Inspection apparatus and method for melting furnaces usable in the steel industry

Abstract

This invention relates to an inspection device (10) for a melting furnace (100a) suitable for use in the steel industry. The inspection device (10) includes an inspection head (11) and a positioning support (12). The inspection head (11) includes a rotary table (21). The inspection head (11) includes one or more image detection devices (17, 18, 24) attached to the rotary table (21) and rotating integrally with it. The positioning support (12) is adapted to insert the inspection head (11) into the melting furnace (100a) through an inlet hole (101). The invention also relates to a method for inspecting the melting furnace (100a) suitable for use in the steel industry using the inspection device 10 according to the invention.

Description

Technical Field

[0001] The embodiments described herein relate to inspection equipment for harsh and / or hazardous environments, particularly high-temperature environments.

[0002] The inspection device according to the invention is configured to acquire images and / or videos in environments where operators cannot directly enter under safe conditions.

[0003] Preferably, but not limitingly, the inspection equipment can be applied in the steel industry for the production of steel or other metals, or in the production of glass materials, such as electric arc furnaces, ladles, submerged arc furnaces, melting or refining furnaces, induction melting furnaces or induction heating furnaces, etc.

[0004] The present invention also relates to an inspection method using the aforementioned inspection equipment. Background Technology

[0005] Harsh environments are well-known, in which direct human presence is neither permitted nor possible. Examples include environments with extreme temperature conditions (such as extremely high or low temperatures), environments with high concentrations of corrosive gases, potentially explosive environments, or simply unknown environments that are difficult to access.

[0006] Examples of such environments could be furnaces used for processing metals, refrigeration equipment, nuclear power plants, factories used for producing corrosive chemicals, etc.

[0007] These environments need to be inspected frequently or periodically, for example, to assess maintenance needs, the status of production processes, and the need to protect the environment before operators enter. Another example could be the need to assess the presence of people in distress, such as in a location in a hazardous environment where a fire is taking place and the need for intervention to save lives must be evaluated.

[0008] Therefore, devices for acquiring images or videos are known, such as video cameras, thermal cameras, X-ray systems, for example, mounted on an inspection head that can be moved by means of a suitable drive and control system.

[0009] Typically, unless it's a complete 360° panoramic view, known devices allow framing more than one part of the environment.

[0010] One drawback of existing devices is that, in order to obtain an extended or panoramic view of the environment, multiple identical image detection devices must be mounted on the head, each oriented at a suitable angle relative to the others, to acquire multiple images obtained by each device, and then these images are processed to obtain a complete image.

[0011] An example of such a solution is described in Italian patent ITUB2015A009279, which provides multiple video cameras, each of which acquires a corresponding optical image, from which an optical panoramic view of the environment is obtained as a whole.

[0012] However, due to the hazardous nature of the environmental conditions, the devices installed on the equipment are very troublesome from both a technical and economic perspective. For example, they must be able to withstand extreme temperatures and / or possible corrosion from chemical reagents.

[0013] Furthermore, in order to obtain continuous scanning, a large number of devices must be used unless discontinuities or gaps in the image can be accepted in sectors not covered by any device.

[0014] One drawback is the need to integrate images from different devices, each with its own technical characteristics and spatial orientation. Therefore, the computational cost of image processing can be very high.

[0015] Document US 2014 / 0072012 A1 describes an inspection system suitable for pipe inspection, particularly sewage pipes, which is equipped with a slider to move an inspection head within the pipe. The system includes a temperature measuring device, which may be an infrared sensor, not specifically designed to acquire thermal images. The inspection head, including both a thermal sensor and a light sensor, is positioned to rotate about an axis longitudinally to the body of the system.

[0016] Document CN 208 841 421U describes a robot for automatically inspecting blast furnace nozzles, comprising a main body that moves on four wheels. An inspection head is positioned on the front side of the upper surface of the main body, the inspection head having a video camera on the left and an infrared camera on the right.

[0017] US document 4,131,914 A describes a system suitable for inspecting a coke oven, the system having a head including a video camera located at the end of the piston on the longitudinal axis of the piston. The head is rotatable about the longitudinal axis and can move vertically by moving the piston.

[0018] Document US 2014 / 0182373 A1 describes a probe for inspecting hazardous or seabed environments, which is not particularly suitable for applications where high temperatures may occur. A support is fixed to the distal end of the probe, and a video camera is fixed to the support. The support is positioned so as to be at least aligned with the longitudinal axis of the distal end of the probe and is rotatable about the longitudinal axis. Furthermore, the video camera can change its tilt angle relative to the support about a constraint axis.

[0019] Document US 2005 / 0073673 A1 describes an inspection system for hot gas components of a turbine. An inspection head, including one or more image detection devices, is positioned on a support that rotates about the longitudinal axis of a robot arm that supports and moves the inspection head. Therefore, the support, located in a plane orthogonal to the longitudinal axis, can also be tilted relative to the plane.

