement guide such as a rail along the anode and cathode cells so that the device can be moved. The cell means a tank in which the anode and the cathode are arranged in parallel. Therefore, every time a cell is added or the arrangement is changed, it is necessary to change the movement guide, which lacks flexibility and expandability.

On the other hand, when a person performs a short inspection, it is costly to inspect a huge number of cells. In addition, for safety reasons, it is not possible to operate a crane or the like in the same place while a person is inspecting a short circuit.

As a result of the study by the present inventors, it was considered to use an autonomous inspection robot capable of traveling on the cell. Unlike the methods disclosed in Patent Documents 1 and 2, since it is not necessary to provide a movement guide, it is possible to flexibly cope with an increase in cells and a change in arrangement.

However, the top of the cell is not a flat route, but is in an uneven state due to the presence of the cathode plate, the anode plate, and their gaps. Therefore, it was found that even if the inspection robot is moved by wheels or the like, the inspection robot vibrates, and as a result, the inspection robot meanders and it is difficult to drive it straight. Also, in some cases, the upper edge of the anode plate is lower than the upper edge of the cathode (more accurately, the position of the crossbar) (the upper edge of the anode plate is between the crossbars of the cathode). When the inspection robot travels, the gap on the travel route becomes large. Therefore, the vibration becomes even larger.

When the inspection robot meanders, there is a problem in measuring the magnetic flux by the magnetic sensor. In particular, magnetic flux measurement on the anode plate is performed by arranging a magnetic sensor near the ear of the anode plate. Therefore, if the inspection robot meanders, the measurement position of the magnetic sensor shifts and an error increases (in this respect, the cathode plate). Since the magnetic sensor is placed relatively close to the center to measure the magnetism, even if the inspection robot meanders, it does not lead to a large error). As described above, it has been found that simply running the robot causes problems such as meandering due to vibration and the accompanying error in magnetic flux measurement. Further, even if the presence or absence of a short circuit can be detected not only by the magnetic sensor but also by other sensors, it is difficult to identify the cathode plate and the anode plate in which the short circuit occurs when the inspection robot meanders.

In view of the above points, it is an object of the present disclosure to provide a new method for detecting a short circuit.

Therefore, the present inventor has found that a mechanism for correcting the traveling route by detecting the information of the currently traveling route at any time is provided.

The invention completed based on the above findings includes the following inventions in one aspect.
(Invention 1)
It is an inspection device in electrolytic refining.
The device includes a magnetic sensor and / or an infrared sensor, a travel information detection unit, a control unit, a storage unit, and a travel drive unit.
The magnetic sensor and / or infrared sensor measures the magnetic flux and / or infrared rays of the upper edge or crossbar of the cathode plate of the electrolytic cell, and measures the magnetic flux and / or infrared rays of the upper edge corner of the anode plate of the electrolytic cell. Measure and
The storage unit stores the travel route instruction and stores the travel route instruction.
The control unit outputs a drive instruction to the travel drive unit based on the travel route instruction.
The travel information detection unit outputs information on the route the device is currently traveling to the control unit.
The control unit outputs a travel route correction instruction based on the information to the travel drive unit.
The device.
(Invention 2)
In the device of the first invention, when the control unit outputs a travel route correction instruction based on the information to the travel drive unit, the control unit prevents the device from meandering and is in the width direction of the electrolytic cell. The device instructing to correct the misalignment.
(Invention 3)
The device of invention 1
The traveling information detection unit includes an imaging module.
The imaging module recognizes a fixed position of a plurality of upper edges of the cathode plate or a fixed position of the crossbar and / or a fixed position of the upper edge of the anode plate, whereby the device is currently running. Generate information about the route you are in,
The device.
(Invention 4)
The device according to the first invention, wherein the traveling information detection unit includes an internal sensor and generates information on a route on which the device is currently traveling based on output information from the internal sensor. ..
(Invention 5)
The apparatus according to the invention 1, wherein the traveling information detection unit includes an imaging module.
The imaging module recognizes a plurality of markers on the upper edge of the cathode plate or crossbars and / or markers on the upper edge of the anode plate, whereby the device is on the route currently traveling. The device that generates information.
(Invention 6)
The apparatus according to the invention 1, wherein the traveling information detection unit includes an imaging module.
The imaging module recognizes a plurality of cathode plates and a plurality of landmarks arranged around the anode plates, thereby generating information on the route on which the apparatus is currently traveling.
(Invention 7)
It is an electrolytic refining system, and the system is
The apparatus according to any one of the inventions 1 to 6.
With an electrolytic cell
A plurality of anode plates immersed at least partially in the electrolytic cell,
A plurality of cathode plates immersed at least partially in the electrolytic cell,
It is equipped with a server capable of communicating with the device.
The server transmits the travel route instruction to the device,
The server receives magnetic flux and / or infrared measurement information from the device and receives it.
The plurality of anode plates and the plurality of cathode plates are arranged so that their surfaces are parallel to each other and alternate with each other to form a plurality of cells.
The device is capable of traveling on a route defined by the upper edges of the plurality of cells.
The system.
(Invention 8)
A method for detecting short circuits in electrolytic refining.
A step in which the server transmits a travel route instruction to the device according to any one of inventions 1 to 6.
A step in which the device travels on a specific route based on the travel route instruction.
The magnetic sensor and / or infrared sensor measures the magnetic flux and / or infrared rays of the upper edge of the cathode plate of the electrolytic cell or the crossbar, and the magnetic flux and / or the angle of the upper edge of the anode plate of the electrolytic cell. Steps to measure infrared and
A step in which the device transmits magnetic flux measurement data and / or infrared measurement data to the server.
A step in which the travel information detection unit outputs information related to the route the device is currently traveling to the control unit.
A step in which the control unit outputs a travel route correction instruction based on the information to the travel drive unit.
The method comprising.

