Scanner assembly, system and method for measuring refractory lining wear and scanner manipulator

Abstract

A scanner assembly, system, and scanner manipulator for measuring wear of a refractory lining are disclosed. The scanner assembly 10 is configured to: be mounted on a scanner manipulator arm 82; be positioned near or inserted into an opening in a container; and measure distances from a scanner transmitter / sensor 40 within the scanner assembly 10 to multiple points on the surface of the refractory lining to characterize the recessed interior of the container in a single scan. The scanner manipulator, having a manipulator arm attached to the scanner assembly, maintains the scanner assembly in the measurement position. The control system controls the position of the scanner assembly, the orientation of the transmitter / sensor, and the acquisition, storage, processing, and presentation of the measurement results generated by the transmitter / sensor. The field of view obtained from the scanner assembly 10 in a single scan exceeds the hemisphere.

Description

Technical Field

[0001] The embodiments of the subject matter disclosed herein generally relate to apparatus, methods, and systems for characterizing refractory linings of metallurgical containers, and more specifically to devices, processes, mechanisms, and techniques. Background Technology

[0002] When a vessel contains molten metal, such as a steel ladle, it contains a refractory lining to protect against high temperatures. However, the refractory lining is susceptible to wear or deposits from the molten metal. Controlling the refractory lining plays a crucial role in ensuring continuous and safe operation of the vessel. Performing visual inspections while the vessel is empty is the most common way to monitor wear and deterioration of the refractory lining. Due to time and cost considerations, measurement methods should not require cooling the vessel; instead, measurements should be possible within the vessel at or near operating temperature. Therefore, mechanical surface contact measurement methods cannot be used.

[0003] The use of high-speed scanning laser rangefinders to measure the internal profile of containers used for producing molten metal is widely adopted in the metal production industry. Steel ladles, basic oxygen furnaces (BOF), argon-oxygen decarburization vessels (AOD), electric arc furnaces (EAF), aluminum and copper smelting vessels, foundry furnaces, torpedo cars, and bottom-blown furnaces (Q-BOP) are all analyzed using laser scanners to determine the internal refractory profile and calculate the remaining lining thickness.

[0004] Measurements performed in hot refractory containers using a laser scanner comprising a laser beam emitter, a mirror for deflecting the laser beam, and a laser beam receiver for receiving the laser beam reflected from the surface of the refractory lining are known in the art. The transition time between the laser scanner emitting and receiving the laser beam can be used to calculate the distance between the refractory lining and the laser scanner in the direction of the emitted laser beam. Changing the direction of the laser beam produces a series of transition times from which a series of distances and a series of points can be derived. A coordinate transformation is applied to move the dataset from the scanner's coordinate system to the container's coordinate system, and the measurement results can be used to determine the lining thickness.

[0005] Rotating the mirror around a first axis of rotation and the laser scanner itself around a second axis of rotation allows scanning the refractory lining in two mutually perpendicular directions to obtain multiple points representing the scanned surface. By comparing successive images of the surface, it is possible to determine which parts of the refractory lining have been corroded, eroded, or grown due to deposits, because the laser scanner is very accurate. A typical system can provide lining thickness measurement accuracy of + / - 5-6 mm.

[0006] However, due to the internal shape of the container, the internal geometric constraints of the container, and the fact that laser scanners cannot get too close to the container at or near the operating temperature, laser scanners may not be able to obtain a complete view of the surface of interest.

[0007] To overcome this problem, the laser scanner can be moved sequentially to different locations, or the container can be repositioned relative to the scanner so that the scanner can acquire an image at each location. These images are then merged into a global "image." Merging consecutive images into a global image requires very precise knowledge of the laser scanner's position relative to the container at each measurement location. This increases the complexity of the process, reduces the accuracy of the resulting global image, exposes the equipment to additional heat, and prolongs the time required to complete the measurement.

[0008] WO2008109510 contains a description of an apparatus for measuring the wear of a refractory lining in a vessel intended to contain molten metal. However, this apparatus requires two scanner assemblies to perform its intended function, thus introducing the complexity of merging the datasets generated by each scanner assembly. Furthermore, the combined field of view of the two scanner assemblies is limited by the box in which they are housed. According to a spherical coordinate system, φ The value (the angle around the rotation axis of each laser scanner) is limited to approximately 180 degrees. Additionally, θ The value (the angle in the plane, limited by the field of view of the mirror within the scanner assembly) does not include the z-axis.

[0009] US8072613 describes a system and method for measuring wear of the lining of a container (e.g., a torpedo ladle). The container's lining is scanned by a scanner head from a first position within the container, the first position being at an angle relative to the container's vertical axis. The scanner head is positioned in a second position within the container, also at an angle relative to the container's vertical axis, and from this second position, the scanner head scans the portion of the container's inner lining that was not scanned during the first position scan. The wear of the lining can be measured by comparing the scanned measurements of the lining from the first and second position scans after the container has been loaded and unloaded with an initial reference measurement of the lining. Therefore, the system and method require two scans to complete the measurement and require moving the scanner assembly to a new position to perform the second scan. In polar coordinates, θ The permissible value (the in-plane angle, limited by the field of view of the mirror within the scanner assembly) extends with equal magnitude on either side of the plane orthogonal to the z-axis. θ The allowable value is projected onto the sphere centered on the mirror, forming the equatorial zone. θ The allowed values ​​do not include the z-axis.

[0010] Therefore, at least based on the aforementioned challenges of conventional technology, it is desirable to have apparatus, systems, and methods that reduce the number of scans required to obtain measurements of refractory lining thickness in metal containers configured to carry materials with melting points higher than those of metals, thereby reducing measurement time, reducing the scanner's exposure to the internal conditions of the container being measured, and reconfiguring the field of view to increase practicality and reduce the complexity of the scanning process. Summary of the Invention

[0011] The apparatus, methods, and processes for characterizing refractory linings in containers satisfy one or more of the requirements outlined above or other requirements known in the art. The disclosed apparatus includes a scanner assembly configured to: be mounted on a scanner manipulator arm; be positioned near an opening in the container or inserted into an opening in the container to a designated location within a recess of the container; and measure distances from a scanner transmitter / sensor within the scanner assembly to multiple points on the surface of the refractory lining to characterize the interior of the container in a single scan. The disclosed apparatus also includes a scanner manipulator having a manipulator arm attached to the scanner assembly, wherein the manipulator arm maintains the scanner assembly in the measurement position and enables the scanner transmitter / sensor within the scanner assembly to be oriented so that the scanner transmitter / sensor can measure distances to multiple points on the surface of the refractory lining from said orientation to characterize the interior of the container in a single scan. The disclosed device also includes a robotic device attached to the scanner manipulator, the robotic device having a control system, wherein the control system includes hardware and software for controlling the position of the scanner assembly, the orientation of the transmitter / sensor, and the acquisition, storage, processing, and presentation of measurement results generated by the transmitter / sensor; the control system is communicatively connected to the scanner assembly; the control system characterizes the refractory lining by comparing multiple distances measured by the laser scanning system with a reference surface of the refractory lining.

