JP7447860B2 - Repair system and method - Google Patents

Description

The present invention relates to a repair system for a structure having a refractory layer on its inner surface. The present invention also relates to a method for 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. Examples of structures having such a refractory layer include a container for holding molten metal (hereinafter referred to as a "molten metal container") and a gutter for molten metal such as a blast furnace gutter.

However, when such structures are 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 periodically repair it.

As a method for repairing a refractory layer, a method of spraying a monolithic refractory is generally used. However, when a monolithic refractory is sprayed onto a deteriorated refractory layer, an interface between the deteriorated refractory layer and the new refractory layer remains inside the refractory layer after repair. Further, on the surface of a deteriorated refractory layer, slag (also referred to as slag, build-up, etc.) such as molten metal and slag that adhered when the structure was used may adhere. Therefore, if cracks occur in the new refractory layer on the surface side while the structure is used after repair, molten metal etc. can penetrate through the cracks to the interface between the deteriorated refractory layer and the new refractory layer, causing the new There is a problem that the refractory layer peels off.

Therefore, in order to prevent the above peeling, when repairing the refractory layer, remove the deteriorated refractory layer and the slag attached to the surface of the refractory layer by scraping the surface of the area to be repaired, and then remove the monolithic refractory layer. is being sprayed.

For example, Patent Document 1 describes that when repairing the lining on the inner surface of a molten metal structure by spraying, the deteriorated layer on the surface of the refractory layer is previously removed and dismantled over the entire surface using a crushing tool.

JP2006-292278A

As described in Patent Document 1, by performing spraying after previously removing the degraded layer on the surface of the refractory layer, it is possible to prevent the new refractory layer from peeling off.

However, repair of the refractory layer by spraying is usually performed by an operator holding the spray nozzle in his hand and discharging the monolithic refractory from the nozzle. Therefore, it has been difficult to make the final refractory layer uniform in thickness. Moreover, even if spraying could be performed so that the surface would be flat, it was difficult to confirm whether a refractory layer of the desired thickness had been formed. Furthermore, there is a problem in that continuously spraying the heavy monolithic refractory while holding the nozzle places a heavy burden on the operator.

The present invention has been made in view of the above circumstances, and it is possible to uniformly form a refractory layer of a desired thickness in the repair of a refractory layer, and furthermore, it mechanizes the spraying work of monolithic refractories. The purpose of the present invention is to provide a repair system and a repair method that can perform the following tasks.

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

1. A repair system for a structure having a refractory layer on the inner surface,
a measuring device that measures the three-dimensional shape of the inner surface of the structure;
a removal device that removes at least a portion of the refractory layer on the inner surface of the structure;
a spraying device that sprays the monolithic refractory onto the inner surface of the structure;
A repair system comprising: a spray control device that controls the spray device based on a measurement result by the measurement device.

2. The measuring device measures the three-dimensional shape of the inner surface of the structure after the refractory layer is removed by the removing device,
2. The repair system according to item 1, wherein the spray control device controls the spray device 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 spray control device determines the three-dimensional shape of the inner surface of the structure after the refractory layer has been removed by the removing device by subtracting the portion actually removed by the removing device from the three-dimensional shape obtained by the measurement. The repair system according to 1 above, wherein the repair system calculates the three-dimensional shape and controls the spraying device based on the calculated three-dimensional shape.

4. A method for repairing a structure having a refractory layer on the inner surface, the method comprising:
a measuring step of measuring a 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 spraying step of spraying a monolithic refractory onto the inner surface of the structure,
A repair method in which, in the spraying step, spraying is controlled based on the measurement results in the measurement step.

5. In the measurement step, the three-dimensional shape of the inner surface of the structure after the refractory layer is removed in the removal step,
4. The repair method according to 4 above, wherein in the spraying step, the spraying is controlled based on the result of the measurement.

6. In the measurement step, the three-dimensional shape of the inner surface of the structure before the refractory layer is removed in the removal step,
In the spraying step, the three-dimensional shape of the inner surface of the structure after the refractory layer has been removed in the removing step is calculated by subtracting the portion actually removed in the removing step from the three-dimensional shape obtained by the measurement. 4. The repair method according to 4 above, wherein the spraying is controlled based on the calculated three-dimensional shape.