On one side, the inspection device includes a travel information detector. This makes it possible to detect whether the inspection device is currently meandering or going straight. In addition, the control unit outputs a travel route correction instruction to the travel drive unit. As a result, the degree of meandering of the inspection device can be reduced.

An outline of the electrolytic refining system according to the embodiment of the present disclosure is shown. The top view of the inspection apparatus which concerns on one Embodiment of this disclosure is shown. The side view of the inspection apparatus which concerns on one Embodiment of this disclosure is shown. The front view of the inspection apparatus which concerns on one Embodiment of this disclosure is shown. The perspective view of the inspection apparatus which concerns on one Embodiment of this disclosure is shown. In one embodiment of the present disclosure, an instruction of a traveling route is shown. The figure shows instructions on the route that the inspection device travels across the four cells. In one embodiment of the present disclosure, the central portion of the crossbar of the cathode plate is detected (five white square portions in the figure).

Hereinafter, specific embodiments for carrying out the invention of the present disclosure will be described. The following description is for facilitating the understanding of the invention of the present disclosure. That is, it is not intended to limit the scope of the present invention.

1. 1. Electrorefining System The present disclosure relates to an electrolytic refining system in one embodiment. The outline of the system is shown in FIG. The system comprises at least the following: electrolytic cell, anode plate, cathode plate (and crossbar), server, and inspection equipment. The system may also include client terminals, landmarks, busbars, and the like. These components and other components will be described in detail below.

1-1. Electrolytic cell The electrolytic cell holds an electrolytic solution (for example, dilute sulfuric acid) inside. The number of electrolytic cells is not particularly limited, but typically, a plurality of electrolytic cells may be installed adjacent to each other in the vertical direction and the horizontal direction. The total number of electrolytic cells may reach several hundreds (see FIG. 6 and the like in Patent Document 2).

1-2. Anode plate In each electrolytic cell, a plurality of anode plates and a plurality of cathode plates are arranged alternately so that their surfaces are parallel to each other. As a result, a cell is formed. The anode plate is provided with an ear portion, and may be supported by the side wall of the electrolytic cell and the common conductor (bus bar) by the ear portion or the like (FIGS. 7 (32) (A) of Patent Document 2). As the material of the anode, blister copper can be used. The Cu grade of blister copper is not particularly limited, but may be 99.4 to 99.5%. When an electric current is passed through the anode through the common conductor, a part of the blister copper immersed in the electrolytic solution is changed to Cu ions and dissolved in the electrolytic solution. After that, Cu is precipitated on the cathode plate to obtain pure copper.

1-3. Cathode plate The cathode plate serves as a base for depositing pure copper when an electric current is applied. As the material, a seed copper plate may be used, or a stainless steel plate may be used. Further, the cathode plate may be suspended from a cathode supporting rod (crossbar) (Patent Document 2, FIGS. 7 (34) and (K)).

