Device for repairing refractory lining of metallurgical vessel with gunning system

Abstract

The invention relates to a device for a gunning operation for repairing a lining (1L) of a metallurgical vessel (1), comprising:-a movable injection unit (12) provided with a gunning lance (13),-a positioning system (17) for determining a first position (P1) of the movable injection unit relative to the metallurgical vessel,-a data processing system (21) for processing the first position (P1) of the movable injection unit relative to the metallurgical vessel, the data processing system is configured to define a first injection sequence (S1) of the movable injection unit; running a collision test which checks whether the gunning lance contacts the metallurgical vessel at any time during the implementation of the first injection sequence (S1); the gunning system (11) is controlled to apply the first injector sequence (S1) only if the collision test is positive.

Description

Technical Field

[0001] The present invention relates to a device and a process for repairing the lining of a metallurgical vessel. The metallurgical vessel has an opening leading to the interior of the metallurgical vessel. The interior of the metallurgical vessel is lined with a lining configured to contact a metal melt. The present invention allows for substantially automatic repair of the lining and significantly reduces the risk of damage to the equipment. The device and process are particularly suitable for repairing metallurgical vessels such as basic oxygen furnaces (BOFs). Background Art

[0002] In metal forming processes, molten metal is stored in a metallurgical vessel and transferred from one metallurgical vessel to another, to a mold, or to a tool for ingot casting, where the molten metal can be processed. The interior of the metallurgical vessel is lined with a lining made of refractory material to withstand the high temperature of the metal melt and insulate the interior of the metallurgical vessel from the outside. During storage, processing, and flow of the molten metal, the lining is eroded as the local thickness of the lining decreases. Between successive process cycles of the metallurgical vessel, the condition of the lining is inspected to ensure that sufficient thickness remains to run additional process cycles of filling, heating, optionally processing, and emptying the metallurgical vessel. If the local thickness of the lining is too low, it is repaired before running another process cycle.

[0003] Examples of metallurgical vessels in which molten metal is stored and the molten metal undergoes a chemical transformation include basic oxygen furnace converters (BOFs). As Figure 1a shown, a BOF is a metallurgical vessel (1) for reducing the carbon content of carbon-rich molten pig iron by blowing oxygen (3g) through a lance (3) into the molten pig iron through a slag (5s), converting the pig iron into low-carbon steel. As Figure 1b shown, after some process cycles, the lining (1L) is eroded and its actual thickness (t1) is locally reduced compared to the nominal thickness (t0) of the lining (1L) (i.e., t0 < t1) (compare the dashed line indicating the nominal thickness (t0) and the solid line indicating the actual thickness (t1) in Figure 1b .

[0004] When the actual thickness (t1) becomes locally less than a reference thickness, the lining is repaired. As Figure 2 shown, this can be implemented with a gunning system (11) configured to gun a repair material (1R) onto a repair area to be repaired (i.e., at least including a repair area where its actual thickness (t1) is less than the reference thickness). The gunning system (11) is equipped with a gunning lance (13) having a gunning nozzle (13t) at its end. The gunning lance (13) has a degree of freedom allowing for changing its layout such that the gunning nozzle (13t) can reach different positions and orientations relative to a movable injection unit (12). Figure 3a to Figure 3cA perspective view, a side view and a top view respectively show an example of a gunning system (11) comprising a movable spraying unit (12) for displacing the gunning system (11).

[0005] Historically, an operator visually assessed the repair area to be repaired and manually gunned the repair material in the repair area thus identified (1R). Both visually assessing the repair area and manually gunning the repair material require considerable experience because the interior of the metallurgical vessel becomes hot during these operations, reducing the repair time between two consecutive process cycles.

[0006] In recent years, great progress has been made in automating the assessment of the actual local thickness (t1) of the lining and the identification of the location of the repair area. For example, WO 03081157 describes the use of a stereo matrix camera to determine the actual thickness of the lining. Similarly, WO 2007107242, US 2010 / 158361 A1 or US 6780351 describe the use of a scanner system and the accurate measurement of the position of the scanner system relative to the metallurgical vessel. The scanner system is connected to a data processing system that allows the creation of a gunning map that defines the repair area of ​​the lining to be repaired.

[0007] The data processing system described in US 6780351 is further configured to define a sprayer sequence defining a sequence of positions of the gunning nozzles suitable for spraying a defined volume of repair material at a repair area identified in the gunning map corresponding to the positions of the gunning nozzles.

[0008] Document US 5745969 A describes a method and a device for repairing a coke oven. The head of the gunning lance described in this document comprises a laser rangefinder for measuring the depth of a worn or damaged area in the oven wall. The gunning lance is used to repair said worn or damaged area.

[0009] Document US 4649858 A describes a repair device for coke ovens. The head of the lance of this device can be fitted in the coal charging port of the oven so that the damaged part is displayed with a camera and repaired with a plasma spray gun.

[0010] The gunning system usually comprises a movable spraying unit (12) which can be moved into a repair position relative to the metallurgical vessel to be repaired. As described in US 6780351, the movable spraying unit can be connected to a rail system, but in practice, for reasons of saving space on an already crowded platform, the movable spraying unit is simply mounted on wheels and preferably can be freely moved by an operator. The movable sprayer unit is brought into a repair position where a gunning lance having a characteristic number of degrees of freedom is configured to reach different areas of the lining. However, this creates the problem that the movable spraying unit cannot always be in exactly the same repair position relative to the vessel before each gunning operation. Even if a reference repair position (Pr) is marked on the floor, it is unlikely that the operator can accurately position the movable spraying unit at the reference repair position, especially if the markings on the floor fade with time and wear.

[0011] If the movable spraying unit is not positioned precisely at the reference repair position, the spraying sequence established by the data processing system may not be adapted to the actual repair position relative to the metallurgical vessel. This is particularly critical if, like a BOF, the opening of the metallurgical vessel forms a bottleneck, i.e. has a smaller diameter than the interior of the metallurgical vessel. In practice, the data processing system may define a sprayer sequence that is well adapted to repairing the metallurgical vessel, but from the actual position of the movable spraying unit relative to the opening of the metallurgical vessel, the gunning lances are likely to collide with parts of the metallurgical vessel, which may damage both the movable spraying unit and the metallurgical vessel or may not reach distal areas of the lining. Therefore, when using a gunning system comprising a movable spraying unit mounted on wheels, there remains the problem of automatically repairing the lining of the interior of the metallurgical vessel.

[0012] The present invention proposes a solution for further automated repair of linings of metallurgical vessels such as BOFs.These and other advantages of the present invention will be explained in more detail in the following sections. Summary of the invention

[0013] The object of the present invention has been achieved with an apparatus for a gunning operation for repairing a lining of a metallurgical vessel having an opening to the interior of the metallurgical vessel, the interior of the metallurgical vessel being lined with a lining arranged to be in contact with a metal melt, the apparatus comprising:

[0014] a gunning system comprising a movable spraying unit, the movable spraying unit comprising a gunning lance, the gunning lance being equipped with a gunning nozzle and being configured to spray a repair gunning substance against the lining through the gunning nozzle, wherein the movable spraying unit has a degree of freedom for changing the layout, thereby allowing the gunning nozzle to reach different positions relative to the movable spraying unit,

[0015] a data processing system in communication with the mobile spraying unit and configured to obtain a gunning map defining a repair area of ​​the lining to be repaired,

[0016] in,

[0017] - the device comprises a positioning system in communication with the data processing system and configured to determine by measurements and preferably some numerical calculations a first position of the movable injection unit relative to the metallurgical vessel and for transmitting the first position to the data processing system, characterized in that

[0018] - the data processing system is configured to establish a first continuous nozzle position sequence, which defines a spatial layout sequence of the gunning spray gun, thereby allowing the gunning nozzle to reach a spraying position when the movable spray unit is located at a first position determined by the positioning system through measurement, thereby allowing the repair gunning material to be gunned at the corresponding repair area defined in the gunning map, and the establishment of the first continuous nozzle position sequence includes a reachability test, which checks whether all areas of the gunning map can be reached when the movable spray unit is located at the first position, characterized in that

[0019] - the geometrical characteristics of the metallurgical vessel are stored in the memory of the data processing system and are characterized in that

[0020] the data processing system is configured to compare the spatial layout of the gunning lances defined in the first consecutive gunning nozzle position sequence with geometrical features of the metallurgical vessel stored in a memory of the data processing system in order to perform a collision test to determine whether the first consecutive gunning nozzle position sequence can be performed without any part of the gunning lances contacting any point of the metallurgical vessel at any time, and to control the gunning system in the following manner,

[0021] if the conclusion of the reachability test is that all areas of the gunning pattern are reachable and the conclusion of the collision test is that the gunning system is able to implement the first sequence of consecutive gunning nozzle positions without the gunning lance contacting any point of the metallurgical vessel at any time, the data processing system controls the gunning system to apply a first injector sequence defining a gunning flow rate and a displacement speed of the gunning nozzle during implementation of the first sequence of consecutive gunning nozzle positions,

[0022] If the reachability test concludes that not all areas of the gunning pattern can be reached and / or the collision test concludes that the gunning system cannot implement the first sequence of consecutive gunning nozzle positions without the gunning lances contacting any point of the metallurgical vessel at any time, the data processing system controls the gunning system not to apply the first injector sequence.

[0023] The gunning system comprises a movable spraying unit and a source of repair gunning material. The movable spraying unit comprises a body and a gunning lance, the body being movable and preferably mounted on wheels, the gunning lance comprising a gunning nozzle. The gunning map can be obtained in any manner. For example, the data processing system can download the gunning map, receive the gunning map, and determine the gunning map based on a measurement map of the actual thickness. The gunning map may include a collection of areas selected from the actual thickness map. The positioning system may include elements outside the movable spraying unit and the container, the elements being preferably fixed. The positioning system may include elements attached to the movable spraying unit and / or the container, the elements being movable. The positioning system may include an information processing unit, such as a microprocessor. The positioning system performs one or several measurements and preferably performs some numerical calculations to determine the first position. The geometric features of the metallurgical container include, in particular, the shape of the opening of the metallurgical container. The determination of the first spraying sequence takes into account the first continuous nozzle position sequence.

