JP2022165866A - Repair system and repair method - Google Patents

Abstract

To provide a repair system and a repair method for a refractory layer that can easily form a refractory layer of a desired thickness without depending on the skill of a worker.SOLUTION: The present invention discloses a repair system for a structure having a refractory layer on its inner surface, the repair system having: a measurement device that measures a three-dimensional shape of the structure inner surface; a removing device that removes at least part of the refractory layer of the structure inner surface; a spraying device that sprays the structure inner surface with unshaped refractory; a construction condition calculating device that calculates construction conditions in the spraying on the basis of a three-dimensional shape measured by the measurement device; and a construction condition presenting device that presents the construction conditions when the spraying device sprays the unshaped refractory.SELECTED DRAWING: None

Description

The present invention relates to a repair system for structures having refractory layers on their internal surfaces. The invention also relates to a method of repairing a structure having a refractory layer on its inner surface.

A structure for holding high-temperature contents is generally provided with a refractory layer as a lining on the inner surface of the structure in order to protect the structure from the heat of the contents. Structures having such a refractory layer include, for example, a container for holding molten metal (hereinafter referred to as a "molten metal container") and a trough for molten metal such as a blast furnace trough.

However, when such a structure is used, the refractory layer gradually deteriorates due to wear due to contact with high-temperature contents and spalling (cracking, peeling) caused by thermal shock. do. Therefore, in order to maintain the function of the refractory layer, it is necessary to perform periodic repairs.

As a method of repairing a refractory layer, a method of spraying a monolithic refractory is generally used. However, when the monolithic refractory is sprayed onto the deteriorated refractory layer, the interface between the deteriorated refractory layer and the new refractory layer remains inside the repaired refractory layer. In addition, on the surface of the deteriorated refractory layer, slag (also referred to as slag, buildup, etc.) such as molten metal and slag adhered during the use of the structure may adhere. Therefore, when a crack occurs in the new refractory layer on the surface side while the structure is used after repair, molten metal or the like penetrates to the interface between the deteriorated refractory layer and the new refractory layer through the crack, and the new refractory layer There is a problem that the refractory layer peels off.

Therefore, in order to prevent the above peeling, when repairing the refractory layer, the surface of the portion to be repaired is scratched to remove the deteriorated refractory layer and the slag adhering to the surface of the refractory layer. is being sprayed.

For example, Patent Literature 1 describes removing and dismantling the entire deteriorated layer on the surface of the refractory layer with a crushing tool in advance when the lining on the inner surface of the molten metal structure is repaired by spraying.

JP 2006-292278 A

As described in Patent Literature 1, peeling of a new refractory layer can be prevented by spraying after removing the deteriorated layer on the surface of the refractory layer in advance.

However, repairing a refractory layer by spraying is usually performed by a worker holding the spraying nozzle by hand and ejecting the monolithic refractory from the nozzle. Much depends on the skill of the operator. In particular, since the surface of the refractory layer after removing the deteriorated layer is not always flat, it is difficult even for a skilled worker to make the thickness of the final refractory layer uniform. there were. Moreover, even if the surface could be flattened by spraying, it was difficult to judge from the appearance whether a refractory layer with a desired thickness had been formed.

The present invention has been made in view of the above circumstances, and is a repair system capable of easily forming a refractory layer of a desired thickness without depending on the skill of an operator when repairing a refractory layer. and to provide a repair method.

The present invention has been made to solve the above problems, and the gist and configuration thereof are as follows.

1. A system for repairing a structure having a refractory layer on its interior surface, comprising:
a measuring device for measuring the three-dimensional shape of the inner surface of the structure;
a removal device for removing at least a portion of the refractory layer on the inner surface of the structure;
a spraying device for spraying a monolithic refractory onto the inner surface of the structure;
a construction condition calculation device that calculates construction conditions for the spraying based on the three-dimensional shape measured by the measurement device;
A repair system comprising: a construction condition presentation device that presents the construction conditions when the monolithic refractory is sprayed by the spraying device.