In one embodiment, the fixed position of the upper edge of the anode plate (typically the central position) and / or the fixed position of the upper edge of the cathode plate (typically the central position) or the crossbar (the portion not immersed in the electrolytic solution). ) May be provided at a fixed position (typically a central position). As a result, it becomes a mark for recognizing the position where the inspection device described later is currently traveling. The color of the marker and the type of paint are not particularly limited, and one that can be easily recognized by an imaging device such as a camera may be adopted.

1-4. The server electrolytic refining system may be provided with a server, and the number of the servers may be one or a plurality. The plurality of servers may have the same functions distributed, or may have different functions shared. The plurality of servers may be in a state in which they can communicate with each other (wired or wireless, the same applies hereinafter).

Further, the server may be in a state of being able to communicate with the client terminal, if necessary. The client terminal may be used to refer to various information and issue an operation instruction of the inspection device described later. Examples of the information to be referred to include, but are not limited to, the traveling position of the inspection device, infrared measurement data, magnetic flux measurement data, and imaging data mounted on the inspection device.

Further, the server may be in a state where it can communicate with the inspection device described later. However, since the inspection device moves in the electrolytic refining system, the communication mode is preferably wireless. Furthermore, it is preferable to consider various factors that hinder communication such as magnetism in the electrolytic refining system and adopt a communication standard that can withstand these factors.

1-5. Inspection device The inspection device can run on the cell and measure the magnetic flux and infrared rays of the cathode plate and the anode plate. Details of the functions and configuration requirements of the inspection device will be described later.

1-6. The landmark electrorefining system may be provided with a plurality of landmarks, if necessary. A landmark is a mark for grasping the position where the inspection device is currently traveling. The position where the landmark is provided is not particularly limited, but may be provided near the end of the cell, for example. In addition, the landmark may be provided with various components so that the inspection device can easily recognize it. Examples of the components include QR code (registered trademark), LED lighting, radio wave transmission, RFID, reflective tape and the like.

It is also possible to use objects provided for other purposes as landmarks. For example, the convex portion for mounting the scaffolding of the crane can be used as a landmark.
2. Electrorefining Inspection Device The present disclosure relates to an inspection device for electrolytic refining in one embodiment. The configuration of the inspection device is shown in FIGS. 2 to 5. The inspection device comprises at least the following: a magnetic sensor (20) (and / or an infrared sensor (not shown)), a travel information detector, a control unit (not shown), a storage unit (not shown), and a travel drive unit (not shown). 10). Further, if necessary, the inspection device may be provided with imaging means, communication means, and the like. These components and other components will be described in detail below.

2-1. The magnetic sensor and / or infrared sensor inspection device comprises one or more magnetic sensors (eg, Gauss meter). In addition to or instead of this, the inspection device comprises one or more infrared sensors. The magnetic sensor is used to measure the magnetic flux of the anode plate and the cathode plate. The infrared sensor is used to measure the heat of the anode plate and the cathode plate. Since the current increases when a short circuit occurs, the occurrence of a short circuit can be detected by the magnetic sensor. In addition, when a short circuit occurs, the current increases, which causes heat generation, and the temperature becomes higher than the surroundings. As a result, the occurrence of a short circuit can be detected by the infrared sensor.

In the case of magnetic sensors, the inspection device can typically include at least two magnetic sensors. The first magnetic sensor may measure the magnetic flux of the cathode plate, and the second magnetic sensor may measure the magnetic flux of the anode plate. However, the inspection device may be provided with only one magnetic sensor, and the magnetic flux of the cathode plate and the magnetic flux of the anode plate may be alternately measured by the one magnetic sensor. As with the magnetic sensor, for the infrared sensor, the inspection device can include at least two infrared sensors. The first infrared sensor may measure the heat of the cathode plate and the second infrared sensor may measure the heat of the anode plate. However, the inspection device may be provided with only one infrared sensor, and the heat of the cathode plate and the heat of the anode plate may be measured at the same time with only one infrared sensor.

