Xrf detection-based multi-point liquid component online inspection system and method

Abstract

This invention discloses a multi-point online inspection system and method for liquid components based on XRF detection. In this system, multiple sampling mechanisms are installed at various designated points corresponding to the liquid tanks to be tested, used to extract and temporarily store liquid from the tanks. An inspection robot carries a liquid component detection unit and moves to the target location according to inspection commands issued by a central control computer. A sample cup positioning structure ensures precise alignment between the liquid component detection unit and the sample cup. The liquid component detection unit performs component detection on the liquid temporarily stored in the sample cup using X-ray fluorescence spectroscopy. The central control computer communicates with the liquid component detection unit, the inspection robot, and the sampling mechanisms, issuing inspection and sampling commands. This invention integrates X-ray fluorescence detection technology, robot movement technology, and automatic sampling technology to achieve automated, rapid, and accurate detection of liquid components at multiple points in the smelting process.

Description

Technical Field

[0001] This invention relates to the field of non-ferrous metal detection technology, and in particular to a multi-point online inspection system and method for liquid components based on XRF detection. Background Technology

[0002] For hydrometallurgical processes involving the extraction and separation of non-ferrous metals, such as rare earth elements, online testing of the liquid composition in multiple extraction tanks is typically required to monitor the overall production process and make timely adjustments. Traditional processes rely on manual sampling from extraction tanks at different locations at regular intervals, followed by laboratory analysis using methods such as chemical titration, inductively coupled plasma optical emission spectrometry (ICP-OES), or intra-inductively coupled plasma mass spectrometry (ICP-MS). While this method offers high accuracy, it has significant limitations: First, manual sampling is labor-intensive, cumbersome, and highly susceptible to human error due to variations in personnel skills and operational procedures. Second, sample transportation and laboratory analysis are time-consuming, often taking several hours or longer, resulting in severely delayed results and failing to meet the demands of real-time control during production. Third, the sampling process inevitably leads to liquid loss, especially in high-value metal systems, where long-term accumulation results in significant waste. Furthermore, laboratory analysis generates large quantities of waste liquid containing heavy metals or organic solvents, resulting in high treatment costs and environmental risks.

[0003] In recent years, X-ray fluorescence spectrometry (XRF) has been widely used in materials analysis due to its advantages such as no need for complex pretreatment, fast analysis speed, simultaneous multi-element detection, and non-destructive nature. However, despite its good performance in offline detection of solid samples and some liquids, existing XRF technology is still mainly limited to laboratory environments and is difficult to directly apply to multi-point, continuous, online detection scenarios in hydrometallurgical processes. Traditional XRF equipment is fixedly installed and cannot flexibly cover multiple extraction tanks distributed over a wide area. Furthermore, it lacks an automatic sampling and transmission mechanism linked to the XRF analyzer, making unattended periodic inspection impossible. Therefore, there is currently a lack of an XRF online analysis system that can adapt to the complex working conditions of hydrometallurgical processes, integrate a mobile platform and online sampling function, and support continuous multi-point detection. How to effectively extend high-precision X-ray fluorescence analysis technology to the production site and achieve automated, intelligent, and low-loss liquid component inspection has become a pressing technical challenge in this field. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-point online inspection system and method for liquid components based on XRF detection. By integrating X-ray fluorescence detection technology, robot mobility technology and automatic sampling technology, it can realize automated, rapid and accurate detection of liquid components at multiple points in the smelting site, solving the problems of low efficiency, long cycle, material waste and difficult waste liquid treatment of traditional manual detection.

[0005] To achieve the above objectives, the present invention provides the following solution: A multi-point online inspection system for liquid components based on XRF detection includes a liquid component detection unit, an inspection robot, multiple sampling mechanisms, a sample cup positioning structure, and a central control computer. The sampling mechanisms are respectively installed at various set points to extract and temporarily store liquid from the liquid tanks. A sample cup is provided on the liquid extraction pipeline of each sampling mechanism. The sample cup is used to temporarily store the liquid for detection by the liquid composition detection unit. The inspection robot is equipped with a liquid composition detection unit and moves to the target location within a set space according to the inspection instructions issued by the central control computer. The sample cup positioning structure is used to achieve precise positioning and alignment between the liquid component detection unit and the sample cup, so that the liquid component detection unit can detect the liquid in the sample cup. The liquid composition detection unit uses an X-ray fluorescence spectrometer to detect the composition of the liquid temporarily stored in the sample cup based on X-ray fluorescence spectroscopy, and uploads the detection results to the central control computer. The central control computer is connected to the liquid component detection unit, the inspection robot, and the sampling mechanism to issue inspection and sampling instructions, receive and store test results, and compile inspection route maps according to production control requirements.