2. The measuring device measures the three-dimensional shape of the inner surface of the structure after the refractory layer has been removed by the removing device,
2. The repair system according to 1 above, wherein the construction condition calculation device calculates the construction condition based on the result of the measurement.

3. The measuring device measures the three-dimensional shape of the inner surface of the structure before the refractory layer is removed by the removing device,
The construction condition calculation device subtracts the portion actually removed by the removal device from the three-dimensional shape obtained by the measurement, thereby obtaining a three-dimensional shape of the inner surface of the structure after the refractory layer has been removed by the removal device. 2. The repair system according to 1 above, wherein the shape is calculated and the construction conditions are calculated based on the calculated three-dimensional shape.

4. A method for repairing a structure having a refractory layer on its inner surface, comprising:
a measuring step of measuring the three-dimensional shape of the inner surface of the structure;
a removing step of removing at least a portion of the refractory layer on the inner surface of the structure;
A construction condition calculation step of calculating construction conditions in the next spraying step based on the three-dimensional shape measured by the measuring device;
A spraying step of spraying a monolithic refractory onto the inner surface of the structure,
The repair method, wherein the construction conditions are presented by a construction condition presentation device when the monolithic refractory is sprayed in the spraying step.

5. In the measuring step, the three-dimensional shape of the inner surface of the structure after the refractory layer is removed in the removing step is measured,
5. The repair method according to 4 above, wherein in the construction condition calculation step, the construction condition is calculated based on the result of the measurement.

6. In the measuring step, the three-dimensional shape of the inner surface of the structure is measured before the refractory layer is removed in the removing step,
In the construction condition calculation step, the three-dimensional shape of the inner surface of the structure after the refractory layer is removed in the removal step is obtained by subtracting the portion actually removed in the removal step from the three-dimensional shape obtained by the measurement. 5. The repair method according to 4 above, wherein the shape is calculated and the construction conditions are calculated based on the calculated three-dimensional shape.

According to the present invention, in repairing a refractory layer, a refractory layer having a desired thickness can be easily formed without depending on the skill of the operator.

Hereinafter, examples of embodiments of the present invention will be specifically described. It should be noted that the following description exemplifies the embodiments of the present invention, and the present invention is not limited to the following embodiments.

[Structure]
The present invention is for repairing structures having a refractory layer on the interior surface. Any structure having a refractory layer on at least the inner surface can be used as the structure. The structure may be, for example, a molten metal structure. Examples of the molten metal structure include molten metal containers such as hot metal ladle, molten steel ladle, and refining vessel, and molten metal troughs such as blast furnace troughs.

The present invention can be applied to refractory layers having arbitrary materials and structures. Therefore, the refractory layer provided on the inner surface of the structure may be of any material and structure as long as it is a layer composed of refractory.

It is also common practice to configure the refractory layer as a lining with a layer of shaped refractory called perma-brick and a layer of monolithic refractory. For example, a typical molten metal container includes a metal container body called an iron shell, a regular refractory (permal brick) layer provided on the inner surface of the metal container body, and the regular refractory layer. A monolithic refractory layer is provided on the inner surface, and the monolithic refractory layer and the monolithic refractory layer constitute a refractory layer. The present invention can also be suitably used for repairing a refractory layer having the structure described above.

The present invention will be described below based on specific embodiments. In the following embodiments, a case where the structure is a container will be described as an example, but as described above, the present invention is applicable not only to containers but also to arbitrary structures.

A repair system according to an embodiment of the present invention comprises the following (1) to (5).
(1) Measuring device for measuring the three-dimensional shape of the inner surface of the container (2) Removing device for removing at least part of the refractory layer on the inner surface of the container (3) Spraying device for spraying the monolithic refractory on the inner surface of the container (4) Measurement A construction condition calculation device that calculates the construction conditions for spraying based on the three-dimensional shape measured by the device.

