A method and apparatus for positioning electrodes in electrolytic aluminum

Abstract

This invention discloses a method and apparatus for positioning the electrode switching mechanism in electrolytic aluminum. The method includes: a linear motion unit equipped with a linear array laser scanner scanning a target area containing an anode clamp and an anode guide rod to acquire scanning data; converting the scanning data into a two-dimensional image based on depth information; converting the two-dimensional image into a grayscale image and extracting the pixel set of the anode clamp and the anode guide rod based on the Otsu's method; calculating the minimum bounding rectangle of the anode clamp and the anode guide rod based on the pixel set, and calculating the spatial position coordinates of the anode clamp and the anode guide rod based on the vertex coordinates of the minimum bounding rectangle. This invention enables precise positioning of the anode clamp and the anode guide rod.

Description

Technical Field

[0001] This invention relates to the field of electrolytic aluminum electrode switching technology, and specifically to an electrolytic aluminum electrode switching positioning method and apparatus. Background Technology

[0002] In the electrolytic aluminum production process, the periodic replacement of the anode guide rod (i.e., "anode replacement") is a key process for maintaining the efficient operation of the electrolytic cell. Traditional anode replacement operations rely on manual adjustment of the alignment between the overhead crane clamp and the guide rod, which has problems such as high labor intensity, low positioning efficiency, and high safety risks in high-temperature and high-risk environments.

[0003] In recent years, although pole-switching technology based on overhead crane automation systems has been gradually applied, its positioning accuracy is limited by errors in multiple industrial scenarios: Inherent errors in the equipment: In existing technology, the overhead crane travels to the approximate area of ​​the target electrolytic cell based on the rough position calculated by the encoder. The laser rangefinder emits lasers towards the reflectors on both sides of the plant. Through triangulation or absolute distance measurement, the absolute coordinates (X and Y directions) of the overhead crane in the current large coordinate system are calculated. The control system compares the position calculated by the encoder with the absolute position measured by the laser to guide the crane. However, mechanical clearances in the overhead crane's traveling mechanism and track installation deviations lead to large repeatability errors. Dynamic disturbances: During the crane hoisting process, real-time interference sources such as load deformation, swaying, and electromagnetic adsorption in the workshop further deteriorate the positioning accuracy.

[0004] In addition, the common anode clamps have an extended design at the end, which can expand the error tolerance range of the clamps to a certain extent, supporting an error of up to ±20mm. Long-term manual and violent operation can also cause the anode guide rod to deform under stress or even tilt as a whole. On the other hand, the anode guide rod is not completely vertical, so a positioning and guiding system and method are needed to correct the relative spatial relationship between the two. Summary of the Invention

[0005] The purpose of this invention is to provide a method and apparatus for positioning the electrode switching of electrolytic aluminum, so as to achieve precise positioning of the anode clamp and the anode guide rod.

[0006] The first aspect of the present invention provides a method for positioning the electrode switching mechanism in electrolytic aluminum, the method comprising: The linear motion unit is equipped with a linear laser scanner to scan the target area, which includes the anode clamp and the anode guide rod, to obtain scanning data; Based on depth information, the scanned data is converted into a two-dimensional image; The two-dimensional image is converted into a grayscale image, and the pixel set of the anode clamp and anode guide rod is extracted based on the Otsu's method. Based on the set of pixels, the minimum circumscribed rectangle of the anode clamp and the anode guide rod is calculated, and the spatial position coordinates of the anode clamp and the anode guide rod are calculated based on the vertex coordinates of the minimum circumscribed rectangle.

[0007] In the above scheme, the motion control system of the linear motion unit and the linear laser scanner are connected to a control terminal, which is set as the network time protocol synchronization server. The motion control system and the linear laser scanner are used as network time protocol synchronization clients, and the fixed IP address of the server is used as the standard time reference to achieve time synchronization.

