Traveling trolley, temperature measurement method, and coke oven operation method

Abstract

The travel carriage (1) travels on a travel surface in a travel region by means of a drive device (10). A traveling trolley (1) is provided with: a temperature measurement device (4) that measures the temperature of a measurement object; an image acquisition device (2) that acquires image information of the traveling surface; and a calculation device (3) that detects the measurement target on the basis of the image information. The calculation device (3) adjusts the position or orientation of the temperature measurement device (4) on the basis of the position of the measurement object detected from the image information.

Description

Technical Field

[0001] The present disclosure relates to a traveling carriage, a temperature measurement method, and an operation method of a coke oven for measuring the temperature of a measurement object, particularly the temperature inside the coke oven. Background Art

[0002] A coke oven has a structure in which carbonization chambers and combustion chambers are alternately arranged. Coal is charged into the carbonization chambers and the pulverized coal is carbonized, and gas or the like is burned in the combustion chambers to keep the inside of the oven at a high temperature. In the operation of a coke oven, temperature management inside the oven is important. At present, the temperature inside the oven is managed by measuring the bottom of the oven located about 10 m or less below the flue hole provided on the oven top with a radiation thermometer. Since the temperature measurement operation from the flue hole is performed in a high-temperature and dusty environment such as the coke oven top, there is a concern of inhaling dust or heat stroke when it is carried out by a human.

[0003] As a device for automatically performing the temperature measurement operation, for example, a robot that autonomously travels using a LiDAR sensor is disclosed in Patent Document 1.

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2020-86678

[0005] The autonomous mobile robot disclosed in Patent Document 1 autonomously travels to a temperature measurement site determined in advance by coordinates using a LiDAR sensor to measure the temperature. However, in a place where dust accumulates on the traveling surface like the coke oven top and slips when stopped, resulting in an easy shift of the stop position, when aiming at a specific point to measure the temperature, the accuracy of the stop position relative to the temperature measurement site becomes low. The measurement accuracy of the temperature decreases due to the decrease in the position accuracy of the temperature measurement site. The accuracy of the operation management of the coke oven decreases due to the decrease in the estimation accuracy of the temperature. Summary of the Invention

[0006] In view of the above facts, an object of the present disclosure is to provide a traveling carriage and a temperature measurement method capable of measuring the temperature of a specific site in an environment where the stop position is likely to shift, and an operation method of a coke oven capable of improving the accuracy of the operation management of the coke oven based on the measurement result of the temperature of a specific site.

[0007] (1) The traveling carriage according to one embodiment of the present disclosure travels on a traveling surface in a traveling area by a driving device. The traveling carriage includes: a temperature measurement device that measures the temperature of a measurement object; an image acquisition device that acquires image information of the traveling surface; and an arithmetic device that detects the measurement object based on the image information. The arithmetic device adjusts the position or posture of the temperature measurement device based on the position of the measurement object detected based on the image information.

[0008] (2) Based on the traveling carriage in (1) above, the arithmetic device can detect the measurement object according to the image information through image recognition.

[0009] (3) The traveling carriage in (1) or (2) above may further include an actuator that adjusts at least one of the position or angle of the temperature measurement device.

[0010] (4) Based on the traveling carriage in (3) above, the arithmetic device can adjust the horizontal position or vertical angle of the temperature measurement device through the actuator before measuring the temperature with the temperature measurement device.

[0011] (5) The traveling carriage in (4) above may further include a distance measurement device that measures the distance between the temperature measurement device and the measurement object. Based on the traveling carriage in (4) above, the arithmetic device can change the vertical angle of the temperature measurement device through the actuator during the temperature measurement with the temperature measurement device, and use the measurement result of the distance measurement device to filter the temperature measurement result of the temperature measurement device.

[0012] (6) Based on the traveling carriage in any one of (1) to (5) above, the arithmetic device can determine whether the measurement result of the temperature measurement device is within the normal range and notify the determination result.

[0013] (7) The traveling carriage in any one of (1) to (6) above may further include: a movement amount detection device that obtains the action amount of the drive device to detect the movement amount of the traveling carriage; an area measurement device that obtains obstacle information around the traveling carriage; and a storage device that stores the obstacle position information of the traveling area. The arithmetic device can calculate the position of the traveling carriage by inputting the detection result of the movement amount of the traveling carriage, the obstacle information, and the obstacle position information into a particle filter based on the SLAM algorithm, and make the traveling carriage autonomously travel.

[0014] (8) Based on the traveling carriage in (7) above, the storage device can store waypoint information that determines the position of at least one measurement object as a waypoint. The arithmetic device can make the traveling carriage travel via the waypoint based on the waypoint information, and measure the temperature of the measurement object at the waypoint with the temperature measurement device.

[0015] (9) Based on the traveling carriage in any one of (1) to (8) above, the measurement object may be a hole existing on the traveling surface. The temperature measurement device can measure the temperature inside the hole.

[0016] (10)Based on the traveling carriage in the above (9), the hole may be a flue hole formed on the top of the coke oven. The temperature measuring device may measure the temperature inside the coke oven via the flue hole.

[0017] The temperature measuring method according to an embodiment of the present disclosure includes: a traveling step of causing the traveling carriage described in any one of the above (1) to (10) to travel in a traveling area where a measurement object exists; an image acquisition step of acquiring image information of the traveling surface by an image acquisition device provided on the traveling carriage; a measurement object detection step of detecting the measurement object based on the image information; an adjustment step of adjusting the position or posture of the temperature measuring device based on the position of the measurement object; and a measurement step of measuring the temperature of the measurement object by the temperature measuring device.