According to the present invention, in repairing a refractory layer, it is possible to uniformly form a refractory layer with a desired thickness. Furthermore, according to the present invention, repair work including spraying of monolithic refractories can be mechanized, thereby reducing the burden on workers.

Examples of embodiments of the present invention will be specifically described below. Note that the following description exemplarily shows embodiments of the present invention, and the present invention is not limited to the following embodiments.

[Structure]
The present invention is for repairing a structure having a refractory layer on its inner surface. The structure may be any structure as long as it has a refractory layer on at least its inner surface. The structure may be, for example, a structure for molten metal. Examples of the molten metal structures 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 a refractory layer having any material and structure. 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 made of refractory.

Moreover, it is also common practice to configure the refractory layer as a lining with a layer of regular refractory material called permanent brick and a layer of unshaped refractory material. For example, a typical molten metal structure includes a metal structure body called a steel shell, a layer of regular refractory material (permanent brick) provided on the inner surface of the metal structure body, and a layer of regular refractory material (permanent brick) provided on the inner surface of the metal structure body. and a layer of monolithic refractory provided on the inner surface of the material layer, and the layer of monolithic refractory and the layer of monolithic refractory constitute a refractory layer. The present invention can also be suitably used for repairing a refractory layer having the above structure.

The present invention will be described below based on specific embodiments. Note that 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 any structure.

A repair system in an embodiment of the present invention includes the following (1) to (4).
(1) A measuring device that measures the three-dimensional shape of the inner surface of the container (2) A removing device that removes at least a portion of the refractory layer on the inner surface of the container (3) A spraying device that sprays amorphous refractory onto the inner surface of the container ( 4) A spray control device that controls the spray device based on the measurement result by the measurement device.

Further, the repair method according to the first embodiment of the present invention includes the following steps (A) to (C), and in the (C) spraying step, the repair method is based on the measurement results in the (A) measurement step. to control spraying.
(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 part of the refractory layer on the inner surface of the container (C) A spraying step of spraying an amorphous refractory onto the inner surface of the container

Each of the above-mentioned apparatuses and each process will be explained below.

[Measuring device/measuring process]
In the present invention, it is important to measure the three-dimensional shape of the inner surface of the container and control the spray device based on the results. Thereby, the amount of spraying at each part can be adjusted according to the shape of the actual inner surface of the container, so that a refractory layer with a desired thickness can be uniformly formed.

The measuring device used to measure 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. Measurement devices that can be suitably used include, for example, a three-dimensional laser scanner, a three-dimensional shape measuring device using photogrammetry, and a three-dimensional shape measuring device using a pattern projection method, among which a three-dimensional laser scanner is preferably used. is preferred.

The measurement of the three-dimensional shape may be performed once or multiple times. If the entire measurement range falls 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 measuring with a three-dimensional laser scanner, place the three-dimensional laser scanner on the central axis of the container and at the height of the container mouth, and perform a 360° laser scan around the central axis of the container. This makes it possible to obtain the three-dimensional shape of the inner surface of the container with a single measurement. On the other hand, when measuring with photogrammetry, the measurement range is limited to the camera field of view due to the measurement principle, so the inner surface of the container is measured multiple times while changing the orientation and position of the measuring device (camera), and post-processing is performed. By combining the data, three-dimensional shape data of the entire inner surface of the container can be obtained.

The measuring device may be included in a spraying device, which will be described later, 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 equipment that uses the target container. For example, if the container is a container (pot) for transporting molten steel at a steelworks, each time the container is used for one charge, the three-dimensional shape of the inner surface of the container is measured using a measuring device installed in the equipment. It is also possible to measure and determine whether repairs are necessary, as described below. Note that "charging" here refers to the process in which molten metal is received into a container from a converter, etc., undergoes a secondary refining process to remove impurities in the molten steel, and then is sent to the next process, such as casting equipment, until the container is empty. refers to the cycle until

Note that the timing at which the three-dimensional shape of the inner surface of the container is measured by the measuring device is not particularly limited, but at least one of before the removal of the refractory layer by the removal device and after the removal of the refractory layer by the removal device. Preferably, measurements are taken. The timing of measurement will be explained further later.