[0024] The data processing system may be at least partially distributed across several facilities (e.g., partly on a spraying system, partly on a computer inside a factory, partly on a positioning system) and / or distributed across several locations, for example in a "cloud computing" environment or as "software as a service" (SaaS). For example, at least some operations may be performed by a group of computers (as an example, machines including processors), which are accessible via a network (e.g., the Internet) and via one or more appropriate interfaces (e.g., application program interfaces (APIs)).

[0025] In the framework of this document, the "position" of an element (like a vessel, a movable spraying unit, a gunning lance and a gunning nozzle) preferably includes the orientation of said element. For example, the position of a basic oxygen furnace includes its tilt angle. In the framework of this document, the "position" of a movable spraying unit is the position relative to the metallurgical vessel, unless the context states otherwise, and is preferably the position of the body of the movable spraying unit.

[0026] In the present invention, the reachability test and the collision test are completed before the gunning system starts to apply the first injector sequence. In other words, the movement of the gunning nozzle according to the first consecutive gunning nozzle position sequence does not start as long as the reachability test and the collision test for the entire first consecutive gunning nozzle position sequence are not completed. The reachability test is completed before the collision test.

[0027] In an embodiment of the invention, the apparatus is configured to indicate that the first spraying sequence cannot be implemented if the reachability test concludes that not all areas of the gunning pattern can be reached and / or the collision test concludes that the gunning system cannot implement the first continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time.

[0028] The device may indicate how to reach an injection position at which the first injection sequence can be carried out without contact between the movable injection unit and the metallurgical vessel, wherein the injection position is preferably a predefined position.

[0029] In an embodiment of the invention, in case the reachability test concludes that not all areas of the gunning pattern are reachable and / or the collision test concludes that the gunning system is not able to implement a first continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, the data processing system is configured to:

[0030] Indicates that the movable spray unit must be moved,

[0031] Controlling the positioning system to position the movable spray unit to a second position,

[0032] establishing an alternative continuous nozzle position sequence defining a sequence of spatial arrangements of the gunning spray guns, allowing the gunning nozzles to reach a spraying position in case the movable spraying unit is in the second position, allowing the repair gunning substance to be gunned at the corresponding repair area defined in the gunning map, the establishing of the alternative continuous nozzle position sequence comprising an alternative reachability test, which checks whether all areas of the gunning map are reachable in case the movable spraying unit is in the second position,

[0033] comparing the spatial arrangement of the gunning lances defined in the alternative continuous nozzle position sequence with the geometrical features of the metallurgical vessel stored in the memory of the data processing system to perform an alternative collision test to determine whether the alternative continuous nozzle position sequence can be performed without any part of the gunning lance contacting any point of the metallurgical vessel at any time, and controlling the gunning system in the following manner:

[0034] o if the alternative reachability test concludes that all areas of the gunning pattern are reachable and the alternative collision test concludes that the gunning system is capable of implementing the alternative continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, then the data processing system controls the gunning system to apply the alternative injector sequence thereby defining a gunning flow rate and a displacement rate of the gunning nozzle during implementation of the alternative continuous nozzle position sequence,

[0035] o If the alternative reachability test concludes that not all areas of the gunning pattern are reachable and / or the alternative collision test concludes that the gunning system is unable to implement the alternative continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, then the data processing system controls the gunning system to not apply the alternative injector sequence.

[0036] The second position is preferably closer to the injection position than the first position.

[0037] In an embodiment of the invention, the positioning system is configured to determine the position of the metallurgical vessel by measuring and preferably by some numerical calculations, and for determining a first position of the movable injection unit relative to the metallurgical vessel using said vessel position.

[0038] The container position is preferably determined at least once before scanning and at least once before gunning.

[0039] In an embodiment of the invention, in case the reachability test concludes that not all areas of the gunning pattern are reachable and / or the collision test concludes that the gunning system is not able to implement a first continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, the data processing system is configured to:

[0040] indicating that the position of the metallurgical vessel must be changed, and preferably indicating how to change the position of the metallurgical vessel,

[0041] The control positioning system determines by measurement the new position of the metallurgical vessel and the new relative position of the movable injection unit with respect to the metallurgical vessel,

[0042] establishing a further continuous sequence of nozzle positions defining a sequence of spatial arrangements of the gunning spray guns, allowing the gunning nozzles to reach a spraying position with the movable spraying unit in the new relative position, allowing the repair gunning substance to be gunned at the corresponding repair area defined in the gunning map, the establishing of the further continuous sequence of nozzle positions comprising a further reachability test, the further reachability test checking whether all areas of the gunning map are reachable with the movable spraying unit in the new relative position,

[0043] comparing the spatial arrangement of the gunning lances defined in the further consecutive sequence of nozzle positions with the geometrical features of the metallurgical vessel stored in the memory of the data processing system in order to perform a further collision test to determine whether the further consecutive sequence of nozzle positions can be performed without any part of the gunning lances contacting any point of the metallurgical vessel at any time, and controlling the gunning system in the following manner:

[0044] o if the conclusion of the further reachability test is that all areas of the gunning pattern are reachable and the conclusion of the further collision test is that the gunning system is capable of implementing another continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, the data processing system controls the gunning system to apply another injector sequence, thereby defining the gunning flow rate and displacement speed of the gunning nozzle during implementation of the further continuous nozzle position sequence,

[0045] ○ If another reachability test concludes that not all areas of the gunning pattern can be reached and / or another collision test concludes that the gunning system cannot implement another continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, then the data processing system controls the gunning system not to apply another injector sequence.

[0046] In an embodiment of the invention, in case the reachability test concludes that not all areas of the gunning pattern are reachable and / or the collision test concludes that the gunning system is not able to implement a first continuous nozzle position sequence without the gunning lance contacting any point of the metallurgical vessel at any time, the data processing system is configured to:

[0047] indicating that the gunning nozzle must be removed and replaced by a new gunning nozzle of different geometry, preferably indicating the tip inclination angle of the new gunning nozzle relative to the gunning lance and / or the length of the new gunning nozzle,

[0048] · Executing the steps as defined above, including: establishing a sequence of consecutive nozzle positions, the establishing of the sequence of consecutive nozzle positions including a reachability test; performing a collision test; and if the test is successful, performing gunning in a sequence of injectors.

[0049] In an embodiment of the invention, in case the reachability test concludes that not all areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of consecutive nozzle positions without the gunning lance contacting any point of the metallurgical vessel at any time, the data processing system is configured to list unreachable repair areas, the unreachable repair areas being defined as repair areas corresponding to spraying positions that are not reachable by the spray tip from the first position or that are reachable only by contacting a point of the metallurgical vessel, and determine whether the unreachable repair areas can be used for another process cycle without repair material,

[0050] in the case that all inaccessible repair areas can be used again in at least a process cycle without repair, the data processing system is configured to modify the first spraying sequence by removing spraying positions corresponding to the inaccessible repair areas to define a second sprayer sequence, and to control the gunning system to implement the second sprayer sequence,

[0051] In case at least one inaccessible repair area cannot be used again in a process cycle without repair, the data processing system is configured to control the gunning system not to apply the second injector sequence.

[0052] In an embodiment of the present invention, the determination of the first injector sequence takes into account the minimum amount of repair spraying material to be applied to each repair area, and / or the determination of the first continuous nozzle position sequence takes into account the range of distances separating the spraying nozzle from the repair area at each spraying position, and / or the determination of the first continuous nozzle position sequence takes into account the range of orientations of the spraying nozzle relative to the repair area, and / or the determination of the first spraying sequence takes into account the minimum amount of repair spraying material according to the spraying diagram.

[0053] In an embodiment of the present invention, the flow rate and the displacement speed are controlled by at least one of the following:

[0054] the flow rate is constant throughout the implementation of the first injector sequence and either the displacement speed is constant or the displacement speed varies depending on the injection position of the gunning nozzle, or

[0055] The flow rate varies according to the spraying position of the gunning nozzle, and either the displacement speed is constant or the displacement speed varies according to the spraying position of the gunning nozzle.

[0056] In an embodiment of the present invention, the first spraying sequence comprises the gunning nozzle passing through a series of spraying positions several times to increase the volume of the repair gunning material sprayed on the corresponding repair area.

[0057] In an embodiment of the present invention, the geometrical features of the metallurgical vessel stored in the memory of the data processing system are the topography of both the lining and at least a portion of the outer surface of the metallurgical vessel, including the openings.

[0058] In an embodiment of the present invention, the device includes a scanner system, which is configured to scan an area of ​​the lining to generate a scanned topography of the area of ​​the lining; the scanner system communicates with a data processing system; the data processing system is configured to determine the actual thickness of the lining based on the scanned topography obtained by the scanner system according to the spatial coordinates (x, y, z) and is used to define a spray patching map.

[0059] The scanning area of ​​the liner may be the entire surface of the liner or a portion thereof.Preferably, the scanner system is a movable scanner system.Before the movable spraying unit is placed at the first position, the scanner system is moved away from the container.

[0060] In an embodiment of the present invention, the geometrical characteristics of the metallurgical vessel stored in the memory of the data processing system include real-time geometrical characteristics of the opening measured by the scanner system.