[0008] In the above scheme, acquiring scan data includes: When the linear motion unit, equipped with a linear laser scanner, scans a target area including the anode clamp and anode guide rod, it acquires a sequence of position data of the linear motion unit. and its corresponding time data series Linear scan data sequence of linear laser scanner and its corresponding time data series ; Linear scan data sequence of linear laser scanner Perform component processing, that is, use formulas. Calculate the horizontal information X. Calculate vertical depth information ,in It is linear scan data. It is the set step size. It is the data number, from which the cross-sectional information measured by the linear laser scanner at the current moment is obtained; The linear scan data sequence after component processing is interpolated once to ensure consistent sampling intervals for cross-sectional data, resulting in the processed linear scan data sequence of the linear laser scanner. ; Linear scanning data sequence based on linear laser scanner and its corresponding time data series and linear motion unit position data sequence and its corresponding time data series A linear interpolation algorithm is used to fit the time data sequence. The linear motion unit position data sequence corresponding to each element in the sequence. : Find the time data series Each element The two closest linear motion unit times and Then the linear motion unit position data sequence The formula for calculating each element in the formula is:

[0009] This yields the position data sequence of the linear motion unit corresponding to the time data sequence of the linear scan data sequence of the linear laser scanner. .

[0010] In the above scheme, based on depth information, the scanned data is converted into a two-dimensional image, including: Define the model and resolution, that is, determine the model length and width and the corresponding resolution. The model length corresponds to the fixed moving distance of the linear motion unit, and the model width matches the horizontal scanning range of the linear laser scanner. The scanned data is interpolated according to the model resolution to ensure that the number of data points in the length and width directions reaches the specified number. For two-dimensional discrete trajectory points formed by binding linear scanning data of a linear laser scanner with position data of a linear motion unit, a continuous trajectory is constructed between adjacent bound data points using a first-order linear interpolation algorithm; Continuous trajectories are filled into the image matrix array to achieve three-dimensional surface reconstruction of the target area; The image matrix array is subjected to image quantization to generate a two-dimensional image.

[0011] In the above scheme, for the two-dimensional discrete trajectory points formed after binding the linear scanning data of the linear laser scanner with the position data of the linear motion unit, a continuous trajectory is constructed between adjacent bound data points using a first-order linear interpolation algorithm, including: Calculate adjacent location points and The physical coordinate difference, based on the resolution requirements of the image coordinate system, in to The interval is divided into equally spaced units of pixels. For each pixel position y, an interpolation formula is used. Calculate the depth value corresponding to this position, where D1 and D2 represent the depth measurements of adjacent scan frames at the same horizontal coordinate position, respectively. It is the depth value corresponding to the target pixel at that location. It is a proportional relationship between image pixels and their actual position values.

[0012] The above scheme involves image quantization processing of the image matrix array to generate a two-dimensional image, including: Searching for step data horizontally and vertically along the image matrix array Calculate the dynamic depth of field of step data , where α is a dynamic parameter; Normalize dynamic depth of field: ,in This represents the normalized dynamic depth of field. and Indicates the minimum and maximum values ​​of dynamic depth of field; For the remaining non-step data, the depth information is normalized to the range of 0~255, and a two-dimensional image of the target area is generated by combining the normalized dynamic depth of field.

[0013] In the above scheme, the pixel set of the anode clamp and anode guide rod is extracted based on the Otsu's method, including: Set a segmentation threshold V Image pixels are divided into two categories: those with gray values ​​less than or equal to 100%. V The background class is C0, and the grayscale value is greater than... V The foreground class C1 is defined. ω 0、 ω 1 represents the proportion of pixels in each of the two categories to the total number of pixels. μ 0、 μ 1 represents the average grayscale value of the two categories. μ This represents the average grayscale value of the entire image. Calculate its inter-class variance g The calculation formula is: By iterating through all possible thresholds V Find the value that maximizes the inter-class variance g. V The optimal single threshold is used to segment the background and foreground in the image, converting the grayscale image into a binary image to extract the pixel set of the anode clamp and anode guide rod.

