Apparatus and method for sealing coke oven door

Abstract

Apparatus and methods for sealing coke oven doors to prevent gas leakage are provided. Provided in one embodiment is an apparatus for sealing a coke oven door, the apparatus comprising: a sealing material supply unit including a nozzle for discharging a sealing material; a robot connected to the sealing material supply unit, and including a robot arm for moving a position of the nozzle and a base for supporting the robot arm; a moving unit for moving the robot in a horizontal direction in which the plurality of coke ovens are arranged and a vertical direction, which is a length direction of the plurality of coke ovens; and a control unit for controlling the robot arm.

Description

Technical Field

[0001] The present disclosure relates to an apparatus and method for sealing a coke oven door. Background Art

[0002] A coke oven is a facility that produces red-hot coke by applying high-temperature heat to the coal in the carbonization chambers for a predetermined period of time to remove impurities. Coke is a fuel with a high carbon content and trace amounts of impurities, and is typically made from coal. Coke produced from coal can be gray and hard and porous.

[0003] In the process of making coke, fuel coal can be supplied to the carbonization chamber through an inlet in the upper part of each of the carbonization chambers, and the red-hot coke that has undergone dry distillation can be loaded into the digester through an area where the door is opened and can be transported to a processing location.

[0004] The coke oven may include doors for coal inflow and coke discharge, and each door may be operated by the desorption device to open or close a corresponding carbonization chamber.

[0005] During the red-hot coke drying process, coke oven gas (COG), which is impurities containing gaseous components, may be generated in the carbonization chamber. The gas should not leak to the outside through the door, but because the interior of the carbonization chamber is a high-temperature and high-pressure environment, gas may leak from the upper inlet, extrusion side door, or coke side door.

[0006] In particular, a large amount of foreign matter (such as tar, carbon) generated during the coke production process may be deposited on surfaces of the door and the door frame, and airtightness of the coke oven may be impaired due to the deposited foreign matter.

[0007] Therefore, high-temperature gas may leak to the outside of the coke oven and may cause damage and deformation of various facilities, and there may be environmental pollution problems such as deterioration of air quality, and workers may be exposed to accident risks such as burns, gas poisoning, falls and entrapment.

[0008] Typically, workers are available in a service vehicle that can be moved directly to the area of ​​the gas leak and can seal the leak.

[0009] (Citation 1) KR 10-0417099B1 Summary of the Invention

[0010] Technical issues

[0011] An aspect of the present disclosure is to provide an apparatus and method for sealing a coke oven door, which can block and prevent leakage of gas generated during a process of manufacturing coke.

[0012] One aspect of the present disclosure is to provide an apparatus for sealing a coke oven door and a method for sealing a coke oven door, which can tightly seal the coke oven by controlling a robot arm to move along the edge of the coke oven door using an edge tracking technology using a laser generator, wherein a nozzle can be positioned in an operating area.

[0013] One aspect of the present disclosure is to provide an apparatus for sealing a coke oven door and a method for sealing a coke oven door, which enables the sealing operation to be monitored in real time using a camera set on the end of a robot arm, and enables the operation target area to be fully monitored after the sealing operation is completed using a camera set at the base of the supporting robot arm.

[0014] Technical Solution

[0015] One aspect of the present disclosure provides an apparatus for sealing a coke oven door and a method for sealing a coke oven door as described below.

[0016] According to an embodiment of the present disclosure, an apparatus for sealing a coke oven door includes: a sealing material supply unit including a nozzle for discharging sealing material; a robot connected to the sealing material supply unit and including a robot arm for moving the position of the nozzle and a base for supporting the robot arm; a moving unit for moving the robot in a horizontal direction and a vertical direction, wherein a plurality of coke ovens are arranged in the horizontal direction and the vertical direction is the length direction of the plurality of coke ovens; and a control unit for controlling the robot arm, wherein the control unit controls the robot arm so that the nozzle moves along the edge of the oven door of one of the plurality of coke ovens.

[0017] According to an embodiment of the present disclosure, a method for sealing a coke oven door includes: an operation of moving a robot in horizontal and vertical directions; an operation of moving a nozzle by controlling a robot arm included in the robot; and an operation of discharging sealing material from the nozzle, wherein the operation of moving the nozzle includes controlling the robot arm so that the nozzle moves along the edge of an oven door of one of a plurality of coke ovens.

