Temperature measurement robot for combustion chamber of coke oven

Abstract

A temperature measurement robot for a combustion chamber of a coke oven may comprise: a main body forming a chamber; a robot arm provided in the main body; a temperature sensor provided in the robot arm; a gripper that is provided at the end of the robot arm and holds a lid for opening and closing a hole communicating with the combustion chamber; a door that isolates the chamber from or communicates the chamber with the outside of the main body; and a controller that opens the door in a temperature measurement mode and closes the door in a movement mode.

Description

A temperature measuring robot that measures the temperature of the combustion chamber of a coke oven

[0001] The present invention relates to a temperature measuring robot capable of automatically measuring the temperature of a combustion chamber of a coke oven.

[0002] A coke oven is a facility that heats coal to high temperatures to remove volatile components and produce coke, a solid mass of carbon. The produced coke is primarily used as a reducing agent in blast furnaces in the iron and steel industry, playing an essential role in extracting pure iron from iron ore.

[0003] A coke oven comprises multiple separate combustion chambers, each of which heats coal to a specific high temperature range to produce coke. Therefore, it is necessary to measure the temperature inside the coke combustion chamber to satisfy specific high-temperature conditions.

[0004] Recently, a temperature-measuring robot for measuring the temperature inside a coke combustion chamber is under development, but there is a problem where the equipment is damaged due to the robot being exposed to high-temperature environments.

[0005] According to the present invention, a temperature measuring robot is provided that can protect equipment from high temperatures by housing various equipment for measuring the temperature of the combustion chamber of a coke oven inside the main body.

[0006] The technical problems to be solved in this document are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art to which this invention belongs from the description below.

[0007] A temperature measuring robot for measuring the temperature of a combustion chamber of a coke oven according to one embodiment of the present invention may include: a main body forming a chamber; a robot arm provided on the main body; a temperature sensor provided on the robot arm; a gripper provided at the end of the robot arm for grasping a lid that opens and closes a hole communicating with the combustion chamber; a door that blocks or communicates the chamber with the outside of the main body; and a controller that opens the door in a temperature measuring mode and closes the door in a moving mode.

[0008] The controller can move the robot arm to the outside of the main body through the open door in temperature measurement mode.

[0009] When the temperature measurement mode ends, the controller can store the robot arm in the chamber through the open door and switch to the movement mode.

[0010] It may further include a first drive unit connected to a robot arm to control the vertical movement of the robot arm; and a second drive unit connected to the first drive unit to control the horizontal movement of the first drive unit.

[0011] The temperature sensor can have a sensing area facing the vertical direction.

[0012] The controller can control the robot arm and the gripper to open the hole in the temperature measurement mode, and when the hole is opened, control the movement of the robot arm and / or the temperature measurement robot so that the detection area includes the hole.

[0013] The temperature sensor includes a thermal imaging camera, and the controller controls the robot arm and gripper to open the hole in the temperature measurement mode, and can control the thermal imaging camera to perform a thermal imaging scan based on the hole when the hole is opened.

[0014] The temperature sensor includes a thermal imaging camera, and the controller controls the robot arm and gripper to open the hole in the temperature measurement mode, and when the hole is opened, the controller can control the robot arm to perform a thermal imaging scan based on the hole.

[0015] The controller can determine the temperature corresponding to the region with the highest temperature in the thermal images acquired by the thermal scan as the temperature of the combustion chamber.

[0016] The controller controls the robot arm and gripper to close the hole when the temperature of the combustion chamber is measured by the temperature sensor, and when the hole is closed, the robot arm can be stored in the chamber through the open door.

[0017] The controller further includes a sensor for detecting surrounding objects of the temperature measuring robot, and when a hole in the combustion chamber is identified by the sensor, the controller controls the temperature measuring robot to move to a predetermined position based on the identified hole, and when the temperature measuring robot is located at the predetermined position, it can switch from movement mode to temperature measuring mode.

[0018] The gripper may include a gripper; a gripper body having a gripper at its end; and a gripper motor provided inside the gripper body to control the gripper.

[0019] The gripper may further include a guide that contacts the upper surface of the lid when the clamp grasps the lid, thereby maintaining the lid in a horizontal direction.

[0020] The guide can be fixed to the robot arm or the gripper body.

