Device for gunning operation for repairing lining of metallurgical vessel

Abstract

The utility model 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 Figure 1b

[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 the molten metal. 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 metallurgical vessels 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 molten metal and insulate the interior of the metallurgical vessel from the outside. During the 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 the slag (5s) to convert 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 the 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 that needs 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 the movable spraying unit (12). Figures 3a to 3cA perspective view, a side view and a top view of an example of a spray system (11) are shown, which includes a movable spray unit (12) for displacing the spray system (11).

[0005] Historically, the repair area to be repaired was visually assessed by the operator, and repair material (1R) was manually sprayed onto the thus identified repair area. Both the visual assessment of the repair area and the manual spraying of repair material require a great deal of experience, as the internal heat of the metallurgical vessel during these operations reduces the repair time between two consecutive process cycles.

[0006] In recent years, significant progress has been made in automating the assessment of the actual local thickness (t1) of linings and the identification of the location of repair areas. For example, WO 03081157 describes the use of a stereo matrix camera to determine the actual thickness of the lining. Similarly, WO 2007107242, US2010 / 158361 A1, or US 6780351 describe the use of scanner systems and the accurate measurement of the scanner system's position relative to the metallurgical vessel. The scanner system is coupled to a data processing system that allows the creation of a spray pattern that defines the repair area of ​​the lining to be repaired.

[0007] The data processing system described in US 6780351 is also configured to define a sequence of injectors that defines a sequence of positions for spraying nozzles, the sequence of positions being adapted to spray a defined volume of repair material onto a repair area marked on a spraying diagram corresponding to the position of the spraying nozzle.

[0008] Document US 5745969 A describes a method and apparatus for repairing a coke oven. The spray gun described in this document includes a laser rangefinder at its head for measuring the depth of worn or damaged areas in the oven wall. The spray gun is used to repair said worn or damaged areas.

[0009] Document US 4649858 A describes a repair device for a coke oven. The head of the spray gun in this device can be fitted into the coal loading port of the oven to display the damaged parts with a camera and repair them with a plasma spray gun.

[0010] A blasting system typically includes a movable blasting unit (12) that can be moved to a repair position relative to the metallurgical container to be repaired. As described in US 6780351, the movable blasting unit can be coupled to a track system; however, in practice, to save space on an already crowded platform, the movable blasting unit is simply mounted on wheels and preferably can be freely moved by the operator. The movable blasting unit moves into the repair position, where a blasting gun with a given number of degrees of freedom is configured to reach different areas of the lining. However, this creates a problem: the movable blasting unit cannot always be in the exact same repair position relative to the container before each blasting operation. Even if a reference repair position (Pr) is marked on the floor, it is unlikely that the operator will accurately position the movable blasting unit at the reference repair position, especially if the markings on the floor fade over time and wear.

[0011] If the movable spraying unit is not precisely positioned at the reference repair location, the spraying sequence established by the data processing system may not be adapted to the actual repair location relative to the metallurgical vessel. This is particularly critical if, like a BOF (Board of Fire), the opening of the metallurgical vessel forms a bottleneck—that is, it has a smaller diameter than the interior of the metallurgical vessel. In practice, the data processing system can define a spraying sequence well-suited to repairing the metallurgical vessel, but given the actual position of the movable spraying unit relative to the opening of the metallurgical vessel, the spray gun is likely to collide with parts of the metallurgical vessel, potentially damaging both the movable spraying unit and the metallurgical vessel, or preventing access to the distal areas of the lining. Therefore, the problem of automatically repairing the interior lining of the metallurgical vessel remains when using a spraying system that includes a movable spraying unit mounted on wheels.

[0012] This invention proposes a solution for the further automated repair of linings in metallurgical containers (such as BOFs). These and other advantages of the invention will be described in more detail in the following sections. Utility Model Content

[0013] The object of the present invention has been achieved by an apparatus for a spraying operation to repair the lining of a metallurgical container having an opening to the interior of the metallurgical container, the interior of the metallurgical container being lined with a lining configured to contact molten metal, the apparatus comprising:

[0014] A patching system comprising a movable spraying unit, the movable spraying unit including a patching spray gun equipped with a patching nozzle and configured to spray patching material onto the lining through the patching nozzle, wherein the movable spraying unit has degrees of freedom for changing its layout, thereby allowing the patching nozzle to reach different positions relative to the movable spraying unit.

[0015] • A data processing system that communicates with the movable spraying unit and is configured to obtain a spraying map that defines the repair area of ​​the lining to be repaired.

[0016] in,

[0017] - The device includes a positioning system that communicates with the data processing system and is configured to determine a first position of the movable injection unit relative to the metallurgical container by measurement and preferably some numerical calculations, and to transmit 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 for the patching spray gun, thereby allowing the patching nozzle to reach the spraying position when the movable spraying unit is located at a first position determined by the positioning system through measurement, thereby allowing the repair patching material to be sprayed at the corresponding repair area defined in the patching map. The establishment of the first continuous nozzle position sequence includes an accessibility test that checks whether all areas of the patching map are accessible when the movable spraying unit is located at the first position.

[0019] - The geometric features of the metallurgical container 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 spray gun defined in the first continuous spray nozzle position sequence with the geometric features of the metallurgical container stored in the memory of the data processing system, in order to perform a collision test to determine whether the first continuous spray nozzle position sequence can be implemented without any part of the spray gun contacting any point of the metallurgical container at any time, and to control the spraying system in the following manner.

[0021] If the accessibility test concludes that all areas of the spraying map are reachable and the collision test concludes that the spraying system can implement the first continuous spraying nozzle position sequence without the spraying gun contacting any point of the metallurgical container at any time, then the data processing system controls the spraying system to apply the first injector sequence, thereby limiting the spraying flow rate and displacement velocity of the spraying nozzle during the implementation of the first continuous spraying nozzle position sequence.

[0022] • If the accessibility test concludes that not all areas of the spraying map are reachable and / or the collision test concludes that the spraying system cannot implement the first continuous spraying nozzle position sequence when the spraying gun does not contact any point of the metallurgical container at any time, then the data processing system controls the spraying system not to apply the first injector sequence.