[0012] Methods and processes for characterizing refractory linings in containers are also within the scope of the subject matter disclosed herein. Such methods include the following steps: placing a robotic device in an observation location; controlling the robot using a control system comprising hardware and software, the control system being communicatively connected to a scanner assembly; extending the scanner assembly, mounted on a manipulator arm attached to the robotic device, toward or into the interior of the container; positioning the scanner assembly; orienting the scanner transmitter / sensor in multiple successive orientations; measuring the distance from the scanner transmitter / sensor to the interior of the container in each orientation; and characterizing the refractory lining by comparing the multiple distances measured by a laser scanning system with a reference surface of the refractory lining. Brief description of the attached figures

[0013] Figure 1It is a cross-sectional view of a container configured to hold high-temperature materials;

[0014] Figure 2 This is a schematic diagram of the scanner manipulator of the present invention;

[0015] Figure 3 This is a side view of the scanner assembly according to the present invention;

[0016] Figure 4 This is a perspective view of the scanner assembly according to the present invention;

[0017] Figure 5 This is a cross-sectional view of a torpedo ladle containing a scanner manipulator according to the present invention;

[0018] Figure 6 This is a schematic representation of a scanner system according to the present invention;

[0019] Figure 7 It is a schematic representation of a spherical coordinate system;

[0020] Figure 8 It is a schematic representation of the geometry of the scanner assembly placement;

[0021] Figure 9 This is a schematic representation of the mechanical parts of the scanner system according to the present invention;

[0022] Figure 10 This is a schematic representation of the mechanical parts of the scanner system according to the present invention;

[0023] Figure 11 This is a perspective view of the mechanical parts of the scanner system according to the present invention; and

[0024] Figure 12 This is a schematic representation of the mechanical parts of the scanner system according to the present invention.

[0025] The symbols representing the main components in the diagram are as follows:

[0026] Container 2; Container longitudinal axis 3; Shell 4; Refractory layer 6; Original Refractory layer 7; Opening 8; Scanner assembly 10; Scanner assembly distal end 12; Scanner assembly proximal end 14; Longitudinal axis 16; Mounting arm 20; Mounting arm proximal end 22; Mounting arm distal end 24; Heat shield 26; Heat shield proximal end 28; Heat shield distal end 30; Turntable 32; Turntable proximal end 34; Turntable distal end 36; Emitter / sensor 40; Field of view 42; Distal limit 44; Proximal limit 46; Acute angle 50 between the distal limit of the emitter / sensor's field of view and the longitudinal axis; Acute angle 52 between the proximal limit of the emitter / sensor's field of view and a line extending from the emitter / sensor in a plane orthogonal to the longitudinal axis; Acute angle 54 between the proximal limit of the emitter / sensor's field of view and the longitudinal axis; Emitter / sensor window 62; Scanner manipulation Device 80; Manipulating arm 82; Longitudinal axis of the manipulating arm (optical center line of the scanner) 84; Far-side field of view forming angle 86; Near-side field of view forming angle 88; Scanner system 100; Support base 110; Support arm 112; Support base platform 114; Support arm actuator 116; Support base platform actuator 118; Container positioning sensor 130; Manipulator actuator 134; System control device 140; Data input port 142; Control output port 144; Human / system interface 152; Data storage device 154; Processor 170; Spherical coordinate system 200; Mechanical part of the scanner system 400; Surface 405; Support base channel 410; Actuator 412; Rotatable connector 420; Actuator 422; Support arm channel 426; Actuator 430; Pivot 434; Actuator 436; Actuator 440. Detailed Implementation

[0027] The following description of exemplary embodiments refers to the accompanying drawings. The same reference numerals in different figures identify the same or similar elements. The following detailed description does not limit the invention. Rather, the scope of the invention is defined by the appended claims. For simplicity, the following embodiments are discussed in relation to the terminology and construction of an apparatus, system, or method for autonomously scanning refractory linings in metallurgical vessels. However, the embodiments discussed below are not limited to this set but can be applied to other apparatus, systems, or methods, including but not limited to the characterization of lining materials in vessels configured to carry substances with temperatures higher than the melting point of the material constructing the vessel. As used throughout this document, the term "characterization," such as in the expression "characterizing the refractory lining," means using an autonomous laser scanner to measure the internal surface of the refractory lining to determine the internal refractory lining profile and calculate the remaining lining thickness to, for example, assess the maximum permissible life while maintaining a low probability of penetration or determining when maintenance is required. Lining characterization can also be used to determine the location of auxiliary devices used in the metallurgical industry during processing, for example, an appropriate setpoint height above the molten pool at the oxygen lance height.

[0028] Throughout this specification, the reference to "a configuration" or "a feature" means that a particular feature, structure, or characteristic described in connection with a configuration is included in at least one configuration of the disclosed subject matter. Therefore, the phrases "in a configuration" or "in a configuration" appearing throughout the specification do not necessarily refer to the same configuration. Furthermore, a particular feature, structure, or characteristic may be combined in one or more configurations in any suitable manner.

[0029] Throughout this specification, the reference to "in data communication" means connecting two elements such that data in electronic or radiated form can be transmitted from at least one element to the other. The expression "in command communication" means that commands in electronic or radiated form can be transmitted from one element to the other. The expression "in control communication" means that one element can control the movement or activity of another element by sending instructions in electronic or radiated form. The expression "movably connected" means connecting two elements such that one element can move relative to the other element, for example, along a common axis, about an axis, or in a hinged manner, while maintaining contact with the other element. The expressions "moving in a hinged manner" and the term "hinged" refer to movements in which one of a pair of elements in communication is constrained to move relative to the other element about a communication axis. The expression "fixedly connected" means connecting two elements such that they remain in contact and cannot rotate, move in a hinged manner, or translate relative to each other. The expression "more than a hemisphere" refers to the shape of a portion of a sphere or a portion of the surface of a sphere, described by 360 degrees of longitude and greater than 90 degrees of latitude relative to the poles, and including the poles. An angle “includes the line” if the line passes through the vertex of the angle, forms a straight line in the plane of the angle, and lies between the lateral faces of the angle.

[0030] Figure 1A container 2 configured to contain high-temperature material is shown. As used throughout this document, the terms "container" or "vessel" are used interchangeably and broadly to refer to all types of metallic or non-metallic containers of various sizes and shapes designed to contain high-temperature materials or glass (in the case of a gasifier) ​​that are below, at, or above the melting point of the container material. Examples of such containers are those used in a variety of applications, such as, but not limited to, gasification processes in chemical and power generation, electric arc furnaces (EAFs), basic oxygen furnaces (BOFs), ladles, blast furnaces, degassers, and argon-oxygen decarburization (AOD) furnaces. Additionally, as used throughout this document, the term "high-temperature material" is broadly used to mean a material constructed to be deposited inside these containers, having a sufficiently high temperature that would cause damage to the container if the integrity of at least a portion of the refractory material covering the surface of the container were compromised, thus exposing the container to the high-temperature material. As shown, container 2 has a longitudinal axis 3, a shell 4, a refractory material layer 6 within the shell 4, and an opening 8. The container's longitudinal axis 3 passes through opening 8. Figure 1 The dashed line 7 in the figure shows the original layer of refractory material layer 6 before the use of the container.