In addition, a repair method according to another first embodiment of the present invention includes the following steps (A) to (D), and when spraying a monolithic refractory in the spraying step (D), a construction condition presentation device The construction conditions are presented by
(A) a measuring step of measuring the three-dimensional shape of the inner surface of the container;
(B) a removing step of removing at least a portion of the refractory layer on the inner surface of the container;
(C) a construction condition calculation step of calculating construction conditions in the next spraying step based on the three-dimensional shape measured by the measuring device;
(D) Spraying step of spraying the monolithic refractory on the inner surface of the container

Each device and each process described above will be described below.

[Measuring device/measurement process]
In the present invention, it is important to measure the three-dimensional shape of the inner surface of the container, calculate the application conditions for spraying based on the results, and display the obtained application conditions. A worker who performs spraying can form a refractory layer with a desired thickness by spraying according to the displayed construction conditions, without depending on the skill of the worker.

The measuring device used for measuring the three-dimensional shape is not particularly limited, and any device can be used as long as it can measure the three-dimensional shape of the inner surface of the container. Examples of suitable measuring devices include a three-dimensional laser scanner, a photogrammetric three-dimensional shape measuring device, and a pattern projection three-dimensional shape measuring device. is preferred.

The measurement of the three-dimensional shape may be performed once or multiple times. If the entire measurement range is within the field of view of the measuring device used, three-dimensional shape data of the entire container can be obtained in one measurement. For example, when the measurement is performed with a three-dimensional laser scanner, the three-dimensional laser scanner is placed on the central axis of the container and at the height of the container mouth, and a 360° laser scan is performed around the central axis of the container. It is possible to acquire the three-dimensional shape of the inner surface of the container by one measurement. On the other hand, when performing measurement using photogrammetry, the measurement range is limited to the field of view of the camera due to the principle of measurement. By synthesizing the data in , the three-dimensional shape data of the entire inner surface of the container can be obtained.

The measuring device may be provided in the later-described spraying device, or may be provided separately from the spraying device. When the measuring device is provided separately from the spraying device, the measuring device can be installed in the facility using the target container. For example, when the container is a container (pot) for transporting molten steel in an ironworks, each time the container is used for one charge, the three-dimensional shape of the inner surface of the container is measured by a measuring device installed in the equipment. It is also possible to measure and determine the need for repair as described below. Here, "charging" means receiving molten metal from a converter or the like into a container, going through the secondary refining process to remove impurities in the molten steel, and sending the molten metal to the next process such as casting equipment, etc., and emptying the container. refers to the cycle until

The timing of measuring the three-dimensional shape of the inner surface of the container by the measuring device is not particularly limited, but at least one of before removing the refractory layer by the removing device and after removing the refractory layer by the removing device. Measurements are preferably taken. The measurement timing will be further explained later.

[Removal device/removal process]
At least a portion of the refractory layer on the inner surface of the container is then removed. For the removal, any device can be used without particular limitation as long as it can remove the standard refractory. Generally, the removal device preferably comprises a tool for cutting, crushing or stripping the refractory layer with a rotating or reciprocating tool. Further, in order to perform removal while scanning the tool along the inner surface of the container, the removal device includes moving means for moving the tool three-dimensionally and attitude control for controlling the attitude (orientation) of the tool. means. As the moving means and attitude control means, for example, an arm of a heavy machine can be used. As the heavy machinery, for example, it is preferable to use a heavy machinery having a vehicle body driven by a caterpillar or the like and an arm capable of positioning a tool with 6 degrees of freedom (position/rotation in 3 axial directions) or more degrees of freedom. .

The removal can be performed by any method, but if the monolithic refractory is sprayed in a state where the dregs and deteriorated refractory layer remain as described above, the new refractory layer formed by spraying becomes easy to peel off. . Therefore, in the removal, it is preferable to remove at least the dregs adhering to the surface of the refractory layer on the inner surface of the container and the deteriorated portion (deteriorated layer) on the surface side of the refractory layer.