[Removal equipment/removal process]
Next, at least a portion of the refractory layer on the inner surface of the container is removed. For the removal, any device can be used without particular limitation as long as it can remove the regular refractories. Generally, it is preferable that the removal device includes a tool that cuts, crushes, or peels off the refractory layer using 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 a moving means for moving the tool three-dimensionally, and an attitude control that controls the attitude (orientation) of the tool. It is preferable to have means. As the moving means and attitude control means, for example, an arm of heavy machinery or the like may be used. As the heavy equipment, it is preferable to use, for example, a heavy equipment that has a main body driven by caterpillars or the like and an arm that can position the tool with six degrees of freedom (position/rotation in three axial directions) or more. .

The removal can be carried out by any method, but as mentioned above, if monolithic refractories are sprayed with slag and deteriorated refractory layers remaining, the new refractory layers formed by spraying will easily peel off. . Therefore, in the above-mentioned removal, it is preferable to remove at least the slag 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 removing while scanning the tool along the inner surface of the container, the scanning pattern is not particularly limited and may be determined depending on the removal device to be used and the shape of the target container. Considering that the cutting powder falls down, it is preferable to repeat the operation of removing the cutting powder while scanning it in the circumferential direction of the inner surface of the container from the bottom to the top.

In addition, when removing while scanning the tool along the inner surface of the container, it is possible to remove with one scan (one pass), but it is also possible to remove with multiple scans (multiple passes). can. When removing in multiple passes, the number of scans can be set to any number greater than or equal to 2; however, if the number of scans is increased too much, the time required for removal increases and work efficiency decreases. Therefore, the number of scans is preferably three or less. Furthermore, when removing in multiple passes, the amount of removal in the next scan can be calculated after one scan is completed.

[Spraying equipment/spraying process]
After the above removal is completed, 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 the monolithic refractory to form a refractory layer. Typically, the spraying device may include a tank that holds the monolithic refractory, a nozzle that discharges the monolithic refractory, and a pump that feeds the monolithic refractory from the tank to the nozzle. preferable. Moreover, it is preferable that the said spraying apparatus is equipped with the nozzle moving means which moves the said nozzle three-dimensionally, and the nozzle attitude|position control means which controls the attitude|position (orientation) of the said nozzle. As the nozzle moving means and the nozzle posture controlling means, for example, an arm of heavy machinery or the like may be used. As the spraying device, it is possible to reuse a device that has traditionally been used handheld by an operator, but if it is mechanized using the nozzle moving means or nozzle posture control means, it is possible to use a device that has been used handheld by the worker. Since there are no restrictions on size, weight, reaction force during spraying (discharge amount), scanning speed, etc., any device can be used.

The spraying device may be separate from the removal device, but may be integrated therewith. For example, if the removal device includes an arm, a removal tool and a spray nozzle may be provided at the tip of one arm. Further, one device may include a removal arm having a removal tool at its tip and a spraying arm having a discharge nozzle at its tip. Further, as an attachment system in which the removal tool and the discharge nozzle can be replaced, one device may serve as both the removal device and the spray device.

[Spraying control]
In the present invention, it is important to control the spraying based on the measurement results by the measuring device during the spraying. Thereby, the amount of spraying at each part can be adjusted according to the shape of the actual inner surface of the container, so that a refractory layer with a desired thickness can be uniformly formed.

Although the specific control method is not particularly limited, the operation of the spraying device should be controlled so that the refractory layer at each part of the inner surface of the container has a desired thickness by referring to the three-dimensional shape data measured by the measuring device. Bye. In the control, various parameters that affect the final thickness of the refractory layer, such as the nozzle scanning path, scanning speed, nozzle direction, and discharge amount, can be controlled. Further, in the control, physical properties such as viscosity of the monolithic refractory can also be taken into consideration.

In the control, it is also preferable to use three-dimensional shape data (hereinafter referred to as target shape data) that is prepared in advance and represents a target shape. In other words, the target shape data is three-dimensional shape data representing what shape should be repaired by spraying. By comparing the three-dimensional shape data measured by the measuring device and the target shape data, it becomes possible to adjust the spray amount in each part more accurately.

The target shape data can be prepared using any method. For example, target shape data can be created from design data (CAD data, etc.) of a container with a refractory layer formed thereon. Furthermore, for example, when the refractory layer is composed of a layer of regular refractory called permanent brick and a layer of unshaped refractory, only the regular refractory layer is provided, and the unshaped refractory is 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 a desired thickness to the three-dimensional shape data. You can also.