[0031] Figure 2A scanner assembly 10 for measuring wear in a refractory lining is shown. The scanner assembly includes a proximal end 14, a distal end 12, and a longitudinal axis 16 extending from the proximal end 14 to the distal end 12. A mounting arm 20, having a proximal end 22 and a distal end 24, is located at the proximal end 14 of the scanner assembly 10. A heat shield 26, having a proximal end 28 and a distal end 30, is disposed around at least a portion of the periphery of the distal end 24. A turntable 32, having a proximal end 34 and a distal end 36, is located at the distal end 12 of the scanner assembly. The distal end of the mounting arm 20 is rotatably engaged with the proximal end of the turntable 32. Thus, the turntable 32 is rotatable about the longitudinal axis 16 of the scanner assembly. Mounting arm 20 and turntable 32 can also be described as being in communication, wherein the proximal end 34 of turntable 32 is rotatably mounted on the distal end 24 of mounting arm 20, since turntable 32 is rotatable relative to mounting arm 20 about a longitudinal axis. Communication between mounting arm 20 and turntable 32 can be included in a plane orthogonal to the longitudinal axis. Transmitter / sensor 40 is mounted in a fixed position within turntable 32. The optical center of transmitter / sensor 40 is located on the longitudinal axis 16 of the scanner assembly. The field of view of transmitter / sensor 40 is linear in the longitudinal direction. The field of view of transmitter / sensor 40 can also be described as being contained in a plane that also includes the longitudinal axis 16 of the scanner assembly. In the shown configuration, the field of view plane of transmitter / sensor 40 includes a portion of the longitudinal axis 16 of the scanner assembly extending in the distal direction of transmitter / sensor 40. The transmitter / sensor's field of view 42 includes a distal boundary 44 extending from the distal end of the turntable, and a proximal boundary 46 opposite to the distal boundary. The transmitter / sensor's field of view 42 is described in the longitudinal direction at an obtuse angle, which includes the extension of the longitudinal axis 16 of the scanner assembly from the distal end of the scanner assembly, and includes a line 48 extending from the transmitter / sensor 40 in a plane orthogonal to the longitudinal axis 16 within the plane of the field of view 42.

[0032] In the selected configuration, the acute angle 50 between the distal limit 44 of the transmitter / sensor's field of view and the longitudinal axis 16 can have a value from 1 degree to 10 degrees, including both 1 and 10 degrees. In the selected configuration, the acute angle 54 between the proximal limit 46 of the transmitter / sensor's field of view 42 and the longitudinal axis 16 can have a value from 70 degrees to 88 degrees, including both 70 and 88 degrees.

[0033] The transmitter / sensor 40 typically contains a laser, optics, a photodetector, and receiver electronics (not shown). Such transmitter / sensor devices are configured to emit rapid pulses of laser light at a target surface, some of which can produce up to 500,000 pulses per second. The sensor capability of the transmitter / sensor 40 measures the amount of time it takes for each pulse to travel from the target surface back to the scanner through a given field of view. Since light travels at a constant and known speed, the information provided by the transmitter / sensor 40 can be used to calculate the distance between the transmitter / sensor 40 and the target with high accuracy. By rapidly and continuously repeating this process and by combining the orientation of the transmitter / sensor 40 with the position of the scanner assembly 10 relative to the container being measured, the instrument establishes a complex thickness “map” of the refractory surface it is measuring. By calculating and / or comparing changes between the measured refractory thickness maps of the inner surface of the refractory lining with reference measurements of the same surface, changes can be detected and evaluated against potential conditions that could lead to failure of the refractory lining / shell assembly. A single measurement can be completed within 20 to 30 seconds.

[0034] The transmitter / sensor 40 may include a laser scanner with a small beam diameter (approximately 4 mm) and high accuracy (approximately 4 mm). With a 6 mm range of peak-to-peak error, high scan rate (up to 500,000 Hz), robust design suitable for factory environments and the thermal loads applied when scanning high-temperature surfaces, and eye-safe laser wavelength (eliminating and / or substantially reducing workplace safety hazards). 55 o Vertical scanning angle and 0-360 o The horizontal scanning angle is [not specified]. This type of laser scanner allows for a standard resolution scan of the container's interior in approximately twenty to thirty seconds, reducing container downtime and increasing production efficiency. In high-resolution mode, the scanner can provide detailed images of the container, which can be used to characterize the refractory lining, define the area around the outlet or the condition of the drain plug.

[0035] The field of view of the transmitter / sensor in the vertical plane is shown at 42. In all rotational positions of the turntable 32, the field of view 42 of the transmitter / sensor in the vertical plane includes the optical center line of the transmitter / sensor and line 48, which extends outward from the transmitter / sensor 40 in a horizontal plane orthogonal to the optical center line of the transmitter / sensor.

[0036] Figure 3This is a side view of the scanner assembly 10, arranged such that the proximal end 14 of the scanner assembly and the mounting arm 20 are oriented to the left, and the turntable 32, rotatably attached to the mounting arm 20, is shown on the right. The distal end of the scanner assembly 10 is oriented to the right. In this view, the longitudinal axis 16 of the scanner assembly is horizontal. The transmitter / sensor field of view 42 is shown including the longitudinal axis 16 of the scanner assembly and a line 48 extending outward from the transmitter / sensor 40 in a plane orthogonal to the longitudinal axis 16 of the scanner assembly. The transmitter / sensor 40 is shielded by a transmitter / sensor window 62. A heat shield 26 is positioned around at least a portion of the periphery of the distal end 24 of the mounting arm.

[0037] Figure 4 This is a perspective view of the scanner assembly 10. The turntable 32 is rotatably attached to the mounting arm 20. A fixed heat shield 26 is positioned around at least a portion of the periphery of the mounting arm 20. The mounting arm 20 is configured to be fixedly attached to the control arm.

[0038] The scanner assembly 10 may include an integrated cooling system and extensive radiation shielding to allow the scanner assembly 10 to be positioned as close as possible (e.g., within a range of about 2 to about 3 m) to a high-temperature (1700°C) surface, thereby allowing the measurement of refractory thickness in high-temperature environments with limited optical access (e.g., gasifiers).

[0039] Figure 5 A vertical cross-section of the scanner manipulator 80 in container 2, shown here as a torpedo ladle, is displayed. The scanner manipulator 80 includes a scanner assembly 10 containing a turntable 32 and a transmitter / sensor 40. The scanner manipulator also includes an extension of the manipulator arm 82 having a distal and a proximal end, and a longitudinal axis 84 of the manipulator arm that is parallel or collinear with the longitudinal axis of the scanner assembly 10 and extends from the distal end to the proximal end. In the orientation shown, the proximal end of the scanner assembly 10, the scanner manipulator 80, and the manipulator arm 82 is the upper end; the distal end is the lower end. The distal end of the manipulator arm 82 is fixedly attached to the proximal end of the scanner assembly 10; and the manipulator arm 82 extends longitudinally from the scanner assembly 10. The manipulator 82 and the scanner assembly 10 can be attached end-to-end; one of the manipulator 82 and the scanner assembly 10 can have a receiving portion to accommodate an insertion portion of the other manipulator 82 and the scanner assembly 10; or, the manipulator 82 and the scanner assembly 10 can be engaged in an overlapping manner.