2-2. Travel information detection unit The travel information detection unit can take on the function of collecting information necessary for identifying the position where the inspection device is currently traveling. The means for identifying the position where the inspection device is currently traveling is not particularly limited, but at least the following means can be considered.
・ Midpoint recognition ・ Internal sensor ・ Marker ・ Landmark

(1) Fixed position recognition (typically midpoint recognition)
For example, the traveling information detection unit may be provided with an imaging module (30) such as a camera. Then, the imaging module can image the cells existing in the moving direction of the inspection device and send the image data to the control unit and / or the server. The control unit and / or the server can process the image data to detect each line of the upper edge of the cathode plate or each line of the crossbar and / or each line of the upper edge portion of the anode plate (FIG. 7). ). It is possible to detect a line by image processing by a known technique. The control unit and / or the server can then detect the fixed position (typically the midpoint) of each detected line. For example, when the crossbar lines of the five cathode plates existing in the moving direction of the inspection device are detected, the five midpoints are finally detected. After that, the control unit and / or the server can perform image processing connecting the five midpoints. The line formed by this is recognized as a correct traveling route, and the control unit and / or the server can calculate the deviation from the currently traveling route. Then, the control unit and / or the server may generate a travel route correction instruction based on the deviation. If the detected midpoints vary, it is possible to correct the meandering with the center position of those points as the target. Needless to say, the recognition point does not necessarily have to be the midpoint, and for example, the recognition point may be a quarter position or a third position in the width direction of the cathode plate.

As will be described later, there is also a method of attaching a marker to the upper edge portion of the cathode plate or the crossbar and / or the upper edge portion of the anode plate, but the method of recognizing these fixed positions is more troublesome to attach the marker. It is advantageous in that it does not cost.

(2) Internal sensor Robot sensors can be broadly divided into internal sensors and external sensors. The internal sensor measures the state of the robot itself. Examples of the internal sensor include an encoder and a gyro sensor. By utilizing these, it is possible to detect the posture, orientation, etc. of the inspection device. The data detected by the internal sensor can be sent to the control unit and / or the server. The control unit and / or the server can calculate the deviation from the currently traveling route based on the travel route instruction and the data detected by the internal sensor. Then, the control unit and / or the server may generate a travel route correction instruction based on the deviation.

Preferably, an imaging device such as a camera can be used together. As a result, it is possible to run stably on the electrolytic cell.

(3) Marker For example, the above-mentioned fixed position of the upper edge of the anode plate (typically the central position) and / or the fixed position of the upper edge of the cathode plate (typically the central position) or the fixed position of the crossbar. A marker may be attached (typically at the center position). It is preferable that the marker is attached to the same place on all the boards. As a result, a straight line is formed on the cell. Then, the inspection device can travel using this straight line as a mark. Further, even if the traveling route is deviated due to vibration during traveling, the traveling route can be corrected by using the straight line as a clue.

In order to recognize the straight line formed by the marker, for example, the traveling information detection unit may be provided with an imaging means such as a camera. Then, using the image (moving image and / or still image) acquired from the imaging means, the control unit and / or the server generates a travel route correction instruction so that the inspection device moves along the marker. May be good.

When a marker is used, it is advantageous in that the load of image processing is lightened as compared with the method of recognizing a fixed position described above. Needless to say, the place where the marker is attached does not necessarily have to be the midpoint. For example, the marker is attached at a quarter position or a third position in the width direction of the cathode plate. You may.

(4) Landmark For example, a landmark may be provided around the cell. The shape and color of the landmark are not particularly limited. Further, in order to recognize the landmark, the traveling information detection unit may be provided with an imaging means such as a camera. Preferably, the landmark has the appropriate size and / or the appropriate color so that it can be well recognized by the imaging means. Machine learning technology can also be used to recognize landmarks.

Then, using the image (moving image and / or still image) acquired from the imaging means, the control unit and / or the server can calculate the route on which the inspection device is currently traveling. Further, the control unit and / or the server can calculate the deviation between the route and the travel route instruction originally issued by the server. Then, the control unit and / or the server may generate a travel route correction instruction based on the deviation.

2-3. Control unit The control unit can have at least the following functions.
-Transmits and receives data by wireless communication with the server.-Controls the magnetic sensor and / or infrared sensor, driving information detection unit, and driving drive unit.
-Data is input / output to the storage unit.

Regarding the first function, the control unit can receive the travel route instruction data from the server through the function. In some cases (for example, when the inspection device itself does not have a function of correcting the travel route), the control unit can receive data of the travel route correction instruction from the server through the function. Further, the control unit can transmit information of various sensors (magnetic sensor, infrared sensor, traveling information detection unit, etc.) included in the inspection device to the server.