[0006] Furthermore, each of the sampling mechanisms is installed on a corresponding tank of liquid to be tested; The sampling mechanism includes a sampling tube, a peristaltic pump, a sample cup, a return water pipe, and a check valve. One end of the sampling tube extends below the liquid surface of the liquid tank to be tested, and the other end is connected to the inlet of the sample cup for extracting liquid. One end of the return water pipe is connected to the outlet of the sample cup, and the other end extends into the liquid tank to be tested for returning excess liquid in the sample cup to the liquid tank. The peristaltic pump is installed on the return water pipe, and the controller of the peristaltic pump is connected to the central control computer. According to the sampling command issued by the central control computer, the peristaltic pump is controlled to start or stop, and the liquid extraction speed and extraction volume are controlled. The check valve is installed on the return water pipe, is normally closed, and is linked with the peristaltic pump. It opens synchronously when the peristaltic pump starts to extract liquid and automatically closes when the peristaltic pump stops. The sampling tube, peristaltic pump, return water pipe, and check valve constitute the liquid extraction pipeline.

[0007] Furthermore, one side of the sample cup serves as the test surface, using a 0.5-2 mm thick polyimide film for the liquid component detection unit to perform testing. The polyimide film both supports the liquid sample and ensures the transmittance of X-rays emitted by the optical tube and the analyte in the liquid sample.

[0008] Furthermore, the inspection robot includes a robot controller, which has a built-in map storage and path planning module. This module is used to formulate a travel route based on pre-stored on-site map information according to the inspection instructions issued by the central control computer, and control the inspection robot to move to the target location.

[0009] Furthermore, the sample cup positioning structure includes an image recognition positioning part and a magnetic precision positioning part; The image recognition and positioning part includes an image recognition tag (e.g., a QR code tag) set on each sampling mechanism or liquid tank to be tested. The image recognition tag records the corresponding liquid tank number and location information. The magnetic precision positioning part includes multiple sets of flexible sample cup assemblies suspended by springs, and the flexible sample cup assemblies are arranged with 3-4 sets of positioning magnets around the sample cup.

[0010] Furthermore, the inspection robot is equipped with a camera and an electromagnet connected to the robot controller. The camera is used to scan image recognition labels and collect images of sample cups, which are then transmitted to the robot controller. The robot controller obtains the number and location information of the liquid tank to be tested and compares it with the target location information sent by the central control computer. When the inspection robot brings the liquid composition detection unit to the target location and the distance between it and the sample cup is within 5-10mm, the robot controller activates the electromagnet. Through the magnetic attraction between the electromagnet and the positioning magnet, the sample cup is aligned.

[0011] Furthermore, the liquid composition detection unit includes an X-ray tube, a detector, and a data processing module. The X-ray tube is used to emit X-rays into the liquid in the sample cup. The detector is used to receive the fluorescence signal generated by the element to be measured in the liquid and transmit it to the data processing module. The data processing module is used to calculate the liquid composition and distribution.

[0012] Furthermore, the system also includes a robot travel track, with multiple liquid tanks to be tested arranged sequentially along the robot travel track, and the inspection robot moves along the robot travel track to the target location; The system is applied in the extraction and separation workshop of non-ferrous metals, and the liquid tank to be tested is the extraction tank in the hydrometallurgical process of non-ferrous metals.