[0040] Positioning the scanner manipulator 80 allows the transmitter / sensor to observe the entire interior of the container 2 after the turntable 32 has rotated about the longitudinal axis 16 of the scanner assembly.

[0041] The field of view of the transmitter / sensor in the longitudinal plane is denoted by 42. The angle of the field of view 42 is the sum of the following: (a) the far field of view forming angle 86 in the vertical plane, which is an obtuse angle and is defined by: (i) a line 48 extending outward from the transmitter / sensor 40 in a plane orthogonal to the longitudinal axis of the scanner assembly; and (ii) a line extending outward from the transmitter / sensor 40 through the distal end of the scanner assembly 10 (corresponding here to the far boundary 44 of the field of view); and (b) the near field of view forming angle 88, which is an acute angle and coplanar with the far field of view forming angle 86, and is defined by: (i) a line 48 extending outward from the transmitter / sensor 40 in a plane orthogonal to the longitudinal axis of the scanner assembly; and (ii) a line extending outward from the transmitter / sensor 40 on the side of line 48 opposite to the far field of view forming angle 86 (corresponding here to the near boundary 46 of the field of view). The field of view 42 of the transmitter / sensor is shown to include the longitudinal axis 16 of the scanner assembly and a line 48 extending outward from the transmitter / sensor 40 in a plane orthogonal to the longitudinal axis of the scanner assembly. In all rotational positions of the turntable 32, the field of view 42 of the transmitter / sensor in the longitudinal plane includes: a portion of the longitudinal axis 16 of the scanner assembly extending outward from the transmitter / sensor 40 in a distal direction; and a portion of the line 48 extending outward from the transmitter / sensor 40 in a longitudinal plane orthogonal to the longitudinal axis 16 of the scanner assembly.

[0042] Figure 6 A scanner system 100 for measuring the internal refractory lining of a container 2 is depicted. The system includes a scanner assembly 10 containing a turntable 32 housing a transmitter / sensor 40. The scanner assembly 10 is attached to a manipulator arm 82 to form a scanner manipulator 80. The proximal end of the manipulator arm 82 is attached to a support base 110 via a support arm 112 configured to move and orient the manipulator arm 82 to a predetermined position. The proximal end of the support arm 112 may be movably connected to the support base 110. The support arm 112 may be hingedly translated, rotated, and / or moved relative to the support base 110. The support arm 112 may be attached to the support base 110 by means of a support base platform 114, which may move or rotate relative to the support base 110. A support arm actuator 116 is disposed on the articulated section of the support arm 112 to control the relative position of the articulated section or to control the orientation of the support arm 112 using the manipulator arm 82. The proximal end of the scanner manipulator 80 may be movably or hingedly connected to the distal end of the support arm 112. The scanner manipulator 80 may be translated, rotated, or moved relative to the support arm 112 in a hinged manner.

[0043] A combination of support base 110, support base platform 114, support arm 112, and manipulator arm 82, or a similar combination of elements for moving scanner assembly 10, has the simple requirement of moving from a rest position to a measurement position and then returning to a rest position. The geometry and size of the manipulator should be selected so that scanner assembly 10 can be placed in the measurement position for inspecting a specific container.

[0044] Other configurations of the scanning system can utilize different combinations of supports, support arms, connectors, and rotating devices to move the scanner assembly 10 to the measurement position. Support arm 112 and manipulator arm 82 can be combined in an assembly, wherein support arm 112 and manipulator arm 82 are arranged at right angles, and support arm 112 includes a pivot communicating with the support.

[0045] The container positioning sensor 130 can be mounted on the support base 110, the manipulator arm 82, the scanner assembly 10, and / or the container 2 to provide data to determine the position of the container relative to an independent reference frame, which is the same as the reference frame referenced by the scanning system and occupies up to six degrees of freedom. The container positioning sensor 130 mounted on the container 2 can be a single-point laser rangefinder or an inclinometer.

[0046] A manipulator actuator 134, which may be located within the scanner assembly 10, controls the rotational movement of the turntable 32 relative to the mounting arm of the scanner assembly 10. The manipulator actuator 134 controls the angular position of a mirror reflecting light generated or sensed by the transmitter / sensor 40; said angle is defined in a plane including the longitudinal axis of the scanner assembly. The manipulator actuator 134 may include a microprocessor and may have additional capabilities used during measurement, including controlling slow scan motor movement (azimuth) of the turntable 32 about the longitudinal axis 16 of the scanner assembly, controlling fast scan motor movement (elevation) at an angle described between the emission / sensing direction of the transmitter / sensor 40 and the longitudinal axis 16 of the scanner assembly, laser emission, distance data calculation and data buffering, and ultimately transmitting the distance data to the system control unit 140.

[0047] The system control unit 140 communicates with the container positioning sensor 130 and the transmitter / sensor 40 located on the assembly of the support base 110, the manipulator arm 82, and the scanner assembly 10. This data communication can be achieved via a physical connection or wireless transmission. In some configurations, the system control unit 140 is connected to and communicates with one or more container positioning sensors 130 mounted on the container 2.

[0048] The system control unit 140, which combines the support base 110, the manipulator arm 82, and the scanner assembly 10, receives data input from the container positioning sensor 130 and from the transmitter / sensor 40. In some configurations, the system control unit 140 receives data input from one or more container positioning sensors 130 mounted on the container 2. Data is received through one or more data input ports 142.

[0049] System control unit 140 transmits commands to one or more manipulator actuators 134 located within scanner assembly 10 to move components within scanner assembly 10 relative to each other, support arm actuator 116 to move components of support arm 112 relative to each other, and support base platform actuator 118 to move support base platform 114 relative to the remainder of support base 110. Actuator commands are transmitted from system control unit 140 to actuators via one or more control output ports 144. System control unit 140 is configured to resolve six degrees of freedom by transmitting commands to support arm actuator 116, support base platform actuator 118, and manipulator actuator 134 to position scanner assembly 10 in a predetermined location and orientation with an accuracy corresponding to overall measurement uncertainty. Overall accuracy can be determined as needed by commanding actuators to move against mechanical stops (stops restricting further movement) or to a position determined by measuring arm position using a combination of linear or angle encoders. The support arm actuator 116, the support base platform actuator 118, and the manipulator actuator 134 may include a servo motor and / or a hydraulic actuator.

[0050] The system control device 140 includes a human / system interface 152 for inputting and displaying data, which may include devices such as keypads, displays, touch screens, indicators, and control devices and surfaces.

[0051] The system control unit 140 includes a data storage device 154, such as RAM or a hard disk drive, which stores data generated by the container positioning sensor 130 and the transmitter / sensor 40, data to be used to perform calculations, commands and control programs for the movement of components of the device, such as the support arm actuator 116, the support base platform actuator 118, and the manipulator actuator 134, and calculation programs for processing the acquired data.

[0052] The system control device 140 includes a data buffer 156, which temporarily stores data acquired through the data input port 142 until it can be accommodated by the data storage device 154.

[0053] The system control unit 140 includes a processor 170, which translates programmed instructions into commands and processes acquired data. The processor 170 converts position information relating to the position of container 2 and the position of transmitter / sensor 40 into a common reference frame.