[0018] The operation method of a coke oven according to an embodiment of the present disclosure includes: a step of acquiring the temperature inside the coke oven measured by using the traveling carriage described in the above (10); and a step of managing the operation state of the coke oven based on the temperature inside the coke oven.

[0019] According to the present disclosure, there are provided a traveling carriage and a temperature measuring method capable of measuring the temperature of a specific part in an environment where the stop position is likely to shift, and an operation method of a coke oven capable of improving the accuracy of operation management based on the measurement result of the temperature of a specific part. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram showing a configuration example of the traveling carriage according to the present disclosure.

[0021] Figure 2 It is a block diagram showing a configuration example of the traveling carriage according to the present disclosure.

[0022] Figure 3 It is a diagram showing an example of a list including point information.

[0023] Figure 4 It is a diagram showing an example of the positional relationship between the traveling vehicle and the flue hole as the measurement object.

[0024] Figure 5 It is a flowchart showing a process example of the temperature measuring method according to the present disclosure.

[0025] Figure 6 It is a diagram showing the positional relationship between the temperature measuring device and the flue hole according to the embodiment.

[0026] Figure 7 It is a diagram showing the traveling path of the traveling carriage in the traveling area according to the embodiment.

[0027] Figure 8 is a graph representing the measurement result at the first measurement position.

[0028] Figure 9 is a graph representing the measurement result at the second measurement position.

[0029] Figure 10 is a graph representing the measurement result at the third measurement position. Detailed implementation mode

[0030] Hereinafter, embodiments of the traveling trolley, the temperature measurement method, and the operation method of the coke oven according to the present disclosure will be described based on the drawings. Each drawing is schematic and sometimes different from the actual situation. In addition, the following embodiments illustrate devices or methods for embodying the technical idea of the present disclosure, and do not determine the structure as described below. That is, the technical idea of the present disclosure can be variously modified within the technical scope described in the scope of claims of this application.

[0031] (Embodiment)

[0032] In the present embodiment described below, the traveling trolley 1 (refer to Figure 1 ) takes the flue hole 20 (refer to Figure 4 ) formed on the furnace top of the coke oven 30 (refer to Figure 4 ) as the measurement object, and measures the internal temperature of the flue hole 20 while traveling on the furnace top of the coke oven 30 as the traveling surface. Specifically, the traveling trolley 1 measures the temperature of the furnace bottom 31 (refer to Figure 4 ) of the combustion chamber of the coke oven 30 with a width of about 400 mm at a position about 10 m below the flue hole 20. Hereinafter, a configuration example and an operation example of the traveling trolley 1 according to the present embodiment will be described.

[0033] <Configuration example of the traveling trolley 1>

[0034] As Figure 1 and Figure 2 shown, the traveling trolley 1 according to an embodiment of the present disclosure includes a driving device 10, an image acquisition device 2, an arithmetic device 3, a measurement device 11, a movement amount detection device 7, a region measurement device 8, and a storage device 9. The traveling trolley 1 can be configured to be capable of autonomous traveling. When the traveling trolley 1 travels by the control of an external device or the operation of a person, that is, when it does not travel autonomously, it may not include at least one of the movement amount detection device 7, the region measurement device 8, or the storage device 9.

[0035] <<Driving device 10 and movement amount detection device 7>>

[0036] The drive device 10 may include wheels, tracks, etc. that come into contact with the traveling surface when the traveling carriage 1 travels on the traveling surface. The drive device 10 may include a power source such as an engine or a motor that drives the wheels, tracks, etc. The movement amount detection device 7 may be configured to include, for example, an encoder. The movement amount detection device 7 may detect the movement amount of the drive device 10 to detect the movement amount of the traveling carriage 1.

[0037] <<Image acquisition device 2>>

[0038] The image acquisition device 2 may include an imaging device such as a camera that captures the surroundings of the traveling carriage 1. The camera may be configured to capture the area where the traveling carriage 1 travels. The camera may be configured to capture the traveling surface of the traveling carriage 1. The image acquisition device 2 may be provided in front of the traveling carriage 1, i.e., on the traveling direction side of the traveling carriage 1.

[0039] <<Measurement device 11>>

[0040] The measurement device 11 includes a temperature measurement device 4, a distance measurement device 6, and an actuator 5. The measurement device 11 may also not include at least one of the distance measurement device 6 or the actuator 5.

[0041] The temperature measurement device 4 measures the temperature of the measurement object. In the present embodiment, the temperature measurement device 4 measures the temperature inside the flue hole 20. The temperature measurement device 4 may be configured to include, for example, an infrared radiation thermometer. When the temperature measurement device 4 is an infrared radiation thermometer, the temperature measurement device 4 receives infrared rays emitted from a specified range of the measurement object to measure the temperature of the specified range of the measurement object. The specified range is also referred to as the measurement spot. The measurement spot, or the points included in the measurement spot, are collectively referred to as the temperature measurement points. That is, the temperature measurement device 4 measures the temperature of the temperature measurement points in the measurement object. The temperature measurement device 4 is not limited to a radiation thermometer and may also be configured to include various other temperature measurement units.

[0042] The distance measurement device 6 measures the distance from the temperature measurement device 4 to the measurement object. In the present embodiment, the distance measurement device 6 measures the distance from the temperature measurement device 4 to the temperature measurement points inside the flue hole 20. The distance measurement device 6 may be configured to include, for example, a laser rangefinder. The distance measurement device 6 is not limited to a laser rangefinder and may also be configured to include various other distance measurement units such as ultrasonic or optical types.