[0061] The invention also relates to a process for repairing the lining of a metallurgical vessel, the process comprising:

[0062] (S1) providing an apparatus according to any one of the preceding claims,

[0063] (S2) obtaining a gunning map defining a repair area of ​​the lining to be repaired,

[0064] (S3) Preferably, the metallurgical vessel and / or the movable injection unit is moved,

[0065] (S4) determining a first position of the movable ejection unit by means of measurements performed by the positioning system and transmitting the first position to the data processing system,

[0066] (S5) establishing, with the data processing system, a first continuous sequence of nozzle positions with the movable jetting unit being at a first position as determined by the positioning system and by measurements performed by the positioning system, the establishing of the first continuous sequence of nozzle positions comprising performing a reachability test that checks whether all areas of the spray patch pattern are reachable with the movable jetting unit being at the first position,

[0067] (S6) comparing the spatial arrangement of the gunning lances defined in the first continuous sequence of nozzle positions with geometric features of the metallurgical vessel stored in a memory of the data processing system in order to perform a collision test that determines whether the first continuous sequence of nozzle positions can be implemented without any part of the gunning lances contacting any point of the metallurgical vessel at any time,

[0068] (S7) controlling the gunning system by the data processing system in the following manner:

[0069] if all areas of the gunning pattern are reachable with the movable gunning unit in the first position and if the gunning system is capable of implementing a first sequence of consecutive nozzle positions from the first position of the movable gunning unit without the gunning lances contacting any point of the metallurgical vessel at any time, then the data processing system controls the gunning system to apply a first sequence of injectors,

[0070] If not all areas of the gunning pattern can be reached with the movable gunning unit in the first position and / or if the gunning system cannot perform a first continuous nozzle position sequence from the first position of the movable gunning unit without the gunning lances contacting any point of the metallurgical vessel at any time, the data processing system controls the gunning system not to apply the first injector sequence.

[0071] The steps of the method for repairing a lining are potentially performed in the order provided herein. However, one or some of the steps may be interchanged without departing from the scope of the present invention. For example:

[0072] Step (S7) is after each of steps (S1) to (S6);

[0073] Step (S6) is after each of steps (S1) to (S5);

[0074] Step (S5) is after each of steps (S1) to (S4);

[0075] Step (S4) is after step (S3);

[0076] • As will be readily appreciated by a person skilled in the art, some exchanges may be performed between steps (S1), (S2), (S3) and (S4), like step (S2) may be performed after step (S4).

[0077] It is also possible to execute a process cycle while determining the second injector sequence.

[0078] In an embodiment of the present invention, the apparatus comprises a scanner system configured to scan an area of ​​the lining to generate a scanned topography of the area of ​​the lining and communicate with a data processing system, the data processing system being configured to determine the actual thickness of the lining according to spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system and used to define a gunning map, the method comprising the following steps:

[0079] Positioning the metallurgical vessel to expose its opening to the scanner system,

[0080] moving the scanner system into a scanning position and scanning an area of ​​the liner to produce a scanned topography of the area of ​​the liner,

[0081] determining the actual thickness of the lining according to the spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system using a data processing system, and

[0082] A data processing system is used to define a gun patch map that defines a repair area of ​​the lining to be repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In these drawings,

[0084] Figure 1a A basic oxygen furnace converter (BOF) is shown using an oxygen lance to blow oxygen to convert pig iron into mild steel.

[0085] Figure 1b shows the liner after one or more process cycles of erosion. Figure 1a BOF.

[0086] Figure 2 A gunning system is shown which includes a gunning gun which applies a repair substance to locations which are subject to severe erosion.

[0087] Figure 3a to Figure 3c An embodiment of a gunning system is shown in (a) a perspective view, (b) a side view and (c) a top view, which includes a movable spraying unit provided with a gunning lance and the gunning lance having its degrees of freedom.

[0088] Figure 4a and Figure 4b A 2D representation of the actual thickness of the lining is shown: (a) Figure 1b The cylindrical part of the BOF, and (b) the bottom of the BOF.

[0089] Figure 4c exist Figure 4a The spray patch diagram is shown in the figure.

[0090] Figure 5a and Figure 5b Determination of the position of the container and the position (P1) of the movable spraying unit is shown: (a) side view, (b) top view.

[0091] Figure 6a An embodiment is shown, wherein the gunning lances can reach all areas of the liner without contacting the metallurgical vessel, here the BOF, when the movable spraying unit is at a reference position (xr, yr) with a 90° reference orientation.

[0092] Figure 6bAn embodiment is shown, wherein when the movable spraying unit is at a reference position (xr, yr) but has an orientation different from the 90° reference orientation, the gunning lance can still reach all areas of the liner without contacting the BOF.

[0093] Figure 6c An embodiment is shown, wherein when the movable spraying unit is at a position (P1) different from the reference position (xr, yr), despite its 90° reference orientation, the gunning lance cannot reach all areas of the liner without contacting the BOF.

[0094] Figure 6d An embodiment is shown, wherein the gunning lance cannot reach all areas of the liner without contacting the BOF when the movable spraying unit is at a position (P1) different from the reference position (xr, yr), with an orientation different from the 90° reference orientation.

[0095] Figure 6e An embodiment is shown, wherein when the movable spraying unit is at a position (P1) different from the reference position (xr, yr), despite its 90° reference orientation, the gunning lance cannot reach all areas of the liner without contacting the BOF.

[0096] Figure 7a and Figure 7b Shown are (a) a side view and (b) a top view of a scanner system configured to create a scanned topography of an area of ​​a liner and to create a gunning map (G1).

[0097] Figure 7c and Figure 7d A (c) side view and a (d) top view are shown of bringing the movable jetting unit into a repair position and measuring a first position (P1) of the movable jetting unit relative to the BOF.

[0098] Figure 7e and Figure 7f (e) Side view and (f) top view showing determination of whether a first continuous sequence of nozzle positions can be performed without any part of the gunning lance contacting any point of the metallurgical vessel at any time.

[0099] Figure 8 A flow chart of a process according to the invention is shown.

[0100] Fig. 9 A flow chart showing a preferred embodiment of the process according to the invention is shown.

[0101] Fig.10 A flow chart showing an alternative preferred embodiment of the process according to the invention is shown. DETAILED DESCRIPTION

[0102] The present invention relates to a device for a gunning operation for repairing a lining (1L) of a metallurgical vessel (1), the metallurgical vessel having an opening leading to the interior of the metallurgical vessel lined with the lining (1L), the lining being configured to come into contact with a metal melt. Preferably, at least a portion of the lining (1L) is concave. Starting from the opening, the interior of the metallurgical vessel extends at least longitudinally (i.e. in a direction perpendicular to the surface of the opening) and also preferably radially (i.e. in at least one direction parallel to the surface of the opening) over at least a portion of the metallurgical vessel. In other words, the opening of the metallurgical vessel forms a bottleneck, i.e. has a smaller diameter than a portion of the interior of the metallurgical vessel adjacent to the opening. As Figures 7a to 7d As shown in , the apparatus preferably includes a scanner system (31) configured to scan an area of ​​the lining (1L) to generate a scanned topography of the area of ​​the lining, and includes a gunning system (11), the gunning system including a movable spraying unit (12), the movable spraying unit including a body and a gunning gun (13), the gunning gun including a gunning nozzle (13t) and configured to gun the lining (1L) with a gunning material (1R) through the gunning nozzle (13t). The gunning material is made of a refractory material that adheres to the lining and increases its thickness. As shown in Figure 3a to Figure 3c As shown in , the movable spraying unit (12) is preferably mounted on wheels, thereby allowing it to be freely displaced on a substantially flat surface. Figure 3a to Figure 3c It is also shown that the gunning lance (13) has a degree of freedom for changing the layout, thereby allowing the gunning nozzle (13t) to reach different positions relative to the movable spraying unit (12) (in Figure 3a to Figure 3c During gunning, when the gunning lances (13) assume different arrangements, the body of the movable spray unit (12) does not move.

[0103] The apparatus further comprises a data processing system (21) in communication with the scanner system (31) and the gunning system (11). In an embodiment, the data processing system (21) is configured to determine the actual thickness (t1) of the lining (1L) according to the spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31). The data processing system is further configured to define a gunning map (G1) which defines a repair area of ​​the lining to be repaired. The gunning map (G1) can be provided to the data processing system (21) or determined by the data processing system (21) based on received data.

[0104] Because the movable spraying unit (12) can preferably be moved on its wheels and / or the metallurgical vessel (1) can be moved, the device comprises a positioning system (17) which communicates with the data processing system (21) and is configured to determine a first position (P1) of the movable spraying unit (12) relative to the metallurgical vessel (1). The first position (P1) is preferably related to the body of the movable spraying unit (12) and is independent of the gunning lances (13). The position of the gunning lances (13) can be determined based on the position of the body and its layout. The first position (P1) is determined by providing one or more measurements of the position of the movable spraying unit (12). In an embodiment, the position of the metallurgical vessel (1) can be determined by the positioning system by providing one or more measurements of the position of the metallurgical vessel (1). In another embodiment, the position of the metallurgical vessel (1) can be brought into a reference position that is reproducible in the device according to the invention. The position of the metallurgical vessel is preferably used to determine the first position (P1) of the movable spraying unit (12) relative to the metallurgical vessel (1). The first position (P1) is transmitted to a data processing system (21) which uses the first position to establish a first sequence of consecutive nozzle positions (T1) defining a sequence of spatial arrangements of the gunning guns (13) allowing the gunning nozzles (13t) to reach spraying positions at which the repair gunning material (1R) is gunned at the corresponding repair areas defined in the gunning map (G1). The establishment of the first sequence of consecutive nozzle positions (T1) takes into account that the movable gunning unit (12) is located at the first position (P1) as determined by the positioning system (17) and by measurements performed by the positioning system (17).

[0105] The establishment of a first consecutive sequence of nozzle positions (T1) includes a reachability test, which digitally checks whether all areas of the spraying pattern (G1) are reachable in the measured movable spraying unit position (P1). With the movable spraying unit (12) in the first position (P1), the first consecutive sequence of nozzle positions (T1) can be established, and a collision test is performed as described below.