[0023] The patching system includes a movable spraying unit and a repair patching material source. The movable spraying unit includes a body and a patching gun, the body being movable and preferably mounted on wheels, the patching gun including a patching nozzle. The patching map can be obtained in any manner. For example, a data processing system can download the patching map, receive the patching map, and determine the patching map based on a measurement map of the actual thickness. The patching map may include a set of areas selected from the actual thickness map. The positioning system may include elements external to the movable spraying unit and the container, said elements preferably being fixed. The positioning system may include elements attached to the movable spraying unit and / or the container, said elements being movable. The positioning system may include an information processing unit, such as a microprocessor. The positioning system performs one or more measurements and preferably performs some numerical calculations to determine a first position. The geometry of the metallurgical container particularly includes the shape of the opening of the metallurgical container. The determination of the first spraying sequence takes into account a first consecutive nozzle position sequence.

[0024] Data processing systems can be distributed at least partially across several facilities (e.g., partly on a spraying system, partly on computers within the factory, and partly on a positioning system) and / or across several locations, such as in a “cloud computing” environment or as “Software as a Service” (SaaS). For example, at least some operations can be performed by a set of computers (as an example, machines including processors), which are accessible via a network (e.g., the Internet) and through one or more suitable interfaces (e.g., application programming interfaces (APIs)).

[0025] Within the framework of this document, the “position” of an element (such as a container, a movable spraying unit, a spray gun, and a spray nozzle) preferably includes the orientation of the element. For example, the position of an alkaline oxygen furnace includes its tilt angle. Within the framework of this document, the “position” of a movable spraying unit is its position relative to a metallurgical container, unless the context otherwise states, and preferably the position of the body of the movable spraying unit.

[0026] In this invention, the accessibility test and the impact test are completed before the spraying system begins applying the first injector sequence. In other words, the movement of the spraying nozzles according to the first continuous spraying nozzle position sequence does not begin until the accessibility test and impact test for the entire first continuous spraying nozzle position sequence are completed. The accessibility test is completed before the impact test.

[0027] In embodiments of the present invention, if the accessibility test concludes that not all areas of the spray pattern are reachable and / or the collision test concludes that the spray system cannot implement the first continuous nozzle position sequence without the spray gun contacting any point of the metallurgical container at any time, the device is configured to indicate that the first spray sequence cannot be implemented.

[0028] The device can indicate how to reach the spraying position, where a first spraying sequence can be performed without contact between the movable spraying unit and the metallurgical container, wherein the spraying position is preferably a predefined position.

[0029] In embodiments of the present invention, where the accessibility test concludes that not all areas of the spray pattern are reachable and / or the collision test concludes that the spray system cannot implement the first continuous nozzle position sequence when the spray gun does not contact any point of the metallurgical container at any time, the data processing system is configured to:

[0030] • Indicates that the movable injection unit must be moved.

[0031] • The control and positioning system locates the movable injection unit to its second position.

[0032] • An alternative continuous nozzle position sequence is established to define the spatial layout sequence of the spray gun, thereby allowing the spray nozzle to reach the spray position when the movable spray unit is in a second position. This allows the repair spray material to be sprayed onto the corresponding repair area defined in the spray pattern. The establishment of the alternative continuous nozzle position sequence includes an alternative accessibility test, which checks whether all areas of the spray pattern are reachable when the movable spray unit is in the second position.

[0033] • The spatial layout of the spray gun defined in the alternative continuous nozzle position sequence is compared with the geometry of the metallurgical container stored in the memory of the data processing system in order to perform an alternative collision test to determine whether it is possible to implement the alternative continuous nozzle position sequence without any part of the spray gun contacting any point of the metallurgical container at any time, and to control the spraying system in the following manner:

[0034] If the alternative accessibility test concludes that all areas of the spraying map are reachable, and the alternative collision test concludes that the spraying system can implement the alternative continuous nozzle position sequence without the spraying gun contacting any point on the metallurgical container at any time, then the data processing system controls the spraying system to apply the alternative injector sequence, thereby limiting the spraying flow rate and displacement velocity of the spraying nozzles during the implementation of the alternative continuous nozzle position sequence.

[0035] ○ If the alternative accessibility test concludes that not all areas of the spraying map are reachable and / or the alternative collision test concludes that the spraying system cannot implement an alternative continuous nozzle position sequence when the spraying gun does not contact any point of the metallurgical container at any time, then the data processing system controls the spraying system not to 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 container by measurement and preferably by some numerical calculation, and to use the container position to determine a first position of the movable injection unit relative to the metallurgical container.

[0038] The container location is preferably determined at least once before scanning and at least once before spraying.

[0039] In embodiments of the present invention, where the accessibility test concludes that not all areas of the spray pattern are reachable and / or the collision test concludes that the spray system cannot implement the first continuous nozzle position sequence when the spray gun does not contact any point of the metallurgical container at any time, the data processing system is configured to:

[0040] • Indicates that the position of the metallurgical container must be changed, and preferably indicates how to change the position of the metallurgical container.

[0041] The control and positioning system determines the new position of the metallurgical container and the new relative position of the movable injection unit with respect to the metallurgical container through measurement.

[0042] • Establish another sequence of consecutive nozzle positions that defines the spatial layout sequence of the spray gun, thereby allowing the spray nozzles to reach the spray position when the movable spray unit is in a new relative position. This allows the repair spray material to be sprayed onto the corresponding repair area defined in the spray pattern. The establishment of this other sequence of consecutive nozzle positions includes another accessibility test, which checks whether all areas of the spray pattern are reachable when the movable spray unit is in the new relative position.

[0043] • The spatial layout of the spray gun defined in another consecutive nozzle position sequence is compared with the geometry of the metallurgical container stored in the memory of the data processing system in order to perform another collision test to determine whether it is possible to implement another consecutive nozzle position sequence without any part of the spray gun contacting any point of the metallurgical container at any time, and to control the spraying system in the following manner:

[0044] ○ If another accessibility test concludes that all areas of the spraying map are reachable, and another collision test concludes that the spraying system can implement another continuous nozzle position sequence without the spraying gun contacting any point of the metallurgical container at any time, then the data processing system controls the spraying system to apply another injector sequence, thereby limiting the spraying flow rate and displacement velocity of the spraying nozzle during the implementation of the other continuous nozzle position sequence.

[0045] ○ If another accessibility test concludes that not all areas of the spraying map are reachable and / or another collision test concludes that the spraying system cannot implement another continuous nozzle position sequence without the spraying gun contacting any point of the metallurgical container at any time, then the data processing system controls the spraying system not to apply another injector sequence.