[0014] In the above scheme, based on the pixel set, the minimum circumscribed rectangle of the anode clamp and the anode guide rod is calculated, and based on the vertex coordinates of the minimum circumscribed rectangle, the spatial position coordinates of the anode clamp and the anode guide rod are calculated, including: Based on the pixel set of the anode clamp and the anode guide rod, calculate the minimum circumscribed rotation rectangle of the anode clamp and the anode guide rod, where the upper rectangle corresponds to the anode clamp and the lower rectangle corresponds to the anode guide rod; For the upper rectangle, the vertices are sorted in descending order according to the Y coordinate in the image coordinate system. The two vertices with the largest Y values ​​are selected as the bottom endpoints. By calculating the midpoint of these two endpoints, the coordinates of the center point of the bottom edge of the rotated rectangle are obtained, which are the image coordinates of the anode fixture. The direction from the anode fixture to the anode guide rod is the positive direction of the Y axis of the image coordinate system. For the rectangle below, sort the vertices in ascending order according to the Y coordinate in the image coordinate system, select the two vertices with the smallest Y value as the top edge endpoints, and then calculate the midpoint of these two endpoints to obtain the coordinates of the top edge center point of the rotated rectangle, which is the image coordinate of the anode guide rod. Finally, based on the image coordinates of the anode clamp and the anode guide rod, the spatial position coordinates of the anode clamp and the anode guide rod are obtained.

[0015] The above scheme further includes the following method: Determine whether the anode guide rod is tilted left or right based on the tilt angle of the smallest circumscribed rotation rectangle, and determine whether the anode guide rod is tilted inward or outward based on the longitudinal change of the depth information of the anode guide rod. If the tilt angle exceeds the threshold, an early warning will be triggered indicating that the anode guide rod cannot be properly clamped.

[0016] In a second aspect, the present invention provides an electrolytic aluminum electrode switching positioning device, which applies the electrolytic aluminum electrode switching positioning method described in any one of the first aspects, including: The linear motion unit is equipped with a high-precision linear guide rail; Linear laser scanner, mounted on a high-precision linear guide rail of a linear motion unit; The motion control system is connected to the linear laser scanner and controls the linear motion unit to drive the linear laser scanner to perform unidirectional or reciprocating motion. The control unit connects to the motion control system of the linear motion unit and the linear laser scanner to achieve time synchronization. It controls the motion control system and the linear laser scanner to scan the target area containing the anode clamp and the anode guide rod to obtain scanning data. Based on the depth information, the scanning data is converted into a two-dimensional image. The two-dimensional image is converted into a grayscale image, and the pixel set of the anode clamp and the anode guide rod is extracted based on the Otsu's method. Based on the pixel set, the minimum bounding rectangle of the anode clamp and the anode guide rod is calculated, and the spatial position coordinates of the anode clamp and the anode guide rod are calculated based on the vertex coordinates of the minimum bounding rectangle.

[0017] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: The electrolytic aluminum electrode positioning method of the present invention uses a linear motion unit equipped with a linear array laser scanner to scan and convert the depth information into a two-dimensional image for processing. Finally, the spatial coordinates are calculated based on the minimum circumscribed rotating rectangle, which realizes the precise positioning of the anode clamp and the anode guide rod. This effectively overcomes the problems of low efficiency and high safety risks of traditional manual operation positioning, and also solves the defects of insufficient positioning accuracy caused by mechanical errors and dynamic disturbances in existing automated systems.

[0018] Furthermore, a linear interpolation algorithm is used to bind the scanner data and the crane position data. By performing component processing and interpolation on the scanned data, the problem of cross-sectional information breakage caused by equipment movement and data sampling discreteness is effectively eliminated, thereby constructing a continuous and complete three-dimensional surface model of the target area, which provides a guarantee for generating high-quality two-dimensional images.

[0019] Furthermore, through dynamic normalization and special calculations for step data, the motion blur phenomenon caused by abrupt changes in depth information is effectively avoided during image conversion, significantly improving the clarity and contrast of the 2D image, making subsequent target recognition and extraction more accurate and robust. The Otsu's method (OTSU) is used to dynamically calculate the segmentation threshold, enabling adaptive segmentation of the image foreground and background, and accurate extraction of the pixel sets of the anode clamp and anode guide rod. This method has strong anti-interference capabilities and is suitable for industrial sites with uneven lighting and complex backgrounds.