[0106] The geometrical features of the metallurgical vessel (1) are stored in a memory of a data processing system (21), which can compare the spatial arrangement of the gunning lances (13) defined in the first sequence of consecutive nozzle tip positions (T1) with the stored geometrical features before implementing the first sequence of consecutive nozzle positions (T1). It can thus be determined digitally whether the first sequence of consecutive nozzle positions (T1) can be implemented without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time. Depending on the result of the comparison, the data processing system (21) controls the gunning system (11) in different ways.

[0107] if the movable spraying unit (12) can implement a first continuous sequence of nozzle positions (T1) from a first position (P1) of the movable spraying unit without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) to apply a first injector sequence (S1) thereby defining a gunning flow rate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during the implementation of the first continuous sequence of nozzle positions (T1),

[0108] On the other hand, if the movable spraying unit (12) is not capable of carrying out the first continuous nozzle position sequence (T1) from the first position (P1) of the movable spraying unit without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time and / or is not capable of establishing the first continuous nozzle position sequence (T1), then the data processing system (21) controls the gunning system (11) not to apply the first sprayer sequence (S1).

[0109] Metallurgical vessels (1)

[0110] All metallurgical vessels having an internal volume accessible from the outside through an opening (1o) and defined by a wall comprising an outer shell structure, usually made of metal, the inner surface of which is lined with a lining (1L) made of a refractory material can be repaired with the device and process of the invention. The invention is particularly advantageous for use with metallurgical vessels having an opening (1o) forming a bottleneck having a diameter smaller than the diameter of the internal volume. Thus, the access of the gunning lance (13) of the gunning unit (11) to the internal volume is limited by the smaller diameter of the opening, thereby increasing the risk of damage caused by contact between the gunning lance (13) and the wall of the metallurgical vessel (1).

[0111] A typical example of such a metallurgical vessel (1) is a Basic Oxygen Furnace Converter (BOF) for converting high carbon content pig iron into low carbon steel by blowing in oxygen. Figure 1a and Figure 1bAn example of a BOF is shown in . The BOF comprises three parts: a spherical bottom, a cylindrical central part, and an upper cone truncated by an opening (1o). The BOF also comprises a tapping hole in the cylindrical central part or at the upper cone for pouring low carbon steel after the oxidation reaction is finished. The ratio of the internal height to the internal width of the BOF is typically between 1.2 and 1.6. In use, the lining (1L) is exposed to harsh oxidizing conditions at high temperatures and corrodes most severely at the level of the contact line with the slag (5s). Because only about 8% to 12% of the internal volume of the BOF is filled with molten pig iron in use, the corrosion is strongest between the spherical bottom and the lower part of the cylindrical central part (i.e., very far from the opening (1o)). This makes it more difficult to introduce the gunning lance (13) deep into the internal volume through the opening (1o).

[0112] The BOF is mounted on a tilting hinge, allowing the BOF to rotate (tilt) around a horizontal axis. During the conversion process, the BOF is maintained so that the opening (1o) is located at the highest point above the spherical bottom. This layout is referred to herein as a "vertical layout". Figure 1a and Figure 1b The BOF can be tilted to lower the opening (1o) by up to 90° until Figure 2 The layout shown in is referred to herein as a "horizontal layout". The tilt angle can be controlled to any value between 0° and 90° to place the BOF in a "tilted layout" defined as any layout different from the vertical layout. The tilted layout is used for loading raw materials, sampling the melt, pouring steel from the BOF through the tapping hole, and for repairing the lining (1L). In fact, it is easier to introduce the gunning lance (13) into the internal volume through the opening when it is in a lower position, such as Figure 2 as shown in .

[0113] Due to the bottleneck formed by the opening (1o), the BOF is described as a particularly complex embodiment of a metallurgical vessel repaired by gunning in a (semi-)automatic manner. However, the invention is not limited to the BOF and can be applied to any metallurgical vessel comprising a lining that can be repaired by gunning with a gunning material (1R).

[0114] Scanner Systems(31)

[0115] Any scanner system (31) available on the market and configured to scan an area of ​​a liner (1L) of a thermometallurgical vessel (1) to generate a scanned profile of the area of ​​the liner may be used in the present invention. Preferably, the scanner system comprises a laser scanner which emits laser beams which are collected by a photodetector after reflection on the walls of the internal volume. For example, a laser scanner system of the type described in US Pat. No. 6,780,351 may be used. Figures 7a to 7d As shown in , the scanner system (31) can be mounted on a structure that ensures that the light beam emitter is always located at the same position. However, the scanner system (31) can be mounted on a movable platform that can move freely. Therefore, it is preferred to position the scanner system (31) using a positioning system (17) to accurately define the position of the scanner system (31). This can be achieved by measuring the distance between the scanner system (31) and two or three fixed points.

[0116] Gunning System(11)

[0117] like Figure 3a to Figure 3c As shown in FIG. 1 , the gunning system (11) of the present invention is of the type comprising a movable gunning unit (12) which can preferably be freely moved by an operator (e.g., with wheels). The movable gunning unit (12) is provided with a gunning gun (13) equipped with a gunning nozzle (13t). The gunning nozzle (13t) can be aligned with the gunning gun (13), or, as Figure 3a As shown in FIG. 1 , the spray nozzle can form a tip tilt angle with the spray gun (13) The gunning nozzle (13t) can preferably be provided with different lengths and / or different tip inclination angles. The different gunning nozzles (13t) can be changed. Figure 2 As shown in the figure, the mobile spraying unit (12) can be connected to a repair gunning material (1R) source (15) and is configured to spray the repair gunning material (1R) from the source (15) against the lining (1L) through the gunning nozzle (13t). The repair gunning material (1R) preferably includes refractory material and water. The source (15) preferably includes a refractory material source and a water source. The refractory material and water can be mixed in the mobile spraying unit (12), for example, in the gunning gun (13).

[0118] The gunning lance (13) features degrees of freedom which allow the layout of the gunning nozzles (13t) to be varied to reach different positions relative to the movable spraying unit (12), and in particular relative to the body of the movable spraying unit (12). Figure 3a to Figure 3c In the embodiment shown in FIG. 1 , the gunning lance has at least four degrees of freedom, such as it can:

[0119] ·like Figure 3b As shown in , the angle of rotation in the plane (X, Z) around the Y axis perpendicular to the plane (X, Z) is

[0120] ·like Figure 3c As shown in , the angle of rotation in the plane (X, Y) around the Z axis perpendicular to the plane (X, Y) is

[0121] ·like Figure 3a As shown in This allows the gunning nozzle to rotate around the aperture cone and

[0122] ·Translation distance (Δx) along the direction of the gunning gun (13),

[0123] Additionally (not shown) the gunning lance (13) can also be optionally translated vertically along the Z axis to align it with the opening (1o) of the metallurgical vessel (1).

[0124] By means of the above-mentioned degrees of freedom, the gunning nozzle (13t) can reach the Figure 3a to Figure 3c In order to be suitable for repairing a given metallurgical vessel (1), the gunning system (11) preferably has a repair volume at least equal to the internal volume of the metallurgical vessel, and is preferably capable of enclosing the internal volume to ensure that the gunning nozzle (13t) can reach all points of the liner (1L) within the internal volume when the movable gunning unit (12) is at a given position, preferably at a reference position, outside the metallurgical vessel (1). Figure 6a and Figure 6b As shown in .

[0125] The device is also equipped with a positioning system (17), which is preferably configured to determine the container position of the metallurgical container and determine a first position (P1) of the movable injection unit (12) based on the container position, the first position being a position relative to the metallurgical container. The positioning system (17) may include an optical system that emits a laser beam to measure the distance and / or angle of the movable injection unit (12) relative to two or three reference points (1RP), such as Figure 5a , Figure 5b , Figure 7c and Figure 7d , where the dashed line represents the laser beam. The position (P1) of the movable jet unit (12) needs to be known to establish the sequence of consecutive nozzle positions (T1), because the positioning of the movable jet unit (12) at the repair position cannot be accurately reproduced by the operator. The positioning system (17) may include a tilt angle measurement system next to the trunnion of the metallurgical vessel (1), such as Figure 5b and Figure 7d The rectangle in the figure is shown as follows.

[0126] Any gunning system (11) available on the market can be used for the present invention, as long as it is mobile, has a suitable repair volume as defined above, has a gunning lance (13) with a gunning nozzle (13t) at the end of the gunning lance, and is suitable for being positioned by a positioning system (17).

[0127] Data processing system (21)

[0128] The data processing system (21) is a key point of the present invention. The data processing system is configured to perform a plurality of operations. The data processing system controls the gunning system (11) after a gunning map (G1), a first continuous nozzle position sequence (T1), and a first injection sequence (S1) have been established. The data processing system can also control the positioning system and / or the scanner system.

[0129] Data processing system (21) and gunning map (G1)

[0130] In an embodiment of the present invention, the data processing system (21) is connected to the scanner system (31) and is configured to determine the actual thickness (t1) of the lining (1L) based on the scanned topography obtained by the scanner system (31) according to the spatial coordinates (x, y, z). The data processing system (21) is also configured to define the gunning map (G1) possibly taking into account external instructions, the gunning map defining the repair area of the lining to be repaired. The gunning map (G1) can be established based on the previously determined actual thickness (t1). For example, a thickness map of the actual thickness (t1) of the type shown in Figure 4a and Figure 4b can be established. Figure 4c The repair area forming the gunning map (G1) is shown. It preferably includes the area of the thickness map having an actual thickness (t1) below the corresponding minimum thickness (tm) (i.e., t1 < tm). The repair area is repaired by gunning the repair gunning material (1R) to increase the actual thickness above the minimum thickness (tm), preferably above the target thickness, so as to prevent molten metal from reaching the metal shell of the metallurgical vessel and melting through the metal shell in the next process cycle, which may bring potential catastrophic consequences.