When the tool is scanned along the inner surface of the container for removal, the scanning pattern is not particularly limited, and may be determined according to the shape of the container to be used and the removal device to be used. Considering that the cutting powder falls downward, it is preferable to repeat the operation of removing while scanning the inner surface of the container in the circumferential direction from the bottom to the top.

In addition, when the tool is scanned along the inner surface of the container for removal, the removal can be performed by one scan (one pass), but the removal can also be performed by multiple scans (multiple passes). can. When the removal is performed in a plurality of passes, the number of scans can be any number of 2 or more. However, if the number of scans is excessively increased, the time required for the removal becomes longer and the working efficiency is lowered. Therefore, it is preferable that the number of scans be three or less. Furthermore, when removal is performed in multiple passes, the removal amount in the next scan can be calculated after one scan is completed.

[Construction condition calculation device/Construction condition calculation process]
In the present invention, as described above, the construction conditions in the spraying process are calculated based on the three-dimensional shape measured by the measuring device, and the obtained construction conditions are presented in the next spraying process. Then, the operator who performs the spraying performs the spraying according to the presented construction conditions.

The construction conditions may be any conditions as long as they relate to the repair of the refractory layer by spraying, but the construction conditions preferably include information on the "thickness" of the monolithic refractory to be sprayed. Also, assuming that the flow rate of the monolithic refractory during spraying is known and other construction conditions are constant, how long should the spraying be done to form a refractory layer of the required thickness? It is also possible to calculate whether Therefore, the construction conditions may include information on the "time" for spraying the monolithic refractory. In addition, it is preferable that the construction conditions are obtained for each portion of the inner surface of the container.

The method of calculating the construction condition is not particularly limited, and any method may be used for the calculation, but the case of calculating the "thickness" of spraying the monolithic refractory material as the construction condition will be described as an example.

In one embodiment of the present invention, first, the three-dimensional shape of the inner surface of the container after the removal of the refractory layer by the removal device (three-dimensional shape after removal) is measured by a measurement device, and based on the measurement result Calculate the construction conditions. In the calculation, the spraying thickness necessary for making the final refractory layer of the desired thickness on each portion of the inner surface of the container may be obtained based on the data of the three-dimensional shape after removal.

In another embodiment of the present invention, the three-dimensional shape of the inner surface of the container before the refractory layer is removed by the removing device (three-dimensional shape before removal) is measured by a measuring device, and the three-dimensional shape before removal is measured. By subtracting the portion actually removed by the removal device from the dimensional shape, the three-dimensional shape of the inner surface of the container after the refractory layer has been removed (three-dimensional shape after removal) can also be calculated. Then, based on the obtained data of the three-dimensional shape after removal, the spraying thickness required to obtain the desired final thickness of the refractory layer on each portion of the inner surface of the container can be obtained.

In the above calculation, it is also preferable to use three-dimensional shape data (hereinafter referred to as target shape data) prepared in advance representing the target three-dimensional shape of the inner surface of the container. The target shape data is, in other words, three-dimensional shape data representing what shape should be repaired by spraying. By comparing the three-dimensional shape data measured by the measuring device with the target shape data, it is possible to more accurately calculate the construction conditions for each part.

The target shape data can be prepared in any manner. For example, the target shape data can be created from the design data (CAD data, etc.) of the container in which the refractory layer is formed. Further, for example, when the refractory layer is composed of a layer of shaped refractory called perma-brick and a layer of monolithic refractory, only the layer of shaped refractory is provided and the monolithic refractory Create target shape data by creating three-dimensional shape data in a state where no layer is provided from actual measurement or design data, and calculating a shape by adding a refractory layer of desired thickness to the three-dimensional shape data You can also

[Spraying equipment/spraying process]
Next, the refractory layer is repaired by spraying a monolithic refractory onto the inner surface of the container. The structure of the spraying device is not particularly limited, and any device can be used as long as it can spray a monolithic refractory to form a refractory layer. Typically, the spraying apparatus includes a tank that holds a monolithic refractory, a nozzle that discharges the monolithic refractory, and a pump that feeds the monolithic refractory from the tank to the nozzle. preferable.