[0013] This invention also provides a method for online inspection of multi-point liquid components based on XRF detection, applied to the aforementioned online inspection system for multi-point liquid components based on XRF detection, comprising the following steps: S1. Based on the current production process requirements, an inspection route map is compiled in the central control computer to clarify the sampling time and inspection sequence of the liquid tanks to be tested at each set point. S2, according to the inspection route map, the central control computer sends a sampling instruction to the sampling mechanism at the target location in advance. The peristaltic pump of the sampling mechanism starts, driving the sampling tube to draw liquid from the liquid tank to be tested. After the liquid flows into the sample cup, the excess liquid flows back to the liquid tank to be tested through the return water pipe, so that the liquid in the sample cup is dynamically updated to ensure that the composition is consistent with the liquid in the tank. At the same time, the central control computer sends an inspection instruction to the inspection robot, which includes the target location information. S3: After receiving the inspection command, the inspection robot plans its route based on the pre-stored site map information and moves autonomously to the target location. S4. After the inspection robot arrives near the target location, it activates the camera to scan the image recognition tag on the sampling mechanism or the liquid tank to be tested, and transmits the scanning information to the robot controller. The robot controller obtains the number and location information of the liquid tank to be tested, and compares it with the target location information sent by the central control computer. If the information matches, the inspection robot fine-tunes its position according to the image information of the sample cup collected by the camera to complete the initial positioning. S5. After the initial positioning is completed, the inspection robot starts the electromagnet and attracts the positioning magnet of the sample cup in the sampling mechanism through magnetic force, so that the sample cup is precisely aligned and the test window of the liquid component detection unit is precisely aligned with the test surface of the sample cup. S6. After positioning and alignment, the central control computer sends a stop sampling command to the sampling mechanism, the peristaltic pump stops working, the check valve on the return water pipe closes, and the liquid in the sample cup remains still; at the same time, the central control computer sends a detection command to the liquid component detection unit. S7, the liquid composition detection unit is started. The X-ray tube emits X-rays that pass through the sample cup to excite the liquid. The detector receives the fluorescence signal generated by the element to be tested in the liquid and transmits it to the data processing module. The data processing module analyzes and calculates the fluorescence signal to obtain the liquid composition and distribution information, and uploads the detection results to the central control computer. In step S8, the central control computer receives and stores the detection results, completing the inspection of the target point. Subsequently, the central control computer sends the inspection command for the next point to the inspection robot, repeating steps S3-S7 until all points are inspected.

[0014] Furthermore, the method is applied to the intelligent monitoring of liquid components in the extraction and separation process of non-ferrous metals.

[0015] According to specific embodiments of the present invention, the multi-point online liquid component inspection system and method based on XRF detection provides an inspection robot equipped with an X-ray fluorescence detection device. Based on received instructions, the robot automatically moves to the test location and performs rapid X-ray fluorescence spectroscopy detection on the liquid sampled by the sampling mechanism in the test tank. This yields information on the elemental content in the sample, thereby achieving accurate testing of liquid components and proportions. The testing process involves no waste of liquid and requires no waste liquid treatment. By equipping multiple points in the extraction production line with sampling mechanisms and combining them with the inspection robot to complete the test, online detection of liquid components in any test tank can be achieved. The present invention specifically discloses the following technical effects: (1) Achieve fully automated inspection: integrate X-ray fluorescence detection technology, robot movement technology and automatic sampling technology, autonomously complete the entire process of "route planning-mobile positioning-sample preparation-component detection-data upload", without manual intervention, eliminate the safety risks and operational errors of manual sampling, and avoid material waste, without the need for additional treatment of detection waste liquid; (2) Improve detection timeliness and control accuracy: The detection cycle is shortened and the detection results are uploaded to the central control computer in real time, providing rapid feedback for the adjustment of extraction process parameters (such as flow rate, pH value, extraction stage), solving the problem of control lag caused by the long time consumption of traditional manual detection, and improving the stability of the production process and product quality; (3) Adaptable to the needs of multi-point detection in large spaces: The inspection robot can move freely in a workshop space of 100×300m, and the positioning error can be less than 10mm. With the precise sample cup positioning mechanism (final accuracy within 1mm), it can adapt to the needs of multi-point detection in dozens to hundreds of extraction tanks and flexibly cope with the smelting site of different production scales. (4) Ensure detection accuracy and system stability: X-ray fluorescence spectroscopy is used in combination with dynamically updated sample preparation methods to ensure accurate detection results. At the same time, the liquid component detection unit moves with the inspection robot and does not need to be exposed to acid mist, high temperature and high humidity in the workshop, which effectively ensures the long-term stable operation of the liquid component detection unit and reduces equipment maintenance costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Fig. 1 This is a schematic diagram of the multi-point online liquid component inspection system based on XRF detection of the present invention; Fig. 2 This is a schematic diagram of the multi-point layout of the liquid tank to be tested according to the present invention; Fig. 3 This is a schematic diagram showing the positioning and alignment of the inspection robot and the sample cup according to the present invention; Explanation of reference numerals in the attached diagram: 1. Liquid tank to be tested; 2. Peristaltic pump; 3. Sampling tube; 4. Sample cup; 5. Liquid composition detection unit; 6. Inspection robot; 7. Return water pipe; 8. Check valve; 9. Spring; 10. Electromagnet; 11. Camera. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The purpose of this invention is to propose a multi-point online inspection system and method for liquid components based on X-ray fluorescence spectroscopy. This system aims to overcome the shortcomings of traditional manual inspection, such as low efficiency, long cycle, high cost, and difficult waste liquid treatment. By integrating a robotic mobile platform, an automatic sampling device, a special corrosion-resistant sample cup, and an XRF analysis unit, an intelligent detection system is constructed that can autonomously inspect and automatically complete sampling and detection. This enables real-time, accurate, and non-contact online monitoring of multi-point liquid components, thereby improving the intelligent control level of non-ferrous metal hydrometallurgical processes.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Example 1 like Figs. 1 to 3 As shown, the multi-point online inspection system for liquid components based on XRF detection provided by the present invention includes a liquid component detection unit 5, an inspection robot 6, multiple sampling mechanisms, a sample cup positioning structure, and a central control computer.