Two preferred aspects of the spray control will be described below.

(Measurement method after removal)
In one embodiment of the present invention, first, in the measurement step, the three-dimensional shape of the inner surface of the container after the refractory layer is removed in the removal step is measured. In the spraying step, the spraying is controlled based on the measurement results (hereinafter referred to as post-removal measurement method).

In this post-removal measurement method, the three-dimensional shape after removal is actually measured and control is performed based on the results, so that repairs can be performed more accurately. In particular, it is preferable to adopt the post-removal measurement method, considering the possibility that the slag and degraded layer may not be removed as planned due to wear and tear on the tools used for removal. Note that even if the three-dimensional shape is measured before removal, the three-dimensional shape can be measured again after removal and the measurement results can be used.

(Measurement method before removal)
In another embodiment of the present invention, in the measuring step, the three-dimensional shape of the inner surface of the container before the refractory layer is removed in the removing step is measured. In the spraying step, the three-dimensional shape of the inner surface of the container after the refractory layer has been removed in the removing step is determined by subtracting the portion actually removed in the removing step from the three-dimensional shape obtained by the measurement. is calculated, and the spraying is controlled based on the calculated three-dimensional shape (hereinafter referred to as pre-removal measurement method).

In this pre-removal measurement method, the three-dimensional shape of the inner surface of the container is measured before the refractory layer is removed in the removal process, but as described later, the three-dimensional shape data before removal is It can also be used to control devices. In that case, the work efficiency is high because it is only necessary to measure once before removal and there is no need to measure the shape again after removal.

As described above, according to the present invention, a refractory layer having a desired thickness can be uniformly formed. Furthermore, according to the present invention, repair work including spraying of monolithic refractories can be mechanized, thereby reducing the burden on workers.

(Removal based on 3D shape data)
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, the refractory layer is measured by the measuring device before removal. , removal can also be performed based on the measurement results (three-dimensional shape data). The embodiment will be described below.

The repair system in this embodiment further includes an arithmetic device that determines the range in which the refractory layer is to be removed 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 by the calculation means.

Furthermore, the repair method in this embodiment includes a calculation step of determining a range in which the refractory layer is to be removed based on the three-dimensional shape obtained in the measurement step, and in the removal step, the calculation step The refractory layer on the inner surface of the container is removed based on the calculation results in .

[Calculation device/calculation process]
In the calculation step, the range in which the refractory layer is to be removed is determined based on the obtained three-dimensional shape of the inner surface of the container. In other words, the three-dimensional shape of the inner surface of the container is the profile of the surface including the refractory layer and the slag attached to the surface, so it is possible that the slag is thickly attached to the convex parts of the profile. Therefore, it can be determined that it is necessary to increase the amount of removal in that area. On the other hand, there is a high possibility that the recessed portions in the profile are the result of peeling off of the deteriorated refractory layer, and therefore, the amount of removal of such portions may be reduced. In other words, it is preferable to determine the amount of refractory layer removed in each part based on the obtained three-dimensional shape of the inner surface of the container.

Note that in determining the removal amount, information such as the usage history of the container can also be taken into consideration. For example, if the three-dimensional shape of the inner surface of the container is regularly measured, it is possible to determine the occurrence of peeling based on the measurement data, and also to specify the area where the peel has occurred. In addition, when peeling does not occur, it is also possible to estimate the approximate thickness of the deteriorated layer formed from the usage history of the container (number of times of use, specified time, etc.). Therefore, in determining the removal amount, the estimated thickness of the deteriorated layer estimated from the usage history of the container can also be used. Further, the thickness of the deteriorated layer formed tends to be saturated at a certain level (for example, 30 to 40 mm). Therefore, the known saturation thickness of the degraded layer can be input into the calculation device in advance and used to determine the removal amount.

In this way, by determining the range to remove the refractory layer based on the obtained three-dimensional shape of the inner surface of the container, the slag and deteriorated layer adhering to the surface of the refractory layer can be more accurately removed, and the deteriorated layer can be removed. The amount of unused refractory layer removed can be reduced.