[0046] In embodiments of the present invention, where the accessibility test concludes that not all areas of the spray pattern are reachable and / or the collision test concludes that the spray system cannot implement the first continuous nozzle position sequence when the spray gun does not contact any point of the metallurgical container at any time, the data processing system is configured to:

[0047] • Indicates that the spray nozzle must be removed and replaced with a new spray nozzle with different geometries, preferably indicating the tilt angle of the new spray nozzle relative to the tip of the spray gun and / or the length of the new spray nozzle.

[0048] • Perform the steps as defined above, including: establishing a continuous nozzle position sequence, which includes an accessibility test; performing a collision test; and if the test is successful, then performing spraying in the injector sequence.

[0049] In embodiments of the invention, if the accessibility test concludes that not all areas of the spray pattern are reachable and / or the collision test concludes that the spray system cannot implement the first continuous nozzle position sequence without the spray gun contacting any point of the metallurgical container at any time, the data processing system is configured to list unreachable repair areas. Unreachable repair areas are defined as repair areas that correspond to spray positions that cannot be reached from the first position by the spray tip or can only be reached by contacting a point on the metallurgical container. The system then determines whether the unreachable repair areas can be used for another process cycle without repair material.

[0050] • If all inaccessible repair areas can be reused without repair in at least one process cycle, the data processing system is configured to modify the first injection sequence to define the second injector sequence by removing the injection positions corresponding to the inaccessible repair areas, and to control the spraying system to implement the second injector sequence.

[0051] • In cases where at least one inaccessible repair area cannot be reused in a process cycle without repair, the data processing system is configured to control the spraying system not to apply a second injector sequence.

[0052] In embodiments of the present invention, the determination of the first injector sequence takes into account the minimum amount of repair spray 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 between the spray nozzle and the repair area at each spray position, and / or the determination of the first continuous nozzle position sequence takes into account the range of orientation of the spray nozzle relative to the repair area, and / or the determination of the first spray sequence takes into account the minimum amount of repair spray material according to the spray pattern.

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

[0054] • The flow rate is constant throughout the entire implementation of the first injector sequence, and either the displacement velocity is constant, or the displacement velocity changes according to the injection position of the injection nozzle, or

[0055] • The flow rate varies depending on the spray position of the spray nozzle, and either the displacement velocity is constant or varies depending on the spray position of the spray nozzle.

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

[0057] In an embodiment of the invention, the geometric features of the metallurgical container stored in the memory of the data processing system are the morphology of both the lining of the metallurgical container and at least a portion of its outer surface, including openings.

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

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

[0060] In an embodiment of the invention, the geometric features of the metallurgical container stored in the memory of the data processing system include the real-time geometric features of the opening measured by a scanner system.

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

[0062] (S1) Provide the device according to any one of the preceding claims.

[0063] (S2) Obtain the spray pattern of the repair area of ​​the lining to be repaired.

[0064] (S3) Preferably, the metallurgical container and / or the movable spraying unit are moved.

[0065] (S4) The first position of the movable injection unit is determined by measurement performed by the positioning system, and the first position is transmitted to the data processing system.

[0066] (S5) When the movable injection unit is located at a first position, as determined by a positioning system and through measurements performed by the positioning system, a first continuous nozzle position sequence is established using a data processing system. The establishment of this first continuous nozzle position sequence includes performing an accessibility test, which checks whether all areas of the spray pattern are reachable when the movable injection unit is located at the first position.

[0067] (S6) The spatial layout of the spray gun defined in the first continuous nozzle position sequence is compared with the geometric features of the metallurgical container stored in the memory of the data processing system in order to perform a collision test to determine whether the first continuous nozzle position sequence can be implemented without any part of the spray gun contacting any point of the metallurgical container at any time.

[0068] (S7) The spraying system is controlled by a data processing system in the following manner.

[0069] If, with the movable spray unit in the first position, all areas of the spray pattern are reachable, and if the spray system can implement a first continuous nozzle position sequence from the first position of the movable spray unit without the spray gun contacting any point on the metallurgical container at any time, then the data processing system controls the spray system to apply the first injector sequence.

[0070] If, when the movable spray unit is in the first position, not all areas of the spray pattern can be reached, and / or if the spray system cannot implement the first continuous nozzle position sequence from the first position of the movable spray unit without the spray gun contacting any point of the metallurgical container at any time, then the data processing system controls the spray system not to apply the first sprayer sequence.

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

[0072] • Step (S7) follows each of steps (S1) to (S6);

[0073] • Step (S6) follows each of steps (S1) to (S5);

[0074] • Step (S5) follows each of steps (S1) to (S4);

[0075] • Step (S4) follows step (S3);

[0076] As will be readily understood by those skilled in the art, some exchanges may be performed between steps (S1), (S2), (S3), and (S4), such as step (S2) which may be performed after step (S4).

[0077] The process cycle can also be executed while determining the second injector sequence.

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

[0079] Position the metallurgical container to expose its opening to the scanner system.

[0080] The scanner system is positioned to scan the lining area to produce a scanned topography of the lining area.

[0081] The data processing system determines the actual thickness of the lining based on the scanned topography obtained by the scanner system and the spatial coordinates (x, y, z).

[0082] A data processing system is used to define a spray pattern, which defines the repair area of ​​the lining to be repaired. Attached Figure Description

[0083] In these attached figures,

[0084] Figure 1a An alkaline oxygen furnace converter (BOF) is shown, in which oxygen is blown in using an oxygen lance to convert pig iron into low-carbon steel.

[0085] Figure 1b This illustrates the process following one or more process cycles in the eroded liner. Figure 1a BOF.

[0086] Figure 2 A spraying system including a spray gun is shown, which sprays repair material onto areas that have been severely eroded.

[0087] Figures 3a to 3c The following diagrams show an embodiment of a spray patching system: (a) a perspective view, (b) a side view, and (c) a top view. The spray patching system includes a movable spray unit with a spray gun that has 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 (a) the cylindrical portion of the BOF, and (b) the bottom of the BOF.

[0089] Figure 4c exist Figure 4a The diagram shows the spray pattern.

[0090] Figure 5a and Figure 5b The location of the container and the location of the movable injection unit (P1) are shown: (a) side view, (b) top view.

[0091] Figure 6a An embodiment is shown in which, when the movable spraying unit is at the reference position (xr, yr) with a 90° reference orientation, the spray gun can reach all areas of the lining without contacting the metallurgical container (BOF in this case).