[0020] Document WO 99 / 63383A1 describes a system for inspecting industrial processing chambers, such as boilers, combustion chambers, chemical processing chambers, etc. An inspection head, including one or more image detection devices, is located on a spray gun. At least one end portion of the spray gun can rotate about its longitudinal axis, thereby causing the inspection head to rotate. The inspection head can also be tilted relative to a plane orthogonal to the longitudinal axis.

[0021] Therefore, there is a need to improve an inspection device that can overcome at least one of the shortcomings of the existing technology. Summary of the Invention

[0022] Specifically, one object of the present invention is to provide an inspection device that can be used in harsh and / or hazardous environments under generally safe conditions relative to damage and malfunction.

[0023] Another object of the present invention is to provide an inspection device that allows for continuous scanning of the environment without blind spots in the acquisition.

[0024] Another objective is to reduce the economic burden required for image inspection equipment, or, with the same economic burden, increase the technical performance of the inspection equipment.

[0025] Another objective is to improve the inspection methods using the aforementioned inspection equipment.

[0026] The applicant has designed, tested and implemented the present invention to overcome the disadvantages of the prior art and to achieve these and other objectives and advantages.

[0027] This invention is proposed and is characterized by the independent claims. The dependent claims describe other features of the invention or variations of the main inventive concept.

[0028] In accordance with the above objectives, the embodiments described herein relate to an inspection device for a melting furnace, which can be used in the steel industry, the inspection device comprising an inspection head and a positioning support for supporting the inspection head.

[0029] The positioning support described above is adapted to insert the inspection head into the melting furnace through the inlet hole of the melting furnace.

[0030] According to some embodiments, the inspection head includes at least one image detection device. The image detection device may be a camera, video camera, thermal imaging camera, or other similar or equivalent element. In one solution of the invention, the inspection head includes a camera or video camera and a thermal imaging camera to obtain optical and thermal images of the environment being analyzed.

[0031] In addition to or as alternatives to those mentioned above, the inspection head may also include other image detection devices such as laser scanners or radar.

[0032] The inspection head may also include a temperature sensor. In this way, potential hazardous conditions caused by overheating that could damage the image inspection device and / or other devices and / or sensors and / or electronic, mechanical, pneumatic and / or similar components can be detected, and the head can be ordered to withdraw from harsh environments.

[0033] The inspection head includes a platform and a body.

[0034] The platform can support more than one image detection device and possibly a temperature sensor.

[0035] In one aspect of the invention, the platform is movable and capable of rotating relative to the body. Specifically, the platform may have a turntable and edges.

[0036] The rotary table described above can be positioned on a generally horizontal plane, at least when it is in operation within the melting furnace.

[0037] Advantageously, the positioning of the rotary table on the horizontal plane allows for the positioning of the image detection device to detect images of the side portions of the side walls and the top wall or top plate.

[0038] The central portion of the upper wall can typically be open, or the electrodes can be raised during inspection steps (such as refining steps). Therefore, it is usually not necessary to image the entire central portion of the upper wall.

[0039] The image detection devices described above may have an observation hole in a horizontal plane, with the observation hole angled between 30° and 95°, preferably 60°. They may also have an observation hole in a vertical plane with an angle between 30° and 95°, preferably 60°.

[0040] Advantageously, the size of the image file (in bits) can therefore be very small, which simplifies the operations used to save and / or transmit the image and reduces the complexity of the electronic components used.

[0041] Preferably, the rotary table can rotate relative to its axis at an angle of at least 360°. The 360° rotation can be a continuous rotation in the same direction or a rotation in opposite directions.

[0042] In particular, the axis described above can be a generally vertical axis. Due to reasons such as those related to the mechanical clearance or weight of the system, the angle of inclination of this axis relative to the vertical direction can be less than or equal to 0.5°.

[0043] Advantageously, the image detection device can therefore scan the surrounding environment at least up to 360°. In particular, it can also perform continuous scanning of the surrounding environment.

[0044] According to some embodiments, the inspection head includes only one device of various types, such as a single optical or thermal image acquisition device, or a single optical image acquisition device and a single thermal image acquisition device, or a single optical image acquisition device, a single thermal image acquisition device and a single radar, or other combinations of devices.

[0045] In fact, one advantage is that it is not necessary to use several of the same type of equipment, such as multiple video cameras or multiple thermal imaging cameras, to obtain all the desired images.

[0046] The main body is constrained to the positioning support, and thus supports the platform.

[0047] The main body may contain electronic and / or mechanical and / or pneumatic and / or similar elements for the function and movement of the platform and the devices contained therein.

[0048] Advantageously, the body can be configured to protect the electronic and / or mechanical and / or pneumatic and / or similar components as described above from adverse factors present in the surrounding environment.