[0020] Furthermore, by analyzing the changes in the rectangular tilt angle and depth information, automatic detection and early warning of the left / right / inner / outer tilt of the anode guide rod are realized. Unqualified guide rods can be identified before the pole changing operation, effectively avoiding equipment damage or safety accidents caused by forced clamping, and improving the safety and intelligence level of the entire pole changing process. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of an anode guide rod scanning and identification process provided in an embodiment of the present invention; Figure 2 This is a schematic flowchart of an electrolytic aluminum electrode switching positioning method provided in an embodiment of the present invention; Figure 3 A schematic diagram of scanner data processing provided in an embodiment of the present invention; Figure 4 This is a data binding diagram provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of an intelligent pole-sweeping scenario provided by an embodiment of the present invention; Figure 6 This is a schematic diagram of simulated rectangle recognition provided in an embodiment of the present invention.

[0022] In the diagram: 1. Overhead crane; 2. Linear motion unit; 3. Linear laser scanner; 4. Anode clamp; 5. Anode guide rod. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments provided by this invention without inventive effort are within the scope of protection of this invention.

[0024] Obviously, the accompanying drawings described below are merely some examples or embodiments of the present invention. Those skilled in the art can apply the present invention to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, modifications to design, manufacturing, or production based on the technical content disclosed in this invention are merely conventional technical means and should not be construed as insufficient disclosure of the present invention.

[0025] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention may be combined with other embodiments without conflict.

[0026] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "a," "an," "an," "the," and similar words used in this invention do not indicate quantity limitation and may indicate singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this invention are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms "connected," "linked," "coupled," and similar words used in this invention are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "A plurality" used in this invention refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships may exist; for example, "A and / or B" can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following objects have an "or" relationship. The terms "first," "second," and "third" used in this invention are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0027] This invention provides a method and apparatus for positioning the electrode in electrolytic aluminum, achieving precise positioning of the anode clamp and anode guide rod. Figure 1 As shown, the technical solution of the present invention includes the following core steps: (1) During the automatic pole changing positioning process, the high-precision linear guide rail of the linear motion unit is equipped with a linear array scanner to perform unidirectional or reciprocating motion, while scanning the anode guide rod and anode fixture. Based on NTP time synchronization, data binding and point cloud processing algorithms, the original three-dimensional information including the anode guide rod and anode fixture is obtained.

[0028] (2) The obtained original three-dimensional information is converted into image data (depth information is converted into image gray level), the image is preprocessed to obtain dynamic background and binarization, and then the key targets of anode clamp and anode guide rod are extracted; the pixel point set of the two is extracted, the minimum bounding rectangle of the two is calculated and obtained, and the three-dimensional coordinates of anode clamp and anode guide rod are obtained to achieve precise positioning.

[0029] (3) Analyze the three-dimensional data and spatial distribution characteristics of the anode guide rod and anode clamp to determine whether the guide rod is tilted to the left or right or inside or outside; if the tilt angle exceeds the threshold, an early warning will be triggered to indicate that the guide rod cannot be clamped correctly.

[0030] Specifically, such as Figure 1 and Figure 2 As shown, the electrolytic aluminum electrode switching positioning method of this invention includes the following steps: 1. System initialization: The control unit connects to the motion control system and the linear laser scanner to complete equipment self-testing and activate its working status. For example... Figure 5 As shown, the linear laser scanner 3 is placed on the high-precision linear guide rail of the linear motion unit 2. The high-precision linear guide rail carries the linear laser scanner 3 and performs unidirectional or reciprocating motion, simultaneously scanning the anode guide rod 5 and the anode clamp 4. The anode clamp 4 is located on the overhead crane 1, and the anode clamp 4 can be adjusted by the overhead crane to align with the anode guide rod 5.

[0031] During scanning, the linear motion unit, equipped with a linear laser scanner, moves along a high-precision linear guide rail. The linear laser scanner performs angular scanning in a plane perpendicular to the direction of movement of the linear motion unit, continuously acquiring linear scan data sequences and their corresponding time data.

[0032] 2. Deploy NTP (Network Time Protocol): The motion control system and linear laser scanner of the linear motion unit are connected to a control terminal. The control terminal (not limited to the PC terminal) is set to provide NTP time synchronization service (server terminal). At the same time, the motion control system and linear laser scanner are used as NTP time synchronization clients. The fixed IP address of the server terminal is used as the standard time synchronization reference to complete the time synchronization.

[0033] After timing is completed, the motion control system controls the linear motion unit to drive the linear laser scanner to scan the target area including the anode clamp and anode guide rod, and acquires the position data sequence of the linear motion unit. and its corresponding time data series Linear scan data sequence of linear laser scanner and its corresponding time data series .