[0054] like Figures 1 to 6 The description cumulatively depicts that the system control unit 140 issues a command to perform a measurement, and the manipulator actuator 134 or microprocessor within the scanner assembly 10 controls the measurement process, including slow scanning motor movement (azimuth angle) of the turntable 32 around the longitudinal axis 16 of the scanner assembly, fast scanning motor movement (elevation angle) at an angle described between the emission / sensing direction of the transmitter / sensor 40 and the longitudinal axis 16 of the scanner assembly, laser emission, distance data calculation and data buffering, and finally, transmission of the distance data to the system control unit 140. In an example of the operation method, the scanner assembly can be oriented at a specified azimuth angle and measurements can be performed within a range of elevation angle values. The process is repeated within this range of azimuth angle values.

[0055] The transmitter / sensor 40 is a remote sensing technique that measures distance by illuminating a target with a laser and measuring the round-trip time of photons emitted by the laser source through the laser source and the far-field reflecting surface. A typical 3-D transmitter / sensor 40 includes a laser, a scanner, optics, a photodetector, and receiver electronics. After reviewing the topics disclosed herein, those skilled in the art will understand that various types of lasers can be used in the transmitter / sensor 40, including lasers with different wavelengths and different operating modes (e.g., pulsed or continuous). The accuracy and resolution of the characterization and measurement of the refractory wear of container 2 will depend on how the optics focus the laser in the transmitter / sensor 40, which will also limit the field of view of the transmitter / sensor 40. Better resolution can be achieved with shorter pulses if the receiver detector and electronics have sufficient bandwidth to cope with reduced pulse widths. The speed at which an image can be developed is affected by the speed at which it can be scanned into the system. Various scanning methods can be used to scan the beam at the desired elevation angle. Accurate mirror positioning affects measurement accuracy.

[0056] Additionally, the system control unit 140 of the laser scanner system 100 may include a processor 170 to handle wear characterization and surface temperature measurement. The processor 170 may be incorporated within the laser scanner system 100 or connected to the laser scanning system. A typical laser rangefinder transmitter / sensor 40 includes an assembly consisting of a pulsed laser (a method for detecting laser emission events), a faceted mirror, a high-speed detector for detecting light reflected from a far-field surface, and a motor or drive for slowly rotating the assembly within the scene of interest. In practice, the laser and detector work together to measure distance, and the mirror / motor guides the laser to create a raster image across the scene. A high-resolution encoder is typically used to determine the angular position of the rapid scan (elevation) rotation (and, at the same resolution, the slow scan axis).

[0057] In one configuration, the laser scanner system 100 includes an emitter / sensor 40 with a small beam diameter (approximately 3.6 mm), high scanning accuracy (6 mm peak-to-peak range error), high scan rate (up to 500,000 Hz), robust design suitable for factory environments and the heat loads applied during scanning high-temperature surfaces, and an eye-safe laser wavelength (eliminating and / or substantially reducing workplace safety hazards). It can be mounted in a scanner assembly to produce a vertical scan angle range of +95° to -15° and a horizontal scan angle range of 0° to 360°. This laser scanner allows for standard-resolution scans of container interiors in approximately 6 to 10 seconds, thereby reducing container downtime and increasing production efficiency. In high-resolution mode, the scanner can provide detailed images of the container, which can be used to detect cracks, define areas around furnace openings, or the condition of drain plugs. Sensors on the instrument measure the amount of time each laser pulse takes to leave, travel to the far-field surface, and return from the target surface to the scanner after reflection. Light travels at a constant, known speed, so the emitter / sensor 40 can provide data, enabling the calculation of the distance between the emitter / sensor 40 and the target with high accuracy. By rapidly and continuously repeating this process, the instrument establishes a "map" of the extent of the surface it measures. By calculating the changes between the measured extent maps of the refractory layer 6 and / or comparing said changes with reference measurements of the same surface, changes in refractory thickness or surface topology that could lead to the failure of the container 2 can be detected.

[0058] Figure 7 This is a schematic representation of a spherical coordinate system 200. Angle 202 is θ, the polar angle measured from a fixed point in the direction Z. Angle 204 is... The polar angle is the azimuth angle of an orthogonal projection onto a reference plane passing through the origin and orthogonal to the vertex direction, measured from a fixed reference direction Y. Length 206 is r, that is, the radial distance of the point from the fixed origin of the coordinate system.

[0059] The field of view of the scanner assembly 10 can be described using a spherical coordinate system 200. If the scanner assembly 10 is aligned such that the distal end 12 corresponds to the positive direction of the Z-axis and the proximal end 14 corresponds to the negative direction of the Z-axis, and the longitudinal axis 16 of the scanner assembly is arranged to correspond to the Z-axis, then the field of view of the scanner assembly 10 includes all degrees from 0 degrees to 360 degrees. The values ​​(i.e., the scanner's free rotation around the Z-axis) and all θ values ​​from 0 degrees to 90 degrees, thus including the positive range of the Z-axis, and including the XY plane when the turntable rotates around the Z-axis. Additional θ values ​​that can be included in the field of view are -10°, -9°, -8°, -7°, -6°, -5°, -4°, -3°, -2°, -1°, 91°, 92°, 93°, 94°, 95°, 96°, 97°, 98°, 99°, 100°, 101°, 102°, 103°, 104°, and 105°. In some configurations, the far-side limit 44 of the transmitter / sensor field of view and the near-side limit 46 of the transmitter / sensor field of view remain constant after the transmitter / sensor 40 rotates around the X-axis.

[0060] The scanner assembly 10 is designed such that, with its distal end positioned in the positive direction corresponding to the Z-axis of the polar coordinate system and its longitudinal axis aligned with the Z-axis of the polar coordinate system, it can rotate through all directions in the polar coordinate system from 0 degrees to 360 degrees, including both 0 degrees and 360 degrees. After the value, it has all The value contains at least all of the values ​​from 0 degrees to 91 degrees in the polar coordinate system, including 0 degrees and 91 degrees. θ Value perspective.

[0061] In other words, when the scanner assembly 10 is positioned at its distal end in the positive direction corresponding to the Z-axis of the polar coordinate system and when the longitudinal axis of the scanner assembly is aligned with the Z-axis of the polar coordinate system, the scanner assembly can rotate through all directions from 0 degrees to 360 degrees in the polar coordinate system, including both 0 degrees and 360 degrees. After the value is calculated, the field of view is symmetrical with respect to the Z-axis and extends beyond the hemisphere. The field of view extends beyond the hemisphere because it includes a hemispherical portion and also extends from the intersection with the Z-axis to an angle greater than 90 degrees. θ value.

[0062] The scanner assembly and scanner manipulator disclosed herein are configured such that the depth to which they must be inserted into a container having a completely recessed interior in both longitudinal and transverse sections is minimized. If all angles θ measured from the X-axis in a spherical coordinate system with the container's opening as the YZ plane are within the range of 90 to 270 degrees for the container, then the scanner assembly can be placed anywhere outside the container along its longitudinal axis. If the measured angle θ inside the container is less than 90 degrees or greater than 270 degrees, then as the value of θ decreases from 90 degrees or increases from 270 degrees, the scanner assembly must be placed closer to the container's opening.