[0018] According to an embodiment of the present disclosure, an apparatus for sealing coke oven doors includes: a sensing unit including one or more sensors and sensing whether gas leakage occurs with respect to a plurality of coke ovens; a sealing unit including a nozzle for discharging sealing material and a robotic arm for moving the position of the nozzle; a moving unit for moving the sealing unit in horizontal and vertical directions, wherein the plurality of coke ovens are divided into a plurality of sealing areas, wherein the sensing unit detects an operating target area in which gas leakage occurs among the plurality of sealing areas, wherein the moving unit moves the sealing unit to the operating target area, and wherein the sealing unit controls the robotic arm so that the nozzle moves along the edge of the oven door located in the operating target area.

[0019] Beneficial effects

[0020] According to one aspect of the present disclosure, an apparatus and method for sealing a coke oven door can block and prevent leakage of gas generated in a coke manufacturing process.

[0021] In addition, according to an embodiment of the present disclosure, an apparatus for sealing a coke oven door and a method for sealing a coke oven door can be provided, which can tightly seal the coke oven by controlling a robot arm to move along the edge of the coke oven door using edge tracking technology using a laser generator, wherein the nozzle can be positioned in the operating area.

[0022] In addition, according to an embodiment of the present disclosure, an apparatus for sealing a coke oven door and a method for sealing a coke oven door can be provided, which enable the sealing operation to be monitored in real time using a camera set on the end of a robot arm, and enable the operation target area to be fully monitored using a camera set at the base of the supporting robot arm after the sealing operation is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a diagram illustrating components of an apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0024] Figure 2a is a block diagram illustrating components of an apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0025] Figure 2b is a diagram illustrating a portion of an apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0026] Figure 3 is a diagram illustrating a plurality of sealing areas in a method for sealing a coke oven door according to an embodiment of the present disclosure.

[0027] Figure 4a is a diagram illustrating the operation of the apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0028] Figure 4b is a diagram illustrating the operation of the apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0029] Figure 4c is a diagram illustrating the operation of the apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0030] Figure 4d is a diagram illustrating the operation of the apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0031] Figure 5 is a flow chart illustrating a method for sealing a coke oven door according to an embodiment of the present disclosure.

[0032] Figure 6 is a diagram illustrating an entire system including an apparatus for sealing a coke oven door according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] Hereinafter, preferred embodiments may be described in detail with reference to the accompanying drawings so that a person of ordinary skill in the art to which the present disclosure pertains may easily practice the present disclosure. However, when describing the preferred embodiments of the present disclosure in detail, when it is determined that a specific description of the relevant known functions or configurations may unnecessarily obscure the gist of the present disclosure, the detailed description may be omitted. In addition, throughout the accompanying drawings, the same figure marks may be used for components that perform similar functions and actions. In addition, in the present application document, terms such as "upper", "upper part", "upper surface", "lower", "lower part", "lower surface", "side surface" and the like may be based on the accompanying drawings, and in a practical sense, these terms may vary depending on the direction in which the elements or components are set.

[0034] In addition, throughout the application, when it is mentioned that an element is “connected” to another component, this may mean that the element is directly connected to the other component, or it may mean that the element is indirectly connected to the other component with an intervening element between the element and the other component. In addition, it should be understood that when a part “includes” an element, it may further include another element without excluding the other element unless otherwise specified.

[0035] Figure 1 is a diagram illustrating components of an apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0036] Reference Figure 1 The apparatus 100 for sealing a coke oven door can be applied to a location where a plurality of coke ovens 10 are provided. The apparatus 100 for sealing a coke oven door can prevent and block gas leakage by sealing an area where gas leakage occurs in the plurality of coke ovens 10.

[0037] Gas leakage may occur in the gap between the oven door and the oven frame of the coke oven 10. Causes of the gas leakage may include deterioration of the oven door due to long-term use, shape deformation due to physical impact caused by opening and closing the oven door, or widening of the gap due to tar generated by coal fixed and solidified between the oven door and the oven frame.