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

Furthermore, in determining the range in which the refractory layer is to be removed, it is also preferable to use three-dimensional shape data (hereinafter referred to as removal limit data) prepared in advance that represents the removal limit position. Here, the removal limit position refers to a position beyond which removal should not be performed (deeper than the position). When determining the area to remove the refractory layer, refer to the removal limit data to avoid removing too much of the refractory layer or removing parts other than the refractory layer (such as the container body) with tools. It can prevent damage.

For example, if the refractory layer is composed of a layer of regular refractory called permanent brick and a layer of monolithic refractory as described above, only the layer of monolithic refractory is removed, and the layer of monolithic refractory is removed. Preferably, the layer is not removed. Therefore, in such a case, by using the three-dimensional shape data with only a layer of regular refractory and no layer of monolithic refractory as the removal limit data, the removal limit data of the regular refractory can be This can prevent layers from being removed.

As mentioned above, the removal device may include the measurement device. When the removal device includes a measuring device, the three-dimensional shape of the inner surface of the container can be measured with the measuring device, and the removal device can be controlled based on the result.

Further, the removing device may include a second measuring device that measures the three-dimensional shape of the inner surface of the container, which is different from the measuring device (here, the first measuring device). When the removal device is equipped with a second measuring device, the measurement results of the second measuring device can be used to align the removal device. For example, after installing the removal device at a position for performing removal, measurement is performed using a second measurement device, and alignment can be easily performed by using the results. As a more specific example, 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 equipment (such as a factory) where the container is used. After that, second three-dimensional shape data is obtained using a second measuring device included in the removal device, and the first three-dimensional shape data and the second three-dimensional shape data are compared. By doing this, the removal device can be aligned (origin finding). Examples of a method for comparing the first three-dimensional shape data and the second three-dimensional shape data include 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 in this embodiment may further include a control device that monitors the load applied to the removal device and adjusts the range in 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 in which the refractory layer is removed based on the load.

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, their physical properties (such as hardness) are different. Further, even if the refractory layer is the same, the deteriorated portion (deteriorated layer) and the undegraded portion (healthy layer) still have different physical properties. Therefore, by monitoring the load applied to the removal device during removal, it is possible to know changes in the physical properties of the portion currently being removed. Therefore, by adjusting the range in which the refractory layer is removed based on the load, the refractory layer can be removed more accurately.

The specific adjustment method is not particularly limited, but for example, a change in the area being removed is detected based on a change in load (for example, from slag to a deteriorated layer, or from a deteriorated layer to a healthy layer), and based on that, the change in the area is adjusted. It is also possible to determine whether the removal should continue or end. Another example is setting an appropriate threshold value in advance, and comparing the load with the threshold value to determine whether the part currently being removed is slag, a degraded layer, or a healthy layer. However, based on this, it is also possible to determine whether to continue or terminate removal at that site.

By making such adjustments, it is possible to remove slag and removed parts more accurately than when removing based only on the measurement results of the three-dimensional shape, and it is also possible to remove the undeteriorated refractory layer. The amount removed can be further reduced.

For example, when performing the process of removing while scanning the tool with a constant depth of cut in the depth direction, repeating two passes (twice) or more, each time the scanning of one pass (one time) is completed, After evaluating the load value, if it is determined that the load has reached the healthy layer, subsequent paths can be omitted.

Note that as the load to be monitored, any load can be used as long as it is a load on a portion that reflects changes in the physical properties of the portion being removed. Typically, it is preferred to use a load on an actuator that drives a cutting tool. For example, when a cutting tool is rotated by a motor, the load applied to the motor can be monitored. If the motor is a hydraulic motor, the oil pressure may be monitored.

Furthermore, the repair system according to the present embodiment may further include a color information acquisition device that acquires color information of the inner surface of the container, and the arithmetic device further acquires the three-dimensional shape obtained by the measuring means. The range in which the refractory layer is to be removed can also be determined in consideration of the color information obtained by the color information acquisition device.

Moreover, the repair method in this 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 in which the refractory layer is to be removed can also be determined in consideration of the color information obtained in the color information acquisition step.