[0092] Figure 6bAn embodiment is shown in which the spray gun can still reach all areas of the lining without contacting the BOF when the movable spray unit is at the reference position (xr, yr) but has an orientation different from the 90° reference orientation.

[0093] Figure 6c An embodiment is shown in which, when the movable spray unit is at a position (P1) different from the reference position (xr, yr), the spray gun cannot reach all areas of the lining without contacting the BOF, despite having a 90° reference orientation.

[0094] Figure 6d An embodiment is shown in which, when the movable spray unit is at a position (P1) different from the reference position (xr, yr) and has an orientation different from the 90° reference orientation, the spray gun cannot reach all areas of the lining without contacting the BOF.

[0095] Figure 6e An embodiment is shown in which, when the movable spray unit is at a position (P1) different from the reference position (xr, yr), the spray gun cannot reach all areas of the lining without contacting the BOF, despite having a 90° reference orientation.

[0096] Figure 7a and Figure 7b The following are shown: (a) a side view and (b) a top view of a scanner system configured to establish the scanning topography of the lining area and to create a spray pattern (G1).

[0097] Figure 7c and Figure 7d (c) Side view and (d) Top view showing the movable injection unit being moved into the repair position and the first position (P1) of the movable injection unit relative to the BOF being measured.

[0098] Figure 7e and Figure 7f (e) side view and (f) top view are shown to determine whether a first continuous nozzle position sequence can be implemented without any part of the spray gun contacting any point of the metallurgical container at any time.

[0099] Figure 8 A flowchart of the process according to the present invention is shown.

[0100] Figure 9 A flowchart of a preferred embodiment of the process according to the present invention is shown.

[0101] Figure 10 A flowchart of an alternative preferred embodiment of the process according to the present invention is shown. Detailed Implementation

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

[0103] The apparatus also includes a data processing system (21) that communicates with the scanner system (31) and the spraying system (11). In an embodiment, the data processing system (21) is configured to determine the actual thickness (t1) of the lining (1L) based on the scan topography obtained by the scanner system (31) and spatial coordinates (x, y, z). The data processing system is also configured to define a spraying pattern (G1) that defines the repair area of ​​the lining to be repaired. The spraying pattern (G1) may 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) is preferably movable on its wheels and / or the metallurgical container (1) is movable, the device includes a positioning system (17) that communicates with a data processing system (21) and is configured to determine a first position (P1) of the movable spraying unit (12) relative to the metallurgical container (1). The first position (P1) is preferably associated with the body of the movable spraying unit (12) and is independent of the spray gun (13). The position of the spray gun (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 container (1) can be determined by the positioning system by providing one or more measurements of the position of the metallurgical container (1). In another embodiment, the position of the metallurgical container (1) can be moved to a reference position reproducible in the device according to the invention. The position of the metallurgical container is preferably used to determine the first position (P1) of the movable spraying unit (12) relative to the metallurgical container (1). The first position (P1) is transmitted to the data processing system (21), which uses the first position to establish a first continuous nozzle position sequence (T1) that defines a spatial layout sequence of the repair spray gun (13), thereby allowing the repair nozzles (13t) to reach spray positions where repair spray material (1R) is sprayed onto the corresponding repair area defined in the repair diagram (G1). The establishment of the first continuous nozzle position sequence (T1) takes into account that the movable spray 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 the first continuous nozzle position sequence (T1) includes an accessibility test, which digitally checks whether all areas of the spray map (G1) are reachable at the measured position of the movable spray unit (P1). With the movable spray unit (12) in the first position (P1), the first continuous nozzle position sequence (T1) can be established by performing a collision test as described below.

[0106] The geometric features of the metallurgical container (1) are stored in the memory of the data processing system (21), which can compare the spatial layout of the spray gun (13) defined in the first continuous nozzle end position sequence (T1) with the stored geometric features before implementing the first continuous spray nozzle position sequence (T1). Therefore, it can be digitally determined whether the first continuous nozzle position sequence (T1) can be implemented without any part of the spray gun (13) contacting any point of the metallurgical container (1) at any time. Based on the comparison result, the data processing system (21) controls the spray system (11) in different ways.

[0107] • If the movable spray unit (12) can implement a first continuous nozzle position sequence (T1) from a first position (P1) of the movable spray unit without the spray gun (13) contacting any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) to apply the first injector sequence (S1), thereby limiting the spray flow rate (dV / dt) and the displacement velocity (v) of the spray nozzle (13t) during the implementation of the first continuous nozzle position sequence (T1).

[0108] On the other hand, if the movable spray unit (12) cannot implement the first continuous nozzle position sequence (T1) from the first position (P1) of the movable spray unit and / or cannot establish the first continuous nozzle position sequence (T1) when the spray gun (13) does not contact any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) not to apply the first injector sequence (S1).

[0109] Metallurgical containers (1)

[0110] All metallurgical containers having an internal volume accessible from the outside through an opening (1o) and defined by a wall comprising a shell structure, can be repaired using the equipment and process of the present invention. This shell structure is typically made of metal and its inner surface is lined with a refractory lining (1L). The present invention is particularly advantageous for use with metallurgical containers having an opening (1o) that forms a bottleneck with a diameter smaller than the diameter of the internal volume. Therefore, the access of the spray gun (13) of the spray unit (11) to the internal volume is limited by the smaller diameter of the opening, thereby increasing the risk of damage from contact between the spray gun (13) and the wall of the metallurgical container (1).

[0111] A typical example of such a metallurgical vessel (1) is an alkaline oxygen furnace converter (BOF) used to convert high-carbon pig iron into low-carbon steel by blowing in oxygen. Figure 1a and Figure 1bAn example of a BOF is shown. The BOF consists of three parts: a spherical bottom, a cylindrical central portion, and an upper cone truncated by an opening (1o). The BOF also includes a tap hole in the cylindrical central portion or the upper cone for dumping low-carbon steel after the oxidation reaction is complete. 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 oxidation conditions at high temperatures, and erosion is most severe at the level of the contact line with the molten slag (5s). Because only about 8% to 12% of the internal volume of the BOF is filled with molten pig iron in use, erosion is strongest between the lower part of the spherical bottom and the cylindrical central portion (i.e., very far from the opening (1o)). This makes it more challenging to introduce the blasting gun (13) deep into the internal volume through the opening (1o).