[0038] Generally, an operator who directly rides a service vehicle can move to a gas leakage area and perform an operation to seal the gas leakage point. The present disclosure can provide an apparatus and method for blocking and preventing gas leakage occurring in a coke oven by using a robot without sending an operator to the site.

[0039] Reference Figure 1 and Figure 2a , the apparatus 100 for sealing a coke oven door may include a sealing material supplying unit 110 , a robot 120 , and a moving unit 130 .

[0040] Figure 2b is an enlarged view illustrating a sealing material supply unit 110 and a robot 120 of an apparatus 100 for sealing a coke oven door according to an embodiment of the present disclosure. Figure 1 、 Figure 2a and Figure 2b The components of the apparatus 100 for sealing a coke oven door are described in detail.

[0041] The sealing material supply unit 110 may include a nozzle 111 and a supply line 112 .

[0042] The nozzle 111 can discharge the sealing material. The sealing material can be used to hermetically seal a gas leak point of a coke oven. For example, the sealing material can be used to seal the area between the oven door and the frame of the coke oven.

[0043] The sealing material may be discharged from the nozzle 111 in a semi-solid state. The sealing material may include a thermosetting material that has a semi-solid state at a specific temperature or lower and is cured by high-temperature heat. For example, the sealing material may include one or more materials selected from ceramic clay rock and mortar.

[0044] The sealing material discharged from the nozzle 111 can be cured by the heat generated in the coke oven, thereby sealing the edge of the oven door. The edge of the oven door can be sealed by the cured sealing material, thereby preventing gas leakage.

[0045] The supply line 112 may be connected to the nozzle 111 and may supply the sealing material to the nozzle 111 .

[0046] The robot 120 may include a robot arm 121 and a base 122 .

[0047] The robot arm 121 may be connected to the sealing material supply unit 110 and may support at least a portion of the sealing material supply unit 110 .

[0048] For example, robotic arm 121 may support supply line 112 .

[0049] The robot arm 121 can move the position of the nozzle 111. The robot arm 121 may include, for example, one or more joints, and the position and angle of the end portion may be freely adjusted.

[0050] The nozzle 111 for discharging the sealing material may be provided adjacent to the end of the robot arm 121. Therefore, the apparatus 100 for sealing the coke oven door may move the position of the nozzle 111 by controlling the coordinates of the end of the robot arm 121.

[0051] Specifically, the apparatus 100 for sealing a coke oven door may further include a control unit for controlling the robot arm 121. The control unit may control the robot arm 121 so that the nozzle 111 may move along the edge of the oven door of one of the plurality of coke ovens 10.

[0052] The base 122 may be connected to a lower portion of the robot arm 121 and may support the robot arm 121 .

[0053] The moving unit 130 may move the robot 120 using one or more motors.

[0054] The moving unit 130 may move the robot in a horizontal direction and a vertical direction. Here, the horizontal direction may be a direction in which the plurality of coke ovens 10 are arranged, and the vertical direction may be a length direction of the plurality of coke ovens 10.

[0055] The moving unit 130 may include a frame unit 131, a support unit 132, and a sensing unit 133. The support unit 132 may support the base 122 of the robot 120 from below and may also be connected to the frame unit 131.

[0056] The frame unit 131 may be movable in a horizontal direction. The frame unit 131 may allow the robot 120 to move in a wide area by moving in the horizontal direction in which a plurality of coke ovens are arranged.

[0057] Therefore, when the frame unit 131 moves in the horizontal direction, the support unit 132 connected to the frame unit 131 and the robot 120 provided on the support unit 132 may move together in the horizontal direction.

[0058] The support unit 132 may move in the vertical direction along the length direction of the frame unit 131. When the support unit 132 moves in the vertical direction, the robot 120 provided on the support unit 132 may move in the vertical direction together.

[0059] The sensing unit 133 may include one or more sensors. The sensing unit 133 may sense positions of the frame unit 131 and the support unit 132 for the plurality of coke ovens 10 .

[0060] The sensing unit 133 may identify pillars located on both sides of the oven door. The sensing unit 133 may derive the horizontal position of the frame unit 131 based on the number of pillars identified when the frame unit 131 moves in the horizontal direction.