[0022] Multiple sampling mechanisms are respectively installed at various designated points in the test liquid tank 1 (i.e., the extraction tank in non-ferrous metal hydrometallurgy) to extract and temporarily store liquid from the test liquid tank 1. Each sampling mechanism includes a sampling tube 3, a peristaltic pump 2, a sample cup 4, a return water pipe 7, and a check valve 8. One end of the sampling tube 3 extends below the liquid surface of the test liquid tank 1, and the other end is connected to the inlet of the sample cup 4 for extracting liquid. The peristaltic pump 2 is mounted on the return water pipe 7, and its controller is connected to the central control computer. Next, the peristaltic pump is started or stopped according to the sampling instructions issued by the central control computer, controlling the liquid extraction speed and extraction volume; one end of the return water pipe 7 is connected to the liquid outlet of the sample cup 4, and the other end extends into the liquid tank 1 to be tested, used to send the excess liquid in the sample cup 4 back to the liquid tank 1 to be tested; the check valve 8 is installed on the return water pipe 7, is normally closed, and is linked with the peristaltic pump 2. It opens synchronously when the peristaltic pump 2 starts to extract liquid, and automatically closes when the peristaltic pump 2 stops, to prevent a large amount of liquid from leaking due to the sample cup being broken.

[0023] The test surface of the sample cup 4 uses a 0.5-2mm thick polyimide film, which can both support the liquid sample and ensure the transmittance of X-rays emitted by the light tube and the element to be tested in the liquid sample.

[0024] The inspection robot 6 carries the liquid composition detection unit 5 and moves to the target location within a designated space according to inspection instructions issued by the central control computer. The inspection robot 6 has load-bearing capacity and autonomous positioning capabilities, capable of carrying the 50-80kg liquid composition detection unit 5 and moving freely within a relatively large space of 100×300m at a speed of not less than 1m / s. The inspection robot 6 includes a robot controller with a built-in map storage and path planning module. This module is used to determine the travel route based on pre-stored site map information and control the inspection robot to move to the target location, with a positioning error of less than 10mm, according to the inspection instructions issued by the central control computer. For example, an AGV mobile robot may be used as the inspection robot.

[0025] The sample cup positioning structure is used to achieve precise positioning and alignment between the liquid component detection unit and the sample cup, enabling the liquid component detection unit to detect the liquid in the sample cup; the sample cup positioning structure includes an image recognition positioning part and a magnetic precision positioning part; The image recognition and positioning part includes a QR code label set next to the sample cup of each sampling mechanism. The QR code label records the number and location information of the corresponding liquid tank to be tested. The magnetic precision positioning part includes multiple sets of flexible sample cup assemblies suspended by springs, and the flexible sample cup assemblies are arranged with 3-4 sets of positioning magnets around the sample cup.