[0043] The temperature measuring device 4 and the distance measuring device 6 can be arranged on the traveling carriage 1 via the actuator 5. The actuator 5 can be configured to include a motor or a piezoelectric device or the like for moving the temperature measuring device 4 and the distance measuring device 6. The actuator 5 can be configured to include a linear slider for linearly moving the temperature measuring device 4 and the distance measuring device 6.

[0044] The actuator 5 can adjust the relative position or angle of the temperature measuring device 4 and the distance measuring device 6 with respect to the traveling carriage 1 by moving the temperature measuring device 4 and the distance measuring device 6. The relative positions of the temperature measuring device 4 and the distance measuring device 6 with respect to the traveling carriage 1 can be adjusted in a horizontal plane along the traveling surface. The relative angle of the temperature measuring device 4 and the distance measuring device 6 with respect to the traveling carriage 1 can be adjusted with reference to the vertical direction. That is, the horizontal position and the vertical angle of the temperature measuring device 4 and the distance measuring device 6 with respect to the traveling carriage 1 can be adjusted.

[0045] The position of the temperature measurement point is adjusted by adjusting the relative position or angle of the temperature measuring device 4. The position or angle of the distance measuring device 6 is adjusted so as to be able to measure the distance from the temperature measuring device 4 to the temperature measurement point. When both the temperature measuring device 4 and the distance measuring device 6 are mounted on the actuator 5, the position or angle of the distance measuring device 6 is adjusted simultaneously with the position or angle of the temperature measuring device 4.

[0046] <<Arithmetic device 3>>

[0047] As Figure 2 shown, the arithmetic device 3 is connected to each component of the traveling carriage 1, configured to be able to obtain information or data from each component of the traveling carriage 1, and configured to be able to control each component of the traveling carriage 1. The arithmetic device 3 can calculate the position of the traveling carriage 1 or obtain the position of the traveling carriage 1. The arithmetic device 3 can control the drive device 10 in such a manner that the traveling carriage 1 travels based on the position of the traveling carriage 1. The arithmetic device 3 can calculate the traveling path of the traveling carriage 1. The arithmetic device 3 can detect the position of the flue hole 20 which is the object to be measured for temperature, and control the actuator 5 in such a manner as to adjust the positions and angles of the temperature measuring device 4 and the distance measuring device 6. The arithmetic device 3 can obtain the temperature measurement result of the measurement object from the temperature measuring device 4.

[0048] The arithmetic device 3 can be configured to include at least one processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), for example. The arithmetic device 3 can be constituted by one processor or by a plurality of processors. The processor constituting the arithmetic device 3 can implement the functions of the traveling carriage 1 by reading and executing a program stored in a storage unit described later.

[0049] The arithmetic unit 3 may include a storage unit. The storage unit stores various information, data, etc. For example, the storage unit may store a program executed in the arithmetic unit 3, or data used in the processing executed in the arithmetic unit 3 or the result of the processing. In addition, the storage unit may function as a working memory of the arithmetic unit 3. For example, the storage unit may be configured to include a semiconductor memory or the like, but is not limited thereto. For example, the storage unit may be configured to be an internal memory of the processor of the arithmetic unit 3, or may be configured to be a hard disk drive (HDD) accessible from the arithmetic unit 3. The storage unit may also be configured as a non-transitory readable medium. The storage unit may be integrally formed with the arithmetic unit 3 or may be separately formed from the arithmetic unit 3. When the traveling carriage 1 includes the storage device 9, the arithmetic unit 3 may also cause the storage unit to function as the storage device 9. The storage unit of the arithmetic unit 3 and the storage device 9 may be integrally formed or may be separately formed.

[0050] The arithmetic unit 3 may include a communication unit. The communication unit may be configured to include a communication interface for communicating with other devices by wire or wirelessly. The communication interface may be configured to be able to communicate with other devices via a network. The communication unit may be configured to include an input / output port for inputting / outputting data to / from other devices. The communication unit transmits and receives required data and signals to / from a process computer or an upper system. The communication unit may communicate based on a wired communication standard or may communicate based on a wireless communication standard. For example, the wireless communication standard may include communication standards for cellular phones such as 3G, 4G, and 5G. In addition, for example, the wireless communication standard may include IEEE802.11 and Bluetooth (registered trademark), etc. The communication unit may support one or more of these communication standards. The communication unit is not limited to these examples and may communicate with other devices or input / output data based on various standards. The communication unit may be integrally formed with the arithmetic unit 3 or may be separately formed from the arithmetic unit 3.

[0051] The arithmetic unit 3 may be configured to include an input device for receiving information, data, etc. from a human. The input device may be configured to include, for example, a touch panel or a touch sensor, or a pointing device such as a mouse. The input device may also be configured to include physical keys. The input device may also be configured to include a voice input device such as a microphone. The arithmetic unit 3 may be configured to be able to connect to an external input device. The arithmetic unit 3 may be configured to be able to obtain information or data input to the external input device from the external input device.

[0052] <<Area measurement device 8 and storage device 9>>

[0053] The area measurement device 8 can be configured to include, for example, a laser rangefinder, an infrared sensor, a ultrasonic sensor, a radar sensor based on radio waves, a depth camera, or a stereo camera. The area measurement device 8 can be configured to obtain information on obstacles around the traveling vehicle 1, that is, two-dimensional or three-dimensional shape information of surrounding structures, while the traveling vehicle 1 is traveling.

