Scanner arrangement, scanner manipulator, scanner system and use thereof

Abstract

Scanner arrangement (10) for measuring wear in a refractory lining of a metallurgical vessel, comprising: a distal end (14), a proximal end (12) and a longitudinal axis (16) extending from the proximal end (12) to the distal end (14); a mounting arm (20) having a proximal end (22) and a distal end (24) and located at the proximal end (12) of the scanner assembly (10); a rotating turret (32) having a proximal end (34) and a distal end (36), wherein the proximal end (34) of the rotating turret (32) is rotatably mounted on the distal end (24) of the mounting arm (20), wherein the rotating turret (32) can rotate relative to the mounting arm (20) about the longitudinal axis (16); and an emitter / sensor (40) mounted at a fixed position in the turret (32); wherein the emitter / sensor (40) includes an optical center; wherein the optical center of the emitter / sensor (40) lies on the longitudinal axis (16); wherein a field of view (42) of the emitter / sensor (40) is contained in a plane that also includes the longitudinal axis (16) of the scanner assembly; wherein the field of view (42) includes a distal boundary (44) extending from the distal end (36) of the turret (32) and a proximal boundary (46) disposed opposite the distal boundary (44); wherein the field of view (42) of the emitter / sensor (40) is described in the longitudinal direction by an obtuse angle that includes the extension of the longitudinal axis (16) from the distal end (12) of the scanner assembly (10) and includes a line (48) extending from the emitter / sensor (40) in a plane orthogonal to the longitudinal axis (16); and wherein the emitter / sensor (40) includes: an array consisting of a pulsed laser, means for detecting a laser emission event, a multi-faceted mirror, a detector for detecting light reflected from a far-field surface, and a motor or drive for rotating the array over a scene of interest.

Description

BACKGROUND OF THE INVENTION(1) Field of the invention

[0001] Embodiments of the subject matter disclosed herein relate generally to devices and systems, and more particularly to apparatus, mechanisms, and techniques for characterizing a refractory lining of metallurgical vessels. (2) Description of the state of the art

[0002] Receptacles such as a ladle contain a refractory lining that serves as protection against high temperatures when the receptacle contains molten metal. However, the refractory lining is subject to wear or deposits from the molten metal. Control of the refractory lining plays an important role in achieving continuous and safe operation of the receptacle. Performing a visual inspection of the receptacle while empty is common practice to monitor the progression of wear and deterioration of a refractory lining. For time and cost reasons, the measurement method should not require cooling the vessel; rather, it should be possible to take measurements in a vessel that is at or near operating temperature. For this reason, measurement methods involving mechanical surface contact cannot be used.

[0003] In the metals-producing industry, measuring the internal profile of vessels used in the production of molten metal using high-speed scanning laser rangefinders is commonly used. Iron and steel casting ladles, basic oxygen furnaces (BOFs), argon-oxygen decarburization vessels (AODs), electric arc furnaces (EAFs), aluminum and copper melting vessels, casting furnaces, torpedo cars, and bottom-blowing converters (Q-BOPs) are all analyzed using laser scanners to determine the refractory internal profile and calculate the remaining lining thickness.

[0004] It is known in the art to perform measurements in hot refractory vessels using a laser scanner with a laser beam emitter, a mirror for deflecting the laser beam, and a laser beam receiver for receiving a laser beam reflected from the surface of the refractory lining. The transit time between emission and reception of the laser beam by the laser scanner can be used to calculate a distance between the refractory lining and the laser scanner in the direction of the emitted laser beam. Changing the direction of the laser beam generates a set of transit times, from which a set of distances and a set of points can be derived. A coordinate transformation is applied to translate the data set from the scanner's coordinate system to that of the vessel, and the measurements can be used to determine the lining thickness.

[0005] Rotating the mirror around a first axis of rotation and the laser scanner itself around a second axis of rotation allows the refractory lining to be scanned in two mutually perpendicular directions, thus obtaining multiple points representing the scanned surface. By comparing successive images of the surface, it is possible to determine which parts of the refractory lining have corroded or eroded, or have grown due to deposits, as the laser scanner is quite precise. Typical systems offer lining thickness measurement accuracies of + / - 5-6 mm.

[0006] Due to the internal shape of the containment vessel, internal geometric constraints of the containment vessel, and the fact that the laser scanner cannot be too close to a containment vessel that is at or near operating temperature, the laser scanner may not be able to obtain a complete view of the surface of interest.

[0007] To solve this problem, the laser scanner can be moved sequentially to different locations, or the receiving vessel can be repositioned relative to the scanner so that the scanner can obtain an image at each location. These images are then combined into a global "image." Combining the successive images into the global image requires extremely precise knowledge of the position of the laser scanner relative to the receiving vessel at each measurement location. This increases the complexity of the process, reduces the accuracy of the generated global image, exposes the device to additional heat, and lengthens the time required to complete the measurement.

[0008] W02008109510 includes a description of an apparatus for measuring wear of a refractory lining of a receiving vessel intended to contain molten metal. However, the apparatus requires two scanner assemblies to perform its intended function, introducing the complications of merging the data sets generated by each scanner assemblies. Additionally, the combined field of view of the two scanner assemblies is limited by the box in which the scanner assemblies are housed. In terms of a spherical coordinate system, the values ​​of phi (the angles about the rotational axes of each of the laser scanners) are constrained to approximately 180 degrees. Additionally, the values ​​of theta (the angles within a plane limited by the boundaries of the field of view of the mirror within the scanner assembly) do not include the z-axis.

[0009] US8072613 includes a description of a system and method for measuring the wear of a lining of a vessel, such as a torpedo ladle. The interior lining of the vessel is scanned by a scanner head from a first position within the vessel at an angle relative to the vertical axis of the vessel. The scanner head is positioned at a second position within the vessel at an angle relative to the vertical axis of the vessel, and the scanner head scans from the second position those portions of the interior lining of the vessel that were not scanned during the scan from the first position.By comparing the scan measurements of the liner from the scan from the first position and the scan from the second position after the container has been loaded and unloaded with an initial reference measurement of the liner, the wear of the liner can be measured. The system and method thus require two scans for a complete measurement and require moving the scanner assembly to a new position to perform the second scan. In terms of a polar coordinate system, the allowable values ​​of theta (the angles within a plane defined by the boundaries of the field of view of the mirror within the scanner assembly) extend to the same magnitude on either side of a plane orthogonal to the z-axis. The projections of the allowable values ​​of theta onto the inside of a sphere with the mirror as their center form an equatorial band on the sphere. The allowable values ​​of theta do not include the z-axis.

[0010] Therefore, based at least on the above-mentioned challenges of conventional techniques, it would be desirable to have devices, systems, and methods that reduce the number of scans and thus the measurement times necessary to obtain measurements of refractory lining thicknesses in metallic vessels designed to support materials above the melting point of the metal, which will result in a shorter exposure of the scanner to the internal conditions of the vessel to be measured, and which will reshape the field of view to increase the usefulness of the scanning process and reduce its complexity. SUMMARY OF THE INVENTION

[0011] The problem is solved by combining the features of the independent claims. Preferred developments can be found in the dependent claims.

[0012] One or more of the needs summarized above, or others known in the art, are addressed by devices and uses for characterizing the refractory lining in a vessel or container. Disclosed devices include a scanner assembly configured to be mounted on a scanner manipulator arm, placed near an opening in a vessel, or inserted into an opening in a vessel to a predetermined position in the concave interior of the vessel, and to measure distances from a scanner emitter / sensor within the scanner assembly to multiple points on the surface of the refractory lining to characterize the interior of the vessel in a single scan.Disclosed devices also include a scanner manipulator having a manipulator arm attached to a scanner assembly, the manipulator arm holding the scanner assembly in a measurement position and allowing a scanner emitter / sensor within the scanner assembly to assume orientations from which a scanner emitter / sensor can measure distances to multiple points on the surface of the refractory lining to characterize the interior of the vessel in a single scan.Disclosed devices also include a robotic device attached to the scanner manipulator, the robotic device having a control system, the control system comprising hardware and software to control the position of the scanner assembly, the orientation of the emitter sensor, and the acquiring, storing, processing, and presenting measurements generated by the emitter sensor; the control system being communicatively coupled to the scanner assembly; the control system characterizing the refractory lining by comparing the plurality of distances measured by the laser scanning system to a reference surface of the refractory lining.