[0049] Advantageously, the inspection head and at least part of the positioning support, which may be able to be inserted into harsh environments, are insulated in order to protect their contents from potentially harsh temperatures in the environment.

[0050] The inspection head also includes a conduit and port for transmitting compressed air. Therefore, it is advantageous that the local temperature can be controlled using this compressed air. Attached Figure Description

[0051] These and other aspects, features, and advantages of the present invention will become apparent from the following description of some embodiments, which are given by way of non-limiting examples with reference to the accompanying drawings, wherein:

[0052] Figure 1 This is a perspective view of the inspection apparatus during use according to some embodiments described herein;

[0053] Figure 1a yes Figure 1 A perspective view showing the details of the inspection equipment;

[0054] Figure 2 Based on some embodiments described herein Figure 1 A schematic diagram of the inspection equipment;

[0055] Figure 3 yes Figure 1 A perspective view of the lower part of the inspection head of the inspection equipment;

[0056] Figure 3a and 3b yes Figure 3 A schematic diagram of the arrangement of the image detection device for the inspection head;

[0057] Figure 4 yes Figure 1 A perspective view of the upper part of the inspection head of the inspection equipment;

[0058] Figure 5 It is based on the plane VV Figure 4 A sectional view of the main body.

[0059] For ease of understanding, the same reference numerals are used to identify the same common elements in the figures where possible. It is understood that elements and features of one embodiment can be readily incorporated into other embodiments without further explanation. Detailed Implementation

[0060] We will now refer in detail to possible embodiments of the invention, one or more of which are illustrated in the accompanying drawings by way of non-limiting description. The wording and terminology used herein are also for the purpose of providing non-limiting examples.

[0061] The embodiments described herein with reference to the accompanying drawings relate to an inspection device 10, hereinafter referred to as the device, for use in harsh and / or hazardous environments 100, for purposes such as assessing the need for maintenance intervention, the state of a production process, the presence of forced personnel, and the need to protect the environment 100 before an operator enters it.

[0062] Some environments 100 may have extreme temperature conditions such as high or low temperatures, but may also have high concentrations of corrosive gases, or be potentially explosive environments, or they may simply be unknown environments that are difficult to access and where dangerous conditions may exist.

[0063] Some such environments 100 may be melting furnaces used in metal processing plants, refrigeration equipment, nuclear power plants, plants producing corrosive chemicals, etc. In particular, inspection equipment 10 is especially suitable for inspecting melting furnaces 100a that can be used in the steel industry.

[0064] according to Figure 1 In one embodiment, the device 10 may include an inspection head 11 and a corresponding positioning support 12.

[0065] The device 10 may also include a processing unit 13.

[0066] The device 10 may also include an electronic control panel 14.

[0067] According to some embodiments, the processing unit 13 may include an image processing system 36 and / or a data processing system 37.

[0068] Processing unit 13 may also include motion control unit 38.

[0069] According to some embodiments, the electrical control panel 14 may include elements for powering the device 10, such as those connected to the power grid.

[0070] According to a variant not shown, the control panel 14 may include components for powering the device 10 and the processing unit 13 as described above.

[0071] According to another variation not shown, the electronic control panel 14 may include components for powering the device 10 and a motion control unit 38.

[0072] According to some embodiments, device 10 may also include a gas or liquid (e.g., air or water) protection system, not shown in the figures. This protection system may be a system for regulating the temperature around the inspection head 11, such as a heating or cooling system. This protection system may also be a system for removing corrosive gases, thus preventing high concentrations of corrosive gases around the inspection head 11, etc.

[0073] Preferably, but not exclusively, this protection system is a compressed air cooling system.

[0074] The inspection head 11 may include a platform 15 and a body 16.

[0075] like Figure 3 As shown, platform 15 can be located on body 16.

[0076] Platform 15 may include one or more image detection devices 17, 18, and 24, hereinafter referred to as devices 17, 18, and 24.

[0077] According to some embodiments, one or more devices 17, 18, 24 are rotatable about axis X of platform 15. For example, axis X is the central axis relative to the inspection head 11.

[0078] The axis X can be a generally vertical axis. In particular, the angle of inclination of the axis X relative to the vertical direction is advantageously less than or equal to 0.5°. Typically, in other embodiments, the invention can also be applied to cases where the axis X varies from -35° to +35° relative to the vertical direction.

[0079] As another example not shown in the figure, axis X can be an axis orthogonal to platform 15, centered relative to platform 15, rather than centered relative to inspection head 11. For example, according to a variation not shown, platform 15 is constrained to a non-centered or off-axis position of body 16.

[0080] One or more devices 17 are capable of acquiring optical images, such as one or more frames or movie sequences; for example, they may be cameras, telephoto cameras, video cameras, etc.