[0034] It should be noted that the linear motion unit position data sequence and the corresponding time data series Both are one-dimensional data sequences, while linear laser scanners scan data sequences linearly. It consists of multiple one-dimensional data sequences, each corresponding to one linear array scan. The number of one-dimensional data sequences and their corresponding time sequences... The number of elements is consistent. In other words, after multiple line scans, the linear scan data sequence of the linear laser scanner becomes a matrix, with the size of the matrix corresponding to the number of line scans and the number of points in each line scan.

[0035] 3. Data preprocessing for the motion control system and linear laser scanner: like Figure 2 As shown, the data from the motion control system and the linear laser scanner are processed, and the control terminal receives and caches the most recent data in real time. Linear motion unit position data sequence within a time period and the corresponding time data series and the position data sequence of the linear laser scanner within the same time period. and corresponding time series The data preprocessing process is as follows: (1) such as Figure 3 As shown, this is a sequence of positional data for a linear laser scanner. The data information is processed into components, as shown by the formula. Calculate the horizontal data X. Calculate vertical depth information ,in It is the data information returned by the scanner. It is the set step size information. It is the data number, from which the cross-sectional information measured by the linear laser scanner at the current moment is obtained.

[0036] To ensure consistent sampling intervals (i.e., lateral distances) for cross-sectional data (and to facilitate the subsequent pixelation process of converting the 3D model into an image), the data after component processing is interpolated again to obtain the processed linear scan data sequence of the linear laser scanner. .

[0037] (2) For example Figure 4 As shown, based on the processed laser scanner position data sequence The corresponding time series and linear motion unit position data sequence Corresponding time data sequence A linear interpolation algorithm is used to fit the time data sequence. The linear motion unit position data sequence corresponding to each element in the sequence. : Find the time data series Each element The two closest times and Then the position sequence of the linear motion unit The formula for calculating each element in the formula is:

[0038] This yields the position data sequence of the linear motion unit corresponding to the time data sequence of the linear scan data sequence of the linear laser scanner. .

[0039] 4. 3D modeling and image conversion: (1) Define the model and resolution: such as Figure 5 The scene simulation diagram shown illustrates how, during the 3D reconstruction process, the model's length, width, and corresponding resolution are first determined. The model's width matches the horizontal range of the scanner data, while the length corresponds to the fixed movement distance of the linear motion unit.

[0040] (2) Scanner data interpolation: Based on the resolution requirements, the scanner data is interpolated using the linear motion unit data, i.e., the number of pixels on the long side of the model, as the benchmark, so that the number of data reaches the specified number and meets the resolution requirements.

[0041] (3) Linear interpolation to construct a continuous trajectory: For discrete trajectory points formed after binding scanner data and linear motion unit position data, a continuous trajectory is constructed between adjacent bound data points using a linear interpolation algorithm: Calculate adjacent position points and The physical coordinate difference, based on the resolution requirements of the image coordinate system, in to The interval is divided into equally spaced units of pixels. For each pixel position y, an interpolation formula is used. Calculate the depth value corresponding to this position, where D1 and D2 represent the depth measurements of adjacent scan frames at the same horizontal coordinate position, respectively. It is the depth value corresponding to the target pixel at that location. It is a proportional relationship between image pixels and their actual position values.

[0042] (4) Result filling and data binding: The obtained calculation results are filled into the image matrix array to realize continuous surface reconstruction in the motion direction, effectively solving the problem of cross-sectional information breakage caused by the position return interval of the linear motion unit, thereby realizing the binding of interpolated data with the corresponding scanner data.

[0043] (5) Image dynamic normalization processing: After the obtained data is bound into an array, image quantization processing is performed to find the corresponding array step data. (Determine whether the depth change exceeds a preset threshold along the horizontal and vertical axes of the image matrix array), and calculate the dynamic depth of field of the step data. Where GS represents dynamic depth of field, X represents step data, and α represents dynamic parameters, thus obtaining dynamic depth of field and avoiding the motion blur phenomenon caused by step interpolation. The obtained depth of field is then normalized using a formula. Normalize to the range of 0~255, then normalize the depth information of non-step data to the range of 0~255, and generate corresponding images for subsequent recognition processing.