[0021] Various devices included in the temperature measuring robot can be prevented from being damaged by heat.

[0022] FIG. 1 is a schematic diagram of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0023] FIG. 2 is an example of a gripper and a guide provided at the end of a robot arm of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to an embodiment of the present invention.

[0024] FIG. 3 is another embodiment of a gripper and a guide provided at the end of a robot arm of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0025] FIG. 4 is another embodiment of a gripper and a guide provided at the end of a robot arm of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0026] FIG. 5 illustrates a control block diagram of a temperature measuring robot that measures the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0027] FIG. 6 is a schematic diagram of a state in which a robot arm is housed in a temperature measuring robot body that measures the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0028] FIG. 7 is an example of a door opening method provided in a temperature measuring robot body for measuring the combustion chamber temperature of a coke oven according to an embodiment of the present invention.

[0029] FIG. 8 is another embodiment of a door opening method provided in a temperature measuring robot body for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0030] FIG. 9 is another embodiment of a door opening method provided in a temperature measuring robot body for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0031] FIG. 10 is a schematic diagram of a method for measuring the internal temperature of a combustion chamber using a temperature sensor provided in a temperature measuring robot for measuring the temperature of a combustion chamber of a coke oven according to one embodiment of the present invention.

[0032] Figure 11 is a schematic diagram of a method for scanning to measure the internal temperature of a combustion chamber using the temperature sensor of Figure 10.

[0033] The various embodiments of this document and / or the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0034] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0035] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0036] In this document, each of the phrases such as “A or B”, “at least one of A and / or B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and / or C”, and / or “at least one of A, B, or C” may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0037] The term "and / or" may include a combination of multiple related described components or any of the multiple related described components.

[0038] For example, a phrase such as "A, B, and / or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0039] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0040] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0041] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0042] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this may include not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0043] When it is said that a component is located "on" another component, this may include not only cases where a component is in contact with another component, but also cases where another component exists between the two components.

[0044] FIG. 1 is a schematic diagram of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 2 is an example of a gripper and a guide provided at the end of a robot arm of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 3 is another example of a gripper and a guide provided at the end of a robot arm of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 4 is yet another example of a gripper and a guide provided at the end of a robot arm of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 5 is a control block diagram of a temperature measuring robot for measuring the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0045] Referring to FIG. 1, a temperature measuring robot (100) for measuring the temperature of a combustion chamber of a coke oven may include a robot arm (120), a gripper (110) provided at the end of the robot arm (120) for grasping the combustion chamber lid, a temperature sensor (121) provided on the robot arm (120), a driving device (130, 140) for controlling the movement of the robot arm (120), and a wheel (170).

[0046] Additionally, the temperature measuring robot (100) may further include a temperature measuring sphere recognition camera (122) for acquiring an image for recognizing a temperature measuring sphere, a camera (161) for photographing objects surrounding the temperature measuring robot (100), a LiDAR sensor (162) for detecting objects surrounding the temperature measuring robot (100), and a controller (150) for controlling the overall operation of the temperature measuring robot (100).

[0047] A detailed description of each component is given in Fig. 5.

[0048] Referring to FIG. 2, the gripper (110) may include a gripper body (310) having a heat-resistant function. For example, the gripper body (310) may be composed of a material having a heat-resistant function, such as tungsten, molybdenum, nickel alloy, stainless steel, zirconia, silicon carbide, silicon nitride, carbon fiber composite, ceramic matrix composite, or a combination of each of these materials.

[0049] The gripper (110) may include a clamp (320) for gripping the combustion chamber lid and a motor (311) and an actuator (312) for driving the clamp (320). The motor (311) and the actuator (312) may be provided inside the gripper body (310).

[0050] According to the present invention, the motor (311) and the actuator (312) are provided inside a gripper body (310) with good heat resistance, so that damage caused by heat can be prevented when measuring the combustion chamber temperature of a coke oven.

[0051] The motor (311) transmits power to the actuator (312), and the actuator (312) can operate the gripper (320) based on the power transmitted from the motor (311).

[0052] The motor (311) may include a DC motor with excellent low-speed high-torque characteristics, an AC motor with excellent high-speed high-torque performance, a stepping motor capable of precise position control, and a servo motor capable of fast response speed and accurate position control.