[0013] Uses for characterizing a refractory lining in a vessel are also within the scope of the subject matter disclosed herein.Such uses include the steps of placing a robotic device in an observation position; controlling the robot using a control system comprising hardware and software, the control system being communicatively coupled to a scanner assembly; extending the scanner assembly, mounted on a manipulator arm attached to the robotic device, into proximity of a vessel or into the interior of a vessel; positioning the scanner assembly; orienting the scanner emitter / sensor in a plurality of successive orientations; measuring the distance in each orientation from the scanner emitter / sensor to the interior of the vessel; and deriving a characterization of the refractory lining by comparing the plurality of distances measured by the laser scanning system to a reference surface of the refractory lining. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a sectional view of a vessel configured to hold materials at elevated temperatures; Fig. 2 is a schematic view of a scanner manipulator of the invention; Fig. 3 is a side view of a scanner assembly according to the invention; Fig. 4 is a perspective view of a scanner assembly according to the invention; Fig. 5 is a sectional view of a torpedo ladle incorporating a scanner manipulator according to the invention; Fig. 6 is a schematic representation of a scanner system according to the invention; Fig. Figure 7 is a schematic representation of a spherical coordinate system; Fig. Figure 8 is a schematic representation of the geometry of a scanner array placement; Fig. 9 is a schematic representation of the mechanical portion of a scanner system according to the invention; Fig. 10 is a schematic representation of the mechanical portion of a scanner system according to the invention; Fig. 11 is a perspective view of the mechanical portion of a scanner system according to the invention; and Fig. 12 is a schematic representation of the mechanical portion of a scanner system according to the invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] The following description of the exemplary embodiments refers to the accompanying drawings. In different drawings, the same reference numerals identify the same or similar elements. The following detailed description does not limit the invention. Rather, the scope of the invention is defined by the appended claims. For convenience, the following embodiments are discussed in terms of terminology and structure of devices, systems, or uses for automatically scanning a refractory lining in metallurgical vessels.However, the embodiments discussed below are not limited to these applications, but may be applied to other devices, systems, or uses, including, but not limited to, the characterization of lining materials in vessels designed to support substances at temperatures above the melting point of the material from which the vessel is constructed.As used throughout this document, the term "characterize," such as in the phrase "characterize the refractory lining," means analyzing and / or measuring the inner surface of the refractory lining using a standalone laser scanner to determine the profile of the refractory inner lining and calculate a remaining lining thickness to, for example, evaluate the maximum allowable life during which a low probability of breakout persists or to determine when repairs are necessary. Lining characterization can also be used to determine the position of auxiliary devices used in the metallurgical industry during processing, such as the correct setpoint height above the steel bath for an oxygen lance height.

[0015] A reference in the description to "a single embodiment" or "an embodiment" means that a particular feature, structure, or property described in connection with an embodiment is included in at least one embodiment of the disclosed subject matter. Thus, the appearance of the phrases "in a single embodiment" or "in an embodiment" in various places in the description does not necessarily refer to the same embodiment. Further, the particular features, structures, or properties may be combined in any suitable manner in one or more embodiments.

[0016] A reference in the description to "in data communication" means that two elements are connected so that data in electronic or radiation form can be passed from at least one of the elements to the other of the elements. The term "in command communication" means that a command in electronic or radiation form can be passed from one of the elements to the other of the elements. The term "in control communication" means that one of the elements is capable of controlling the movement or activity of the other of the elements by instructions transmitted in electronic or radiation form.The term 'movably connected' means that two elements are connected in such a way that one element can move with respect to the other element, for example, along a common axis, around an axis, or in a hinged manner, while remaining in contact with the other element. The term 'movement in a hinged manner' and the word 'hinged' refer to movement in which one of a pair of connected elements is restricted to movement about a connecting axis with respect to the other element. The term 'fixedly connected' means that two elements are connected in such a way that they remain in contact and are unable to rotate relative to each other, move relative to each other in a hinged manner, or move translationally relative to each other.The phrase "exceeds a hemisphere" refers to a shape that represents a section of a sphere, or a section of a sphere's surface, described by 360 degrees of longitude and more than 90 degrees of latitude with respect to a pole, and that includes the pole. An angle "includes a line" if the line passes through the vertex of the angle, is in the plane of the angle, and lies between the sides of the angle.

[0017] Fig. 1 illustrates a vessel 2 designed to hold materials at elevated temperatures. As used throughout herein, the term "vessel" or "vessel" is used interchangeably and generically, including a reference to all types of metallic or non-metallic vessels of varying sizes and shapes designed to hold materials or gases (in the case of a gasifier) ​​at elevated temperatures, which may be below, at, or above the melting point of the vessel material. Examples of such vessels include those used in applications such as, but not limited to, gasification processes in chemical or power production, electric-arc furnaces (EAFs), basic oxygen furnaces (BOFs), ladles, blast furnaces, degassers, and argon-oxygen decarburization (AOD) furnaces in steelmaking.Additionally, as used throughout herein, the term "elevated temperature materials" is used generally to refer to materials designed to be disposed within these vessels that have sufficiently high temperatures to cause damage upon exposure to those temperatures if the integrity of the refractory materials covering at least a portion of the surface of the vessel is somewhat compromised, thereby exposing the vessel to the materials at the elevated temperatures. As shown, the vessel 2 has a vessel longitudinal axis 3, a shell 4, an inner layer of refractory material 6 within the shell 4, and an opening 8. The vessel longitudinal axis 3 passes through the opening 8. The dashed line 7 in FIG. Fig. Figure 1 illustrates the original layer of refractory material 6 before the vessel was put into use.

[0018] Fig. Figure 2 illustrates a scanner assembly 10 for measuring wear in a refractory lining. The scanner assembly includes a scanner assembly proximal end 12, a scanner assembly distal end 14, and a scanner assembly longitudinal axis 16 extending from the proximal end 12 to the distal end 14. A mounting arm 20 having a mounting arm proximal end 22 and a mounting arm distal end 24 is disposed at the proximal end 12 of the scanner assembly 10. A heat shield 26 having a heat shield proximal end 28 and a heat shield distal end 30 is disposed around at least a portion of the circumference of the mounting arm distal end 24. A rotating turret 32 ​​having a proximal end 34 and a distal end 36 is disposed at the distal end 14 of the scanner assembly 10. The distal end of the mounting arm 20 is rotatably connected to the proximal end of the rotating turret 34.The rotating turret 34 can therefore rotate about the longitudinal axis 16 of the scanner assembly. The mounting arm 20 and the rotating turret 32 ​​can also be described as being in communication, with the proximal end 34 of the rotating turret 32 ​​being rotatably mounted to the distal end 24 of the mounting arm 20 because the rotating turret 32 ​​can rotate relative to the mounting arm 20 about the longitudinal axis. The connection / contact between the mounting arm 20 and the rotating turret 32 ​​can be included in a plane orthogonal to the longitudinal axis. An emitter / sensor 40 is mounted in a fixed position in the rotating turret 34. The optical center of the emitter / sensor 40 lies on the longitudinal axis 16 of the scanner assembly. The field of view of the emitter / sensor 40 is linear in the longitudinal direction. The field of view of the emitter / sensor 40 can also be described as being contained in a plane that also includes the longitudinal axis 16 of the scanner assembly.In the illustrated embodiment, the plane of the field of view of the emitter / sensor 40 includes the portion of the scanner assembly's longitudinal axis 16 that extends distally from the emitter / sensor 40. The emitter / sensor field of view 42 includes a distal emitter / sensor field of view boundary 44 extending from the distal end of the turret and includes a proximal emitter / sensor field of view boundary 46 disposed opposite the distal boundary. The field of view of the emitter / sensor 42 is described in the longitudinal direction by an obtuse angle that includes the extension of the scanner assembly's longitudinal axis 16 from the distal end of the scanner assembly and includes a line 48 in the plane of field of view 42, which plane extends from the emitter / sensor 40 in a plane orthogonal to the longitudinal axis 16.