[0131] Data processing system (21) and positioning system (17)

[0132] The data processing system (21) is connected to the positioning system (17), which, after the container position and the first position (P1) of the movable injection unit (12) have been determined, transmits the coordinates of the first position (P1) to the data processing system (21). In the framework of this document, the transmitted coordinates of the first position (P1) can be data that enables the coordinates of the first position (P1) to be determined rather than the actual coordinates of the first position (P1) itself.

[0133] The data processing system (21) is configured to establish a first continuous nozzle position sequence (T1) by combining each of the first position (P1) of the movable spraying unit (12), the repair volume preferably representing the gunning system (11), and the gunning map (G1). The first continuous nozzle position sequence (T1) defines a spatial layout sequence of the gunning spray guns (13) allowing the gunning nozzles (13t) to reach the spraying positions. Considering that the movable spraying unit (12) is located at the first position (P1), the spraying positions allow the repair gunning substance (1R) to be gunned at the repair area defined in the gunning map (G1). The spraying positions correspond to the repair area to be gunned. In other words, the first continuous nozzle position sequence (T1) defines the circuit that the gunning nozzle (13t) must follow in order to reach each repair area defined in the first gunning map. This also includes limiting the movement of the gunning lance (13) and the gunning nozzle (13t) along the corresponding degrees of freedom required to move the gunning nozzle (13t) along the loop when the movable gunning unit (12) is fixed upright at the first position (P1). When establishing the first continuous nozzle position sequence (T1), the data processing system also takes into account the distance range and orientation range of the gunning nozzle relative to the surface of the repair area. The distance range and the orientation range are data stored in the memory of the data processing system and depend on the movable gunning unit, in particular the gunning nozzle. The distance range ensures on the one hand that the gunning nozzle never contacts the surface of the repair area and that the repair gunning material does not rebound too much when projecting the repair gunning material against the surface of the repair area. In addition, the distance range ensures that the gunning nozzle is never too far away from the surface of the repair area so that the repair gunning material can be effectively projected onto the surface of the repair area. Depending on the topography of the repair area, the orientation range of the gunning nozzle may be important.

[0134] The gunning pattern (G1) preferably comprises a minimum amount of repair gunning material (1R) to be applied to each repair area. More preferably, the gunning pattern comprises a range of amounts of repair gunning material (1R) to be applied to each repair area, including a minimum amount and a maximum amount, to avoid wastage of repair gunning material and to avoid the formation of protrusions on the surface of the lining (1R) due to excess repair material (1R).

[0135] The establishment of the first continuous sequence of nozzle positions (T1) includes a reachability test, which checks whether all areas of the spraying map (G1) can be reached with the movable spraying unit (12) in the first position (P1). If the movable spraying unit (12) is in the first position (P1) as determined by the positioning system (17) by measurement, then the reachability test is negative, i.e. failed, which does not allow the spraying nozzle to reach all repair areas identified in the spraying map (G1). For example, if the spraying gun (13) is too short to reach one of the repair areas, then the reachability test is negative. If the reachability test is negative, then the data processing system can inform the operator that the first continuous sequence of nozzle positions (T1) cannot be established with the movable spraying unit (12) in the first position (P1) and that the movable spraying unit should be moved to a second position. The data processing system is preferably configured to indicate where to optimally shift the movable spraying unit (12) to allow an alternative continuous sequence of nozzle positions (T1) to be established from the second position.

[0136] Data processing system (21), geometric features of metallurgical container (1), and collision test

[0137] The data processing system (21) comprises a memory in which the geometrical features of the metallurgical vessel (1) are stored. The geometrical features of the metallurgical vessel (1) include the internal volume and preferably the exterior of the vessel. The geometrical features of the metallurgical vessel (1) may be a technical drawing of the metallurgical vessel (e.g., an AUTOCAD file) and / or it may be the result of a stereoscopic image of the interior and exterior of the metallurgical vessel (1). The geometrical features of the metallurgical vessel (1) include the geometrical features of the opening (1o), which is critical. Considering that the diameter of the opening (1o) may be reduced due to the presence of solidified metal protrusions, at least the geometrical features of the opening (1o) are preferably the result of measurements and / or mathematical models of the deposits on the opening over time.

[0138] In a preferred embodiment, the geometrical features of the metallurgical vessel (1) stored in the memory of the data processing system (21) include real-time geometrical features of at least the opening (1o) measured by the scanner system (31). Preferably, the geometrical features of the metallurgical vessel (1) may include the topography of both the lining (1L) and the outer surface of the metallurgical vessel (1), the outer surface including the opening (1o). The topography of the area of ​​the lining (1L) is preferably a scanned topography generated by the scanner system (31).

[0139] like Figure 7e and Figure 7fAs schematically shown in FIG. 1 , the data processing system (21) is configured to run a collision test by comparing the spatial arrangement of the gunning lances (13) defined in the first continuous sequence of nozzle positions (T1) with geometric features of the metallurgical vessel (1) stored in a memory of the data processing system (21). Based on the collision test, the data processing system can then determine whether the first continuous sequence of nozzle positions (T1) can be implemented without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time. Figure 6a and Figure 6b Two embodiments are shown, in which a continuous nozzle position sequence (T1) can be implemented with the movable spraying unit (12) at a first position (P1) as determined by measurement by a positioning system (17), with the gunning lance (13) never touching the wall of the metallurgical vessel (1) at any time. In contrast, Figure 6c to Figure 6e Three embodiments are shown in which, from a first position (P1), the gunning lance (13) contacts the opening of the metallurgical vessel when implementing a first sequence of consecutive nozzle positions (S1), with the risk of severe damage to the metallurgical vessel (1) and / or the gunning lance (13).

[0140] Based on the gunning map (G1) and the first consecutive nozzle position sequence (T1), the data processing system (21) is configured to establish a first injector sequence (S1).

[0141] First injector sequence (S1)

[0142] The gunning map (G1) indicates the actual thickness of the lining (1L) at each repair area. By comparing the actual thickness with the corresponding minimum thickness (tm) or with the target thickness, the data processing system can determine the volume of the repair gunning material (1R) to be gunned at each repair area. The volume of the repair gunning material (1R) gunned can be controlled by changing the flow rate (dV / dt) of the repair gunning material sprayed from the gunning nozzle (13t) and / or by changing the displacement speed (v) of the gunning nozzle (13t) while the repair gunning material (1R) is gunned. The first injector sequence (S1) defines the gunning flow rate (dV / dt) and displacement speed (v) of the gunning nozzle (13t) during the implementation of the first consecutive nozzle position sequence (T1). In a preferred embodiment, the gunning flow rate (dV / dt) can be changed as the gunning nozzle (13t) follows the loop defined by the first consecutive nozzle position sequence (S1). Alternatively or concomitantly, the displacement speed (v) of the gunning nozzle (13t) can be varied during movement along the circuit. Either or both of the flow rate (dV / dt) variation and the displacement speed (v) variation allow control of the volume of the repair gunning substance (1R) locally gunned at each repair area. In other words,

[0143] • During the entire implementation of the first injector sequence (S1), the flow rate can be constant and either

[0144] ○ The displacement velocity (v) is constant, either

[0145] ○ The displacement speed (v) can be changed according to the spraying position of the gunning nozzle (13t), or

[0146] The flow rate (dV / dt) can be varied and even interrupted depending on the spraying position of the gunning nozzle (13t), and either

[0147] ○ The displacement velocity (v) is constant, either

[0148] ○The displacement speed (v) changes according to the spraying position of the gunning nozzle (13t).

[0149] The first spraying sequence (S1) may also include several passes of the gunning nozzle (13t) through a series of spraying locations to increase the volume of repair gunning material sprayed on the corresponding repair area without having to increase the flow rate accordingly.

[0150] If the spraying pattern (G1) also includes a minimum amount of repair spraying material (1R) to be applied to each repair area, then the first spraying sequence (S1) can be established by combining the minimum amount of repair spraying material (1R) defined in the spraying pattern (G1) with the first continuous nozzle position sequence (T1).

[0151] Crash testing and control of the gunning system (11)

[0152] The collision test generates information on whether a first sequence of consecutive nozzle positions (T1) can be fully implemented without the gunning lance (13) contacting any part of the metallurgical vessel (1) at any time, from the first position (P1). A positive collision test is obtained (e.g., Figure 6a and Figure 6b Conversely, when contact or collision between the gunning lance (13) and the metallurgical vessel (1) is identified at any time during the operation of the first continuous nozzle position sequence (T1) (e.g., as Figure 6c to Figure 6e As shown in , where the circle indicates the contact between the gunning lance and the opening ( 1o ) of the metallurgical vessel ( 1 ) ), a negative collision test was obtained.

[0153] In the case of a positive impact test (i.e. no contact between the gunning lance (13) and the metallurgical vessel (1)), then the data processing system (21) is configured to control the gunning system (11) to apply the first injector sequence (S1). Thus, the movable spraying unit (12) at the first position (P1) is controlled by the data processing system (21) to move the gunning nozzle (13t) along a loop defined by the first continuous nozzle position sequence (T1) and to gun the repair gunning material against the repair area identified in the gunning map (G1) at the flow rate and displacement speed (v) as defined in the first injector sequence (S1).

[0154] On the other hand, in case of a negative collision test (i.e. at least one contact between the gunning lance (13) and the metallurgical vessel (1) is identified), then the data processing system (21) controls the gunning system (11) not to apply the first injector sequence (S1). The data processing system may take at least one corrective action out of a plurality of different corrective actions.

[0155] Negative bump test and / or negative reachability test → corrective action

[0156] In case of a negative reachability test and / or a negative collision test, the data processing system (21) controls the gunning system not to run the first injector sequence (S1). Thus, at least one corrective action can be implemented.