[0081] One or more devices 18 may be thermal imaging cameras, which are capable of acquiring thermal images or lenses.

[0082] One or more devices 24 can also integrate optical and thermal technologies within a single device, for example, providing combined optical and thermal images at the output.

[0083] As a preferred, but not exhaustive, example, the inspection head 11 may include a single optical image detection device 17 and a single thermal image acquisition device 18, but does not include other devices.

[0084] According to another preferred but not exhaustive example, the inspection head 11 may include a single optical image detection device 17 and does not include thermal image detection devices 18, 24.

[0085] According to another non-exhaustive example, the inspection head 11 may include a single optical and thermal image detection device 24, and does not include other optical 17 and / or thermal 18 image detection devices.

[0086] One or more devices 17, 18, and 24 may have their own tilt angles α1, α2, and β relative to platform 15. For example... Figure 3a In some examples, there are devices 17, 18, whose tilt angles α1, α2, β may be the same or different from each other. Figure 3b The example illustrates the case where a single device 24 is positioned corresponding to axis X.

[0087] The tilt angles α1, α2, and β can take values ​​between 0° and 90°, preferably between 1° and 60°, and even more preferably between 1° and 45°.

[0088] The tilt angles α1, α2, and β can be changed, for example, by means of an automatic motion performed by a motion device controlled by a control unit 38, such as one or more electric motors or one or more pneumatic motors.

[0089] Platform 15 may also include one or more sensors 19, such as temperature sensors, sensors for detecting chemical substances, or proximity sensors or distance sensors, or angular position sensors 44. Preferably, platform 15 may include at least one temperature sensor 19.

[0090] According to some embodiments, platform 15 may include means (not shown) for data transmission via cable and / or wirelessly to transmit data sent by devices 17, 18, 24 and / or by sensors 19, 44 to processing unit 13. The data transmission means may be, for example, a wired system with or without shielded cable, or a wireless network (Wi-Fi), Bluetooth, or similar communication device.

[0091] Platform 15 may include one or more connection devices 20 for managing connections in a wired system, such as converters, hubs, routers, etc., between USB, Ethernet, RS-485 formats, etc.

[0092] According to a variant not shown, platform 15 may include more than one data acquisition device to acquire, process, locally store and / or transmit data sent by devices 17, 18, 24 and / or sensors 19, 44.

[0093] Platform 15 may have a turntable 21 and an edge 40.

[0094] According to some embodiments, the rotary table 21 and the edge 40 are made as a single unit and rotate as a whole.

[0095] According to a variant not shown, edge 40 is integral with body 16, and rotary table 21 rotates relative to edge 40.

[0096] At least when the rotary table 21 is in operation inside the melting furnace, the rotary table 21 can be located on a generally horizontal plane PO.

[0097] One or more devices 17, 18, 24 and / or sensors 19, 44 and / or connecting devices 20 and / or data acquisition devices can be connected integrally with the rotary table 21. In particular, one or more image detection devices 17, 18, 24 can be positioned on the rotary table 21 such that their optics 17a, 18a, 24a correspond to the sidewall 11a of the inspection head 11.

[0098] One or more image detection devices 17, 18, 24 may have an observation hole δ in the vertical plane PV, which is between 30° and 95°, preferably between 55° and 65°, and even more preferably about 60°.

[0099] One or more image detection devices 17, 18, 24 may have an observation hole γ on the horizontal plane PO, which is between 30° and 95°, preferably between 55° and 65°, and even more preferably substantially 60°.

[0100] The observation holes δ and γ can be the same or different from each other.

[0101] According to some embodiments, by means of angular position measurement by sensor 44, it is possible to associate the angular position of the turntable 21 with more than one acquired image. Advantageously, in this way, the acquired image can be positioned relative to the environment 100 being inspected.

[0102] According to some embodiments, one or more devices 17, 18, 24 and / or sensors 19, 44 and / or connection devices 20 and / or acquisition devices can be constrained to the rotary table 21 by attachment elements 23 such as brackets, screws, glue, etc.

[0103] Platform 15 may also include means for moving the rotary table 21, which is not shown in the figure.

[0104] The motion device can be one or more electric motors, one or more pneumatic motors, etc.

[0105] Platform 15 may also include other electronic and / or mechanical and / or pneumatic and / or hydraulic components for the function and movement of platform 15 and / or one or more devices 17, 18, 24 and / or sensors 19, 44 and / or connection devices 20 and / or data acquisition devices located thereon, such as, as a non-limiting example, electronic data conditioning circuits, motor control and regulation systems, motors, power supply systems, pipes and / or pipelines, etc.

[0106] According to some embodiments, the rotary table 21 can be constrained on the body 16 in such a way that it moves by rotating about the axis X of the platform 15 or the equivalent axis X of the rotary table 21.