[0112] The BOF is mounted on a tilting hinge, allowing it to rotate (tilt) about a horizontal axis. During the conversion process, the BOF is held such that the opening (1o) is located at the highest point above the bottom of the sphere. This arrangement is referred to herein as the "vertical arrangement," as... Figure 1a and Figure 1b As shown in the diagram. The BOF can be tilted to lower the opening (1o) by up to 90°, until as shown. Figure 2 The layout shown herein is referred to as the "horizontal layout". The tilt angle can be controlled to any value between 0° and 90° to place the BOF in a "tilted layout" that is defined as any layout other than the vertical layout. The tilted layout is used for loading raw materials, sampling the melt, pouring steel out of the BOF through the tap hole, and for repairing the lining (1L). In fact, when the opening is in a lower position, it is easier to introduce the spray gun (13) into the internal volume through the opening, as Figure 2 As shown in the image.

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

[0114] Scanner system (31)

[0115] Any commercially available scanner system (31) configured to scan a region of the lining (1L) of the thermometallurgical vessel (1) to produce a scanning topography of the lining region can be used in this invention. Preferably, the scanner system includes a laser scanner that emits laser beams that are collected by a photodetector after being reflected off the walls of the internal volume. For example, a laser scanner system of the type described in US 6780351 can be used. Figures 7a to 7d As shown, the scanner system (31) can be mounted on a structure that ensures the beam emitter is always in the same position. However, the scanner system (31) can also be mounted on a movable platform that can move freely. Therefore, it is preferable to use a positioning system (17) to position the scanner system (31) to precisely define its position. This can be achieved by measuring the distances of the scanner system (31) from two or three fixed points.

[0116] Spray coating system (11)

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

[0118] The spray gun (13) is characterized by its degrees of freedom, which allow the arrangement of the spray nozzle (13t) to be changed to reach different positions relative to the movable spray unit (12), and particularly relative to the body of the movable spray unit (12). Figures 3a to 3c In the embodiments shown, the spray gun has at least four degrees of freedom, such as it can:

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

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

[0121] ·like Figure 3a As shown, the rotation angle around the X-axis This allows the spray nozzle to rotate around the orifice cone. and

[0122] • The distance (Δx) of translation along the direction of the spray gun (13),

[0123] Additionally, the spray gun (13) (not shown) can optionally be vertically translated along the Z-axis to align it with the opening (1o) of the metallurgical container (1).

[0124] With the aforementioned degrees of freedom, the spray nozzle (13t) can reach areas including Figures 3a to 3c Any point within the repair volume indicated by the shaded area. To be suitable for repairing a given metallurgical container (1), the spraying system (11) preferably has a repair volume at least equal to the internal volume of the metallurgical container, and preferably is capable of surrounding the internal volume to ensure that, with the movable spraying unit (12) outside the metallurgical container (1) at a given location, preferably at a reference location, the spraying nozzle (13t) can reach all points of the lining (1L) within the internal volume, such as... Figure 6a and Figure 6b As shown in the image.

[0125] The equipment is also equipped with a positioning system (17), which is preferably configured to determine the container position of the metallurgical container and, based on the container position, determine a first position (P1) of the movable spraying unit (12) 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 spraying unit (12) relative to two or three reference points (1RP), such as... Figure 5a , Figure 5b , Figure 7c and Figure 7d As shown, the dashed line represents the laser beam. The position (P1) of the movable injection unit (12) is needed to establish a continuous nozzle position sequence (T1) because the positioning of the movable injection unit (12) at the repair location cannot be accurately reproduced by the operator. The positioning system (17) may include a tilt angle measuring system for the trunnion adjacent to the metallurgical vessel (1), such as... Figure 5b and Figure 7d The rectangle in the image is shown.

[0126] Any commercially available spraying system (11) can be used in this invention, provided that it is movable, has a suitable repair volume as defined above, has a spraying gun (13) with a spraying nozzle (13t) at the end of the spraying gun, and is suitable for positioning 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 multiple 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 spraying sequence (S1) have been established. The data processing system may 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, which defines 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 Shows the repair area forming the gunning map (G1). It preferably includes areas 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 a 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 transmits the coordinates of the first position (P1) to the data processing system (21) after the container position and the first position (P1) of the movable spraying unit (12) have been determined. In the framework of this document, the transmitted coordinates of the first position (P1) can be data that enables the determination of the coordinates of the first position (P1) rather than the actual coordinates of the first position (P1) itself.

[0133] By combining the first position (P1) of the movable spray unit (12), preferably representing the repair volume of the spray system (11), and each of the spray map (G1), the data processing system (21) is configured to establish a first continuous nozzle position sequence (T1). The first continuous nozzle position sequence (T1) defines a spatial layout sequence of the spray gun (13), thereby allowing the spray nozzle (13t) to reach the spray position. Considering that the movable spray unit (12) is located at the first position (P1), the spray position allows the repair spray material (1R) to be sprayed at the repair area defined in the spray map (G1). The spray position corresponds to the repair area being sprayed. In other words, the first continuous nozzle position sequence (T1) defines the loop that the spray nozzle (13t) must follow to reach each repair area defined in the first spray map. This also includes limiting the movement of the spray gun (13) and the spray nozzle (13t) along the corresponding degrees of freedom required to cause the spray nozzle (13t) to travel along the loop when the movable spray unit (12) is vertically fixed at the first position (P1). When establishing the first continuous nozzle position sequence (T1), the data processing system also considers the distance range and orientation range of the spray nozzle relative to the surface of the repair area. The distance range and orientation range are data stored in the memory of the data processing system and depend on the movable spray unit, especially the spray nozzle. The distance range ensures, on the one hand, that the spray nozzle never contacts the surface of the repair area and that the repair spray material does not bounce excessively when it is applied to the surface of the repair area. On the other hand, the distance range ensures that the spray nozzle never moves too far from the surface of the repair area, so that the repair spray material can be effectively applied to the surface of the repair area. The orientation range of the spray nozzle may be important depending on the topography of the repair area.

[0134] The spray pattern (G1) preferably includes a minimum amount of repair spray material (1R) to be applied to each repair area. More preferably, the spray pattern includes a range of amounts of repair spray material (1R) to be applied to each repair area, including both a minimum and a maximum amount, to avoid waste of repair spray material and to prevent protrusions from forming on the surface of the lining (1R) due to excessive repair material (1R).