[0063] If the container's θ angle is close to 0 degrees or 360 degrees, then the scanner assembly and scanner manipulator must be inserted into the container's opening to scan the entire interior. Figure 8 A scanner assembly 10 is shown for scanning the interior of a container 2 having a refractory material layer 6. The portion of the refractory material layer 6 near the opening 8 is orthogonal to the longitudinal axis of the container and to the longitudinal axis 16 of the scanner assembly. The scanner stage 32 contains a transmitter / sensor 40 with a distal boundary 44 and a proximal boundary 46 of the transmitter / sensor's field of view. The distal field of view angle 86 is the distal component of the field of view angle in the plane containing the longitudinal axis 16 of the scanner assembly. The proximal field of view angle 88 is the proximal component of the field of view angle in the plane containing the longitudinal axis 16 of the scanner assembly. The intersection of the distal and proximal field of view angles 86 and 88 is a line contained in the plane orthogonal to the longitudinal axis 16 of the scanner assembly.

[0064] The required insertion depth 302 of the transmitter / sensor 40 into the container 2 can be determined from the near-field-of-view forming angle 88 and the distance 304 of the transmitter / sensor 40 from the refractory layer 6 in a plane orthogonal to the longitudinal axis 16 of the scanner assembly. In the following formula, the near-field-of-view forming angle 88 is represented by α, the distance 304 by x, and the required insertion depth 302 by z:

[0065] z = x (tan )

[0066] These values ​​were obtained under special conditions in a container having a completely recessed interior in both longitudinal and transverse sections, in which a portion of the refractory layer 6 near the opening 8 has an angle θ value substantially equal to 0° or 360°. For containers with a completely recessed interior in both longitudinal and transverse sections, where the θ value is closer to 90° or 270°, the required insertion depth will be much smaller.

[0067] Figure 9This is a schematic representation of the mechanical portion 400 of the scanner system according to the invention. Surface 405 supports a support base 110. A support base channel 410 (depicted vertically in this representation) passes through the support base 110. The support base channel accommodates the upper end of a first support arm. Linear movement of the first support arm within the support base channel 410 is achieved and generated by an actuator 412. The actuator 412 may include a rack and pinion mechanism, or any other mechanism capable of generating relative linear movement of the first support arm within the support base channel 410. Arrow 414 indicates the direction of movement of the first support arm within the support base channel 410.

[0068] The lower end of the first support arm is attached to the upper end of the first support arm via a rotatable connector 420. Rotation of the lower end of the first support arm relative to the upper end of the first support arm is achieved and generated by an actuator 422. The actuator 422 may include a stepper motor or any other mechanism capable of producing precise and accurate rotary motion. Arrow 424 indicates the direction of rotation of the lower end of the first support arm.

[0069] The lower end of the first support arm is configured to hold the longitudinal surface of the second support arm. As depicted, the second support arm is positioned such that the open end is lower than the closed end. The second support arm can be placed in a horizontal position or at any angle to the horizontal plane. The second support arm includes a support arm channel 426 that accommodates a scanner manipulator having a manipulator arm 82 and a turntable 32. An actuator 427 realizes and generates the retraction and extension of the manipulator arm 82 into the support arm channel 426. The actuator 427 may include a rack and pinion mechanism or any other mechanism capable of producing relatively linear motion. Arrow 428 indicates the direction of movement of the manipulator arm 82 in the support arm channel 426.

[0070] Figure 10 This is a schematic representation of the mechanical part 400 of the scanner system according to the present invention. Surface 405 supports a support base 110. The support base 110 is attached to a support base platform 114 via a rotatable connector 420. Rotation of the support base platform 114 relative to the support base 110 is achieved and generated by an actuator 430. The actuator 430 may include a stepper motor or any other mechanism capable of producing precise and accurate rotational motion. Arrow 432 indicates the direction of rotation of the support base platform 114.

[0071] A first support arm extends downward from the support base platform 114. The first support arm is connected to a second support arm via a pivot 434. An actuator 436 enables and generates rotational movement of the second support arm about the axis of the pivot 434. Arrow 438 indicates the direction of movement of the second support arm about the pivot 434. The second support arm engages at the proximal end of the manipulator arm 82. The connection between the second support arm and the proximal end of the manipulator arm 82 is depicted at a right angle; it can take any form that facilitates scanning of the container; it can be fixed or adjustable. The second support arm and the manipulator arm 82 can be formed as a single part. The second support arm may contain additional pivots and actuators to provide additional degrees of freedom of movement.

[0072] In a variation of the mechanical part 400 of the described scanner system, the support base platform 114 and actuator 430 are omitted, and the second support arm is directly connected to the support base 110.

[0073] Figure 11 This is a perspective view of the mechanical part 400 of the scanner system according to the invention, which is supported on a support base 110. The support base 110 is attached to a support base platform 114 via a rotatable connector 420. Rotation of the support base platform 114 relative to the support base 110 is achieved and generated by an actuator 430. The actuator 430 may include a stepper motor or any other mechanism capable of producing precise and accurate rotational motion. Arrow 432 indicates the direction of rotation of the support base platform 114.

[0074] A first support arm extends upward from the support base platform 114. The first support arm is connected to a second support arm via a pivot 434. An actuator 436 realizes and generates rotational movement of the second support arm about the axis of the pivot 434. Arrow 438 indicates the direction of movement of the second support arm about the pivot 434. The rotational movement of the second support arm about the axis of the pivot 434 can be controlled by a servo motor and / or hydraulic actuation.

[0075] The second support arm has an open end and contains an internal support arm channel that telescopically accommodates a third support arm. The third support arm has an open end and contains an internal support arm channel that telescopically accommodates a scanner manipulator having a manipulator arm 82 and a turntable 32. An actuator 440 implements and generates the retraction and extension of the manipulator arm 82 into the support arm channel of the third support arm, and the retraction and extension of the third support arm into the support arm channel of the second support arm. The actuator 440 may include a rack and pinion mechanism or any other mechanism capable of producing relatively linear motion. Arrow 442 indicates the direction of movement of the third support arm entering and leaving the support arm channel of the second support arm. Arrow 428 indicates the direction of movement of the manipulator arm 82 into and leaving the support arm channel of the third support arm.

[0076] Figure 12 This is a schematic representation of the mechanical part 400 of the scanner system according to the invention. A pivot 434 is supported by or rests on a surface 405. An actuator 436 enables the support arm 112 at its proximal end to rotate from a vertical position (the storage position indicated by the solid line) to a horizontal working position indicated by the dashed line. Arrow 438 shows the direction of movement of the support arm 112 between the vertical and horizontal positions.

[0077] The support arm 112 is engaged at its distal end to the proximal end of the manipulator arm 82, which has a turntable 32 at its distal end, via a rotatable connector 420. Rotation of the rotatable connector 420 about an axis orthogonal to both the longitudinal axis of the support arm 112 and the longitudinal axis of the manipulator arm 82 is achieved and generated by an actuator 422. The actuator 422 may include a stepper motor or any other mechanism capable of producing precise and accurate rotational motion. Arrow 424 indicates the direction of rotation of the lower end of the first support arm in the horizontal working position of the mechanical part 400 of the scanner system.