[0053] The actuator (312) may be a device that converts the rotational force of a motor into other motion. For example, it may include a linear actuator that converts rotational motion into linear motion.

[0054] The clamp (320) may be designed to grasp a lid that opens and closes the hole of the combustion chamber. The lid that opens and closes the hole of the combustion chamber may be provided with a groove having a width and length into which the clamp (320) can enter. The groove provided in the combustion chamber lid is provided with a gripping structure that fits the clamp (320) so that the clamp (320) can grasp the lid.

[0055] The gripper (110) may include a guide (111) that maintains the lid in a horizontal direction when the clamp (320) grips the lid. The guide (111) may include a guide fixing part fixed to the robot arm (120) or the gripper body (310), and a guide extension part extending from the guide fixing part in the direction of the clamp so that the upper surface of the combustion chamber lid can be contacted.

[0056] That is, the guide (111) is fixed to the gripper body (310) or the robot arm (120) so that when the gripper (110) grasps the combustion chamber lid, the combustion chamber lid can be fixed in a horizontal direction.

[0057] Here, the horizontal direction may mean the direction horizontal to the upper surface of the hole frame of the combustion chamber. The hole frame of the combustion chamber may refer to a frame forming a hole provided on the upper surface of the combustion chamber, having a shape corresponding to the combustion chamber lid.

[0058] In the present invention, the horizontal direction may mean a direction parallel to the upper surface of the hole frame of the combustion chamber, and the vertical direction may mean a direction perpendicular to the upper surface of the hole frame of the combustion chamber.

[0059] The shape of the guide (111) may include all shapes for fixing the combustion chamber lid so that it does not shake when the gripper (110) holds the combustion chamber lid.

[0060] For example, referring to FIG. 2, the guide (330a) may include a guide fixing part that is provided between the robot arm (120) or the gripper body (310) and the clamp (320) to fix the guide (330a), and a guide extension part that is attached to the guide fixing part and extends in a direction perpendicular to the guide fixing part.

[0061] The guide fixing part may adopt a circular or polygonal shape. The material of the guide may be the same as the material of the guide body (310).

[0062] The guide extension can be extended from the guide fixing part to the end of the gripper (320) in the direction (or vertical direction) of the gripper (320).

[0063] The guide (330a) may have multiple extensions. The guide (330a) may have the same number of contacts as the multiple extensions. In other words, the contacts may refer to the locations where the guide (330a) and the combustion chamber lid come into contact.

[0064] For example, the contact portion may include a first contact portion provided at a first point of a virtual circle having a radius exceeding the operating radius of the clamp (320), and a second contact portion provided at a second point opposite to the first point of the virtual circle.

[0065] The number of guide extensions may vary depending on the shape of the upper surface of the combustion chamber lid. If the shape of the upper surface of the combustion chamber lid is circular, guide extensions may be provided at each of the four points where the end of the combustion chamber lid meets the straight line, which is orthogonal to the axis that serves as the center of the clamp (320) and the gripper (110).

[0066] The guide extension connected to the guide fixing part can apply pressure to the combustion chamber lid based on the gripper (320) gripping the combustion chamber lid with respect to the axis of the gripper (320), thereby preventing the combustion chamber lid from shaking.

[0067] Referring to FIG. 3, a guide different from FIG. 2 may be illustrated. The guide of FIG. 3 may include a guide fixing part and a guide extension part, similar to the guide illustrated in FIG. 2.

[0068] The guide fixing part may be circular or polygonal, and the guide extension part may vary depending on the shape of the combustion chamber lid. In the disclosure of FIG. 3, a ring-shaped guide with height is shown as an example of the present disclosure, but the guide extension part may be connected to the guide fixing part and may have the same number of angles as the guide fixing part.

[0069] Referring to FIGS. 2 and FIGS. 3, the guide (330a, 330b) has a height that starts from the center point of the lower surface of the guide fixing part and extends to the point where the two legs of the clamp (320) overlap. When the combustion chamber lid is grasped by the clamp (320), the combustion chamber lid is fixed by the end of the guide extension part having the height described above, so that even if the combustion chamber lid is lifted, the combustion chamber lid may remain in a fixed state.