[0135] The establishment of the first continuous nozzle position sequence (T1) includes an accessibility test that checks whether all areas of the patching map (G1) are reachable when the movable spray unit (12) is in a first position (P1). If the movable spray unit (12) is in the first position (P1) as determined by the positioning system (17) through measurement, the accessibility test is negative, i.e., unsuccessful, which does not allow the patching nozzles to reach all the repair areas marked in the patching map (G1). For example, if the patching gun (13) is too short to reach one of the repair areas, the accessibility test is negative. If the accessibility test is negative, the data processing system can notify the operator that the first continuous nozzle position sequence (T1) cannot be established when the movable spray unit (12) is in the first position (P1), and the movable spray unit should be moved to a second position. The data processing system is preferably configured to indicate where the movable spray unit (12) should be optimally moved to allow the establishment of an alternative continuous nozzle position sequence (T1) from the second position.

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

[0137] The data processing system (21) includes a memory in which the geometric features of the metallurgical container (1) are stored. The geometric features of the metallurgical container (1) include the internal volume and, preferably, the exterior of the container. The geometric features of the metallurgical container (1) may be technical drawings of the metallurgical container (e.g., AutoCAD files) and / or may be the result of three-dimensional images of the interior and exterior of the metallurgical container (1). The geometric features of the metallurgical container (1) include, critically, the geometric features of the opening (1o). Considering that the diameter of the opening (1o) may be reduced due to the presence of solidified metal protrusions, the geometric 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 geometric features of the metallurgical container (1) stored in the memory of the data processing system (21) include real-time geometric features of at least the opening (1o) measured by the scanner system (31). Preferably, the geometric features of the metallurgical container (1) may include the morphology of both the lining (1L) and the outer surface of the metallurgical container (1), the outer surface including the opening (1o). The morphology of the area of ​​the lining (1L) is preferably a scanned morphology generated by the scanner system (31).

[0139] like Figure 7e and Figure 7fAs schematically shown, the data processing system (21) is configured to run a collision test by comparing the spatial layout of the spray gun (13) defined in the first continuous nozzle position sequence (T1) with the geometric features of the metallurgical container (1) stored in the memory of the data processing system (21). Based on the collision test, the data processing system can then determine whether the first continuous nozzle position sequence (T1) can be implemented without any part of the spray gun (13) contacting any point of the metallurgical container (1) at any time. Figure 6a and Figure 6b Two embodiments are shown in which a continuous nozzle position sequence (T1) can be implemented at a first position (P1) determined by measurement by the positioning system (17) at the movable spray unit (12), and the spray gun (13) never contacts the wall of the metallurgical container (1) at any time. In contrast, Figures 6c to 6e Three embodiments are shown, in which, from the first position (P1), the spray gun (13) contacts the opening of the metallurgical container while performing the first continuous nozzle position sequence (S1), which carries the risk of seriously damaging the metallurgical container (1) and / or the spray gun (13).

[0140] Based on the spray pattern (G1) and the first continuous nozzle position sequence (T1), the data processing system (21) is configured to establish the first injector sequence (S1).

[0141] First injector sequence (S1)

[0142] The spray pattern (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 spray material (1R) to be sprayed at each repair area. The volume of the repair spray material (1R) being sprayed can be controlled by changing the flow rate (dV / dt) of the repair spray material ejected from the spray nozzle (13t) and / or by changing the displacement velocity (v) of the spray nozzle (13t) during spraying. The first injector sequence (S1) defines the spray flow rate (dV / dt) and displacement velocity (v) of the spray nozzle (13t) during the implementation of the first continuous nozzle position sequence (T1). In a preferred embodiment, the spray flow rate (dV / dt) can be changed as the spray nozzle (13t) follows the loop defined by the first continuous nozzle position sequence (S1). Alternatively or concurrently, the displacement velocity (v) of the spray nozzle (13t) can be varied during its movement along the loop. Either or both of these variations—flow rate (dV / dt) and displacement velocity (v)—allow control over the volume of the repair spray material (1R) applied locally at each repair area. In other words,

[0143] • Throughout 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 velocity (v) can be changed according to the injection position of the spray nozzle (13t), or

[0146] • The flow rate (dV / dt) can be changed according to the injection position of the spray nozzle (13t) and can even be interrupted, and either

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

[0148] ○ The displacement velocity (v) changes according to the spray position of the spray nozzle (13t).

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

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

[0151] Collision testing and control of the spray system (11)

[0152] The impact test yielded the following information: whether the first consecutive nozzle position sequence (T1) from the first position (P1) can be fully implemented without the spray gun (13) contacting any part of the metallurgical container (1) at any time. A positive impact test is obtained when the conclusion is that no contact will occur during the implementation of the first consecutive nozzle position sequence (T1). Figure 6a and Figure 6b (as shown in the diagram). Conversely, when contact or collision between the spray gun (13) and the metallurgical container (1) is identified at any time during the operation of the first consecutive nozzle position sequence (T1) (e.g., as shown in the diagram). Figures 6c to 6e As shown in the figure, where the circle indicates the contact between the spray gun and the opening (1o) of the metallurgical container (1), a negative impact test is obtained.

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

[0154] On the other hand, in the case of a negative impact test (i.e., identifying at least one contact between the spray gun (13) and the metallurgical container (1), the data processing system (21) controls the spray system (11) not to apply the first injector sequence (S1). The data processing system may take at least one of a plurality of different correction actions.

[0155] Negative crash test and / or negative accessibility test → Corrective action

[0156] In the event of a negative accessibility test and / or a negative collision test, the data processing system (21) controls the spray system not to run the first injector sequence (S1). Therefore, at least one corrective action can be performed.

[0157] The first corrective action is an indication that the first injection sequence cannot be performed. This can 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 case of a negative crash test, the data processing system can trigger other corrective actions.

[0158] According to the second correction action, the data processing system (21) is configured to list inaccessible repair areas, which are defined as repair areas corresponding to spray positions that cannot be reached from the first position (P1) by the spray tip (13t) or spray positions that can only be reached by a point of contact with the metallurgical container (1). The data processing system can then determine whether the inaccessible repair areas can be used for further process cycles without repair material (1R). This may be the case if the thickness of the inaccessible repair area is less than but close to the minimum thickness (tm) used to identify the repair area. The minimum thickness (tm) is defined as having a comfortable safety margin and allowing for small deviations relative to it without excessive risk. For example, the data processing system can control whether the actual thickness (t1) of the inaccessible repair area is included within a given safety range (δ) from the minimum thickness (tm) (i.e., tm–δ≤t1≤tm), where the safety range can be expressed as an absolute value (in mm) or a relative value (in %) of tm. This must be handled with extreme care, and special attention must be paid to ensure that the safety margin (δ) is completely within the safety limit and that the risk of corrosion of the lining (1L) reaching the metal shell of the metallurgical vessel remains extremely low.