[0026] The inspection robot is equipped with a camera 11 and an electromagnet 10 connected to the robot controller. The camera 11 is used to scan QR code labels and collect images of sample cups, which are then transmitted to the robot controller. The robot controller obtains the number and location information of the liquid tank to be tested and compares it with the target location information sent by the central control computer. When the inspection robot 6 brings the liquid component detection unit 5 to the target position and the distance between it and the sample cup 4 is within 5-10mm, the robot controller activates the electromagnet 10. Through the magnetic attraction between the electromagnet 10 and the positioning magnet, the sample cup 4 is moved to the correct position.

[0027] The liquid composition detection unit 5 uses an X-ray fluorescence spectrometer to detect the composition of the liquid temporarily stored in the sample cup 4 based on X-ray fluorescence spectroscopy, and uploads the detection results to the central control computer. The liquid composition detection unit 5 includes an X-ray tube, a detector, and a data processing module. The X-ray tube is used to emit X-rays into the liquid sample in the sample cup 4. The detector is used to receive the fluorescence signal generated by the element to be measured in the liquid and transmit it to the data processing module. The data processing module is used to calculate the liquid composition and distribution.

[0028] The central control computer is connected to the liquid component detection unit, the inspection robot, and the sampling mechanism via network cable or industrial WIFI. It is used to issue inspection instructions and sampling instructions, receive and store test results, and compile inspection route maps according to production control requirements.

[0029] The central control computer can generate an inspection route map that includes the sampling time and inspection sequence of each test point according to production control needs. It can also issue inspection instructions to the inspection robot and sampling instructions to the corresponding sampling system according to the route map at regular intervals. Before the inspection robot reaches the target test point, the central control computer controls the sampling system of that point to start in advance, so that the liquid in the sampling tube and sample cup keeps flowing, ensuring that the liquid stored in the sample cup is consistent with the liquid flowing in the test liquid tank, and avoiding deviation of the test results due to liquid stagnation.

[0030] The system also includes a robot travel track, with multiple liquid tanks to be tested arranged sequentially along the robot travel track, and the inspection robot moves along the robot travel track to the target point; The system is applied in the extraction and separation workshop of non-ferrous metals, and the liquid tank to be tested is the extraction tank in the hydrometallurgical process of non-ferrous metals.

[0031] Example 2 This invention also provides a method for online inspection of multi-point liquid components based on XRF detection, applied to the aforementioned online inspection system for multi-point liquid components based on XRF detection, comprising the following steps: S1. Based on the current production process requirements, an inspection route map is compiled in the central control computer to clarify the sampling time and inspection sequence of the liquid tanks to be tested at each set point. S2, according to the inspection route map, the central control computer sends a sampling instruction to the sampling mechanism at the target location in advance. The peristaltic pump of the sampling mechanism starts, driving the sampling tube to draw liquid from the liquid tank to be tested. After the liquid flows into the sample cup, the excess liquid flows back to the liquid tank to be tested through the return water pipe, so that the liquid in the sample cup is dynamically updated to ensure that the composition is consistent with the liquid in the tank. At the same time, the central control computer sends an inspection instruction to the inspection robot, which includes the target location information. S3: After receiving the inspection command, the inspection robot plans its route based on the pre-stored site map information and moves autonomously to the target location. S4. After the inspection robot arrives near the target location, it activates the camera to scan the QR code label on the sampling mechanism and transmits the scanned information to the robot controller. The robot controller obtains the number and location information of the liquid tank to be tested and compares it with the target location information sent by the central control computer. If the information matches, the inspection robot fine-tunes its position based on the image information of the sample cup collected by the camera to complete the initial positioning. The initial positioning error is controlled within 5-10mm. S5. After the initial positioning is completed, the inspection robot starts the electromagnet, which attracts the positioning magnet of the sample cup in the sampling mechanism through magnetic force, and drives the sample cup to be precisely aligned, so that the test window of the liquid component detection unit is precisely aligned with the test surface of the sample cup; the final positioning accuracy is controlled within 1mm. S6. After positioning and alignment, the central control computer sends a stop sampling command to the sampling mechanism, the peristaltic pump stops working, the check valve on the return water pipe closes, and the liquid in the sample cup remains still; at the same time, the central control computer sends a detection command to the liquid component detection unit. S7, the liquid composition detection unit is started. The X-ray tube emits X-rays that pass through the sample cup to excite the liquid. The detector receives the fluorescence signal generated by the element to be tested in the liquid and transmits it to the data processing module. The data processing module analyzes and calculates the fluorescence signal to obtain the liquid composition and distribution information, and uploads the detection results to the central control computer. In step S8, the central control computer receives and stores the detection results, completing the inspection of the target point. Subsequently, the central control computer sends the inspection command for the next point to the inspection robot, repeating steps S3-S7 until all points are inspected.