[0044] 5. Image recognition preprocessing: (1) Dynamic threshold calculation: such as Figure 6 As shown, the two-dimensional image array is converted into a grayscale image, and the image is processed by OTSU. The OTSU algorithm used is based on the idea of ​​clustering. It determines the dynamic threshold by calculating the grayscale histogram of the image and divides the grayscale level of the image into two parts: foreground and background.

[0045] (2) Calculation of average gray value: using the formula To count the frequency of pixels at each gray level and calculate the total number of gray levels in the image. L For a given segmentation threshold V Image pixels are divided into two categories: those with gray values ​​less than or equal to 100%. V The background class is C0, and the grayscale value is greater than... V The foreground class is C1. Definition ω 0、 ω 1 represents the proportion of pixels in each of the two categories to the total number of pixels. μ 0、 μ 1 represents the average grayscale value of the two categories. μ This represents the average grayscale value of the entire image.

[0046] (3) Binarized image generation: Calculate its inter-class variance g The calculation formula is: By iterating through all possible thresholds V Find the variance between classes g To obtain the maximum valueV The optimal single threshold can be used to segment the background and foreground in an image, thus dividing the grayscale image into a binary image.

[0047] 6. Target coordinate data extraction: (1) Target pixel set: Based on the OTSU processed and target pixel detected images of the anode clamp and anode guide rod, the required pixel set is extracted from them, such as Figure 6 As shown, the origin of the image coordinate system is located at the upper left or upper right corner, and downward is the positive direction of the Y-axis of the image coordinate system.

[0048] (2) Connectivity component analysis: Convert the set of pixels into a specific data structure, calculate its minimum bounding rectangle by calling a function, and obtain the coordinates of the four vertices of the rectangle. Then, process the obtained coordinates of the four vertices to calculate the center point of the bottom edge.

[0049] (3) Spatial Position Extraction: Determine if the number of vertex coordinates meets the condition. Sort the vertices in descending order based on the Y coordinates in the image coordinate system. Select the two points with the largest Y values ​​as the bottom endpoints. Calculate the midpoint of these two endpoints to obtain the coordinates of the center point of the bottom edge of the rotating rectangle. When calculating the center point of the top edge, similarly, determine if the number of vertex coordinates meets the condition. Sort the vertices in ascending order based on the Y coordinates in the image coordinate system. Select the two points with the smallest Y values ​​as the top endpoints. Calculate the midpoint of these two endpoints to obtain the coordinates of the center point of the top edge of the rotating rectangle. Finally, using the center point coordinates of the top and bottom edges of the rotating rectangle, the X, Y, and Z axis position data of the anode guide rod and anode fixture are obtained.

[0050] The present invention also provides an electrolytic aluminum electrode switching positioning device, which applies the above-described method embodiments and includes: The linear motion unit is equipped with a high-precision linear guide rail; Linear laser scanner, mounted on a high-precision linear guide rail of a linear motion unit; The motion control system is connected to the linear laser scanner and controls the linear motion unit to drive the linear laser scanner to perform unidirectional or reciprocating motion. The control unit connects to the motion control system of the linear motion unit and the linear laser scanner to achieve time synchronization. It controls the motion control system and the linear laser scanner to scan the target area containing the anode clamp and the anode guide rod to obtain scanning data. Based on the depth information, the scanning data is converted into a two-dimensional image. The two-dimensional image is converted into a grayscale image, and the pixel set of the anode clamp and the anode guide rod is extracted based on the Otsu's method. Based on the pixel set, the minimum bounding rectangle of the anode clamp and the anode guide rod is calculated, and the spatial position coordinates of the anode clamp and the anode guide rod are calculated based on the vertex coordinates of the minimum bounding rectangle.

[0051] In summary, the electrolytic aluminum electrode positioning method of the present invention uses a linear motion unit equipped with a linear array laser scanner to scan and convert the depth information into a two-dimensional image for processing. Finally, it calculates the spatial coordinates based on the minimum circumscribed rotating rectangle, thereby achieving precise positioning of the anode clamp and anode guide rod. This effectively overcomes the problems of low efficiency and high safety risks in traditional manual positioning operations, and also solves the defects of insufficient positioning accuracy caused by mechanical errors and dynamic disturbances in existing automated systems.