In the present invention, at the time of spraying, the construction conditions obtained in the above-described construction condition calculation step are presented to the construction condition presentation device. Therefore, the worker who performs the spraying can form a refractory layer with a desired thickness by spraying according to the presented construction conditions, without depending on the worker's skill or sense. Repair quality can be improved.

[Construction condition presentation device]
As the construction condition presentation device, any device can be used as long as it can present the construction conditions in a form that can be recognized by the worker. For example, the construction condition presentation device may be a printing device (printer), a speaker, a display device (display), or a combination thereof.

When the construction condition presentation device is a printing device, the construction conditions can be printed in any form, and the worker can perform the work based on the printed conditions.

When the construction condition presentation device is a speaker, the construction conditions can be presented to the worker by sound. The sound may be voice information or non-voice information such as electronic sound.

Further, when the construction condition presentation device is a display device, the construction conditions can be displayed in any form, and the worker can perform the work based on the displayed conditions. The display device may be any one of (1) a projection display device such as a projector, (2) a wearable display device such as a head-mounted display, and (3) a non-wearable display, or a combination thereof. . When a projector is used as the construction condition display device, it is preferable to use a projector using a laser beam as a light source (laser projector) from the viewpoint of visibility.

Although there are no particular limitations on how the construction conditions are presented, it is preferable to display them using numerical values, letters, graphics, colors, sounds, and combinations thereof so that the workers can easily understand them.

When presenting the construction conditions by the construction condition presentation device, it is preferable to calibrate the construction condition presentation device in order to appropriately present the construction conditions for the position where the worker is going to spray. In other words, it is preferable to identify a coordinate transformation matrix from the coordinate system in which the construction conditions are calculated to the coordinate system of the construction condition presentation device, and use it for display. For example, if the measuring device used for measuring the three-dimensional shape and the construction condition presentation device are integrated, or if the relative positional relationship between the two is known, the coordinate transformation matrix can be identified based on that information. can be done.

Additionally, the repair system of the present invention preferably includes a tracking device that measures in real time the position and/or orientation of the nozzle used by the operator during the spraying process. By using the tracking device, it is possible to acquire information on the position where the worker is going to spray the monolithic refractory. Therefore, the construction condition presentation device can present the construction condition at the position in accordance with the movement of the nozzle. Devices such as motion capture, laser trackers, and total stations can be considered as the tracking device.

In addition, the integrated spray thickness can be predicted from information on the position and time at which the monolithic refractory is sprayed. For example, by using the cumulative spray thickness as color information and displaying the color information superimposed on the actual product on a projection display device such as a projector or a wearable display device such as VR goggles, the operator can be informed of the target spray thickness. can provide intuitive guidance for achieving

(Removal based on 3D shape data)
In addition, in the present invention, the refractory layer can be removed by any method as described above, but in a more preferred embodiment of the present invention, measurement is performed by the measuring device prior to removal. , the removal can also be performed based on the measurement result (three-dimensional shape data). The embodiment will be described below.

The repair system in this embodiment further comprises an arithmetic unit that determines the range of removal of the refractory layer based on the three-dimensional shape obtained by the measuring means. The removal device is configured to remove the refractory layer on the inner surface of the container based on the calculation result of the calculation means.

Further, the repair method in the present embodiment includes a calculation step of determining a range to remove the refractory layer based on the three-dimensional shape obtained in the measurement step, and in the removal step, the calculation step Remove the refractory layer on the inner surface of the container based on the calculation result in .