Regarding the second function, the control unit can control various modules included in the inspection device. For example, the magnetic sensor can be controlled to collect magnetic flux data. As another example, the control unit can control the infrared sensor to collect infrared data. As yet another example, the control unit can control the travel information detection unit to collect information on the route on which the inspection device is currently traveling. As yet another example, the control unit can output a drive instruction to the traveling drive unit to move the inspection device. For example, the control unit can output instructions such as going straight and turning to the traveling drive unit based on the traveling route instruction. Further, when the presence of a step is detected by another sensor, the control unit can output an instruction to operate the sub crawler to the traveling drive unit.

Regarding the third function, the control unit can input data to the storage unit and can also acquire data from the storage unit. For example, the control unit can store the data acquired from the server, the magnetic sensor, the infrared sensor, the traveling information detection unit, and the like in the storage unit. Further, the control unit may acquire data temporarily stored in the storage unit for the purpose of transmitting to a server or the like and / or processing data.

As a function other than the above, the control unit may generate a travel route correction instruction, if necessary. For example, when the server does not generate the travel route correction instruction, the control unit of the inspection device may generate the travel route correction instruction instead.

As the control unit, those known in the art can be adopted, for example, a general-purpose processor, an application-specific integrated circuit, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors associated with a DSP core, and the like. It may be a controller, a microprocessor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), and the like.

As described for avoiding misunderstanding, one control unit may be responsible for all the above-mentioned functions, or a plurality of control units may be provided for each function and dispersed.

2-4. Storage unit The storage unit has a function of storing data. Examples of data to be stored include, but are not limited to:
Magnetic flux data acquired from the magnetic sensor (for example, magnetic flux data of the anode plate, magnetic flux data of the cathode plate, etc.),
Infrared data acquired from an infrared sensor (for example, infrared data on the anode plate, infrared data on the cathode plate, etc.),
Data acquired from the server (for example, driving route instruction data, driving route correction instruction data, etc.),
Data acquired from the driving information detection unit (for example, data taken by the camera when the driving information detection unit is equipped with a camera, and by the internal sensor when the driving information detection unit is equipped with an internal sensor). Acquired position data),
Data processed by the control unit (for example, data linking the identification information of the anode plate and the cathode plate and the magnetic flux data, data linking the identification information of the anode plate and the cathode plate and the infrared data, the traveling route and the current position Data showing the deviation from).
As the storage unit, a medium known in the art can be adopted, and examples thereof include HDDs and SSDs.

2-5. Travel drive unit The travel drive unit has a function of moving the inspection device. Examples of the traveling drive unit include, but are not limited to, endless tracks (crawlers), wheels, and the like. In the electrolytic refining system, there are not only flat running paths, but also running paths with steps, stairs, and cells (which are uneven due to a gap between the anode plate and the cathode plate). , The inspection device needs to run on these. Therefore, tracks are preferred. Further, in addition to the main crawler, a sub crawler may be provided so that the crawler can move up and down smoothly on a traveling path having a step, a staircase, or the like.

3. 3. Inspection Method The present disclosure relates to, in one embodiment, a method for detecting short circuits in electrolytic refining. In the method, the above-mentioned electrolytic refining system (particularly, the above-mentioned inspection device) can be used.

The detection method includes at least the following steps.
-The step in which the server sends the travel route instruction to the inspection device.
-A step in which the inspection device travels on a specific route based on the travel route instruction.
-A magnetic sensor and / or an infrared sensor measures the magnetic flux and / or infrared rays of the upper edge or crossbar of the cathode plate of the electrolytic cell, and measures the magnetic flux and / or infrared rays of the upper edge corner of the anode plate of the electrolytic cell. Steps to measure.
-A step in which the inspection device transmits magnetic flux measurement data and / or infrared data to the server.
-A step in which the driving information detection unit outputs information related to the route the inspection device is currently traveling to the control unit.
-A step in which the control unit outputs a travel route correction instruction based on the information to the travel drive unit.
Hereinafter, each step will be described in detail.

3-1. The travel route instruction transmission server can generate a travel route instruction and send the instruction to the inspection device via wireless communication. The operation route instruction may be generated by the operator directly operating the server, or may be generated through a client terminal communicating with the server. The instruction of the traveling route may be generated, for example, by attaching an arrow or the like on the electrolytic cell as shown in FIG. Based on this, the travel distance, direction, etc. of the inspection device may be calculated and converted on the server side.