[0107] According to a variation not shown above, the rotary table 21 is constrained to the edge 40 in such a way that it can move by rotating about an axis X that is not centered relative to the body 16.

[0108] According to some embodiments, one or more devices 17, 18, 24 attached to the rotary table 21 of the platform 15 rotate integrally with the platform 15 relative to the axis X.

[0109] like Figure 3As indicated by the middle arrow F1, the rotary table 21 can rotate around axis X in one rotational direction or in two rotational directions.

[0110] The rotating platform 21 can perform rotations of less than 360°, or equal to or greater than 360°. Preferably, the rotation is at least equal to or greater than 360° so as to allow one or more devices 17, 18, 24 to frame a 360° panoramic strip of environment 100.

[0111] Rotation can be continuous or intermittent.

[0112] Advantageously, the rotational speed of the rotary table 21 allows image acquisition to be completed in a sufficiently short time, so as not to damage the inspection head 11 exposed to the harsh environment 100.

[0113] Based on the typical parameters of devices 17, 18, and 24 (such as viewing angle, distance from the framed element, etc.), the framed strip of environment 100 can be expanded more or less in height.

[0114] According to some embodiments, device 10 is capable of detecting multiple stripes in environment 100.

[0115] In one variant, device 10 may be adapted to perform a “spherical” scan of environment 100 by means of rotation of inspection head 11 or rotary table 21 about axis Y perpendicular to axis X.

[0116] According to some variations, by moving the inspection head 11 in height using the positioning support 12, the device 10 can detect several stripes of the environment 100. According to some variations not shown in the figure, by changing the tilt angles α1, α2, β of the devices 17, 18, 24 relative to the platform 15 at the end of the scanning of each strip (e.g., by means of automatic tilting of the devices 17, 18, 24 performed by the motion device), the device 10 can detect some stripes of the environment 100.

[0117] According to some embodiments, the rotary table 21 may have more than one slot 22, which allows for the assembly of more than one device 17, 18, 24 and / or sensor 19, 44 and / or connection device 20 and / or data acquisition device, even in different locations.

[0118] One or more slots 22 can also allow air to escape from inside the inspection head 11.

[0119] According to some embodiments, the rotary table 21 may also have a central hole 39 that allows cables of one or more devices 17, 18, 24 and / or sensors 19, 44 and / or connection devices 20 and / or data acquisition devices to pass toward the interior of the inspection head 11.

[0120] According to some embodiments, the main body 16 is integrally attached to the positioning support 12. The attachment to the positioning support 12 can be achieved via the flange 26.

[0121] According to one variation, the body 16 may include motors and / or electronic and / or mechanical and / or pneumatic and / or hydraulic power components, which also have protective functions, for the function and movement of the platform 15.

[0122] The main body 16 may also include one or more devices 17, 18, 24 and / or sensors 19, 44 and / or connection devices 20 and / or data acquisition devices located thereon, such as, as a non-exhaustive example, electronic data conditioning circuits, motor control and conditioning systems, motors, power supply systems, pipes and / or pipelines, etc., which are not shown in the figures.

[0123] According to some embodiments, the inspection head 11 may have an outer cover 25.

[0124] like Figure 5 As shown, the outer cover 25 can be insulating, and in particular it can have three or more layers, such as an outer layer 25a of two metallic materials and an inner layer 25b of insulating material.

[0125] According to some embodiments, the rotary table 21 and / or the body 16 may also be of an insulating type, for example in a manner similar to the top cover 25, in order to prevent, for example, damage to electronic and / or mechanical and / or pneumatic and / or hydraulic components contained inside the inspection head 11.

[0126] according to Figure 4 The top cover 25 may have holes 27 and 28, which allow the image detection devices 17, 18 and 24 to observe the outside and acquire images from the environment 100 to be inspected.

[0127] In particular, the optical components 17a, 18a, 24a of one or more image detection devices 17, 18, 24 can be positioned corresponding to the holes 27, 28 of the sidewall 11a of the inspection head 11.

[0128] The apertures 27 and 28 can be equipped with surfaces that are permeable to the wavelengths of electromagnetic radiation that can be detected by the image detection devices 17, 18, and 24. For example, in the case of a video camera, the apertures 27 and 28 can be glass sheets that are permeable to visible radiation. Furthermore, in the case of a thermal imaging camera, they can be surfaces that are permeable to infrared radiation.

[0129] According to some embodiments, the top cover 25 may include a device 29 for assisting in positioning on the body 16 and / or platform 15. For example, such positioning aid 29 may be a groove 29, a thread, etc., which can cooperate with corresponding connecting elements of the platform 15.

[0130] According to the present invention, the positioning support 12 can be adapted to insert the inspection head 11 into the melting furnace 100a.