[0061] For example, when the frame unit 131 stops moving after the sensing unit 133 identifies three pillars while the frame unit 131 moves in the horizontal direction, the position of the frame unit 131 in the horizontal direction can be derived as the frame unit 131 is oriented from the reference position toward the coke oven located at the third position.

[0062] In another embodiment, the sensing unit 133 may identify an identification code of each of the plurality of coke ovens 10. The sensing unit 133 may derive the position of the frame unit 131 in the horizontal direction based on the identified identification code of the coke oven.

[0063] In addition, the sensing unit 133 may derive the position of the support unit 132 in the vertical direction based on the length of the section in which the support unit 132 moves up and down.

[0064] The plurality of coke ovens 10 can be divided into a plurality of sealed areas. Figure 3 As illustrated in , a plurality of coke ovens 10 may be arranged in a horizontal direction, wherein pillars 11 are located between the plurality of coke ovens 10 , and one surface of each coke oven 10 may be divided into a plurality of sealing areas.

[0065] Figure 3 The sealing areas shown in the figure are examples only and are not Figure 3 Compared to the example illustrated in FIG. 1 , the sealing area for one coke oven 10 may be divided into more or fewer sealing areas.

[0066] The moving unit 130 can move the robot 120 to the operation target area. The operation target area can indicate the area where the gas leakage occurs in the plurality of sealing areas. The operation target area can be determined by, for example, information about the furnace door and information about the section of the corresponding furnace door.

[0067] The moving unit 130 may move the robot 120 to the operation target area by, for example, moving the frame unit 131 in the horizontal direction and moving the support unit 132 in the vertical direction.

[0068] The robot 120 may move to the vicinity of the operation target area through the moving unit 130 and may perform a sealing operation with respect to the operation target area.

[0069] Reference Figure 2b The robot 120 may further include a laser generator 123 for generating a laser beam. The laser generator 123 may be provided at the end of the robot arm 121, for example.

[0070] The apparatus 100 for sealing a coke oven door according to the present disclosure may detect the edge of the oven door using an edge tracking technology using a laser generator 123 and a visual discovery technology.

[0071] Specifically, the control unit may detect the edge of the oven door located in the operation target area based on pre-stored shape information of the oven door and a shape recognized by the laser beam generated by the laser generator 123 .

[0072] The control unit may control the nozzle 111 to perform a sealing operation of discharging the sealing material by moving along the edge of the oven door located in the operation target area.

[0073] Refer again Figure 2b , the robot 120 may further include a first camera 124 and a second camera 125 .

[0074] The first camera 124 may be provided at, for example, an end of the robot arm 121. The first camera 124 may obtain an image including an area near the end of the robot arm 121.

[0075] The control unit may monitor the progress of the sealing operation with respect to the operation target area based on the image obtained by the first camera 124 .

[0076] The second camera 125 may be provided at, for example, the base 122. The second camera 125 may obtain an image of an area including the operation target area.

[0077] After the sealing operation for the operation target area is completed, the control unit may monitor whether gas leakage occurs in the operation target area based on an image obtained by the second camera 125 .

[0078] When the control unit determines that gas leakage occurs in the operation target area after the sealing operation for the operation target area is completed, the control unit may perform a resealing operation for the operation target area. The control unit may control the robot arm 121 to perform the resealing operation for the operation target area.

[0079] Figures 4a to 4d is a diagram illustrating the operation of the apparatus for sealing a coke oven door according to an embodiment of the present disclosure. Figures 4a to 4d An operation is illustrated in which the apparatus 100 for sealing a coke oven door moves from a standby position and sequentially performs sealing operations with respect to operation target areas.

[0080] Figure 4a 1 is a diagram illustrating an example in which the apparatus 100 for sealing a coke oven door is located at a standby position. In the standby position, the support unit 132 of the apparatus 100 for sealing a coke oven door can be moved downward.

[0081] Figure 4b and Figure 4c An example is illustrated in which the apparatus 100 for sealing a coke oven door is moved to an operation target area.

[0082] like Figure 4b As illustrated in FIG, the frame unit 131 of the apparatus 100 for sealing a coke oven door may be moved in a horizontal direction, so that the robot 120 may be moved in a wide area in the horizontal direction.