3-2. After receiving the travel route instruction from the server side, the control unit of the travel inspection device of the inspection device can output the drive instruction to the travel drive unit based on the instruction. The instruction includes information such as going straight, turning, and moving distance, and based on this, the traveling drive unit can drive the inspection device.

3-3. Measurement of magnetic flux and / or measurement of infrared rays After starting the running, the inspection device can measure magnetic flux and / or infrared rays through a magnetic sensor and / or an infrared sensor. With respect to the cathode plate, a magnetic sensor and / or an infrared sensor can be arranged on the upper edge or the crossbar of the cathode plate to measure magnetic flux and / or infrared rays. For example, when electrolytic copper is produced by electrolytic purification using a blister copper anode, one end of the crossbar suspending the cathode is insulated and the other end is conductive, so that it flows when energized. The closer the current is to the conductive end, the larger the current, which is suitable for measuring magnetic flux and infrared rays. Therefore, there is also a method of advancing the position close to the conductive side without meandering. However, if the vehicle is driven too close to the side wall of the battery case, the inspection device may ride on the upper edge corner (ear) of the anode and fall or meander. That is, the traveling position in the width direction does not have to be the central portion as long as it can travel without meandering within the range where it does not travel on the upper edge corner of the anode, but if stable traveling is important, the central portion is traveled. You may. On the other hand, for the anode plate, the upper edge is typically buried between the cathode plates. Therefore, in this case, the magnetic sensor and the infrared sensor cannot be arranged near the center of the upper edge for measurement. Therefore, a magnetic sensor and / or an infrared sensor can be arranged near the upper edge corner (ear portion) of the anode plate to measure the magnetic flux and / or the infrared ray.

3-4. Transmission of magnetic flux measurement data and / or transmission of infrared data The measured data can be transmitted to the control unit, and the data may be temporarily stored in the storage unit. Finally, the measured data can be transmitted from the inspection device to the server via wireless communication. When a short circuit occurs, an abnormal current flows, causing an abnormality in the magnetic flux pattern. Alternatively, an unusual thermal pattern occurs compared to the surroundings. Such an abnormality of the pattern may be detected by performing data processing in the control unit of the inspection device. Alternatively, the magnetic flux data and / or the infrared data may be once transmitted to the server side, and then the server may perform data processing to detect the data.

Information on how many electrodes in the tank the inspection device measured the magnetic flux and / or infrared rays in connection with the measurement of the magnetic flux and / or infrared rays and the transmission of the magnetic flux measurement data and / or infrared rays measurement data. Can be sent to the server. More specifically, this inspection device can detect the number of magnetic flux and / or infrared rays measured in the electrolytic cell. For counting the number of sheets in the electrolytic cell, the moving distance of the inspection device or the downward distance sensor is provided, and the number of sheets can be counted by detecting the step. More specifically, it counts by the following mechanism. When measuring a plurality of electrolytic cells, when moving to a new electrolytic cell, the inspection device once moves to the end in the longitudinal direction of the electrolytic cell. From there, it starts measuring the distance traveled, or counts the number of stages detected and sends the data to the server. When moving to the next electrolytic cell, it is once moved to the end in the longitudinal direction of the electrolytic cell, and the measurement is started after the moving distance or the count number of the number of stages detection is set to zero.

3-5. Output of information about the route currently being traveled Also, while the inspection device is measuring magnetic flux and / or infrared rays and / or while the inspection device is traveling, the travel information detection unit is currently inspecting the device. You can get information about the route you are traveling. As an example of the information on the route the inspection device is currently traveling, as described above, (1) the fixed position of the upper edge of the cathode plate or the fixed position of the crossbar and / or the fixed position of the upper edge of the anode plate. Information on recognition, (2) information on the direction by the internal sensor, (3) information on the marker attached to the fixed position of the anode plate and / or the cathode plate or the crossbar, (4) information on the landmark, etc. , Not limited to these.

The traveling information detection unit can transmit such information to the control unit. The control unit may send these information to the server, process the information, and / or store the information in the storage unit.

3-6. Output of route correction instruction Based on the information about the route currently traveled by the inspection device and the travel route instruction, it is possible to calculate how much the route currently traveled deviates from the travel route instruction. Then, a travel route correction instruction can be generated based on the deviation.

Such processing may be performed by the control unit of the inspection device or by the server. When the server does, the travel route correction instruction can be transmitted to the inspection device via wireless communication.