[0070] The gripper (110) shown in FIG. 4 includes a guide (330a) and may be a gripper (110) in an open state with the clamp (320). The guide (330a, 330b) provided in the gripper (110) may have a radius that exceeds the operating radius of the clamp (320).

[0071] The operating radius of the clamp (320) can be defined as the maximum possible distance between the two legs of the clamp (320).

[0072] In other words, the operating radius may mean a radius based on the distance between the two feet when the two feet of the clamp (320) are spread to the maximum extent.

[0073] Referring to FIG. 5, the temperature measuring robot (100) includes a control unit (200) that controls a gripper (320), and the control unit (200) may include a memory (220) that checks and stores the movement path of the temperature measuring robot (100) and the internal temperature of the combustion chamber detected by the temperature sensor (121), and a processor (210) that controls the overall operation of the temperature measuring robot (100) based on instructions stored in the memory (220).

[0074] The control unit (200) can correspond to the controller (150) shown in FIG. 1.

[0075] The temperature measuring robot (100) may include a gripper (110), a robot arm (240), a main body (230), a sensor unit (250), a first driving device (130), and a second driving device (140). The control unit (200) may control the driving devices (130, 140) to move the gripper (110) and the robot arm (240) to the outside of the main body (230) in a temperature measuring mode.

[0076] The robot arm (240) may be stored together with the gripper (110) in a chamber formed by the main body (230) when the temperature measuring robot (100) is moving.

[0077] In the present invention, the chamber of the main body (230) may refer to the internal space of the main body (230).

[0078] When the robot arm (240) and the gripper (110) are stored in the chamber of the main body (230), the door (231) connecting the main body (230) to the outside of the main body (230) can be closed.

[0079] The control unit (200) can store the robot arm (240) and the gripper (110) in the chamber in moving mode and close the door (231).

[0080] In the temperature measurement mode, the control unit (200) can open the door (231) to connect the chamber and the outside of the main body (230), and control the driving device (130, 140) to move the robot arm (240) and the gripper (110) to the outside of the main body (230).

[0081] The robot arm (240) can move outside the chamber and the main body (230) according to the operation of the drive device (130, 140). The drive device (130, 140) may include a first drive device (130) that controls the vertical movement of the robot arm (240) and a second drive device (140) that controls the horizontal movement of the robot arm (240).

[0082] In one embodiment, the robot arm (240) may be connected to a first drive unit (130), and the first drive unit (130) may be connected to a second drive unit (140). The second drive unit (140) can control the horizontal movement of the robot arm (240) by controlling the horizontal movement of the first drive unit (130).

[0083] The sensor unit may include a temperature-measuring auxiliary sensor (251) and a movement-assisting sensor (252). The temperature-measuring auxiliary sensor may include a temperature sensor (121) and a temperature-measuring recognition camera (122). The temperature sensor (121) may be provided on one side of the robot arm (240) and may have a detection area in a direction perpendicular to the lower part of the main body (230).

[0084] The control unit (200) can recognize the lid (or hole) of the combustion chamber based on an image obtained by the temperature sensor recognition camera (122).

[0085] The movement assist sensor (252) may include a LiDAR sensor (162) and a camera (161). The LiDAR sensor (162) can determine whether there is an obstacle on the movement path when the control unit (200) of the temperature measuring robot (100) receives information about the movement path. The camera (161) can capture front and rear images of the temperature measuring robot (100).

[0086] The control unit (200) can control the movement of the temperature measuring robot (100) based on data collected by the movement assist sensor (252).

[0087] FIG. 6 is a schematic diagram of a state in which a robot arm is housed in a temperature measuring robot body that measures the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 7 is an example of a door opening method provided in a temperature measuring robot body that measures the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 8 is another example of a door opening method provided in a temperature measuring robot body that measures the combustion chamber temperature of a coke oven according to one embodiment of the present invention. FIG. 9 is yet another example of a door opening method provided in a temperature measuring robot body that measures the combustion chamber temperature of a coke oven according to one embodiment of the present invention.

[0088] Referring to FIG. 6, when the temperature measuring robot (100) moves after receiving the path to the combustion chamber, the first driving device (130) and the second driving device (140) can be controlled to protect the robot arm (240) and the gripper (110) from heat before moving, thereby housing the robot arm (240) and the gripper (110) inside the chamber of the main body (230).