[Calculation device/calculation process]
In the calculation step, the range of removal of the refractory layer is determined based on the obtained three-dimensional shape of the inner surface of the container. That is, the three-dimensional shape of the inner surface of the container is the profile of the surface including the refractory layer and the slag adhering to the surface. Therefore, it can be determined that a large amount of removal is required for that portion. On the contrary, it is highly probable that the recessed portion of the profile is formed as a result of peeling of the degraded refractory layer, and therefore the amount of removal of that portion should be reduced. In other words, it is preferable to determine the removal amount of the refractory layer at each portion based on the obtained three-dimensional shape of the inner surface of the container.

In determining the amount to be removed, information such as the usage history of the container can be taken into consideration. For example, when the three-dimensional shape of the inner surface of the container is periodically measured, the occurrence of peeling can be determined based on the measurement data, and the peeled portion can be specified. In addition, when peeling does not occur, it is also possible to estimate the approximate thickness of the formed deteriorated layer from the usage history of the container (number of times of use, specification time, etc.). Therefore, in determining the amount to be removed, the estimated thickness of the deteriorated layer estimated from the usage history of the container can also be used. Also, the thickness of the formed deteriorated layer tends to saturate at a certain level (for example, 30 to 40 mm). Therefore, it is also possible to input the known saturated thickness of the deteriorated layer into the arithmetic unit in advance and use it for determining the amount to be removed.

By determining the range of removal of the refractory layer based on the obtained three-dimensional shape of the inner surface of the container in this way, the dregs and deteriorated layer adhering to the surface of the refractory layer can be removed more accurately, and the deterioration of the refractory layer can be prevented. The amount of undamaged refractory layer removed can be reduced.

In the computing step, it is also preferable to determine the range of removal of the refractory layer and determine the scanning path of the tool used for removal so that the determined range of the refractory layer can be removed.

Further, in determining the range of removal of the refractory layer, it is also preferable to additionally use three-dimensional shape data (hereinafter referred to as removal limit data) representing removal limit positions prepared in advance. Here, the removal limit position refers to a position beyond which removal should not be performed (deeper than the position). When determining the range to remove the refractory layer, by referring to the removal limit data, the refractory layer may be excessively removed, and parts other than the refractory layer (such as the container body) may be removed with a tool. You can prevent damage.

For example, as described above, when the refractory layer is composed of a layer of shaped refractory called perma-brick and a layer of monolithic refractory, only the layer of monolithic refractory is removed and the shaped refractory layer is preferably not removed. Therefore, in such a case, by using the three-dimensional shape data in a state where only the layer of the shaped refractory is provided and the layer of the monolithic refractory is not provided as the removal limit data, the shaped refractory It is possible to prevent layers from being removed.

As mentioned above, the removal device may comprise the measurement device. When the removing device is equipped with a measuring device, the measuring device can measure the three-dimensional shape of the inner surface of the container, and the removing device can be controlled based on the result.

Moreover, the removing device may include a second measuring device for measuring the three-dimensional shape of the inner surface of the container, which is separate from the measuring device (here, referred to as the first measuring device). If the removal device has a second measurement device, the measurement results of the second measurement device can be used to align the removal device. For example, after placing the removing device at the position for performing removal, measurement is performed by the second measuring device, and alignment can be easily performed by using the result. As a more specific example, the first three-dimensional shape data is obtained by measuring the three-dimensional shape of the inner surface of the container using a first measuring device installed in the facility (factory, etc.) where the container is used. After that, second three-dimensional shape data is obtained using a second measuring device provided in the removing device, and the first three-dimensional shape data and the second three-dimensional shape data are compared. By doing so, it is possible to perform alignment (origination) of the removing device. As a method of comparing the first three-dimensional shape data and the second three-dimensional shape data, for example, there is a method of fitting one to the other. It is also possible to obtain a coordinate transformation matrix between the coordinate system of the first three-dimensional shape data and the coordinate system of the second three-dimensional shape data.

The repair system of this embodiment may further include a controller that monitors the load on the removal device and adjusts the extent to which the refractory layer is removed based on the load.