[0054] The storage device 9 can be configured to store obstacle position information or waypoint information within the traveling area of the traveling vehicle 1, or the temperature measurement results of the temperature measurement device 4, etc. The waypoint information indicates the points passed through when the traveling vehicle 1 autonomously travels within the traveling area of the traveling vehicle 1. As Figure 3 illustrated, the waypoint information can generate a list arranged in the order of inspection of the traveling vehicle 1 with information on the position coordinates of each waypoint and information on the posture angle θ of the traveling vehicle 1 at each waypoint. The position coordinates of each waypoint can be represented as the x coordinate and the y coordinate in the traveling plane of the traveling vehicle 1. The posture angle θ of the traveling vehicle 1 at each waypoint can be represented as the angle of the traveling direction of the traveling vehicle 1 with respect to the positive direction of the x axis. In Figure 3 the example, the waypoint information includes information on j waypoints passed through by the traveling vehicle 1 during inspection.

[0055] In the case where the traveling vehicle 1 autonomously travels, the arithmetic device 3 repeats the following operation: after the traveling vehicle 1 reaches, for example, the i-th waypoint, the traveling vehicle 1 is made to autonomously travel with the (i + 1)-th waypoint as the next movement target. The arithmetic device 3 can make the traveling vehicle 1 autonomously travel until the traveling vehicle 1 reaches the last j-th waypoint. The arithmetic device 3 can also make the traveling vehicle 1 autonomously travel in such a way that the traveling vehicle 1 returns to the initial position after reaching the last j-th waypoint and measuring the temperature.

[0056] In the case where the traveling vehicle 1 does not autonomously travel, a device outside the traveling vehicle 1 that controls the traveling vehicle 1, or a human who operates the traveling vehicle 1, can make the traveling vehicle 1 travel based on the waypoint information.

[0057] By pre-storing the waypoint information in the storage device 9, even when there are multiple flue holes 20 to be measured, the traveling vehicle 1 can measure the temperature by autonomously traveling and inspecting each measurement object.

[0058] The arithmetic device 3 can calculate the position of the traveling vehicle 1 based on the obstacle information around the traveling vehicle 1 obtained from the area measurement device 8 and the obstacle position information stored in the storage device 9. The arithmetic device 3 can calculate the position of the traveling vehicle 1 based on a SLAM (Simultaneous Localization And Mapping) algorithm such as a Kalman filter, an extended Kalman filter, a particle filter, or a Bayesian filter. The arithmetic device 3 can improve the calculation accuracy of the position of the traveling vehicle 1 by combining the output result of the SLAM algorithm with information such as the position of the traveling vehicle 1 inferred by odometry based on the result of the movement amount detection device 7, the positioning result of the traveling vehicle 1 based on a satellite positioning system such as GPS (Global Positioning System), or the position of the traveling vehicle 1 calculated based on the output of an IMU (Inertial Measurement Unit) including an acceleration sensor, etc.

[0059] <Operation example of the traveling vehicle 1>

[0060] The traveling vehicle 1 according to the present embodiment travels on the traveling surface, moves to the flue hole 20 as the measurement object existing on the traveling surface, and measures the temperature inside the flue hole 20 by the temperature measurement device 4. Hereinafter, an operation example in the case where the traveling vehicle 1 autonomously travels on the traveling surface will be described.

[0061] <<Movement to the measurement object>>

[0062] The arithmetic device 3 sets the measurement object to be patrolled by the autonomous travel of the traveling vehicle 1. In the present embodiment, the arithmetic device 3 causes the traveling vehicle 1 to autonomously travel in such a manner that at least one flue hole 20 selected from a plurality of flue holes 20 existing on the traveling surface or the furnace top is used as the measurement object to measure the temperature.

[0063] The arithmetic device 3 sets the position of at least one measurement object. The position of the measurement object is also referred to as the measurement position. That is, the arithmetic device 3 sets at least one measurement position. The arithmetic device 3 stores the information of the flue hole 20 set as the measurement object in the storage device 9 as waypoint information. In addition, for the flue hole 20 as the measurement object, the arithmetic device 3 can tabulate the information of the flue hole 20 pre-selected by a human from a plurality of flue holes 20 as waypoint information and store it in the storage device 9. For example, the arithmetic device 3 can accept an input from a human selecting the flue hole 20 as the measurement object. The arithmetic device 3 can accept an input from a human related to the information of the flue hole 20 as the measurement object. The arithmetic device 3 can store the information of the flue hole 20 as the measurement object in the storage device 9 as waypoint information based on the input from a human.

[0064] The arithmetic unit 3 causes the traveling cart 1 to autonomously travel within the traveling area based on the waypoint information. The arithmetic unit 3 calculates the position of the traveling cart 1 by inputting the movement amount of the traveling cart 1 detected by the movement amount detection device 7, the obstacle information acquired by the area measurement device 8, and the obstacle position information recorded in the storage device 9 into a particle filter based on the SLAM algorithm. The arithmetic unit 3 can calculate the position of the traveling cart 1 by comparing the measurement result of the shape of the surrounding structures based on the area measurement device 8 with the shape of the surrounding structures previously stored in the storage device 9. The arithmetic unit 3 causes the traveling cart 1 to autonomously travel to the waypoint based on the calculation result of the position of the traveling cart 1.

[0065] <<Position adjustment of the temperature measurement device 4 with respect to the measurement object>>

[0066] When the traveling cart 1 reaches the waypoint, the arithmetic unit 3 acquires the image information of the traveling surface around the traveling cart 1 through the image acquisition device 2. The arithmetic unit 3 detects the position of the flue hole 20 as the measurement object by performing image recognition on the acquired image information.