[0089] The main body (230) of the temperature measuring robot (100) may include a door (231). The door (231) may exceed the combined height of the gripper (110) and the robot arm (120).

[0090] Accordingly, when the door (231) is opened by the control unit (200), the first driving device (130) moves to the top and the second driving device (140) moves to the rear end by the control unit (200), the gripper (110) and the robot arm (120) can be stored inside the chamber of the main body (230).

[0091] The control unit (200) can control the temperature measuring robot (100) to move to a predetermined position (temperature measuring position) based on the identified hole when the hole of the combustion chamber is identified by the temperature measuring hole recognition camera (122).

[0092] When the temperature measuring robot (100) moves to the temperature measuring position, the control unit (200) can open the door (231) provided in the main body (230). When the door (231) is opened, the chamber and the outside of the main body (230) can be connected.

[0093] When the chamber and the outside of the main body (230) are connected, the control unit (200) can control the drive device (130, 140) to move the gripper (110) and robot arm (120) housed inside the chamber to the outside.

[0094] FIGS. 7, FIGS. 8, and FIGS. 9 are embodiments of a door (231) provided in the main body (230). Each embodiment may vary depending on the environment in which the temperature measuring robot (100) is used, and the door (231) of the temperature measuring robot (100) may be equipped with waterproof and dustproof functions.

[0095] An example of the door opening method illustrated in FIG. 7 may be a method in which the right door (180a) and the left door (180b) are each fixed with hinges to open and close in both directions. When the control unit (200) opens or closes the door, it may be a control method in which the door in a closed state is pushed forward based on the power of the motor (311) and then moved in both directions to open or close the door.

[0096] An example of the door opening method shown in FIG. 8 may be a sliding method that opens and closes in both directions by fixing the right door (181a) and the left door (181b) respectively with hinges. When the control unit (200) opens or closes the door, it may be a control method that opens or closes the door by sliding based on the power of the motor (311).

[0097] An example of the door opening method illustrated in FIG. 9 may be a method of closing the door by fixing the right door (182a) and the left door (182b) with hinges and sliding them in both directions. When the control unit (200) controls the opening or closing of the door, it may be a control method of opening or closing the door by sliding it based on the power of the motor (311).

[0098] FIG. 10 is a schematic diagram of a method for measuring the internal temperature of a combustion chamber using a temperature sensor provided in a temperature measuring robot for measuring the temperature of a combustion chamber of a coke oven according to one embodiment of the present invention. FIG. 11 is a schematic diagram of a method for scanning to measure the internal temperature of a combustion chamber using the temperature sensor of FIG. 10.

[0099] FIG. 10 may illustrate the opening of the combustion chamber lid and the measurement of the temperature inside the combustion chamber after the temperature measuring robot (100) has reached the temperature measuring position. The temperature sensor (121) provided in the temperature measuring robot (100) may be a thermal imaging camera.

[0100] When the combustion chamber hole is opened in the temperature measurement mode, the temperature measurement robot (100) can perform a thermal imaging scan by controlling the robot arm (120) or the thermal imaging camera based on the hole position of the combustion chamber.

[0101] When the temperature sensor (121) scans a thermal image of the combustion chamber, the temperature of the portion where a plurality of air / fuel discharge ports are located within the combustion chamber may be relatively lower than the temperature inside the combustion chamber.

[0102] Accordingly, when measuring the temperature inside the combustion chamber, the temperature sensor (121) of the temperature measuring robot (100) can estimate the temperature inside the combustion chamber by scanning images or videos inside the combustion chamber in various ways as exemplified in FIG. 11. The control unit (200) can control the temperature sensor (121) and / or the robot arm (120) to perform thermal imaging scans in the temperature measuring mode.

[0103] Performing a thermal imaging scan may include controlling the lens of a thermal imaging camera, which is an example of a temperature sensor (121), to scan the combustion chamber hole and / or controlling a robot arm (120) to scan the combustion chamber hole.

[0104] The temperature sensor (121) can scan the inside of the combustion chamber and transmit a plurality of acquired images to the control unit (200). The control unit (200) can process a plurality of thermal images or images acquired by the thermal image scan.

[0105] Processing of a plurality of thermal images by the control unit (200) may include the control unit (200) extracting the pixel with the highest temperature from the thermal images and determining the temperature corresponding to that pixel as the temperature of the combustion chamber.