[0019] In selected embodiments, the acute angle 50 between the distal field of view boundary 44 of the emitter / sensor and the plane orthogonal to the longitudinal axis 16 of the scanner assembly and passing through the emitter / sensor 40 can have a value of 1 degree up to and including 10 degrees. In selected embodiments, the acute angle 52 between the proximal boundary 46 of the field of view 42 of the emitter / sensor and the longitudinal axis 16 of the scanner assembly can have a value of 70 degrees up to and including 88 degrees.

[0020] The emitter / sensor 40 typically includes a laser, optics, a photodetector, and receiver electronics (not shown). Such emitter / sensor devices are designed to fire rapid pulses of laser light at a target surface, some at up to 500,000 pulses per second. The sensing capability of the emitter / sensor 40 measures the time required for each pulse to travel from the target surface through a specific field of view to the scanner. Light travels at a constant and known speed, so information provided by the emitter / sensor 40 can be used to calculate the distance between the emitter / sensor 40 and the target with high accuracy.By repeating this process in rapid succession and incorporating the orientation of the emitter / sensor 40 and the position of the scanner assembly 10 relative to the vessel being measured, the instrument creates a complex thickness 'map' of the refractory surface it is measuring. By calculating and / or comparing changes between measured refractory thickness maps of the refractory lining's interior surfaces with a reference measurement of the same surfaces, changes are detected and evaluated for potential conditions that could lead to failure of the refractory lining / shell combination. Individual measurements can be completed in 20 to 30 seconds.

[0021] The emitter / sensor 40 may include a laser scanner with a small (approximately 4 mm) beam diameter, extremely accurate (approximately ± 6 mm peak-to-peak error), high scanning rates (up to 500,000 Hz), a rugged design suitable for rolling mills and the heat loads encountered during scanning of high-temperature surfaces, an eye-safe laser wavelength (eliminating and / or substantially reducing workplace safety concerns), a ±55° vertical scanning angle, and a 0-360° horizontal scanning angle. Such laser scanners enable standard resolution scans of a vessel interior in approximately 20 to 30 seconds, resulting in less vessel downtime and increased production availability.In high resolution mode, the scanner can provide detailed images of the vessel that can be used to characterize the refractory lining, define the area around a taphole, or define the condition of a purge plug.

[0022] The field of view of the emitter / sensor in a vertical plane is shown as angle 42. The field of view 42 of the emitter sensor in a vertical plane includes, at all rotational positions of turret 32, an optical centerline of the emitter sensor and a line 48 extending outward from the emitter / sensor 40 in a horizontal plane that is orthogonal to the optical centerline of the emitter sensor.

[0023] Fig. 3 is a side view of the scanner assembly 10 arranged with the proximal end 14 and the mounting arm 20 oriented to the left, further showing the rotating turret 32, which is rotatably mounted to the mounting arm 20, at the right. The distal end of the scanner assembly 12 is oriented to the right. The longitudinal axis 16 of the scanner assembly is horizontal in this view. The emitter-sensor field of view 42 is shown to include the longitudinal axis 16 of the scanner assembly and the line 48 extending outward from the emitter / sensor 40 in a plane orthogonal to the longitudinal axis 16 of the scanner assembly. The emitter / sensor 40 is shielded by an emitter / sensor window 62. A heat shield 26 is arranged around at least a portion of the circumference of the mounting arm distal end 24.

[0024] Fig. Figure 4 is a perspective view of the scanner assembly 10. The rotating turret 32 ​​is rotatably mounted on the mounting arm 20. The stationary heat shield 26 is arranged around at least a portion of the circumference of the mounting arm 20. The mounting arm 20 is configured to be fixedly attached to a manipulator arm.

[0025] The scanner assembly 10 may include an integrated cooling system and extensive radiation shielding to enable the scanner assembly 10 to be positioned as close as possible (e.g., within a range of about 2 to about 3 m) to high-temperature surfaces (1700°C), thereby enabling thickness measurements of refractory materials in high-temperature environments that have limited optical access, such as a gasifier.

[0026] Fig. Figure 5 shows a vertical section of a scanner manipulator 80 in a vessel 2, which in this illustration is a torpedo ladle. The scanner manipulator 80 includes a scanner assembly 10 that includes a turret 32 ​​and emitter / sensor 40. The scanner manipulator further includes an extended form or scanner manipulator arm 82 having a distal end and a proximal end and a manipulator arm longitudinal axis 84, which may be parallel or collinear with the longitudinal axis of the scanner assembly 10 and extends from the distal end to the proximal end of the manipulator arm. In the orientation shown, the proximal ends of the scanner assembly 10, the scanner manipulator 80, and the scanner manipulator arm 82 are the upper ends; the distal ends are the lower ends.The distal end of the manipulator arm 82 is fixedly attached to the proximal end of the scanner assembly 10; and the manipulator arm 82 extends longitudinally from the scanner assembly 10. The manipulator arm 82 and the scanner assembly 10 may be attached end-to-end; one of the manipulator arm 82 and the scanner assembly 10 may include a receiving portion for receiving an inserting portion of the other of the manipulator arm 82 and the scanner assembly 10; or the manipulator arm 82 and the scanner assembly 10 may be connected in an overlapping manner.

[0027] The scanner manipulator 80 is positioned such that when the turret 32 ​​rotates about the longitudinal axis 16 of the scanner assembly, the emitter / sensor is able to view the entire interior of vessel 2.

[0028] The field of view of the emitter / sensor in a longitudinal plane is shown as angle 42.Angle 42 is the sum of (a) a distal field of view obtuse angle 86 in a vertical plane bounded by (i) line 48 extending outwardly from emitter / sensor 40 in a plane orthogonal to the longitudinal axis of the scanner assembly, and (ii) a line extending outwardly from emitter / sensor 40 through the distal end of scanner assembly 10 (corresponding here to distal field of view boundary 44); and (b) an acute field of view forming angle 88 which is coplanar with the distal field of view forming angle 86, wherein angle 88 is bounded by (i) line 48 extending outwardly from the emitter / sensor 40 in a plane orthogonal to the longitudinal axis of the scanner assembly, and (ii) a line extending outwardly from the emitter / sensor 40 on the side opposite angle 86 from line 48 (corresponding here to the proximal field of view boundary 46).The field of view 42 of the emitter sensor is shown to include the longitudinal axis 16 of the scanner assembly and line 48 extending outward from the emitter / sensor 40 in a plane orthogonal to the longitudinal axis of the scanner assembly, and the field of view 42 of the emitter sensor in a longitudinal plane includes, in all rotational positions of turret 32, the portion of the longitudinal axis 16 of the scanner assembly extending from the emitter / sensor 40 in the distal direction and the portion of a line 48 extending outward from the emitter / sensor 40 in a horizontal plane orthogonal to the longitudinal axis 16 of the scanner assembly.