[0052] It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. In addition, depending on the implementation needs, the various steps / components described in this invention can be broken down into more steps / components, or two or more steps / components or parts of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0053] It will be readily understood by those skilled in the art that the above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A method for positioning the electrode during electrolytic aluminum switching, characterized in that, The method includes: The linear motion unit is equipped with a linear laser scanner to scan the target area, which includes the anode clamp and the anode guide rod, to obtain scanning data; Based on depth information, the scanned data is converted into a two-dimensional image; The two-dimensional image is converted into a grayscale image, and the pixel set of the anode clamp and anode guide rod is extracted based on the Otsu's method. Based on the set of pixels, the minimum bounding rectangle of the anode clamp and the anode guide rod is calculated, and the spatial position coordinates of the anode clamp and the anode guide rod are calculated based on the vertex coordinates of the minimum bounding rectangle. Acquiring scan data includes: When the linear motion unit, equipped with a linear laser scanner, scans a target area including the anode clamp and anode guide rod, it acquires a sequence of position data of the linear motion unit. and its corresponding time data series Linear scan data sequence of linear laser scanner and its corresponding time data series ; Linear scan data sequence of linear laser scanner Perform component processing, that is, use formulas. Calculate the horizontal information X using the formula. Calculate vertical depth information ,in It is linear scan data. It is the set step size. It is the data number, from which the cross-sectional information measured by the linear laser scanner at the current moment is obtained; The linear scan data sequence after component processing is interpolated once to ensure consistent sampling intervals for cross-sectional data, resulting in the processed linear scan data sequence of the linear laser scanner. ; Linear scanning data sequence based on linear laser scanner and its corresponding time data series and linear motion unit position data sequence and its corresponding time data series A linear interpolation algorithm is used to fit the time data sequence. The linear motion unit position data sequence corresponding to each element in the sequence. : Find the time data series Each element The two closest linear motion unit times and Then the linear motion unit position data sequence The formula for calculating each element in the formula is: ； This yields the position data sequence of the linear motion unit corresponding to the time data sequence of the linear scan data sequence of the linear laser scanner. ; Based on depth information, the scanned data is converted into a two-dimensional image, including: Define the model and resolution, that is, determine the model length and width and the corresponding resolution. The model length corresponds to the fixed moving distance of the linear motion unit, and the model width matches the horizontal scanning range of the linear laser scanner. The scanned data is interpolated according to the model resolution to ensure that the number of data points in the length and width directions reaches the specified number. For two-dimensional discrete trajectory points formed by binding linear scanning data of a linear laser scanner with position data of a linear motion unit, a continuous trajectory is constructed between adjacent bound data points using a first-order linear interpolation algorithm; Continuous trajectories are filled into the image matrix array to achieve three-dimensional surface reconstruction of the target area; The image matrix array is subjected to image quantization to generate a two-dimensional image.

2. The electrolytic aluminum electrode switching positioning method according to claim 1, characterized in that, The motion control system of the linear motion unit and the linear laser scanner are connected to a control terminal, which is set as a network time protocol synchronization server. The motion control system and the linear laser scanner are used as network time protocol synchronization clients, and the fixed IP address of the server is used as the standard time reference to achieve time synchronization.

3. The electrolytic aluminum electrode switching positioning method according to claim 1, characterized in that, For the two-dimensional discrete trajectory points formed by binding linear scan data from a linear laser scanner with position data from a linear motion unit, a continuous trajectory is constructed between adjacent bound data points using a first-order linear interpolation algorithm, including: Calculate adjacent locations and The physical coordinate difference, based on the resolution requirements of the image coordinate system, in to The interval is divided into equally spaced units of pixels, and each pixel position is... Using interpolation formulas Calculate the depth value corresponding to this location, where D1 and D2 represent the depth measurements of adjacent scan frames at the same horizontal coordinate position, respectively. It is the depth value corresponding to the target pixel at that location. It is a proportional relationship between image pixels and their actual position values.