[0083] Afterwards, if Figure 4c As shown in FIG, the support unit 132 of the apparatus 100 for sealing a coke oven door can move in the vertical direction, so that the robot 120 can move in the vertical direction. The apparatus 100 for sealing a coke oven door can move the robot 120 to an operation target area by moving in the horizontal and vertical directions.

[0084] After the robot 120 moves to the operation target area, the apparatus 100 for sealing the coke oven door may perform a sealing operation with respect to the operation target area.

[0085] Specifically, the device 100 for sealing a coke oven door can control the robot arm 121 so that the nozzle 111 can move along the edge of the oven door located in the operation target area. The nozzle 111 can discharge the sealing material while moving along the edge of the oven door located in the operation target area.

[0086] After the apparatus 100 for sealing a coke oven door completes the sealing operation for the operation target area, the supporting unit 132 of the apparatus 100 for sealing a coke oven door may be moved downward in the vertical direction, as shown in FIG. Figure 4d As shown in the figure.

[0087] In a state where the support unit 132 moves downward, the apparatus 100 for sealing a coke oven door can be moved back to the upper position by moving the frame unit 131 horizontally. Figure 4a The standby position is shown in the figure.

[0088] Figure 5FIG. 1 is a flow chart illustrating a method for sealing a coke oven door according to an embodiment of the present disclosure. Figure 5 As illustrated in , the method 500 for sealing a coke oven door may include an operation of moving a robot ( S510 ), an operation of moving a nozzle by controlling an arm of the robot ( S520 ), and an operation of discharging a sealing material from the nozzle ( S530 ).

[0089] In the operation of moving the robot (S510), the robot may move in a horizontal direction and a vertical direction. Here, the horizontal direction is a direction in which a plurality of coke ovens are arranged, and the vertical direction may refer to a length direction of the plurality of coke ovens.

[0090] Specifically, the operation of moving the robot ( S510 ) may include an operation of moving the robot in a horizontal direction and an operation of moving the robot in a vertical direction.

[0091] In an embodiment, the operation of moving the robot ( S510 ) may sequentially perform an operation of moving the robot in a horizontal direction and an operation of moving the robot in a vertical direction.

[0092] The operation of moving the robot in the horizontal direction may include an operation of identifying pillars located on both sides of the furnace door and an operation of deriving the position of the robot in the horizontal direction based on the number of the pillars.

[0093] In the operation of moving the robot (S510), the robot may move to an operation target area by moving in horizontal and vertical directions. The operation target area may indicate an area where gas leakage occurs among a plurality of sealed areas.

[0094] In the operation of moving the nozzle (S520), the nozzle may discharge the sealing material. The sealing material may include a thermosetting material that is cured by high temperature heat.

[0095] The nozzle may be connected to at least a portion of the robot arm and may be moved by the robot arm. In the operation of moving the nozzle (S520), the robot arm may be controlled so that the nozzle may move along an edge of an oven door of one of the plurality of coke ovens.

[0096] The operation of moving the nozzle (S520) may include an operation of recognizing a shape using a laser generator and an operation of detecting an edge of the oven door.

[0097] The laser generator may be provided on the end of the robot arm. In the operation of detecting the edge of the oven door, the edge of the oven door located in the operation target area may be detected based on pre-stored shape information of the oven door and the shape recognized by the laser generator.

[0098] At least a portion of the edge of the oven door may be hermetically sealed by the operation of discharging the sealing material from the nozzle ( S530 ).

[0099] The method 500 for sealing a coke oven door may further include an operation of supplying a sealing material to a nozzle through a supply line supported by the robotic arm.

[0100] In addition, the method 500 for sealing the coke oven door may further include an operation of obtaining a first image through a first camera provided on an end of the robot arm and an operation of monitoring a progress of the sealing operation for the operation target area based on the first image.

[0101] The first image obtained by the first camera may be an image including an area near the end of the robot arm.

[0102] In addition, the method 500 for sealing the coke oven door may also include an operation of obtaining a second image through a second camera set at the base of the supporting robot arm and an operation of monitoring whether gas leakage occurs in the operation target area based on the second image after the sealing operation for the operation target area is completed.

[0103] The second image obtained by the second camera may be an image of an area including the operation target area.

[0104] The method 500 for sealing the coke oven door may further include an operation for performing a resealing operation for the operation target area when it is determined that a gas leakage occurs in the operation target area after the sealing operation for the operation target area is completed.