[0078] The following procedure is used to perform measurements on the container: The container is emptied and any foreign objects are removed. The container's position is then determined by extrapolation (placing the container in the same location for each measurement) or by using an external sensor. The container is then oriented such that the surface of interest within the container can be included in the field of view of a scanner assembly attached to a scanner manipulator. The scanner manipulator is placed at the measurement location, typically on or near the longitudinal axis of the container passing through its opening. The scanner manipulator's stage rotates about the longitudinal axis of the scanner assembly; measurements are taken, and a profile of the container's interior is generated. This profile is compared to a reference dataset or a created 3D model of the container. The comparison allows for the detection of areas of wear or deposits.

[0079] A method for measuring the wear of refractory linings includes:

[0080] a) Empty the lined container;

[0081] b) Position the container;

[0082] c) Orient the container such that the lining surface of interest inside the container can be included in the field of view of the scanner assembly;

[0083] d) Provide a scanner assembly including a mounting arm; a turntable rotatably attached to the mounting arm; and a transmitter / sensor included within the turntable;

[0084] The scanner assembly, with its distal end positioned in the positive direction corresponding to the Z-axis of the polar coordinate system and its longitudinal axis aligned with the Z-axis of the polar coordinate system, rotates through all degrees in the polar coordinate system from 0 degrees to 360 degrees, including both 0 degrees and 360 degrees. After the value is obtained, it has a field of view that is symmetrical with respect to the Z-axis and extends beyond the hemisphere;

[0085] e) Place the scanner assembly at the measurement location;

[0086] f) Start the transmitter / sensor;

[0087] g) Rotate the turntable through all the coordinate systems in the polar coordinate system. value;

[0088] h) For the selected Values ​​are obtained for selection in the polar coordinate system. θ Value data;

[0089] i) Collect data provided by the transmitter / sensor; and

[0090] j) Generate the outline of the container's interior from the collected data.

[0091] A scanner assembly for measuring wear of refractory linings includes:

[0092] The distal end, the proximal end, and the longitudinal axis extending from the proximal end to the distal end;

[0093] Mounting arm, which has a proximal end and a distal end and is located at the proximal end of the scanner assembly;

[0094] A turntable having a proximal end and a distal end, wherein the distal end of a mounting arm is rotatably engaged with the proximal end of the turntable, wherein the communication between the mounting arm and the turntable is comprised in a plane orthogonal to the longitudinal axis; and

[0095] A transmitter / sensor installed in a fixed position on a turntable;

[0096] The optical center of the transmitter / sensor is located on the longitudinal axis;

[0097] The field of view of the transmitter / sensor is linear in the longitudinal direction;

[0098] The field of view includes the distal boundary extending from the far end of the turntable, and includes the proximal boundary positioned opposite the distal boundary.

[0099] The field of view of the transmitter / sensor is described in the longitudinal direction by an obtuse angle, which includes an extension of the longitudinal axis from the distal end of the scanner assembly and includes a line extending from the transmitter / sensor in a plane orthogonal to the longitudinal axis. The scanner assembly can be configured such that a rotatable engagement of the distal end of the mounting arm with the proximal end of the turntable allows the turntable to rotate 360 ​​degrees about the longitudinal axis of the scanner assembly. The scanner assembly can be configured such that the field of view of the transmitter / sensor lies in a plane including the longitudinal axis of the transmitter / sensor. The scanner assembly may include a heat shield disposed on at least a portion of the periphery of the distal end of the mounting arm. The scanner assembly may contain a single transmitter / sensor; the scanner assembly may exclude a second transmitter / sensor; the number of transmitters / sensors in the scanner assembly may be exactly one.

[0100] The scanner assembly can be configured such that the acute angle described by the distal limit of the field of view and the longitudinal axis has a value from 1 degree to 10 degrees, including 1 degree and 10 degrees. The scanner assembly can be configured such that the acute angle described by the proximal limit of the field of view and the longitudinal axis has a value from 70 degrees to 88 degrees, including 70 degrees and 88 degrees.

[0101] The scanner assembly can be configured such that it does not communicate with the refractory application apparatus, or is not part of an apparatus that includes the refractory application apparatus. The refractory application apparatus is configured to spray, blast, or otherwise deliver refractory material to a surface, causing the material to adhere to the surface. The scanner assembly can be configured such that it prevents the turntable from rotating about the mounting arm about any axis other than the longitudinal axis of the scanner assembly.

[0102] The scanner assembly can be configured such that, with the distal end of the scanner assembly positioned in the positive direction corresponding to the Z-axis of the polar coordinate system and the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, the turntable can rotate through all directions from 0 degrees to 360 degrees in the polar coordinate system, including both 0 degrees and 360 degrees. After the value is set, the scanner assembly has all The values ​​below include all values ​​in the polar coordinate system from 0 degrees to 91 degrees, including both 0 degrees and 91 degrees. θ Value perspective.

[0103] The scanner assembly can be configured such that, with the distal end of the scanner assembly positioned in the positive direction corresponding to the Z-axis of the polar coordinate system and the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, the turntable can rotate through all directions from 0 degrees to 360 degrees in the polar coordinate system, including both 0 degrees and 360 degrees. After the value is obtained, the scanner assembly has a field of view that is symmetrical with respect to the Z-axis and extends beyond the hemisphere.

[0104] A scanner manipulator comprising any one or more scanner assemblies as described above may be configured such that the scanner manipulator further comprises an extended scanner manipulator arm having a distal end and a proximal end, and a longitudinal axis collinear with the longitudinal axis of the scanner assembly and extending from the distal end to the proximal end; wherein the distal end of the scanner manipulator is fixedly attached to the proximal end of the scanner assembly; and wherein the extended form or scanner manipulator arm extends longitudinally from the scanner assembly.

[0105] The disclosed exemplary embodiments provide apparatus, methods, and systems for automatically characterizing refractory linings of metallurgical vessels, as well as other uses summarized and understood above by those skilled in the art. It should be understood that this description is not intended to limit the invention. Rather, the exemplary embodiments are intended to cover alternatives, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. Furthermore, numerous specific details are set forth in the detailed description of the exemplary embodiments to provide a full understanding of the claimed invention. However, those skilled in the art will understand that various embodiments can be practiced without such specific details.

[0106] Although features and elements of this exemplary embodiment are described in particular combinations in the embodiments, each feature or element may be used alone without other features and elements of the embodiment, or in various combinations, whether or not other features and elements disclosed herein are present.

[0107] This written description uses examples of the disclosed subject matter to enable those skilled in the art to practice the subject matter, including making and using any apparatus or system and performing any incorporated methods. The patentable scope of the subject matter is defined by the claims and may include other examples that would occur to those skilled in the art. Such other examples are intended to be within the scope of the claims.