The control unit can output a travel route correction instruction (instruction created by the control unit itself and / or an instruction created by the server side) to the travel drive unit, thereby eliminating the deviation of the travel route. it can. Then, the magnetic flux sensor and / or the infrared sensor can be arranged at the correct position, and accurate magnetic flux measurement data and / or infrared measurement data can be obtained. More preferably, when the control unit outputs the travel route correction instruction to the travel drive unit, the control unit instructs the device not to meander and to correct the deviation of the position in the width direction of the electrolytic cell.

The specific embodiments of the invention of the present disclosure have been described above. The above embodiment is merely a specific example, and the present invention is not limited to the above embodiment. For example, unless otherwise stated, the technical features disclosed in one of the above embodiments can be provided to other embodiments. Further, unless otherwise specified, for a specific method, it is possible to replace some steps with the order of other steps, and an additional step may be added between the two specific steps. The scope of the present invention is defined by the claims.

10 Travel drive unit 15 Auxiliary travel drive unit (sub crawler)
20 Magnetic sensor 30 Imaging module

Claims (8)

It is an inspection device in electrolytic refining.
The device includes a magnetic sensor and / or an infrared sensor, a travel information detection unit, a control unit, a storage unit, and a travel drive unit.
The magnetic sensor and / or infrared sensor measures the magnetic flux and / or infrared rays of the upper edge or crossbar of the cathode plate of the electrolytic cell, and measures the magnetic flux and / or infrared rays of the upper edge corner of the anode plate of the electrolytic cell. Measure and
The storage unit stores the travel route instruction and stores the travel route instruction.
The control unit outputs a drive instruction to the travel drive unit based on the travel route instruction.
The travel information detection unit outputs information on the route the device is currently traveling to the control unit.
The control unit outputs a travel route correction instruction based on the information to the travel drive unit.
The device. In the device of claim 1, when the control unit outputs a travel route correction instruction based on the information to the travel drive unit, the control unit prevents the device from meandering and in the width direction of the electrolytic cell. The device instructing to correct the misalignment of. The device of claim 1
The traveling information detection unit includes an imaging module.
The imaging module recognizes a fixed position of a plurality of upper edges of the cathode plate or a fixed position of the crossbar and / or a fixed position of the upper edge of the anode plate, whereby the device is currently running. Generate information about the route you are in,
The device. The device according to claim 1, wherein the traveling information detection unit includes an internal sensor, and generates information on a route on which the device is currently traveling based on output information from the internal sensor. apparatus. The apparatus according to claim 1, wherein the traveling information detection unit includes an imaging module.
The imaging module recognizes a plurality of markers on the upper edge of the cathode plate or markers on the crossbar and / or markers on the upper edge of the anode plate, thereby, on the route on which the device is currently traveling. The device that generates information. The apparatus according to claim 1, wherein the traveling information detection unit includes an imaging module.
The imaging module recognizes a plurality of cathode plates and a plurality of landmarks arranged around the anode plates, thereby generating information on the route on which the apparatus is currently traveling. It is an electrolytic refining system, and the system is
The apparatus according to any one of claims 1 to 6,
With an electrolytic cell
A plurality of anode plates immersed at least partially in the electrolytic cell,
A plurality of cathode plates immersed at least partially in the electrolytic cell,
It is equipped with a server capable of communicating with the device.
The server transmits the travel route instruction to the device,
The server receives magnetic flux and / or infrared measurement information from the device and receives it.
The plurality of anode plates and the plurality of cathode plates are arranged so that their surfaces are parallel to each other and alternate with each other to form a plurality of cells.
The device is capable of traveling on a route defined by the upper edges of the plurality of cells.
The system. A method for detecting short circuits in electrolytic refining.
A step in which the server transmits a travel route instruction to the device according to any one of claims 1 to 6.
A step in which the device travels on a specific route based on the travel route instruction.
The magnetic sensor and / or infrared sensor measures the magnetic flux and / or infrared rays of the upper edge of the cathode plate of the electrolytic cell or the crossbar, and the magnetic flux and / or the angle of the upper edge of the anode plate of the electrolytic cell. Steps to measure infrared and
A step in which the device transmits magnetic flux measurement data and / or infrared measurement data to the server.
A step in which the travel information detection unit outputs information related to the route the device is currently traveling to the control unit.
A step in which the control unit outputs a travel route correction instruction based on the information to the travel drive unit.
The method comprising.