[0105] Figure 6 is a diagram illustrating an entire system including an apparatus for sealing a coke oven door according to an embodiment of the present disclosure.

[0106] Reference Figure 6 , the entire system 60 may include a sensing unit 610 and an apparatus 100 for sealing a coke oven door.

[0107] The sensing unit 610 may include one or more sensors. For example, the sensing unit 610 may include one or more cameras 611 for imaging the plurality of coke ovens 10 .

[0108] The sensing unit 610 may further include a monitoring device 612. The monitoring device 612 may sense whether gas leakage occurs in the plurality of coke ovens based on images obtained by the one or more cameras 611.

[0109] The sensing unit 610 may detect an operation target area where gas leakage occurs among a plurality of sealed areas.

[0110] The sensing unit 610 and the apparatus 100 for sealing a coke oven door may transmit and receive data to and from each other through wired and wireless communications.

[0111] For example, the sensing unit 610 may transmit information about the operation target area to the apparatus 100 for sealing a coke oven door.

[0112] The apparatus 100 for sealing a coke oven door may move the robot 120 to the operation target area based on the information about the operation target area received from the sensing unit 610 .

[0113] Specifically, the moving unit 130 may move the robot 120 to the operation target area by moving the frame unit 131 in the horizontal direction and moving the support unit 132 in the vertical direction.

[0114] After moving the robot 120 to the operation target area, the apparatus 100 for sealing the coke oven door may control the robot arm to move the nozzle along the edge of the oven door located in the operation target area.

[0115] The nozzle may discharge the sealing material while moving along the edge of the oven door located in the operation target area.

[0116] In addition, the apparatus 100 for sealing a coke oven door may transmit an image obtained by a first camera provided on the end of the robot arm or an image obtained by a second camera provided at the base to the sensing unit 610 .

[0117] In an embodiment of the present disclosure, the apparatus 100 for sealing a coke oven door can use a wide-area image including the exterior of the facility to identify whether toxic gas is leaking. The apparatus 100 for sealing a coke oven door can use one or more wide-area image sensors to obtain a wide-area image including the exterior of the facility. The one or more wide-area image sensors can sense, for example, the coke oven door.

[0118] In addition, the apparatus 100 for sealing the coke oven door may perform an operation of the gas film to discharge the sealing material based on the result of identifying whether the poisonous gas is leaked.

[0119] Specifically, the apparatus 100 for sealing a coke oven door can obtain narrow area sensing information about a gas leakage location in a facility based on light. The narrow area sensing information can be obtained using one or more laser sensors provided in the apparatus 100 for sealing a coke oven door.

[0120] One or more laser sensors may be provided in the robot 120 included in the apparatus 100 for sealing a coke oven door. For example, the one or more laser sensors may be installed at the tip of the robot arm 121.

[0121] The apparatus 100 for sealing a coke oven door can identify a crack region as a line based on the narrow area sensing information, and can perform a sealing operation using a sealing material based on the location where the crack region and toxic gas leakage are identified. The apparatus 100 for sealing a coke oven door can discharge the sealing material and melt the sealing material to seal the location where the gas leakage is sensed.

[0122] The apparatus 100 for sealing a coke oven door can seal a crack region by generating a movement path for moving a dispenser for discharging sealing material along the crack region, and by moving the dispenser along the generated movement path and supplying the sealing material to the dispenser. For example, the dispenser of the apparatus 100 for sealing a coke oven door can be implemented as part of the nozzle 111.

[0123] When the supply of sealing material from the dispenser is stopped, the apparatus 100 for sealing a coke oven door can sense whether there is any additional toxic gas leakage. The operation of sensing any additional toxic gas leakage can be performed using one or more laser sensors or other sensors provided by the apparatus 100. The other sensors can be image sensors or laser sensors.

[0124] The apparatus 100 for sealing a coke oven door may perform an operation of discharging a sealing material through a dispenser and sealing an opening until an opening from which a poisonous gas leaks is not identified.

[0125] The device 100 for sealing the coke oven door may further include an air generator for exposing an opening from which the toxic gas leaks. The device 100 for sealing the coke oven door may blow air toward an area where the toxic gas is detected using the air generator, and may detect the opening using one or more sensors.