Moreover, the repair method in this embodiment may further include a control step of monitoring the load in the removal step and adjusting the range of removal of the refractory layer based on the load.

As described above, slag may adhere to the surface of the refractory layer, but since the refractory and slag are made of different materials, they have different physical properties (such as hardness). Further, even in the same refractory layer, the physical properties are different between the deteriorated portion (deteriorated layer) and the undegraded portion (healthy layer). Therefore, by monitoring the load applied to the removal device during removal, changes in the physical properties of the portion being removed can be known. Therefore, by adjusting the range of removal of the refractory layer based on the load, removal can be performed more accurately.

Although the specific adjustment method is not particularly limited, for example, a change in the portion being removed based on a change in load (for example, from the slag to the deteriorated layer, from the deteriorated layer to the healthy layer) is detected, and based on that, the portion It is also possible to determine the continuation or termination of removal in . As another example, an appropriate threshold is set in advance, and by comparing the load with the threshold, it is determined whether the part currently being removed is the slag, deteriorated layer, or healthy layer. on the basis of which it is possible to determine whether to continue or terminate the removal at that site.

By performing such adjustment, it becomes possible to remove slag and removed parts more accurately than when removing only based on the measurement results of the three-dimensional shape. The amount removed can be further reduced.

For example, when the process of removing while scanning the tool with a constant cutting depth in the depth direction is repeated two passes (two times) or more, each time one pass (one time) of scanning is completed, It is also possible to evaluate the load value and omit subsequent passes if it is determined that the healthy layer has been reached.

As the load to be monitored, any load can be used as long as it reflects the change in the physical properties of the site being removed. Typically, it is preferred to use the load on the actuator that drives the cutting tool. For example, if the cutting tool is rotated by a motor, the load on the motor can be monitored. If the motor is a hydraulic motor, the hydraulic pressure may be monitored.

Further, the repair system in the present embodiment may further include a color information acquisition device that acquires color information of the inner surface of the container, and the computing device obtains the three-dimensional shape obtained by the measurement means, The range of removal of the refractory layer can also be determined in consideration of the color information obtained by the color information acquisition device.

Further, the repair method in the present embodiment may further include a color information acquisition step of acquiring color information of the inner surface of the container, and in the calculation step, in addition to the three-dimensional shape obtained in the measurement step, The range of removal of the refractory layer can also be determined in consideration of the color information obtained in the color information obtaining step.

As described above, slag may adhere to the surface of the refractory layer, but since the refractory and the slag are made of different materials, they have different color tones. Moreover, even in the same refractory layer, the color tone is different between the deteriorated portion (deteriorated layer) and the undegraded portion (healthy layer). For example, a healthy layer that has not deteriorated retains the original color of the refractory (typically light brown), while a deteriorated layer that has deteriorated due to contact with molten metal permeates into the metal and becomes darker. is changing. Therefore, by acquiring the color information of the inner surface of the container, the material of the portion can be known. Therefore, by taking into consideration the color information in addition to the three-dimensional shape when performing calculations to determine the range of removal of the refractory layer, it is possible to remove the refractory layer more accurately.

The method of using the color information is not particularly limited, but it is possible to set a threshold in advance and compare the threshold with the color information to determine whether the part is slag, a deteriorated layer, or a healthy layer. is preferred.

As the color information acquisition device, any device can be used as long as it can acquire the color information of the inner surface of the container. Typically, a digital camera can be used. When a color information acquisition device is used, the color information acquisition device and the measuring device used for measuring the three-dimensional shape may be separate units or may be integrated. In other words, the measuring device used for measuring the three-dimensional shape may also serve as the color information acquisition device. For example, some laser scanners for measuring 3D shapes have a built-in digital camera that captures color images, and color information ( RGB) can be mapped. Such a digital camera built-in laser scanner can be suitably used as a measuring device and a color information acquiring device.