[0029] Fig. 6 shows a scanning system 100 for measuring the refractory inner lining of a vessel 2. The system includes a scanner assembly 10 having a rotating turret 32 ​​housing an emitter / sensor 40. The scanner assembly 10 is attached to a manipulator arm 82 to form a scanner manipulator 80. The proximal end of the manipulator arm 82 is attached to a support base 110 via a support arm 112, which support arm 112 is configured to move the manipulator arm 82 to predetermined positions and orientations. The proximal end of the support arm 112 may be movably connected to the support base 110. The support platform arm 112 may be translated, rotated, and / or hinged relative to the support base 110. The support arm 112 may be attached to the support base 110 via a support base platform 114, which support base platform 114 is movable or rotatable with respect to the support base 110.Support arm actuators 116 are disposed on articulated portions of support arm 112 to control the relative positions of connected parts or to control the alignment of support arm 112 with manipulator arm 82. The proximal end of scanner manipulator 80 may be movably or hingedly connected to the distal end of support arm 12. Scanner manipulator 80 may be translated, rotated, or hinged relative to support arm 112.

[0030] The combination of support base 110, support base platform 114, support arm 112, and manipulator arm 82, or a similar combination of elements, that moves the scanner assembly 10 has the simple requirement of moving from a rest position to a measurement position and back to the rest position. The geometry and dimensions of the manipulator should be selected so that the scanner assembly 10 can be placed in the measurement position for the specific vessel being examined.

[0031] Other configurations of the scanning system may utilize various combinations of supports, support arms, joints, and rotary devices to move the scanner assembly 10 into a measurement position. Support arm 112 and manipulator arm 82 may be combined in an arrangement in which the support arm 112 and the manipulator arm 82 are arranged at right angles, and the support arm 112 includes a pivot pin that is in contact with a support.

[0032] Sensors 130 may be disposed on support base 110, manipulator arm 82, scanner assembly 10, and / or vessel 2 to provide data for determining the vessel's position relative to an independent reference frame, the same reference frame to which the scanning system is referenced, thereby accounting for up to six degrees of freedom. Sensors 130 disposed on vessel 2 may be single-point laser rangefinders or inclinometers.

[0033] An actuator 134, which may be located within the scanner assembly 10, controls the rotational movement of the turret 32 ​​relative to the mounting arm of the scanner assembly 10. An actuator 134 controls the angular position of a mirror that reflects light generated or detected by the emitter / sensor 40; the angle being included in a plane containing the longitudinal axis of the scanner assembly. An actuator 134 may include a microprocessor and may have additional capabilities utilized in the measurement process, including controlling the slow scan motor movement of the turret 32 ​​about the longitudinal axis 16 of the scanner assembly (azimuth), controlling the fast scan motor movement (azimuth), and controlling the fast scan motor movement (azimuth).fast scan motor movement), which adjusts the angle described between the emission / detection direction of emitter / sensor 40 and the longitudinal axis 16 of the scanner assembly (elevation), laser firing, range data calculation and data buffering, and finally transmission of range data to a control device 140.

[0034] The control device 140 is in data communication with sensors 130 and emitter / sensor 40 located on the combination of support base 110, manipulator arm 82, and scanner assembly 10. Data communication can occur through physical connection or wireless transmission. In some embodiments, the control device 140 is connected to and in data communication with one or more sensors 130 mounted on the vessel 2.

[0035] The control device 140 accepts data input from sensors 130 and from the emitter / sensor 40 in the combination of support base 110, manipulator arm 82, and scanner assembly 10. In some embodiments, the control device 140 accepts data input from one or more sensors 130 mounted on vessel 2. Data is received through one or more data input ports 142.

[0036] The controller 140 transmits commands to one or more actuators 134 located within the scanner assembly 10 to move components within the scanner assembly 10 relative to one another, to support arm actuators 116 to move components of support arm 112 relative to one another, and to support base platform actuator 118 to move the support base platform 114 relative to the rest of the support base 110. Actuator commands are transmitted from the controller 140 to the actuators through one or more control output ports 144. The controller 140 is configured to enable the six degrees of freedom to be addressed by transmitting commands to actuators 116, 118, and 134 to position the scanner assembly 10 in a predetermined location and orientation with an accuracy consistent with the overall measurement uncertainty.Overall accuracy can be determined by either commanding the actuators to move toward a mechanical stop, where the stop limits further movement, or to move to a position determined by measuring the arm position using a combination of linear or angle encoders, as appropriate. Actuators 116, 118, and 134 may include servo motors and / or hydraulic actuators.

[0037] The control device 140 includes a human / system interface 152 for inputting and displaying data, which may include devices such as a keyboard, a display screen, a touch screen, indicators, and control devices and surfaces.

[0038] The control device 140 includes a data storage device 154, such as a RAM or a hard disk, which stores data generated by sensors 130, emitter / sensor 40, which stores data to be used in performing calculations, which stores command and control programs for the movement of elements of the device such as actuators 116, 118 and 134, and which stores calculation programs for processing acquired data.

[0039] The control device 140 includes a data buffer 156 that temporarily stores data obtained through a data import port 142 until it can be received by the data storage device 154.

[0040] The control device 140 includes a processor 170 that converts programmed instructions into commands and processes acquired data. The processor 170 converts position information related to the location of vessel 2 and the location of emitter / sensor 40 into a general reference frame.

[0041] How cumulative in Fig. 1-6, controller 140 issues a command to take a measurement, and an actuator 134 or microprocessor in scanner assembly 10 controls the measurement process, including motor movement for the slow scan of turret 32 ​​about longitudinal axis 16 of the scanner assembly (azimuth), motor movement for the fast scan, which adjusts the angle described between the emitting / detecting direction of emitter / sensor 40 and the longitudinal axis 16 of the scanner assembly (elevation), laser firing, range data calculation and data buffering, and finally transmitting range data to controller 140. In one example method of operation, the scanner assembly may be oriented at a particular azimuth and measurements are taken over a range of elevation values. The process is repeated over a range of azimuth values.

[0042] The emitter / sensor 40 is a remote sensing technology that measures distance by illuminating a target with a laser and measuring the time of flight for photons emitted by the laser source to travel the round-trip distance between the source and the reflective far-field surface. The typical 3D emitter / sensor 40 includes a laser, a scanner, optics, a photodetector, and receiver electronics. Those of ordinary skill in the applicable arts, after considering the subject matter disclosed herein, will appreciate that various different types of lasers may be used in the emitter / sensor 40, including lasers with different wavelengths as well as different operating modes (e.g., pulsed or continuous wave).The accuracy and resolution of the characterization and measurement of refractory wear in vessel 2 depend on how the laser in the emitter / sensor 40 is focused by the optics, which also define the field of view of the emitter / sensor 40. Better resolution can be achieved with shorter pulses, provided the receiver detector and electronics have sufficient bandwidth to handle the reduced pulse width. The speed at which images can be developed is influenced by the speed at which they can be scanned into the system. A number of scanning methods are available to sweep the beam through the required elevation angles. Precise mirror positioning influences measurement accuracy.

[0043] Additionally, the controller 140 of the laser scanning system 100 may include a processor 170 for performing wear characterization and surface temperature measurement. The processor 170 may be incorporated into or connected to the laser scanning system 100. A typical laser rangefinder emitter / sensor 40 includes an assembly consisting of a pulsed laser, a method / means for detecting the laser emission event, a multi-faceted mirror, a high-speed detector for detecting the light reflected from the far-field surface, and a motor or drive for slowly rotating the aforementioned assembly across the scene of interest. In practice, the laser and detectors work together to measure distance, and the mirror / motor steers the laser to create a raster image across the scene.High-resolution encoders are commonly used to determine the angular position of a fast-scan (elevation) rotation (and also the slow-scan axis, with the same resolution).