[0126] The apparatus 100 for sealing a coke oven door can adjust the distance between one or more sensors and the toxic gas source to be closer when no crack area is identified. For example, the apparatus 100 for sealing a coke oven door can adjust the position of the robotic arm 121 so that the robotic arm 121 equipped with one or more sensors can approach the facility.

[0127] The coke oven door sealing apparatus 100 can determine whether a toxic gas leak has been identified by applying the obtained wide-area image to a pre-learned first machine learning model. Furthermore, the coke oven door sealing apparatus 100 can determine whether at least one of a crack region, position information, and shape information of the crack region has been detected by applying the obtained narrow-area sensing information to a pre-learned second machine learning model.

[0128] Furthermore, when describing the present disclosure, a “part” or “unit” may be implemented in various ways, for example, by a processor, program instructions executed by a processor, a software module, a microcode, a computer program product, a logic circuit, an application-specific integrated circuit, firmware, etc.

[0129] The description of the method disclosed in the embodiments of the present disclosure can be directly implemented by a hardware processor, or can be implemented and executed by a combination of hardware modules and software modules in the processor. The software module can be stored in a general storage medium such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium can be located in a memory, and the processor can read the information stored in the memory, and the above method can be completed by combining the information with hardware. In order to avoid overlapping descriptions, a detailed description may not be provided herein.

[0130] During implementation, each description of the above method can be completed by a hardware logic integrated circuit of a processor or an instruction in the form of software.

[0131] That is, it will be understood by those skilled in the art that each exemplary unit and algorithmic operation described in the embodiments disclosed in this application document can be implemented by combining electronic hardware or a combination of computer software and electronic hardware. Whether such functions are performed in hardware or software can be determined by the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be interpreted as exceeding the scope of this disclosure.

[0132] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the above-mentioned device embodiments are only examples. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not performed. On the other hand, the connections or direct connections or communication connections between each other shown or discussed can be indirect connections or communication connections through some interfaces, devices or units, and can be indirect connections or communication connections in electrical, mechanical or other forms.

[0133] The units described above as separate components may be physically separate, and the components indicated as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected based on actual needs to achieve the purpose of the method of this embodiment.

[0134] That is, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, each unit may exist independently, or two or more units may be integrated into one unit.

[0135] When a function is implemented in the form of a software functional unit and sold or used as an independent product, the function can be stored in a computer-readable storage medium. Based on this understanding, the technical solution or part of the technical solution of the present disclosure that is crucial to or contributes to the prior art can be implemented in the form of a software product, and the computer software product can be stored in a storage medium and can include a small amount of instructions to allow a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the operations of the method described in each embodiment of the present disclosure. The above-mentioned storage medium may include various media capable of storing program code, such as USB memory, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or CD-ROM.

[0136] The present disclosure may not be limited by the above-described embodiments and drawings. The scope of rights is intended to be limited by the appended claims, and it will be obvious to those skilled in the art that various replacements, modifications, and changes may be made without departing from the scope of the technical concept of the present disclosure described in the claims.

Claims

1. A device for sealing a coke oven door, comprising: a sealing material supply unit, the sealing material supply unit including a nozzle for discharging the sealing material; a robot connected to the sealing material supply unit and including a robot arm that moves the position of the nozzle and a base that supports the robot arm; a moving unit, the moving unit causing the robot to move in a horizontal direction and a vertical direction, wherein a plurality of coke ovens are arranged in the horizontal direction and the vertical direction is a length direction of the plurality of coke ovens; as well as a control unit, the control unit controlling the robot arm, The control unit controls the robot arm so that the nozzle moves along an edge of an oven door of one of the plurality of coke ovens.

2. The device according to claim 1, in, The mobile unit comprises: a frame unit, wherein the frame unit moves along the horizontal direction; a support unit that supports the base, is connected to the frame unit, and moves in the vertical direction along a length direction of the frame unit; and A sensing unit senses positions of the frame unit and the support unit for the plurality of coke ovens.

3. The device according to claim 2, in, The sensing unit recognizes pillars located at both sides of the oven door and derives a position of the frame unit in the horizontal direction based on the number of recognized pillars when the frame unit moves in the horizontal direction.