[0131] Specifically, insertion is preferably made through a hole 101 in the melting furnace 100a. The hole 101 may preferably be a slag outlet door that is normally present in the melting furnace.

[0132] According to some embodiments, the positioning support 12 is capable of supporting and moving the inspection head 11.

[0133] In particular, the positioning support 12 allows the inspection head 11 to move according to linear forward and backward movements in one, several, or all directions.

[0134] According to some embodiments not shown in the accompanying drawings, the positioning support 12 may be, for example, a telescopic guide that enables the inspection head 11 to advance within the environment 100.

[0135] For example, it can guide the inspection head 11 through the inlet 101 or port of the environment 100, such as the furnace opening.

[0136] In particular, the positioning support 12 allows the inspection head 11 to also move according to rotational movement about more than one point and / or about more than one axis.

[0137] According to some embodiments and such Figure 1 , 2 As shown, the positioning support 12 can be a manipulator or a horizontal pivoting member with two or more motion elements. In particular, the positioning support 12 can be a robot articulated arm.

[0138] Advantageously, the same robotic articulated arm used to move other known types of devices, such as spray guns, sampling devices, etc., can be used, which can assemble and disassemble each of these devices depending on the operation to be performed.

[0139] The positioning support 12 may have one or more hinge points 12a, preferably two hinge points 12a, and may have three or more hinge points 12a.

[0140] For example, the positioning support 12 may include a support base 30 and / or one or more rotating members 31 for rotation in a horizontal or vertical plane and / or one or more hinge elements 32 and / or one or more arms 33 and / or rods 41 and / or joints 34. The arms 33 and rods 41 may be telescopic or fixed.

[0141] For example, the telescopic arm 33 may include elements 35 that are coaxial with each other and have slightly different diameters to allow one element 35 to retract into the second element 35.

[0142] like Figure 2As shown, the rod 41 may have an inner shaft 42 that can engage with a gear 43 included in the inspection head 11 to allow the inspection head 11 to rotate about axis Y.

[0143] In an optional variation, gear 43 may be connected only to the rotary table 21 so that it can rotate independently of the inspection head 11 about axis Y.

[0144] In a preferred embodiment, the axis Y can be coaxial with rod 41.

[0145] In a variant not shown, axis Y can be perpendicular to the axis of rod 41.

[0146] The shaft 42 can be moved by the motion control unit 38 via one or more electric, pneumatic or similar devices or motors.

[0147] According to some embodiments, the positioning support 12 may be hollow inside, at least a portion of which is hollow, to allow conduits and / or signal and / or power cables to pass between the inspection head 11 and the processing unit 13 and / or control panel 14.

[0148] According to some embodiments, the positioning support 12 may have an insulating outer surface in at least a portion thereof, for example, in a manner similar to that of the top cover 25, to prevent the cooling fluid passing through the conduit from becoming hot.

[0149] According to some embodiments, such as Figure 1 As shown, the processing unit 13 can be positioned as close as possible to the inspection head 11, or inside the inspection head 11, for example, to reduce signal loss caused by ambient electromagnetic noise.

[0150] According to some variations, the processing unit 13 may be located near or included in the control panel 14, or in any suitable location, such as in a location unaffected by adverse factors.

[0151] For example, the processing unit 13 may be located outside the protective wall 102.

[0152] The image processing system 36 included in the processing unit 13 is capable of processing images (such as frames and / or videos) in known ways. For example, it can process optical and thermal images to reconstruct images that superimpose both types of information. As another example, it can reconstruct panoramic images.

[0153] The data processing system 37 is able to acquire data from sensors 19, 44 to activate programs for protecting the inspection head 11 from adverse factors in the environment 100 and / or for processing and storing such data, for example, for use by technicians.

[0154] As a non-exhaustive example, the protection procedure may include, for example, the withdrawal of the inspection head 11 due to excessive temperature indicated by the temperature sensor 19, or the repositioning of the inspection head 11 in case of possible collision with elements such as walls, ceilings, or general obstacles, for example by means of the proximity sensor 19.

[0155] According to some embodiments, the processing unit 13 can process data and images by means of the image processing system 36 and the data processing system 37 in order to identify anomalies such as cracks, deposits, hot spots and / or cold spots.

[0156] Therefore, the processing unit 13 may include more than one processing algorithm, such as one capable of implementing predefined decision rules or implementing a program based on artificial intelligence technology, such as a deep neural network (DNN) or similar program that is properly trained to detect more than one anomaly.

[0157] According to some embodiments, the processing unit 13 may be connected to at least one display device (not shown), such as a lectern, which allows the operator to view images and data acquired by devices 17, 18, 24 and / or sensors 19, 44 in real time.

[0158] During the inspection of environment 100, processing unit 13 can, for example by means of a display device, communicate any identified anomalies to the operator.