[0157] The first corrective action is to indicate that the first injection sequence cannot be implemented. This may be in the form of a written message on the screen, or in the form of an acoustic or optical signal (e.g., a flashing red light). Additionally or alternatively, in the event of a negative bump test, the data processing system may trigger other corrective actions.

[0158] According to a second corrective action, the data processing system (21) is configured to list inaccessible repair areas, which are defined as repair areas that correspond to injection positions that cannot be reached by the injection tip (13t) from the first position (P1) or injection positions that can only be reached by contacting a point of the metallurgical vessel (1). The data processing system can then determine whether the inaccessible repair area can be used for further process cycles without repair material (1R). This may be the case if the inaccessible repair area has a thickness that is less than but close to a minimum thickness (tm) for identifying the repair area. The minimum thickness (tm) is defined to have a comfortable safety margin and small deviations from it can be accepted without excessive risk. For example, the data processing system can control whether the actual thickness (t1) of the inaccessible repair area is included in a given safety range (δ) from the minimum thickness (tm) (i.e., tm-δ≤t1≤tm), wherein the safety range can be expressed as an absolute value (in mm) or a relative value (in %) of tm. This is handled very carefully and special attention is required to ensure that the safety range (δ) is well within the safety margin and the risk of corrosion of the lining (1L) reaching the metal shell of the metallurgical vessel remains extremely low.

[0159] In the case where all the inaccessible repair areas can be used again for one process cycle without repair, the data processing system (21) is configured to modify the first continuous nozzle position sequence (T1) to define a second continuous nozzle position sequence (T2) by removing the inaccessible repair areas that can be used again for another process cycle. Then, the data processing system modifies the first injector sequence (S1) to define a second injector sequence (S2) based on the second continuous nozzle position sequence (T2) by removing the injection positions corresponding to the inaccessible repair areas. Then, the data processing system (21) controls the gunning system to apply the second injector sequence (S2).

[0160] If all inaccessible repair areas cannot be used again for a process cycle without repair, then the corrective actions described below are preferably implemented.

[0161] According to the third corrective action, the data processing system (21) can be configured to indicate that the movable spraying unit (12) must be moved. In a preferred embodiment, the data processing unit indicates how to reach a reference repair position (Pr) from which the first spraying sequence (S1) can be implemented without contact between the gunning system (11) and the metallurgical vessel (1). For example, the reference repair position (Pr) can be a predefined position, which can be marked on the floor or identified in other ways. Then, the operator or the movement system can move the movable spraying unit (12). Once the movable spraying unit (12) has been moved to a second position (P2), preferably closer to the reference repair position (Pr), the data processing system (21) can be configured to: control the positioning system (17) to locate the second position (P2) by measurements to establish an alternative continuous nozzle position sequence, the establishment of which includes an alternative reachability test; and considering that the movable spraying unit (12) is in the second position (P2) determined by the measurements of the positioning system (17), perform an alternative collision test. Only if the test is successful is the gunning performed using the alternative injector sequence determined from the alternative sequential nozzle position sequence.

[0162] According to a fourth corrective action, the data processing system (21) may be configured to indicate that the position (e.g., the roll angle) of the metallurgical vessel must be changed. In the case where the metallurgical vessel (1) is a BOF, the roll angle is particularly relevant. The data processing system preferably indicates how to change the position and / or the roll angle of the metallurgical vessel. Once the vessel (1) has been moved to the new position, the data processing system (21) may be configured to control the positioning system (17) to position the metallurgical vessel in the new position and to determine a new relative position (P1) of the movable spraying unit (12) according to the new position of the metallurgical vessel, the new relative position of the movable spraying unit being its position relative to the metallurgical vessel (1). The data processing system (21) may then be configured to: establish another continuous nozzle position sequence, the establishment of which includes another reachability test; and perform another collision test taking into account that the vessel is in the new position. Only if the test is successful, another injector sequence determined according to the other continuous nozzle position sequence is used to implement the spray repair.

[0163] According to a fifth corrective action, the data processing system (21) may indicate that the gunning nozzle (13t) must be removed and replaced by a new gunning nozzle (13t) of different geometry. For example, the data processing system (21) may define the geometry of the new gunning nozzle (13t) and thereby indicate the inclination angle of the tip of the new gunning nozzle (13t) relative to the gunning lance (13). And / or the length of the new gunning nozzle (13t). Since the number of geometric features of the gunning nozzle is limited, the data processing system (21) can store them in a memory and can be configured to establish a sequence of consecutive nozzle positions with the new gunning nozzle (13t), the establishment of the sequence of consecutive nozzle positions including another reachability test, followed by a collision test on the sequence of consecutive nozzle positions. Gunning is only carried out if the tests are successful.

[0164] Process for repairing the lining (1L) of a metallurgical vessel (1)

[0165] The invention also relates to a process for using the device as defined above to repair the lining (1L) of a metallurgical vessel (1). In an embodiment, the metallurgical vessel (1) is first positioned so as to expose its opening (1o) to the scanner system (31). If the metallurgical vessel (1) is a BOF, it is tilted so as to bring the BOF from a vertical position suitable for the conversion process into an inclined position, preferably a horizontal position, so that the scanner system (31) and the injector arm (13) of the gunning system (11) can more easily access the opening (1o), as Figure 2 , Figure 5a , Figure 5b , Figures 6a to 6e , and Figures 7a to 7f shown in.

[0166] The scanner system (31) can be brought into a scanning position. If the scanner system (31) is a movable system that can be freely moved by an operator, then the position of the scanner system (31) is measured. The data processing system (21) controls the scanner system (31) to scan the area of the lining (1L) to produce a scanned topography of the area of the lining. The area can be at least 90%, preferably at least 95%, more preferably 100% of the area of the lining (1L). Alternatively, the area can be reduced to a reduced area known to be particularly sensitive to erosion. A combination of both is possible, where the area covers 100% of the area of the lining (1L) every N process cycles, and the area only covers the reduced area every (N + 1) to (2N - 1)th process cycle. The data processing system (21) can determine the actual thickness (t1) of the lining (1L) from the scanned topography of the area, according to the spatial coordinates (x, y, z).

[0167] By comparing the actual thickness (t1) of the lining (1L) with a predefined minimum thickness (tm), the data processing system (21) can define a repair area to be repaired (i.e., the area where t1 < tm); establish a gunning map (G1) that defines the repair area of the lining to be repaired.

[0168] The operator may bring the movable spray unit (12) into a first position (P1), preferably as close as possible to a predefined reference repair position (Pr). The first position (P1) of the movable spray unit (12) may be determined by a positioning system (17) and transmitted to a data processing system (21).

[0169] The data processing system (21) establishes a first continuous nozzle position sequence (T1) when the movable jetting unit (12) is located at a first position (P1) as determined by the positioning system (17). Figure 3a to Figure 3c The repair volume representing the gunning system (11) and the gunning map (G1) shown in the figure are combined to establish a first continuous nozzle position sequence (T1). The first continuous nozzle position sequence defines a circuit to be followed by the gunning nozzle (13t) to reach all repair areas of the gunning material (1R) to be repaired by gunning, and defines various spatial arrangements of the gunning spray guns (13) required for the gunning nozzle (13t) to follow the circuit. The first continuous nozzle position sequence (T1) preferably defines a time-ordered sequence of repair areas to be visited by the circuit. The determination of the first continuous nozzle position sequence (T1) includes a reachability test, which checks whether all areas of the gunning map (G1) can be reached when the movable spraying unit (12) is located at the first position (P1).

[0170] The data processing system (21) can also establish a first injector sequence (S1) to define a gunning flow rate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during the implementation of the first continuous nozzle position sequence (T1). The gunning flow rate (dV / dt) and the displacement speed (v) control the volume of the repair gunning material to be gunned at each repair area. The volume of the repair gunning material (1R) can be determined by the data processing system (21) by comparing the actual thickness of the repair area reported in the gunning map (G1) with the corresponding target thickness to be achieved after gunning.

[0171] By comparing the spatial arrangement of the gunning lances (13) defined in the first sequence of consecutive nozzle positions (T1) with geometric features of the metallurgical vessel (1) stored in a memory of the data processing system, the data processing system (21) performs a collision test to determine whether the first sequence of consecutive nozzle positions (T1) can be performed without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time. If the collision test and the reachability test are positive, then the data processing system (21) controls the gunning system (11) to apply the first injector sequence (S1). On the other hand, if the collision test is negative (i.e., there is contact during T1) and / or the reachability test is negative (i.e., at least one area of ​​the gunning pattern (G1) cannot be reached), then the data processing system (21) controls the gunning system (11) not to apply the first injector sequence (S1).

[0172] If at least one of the collision test and the reachability test is negative, then the data processing system (21) is configured to take at least one corrective action as defined above.

[0173] Figure 8 A flow chart showing the process steps of an embodiment of the present invention is shown, wherein the metallurgical vessel (1) is a BOF. At the end of the process cycle of the BOF, the molten metal contained therein is drained (see Figure 8 (a)). The BOF is tilted to expose the opening (1o) to the scanner system (31) and the gunning gun (13) of the gunning system (11) (see Figure 8 (b)). The surface of the lining (1L) is scanned by a scanner system (31) to obtain the topography of the lining (1L) for establishing the spray patching map (G1) (see Figure 8 (c)). If the gunning map (G1) does not identify a repair area, then the BOF does not need repair and can be returned to run the next process cycle (see Figure 8 (m)).