[0044] In one embodiment, the laser scanning system 100 includes an emitter / sensor 40 with a small (about 3.6 mm) beam diameter, high-accuracy scanning (6 mm peak-to-peak range error), high scanning rates (up to about 500,000 Hz), a robust design suitable for the mill environment and the heat loads encountered during scanning of high-temperature surfaces, an eye-safe laser wavelength (eliminating and / or substantially reducing workplace safety concerns), and the ability to be installed in a scanner array to produce a +95° to -15° vertical scanning angle range and 0° to 360° horizontal scanning angle range. Such a laser scanner allows standard-resolution scans of a vessel interior in about 6 to 10 seconds, resulting in shorter vessel shutdown times and increased production availability.In high-resolution mode, the scanner can provide detailed images of the vessel that can be used to detect cracks, define the area around a taphole, or define the condition of a gas purging plug. Sensors on the instrument measure the time required for each laser pulse to travel to the far-field surface, and reflect off the target surface before returning to the scanner. Light travels at a constant and known speed, so the emitter / sensor 40 can provide data that allows the distance between the emitter / sensor 40 and the target to be calculated with high accuracy. By repeating this process in rapid succession, the instrument creates a 'range map' of the surface it is measuring.By calculating and / or comparing changes between measured area maps of the refractory material 6 with reference measurements of the same surfaces, changes in thickness or surface topology of the refractory material are detected that could lead to failure of the container 2.

[0045] Fig. Figure 7 is a schematic representation of a spherical coordinate system 200. Angle 202 is theta (θ), the polar angle measured from the fixed zenith direction Z. Angle 204 is phi (φ), the azimuthal angle of the orthogonal projection of the polar angle onto a reference plane passing through the origin and orthogonal to the zenith direction, measured from the fixed reference direction Y. Longitude 206 is r, the radial distance of a point from the fixed origin of the coordinate system.

[0046] The field of view of the scanner assembly 10 can be described in terms of a spherical coordinate system 200. When the scanner assembly 10 is oriented such that the distal end 12 of the scanner assembly corresponds to the positive direction of the Z-axis and the proximal end 145 of the scanner assembly corresponds to the negative direction of the Z-axis, and the longitudinal axis 16 of the scanner assembly is arranged to correspond to the Z-axis, the field of view of the scanner assembly 10 contains all values ​​of Phi from 0 degrees to 360 degrees (i.e., the scanner is free to rotate about the Z-axis) and all values ​​of Theta from 0 degrees to 90 degrees, thereby containing the positive extent of the Z-axis, and thereby containing the XY plane upon rotation of the turret about the Z-axis. Additional values ​​of theta that may be included in the field of view are -10°, -9°, -8°, -7°, -6°, -5°, -4°, -3°, -2°, -1°, 91°, 92°, 93°, 94°, 95°, 96°, 97°, 98°, 99°, 100°, 101°, 102°, 103°, 104° and 105°.In certain embodiments, when the emitter / sensor 40 is rotated about the X-axis, the distal field of view boundary 44 of the emitter / sensor and the proximal field of view boundary 46 of the emitter / sensor remain constant.

[0047] The scanner assembly 10 is designed, with the distal end of the scanner assembly positioned to correspond to the positive direction of the Z-axis of a polar coordinate system, and with the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, to have a field of view that includes, at all values ​​of Phi, at least all values ​​of Theta in the polar coordinate system from 0 degrees to 91 degrees, inclusive, upon rotation of the turret through all values ​​of Phi in the polar coordinate system from 0 degrees to 360 degrees, inclusive.

[0048] In other words, with the distal end of the scanner assembly positioned to correspond to the positive direction of the Z-axis of a polar coordinate system, and with the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, the scanner assembly 10, upon rotation of the turret through all values ​​of phi in the polar coordinate system from 0 degrees up to and including 360 degrees, has a field of view that is symmetrical with respect to the Z-axis and exceeds a hemisphere. The field of view exceeds a hemisphere in that it encompasses a hemispherical section and also extends from an intersection with the Z-axis to a theta value greater than 90 degrees.

[0049] The scanner assembly and scanner manipulator as disclosed herein are designed to minimize the depth to which they must be inserted into a vessel having an interior that is completely concave in both longitudinal and lateral sections. If all theta angles, measured from the X-axis in a spherical coordinate system having the vessel's mouth as its YZ plane, for the vessel are in the range of 90 degrees to 270 degrees, the scanner assembly can be placed anywhere outside the vessel on the vessel's longitudinal axis. If the vessel's interior has theta angles measured in this way that are less than 90 degrees or greater than 270 degrees, the scanner assembly must be placed closer to the vessel's mouth if the theta values ​​decrease from 90 degrees or increase from 270 degrees.

[0050] When the theta angle values ​​for a vessel approach 0 degrees or 360 degrees, the scanner assembly and scanner manipulator must be inserted into the mouth of the vessel to scan the entire interior. Fig. Figure 8 shows a scanner assembly 10 used to scan the interior of a vessel 2 having an inner layer of refractory material 6. The portion of the inner layer of refractory material 6 proximate the vessel opening 3 is orthogonal to the longitudinal axis of the vessel and to the longitudinal axis 16 of the scanner assembly. The scanner turret 32 ​​includes an emitter / sensor 40 with a distal emitter / sensor field of view boundary 44 and a proximal emitter / sensor field of view boundary 46. The angle 86 is the distal component of the field of view angle in a plane including the longitudinal axis 16 of the scanner assembly. The angle 88 is the proximal component of the field of view angle in a plane including the longitudinal axis 16 of the scanner assembly. The transition from angles 86 to 88 is a line contained in a plane orthogonal to the longitudinal axis 16 of the scanner assembly.

[0051] The required extent of insertion 302 of emitter / sensor 40 into vessel 2 can be determined from angle 88 and distance 304 of emitter / sensor 40 from inner layer 6 in a plane orthogonal to the longitudinal axis 16 of the scanner assembly. In the following formula, angle 88 is represented as alpha, distance 304 is represented as x, and the required extent of insertion 302 is represented as z: z=x(tanα)

[0052] These values ​​are obtained for the specific case where, in a vessel with an interior that is completely concave in both longitudinal and lateral sections, a portion of the inner layer of refractory material 6 near the vessel opening 3 has theta angle values ​​substantially equal to 0° or 360°. For vessels with an interior that is completely concave in both longitudinal and lateral sections, and where the theta values ​​are closer to 90° or 270°, the required extent of insertion will be much smaller.

[0053] Fig. Figure 9 is a schematic representation of the mechanical portion 400 of a scanner system according to the invention. A surface 405 supports a support base 110. A support base channel 410, shown in this illustration as vertical, passes through the support base 110. The support base channel receives the upper end of a first support arm 112. Linear movement of the first support arm 112 within the support base channel 410 is performed and generated by the actuator 412. The actuator 412 may include a rack and pinion gear or any other mechanism capable of generating relative linear movement of the first support arm 112 within the support base channel 410. Arrow 414 indicates the direction of movement of the first support arm 112 within the support base channel 410.

[0054] The lower end of the first support arm 112 is attached to the upper end of the first support arm 112 by a rotatable connection 420. Rotation of the lower end of the first support arm 112 relative to the upper end of the first support arm 112 is performed and generated by the actuator 422. The actuator 422 may include a stepper motor or any other mechanism capable of generating precise and accurate rotary motion. Arrow 424 indicates the direction of rotation of the lower end of the first support arm 112.

[0055] The lower end of the first support arm 112 is configured to support the longitudinal surface of a second support arm 112. As shown, the second support arm 112 is positioned so that an open end is lower than a closed end. The second support arm 112 can be placed in a horizontal position or at any angle to the horizontal plane. The second support arm 112 includes a support arm channel 426 that receives a scanner manipulator having a manipulator arm 82 and a turret 32. Actuator 427 performs and generates retraction and disengagement of the manipulator arm 82 into and out of the support arm channel 426. The actuator 427 may include a rack and pinion gear or any other mechanism capable of generating relative linear motion. Arrow 428 indicates the direction of movement of the manipulator arm 82 in the support arm channel 426.