[0067] The arithmetic unit 3 calculates the position where the traveling cart 1 arrives and the posture of the traveling cart 1 with respect to the traveling surface. The posture of the traveling cart 1 is determined by the angle formed by the traveling direction of the traveling cart 1 with respect to the traveling surface, i.e., the horizontal plane, and the angle formed by the traveling direction of the traveling cart 1 with respect to the positive direction of the x-axis of the traveling surface. The angle formed by the traveling direction of the traveling cart 1 with respect to the traveling surface, i.e., the horizontal plane, may be different from the angle assumed by the arithmetic unit 3 due to the unevenness of the traveling surface, etc. In addition, the position or posture of the traveling cart 1 may be different from the position or posture assumed by the arithmetic unit 3 due to the slippage of the wheels, etc. included in the drive device 10 of the traveling cart 1.

[0068] The arithmetic unit 3 calculates the position and posture of the temperature measurement device 4 determined by the position and posture of the traveling cart 1. The position of the temperature measurement device 4 is represented by the x coordinate and y coordinate of the position where the temperature measurement device 4 is projected onto the traveling surface. The posture of the temperature measurement device 4 is represented by the angle formed by the direction from the temperature measurement device 4 to the temperature measurement point with respect to the vertical direction.

[0069] The arithmetic unit 3 can determine whether the position when the temperature measuring device 4 is projected onto the traveling surface is within the range of the flue hole 20 that is the object to be measured. When the position when the temperature measuring device 4 is projected onto the traveling surface is outside the range of the flue hole 20, the arithmetic unit 3 can control the actuator 5 in such a way that the position when the temperature measuring device 4 is projected onto the traveling surface is within the range of the flue hole 20. The arithmetic unit 3 can also move the traveling carriage 1 by controlling the drive device 10 so that the position when the temperature measuring device 4 is projected onto the traveling surface is within the range of the flue hole 20.

[0070] Even when the temperature measuring device 4 is within the range of the flue hole 20, as Figure 4 illustrated, the temperature measurement point also varies according to the posture (the direction of receiving infrared rays) of the temperature measuring device 4. In Figure 4 , the flue hole 20 is determined to be an opening on the traveling surface of the traveling carriage 1 that is demarcated by the side surface 22. Here, the coke oven 30 includes the flue hole 20 and a combustion chamber located below the flue hole 20. The combustion chamber of the coke oven 30 is configured as a space demarcated by the furnace bottom 31 and the furnace side portion 32. The flue hole 20 is located above the combustion chamber of the coke oven 30. Conversely, the combustion chamber of the coke oven 30 is located below the flue hole 20. Depending on the posture of the temperature measuring device 4, the temperature measurement point is at the point 33 or 34 on the furnace bottom 31, or at the point 35 or 36 on the furnace side portion 32 that is offset from the furnace bottom 31.

[0071] The arithmetic unit 3 calculates the position of the temperature measurement point based on the position and posture of the temperature measuring device 4 and the position of the flue hole 20 detected by image recognition. The arithmetic unit 3 determines whether the temperature measurement point is on the furnace bottom 31 of the coke oven 30 inside the flue hole 20 that is the object to be measured. When the temperature measurement point is offset from the furnace bottom 31, the arithmetic unit 3 can change the posture of the temperature measuring device 4 by controlling the actuator 5 so that the temperature measurement point is on the furnace bottom 31.

[0072] The arithmetic unit 3 can measure the distance from the temperature measuring device 4 to the temperature measurement point by the distance measuring device 6. In Figure 4 , the distance from the temperature measuring device 4 to the temperature measurement point is represented by D. When the distance (D) from the temperature measuring device 4 to the temperature measurement point is greater than the distance threshold (Dth), the arithmetic unit 3 can determine that the temperature measurement point is on the furnace bottom 31. The arithmetic unit 3 can appropriately set the distance threshold based on the depth from the traveling surface to the furnace bottom 31.

[0073] <<Temperature Measurement and Determination>>

[0074] When it is determined that the temperature measurement point is located at the furnace bottom 31, the arithmetic unit 3 measures the temperature of the temperature measurement point through the temperature measurement device 4.

[0075] The arithmetic unit 3 can measure the distances and temperatures of multiple temperature measurement points while controlling the actuator 5 to change the angles of the temperature measurement device 4 and the distance measurement device 6 with respect to the vertical direction.

[0076] The arithmetic unit 3 processes the measurement results. For example, the arithmetic unit 3 can use the measurement results of the distance measurement device 6 to filter the measurement results of the temperature measurement device 4. The arithmetic unit 3 can adopt the measurement result of the temperature corresponding to the measurement result of the distance greater than the distance threshold as the measurement result of the temperature of the furnace bottom 31. The arithmetic unit 3 can adopt the result of measuring the temperature after previously confirming that the temperature measurement point is located at the furnace bottom 31 as the measurement result of the temperature of the furnace bottom 31. The arithmetic unit 3 can store the measurement result of the temperature of the furnace bottom 31 in the storage device 9. The arithmetic unit 3 can output the measurement result of the temperature of the furnace bottom 31 to an external device. By only adopting the temperature measurement results when the distance from the temperature measurement device 4 to the temperature measurement point exceeds the distance threshold, the arithmetic unit 3 can exclude the temperature measurement results of the points deviated from the furnace bottom 31, and thus can only manage the temperature measurement results of the points on the furnace bottom 31. As a result, the measurement accuracy of the temperature of the coke oven 30 is improved. The points deviated from the furnace bottom 31 can include, for example, the points on the furnace side 32, etc.