[0159] According to some embodiments, processing unit 13 may include an internal database for storing images, videos, and / or the results of image and data processing (e.g., possible anomalies). In alternative variations, processing unit 13 may be connected to more than one external database.

[0160] The processing unit 13 can be connected to the control panel 14 for automatically controlling the movement of the device 10.

[0161] For example, the data processing system 37 can send this data to the control panel 14 to activate the program used to protect the inspection head 11.

[0162] Some embodiments described herein also relate to methods for inspecting harsh and / or hazardous environments 100, particularly the environment 100 of a melting furnace 100a, by means of an inspection device 10 according to the invention.

[0163] According to some embodiments, during use, the inspection method may be:

[0164] -The inspection head 11 is inserted into the melting furnace 100a through the inlet 101 of the melting furnace 100a by means of the positioning support 12;

[0165] - Acquiring an optical and / or thermal image of the environment 100 of the melting furnace 100a can be achieved by one or more optical and / or thermal image detection devices 17, 18, 24, by means of the rotation stage 21 of the platform 15 of the inspection head 11 around the axis X of the platform 15 at a circumferential angle of less than 360° or a rotation angle equal to or greater than 360°, thereby framing the environment 100.

[0166] - Check the possible motion of different strips of images of the environment 100 recorded by head 11.

[0167] - The image is processed by the processing unit 13.

[0168] This inspection method can be performed after the slag-forming step, or even better, after the molten metal discharge step and before the subsequent melting recovery, and thus acquire images.

[0169] The inspection method can be: at least when the inspection head 11 is inserted into a hot environment such as inside a melting furnace, it is pulled out of the melting furnace 100a at the moment of insertion, preferably for 30 seconds, or even more preferably for 10 seconds.

[0170] Advantageously, this method prevents the inspection head 11 from being exposed to the heat of the harsh environment 100 of the melting furnace 100a for too long.

[0171] According to some embodiments, the movement of the inspection head 11 can cause the inspection head 11 to rotate about an axis Y orthogonal to the axis X.

[0172] According to an alternative embodiment, the movement of the inspection head 11 can be: independent of the inspection head 11, only causing the rotary table 21 to rotate about the axis Y orthogonal to the axis X.

[0173] According to other alternative embodiments, the movement of the inspection head 11 can change the corresponding tilt angles α1, α2, β of the devices 17, 18, 24 relative to the platform 15.

[0174] Thus, as described above, a "spherical" scan of environment 100 can be performed.

[0175] According to some embodiments, the movement of the inspection head 11 can change the height position of the inspection head 11.

[0176] According to some embodiments, the inspection method can provide initial adjustment of the positioning of one or more devices 17, 18, 24 on the rotary table 21.

[0177] According to some embodiments, the inspection method can also detect positioning adjustment parameters for subsequent image processing. In fact, by knowing the relative positions of devices 17, 18, and 24 and their angular positions relative to the rotary table 21, a panoramic photograph of the environment can also be reconstructed by combining images from different devices 17, 18, and 24, for example by superimposing thermal and optical images.

[0178] According to some embodiments, the method can use an angular position sensor 44, such as an inertial sensor, encoder, etc., to measure the angular position of the rotary table 21.

[0179] It is obvious that modifications and / or additions can be made to the previously described inspection apparatus 10 and inspection method without departing from the scope and range of the invention as defined by the claims.

[0180] In the following claims, the reference numerals in parentheses are for the sole purpose of readability: they should not be considered as limiting factors concerning the field of protection claimed in any particular claim.

Claims

1. An inspection apparatus (10) for a melting furnace (100a) that can be used in the steel industry, said inspection apparatus (10) comprising an inspection head (11) and a positioning support (12), said inspection head (11) comprising a platform (15) and a main body (16) that supports said platform (15), said platform (15) having a rotating table (21), characterized in that, The inspection head (11) includes one or more image detection devices (17, 18, 24) attached to the rotary table (21) and rotating relative to the axis X of the rotary table (21) in an integral manner with the rotary table (21). The positioning support (12) is adapted to insert the inspection head (11) into the melting furnace (100a) through the inlet hole (101) of the melting furnace (100a). The positioning support (12) is a robotic articulated arm. The inspection device (10) also includes a protection system made of a compressed air cooling system.

2. The inspection apparatus (10) of claim 1, characterized in that At least when the rotary table (21) is in operation within the melting furnace (100a), the rotary table (21) is positioned on a horizontal plane (PO).

3. The inspection apparatus (10) of claim 1, characterized in that The image detection devices (17, 18, 24) are positioned on the rotary table (21) such that their optics (17a, 18a, 24a) correspond to the sidewall (11a) of the inspection head (11).

4. The inspection apparatus (10) of claim 1, characterized in that said one or more image detection devices (17, 18, 24) have an observation aperture comprised between 30° and 95° on a vertical plane (PV) }.