[0056] Fig. Figure 10 is a schematic representation of the mechanical section 400 of a scanner system according to the invention. A surface 405 supports a support base 110. The support base 110 is attached to a support base platform 114 by a rotatable connection 420. Rotation of the support base platform 114 relative to the support base 110 is performed and generated by actuator 430. The actuator 430 may include a stepper motor or any other mechanism capable of generating precise and accurate rotational movement. Arrow 432 indicates the direction of rotation of the support base platform 114.

[0057] A first support arm 112 extends downward from the support base platform 114. The first support arm 112 is connected to a second support arm 112 by a pivot 434. The actuator 436 executes and generates a rotational movement of the second support arm 112 about the axis of the pivot 434. Arrow 438 shows the direction of movement of the second support arm 112 about pivot 434. The second support arm 112 is connected to the proximal end of the manipulator arm 82. The connection of the second support arm 112 to the proximal end of the manipulator arm 82 is shown as a right angle; it can take any shape that accelerates the scanning of a vessel; it can be fixed or adjustable. The second support arm 112 and the manipulator arm 82 can be formed as a single piece. The second support arm 112 may include an additional pivot and actuator to provide an additional degree of freedom of movement.

[0058] In a variation of the mechanical portion 400 of the illustrated scanner system, the base platform 114 and actuator 430 have been omitted, and the second support arm 112 is in direct connection / contact with the support base 110.

[0059] Fig. Figure 11 is a perspective view of the mechanical portion 400 of a scanner system according to the invention, supported on a support base 110. The support base 110 is attached to the support base platform 114 by a rotatable connection 420. Rotation of the support base platform 114 relative to the support base 110 is performed and generated by the actuator 430. The actuator 430 may include a stepper motor or any other mechanism capable of generating a precise and accurate rotational movement. Arrow 432 indicates the direction of rotation of the support base platform 114.

[0060] A first support arm 112 extends upward from the support base platform 114. The first support arm 112 is connected to a second support arm 112 by a pivot pin 434. Actuator 436 executes and generates the rotational movement of the second support arm 112 about the axis of pivot pin 434. Arrow 438 indicates the direction of movement of the second support arm 112 about pivot pin 434. The rotational movement of the second support arm 112 about the axis of pivot pin 434 can be controlled by servo motors and / or hydraulic actuation.

[0061] The second support arm 112 has an open end and includes an inner support arm channel that telescopically receives a third support arm 112. The third support arm 112 has an open end and includes an inner support arm channel that telescopically receives a scanner manipulator having a manipulator arm 82 and a turret 32. Actuator 440 performs and generates retraction and extension of manipulator arm 82 into and out of the support arm channel of the third support arm 112 and retraction and extension of the third support arm 112 into and out of the support arm channel of the second support arm 112. Actuator 440 may include a rack and pinion gear or any other mechanism capable of generating relative linear motion. Arrow 442 indicates the direction of movement of the third support arm 112 into and out of the support arm channel of the second support arm 112.Arrow 428 shows the direction of movement of manipulator arm 82 into and out of the support arm channel of the third support arm 112.

[0062] Fig. Figure 12 is a schematic representation of the mechanical section 400 of a scanner system according to the invention. Pivot pin 434 is supported by or on a surface 405. Actuator 436 enables rotation of support arm 112 at its proximal end from a vertical position (a storage position indicated by solid lines) to a horizontal working position indicated by dashed lines. Arrow 438 indicates the direction of movement of support arm 112 between the vertical position and the horizontal position.

[0063] The support arm 112 is connected by a rotatable joint 420 at its distal end to the proximal end of a manipulator arm 82 having a rotating turret 32 ​​at its distal end. Rotation of the rotatable joint 420 occurs about an axis orthogonal to the longitudinal axis of the support arm 112 and orthogonal to the longitudinal axis of the manipulator arm 82 and is executed and generated by actuator 422. The actuator 422 may include a stepper motor or any other mechanism capable of generating a precise and accurate rotary motion. Arrow 424 indicates the direction of rotation of the lower end of the first support arm 112 in the horizontal working position of the mechanical section 400 of the scanner system.

[0064] The following process is used to perform measurements on a vessel: The vessel is emptied and any foreign material is removed. The vessel position is then determined either by dead reckoning (the vessel is always placed in the same position while measuring) or by using external sensors. The vessel is then aligned so that the surface of interest inside the vessel can be included in the field of view of the scanner assembly attached to the scanner manipulator. The scanner manipulator is placed at a measurement position, usually a position on or near a long axis of the vessel that passes through the vessel opening. The turret of the scanner manipulator is rotated about the long axis of the scanner assembly; measurements are taken and a profile of the vessel's interior is generated.The profile of the vessel's interior is compared with a reference data set or a created three-dimensional model of the vessel. This comparison allows for the detection of areas where wear or deposits have occurred.

[0065] Uses for measuring wear include: (a) emptying a vessel containing the lining; b) Positioning the vessel; c) orienting the vessel so that the lining surface of interest inside the vessel can be included in the field of view of a scanner arrangement; d) Providing a scanner assembly comprising a mounting arm; a rotating turret rotatably mounted on the mounting arm, and an emitter / sensor contained in the rotating turret; wherein the scanner assembly, with the distal end of the scanner assembly positioned to correspond to the positive direction of the Z-axis of a polar coordinate system and with the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, upon rotation of the turret through all values ​​of Phi in the polar coordinate system from 0 degrees up to and including 360 degrees, has a field of view that is symmetric with respect to the Z-axis and exceeds a hemisphere; e) placing the scanner assembly at a measuring position; f) Activating the emitter / sensor; g) Rotating the turret through all values ​​of Phi in the polar coordinate system; h) obtaining, for selected values ​​of Phi, data for selected values ​​of Theta in the polar coordinate system; i) collecting the data provided by the emitter / sensor; and j) Generating a profile of the interior of the vessel from the collected data.

[0066] A scanner arrangement for measuring wear in a refractory lining comprising: a distal end, a proximal end, and a longitudinal axis extending from the proximal end to the distal end; a mounting arm having a proximal end and a distal end and located at the proximal end of the scanner assembly; a rotating turret having a proximal end and a distal end, wherein the distal end of the mounting arm is rotatably mounted on the proximal end of the rotating turret, wherein the connection / contact between the mounting arm and the rotating turret is contained in a plane orthogonal to the longitudinal axis; and an emitter / sensor mounted at a fixed position in the turret; where the optical center of the emitter / sensor lies on the longitudinal axis; wherein the field of view of the emitter / sensor is linear in the longitudinal direction; wherein the field of view includes a distal boundary extending from the distal end of the turret and a proximal boundary disposed opposite the distal boundary; and wherein the field of view of the emitter / sensor is described in the longitudinal direction by an obtuse angle which includes the extension of the longitudinal axis from the distal end of the scanner assembly, and includes a line extending from the emitter / sensor in a plane orthogonal to the longitudinal axis. The scanner assembly may be configured such that the rotatable connection of the distal end of the mounting arm to the proximal end of the turret allows the turret to rotate 360 ​​degrees about the longitudinal axis of the scanner assembly. The scanner assembly may be configured such that the field of view of the emitter / sensor lies in a plane containing the longitudinal axis of the emitter / sensor. The scanner assembly may include a heat shield disposed over at least a portion of the circumference of the distal end of the mounting arm. The scanner assembly may include a single emitter / sensor; The scanner array may exclude a second emitter / sensor; the number of emitters / sensors in the scanner array may be exactly one.