[0032] The method can be applied to the intelligent monitoring of liquid components in the extraction and separation process of non-ferrous metals.

[0033] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A multi-point online inspection system for liquid components based on XRF detection, characterized in that, include: Liquid composition detection unit, inspection robot, multiple sampling mechanisms, sample cup positioning structure, and central control computer; The sampling mechanisms are respectively installed at various set points to extract and temporarily store liquid from the liquid tanks. A sample cup is provided on the liquid extraction pipeline of each sampling mechanism. The sample cup is used to temporarily store the liquid for detection by the liquid composition detection unit. The inspection robot is equipped with a liquid composition detection unit and moves to the target location within a set space according to the inspection instructions issued by the central control computer. The sample cup positioning structure is used to achieve precise positioning and alignment between the liquid component detection unit and the sample cup, so that the liquid component detection unit can detect the liquid in the sample cup. The liquid composition detection unit uses an X-ray fluorescence spectrometer to detect the composition of the liquid temporarily stored in the sample cup based on X-ray fluorescence spectroscopy, and uploads the detection results to the central control computer. The central control computer is connected to the liquid component detection unit, the inspection robot, and the sampling mechanism to issue inspection and sampling instructions, receive and store test results, and compile inspection route maps according to production control requirements.

2. The multi-point online liquid component inspection system based on XRF detection according to claim 1, characterized in that, Each of the sampling mechanisms is installed on a corresponding tank of liquid to be tested; The sampling mechanism includes a sampling tube, a peristaltic pump, a sample cup, a return water pipe, and a check valve. One end of the sampling tube extends below the liquid surface of the liquid tank to be tested, and the other end is connected to the inlet of the sample cup for extracting liquid. One end of the return water pipe is connected to the outlet of the sample cup, and the other end extends into the liquid tank to be tested for returning excess liquid in the sample cup to the liquid tank. The peristaltic pump is installed on the return water pipe, and the controller of the peristaltic pump is connected to the central control computer. According to the sampling command issued by the central control computer, the peristaltic pump is controlled to start or stop, and the liquid extraction speed and extraction volume are controlled. The check valve is installed on the return water pipe, is normally closed, and is linked with the peristaltic pump. It opens synchronously when the peristaltic pump starts to extract liquid and automatically closes when the peristaltic pump stops. The sampling tube, peristaltic pump, return water pipe, and check valve constitute the liquid extraction pipeline.

3. The multi-point online liquid component inspection system based on XRF detection according to claim 2, characterized in that, One side of the sample cup is used as the test surface, and a polyimide film with a thickness of 0.5~2mm is used for testing by the liquid component detection unit.

4. The multi-point online liquid component inspection system based on XRF detection according to claim 1, characterized in that, The inspection robot includes a robot controller, which has a built-in map storage and path planning module. The robot controller is used to formulate a travel route based on the pre-stored on-site map information according to the inspection instructions issued by the central control computer, and control the inspection robot to move to the target location.

5. The multi-point online liquid component inspection system based on XRF detection according to claim 1, characterized in that, The sample cup positioning structure includes an image recognition positioning part and a magnetic precision positioning part; The image recognition and positioning part includes an image recognition tag set on each sampling mechanism or liquid tank to be tested. The image recognition tag records the corresponding liquid tank number and location information. The magnetic precision positioning part includes multiple sets of flexible sample cup assemblies suspended by springs, and the flexible sample cup assemblies are arranged with 3-4 sets of positioning magnets around the sample cup.