[0077] The arithmetic unit 3 determines whether the temperature measurement result of the furnace bottom 31 is within the normal range. The upper limit or the lower limit of the normal range of the temperature of the furnace bottom 31 is appropriately set according to the operating state of the coke oven 30. When the temperature measurement result of the furnace bottom 31 is outside the normal range, the arithmetic unit 3 determines that the state of the coke oven 30 is abnormal, and can notify the determination result to the outside, for example, by issuing an alarm. When the temperature measurement result of the furnace bottom 31 is within the normal range, the arithmetic unit 3 determines that the state of the coke oven 30 inside the flue hole 20 at the passing point where the traveling carriage 1 is located is normal. When there is still a next passing point in the passing point information, the arithmetic unit 3 makes the traveling carriage 1 travel to the next passing point, and repeats the above temperature measurement and determination at the next passing point. When the inspection of all the passing points included in the passing point information is completed, the arithmetic unit 3 can stop the traveling of the traveling carriage 1, or can make the traveling carriage 1 travel to the initial position.

[0078] <<Example of flowchart>>

[0079] The arithmetic unit 3 can execute including Figure 5The temperature measurement method of the process of the flowchart illustrated in [the original text]. The temperature measurement method can also be implemented as a temperature measurement program executed by the processor included in the arithmetic unit 3. The temperature measurement program can be stored in a non-transitory computer-readable medium.

[0080] The arithmetic unit 3 sets the measurement position (step S1). Assume that during step S1, the arithmetic unit 3 stores, in the storage device 9, the information of at least one flue hole 20 to be measured as a list of passing point information in advance based on the information input by a human.

[0081] The arithmetic unit 3 makes the traveling trolley 1 travel to the i-th measurement position in the list of passing point information (step S2). When the traveling trolley 1 arrives at the i-th measurement position, the arithmetic unit 3 acquires the image information of the traveling surface around the traveling trolley 1 through the image acquisition device 2 (step S3). The arithmetic unit 3 detects the flue hole 20 to be measured from the image information through image recognition (step S4).

[0082] Based on the position of the flue hole 20 detected during step S4, the arithmetic unit 3 adjusts the position of the temperature measurement point by controlling the actuator 5 at the measurement position (step S5). The arithmetic unit 3 measures the temperature and the distance from the temperature measurement device 4 to the temperature measurement point at at least one temperature measurement point (step S6). The arithmetic unit 3 processes the measurement results and records the adopted temperature measurement results in the storage device 9 (step S7). The arithmetic unit 3 can measure the temperatures and distances of multiple temperature measurement points during the process from step S5 to S7, and adopt the results obtained by measuring the temperature at the temperature measurement points where the measurement results of the distances are greater than the distance threshold. The arithmetic unit 3 can also adopt the results obtained by measuring the temperature on the basis of confirming that the temperature measurement point is located on the furnace bottom 31 during the process from step S5 to S7.

[0083] The arithmetic unit 3 determines whether the temperature measured at the i-th measurement position is abnormal (step S8). Specifically, the arithmetic unit 3 can determine that the temperature is abnormal when the adopted temperature measurement result is outside the normal range.

[0084] When the temperature measured at the i-th measurement position is not abnormal (step S8: No), that is, when the temperature measured at the i-th measurement position is normal, the arithmetic unit 3 determines whether there is a next i + 1-th measurement position (step S9). When there is an i + 1-th measurement position (step S9: Yes), the arithmetic unit 3 returns to the process of step S2 to make the traveling trolley 1 travel to the i + 1-th measurement position, and repeats the temperature measurement and determination process from step S3 to S8. When there is no i + 1-th measurement position (step S9: No), the arithmetic unit 3 ends the execution Figure 5 of the process of the flowchart.

[0085] When the temperature is abnormal at the i-th measurement position (step S8: YES), the arithmetic unit 3 notifies the temperature abnormality (step S10). After executing the process of step S10, the arithmetic unit 3 ends the process of the flowchart to be executed. Figure 5 The arithmetic unit 3 may also enter the process of step S9 after executing the process of step S10 and repeat the operation at the next measurement position.

[0086] <Summary>

[0087] As described above, in the traveling bogie 1 according to the present embodiment, the image acquisition device 2 acquires image information of the measurement object when the traveling bogie 1 reaches the measurement position. The arithmetic unit 3 detects the position of the measurement object based on the image information, and controls the actuator 5 so that the temperature measurement point enters a specific part of the measurement object, thereby adjusting the position or posture of the temperature measurement device 4 to measure the temperature of the specific part of the measurement object. In the present embodiment, the specific part of the measurement object is the furnace bottom 31. The arithmetic unit 3 adjusts the position or posture of the temperature measurement device 4 by detecting the position of the measurement object based on the image information, so that even when the stop position of the traveling bogie 1 at the measurement position deviates or the posture of the traveling bogie 1 is inclined due to unevenness such as steps on the traveling surface, the temperature of the specific part of the measurement object can be measured. As a result, the measurement accuracy of the temperature is improved.