[0067] The scanner arrangement can be configured such that the acute angle defined by the distal field of view boundary and the longitudinal axis has a value of 1 degree up to and including 10 degrees. The scanner arrangement can be configured such that the acute angle defined by the proximal field of view boundary and the longitudinal axis has a value of 70 degrees up to and including 88 degrees.

[0068] The scanner assembly may be configured so that it is not in contact with a refractory application device, or so that it is not part of a device that includes a refractory application device. A refractory application device is a device configured to spray, shoot, or otherwise deliver a refractory material onto a surface so that the material adheres to the surface. The scanner assembly may be configured so that the rotating turret is prevented from rotating about the mounting arm about any axis other than the longitudinal axis of the scanner assembly.

[0069] The scanner assembly may be configured such that, with the distal end of the scanner assembly positioned to correspond to the positive direction of the Z-axis of a polar coordinate system, and with the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, upon rotation of the turret through all values ​​of Phi in the polar coordinate system from 0 degrees up to and including 360 degrees, the scanner assembly has a field of view that includes, at all values ​​of Phi, all values ​​of Theta in the polar coordinate system from 0 degrees up to and including 91 degrees.

[0070] The scanner assembly may be configured such that, while the distal end of the scanner assembly is positioned to correspond to the positive direction of the Z-axis of a polar coordinate system, and while the longitudinal axis of the scanner assembly is aligned with the Z-axis of the polar coordinate system, upon rotation of the turret through all values ​​of Phi in the polar coordinate system from 0 degrees up to and including 360 degrees, the scanner assembly has a field of view that is symmetric with respect to the Z-axis and exceeds a hemisphere.

[0071] A scanner manipulator comprising a scanner assembly according to one or more of the preceding descriptions may be configured such that the scanner manipulator further comprises an extended form or scanner manipulator arm having a distal end and a proximal end and a longitudinal axis that is collinear with the longitudinal axis of the scanner assembly and extends from the distal end to the proximal end; wherein the distal end of the scanner manipulator is fixedly attached to the proximal end of the scanner assembly; and wherein the extended form or scanner manipulator arm extends longitudinally from the scanner assembly.

[0072] The disclosed exemplary embodiments provide facilities, uses, and systems for autonomous characterization of the refractory lining of a metallurgical vessel, as well as the other uses summarized hereinbefore and known to those of ordinary skill in the art in the applicable fields. It should be understood that this description is not intended to limit the invention. On the contrary, the exemplary embodiments are intended to cover alternatives, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. Further, in the detailed description of the exemplary embodiments, numerous specific details are set forth in order to provide a thorough understanding of the claimed invention. However, one skilled in the art would recognize that various embodiments may be practiced without such specific details.

[0073] Although the features and elements of the present exemplary embodiments are described in certain combinations in the embodiments, each feature or element may be used alone, without the other features and elements of the embodiments, or in various combinations with or without other features and elements disclosed herein.

[0074] This written description uses examples of the disclosed subject matter to enable one skilled in the art to practice it, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the subject matter is defined by the claims and may include other examples encountered by those skilled in the art. Such other examples are to be considered within the scope of the claims.

[0075] While the disclosed embodiments of the subject matter described herein have been shown in the drawings and described above fully in particular and in detail in connection with several exemplary embodiments, it will be apparent to one of ordinary skill in the art that many modifications, changes, and omissions are possible without materially departing from the novel teachings, principles, and concepts recited herein and the advantages of the subject matter recited in the appended claims. Thus, the proper scope of the disclosed innovations should be determined only by applying the broadest interpretations of the appended claims to encompass all such modifications, changes, and omissions. In addition, the order or sequence of any process or method steps may be varied or rearranged according to alternative embodiments.Finally, any "means-plus-function" phrase in the claims is intended to cover the structures described herein as achieving the recited effect, and not only structural equivalents, but also equivalent structures. ELEMENTS 2 vessels 3 Longitudinal axis of the vessel 4 bowls 6 layer of fireproof material 7 Original layer of refractory material 8 Opening 10 Scanner arrangement 12 Distal end of the scanner assembly 14 Proximal end of the scanner assembly 16 Longitudinal axis of the scanner arrangement 20 mounting arm 22 Proximal end of the mounting arm 24 Distal end of the mounting arm 26 Heat shield 28 Proximal end of the heat shield 30 Distal end of the heat shield 32 Rotating tower 34 Proximal end of the rotating turret 36 Distal end of the rotating tower 40 emitters / sensors 42 Field of view of the emitter / sensor 44 Distal limitation of the emitter / sensor field of view 46 Proximal limit of the emitter / sensor field of view 48 Line extending from the emitter / sensor in a plane orthogonal to the longitudinal axis 50 Acute angle between a proximal boundary of the emitter / sensor field of view and a line extending from the emitter / sensor in a plane orthogonal to the longitudinal axis 52 Acute angle between a distal boundary of the emitter / sensor field of view and a longitudinal axis of the scanner assembly 54 Acute angle between the proximal boundary of the emitter / sensor field of view and a longitudinal axis of the scanner assembly 62 Emitter / Sensor Window 80 Scanner Manipulator 82 Manipulator arm 84 Longitudinal axis of the manipulator arm (optical center line of the scanner) 86 Distal field of view forming angle 88 Proximal field of view forming angle 100 scanner system 110 carrier base 112 support arm 114 Carrier base platform 116 Support arm actuator 118 Actuator of the carrier base platform 130 Positioning sensor 134 Manipulator actuator 140 Control device 142 Data input port 144 Control output connector 152 Human / System Interface 154 data storage 170 processor 200 Spherical coordinate system 202 Angle Theta (θ) 204 Angle Phi (φ) 206 Radial Distance r 302 Extent of insertion of emitter / sensor into the vessel 304 Distance of emitter / sensor from the horizontal inner surface of a wall at the opening 400 Mechanical section of the scanner system 405 Surface 410 Carrier Base Channel 412 Actuator 414 Direction of movement 420 Rotating connection 422 actuator 424 Direction of rotation 426 support arm channel 428 Direction of movement 430 Actuator 432 Direction of rotation 434 pivot pins 436 Actuator 438 Direction of rotation 440 Actuator 442 Direction of movement QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 8072613

[0009]