[0174] On the other hand, if the spraying map (G1) identifies the repair area, the operator moves the movable spraying unit (12) close to the reference repair position (Pr) (see Figure 8 (d)). The actual first position (P1) of the movable injection unit (12) relative to the BOF is determined by measurement using the positioning system (17) and transmitted to the data processing system (see Figure 8 (e)). Based on the first position (P1) and the spraying pattern (G1) (see Figure 8(f)) to establish a first continuous sequence of nozzle positions (T1), the establishment of which includes a reachability test that checks whether all areas of the gunning pattern can be gunned. The first continuous sequence of nozzle positions (T1) is compared with the geometric features of the BOF stored in the memory of the data processing system (21) to run a collision test to digitally determine whether the gunning lance (13) contacts the metallurgical vessel (1) at any time during the continuous sequence of nozzle positions (T1) (see Figure 8 (h)). If the collision test and the accessibility test are positive, then the data processing system (21) controls the gunning system (21) to implement a first injector sequence (S1) previously established by the data processing system (21) according to the volume of repair gunning material required to repair each repair area (which can be obtained from the gunning map (G1)) (see Figure 8 (l)) and the first continuous nozzle position sequence (T1). After repair and possible further operation, the BOF can be untilted and used for another process cycle (see Figure 8 (m)).

[0175] If, on the other hand, the collision test or the accessibility test is negative, the data processing system (21) controls the gunning system (11) not to carry out the first injector sequence (S1) (see Figure 8 (i)), and indicates that it is not possible to perform gunning when the movable launching unit (12) is located at the first position (P1) (see Figure 8 (j)). The corrective action can then be controlled by the data processing system (21) (see Figure 8 (k)).

[0176] Fig. 9 is based on Figure 8 Flow chart of an embodiment of the invention, wherein, in the event that the collision test or the reachability test is negative, the data processing system implements corrective action by instructing the operator to move the movable spray unit (12) to the second position (P2) (see Figure 8 (k) and Fig. 9 (k)). Fig. 9 The same boxes marked (a) to (m) in FIG. Figure 8 The same actions discussed in the boxes marked (a) to (m) in FIG. 1 and are not repeated here. The first position (P1) is replaced by the i-th position (Pi), where i ranges from 1 to N, where N defines the number of repetitions of the cycle [i=i+1]. In the event that the movable spray unit (11) fails the collision test at the first position (P1, i.e., i=1), then in the cycle i=i+1=2, the data processing system instructs the operator to move the movable spray unit (12) to the (i+1)th position (P(i+1)) (see Fig. 9 (n)). Once the movable ejection unit moves to the (i+1)th position (P(i+1)) (see Fig. 9 (d)), with the movable ejection unit at the (i+1)th position (P(i+1)), steps (e) to (h) are re-run. If the collision test is negative again, the loop is run again until i=N (see Fig. 9 (n)). In practice, the maximum number N of repetition cycles can be as high as desired.

[0177] Fig.10 is based on Figure 8 Flowchart of an embodiment of the invention, wherein, in the event that the collision test or the reachability test is negative, the data processing system performs a repair by checking whether a different sequence of consecutive nozzle positions (T(i+1)) excluding the unreachable repair area can be defined (see Fig.10 (k), (o), (p)) to implement corrective actions (see Figure 8 (k) and Fig.10 (k)). Fig.10 The same boxes marked (a) to (m) in the Figure 8 The same actions discussed in the boxes labeled (a) to (m) in FIG. 1 and are not repeated here. The first consecutive nozzle position sequence (T1) is replaced by the i-th consecutive nozzle position sequence (Ti), where i ranges from 1 to N, where N defines the number of repetitions of the loop [i=i+1]. In the event that the collision test or the reachability test fails, then in the loop i=i+1=2, the data processing system lists the unreachable repair area (see Fig.10 (o)) and check whether all inaccessible repair areas are thick enough to undergo the next process cycle without risk of failure (see Fig.10 (p)). If at least one of the unreachable repair areas is not thick enough to run the next process cycle, then the data processing unit reverts to corrective action (see Fig.10 , arrow [No] between boxes (p) and (k). If all unreachable repair areas are thick enough to undergo another process cycle, then the data processing system (21) creates a different spraying map (G(i+1)) excluding the unreachable repair areas (see Fig.10 (q)). According to different spraying patterns (G(i+1)), the (i+1)th consecutive nozzle position sequence (T(i+1)) is determined, and the reachability test and collision test are run (see Fig.10(f) to (h)). If the collision test and the accessibility test are positive, then the data processing system (21) establishes the (i + 1)-th injector sequence (S(i + 1)) and controls the gunning system (11) to implement the (i + 1)-th injector sequence (S(i + 1)), which excludes any gunning of the repair gunning material (1R) onto an inaccessible repair area.

[0178] On the other hand, if the collision test or the accessibility test is still negative, then, if i < N, the data processing system goes through a new cycle [(n) to (q)]. Otherwise, a corrective action is considered (see Fig.10 (k)). Since this corrective action (k) of skipping inaccessible repair areas with a lining actual thickness (t1) that is less than the minimum thickness (tm) but greater than the safety margin (tm - δ) (i.e., tm – δ < t1 < tm) cannot be repeated too frequently because the safety margin decreases each time, the maximum number N of repeated cycles is preferably limited to 2, or in special cases limited to 3 (i.e., N = 2 or 3).

[0179] Conclusion

[0180] The present invention has taken a substantial step in terms of safety during the repair operation of the lining (1L) of a metallurgical vessel (1) using a gunning system (11) that includes a movable injection unit (12) manually entered by an operator into the repair position. So far, the full automation of the injector sequence established by the data processing system (21) has been impaired by the positional uncertainty of the gunning system (11). When the gunning gun (13) drives the gunning nozzle (13t) along a loop defined by a sequence of consecutive nozzle positions (T1) to gun the repair gunning material onto the repair area, the risk of contact between the gunning gun and the metallurgical vessel (1) remains high. Through the present invention and the introduction of the positioning and collision tests of the movable injection unit (12), the collision risk between the gunning gun (13) and the metallurgical vessel is almost reduced to zero.

[0181]

[0182]

Claims

1. A device for a gunning operation for repairing a lining (1L) of a metallurgical vessel (1), the metallurgical vessel having an opening (1o) leading to an interior of the metallurgical vessel lined with the lining (1L), the lining being configured to be in contact with a metal melt, the device comprising: a gunning system (11), the gunning system comprising a movable spraying unit (12), the movable spraying unit comprising a gunning lance (13), the gunning lance being equipped with a gunning nozzle (13t) and being configured to gun the lining (1L) with a repairing substance (1R) through the gunning nozzle (13t), wherein the movable spraying unit (12) has a degree of freedom for changing the layout, thereby allowing the gunning nozzle (13t) to reach different positions relative to the movable spraying unit (12), a data processing system (21) in communication with the mobile spraying unit (12) and configured to obtain a spraying map (G1) defining a repair area of ​​the lining to be repaired, a positioning system (17) in communication with the data processing system (21) and configured to determine by measurement a first position (P1) of the movable injection unit (12) relative to the metallurgical vessel (1) and to transmit the first position (P1) to the data processing system (21), It is characterized in that (a) the data processing system (21) is configured to establish a first continuous nozzle position sequence (T1), the first continuous nozzle position sequence defining a spatial layout sequence of the gunning spray guns (13), thereby allowing the gunning nozzles (13t) to reach a spraying position when the movable spraying unit (12) is located at the first position (P1) determined by the positioning system (17) through measurement, thereby allowing the repair gunning material (1R) to be gunned at the corresponding repair area defined in the gunning map (G1), the establishment of the first continuous nozzle position sequence (T1) including a reachability test, the reachability test checking whether all areas of the gunning map (G1) are reachable when the movable spraying unit (12) is located at the first position (P1), (b) the geometrical characteristics of the metallurgical vessel (1) are stored in a memory of the data processing system (21), and (c) the data processing system (21) is configured to compare the spatial arrangement of the gunning lances (13) defined in the first sequence of consecutive gunning nozzle positions (T1) with geometric features of the metallurgical vessel (1) stored in a memory of the data processing system (21) in order to perform a collision test to determine whether the first sequence of consecutive gunning nozzle positions (T1) can be performed without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time, and to control the gunning system (11) in the following manner, if the conclusion of the reachability test is that all areas of the gunning pattern (G1) are reachable and the conclusion of the collision test is that the gunning system (11) is capable of implementing the first sequence of consecutive gunning nozzle positions (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) to apply a first injector sequence (S1) thereby defining the gunning flow rate (dV / dt) and the displacement speed (v) of the gunning nozzle (13t) during implementation of the first sequence of consecutive gunning nozzle positions (T1), If the conclusion of the reachability test is that not all areas of the gunning pattern (G1) are reachable and / or the conclusion of the collision test is that the gunning system (11) cannot implement the first continuous gunning nozzle position sequence (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the gunning system (11) not to apply the first injector sequence (S1).

2. The device according to claim 1, wherein: In case the reachability test concludes that not all areas of the gunning pattern (G1) are reachable and / or the collision test concludes that the gunning system (11) is not capable of carrying out the first continuous nozzle position sequence (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, the device is configured to indicate that the first spraying sequence (S1) cannot be carried out.

3. The device according to claim 1 or 2, wherein: In case the reachability test concludes that not all areas of the gunning pattern (G1) are reachable and / or the collision test concludes that the gunning system (11) is not able to carry out the first sequence of consecutive nozzle positions (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to: Indicating that the movable spraying unit (12) must be moved, controlling the positioning system (17) to position the second position (P2) of the movable spraying unit (12) by measuring, establishing an alternative continuous nozzle position sequence defining a spatial arrangement sequence of the gunning spray guns (13) so as to allow the gunning nozzles (13t) to reach a spraying position when the movable spraying unit (12) is located at the second position (P2) so as to allow the repair gunning substance (1R) to be gunned at the corresponding repair area defined in the gunning map (G1), the establishing of the alternative continuous nozzle position sequence comprising an alternative reachability test, the alternative reachability test checking whether all areas of the gunning map (G1) are reachable when the movable spraying unit (12) is located at the second position (P2), comparing the spatial arrangement of the gunning lances (13) defined in the alternative sequence of consecutive nozzle positions with geometric features of the metallurgical vessel (1) stored in a memory of the data processing system (21) to perform an alternative collision test to determine whether the alternative sequence of consecutive nozzle positions can be performed without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time, and controlling the gunning system (11) in the following manner: o if the conclusion of the alternative reachability test is that all areas of the gunning pattern (G1) are reachable and the conclusion of the alternative collision test is that the gunning system (11) is capable of implementing the alternative continuous nozzle position sequence without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) to apply an alternative injector sequence, thereby defining the gunning flow rate (dV / dt) and displacement speed (v) of the gunning nozzle (13t) during implementation of the alternative continuous nozzle position sequence, ○ If the alternative reachability test concludes that not all areas of the gunning pattern (G1) are reachable and / or the alternative collision test concludes that the gunning system (11) cannot implement the alternative continuous nozzle position sequence without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) not to apply the alternative injector sequence.