6. The multi-point online liquid component inspection system based on XRF detection according to claim 5, characterized in that, The inspection robot is equipped with a camera and an electromagnet connected to the robot controller. The camera is used to scan image recognition labels and collect images of sample cups, which are then transmitted to the robot controller. The robot controller obtains the number and location information of the liquid tank to be tested and compares it with the target location information sent by the central control computer. When the inspection robot brings the liquid composition detection unit to the target location and the distance between it and the sample cup is within 5-10mm, the robot controller activates the electromagnet. Through the magnetic attraction between the electromagnet and the positioning magnet, the sample cup is aligned.

7. The multi-point online liquid component inspection system based on XRF detection according to claim 1, characterized in that, The liquid composition detection unit includes an X-ray tube, a detector, and a data processing module. The X-ray tube is used to emit X-rays into the liquid in the sample cup. The detector is used to receive the fluorescence signal generated by the element to be measured in the liquid and transmit it to the data processing module. The data processing module is used to calculate the liquid composition and distribution.

8. The multi-point online liquid component inspection system based on XRF detection according to claim 1, characterized in that, The system also includes a robot travel track, with multiple liquid tanks to be tested arranged sequentially along the robot travel track, and the inspection robot moves along the robot travel track to the target point; The system is applied in the extraction and separation workshop of non-ferrous metals, and the liquid tank to be tested is the extraction tank in the hydrometallurgical process of non-ferrous metals.

9. A method for online inspection of multi-point liquid components based on XRF detection, applied to the online inspection system for multi-point liquid components based on XRF detection as described in any one of claims 1-8, characterized in that, Includes the following steps: S1. Based on the current production process requirements, an inspection route map is compiled in the central control computer to clarify the sampling time and inspection sequence of the liquid tanks to be tested at each set point. S2, according to the inspection route map, the central control computer sends a sampling instruction to the sampling mechanism at the target location in advance. The peristaltic pump of the sampling mechanism starts, driving the sampling tube to draw liquid from the liquid tank to be tested. After the liquid flows into the sample cup, the excess liquid flows back to the liquid tank to be tested through the return water pipe, so that the liquid in the sample cup is dynamically updated to ensure that the composition is consistent with the liquid in the tank. At the same time, the central control computer sends an inspection instruction to the inspection robot, which includes the target location information. S3: After receiving the inspection command, the inspection robot plans its route based on the pre-stored site map information and moves autonomously to the target location. S4. After the inspection robot arrives near the target location, it activates the camera to scan the image recognition tag on the sampling mechanism or the liquid tank to be tested, and transmits the scanning information to the robot controller. The robot controller obtains the number and location information of the liquid tank to be tested, and compares it with the target location information sent by the central control computer. If the information matches, the inspection robot fine-tunes its position according to the image information of the sample cup collected by the camera to complete the initial positioning. S5. After the initial positioning is completed, the inspection robot starts the electromagnet and attracts the positioning magnet of the sample cup in the sampling mechanism through magnetic force, so that the sample cup is precisely aligned and the test window of the liquid component detection unit is precisely aligned with the test surface of the sample cup. S6. After positioning and alignment, the central control computer sends a stop sampling command to the sampling mechanism, the peristaltic pump stops working, the check valve on the return water pipe closes, and the liquid in the sample cup remains still; at the same time, the central control computer sends a detection command to the liquid component detection unit. S7, the liquid composition detection unit is started. The X-ray tube emits X-rays that pass through the sample cup to excite the liquid. The detector receives the fluorescence signal generated by the element to be tested in the liquid and transmits it to the data processing module. The data processing module analyzes and calculates the fluorescence signal to obtain the liquid composition and distribution information, and uploads the detection results to the central control computer. In step S8, the central control computer receives and stores the detection results, completing the inspection of the target point. Subsequently, the central control computer sends the inspection command for the next point to the inspection robot, repeating steps S3-S7 until all points are inspected.

10. The online inspection method for multi-point liquid components based on XRF detection according to claim 9, characterized in that, The method is applied to the intelligent monitoring of liquid components in the extraction and separation process of non-ferrous metals.

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