Claims

[1] A scanner assembly (10) for measuring wear in a refractory lining of a metallurgical vessel, comprising: a distal end (14), a proximal end (12) and a longitudinal axis (16) extending from the proximal end (12) to the distal end (14); a mounting arm (20) having a proximal end (22) and a distal end (24) and located at the proximal end (12) of the scanner assembly (10); a rotating turret (32) having a proximal end (34) and a distal end (36), wherein the proximal end (34) of the rotating turret (32) is rotatably mounted on the distal end (24) of the mounting arm (20), wherein the rotating turret (32) can rotate relative to the mounting arm (20) about the longitudinal axis (16); and an emitter / sensor (40) mounted at a fixed position in the turret (32); wherein the emitter / sensor (40) includes an optical center; wherein the optical center of the emitter / sensor (40) lies on the longitudinal axis (16); wherein a field of view (42) of the emitter / sensor (40) is contained in a plane that also includes the longitudinal axis (16) of the scanner assembly; wherein the field of view (42) includes a distal boundary (44) extending from the distal end (36) of the turret (32) and a proximal boundary (46) disposed opposite the distal boundary (44); wherein the field of view (42) of the emitter / sensor (40) is described in the longitudinal direction by an obtuse angle that includes the extension of the longitudinal axis (16) from the distal end (12) of the scanner assembly (10) and includes a line (48) extending from the emitter / sensor (40) in a plane orthogonal to the longitudinal axis (16); and wherein the emitter / sensor (40) includes: an array consisting of a pulsed laser, means for detecting a laser emission event, a multi-faceted mirror, a detector for detecting light reflected from a far-field surface, and a motor or drive for rotating the array over a scene of interest. [2] The scanner assembly (10) of claim 1, wherein the scanner assembly (10) includes an integrated cooling system and comprehensive radiation shielding. [3] The scanner assembly (10) of claim 1, wherein a heat shield (26) is disposed over at least a portion of a circumference of the distal end (24) of the mounting arm (20). [4] A scanner assembly (10) according to any one of claims 1 to 3, wherein the emitter / sensor (40) is configured to fire rapid pulses of laser light onto a target surface and is configured to measure the time it takes each pulse to return from the target surface through the field of view (42) to the scanner assembly (10). [5] Scanner assembly (10) according to any one of claims 1 to 4, wherein the rotatable connection of the distal end (24) of the mounting arm (20) to the proximal end (34) of the turret (32) enables the turret to rotate 360 ​​degrees about the longitudinal axis (16) of the scanner assembly (10). [6] Scanner arrangement (10) according to one of claims 1 to 5, wherein the scanner arrangement (10) includes exactly one emitter sensor (40). [7] Scanner arrangement (10) according to one of claims 1 to 6, wherein the acute angle (50) described by the distal boundary (44) of the field of view (42) of the emitter / sensor and the longitudinal axis (16) has a value of 1 degree up to and including 10 degrees. [8] Scanner arrangement (10) according to one of claims 1 to 7, wherein the acute angle (54) described by the proximal boundary (46) of the field of view (42) of the emitter / sensor and the longitudinal axis (16) has a value of 70 degrees up to and including 88 degrees. [9] Scanner assembly (10) according to any one of claims 1 to 8, wherein the scanner assembly (10) is not in contact with a fire-resistant application device. [10] Scanner assembly (10) according to one of claims 1 to 9, wherein the rotating turret (32) is prevented from rotating about the mounting arm (20) about an axis other than the longitudinal axis (16) of the scanner assembly (10). [11] Scanner assembly (10) according to one of claims 1 to 10, wherein, with the distal end (14) of the scanner assembly (10) positioned to correspond to the positive direction of the Z-axis of a polar coordinate system, and with the longitudinal axis (16) of the scanner assembly aligned with the Z-axis of the polar coordinate system, upon rotation of the turret (32) through all values ​​of Phi in the polar coordinate system from 0 degrees up to and including 360 degrees, the scanner assembly has a field of view which, at all values ​​of Phi, includes all values ​​of Theta in the polar coordinate system from 0 degrees up to and including 91 degrees. [12] A scanner assembly (10) according to any one of claims 1 to 11, wherein, with the distal end (14) of the scanner assembly (10) positioned to correspond to the positive direction of the Z-axis of a polar coordinate system, and with the longitudinal axis (16) of the scanner assembly aligned with the Z-axis of the polar coordinate system, upon rotation of the turret (32) through all values ​​of Phi in the polar coordinate system from 0 degrees up to and including 360 degrees, the scanner assembly has a field of view that is symmetrical with respect to the Z-axis and exceeds a hemisphere. [13] Use of the scanner arrangement (10) according to one of claims 1 to 12 for measuring wear in a refractory lining of a metallurgical vessel. [14] Use of the scanner arrangement (10) according to one of claims 1 to 12 for measuring wear in a refractory lining of a metallurgical vessel which is at or near operating temperature. [15] Use of the scanner arrangement (10) according to one of claims 1 to 12 for measuring wear in a refractory lining of a metallurgical vessel which is at or above the melting point of the vessel material. [16] Use of the scanner arrangement (10) according to one of claims 1 to 12 for measuring wear in a refractory lining of a metallurgical vessel having a surface temperature of 1700°C. [17] Scanner manipulator (80) comprising a scanner arrangement according to one of claims 1 to 12, wherein the scanner manipulator (80) further includes a manipulator arm (82) having a distal end and a proximal end and a manipulator arm longitudinal axis (84) that is collinear with the longitudinal axis (16) of the scanner assembly and that extends from the distal end to the proximal end; wherein the distal end of the scanner manipulator (80) is fixedly attached to the proximal end of the scanner assembly (10); and wherein the manipulator arm (82) extends longitudinally from the scanner assembly (10). [18] Use of the scanner manipulator (80) according to claim 17 for measuring wear in a refractory lining of a metallurgical vessel. [19] Use of the scanner manipulator (80) according to claim 17 for measuring wear in a refractory lining of a metallurgical vessel which is at or near operating temperature. [20] Use of the scanner manipulator (80) according to claim 17 for measuring wear in a refractory lining of a metallurgical vessel which is at or above the melting point of the vessel material. [21] Use of the scanner manipulator (80) according to claim 17 for measuring wear in a refractory lining of a metallurgical vessel having a surface temperature of 1700°C. [22] A scanner system (100) for measuring wear in a refractory lining, comprising: a scanner manipulator (80) according to claim 17; a support arm (112) having a proximal end and a distal end; a support base (110); a system control device (140); at least one positioning sensor (130) of the vessel in data transmission communication with the control device (140); a manipulator actuator (134) in communication with the manipulator (80), wherein the control device (140) is in command communication with the manipulator actuator (134), and wherein the manipulator actuator (134) is in data transmission communication with the control device (140); a support arm actuator (116) in communication with the support arm (112), wherein the control device (140) is in control communication with the support arm actuator (116); and a processor (170) in data communication with the at least one positioning sensor (130), the manipulator actuator (134), the support arm actuator (116) and the emitter sensor (40); wherein the distal end of the support arm (112) is connected to the proximal end of the scanner manipulator (80); and wherein the proximal end of the support arm (112) is connected to the support base (110). [23] Scanner system (100) according to claim 22, wherein the proximal end of the scanner manipulator (80) is hingedly connected to the distal end of the support arm (12). [24] Scanner system (100) according to claim 22 or 23, wherein the proximal end of the support arm (112) is movably connected to the support base (110). [25] Scanner system (100) according to one of claims 22 to 24, wherein the distal end of the support arm (112) is fixedly connected to the proximal end of the scanner manipulator (80). [26] Use of the scanner system (100) according to any one of claims 22 to 24 for measuring wear in a refractory lining of a metallurgical vessel. [27] Use of the scanner system (100) according to any one of claims 22 to 24 for measuring wear in a refractory lining of a metallurgical vessel which is at or near operating temperature. [28] Use of the scanner system (100) according to any one of claims 22 to 24 for measuring wear in a refractory lining of a metallurgical vessel which is at or above the melting point of the vessel material. [29] Use of the scanner system (100) according to any one of claims 22 to 24 for measuring wear in a refractory lining of a metallurgical vessel having a surface temperature of 1700°C. [30] Use according to any one of claims 26 to 29, comprising: a) emptying a vessel (2) containing the lining; b) positioning the vessel (2); c) aligning the vessel (2) so that the lining surface of interest inside the vessel can be included in the field of view of a scanner arrangement; d) providing a scanner assembly (10) including a mounting arm (20); a turret (32) rotatably mounted to the mounting arm (20), and an emitter / sensor (40) contained within the turret (32); wherein, with a distal end of the scanner assembly positioned to correspond to the positive direction of the Z-axis of a polar coordinate system and with the longitudinal axis of the scanner assembly aligned with the Z-axis of the polar coordinate system, the scanner assembly (10) has a field of view that is symmetrical with respect to the Z-axis and exceeds a hemisphere upon rotation of the turret through all values ​​of Phi in the polar coordinate system from 0 degrees up to and including 360 degrees; e) placing the scanner arrangement (10) at a measuring position; f) activating the emitter / sensor (40); g) rotating the turret (32) through all values ​​of Phi in the polar coordinate system; h) obtaining, for selected values ​​of Phi, data for selected values ​​of Theta in the polar coordinate system; i) collecting the data provided by the emitter / sensor (40); and j) Generating a profile of the interior of the vessel from the collected data.

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