When using a color information acquisition device, the slag adhering to the inner surface of the container is removed in the first pass scanning based on the measured three-dimensional shape, and then the color information is acquired by the color information acquisition device. Based on the result, it is also possible to determine whether the exposed surface is a deteriorated layer or a healthy layer. Thereby, the removal amount of the second pass can be determined in consideration of the determination result based on the color information.

Next, an example of a more preferred embodiment of the present invention will be described below.

(1) Measure the three-dimensional shape (shape 1) of the inner surface of the container.
(2) The scanning range is determined based on the three-dimensional shape obtained by the measurement, and the tool is scanned to remove the surface layer of the inner surface of the container (first pass).
(3) The three-dimensional shape (shape 2) of the inner surface of the container after the removal is measured, and from the difference between shape 1 and shape 2, each part of the inner surface of the container is in any of the following states after the removal in the first pass. determine if there is
A) A state in which the slag and the deteriorated layer are separated together (the surface of the healthy layer is exposed)
B) The surface where only the dregs are peeled off (the surface of the deteriorated layer is exposed)
C) A state in which the degraded layer is peeled off although the slag is not originally adhered (the surface of the healthy layer is exposed)
D) A state in which no slag is originally attached and no peeling has occurred (the surface of the deteriorated layer is exposed)
* Difference between shape 1 and shape 2: A>B>C>D
* Concavity degree in shape 2: A≈C>B≈D
Color information can also be used to determine whether the healthy layer is exposed.
(4) Based on the determination result, the scanning range is determined, and the tool is scanned to remove the inner surface of the container again (second pass). At that time, the portion where the healthy layer is exposed is not removed.

Claims (6)

A system for repairing a structure having a refractory layer on its interior surface, comprising:
a measuring device for measuring the three-dimensional shape of the inner surface of the structure;
a removal device for removing at least a portion of the refractory layer on the inner surface of the structure;
a spraying device for spraying a monolithic refractory onto the inner surface of the structure;
a construction condition calculation device that calculates construction conditions for the spraying based on the three-dimensional shape measured by the measurement device;
A repair system comprising: a construction condition presentation device that presents the construction conditions when the monolithic refractory is sprayed by the spraying device. The measuring device measures the three-dimensional shape of the inner surface of the structure after the refractory layer has been removed by the removing device,
2. The repair system according to claim 1, wherein said construction condition calculation device calculates said construction condition based on the result of said measurement. The measuring device measures the three-dimensional shape of the inner surface of the structure before the refractory layer is removed by the removing device,
The construction condition calculation device subtracts the portion actually removed by the removal device from the three-dimensional shape obtained by the measurement, thereby obtaining a three-dimensional shape of the inner surface of the structure after the refractory layer has been removed by the removal device. The repair system according to claim 1, wherein a shape is calculated and said construction conditions are calculated based on the calculated three-dimensional shape. A method for repairing a structure having a refractory layer on its inner surface, comprising:
a measuring step of measuring the three-dimensional shape of the inner surface of the structure;
a removing step of removing at least a portion of the refractory layer on the inner surface of the structure;
A construction condition calculation step of calculating construction conditions in the next spraying step based on the three-dimensional shape measured by the measuring device;
A spraying step of spraying a monolithic refractory onto the inner surface of the structure,
The repair method, wherein the construction conditions are presented by a construction condition presentation device when the monolithic refractory is sprayed in the spraying step. In the measuring step, the three-dimensional shape of the inner surface of the structure after the refractory layer is removed in the removing step is measured,
5. The repair method according to claim 4, wherein, in said construction condition calculation step, said construction condition is calculated based on the result of said measurement. In the measuring step, the three-dimensional shape of the inner surface of the structure is measured before the refractory layer is removed in the removing step,
In the construction condition calculation step, the three-dimensional shape of the inner surface of the structure after the refractory layer is removed in the removal step is obtained by subtracting the portion actually removed in the removal step from the three-dimensional shape obtained by the measurement. The repair method according to claim 4, wherein the shape is calculated and the construction conditions are calculated based on the calculated three-dimensional shape.