[0108] While the disclosed embodiments of the subject matter described herein have been shown in the drawings and described in detail above in conjunction with several exemplary embodiments, it will be apparent to those skilled in the art that many modifications, alterations, and omissions are possible and do not substantially depart from the novel teachings, principles, and concepts set forth herein, and the advantages of the subject matter set forth in the appended claims. Therefore, the appropriate scope of the disclosed innovation should be determined only by the broadest interpretation of the appended claims in order to cover all such modifications, alterations, and omissions. Furthermore, according to alternative embodiments, the order or sequence of any process or method steps may be varied or reordered. Finally, in the claims, any component-plus-function clause is intended to cover the structures described herein that perform the stated functions, and not only structural equivalents but also equivalent structures.

Claims

1. A scanner assembly (10) for measuring wear of refractory linings, comprising: The scanner assembly distal end, the scanner assembly proximal end, and the longitudinal axis (16) extending from the scanner assembly proximal end to the scanner assembly distal end. Mounting arm (20) having a proximal end and a distal end and located at the proximal end of the scanner assembly (10); turntable (32) having a proximal end and a distal end, wherein the proximal end of the turntable (32) is rotatably mounted on the distal end of the mounting arm (20) because the turntable (32) is rotatable about the longitudinal axis (16) relative to the mounting arm (20), wherein the turntable (32) is prevented from rotating about the mounting arm (20) about any axis other than the longitudinal axis (16) of the scanner assembly (10); and A transmitter / sensor (40) is mounted in a fixed position in the turntable (32); wherein the transmitter / sensor (40) includes an optical center; The optical center of the transmitter / sensor (40) is located on the longitudinal axis (16); The field of view of the transmitter / sensor (40) is contained in a plane containing the longitudinal axis (16) of the scanner assembly; wherein the field of view includes a distal boundary extending from the distal end of the turntable (32) and includes a proximal boundary disposed opposite to the distal boundary. Furthermore, the field of view of the transmitter / sensor (40) in the longitudinal direction is described by an extension of the scanner assembly (10) containing the longitudinal axis (16) from the distal end of the scanner assembly and containing an obtuse angle of a line extending from the transmitter / sensor (40) in a plane orthogonal to the longitudinal axis (16).

2. The scanner assembly (10) according to claim 1, wherein the distal end of the mounting arm (20) and the proximal end of the turntable (32) are rotatably engaged such that the turntable can rotate 360 ​​degrees about the longitudinal axis (16) of the scanner assembly (10).

3. The scanner assembly according to claim 1, wherein the heat shield (26) is disposed on at least a portion of the periphery of the distal end of the mounting arm (20).

4. The scanner assembly (10) according to claim 1, wherein the scanner assembly (10) includes a transmitter / sensor (40).

5. The scanner assembly (10) according to claim 1, wherein the acute angle described by the distal limit of the field of view of the transmitter / sensor and the longitudinal axis (16) has a value from 1 degree to 10 degrees, including 1 degree and 10 degrees.

6. The scanner assembly (10) according to claim 1, wherein the acute angle described by the proximal limit of the field of view of the transmitter / sensor and the longitudinal axis (16) has a value from 70 degrees to 88 degrees, including 70 degrees and 88 degrees.

7. The scanner assembly (10) according to claim 1, wherein the scanner assembly (10) does not communicate with the fire-resistant application device.

8. The scanner assembly (10) according to claim 1, wherein, with the distal end of the scanner assembly (10) positioned in a direction corresponding to the positive direction of the Z-axis of the polar coordinate system and with the longitudinal axis (16) of the scanner assembly aligned with the Z-axis of the polar coordinate system, the turntable (32) rotates through all of the polar coordinate system from 0 degrees to 360 degrees, including 0 degrees and 360 degrees. After the value is set, the scanner assembly has all The values ​​below include all values ​​in the polar coordinate system from 0 degrees to 91 degrees, including both 0 degrees and 91 degrees. Value perspective.

9. The scanner assembly (10) according to claim 1, wherein, with the distal end of the scanner assembly (10) positioned in a direction corresponding to the positive direction of the Z-axis of the polar coordinate system and with the longitudinal axis (16) of the scanner assembly aligned with the Z-axis of the polar coordinate system, the turntable (32) rotates through all of the polar coordinate system from 0 degrees to 360 degrees, including 0 degrees and 360 degrees. After the value is obtained, the scanner assembly has a field of view that is symmetrical with respect to the Z-axis and extends beyond the hemisphere.

10. A scanner manipulator (80) comprising the scanner assembly of claim 1, wherein the scanner manipulator (80) further comprises: The control arm (82) has a distal end and a proximal end; and the longitudinal axis (84) of the manipulator arm, which is collinear with the longitudinal axis (16) of the scanner assembly and extends from the distal end of the manipulator arm to the proximal end of the manipulator arm; The distal end of the manipulator arm of the scanner manipulator (80) is fixedly attached to the proximal end of the scanner assembly (10); and the manipulator arm (82) extends longitudinally from the scanner assembly (10).

11. A scanner system (100) for measuring wear of refractory linings, comprising: The scanner manipulator (80) according to claim 10; A support arm having a proximal end and a distal end; Support base (110); System control device (140); At least one container positioning sensor (130) communicates with the system control device (140) for data transmission. A manipulator actuator (134) communicates with the scanner manipulator (80); wherein the system control device (140) communicates with the manipulator actuator (134) for command, and wherein the manipulator actuator (134) communicates with the system control device (140) for data transmission. A support arm actuator (116) communicating with the support arm, wherein the system control unit (140) communicates control with the support arm actuator (116); and a processor (170) communicating data with the at least one container positioning sensor (130), the manipulator actuator (134), the support arm actuator (116), and the transmitter / sensor (40); wherein the distal end of the support arm is connected to the proximal end of the scanner manipulator (80); and The proximal end of the support arm is connected to the support base (110).

12. The scanner system (100) of claim 11, wherein the scanner manipulator (80) is hinged at its proximal end to the distal end of the support arm.

13. The scanner system (100) of claim 11, wherein the proximal end of the support arm is movably connected to the support base (110).

14. The scanner system (100) of claim 11, wherein the distal end of the support arm is fixedly connected to the proximal end of the scanner manipulator (80).

15. A method for measuring wear in a refractory lining, comprising: a) Empty the container containing the lining (2); b) Position the container (2); c) Orient the container (2) such that the lining surface of interest inside the container can be included in the field of view of the scanner assembly; d) Provide a scanner assembly (10) according to any one of claims 1 to 9, comprising a mounting arm (20), a turntable (32) rotatably attached to the mounting arm (20), and a transmitter / sensor (40) contained within the turntable (32). Wherein, when the distal end of the scanner assembly (10) is positioned in the positive direction corresponding to the Z-axis of the polar coordinate system and the longitudinal axis of the scanner assembly is aligned with the Z-axis of the polar coordinate system, when the turntable rotates through all degrees from 0 degrees to 360 degrees in the polar coordinate system, including both 0 degrees and 360 degrees... After the value is obtained, the scanner assembly (10) has a field of view that is symmetrical with respect to the Z-axis and extends beyond the hemisphere; e) Place the scanner assembly (10) at the measurement location; f) Activate the transmitter / sensor (40); g) Rotate the turntable (32) through all the coordinates in the polar coordinate system. value; h) For the selected The value is obtained for the selected value in the polar coordinate system. Value data; i) Collect the data provided by the transmitter / sensor (40); and j) Generate the internal contour of the container from the collected data.

Images