4. The electrolytic aluminum electrode switching positioning method according to claim 1, characterized in that, Image quantization is performed on the image matrix array to generate a two-dimensional image, including: Searching for step data horizontally and vertically along the image matrix array Calculate the dynamic depth of field of step data , where α is a dynamic parameter; Normalize dynamic depth of field: ,in This represents the normalized dynamic depth of field. and Indicates the minimum and maximum values ​​of dynamic depth of field; For the remaining non-step data, the depth information is normalized to the range of 0~255, and a two-dimensional image of the target area is generated by combining the normalized dynamic depth of field.

5. The electrolytic aluminum electrode switching positioning method according to claim 1, characterized in that, The pixel set of the anode clamp and anode guide rod is extracted based on the Otsu's method, including: Set a segmentation threshold V Image pixels are divided into two categories: those with gray values ​​less than or equal to 100%. V The background class is C0, and the grayscale value is greater than... V The foreground class C1 is defined. ω 0、 ω 1 represents the proportion of pixels in each of the two categories to the total number of pixels. μ 0、 μ 1 represents the average grayscale value of the two categories. μ This represents the average grayscale value of the entire image. Calculate its inter-class variance g The calculation formula is: By iterating through all possible thresholds V Find the value that maximizes the inter-class variance g. V The optimal single threshold is used to segment the background and foreground in the image, converting the grayscale image into a binary image to extract the pixel set of the anode clamp and anode guide rod.

6. The electrolytic aluminum electrode switching positioning method according to claim 1, characterized in that, Based on the pixel set, the minimum bounding rectangle of the anode clamp and anode guide rod is calculated. Then, based on the vertex coordinates of the minimum bounding rectangle, the spatial position coordinates of the anode clamp and anode guide rod are calculated, including: Based on the pixel set of the anode clamp and the anode guide rod, calculate the minimum circumscribed rotation rectangle of the anode clamp and the anode guide rod, where the upper rectangle corresponds to the anode clamp and the lower rectangle corresponds to the anode guide rod; For the upper rectangle, the vertices are sorted in descending order according to the Y coordinate in the image coordinate system. The two vertices with the largest Y values ​​are selected as the bottom endpoints. By calculating the midpoint of these two endpoints, the coordinates of the center point of the bottom edge of the rotated rectangle are obtained, which are the image coordinates of the anode fixture. The direction from the anode fixture to the anode guide rod is the positive direction of the Y axis of the image coordinate system. For the rectangle below, sort the vertices in ascending order according to the Y coordinate in the image coordinate system, select the two vertices with the smallest Y value as the top edge endpoints, and then calculate the midpoint of these two endpoints to obtain the coordinates of the top edge center point of the rotated rectangle, which is the image coordinate of the anode guide rod. Finally, based on the image coordinates of the anode clamp and the anode guide rod, the spatial position coordinates of the anode clamp and the anode guide rod are obtained.

7. The electrolytic aluminum electrode switching positioning method according to claim 1, characterized in that, The method also includes: Determine whether the anode guide rod is tilted left or right based on the tilt angle of the smallest circumscribed rotation rectangle, and determine whether the anode guide rod is tilted inward or outward based on the longitudinal change of the depth information of the anode guide rod. If the tilt angle exceeds the threshold, an early warning will be triggered indicating that the anode guide rod cannot be properly clamped.

8. An electrolytic aluminum electrode switching and positioning device, characterized in that, The device employs the electrolytic aluminum electrode switching positioning method according to any one of claims 1 to 7, including: The linear motion unit is equipped with a high-precision linear guide rail; Linear laser scanner, mounted on a high-precision linear guide rail of a linear motion unit; The motion control system is connected to the linear laser scanner and controls the linear motion unit to drive the linear laser scanner to perform unidirectional or reciprocating motion. The control unit connects to the motion control system of the linear motion unit and the linear laser scanner to achieve time synchronization. It controls the motion control system and the linear laser scanner to scan the target area containing the anode clamp and the anode guide rod to obtain scanning data. Based on the depth information, the scanning data is converted into a two-dimensional image. The two-dimensional image is converted into a grayscale image, and the pixel set of the anode clamp and the anode guide rod is extracted based on the Otsu's method. Based on the pixel set, the minimum bounding rectangle of the anode clamp and the anode guide rod is calculated, and the spatial position coordinates of the anode clamp and the anode guide rod are calculated based on the vertex coordinates of the minimum bounding rectangle.

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