4. The device according to any one of the preceding claims, wherein The positioning system (17) is configured to determine a position of the metallurgical vessel and to use the vessel position to determine a first position (P1) of the movable injection unit (12) relative to the metallurgical vessel (1).

5. The device according to claim 4, wherein: In case the reachability test concludes that not all areas of the gunning pattern (G1) are reachable and / or the collision test concludes that the gunning system (11) is not able to carry out the first sequence of consecutive nozzle positions (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to: indicating that the position of the metallurgical vessel must be changed, and preferably indicating how to change the position of the metallurgical vessel, controlling the positioning system (17) to determine by measurements the new position of the metallurgical vessel and the new relative position (P1) of the movable injection unit (12) relative to the metallurgical vessel (1), establishing a further continuous sequence of nozzle positions defining a sequence of spatial arrangements of the gunning spray guns (13) so as to allow the gunning nozzles (13t) to reach a spraying position when the movable spraying unit (12) is located at the new relative position (P1) so as to allow the repair gunning substance (1R) to be gunned at the corresponding repair area defined in the gunning map (G1), the establishing of the further continuous sequence of nozzle positions comprising a further reachability test, the further reachability test checking whether all areas of the gunning map (G1) are reachable when the movable spraying unit (12) is located at the new relative position (P1), comparing the spatial arrangement of the gunning lances (13) defined in the further sequence of consecutive nozzle positions with the geometrical features of the metallurgical vessel (1) stored in the memory of the data processing system (21) in order to carry out a further collision test to determine whether the further sequence of consecutive nozzle positions can be carried out without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time, and controlling the gunning system (11) in the following manner: o if the conclusion of the further reachability test is that all areas of the gunning pattern (G1) are reachable and the conclusion of the further collision test is that the gunning system (11) is able to implement the further continuous nozzle position sequence without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) to apply a further injector sequence, thereby defining the gunning flow rate (dV / dt) and the displacement speed (v) of the gunning nozzle (13t) during the implementation of the further continuous nozzle position sequence, o If the further reachability test concludes that not all areas of the gunning pattern (G1) are reachable and / or the further collision test concludes that the gunning system (11) cannot implement the further continuous nozzle position sequence without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) not to apply the further injector sequence.

6. Apparatus according to any one of the preceding claims, wherein: In case the reachability test concludes that not all areas of the gunning pattern (G1) are reachable and / or the collision test concludes that the gunning system (11) is not able to carry out the first sequence of consecutive nozzle positions (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to: indicating that the gunning nozzle must be removed and replaced by a new gunning nozzle (13t) of different geometry, preferably indicating the tip inclination angle (φ13t) of the new gunning nozzle (13t) relative to the gunning lance (13) and / or the length of the new gunning nozzle (13t), · Performing the steps of claim 1, including: establishing a sequence of consecutive nozzle positions, the establishment of the sequence of consecutive nozzle positions including a reachability test; performing a collision test; and if the test is successful, performing the gunning in the injector sequence.

7. Apparatus according to any one of the preceding claims, wherein: In case the conclusion of the reachability test is that not all areas of the gunning pattern (G1) are reachable and / or the conclusion of the collision test is that the gunning system (11) cannot carry out the first sequence of consecutive nozzle positions (T1) without the gunning lance (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to list inaccessible repair areas, the inaccessible repair areas being defined as repair areas corresponding to spraying positions which are not reachable by the spraying tip (13t) from the first position (P1) or which are reachable only by contacting a point of the metallurgical vessel (1), and to determine whether the inaccessible repair areas can be used for another process cycle without repair material (1R), o in the case where all of the inaccessible repair areas can be used again for at least one process cycle without repair, the data processing system (21) is configured to modify the first spraying sequence (S1) to define a second sprayer sequence (S2) by removing the spraying positions corresponding to the inaccessible repair areas, and to control the gunning system (11) to implement the second sprayer sequence (S2), o In case at least one of the inaccessible repair areas cannot be used again for a process cycle without repair, the data processing system (21) is configured to control the gunning system (11) not to apply the second injector sequence (S2).

8. Apparatus according to any one of the preceding claims, wherein the determination of said first injector sequence (S1) takes into account a minimum amount of repair gunning material (1R) to be applied to each repair area, and / or the determination of the first sequence of consecutive nozzle positions (T1) taking into account the range of distances at which the gunning nozzle (13t) is spaced from the repair area at each spraying position, and / or the determination of the first sequence of consecutive nozzle positions (T1) takes into account a range of orientations of the gunning nozzle (13t) relative to the repair area, and / or The determination of the first spraying sequence (S1) takes into account a minimum amount of repair gunning material (1R) according to the gunning pattern (G1).

9. The device according to any one of the preceding claims, wherein: The flow rate (dV / dt) and the displacement speed (v) are controlled by the following conditions: the flow rate is constant throughout the implementation of the first injector sequence (S1), and either the displacement speed (v) is constant or the displacement speed (v) varies depending on the injection position of the gunning nozzle (13t), and / or The flow rate (dV / dt) changes according to the spraying position of the gunning nozzle (13t), and either the displacement speed (v) is constant or the displacement speed (v) changes according to the spraying position of the gunning nozzle (13t).

10. The device according to any one of the preceding claims, wherein The first spraying sequence (S1) comprises the gunning nozzle (13t) passing through a series of spraying positions several times to increase the volume of the repair gunning material sprayed on the corresponding repair area.

11. The device according to any one of the preceding claims, wherein The geometrical features of the metallurgical vessel (1) stored in the memory of the data processing system (21) are the topography of both the lining (1L) of the metallurgical vessel (1) and at least a portion of the outer surface of the metallurgical vessel, the outer surface including the opening (1o).

12. The device according to any one of the preceding claims comprises a scanner system (31), which is configured to scan an area of ​​the lining (1L) to generate a scanned topography of the area of ​​the lining; the scanner system (31) communicates with the data processing system (21); the data processing system (21) is configured to determine the actual thickness (t1) of the lining (1L) based on the scanned topography obtained by the scanner system (31) and according to the spatial coordinates (x, y, z) and to define the spray patching map (G1).

13. The device according to the preceding claim, wherein The geometrical characteristics of the metallurgical vessel (1) stored in the memory of the data processing system (21) include real-time geometrical characteristics of the opening (1o) measured by the scanner system (31).

14. A process for repairing a lining (1L) of a metallurgical vessel (1), the process comprising: There is provided an apparatus according to any one of the preceding claims, obtaining a gunning map (G1) defining a repair area of ​​the lining to be repaired, determining a first position (P1) of the movable spraying unit (12) by means of the positioning system (17) and by measuring, and transmitting the first position (P1) to the data processing system (21), establishing the first sequence of consecutive nozzle positions (T1) with the data processing system (21) when the movable spraying unit (12) is located at the first position (P1) as determined by the positioning system (17) by measurement, the establishing of the first sequence of consecutive nozzle positions comprising performing the reachability test, the reachability test checking whether all areas of the spraying pattern (G1) are reachable when the movable spraying unit (12) is located at the first position (P1), comparing the spatial arrangement of the gunning lances (13) defined in the first sequence of consecutive nozzle positions (T1) with geometric features of the metallurgical vessel (1) stored in a memory of the data processing system (21) in order to perform a collision test, the collision test determining whether the first sequence of consecutive nozzle positions (T1) can be implemented without any part of the gunning lances (13) contacting any point of the metallurgical vessel (1) at any time, The data processing system (21) is used to control the gunning system (11) in the following manner: if all areas of the gunning pattern (G1) are reachable when the movable gunning unit (12) is located at the first position (P1), and if the gunning system (11) is capable of implementing the first sequence of consecutive nozzle positions (T1) from the first position (P1) of the movable gunning unit, if the gunning lance (13) does not contact any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) to apply the first sequence of injectors (S1), ○ If not all areas of the gunning pattern (G1) are reachable when the movable gunning unit (12) is at the first position (P1), and / or if the gunning system (11) cannot implement the first continuous nozzle position sequence (T1) from the first position (P1) of the movable gunning unit, when the gunning lance (13) does not contact any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the gunning system (11) not to apply the first injector sequence (S1).

15. Process according to the preceding claim, wherein The apparatus comprises a scanner system (31) configured to scan an area of ​​the lining (1L) to generate a scanned profile of the area of ​​the lining and to communicate with the data processing system (21), the data processing system (21) being configured to determine an actual thickness (t1) of the lining (1L) according to spatial coordinates (x, y, z) based on the scanned profile obtained by the scanner system (31) and to define the gunning map (G1), the process comprising the following steps: positioning the metallurgical vessel (1) so as to expose its opening (1o) to the scanner system (31), bringing the scanner system (31) into a scanning position and scanning an area of ​​the liner (1L) to generate a scanned topography of the area of ​​the liner, determining the actual thickness (t1) of the lining (1L) according to the spatial coordinates (x, y, z) using the data processing system (21) based on the scanned topography obtained by the scanner system (31), and The data processing system (21) is used to define the gunning map (G1), which defines the repair area of ​​the lining to be repaired.

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