5. The inspection device (10) as described in claim 4, characterized in that, Said one or more image detection devices (17, 18, 24) have an observation aperture of 60° on said vertical plane (PV) }.

6. The inspection apparatus (10) of claim 2, characterized in that said one or more image detection devices (17, 18, 24) have an observation aperture comprised between 30° and 95° on said horizontal plane (PO) }.

7. The inspection apparatus (10) of claim 6, characterized in that Said one or more image detection devices (17, 18, 24) have an observation aperture of 60° on said horizontal plane (PO) }.

8. The inspection apparatus (10) of claim 1, characterized in that The one or more image detection devices (17, 18, 24) are selected from optical and / or thermal image detection devices and / or devices that detect both optical and thermal images.

9. The inspection apparatus (10) of claim 1, characterized in that The inspection equipment (10) includes an optical image detection device and a thermal image detection device, but does not include other image detection devices (17, 18, 24).

10. The inspection device (10) as claimed in claim 1, characterized in that, The inspection equipment (10) includes optical and thermal image detection devices, but does not include other image detection devices (17, 18, 24).

11. The inspection apparatus (10) of claim 1, characterized in that The rotary table (21) is capable of rotating relative to the axis X at an angle of at least equal to or greater than 360°.

12. The inspection apparatus (10) of claim 11, characterized by The axis X is a vertical axis, and the axis X has an angle of inclination of less than or equal to 0.5° relative to the vertical direction.

13. The inspection apparatus (10) of claim 11, characterized by The axis X has an inclination angle that varies from -35° to +35° relative to the vertical direction.

14. The inspection apparatus (10) of claim 1, characterized in that The rotary table (21) includes a sensor (44) for measuring angular position, which can associate the angular position of the rotary table (21) with more than one acquired image.

15. The inspection apparatus (10) of claim 1, characterized in that The positioning support (12) has one or more hinge points (12a).

16. The inspection device (10) as claimed in claim 15, characterized in that, The positioning support (12) has two hinge points (12a).

17. The inspection apparatus (10) of claim 1, characterized by The inspection head (11) and possibly at least partially positioning support (12) are insulated by means of layers of metallic and insulating materials (25a, 25b).

18. The inspection apparatus (10) of claim 1, characterized by The inspection head (11) includes an outer cover (25) having holes (27, 28) with surfaces permeable to the wavelengths of electromagnetic radiation that can be detected by the image detection device (17, 18, 24).

19. An inspection apparatus (10) as claimed in any one of the preceding claims, characterized in that The inspection device (10) includes at least one temperature sensor (19) and a data processing system (37) capable of acquiring data from the at least one temperature sensor (19) in order to activate a program for protecting the inspection head (11).

20. The inspection apparatus (10) of claim 1, characterized by The inspection head (11) includes a gear (43), and the positioning support (12) includes a shaft (42), the gear (43) and the shaft (42) cooperating to rotate the inspection head (11) about an axis Y perpendicular to the axis X.

21. The inspection apparatus (10) of claim 1, characterized by The inspection head (11) includes a gear (43), and the positioning support (12) includes a shaft (42). The gear (43) and the shaft (42) cooperate to rotate about an axis Y perpendicular to the axis X. The rotary table (21) is independent of the inspection head (11).

22. A method for inspecting a melting furnace (100a) suitable for use in the steel industry using the inspection equipment (10) as described in any one of claims 1 to 21, comprising the following steps: - Using the positioning support (12), the inspection head (11) is inserted into the melting furnace (100a) through the inlet hole (101); - By means of the rotation of a rotary table (21) including one or more image detection devices (17, 18, 24) around the axis X of the rotary table (21), an optical and / or thermal image of the environment (100) of the melting furnace (100a) is obtained, the environment being framed by one or more optical and / or thermal image detection devices. - The acquired image is processed by means of the processing unit (13), wherein the inspection head (11) is pulled out of the melting furnace (100a) at the moment the inspection head (11) is inserted into the thermal environment inside the melting furnace (100a).

23. The method of claim 22, wherein, At least when the rotary table (21) is in operation within the melting furnace (100a), the rotary table (21) is located on a horizontal plane (PO).

24. The method of claim 22, wherein, After the step of releasing the molten metal, the inspection head (11) is inserted.

25. The method as described in claim 23, characterized in that, After the step of releasing the molten metal, the inspection head (11) is inserted.

26. The method of any one of claims 22 to 25, wherein, During the image acquisition, the inspection head (11) remains at a constant height via the positioning support (12).

27. The method of claim 22, wherein, The inspection head (11) is rotated about an axis Y orthogonal to the axis X in order to acquire images of different stripes of the environment (100).

28. The method of claim 22, wherein, Independent of the inspection head (11), the rotary table (21) is rotated about an axis Y orthogonal to the axis X.

Images