[0088] In addition, in the traveling bogie 1 according to the present embodiment, the arithmetic unit 3 can measure the temperatures and distances of a plurality of temperature measurement points while changing the angles of the temperature measurement device 4 and the distance measurement device 6, and filter the temperature measurement results based on the distances to the respective temperature measurement points. By measuring a plurality of temperature measurement points and filtering the temperature measurement results, the possibility of obtaining the temperature measurement result of the specific part of the measurement object becomes higher even when the accuracy of determining the temperature measurement point is low. In addition, even when the shape on the measurement object side is inclined, the possibility of obtaining the temperature measurement result of the specific part of the measurement object becomes higher. In the present embodiment, the shape on the measurement object side is the shape of the furnace bottom 31 of the coke oven 30. As a result, the measurement accuracy of the temperature is improved. In addition, when only one temperature measurement point is determined, sometimes the device structure becomes complicated or the device cost increases in order to improve the accuracy of determining the temperature measurement point. By measuring a plurality of temperature measurement points and filtering the temperature measurement results, the temperature measurement result of the specific part of the measurement object can be obtained simply.

[0089] <Operation method of coke oven 30>

[0090] The operation state of the coke oven 30 can be managed based on the temperature measurement result inside the flue hole 20 measured by using the traveling carriage 1 described above. For example, a device for managing the operation state of the coke oven 30 can obtain the temperature measurement result inside the flue hole 20 from the traveling carriage 1, and control the supply amount of gas to the coke oven 30 based on the temperature measurement result. The device for managing the operation state of the coke oven 30 can make the control content of the coke oven 30 when the temperature is within the normal range different from the control content of the coke oven 30 when the temperature is outside the normal range.

[0091] The device for managing the operation state of the coke oven 30 can execute the operation method of the coke oven 30. The operation method of the coke oven 30 can include a step of obtaining the temperature measurement result from the traveling carriage 1. The operation method of the coke oven 30 can include a step of managing the operation state of the coke oven 30 based on the temperature measurement result. The operation method of the coke oven 30 can include a step of determining whether the temperature is within the normal range. The operation method of the coke oven 30 can include a step of making the control content of the coke oven 30 when the temperature is within the normal range different from the control content of the coke oven 30 when the temperature is outside the normal range.

[0092] By managing the operation state of the coke oven 30 by using the temperature measurement result of the traveling carriage 1, the operation state of the coke oven 30 can be simply managed without using manual labor.

[0093] (Other embodiments)

[0094] As another embodiment, the image acquisition device 2 can be configured to include a thermal imager. The arithmetic device 3 can detect the flue hole 20 by binarizing the thermal imager image by using the fact that the temperature of the flue hole 20 is higher than the temperature of the traveling surface around the flue hole 20. In addition, when the image acquisition device 2 is configured to include a thermal imager, the arithmetic device 3 can also adopt the temperature of the flue hole 20 obtained by the thermal imager as the temperature measurement result inside the flue hole 20.

[0095] In the above embodiment, the temperature measurement device 4 measured the temperature inside the flue hole 20 with the flue hole 20 as the measurement object. The measurement object of the temperature measurement device 4 is not limited to the flue hole 20, and can also be a hole existing on the traveling surface of the traveling carriage 1. The temperature measurement device 4 can measure the temperature inside the hole existing on the traveling surface of the traveling carriage 1.

[0096] (Examples)

[0097] Hereinafter, examples will be described.

[0098] To confirm the effect of the traveling carriage 1 according to the present disclosure, as an example, by Figure 1 the traveling carriage 1 exemplified, asFigure 6 the temperature measurement test of the bottom of the combustion chamber of the coke oven 30, that is, the furnace bottom 31, was carried out as shown. In Figure 6 , a temperature measurement device 4 and a distance measurement device 6 are provided at a height of 200 mm from the running surface of the running trolley 1. The opening diameter of the flue hole 20 is φ100 mm. The width of the coke oven 30 is 400 mm. The depth from the running surface to the furnace bottom 31 of the coke oven 30 is 9000 mm. The running trolley 1 is equipped with a radiation thermometer as the temperature measurement device 4. The running trolley 1 is equipped with an encoder provided on the drive wheel as the movement amount detection device 7. The running trolley 1 is equipped with a LiDAR sensor as the area measurement device 8. The running trolley 1 is an autonomous running trolley that autonomously runs based on the position information calculated using the SLAM algorithm.

[0099] As Figure 7 illustrated, the running trolley 1 runs along a path set in the running area. In this embodiment, a first measurement position P1, a second measurement position P2, and a third measurement position P3 are set in the running area. Each measurement position in the running area is determined by the x y coordinate system with the origin O(0, 0) as the reference position. In addition, the orientation of the running trolley 1 at each measurement position is determined as the pose angle θ. The parameters for determining each measurement position are expressed in the form of (x, y, θ).

[0100] The initial position P0 of the running trolley 1 is determined by (1.0, 1.0, 0°). The first measurement position P1 is determined by (2.0, 2.0, 90°). The second measurement position P2 is determined by (3.5, 2.0, 90°). The third measurement position P3 is determined by (5.0, 2.0, 90°). The running trolley 1 runs in such a way that it sequentially passes through the first measurement position P1, the second measurement position P2, and the third measurement position P3 from the initial position P0 and returns to the initial position P0. The running trolley 1 performs temperature measurement at each measurement position. The path of the running trolley 1 is set to avoid the obstacle 40 existing in the running area.

[0101] Table 1 shows the actual x coordinate, y coordinate, and pose angle θ when the running trolley 1 stops at each measurement position.

[0102] [Table 1]

[0103] (Table 1)

[0104] ×[m] y [m] θ [deg] P1 1.98 2.02 90.3 P2 3.48 1.99 89.2 P3 5.01 1.98 92.2

[0105] The arithmetic device 3 measures the temperature and the distance to the temperature measurement point while changing the vertical angle of the radiation thermometer at intervals of 0.5° between -10° and 10° at each measurement position. Table 2 shows the measurement results of the distance and temperature at each measurement position. In Figure 8A chart showing the measurement results of the distance and temperature at the first measurement position P1. In Figure 9 A chart showing the measurement results of the distance and temperature at the second measurement position P2. In Figure 10 A chart showing the measurement results of the distance and temperature at the third measurement position P3.