As described above, slag may be attached to the surface of the refractory layer, but since the refractory and the slag are made of different materials, the color tones of the two are different. Further, even if the refractory layer is the same, the deteriorated part (deteriorated layer) and the undegraded part (healthy layer) still have different color tones. For example, a sound layer that has not deteriorated maintains the original color of the refractory (typically light brown), whereas a deteriorated layer that has deteriorated due to contact with molten metal has a dark hue due to penetration into the metal. It's changing. Therefore, by acquiring color information on the inner surface of the container, it is possible to know the material of that part. Therefore, when performing calculations to determine the range in which the refractory layer is to be removed, by considering the color information in addition to the three-dimensional shape, it is possible to perform the removal more accurately.

The method of using color information is not particularly limited, but a threshold value may be set in advance and the color information may be compared with the threshold value to determine whether the relevant portion 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 is capable of acquiring color information on the inner surface of the container, but typically a digital camera can be used. When using a color information acquisition device, the color information acquisition device and a measuring device used to measure a three-dimensional shape may be separate bodies, or may be integrated. In other words, the measurement device used to measure the three-dimensional shape may also serve as the color information acquisition device. For example, a laser scanner for measuring three-dimensional shapes has a built-in digital camera that takes color images, and each point included in the three-dimensional point cloud data obtained by the laser scanner has color information ( There are also some that can map RGB). Such a laser scanner with a built-in digital camera can be suitably used as a measurement device and a color information acquisition device.

When using a color information acquisition device, the slag attached to the inner surface of the container is removed in the first pass of scanning based on the measured three-dimensional shape, and then the color information is acquired using the color information acquisition device. Based on the results, it is also possible to determine whether the exposed surface is a deteriorated layer or a healthy layer. Thereby, the removal amount for 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) A scanning range is determined based on the three-dimensional shape obtained from the measurement, and the tool is scanned to remove the surface layer of the inner surface of the container (first pass).
(3) Measure the three-dimensional shape (shape 2) of the inner surface of the container after the removal, and from the difference between shape 1 and shape 2, determine which of the following states each part of the inner surface of the container was in after the first pass of removal. Determine whether there is one.
A) State where the slag and deteriorated layer are peeled off as one (the surface of the healthy layer is exposed)
B) Surface where only the slag has peeled off (the surface of the deteriorated layer is exposed)
C) A state where no slag was originally attached, but the deteriorated layer had peeled off (the surface of the healthy layer was 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
*Degree of dent 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 above determination result, a scanning range is determined, and the tool is scanned to remove the inner surface of the container again (second pass). At that time, do not remove the exposed healthy layer.

Claims (6)

A repair system for a structure having a refractory layer on the inner surface,
a measuring device that measures the three-dimensional shape of the inner surface of the structure;
a removal device that removes at least a portion of the refractory layer on the inner surface of the structure;
a spraying device that sprays the monolithic refractory onto the inner surface of the structure;
and a spray control device that controls the spray device based on the results of the measurement ,
The removal device is a repair system that removes at least slag and a deteriorated layer . The measuring device measures the three-dimensional shape of the inner surface of the structure after the refractory layer is removed by the removing device,
The repair system according to claim 1, wherein the spray control device controls the spray device based on the result of the 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 spray control device determines the three-dimensional shape of the inner surface of the structure after the refractory layer has been removed by the removing device by subtracting the portion actually removed by the removing device from the three-dimensional shape obtained by the measurement. The repair system according to claim 1, wherein the spraying device is controlled based on the calculated three-dimensional shape. A method for repairing a structure having a refractory layer on the inner surface, the method comprising:
a measuring step of measuring a 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 spraying step of spraying a monolithic refractory onto the inner surface of the structure,
In the spraying step, spraying is controlled based on the measurement results in the measurement step ,
The repair method includes removing at least the slag and the deteriorated layer in the removal step . In the measurement step, the three-dimensional shape of the inner surface of the structure after the refractory layer is removed in the removal step,
The repair method according to claim 4, wherein in the spraying step, the spraying is controlled based on the result of the measurement. In the measurement step, the three-dimensional shape of the inner surface of the structure before the refractory layer is removed in the removal step,
In the spraying step, the three-dimensional shape of the inner surface of the structure after the refractory layer has been removed in the removing step is calculated by subtracting the portion actually removed in the removing step from the three-dimensional shape obtained by the measurement. The repair method according to claim 4, wherein the spraying is controlled based on the calculated three-dimensional shape.