[0159] If all inaccessible repair areas can be reused in a 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 inaccessible repair areas that can be reused in another process cycle. Then, based on the second continuous nozzle position sequence (T2), the data processing system modifies the first injector sequence (S1) to define the second injector sequence (S2) by removing the injection positions corresponding to the inaccessible repair areas. The data processing system (21) then controls the spraying system to apply the second injector sequence (S2).

[0160] If all unreachable repair areas cannot be reused in a process cycle without repair, then the correction action described below is preferably performed.

[0161] According to the third correction action, the data processing system (21) can be configured to instruct the movable spraying unit (12) to move. In a preferred embodiment, the data processing unit instructs how to reach a reference repair position (Pr), from which a first spraying sequence (S1) can be performed without contact between the spraying system (11) and the metallurgical container (1). For example, the reference repair position (Pr) can be a predefined position, which can be marked on the floor or otherwise identified. The operator or the moving system can then move the movable spraying unit (12). Once the movable spraying unit (12) has 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 measurement to establish an alternative continuous nozzle position sequence, the establishment of which includes an alternative accessibility test; and perform an alternative collision test, taking into account that the movable spraying unit (12) is at the second position (P2) determined by the measurement of the positioning system (17). Only when the test is successful will the alternative injector sequence, determined based on the alternative continuous nozzle position sequence, be used to perform the spray repair.

[0162] According to the fourth correction action, the data processing system (21) can be configured to indicate that the position (e.g., tilt angle) of the metallurgical container must be changed. The tilt angle is particularly relevant when the metallurgical container (1) is a BOF (Bottom-of-Flight). The data processing system preferably indicates how to change the position and / or tilt angle of the metallurgical container. Once the container (1) has been moved to the new position, the data processing system (21) can be configured to control the positioning system (17) to position the metallurgical container in the new position and determine the new relative position (P1) of the movable injection unit (12) relative to the metallurgical container (1) based on the new position of the metallurgical container. The data processing system (21) can then be configured to: establish another sequence of continuous nozzle positions, the establishment of which includes another accessibility test; and perform another collision test, taking into account the container being in the new position. Only if the test is successful is another injector sequence determined according to the other sequence of continuous nozzle positions used for spraying.

[0163] Based on the fifth correction action, the data processing system (21) can instruct that the spray nozzle (13t) must be removed and replaced with a new spray nozzle (13t) with different geometric features. For example, the data processing system (21) can define the geometric features of the new spray nozzle (13t), thereby indicating the tip tilt angle of the new spray nozzle (13t) relative to the spray gun (13). and / or the length of the new gunning nozzle (13t). Since the number of gunning nozzle geometric features 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 for repairing 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 generate 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 especially 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, based on 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 can move the movable injection unit (12) to a first position (P1), preferably as close as possible to a predefined reference repair position (Pr). The first position (P1) of the movable injection unit (12) can be determined by the positioning system (17) and transmitted to the data processing system (21).

[0169] The data processing system (21) establishes a first continuous nozzle position sequence (T1) when the movable injection unit (12) is located at a first position (P1) as determined by the positioning system (17). This can be achieved by using the first position (P1) of the movable injection unit (12), as determined by the positioning system (17), etc. Figures 3a to 3c The repair volume of the spray system (11) and the spray map (G1) shown are combined to establish a first continuous nozzle position sequence (T1). This first continuous nozzle position sequence defines the loop that the spray nozzle (13t) must follow to reach all repair areas of the repair material (1R) to be repaired, and defines various spatial arrangements of the spray gun (13) required for the spray nozzle (13t) to follow the loop. The first continuous nozzle position sequence (T1) preferably defines a time-ordered sequence of repair areas accessed by the loop. The determination of the first continuous nozzle position sequence (T1) includes an accessibility test that checks whether all areas of the spray map (G1) are reachable when the movable spray unit (12) is located at a first position (P1).

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

[0171] By comparing the spatial layout of the grouting gun (13) defined in the first continuous nozzle position sequence (T1) with the geometric features of the metallurgical container (1) stored in the memory of the data processing system, the data processing system (21) performs a collision test to determine whether the first continuous nozzle position sequence (T1) can be implemented without any part of the grouting gun (13) contacting any point of the metallurgical container (1) at any time. If the collision test and accessibility test are positive, then the data processing system (21) controls the grouting 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 accessibility test is negative (i.e., at least one area of ​​the grouting map (G1) is unreachable), then the data processing system (21) controls the grouting system (11) not to apply the first injector sequence (S1).

[0172] If at least one of the collision test and accessibility 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 flowchart illustrating 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 emptied (see [link to documentation]). Figure 8 (a)). Tilt the BOF to expose the opening (1o) to the spray gun (13) of the scanner system (31) and the spray system (11) (see) Figure 8 (b) The surface of the lining (1L) was scanned by a scanner system (31) to obtain the morphology of the lining (1L) for creating a spray pattern (G1) (see Figure 8 (c)). If the spray pattern (G1) does not identify the repair area, then the BOF does not require repair and may be returned to run the next process cycle after some further operations unrelated to this invention (see...). Figure 8 (m)).

[0174] On the other hand, if the spray pattern (G1) indicates the repair area, then the operator moves the movable spray unit (12) to a position close to the reference repair position (Pr) (see...). Figure 8 (d) The positioning system (17) determines the actual first position (P1) of the movable injection unit (12) relative to the BOF by measurement and transmits it to the data processing system (see [reference]). Figure 8 (e)). Based on the first position (P1) and the spray pattern (G1) (see...) Figure 8(f) To establish a first continuous nozzle position sequence (T1), the establishment of which includes an accessibility test that checks whether all areas of the spray pattern can be sprayed. The first continuous nozzle position sequence (T1) is compared with the geometry of the BOF stored in the memory of the data processing system (21) to run a collision test to digitally determine whether the spray gun (13) contacts the metallurgical container (1) at any time during the continuous nozzle position sequence (T1) (see Figure 8 (h)). If the crash test and accessibility test are positive, then the data processing system (21) controls the spraying system (21) to implement the first sprayer sequence (S1) previously established by the data processing system (21) based on the volume of repair spraying material required to repair each repair area (which can be obtained from the spraying map (G1)) (see Figure 8 (l)) and the first consecutive nozzle position sequence (T1). After repair and possible further operations, the BOF can be left untilted and used for another process cycle (see [link]). Figure 8 (m)).