4. The device according to claim 2, in, The plurality of coke ovens are divided into a plurality of sealed areas, and The moving unit moves the robot to an operation target area where gas leakage occurs among the plurality of sealed areas by moving the frame unit in the horizontal direction and moving the support unit in the vertical direction.

5. The device according to claim 4, in, The robot further includes a laser generator, which is provided on an end of the robot arm and generates a laser beam, and The control unit detects an edge of the oven door located in the operation target area based on pre-stored shape information of the oven door and a shape recognized by the laser beam.

6. The device according to claim 5, in, The control unit controls the robot arm to perform a sealing operation in which the nozzle moves along an edge of the oven door located in the operation target area and discharges the sealing material.

7. The device according to claim 6, in, The robot further includes a first camera disposed on an end of the robot arm, and Wherein, the control unit monitors the progress of the sealing operation based on the image obtained by the first camera.

8. The device according to claim 6, in, The robot further includes a second camera disposed on the base, and After the sealing operation is completed, the control unit monitors whether gas leakage occurs in the operation target area based on the image obtained by the second camera, and performs a resealing operation on the operation target area when it is determined that gas leakage occurs in the operation target area.

9. The device according to claim 1, in, The sealing material supply unit further includes a supply line for supplying the sealing material to the nozzle, and Wherein, the robotic arm supports the supply line.

10. A method for sealing a coke oven door, the method comprising: Operations that move the robot horizontally and vertically; an operation of moving the nozzle by controlling a robot arm included in the robot; as well as the operation of causing the sealing material to be discharged from the nozzle, The operation of moving the nozzle includes controlling the robot arm so that the nozzle moves along an edge of an oven door of one of the plurality of coke ovens.

11. The method according to claim 10, in, The operations of moving the robot include: moving the robot along the horizontal direction, in which a plurality of coke ovens are arranged; and The robot is moved along the vertical direction, which is a lengthwise direction of the plurality of coke ovens.

12. The method according to claim 11, in, The operation of moving the robot along the horizontal direction includes: identifying pillars located on either side of the furnace door; and The position of the robot in the horizontal direction is derived based on the number of pillars.

13. The method according to claim 11, in, The plurality of coke ovens are divided into a plurality of sealed areas, and The operation of moving the robot includes moving the robot to an operation target area where gas leakage occurs in the plurality of sealed areas.

14. The method according to claim 13, in, The operation of moving the nozzle includes: recognizing a shape using a laser generator provided on an end of the robot arm; and An edge of the oven door located in the operation target area is detected based on pre-stored shape information of the oven door and a shape recognized by the laser generator.

15. The method according to claim 14, further comprising: obtaining a first image by a first camera disposed on an end of the robot arm; and The progress of the sealing operation on the operation target area is monitored based on the first image.

16. The method according to claim 15, further comprising: an operation of obtaining a second image by a second camera provided on a base supporting the robot arm; and An operation of monitoring whether gas leakage occurs in the operation target area based on the second image after the sealing operation for the operation target area is completed.

17. The method according to claim 16, further comprising: An operation of resealing the operation target area is performed when it is determined that gas leakage has occurred in the operation target area after the sealing operation for the operation target area is completed.

18. The method according to claim 10, further comprising: An operation of supplying the sealing material to the nozzle through a supply line supported by the robot arm.

19. A device for sealing a coke oven door, the device comprising: a sensing unit including one or more sensors and sensing whether a gas leak occurs with respect to a plurality of coke ovens; a sealing unit including a nozzle for discharging a sealing material and a robot arm for moving a position of the nozzle; a moving unit, the moving unit moving the sealing unit in a horizontal direction and a vertical direction, wherein the plurality of coke ovens are divided into a plurality of sealed areas, wherein the sensing unit detects an operation target area where gas leakage occurs in the plurality of sealed areas, wherein the moving unit moves the sealing unit to the operation target area, and The sealing unit controls the robot arm so that the nozzle moves along the edge of the furnace door located in the operation target area.

20. The device according to claim 19, in, The sealing unit further includes a laser generator that is provided on an end portion of the robot arm and generates a laser beam, and The sealing unit detects an edge of the oven door located in the operation target area based on pre-stored shape information of the oven door and a shape recognized by the laser beam.

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