[0106] The control unit (200) processing a plurality of thermal images may include the control unit (200) extracting pixels in a portion of a thermal image or image where the temperature is below a predetermined temperature, removing the corresponding pixels from the thermal image, and then determining the temperature average of the pixels remaining in the thermal image as the temperature of the combustion chamber.

[0107] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0108] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (read-only memory), RAM (random access memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0109] Additionally, computer-readable recording media may be provided in the form of non-transitory storage media. Here, 'non-transitory storage media' simply means that it is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily. For example, 'non-transitory storage media' may include a buffer in which data is stored temporarily.

[0110] According to one embodiment, the method according to the various embodiments disclosed herein may be provided as included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable recording medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., downloadable app) may be temporarily stored or temporarily created on a device-readable recording medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0111] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively.

Claims

1. In a temperature measuring robot for measuring the temperature of a combustion chamber of a coke oven, A main body forming a chamber; A robot arm provided on the above main body; A temperature sensor provided on the above-mentioned robot arm; A gripper for grasping a lid provided at the end of the robot arm and opening and closing a hole communicating with the combustion chamber; and A door that blocks or communicates the chamber with the outside of the main body; and A temperature measuring robot comprising a controller that opens the door in a temperature measuring mode and closes the door in a movement mode.

2. In Paragraph 1, The above controller is, A temperature measuring robot that moves the robot arm to the outside of the main body through the open door in the above temperature measuring mode.

3. In Paragraph 1, The above controller is, A temperature measuring robot that, when the above temperature measuring mode ends, stores the robot arm in the chamber through the open door and then switches to the above movement mode.

4. In Paragraph 1, A first driving device connected to the robot arm and controlling the vertical movement of the robot arm; and A temperature measuring robot further comprising: a second driving device connected to the first driving device and controlling the horizontal movement of the first driving device.

5. In Paragraph 1, The above temperature sensor is a temperature measuring robot having a sensing area facing the vertical direction.

6. In Paragraph 5, The above controller is, A temperature measuring robot that, in the above temperature measuring mode, controls the robot arm and the gripper to open the hole, and controls the movement of the robot arm and the temperature measuring robot so that when the hole is opened, the sensing area includes the hole.

7. In Paragraph 1, The above temperature sensor includes a thermal imaging camera, and The above controller is, A temperature measuring robot that, in the above temperature measuring mode, controls the robot arm and the gripper to open the hole, and controls the thermal imaging camera to perform a thermal imaging scan based on the hole when the hole is opened.

8. In Paragraph 1, The above temperature sensor includes a thermal imaging camera, and The above controller is, A temperature measuring robot that, in the above temperature measuring mode, controls the robot arm and the gripper to open the hole, and controls the robot arm to perform a thermal imaging scan based on the hole when the hole is opened.

9. In Paragraph 7 or 8, The above controller is, A temperature measuring robot that determines the temperature corresponding to the region with the highest temperature in the thermal images obtained by the above thermal imaging scan as the temperature of the combustion chamber.

10. In Paragraph 1, The above controller is, A temperature measuring robot that controls the robot arm and the gripper to close the hole when the temperature of the combustion chamber is measured by the temperature sensor, and stores the robot arm in the chamber through the open door when the hole is closed.

11. In Paragraph 1, It further includes a sensor that detects surrounding objects of the above-mentioned temperature measuring robot, and The above controller is, When a hole in the combustion chamber is identified by the sensor, the temperature measuring robot is controlled to move to a predetermined position based on the identified hole, and A temperature measuring robot that switches from the movement mode to the temperature measuring mode when the temperature measuring robot is located at the predetermined position.

12. In Paragraph 1, The above gripper is, tongs; A gripper body having the above-mentioned clamp provided at its end; and A temperature measuring robot comprising: a gripper motor provided inside the above-mentioned gripper body to control the gripper.

13. In Paragraph 12, The above gripper is, A temperature measuring robot further comprising a guide that contacts the upper surface of the lid when the above clamp grasps the lid, thereby maintaining the lid in a horizontal direction.

14. In Paragraph 13, The above guide is a temperature measuring robot fixed to the robot arm or the gripper body.

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