[0106] [Table 2]

[0107] (Table 2)

[0108]

[0109] Here, if the distance threshold (Dth) is set to 8.8 m, then according to the measurement results, values greater than the distance threshold were obtained as the measurement results of the distance within the range of the vertical angle from -1.0° to 1.0°. Therefore, it can be seen that the temperature of the furnace bottom 31 can be measured using the data within this range. Table 3 shows the data comparing the value obtained by calculating the average value of the temperature measurement data within this range as the temperature measurement result of this embodiment with the value of the manual measurement result.

[0110] [Table 3]

[0111] (Table 3)

[0112] This embodiment [°C] Manual measurement [°C] P1 1201.2 1203.1 P2 1199.5 1198.3 P3 1199.9 1201.1

[0113] It can be seen that the temperature measurement result of this embodiment is very consistent with the value of the manual measurement result. Therefore, it can be seen that the temperature of the furnace bottom 31 can be measured without problems by the traveling trolley 1 according to the present disclosure.

[0114] Although the embodiments of the present disclosure have been described based on the respective drawings and examples, it should be noted that those skilled in the art can make various deformations or changes based on the present disclosure. Therefore, it should be noted that these deformations or changes are included within the scope of the present disclosure. For example, the functions included in each component or each step, etc. can be reconfigured in a logically non - contradictory manner, and multiple components or steps, etc. can be combined into one or divided. The embodiments related to the present disclosure can also be implemented as a program executed by a processor provided in a device or a storage medium recording the program. It should be understood that they are also included within the scope of the present disclosure.

[0115] Explanation of Reference Numerals

[0116] 1... Traveling trolley (2: Image acquisition device, 3: Arithmetic device, 7: Movement amount detection device, 8: Area measurement device, 9: Storage device, 10: Driving device, 11: Measurement device (4: Temperature measurement device, 5: Actuator, 6: Distance measurement device)); 20... Flue hole (22: Side surface); 30... Coke oven (31: Furnace bottom, 32: Furnace side part, 33 - 36: Points); 40... Obstacle.

Claims

1. A traveling trolley travels on a traveling surface in a traveling area by a driving device, characterized in that Comprising: a temperature measuring device for measuring the temperature of a measurement object; an image acquisition device for acquiring image information of the traveling surface; and an arithmetic device for detecting the measurement object based on the image information, wherein the arithmetic device adjusts the position or posture of the temperature measuring device based on the position of the measurement object detected from the image information.

2. The traveling bogie according to claim 1, wherein the arithmetic device detects the measurement object from the image information by image recognition.

3. The traveling trolley according to claim 1 or 2, characterized in that, Further comprising: an actuator for adjusting at least one of the position or angle of the temperature measuring device.

4. The traveling bogie according to claim 3, wherein the arithmetic device adjusts the horizontal position or vertical angle of the temperature measuring device by the actuator before measuring the temperature by the temperature measuring device.

5. The traveling bogie according to claim 4, wherein Further comprising: a distance measuring device for measuring the distance between the temperature measuring device and the measurement object, wherein the arithmetic device changes the vertical angle of the temperature measuring device by the actuator during the temperature measurement by the temperature measuring device, and the arithmetic device filters the temperature measurement result of the temperature measuring device using the measurement result of the distance measuring device.

6. The traveling bogie according to any one of claims 1 to 5, wherein the arithmetic device determines whether the measurement result of the temperature measuring device is within a normal range and notifies the determination result.

7. The traveling bogie according to any one of claims 1 to 6, characterized in that, Further comprising: a movement amount detection device for detecting the movement amount of the traveling bogie by acquiring the operation amount of the driving device; an area measurement device for acquiring obstacle information around the traveling bogie; and a storage device for storing the obstacle position information of the traveling area, wherein the arithmetic device calculates the position of the traveling bogie by inputting the detection result of the movement amount of the traveling bogie, the obstacle information, and the obstacle position information into a particle filter based on the SLAM algorithm, and makes the traveling bogie autonomously travel.

8. The traveling bogie according to claim 7, wherein the storage device stores waypoint information that determines the position of at least one measurement object as a waypoint, and the arithmetic device makes the traveling bogie travel via the waypoint based on the waypoint information and measures the temperature of the measurement object at the waypoint by the temperature measuring device.

9. The traveling bogie according to any one of claims 1 to 8, wherein the measurement object is a hole existing on the traveling surface, and the temperature measuring device measures the temperature inside the hole.

10. The traveling bogie according to claim 9, wherein the hole is a flue hole formed on the top of a coke oven, and the temperature measuring device measures the temperature inside the coke oven via the flue hole.

11. A temperature measurement method, characterized in that, Including: a traveling process of making the traveling bogie according to any one of claims 1 to 10 travel in a traveling area where a measurement object exists; an image acquisition process of acquiring image information of the traveling surface by an image acquisition device provided on the traveling bogie; a measurement object detection process of detecting the measurement object based on the image information; An adjustment process for adjusting the position or posture of the temperature measurement device based on the position of the measurement object; And A measurement process for measuring the temperature of the measurement object by the temperature measurement device.

12. A method for operating a coke oven, characterized in that, Comprising: A process of obtaining the temperature inside the coke oven measured by the traveling trolley according to claim 10; And A process of managing the operating state of the coke oven based on the temperature inside the coke oven.

Images