[0175] If, on the other hand, the crash test or accessibility test is negative, then the data processing system (21) controls the spray system (11) not to implement the first injector sequence (S1) (see...). Figure 8 (i) and indicates that spraying is not possible when the movable transmitting unit (12) is in the first position (P1) (see Figure 8 (j)). Then the correction action can be controlled by the data processing system (21) (see Figure 8 (k)).

[0176] Figure 9 It is based on Figure 8 The flowchart of an embodiment shows that, in the event of a negative collision test or accessibility test, the data processing system performs a corrective action by instructing the operator to move the movable injection unit (12) to a second position (P2) (see [link]). Figure 8 (k) and Figure 9 (k)). In Figure 9 The same boxes marked (a) to (m) indicate the same content as those related to... Figure 8 The same actions discussed in the boxes marked (a) to (m) are not repeated here. The first position (P1) is replaced by the i-th position (Pi), where i ranges from 1 to N, and N limits the number of repetitions of the loop [i = i + 1]. If the collision test at the first position (P1, i.e., i = 1) fails, then in the loop i = i + 1 = 2, the data processing system instructs the operator to move the movable injection unit (12) to the (i + 1)-th position (P(i + 1)) (see See Figure 9 (n)). Once the movable injection unit moves to the (i+1)th position (P(i+1)) (see...) Figure 9 (d) If the movable injection unit is at position (i+1) (P(i+1)), repeat steps (e) to (h). If the collision test is negative again, then the loop runs again until i = N (see Figure 9 (n)). In fact, the maximum number of repeated loops N can be as high as expected.

[0177] Figure 10 It is based on Figure 8 The flowchart of an embodiment, wherein, in the event of a negative crash test or accessibility test, the data processing system checks whether a different sequence of consecutive nozzle positions (T(i+1)) can be defined in addition to the inaccessible repair area (see...). Figure 10 (k), (o), (p)) are used to perform correction actions (see [see [link]). Figure 8 (k) and Figure 10 (k)). In Figure 10 The same boxes marked (a) to (m) refer to those related to... Figure 8 The same actions discussed in the boxes marked (a) to (m) 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, and N limits the number of repetitions of the loop [i = i + 1]. In the event of a failure to pass the crash test or accessibility test, the data processing system lists the unreachable repair areas in the loop i = i + 1 = 2 (see...). Figure 10 (o)) and check that all inaccessible repair areas are thick enough to undergo the next process cycle without risk of failure (see Figure 10 (p)). If at least one unreachable repair area is not thick enough to run the next process cycle, then the data processing unit reverts to the correction operation (see [link]). Figure 10 The arrow between boxes (p) and (k) [no]). If all unreachable repair areas are thick enough to undergo another process cycle, then the data processing system (21) creates a different spray pattern (G(i+1)) for the unreachable repair areas (see...). Figure 10 (q)). Based on different spray patterns (G(i+1)), determine the (i+1)th consecutive nozzle position sequence (T(i+1)), and run reachability and collision tests (see [link]). Figure 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, corrective actions are considered (see Figure 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 made 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. An apparatus for a spraying operation to repair a lining (1L) of a metallurgical vessel (1), the metallurgical vessel having an opening (1o) leading to the interior of the metallurgical vessel lined with the lining (1L), the lining being configured to contact molten metal, the apparatus comprising: • A patching system (11) comprising a movable spraying unit (12) including a patching spray gun (13) equipped with a patching nozzle (13t) and configured to spray a patching material (1R) onto the lining (1L) through the patching nozzle (13t), wherein the movable spraying unit (12) has a degree of freedom for changing its layout, thereby allowing the patching nozzle (13t) to reach different positions relative to the movable spraying unit (12). • A data processing system (21), which communicates with the movable spraying unit (12) and is configured to obtain a spray pattern (G1) defining the repair area of ​​the lining to be repaired. • A positioning system (17), which communicates with the data processing system (21) and is configured to determine a first position (P1) of the movable injection unit (12) relative to the metallurgical container (1) by measurement and transmit the first position (P1) to the data processing system (21). Its features are, (a) The data processing system (21) is configured to establish a first continuous nozzle position sequence (T1) that defines a spatial layout sequence of the patching spray gun (13) so that, when the movable spraying unit (12) is located at the first position (P1) determined by the positioning system (17) by measurement, the patching nozzle (13t) is allowed to reach the spraying position, thereby allowing the repair patching material (1R) to be sprayed at the corresponding repair area defined in the patching map (G1). The establishment of the first continuous nozzle position sequence (T1) includes an accessibility test that checks whether all areas of the patching map (G1) are accessible when the movable spraying unit (12) is located at the first position (P1). (b) The geometric features of the metallurgical container (1) are stored in the memory of the data processing system (21), and (c) The data processing system (21) is configured to compare the spatial layout of the spray gun (13) defined in the first continuous nozzle position sequence (T1) with the geometric features of the metallurgical container (1) stored in the memory of the data processing system (21) in order to perform a collision test to determine whether the first continuous nozzle position sequence (T1) can be implemented without any part of the spray gun (13) contacting any point of the metallurgical container (1) at any time, and to control the spray system (11) in such a way that • If the accessibility test concludes that all areas of the spray pattern (G1) are reachable and the collision test concludes that the spray system (11) is able to implement the first continuous nozzle position sequence (T1) without the spray gun (13) contacting any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) to apply the first injector sequence (S1), thereby limiting the spray flow rate (dV / dt) and displacement velocity (v) of the spray nozzle (13t) during the implementation of the first continuous nozzle position sequence (T1). • If the reachability test concludes that not all areas of the spray pattern (G1) are reachable and / or the collision test concludes that the spray system (11) cannot implement the first continuous nozzle position sequence (T1) without the spray gun (13) contacting any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) not to apply the first injector sequence (S1).

2. The device according to claim 1, wherein, The device is configured to indicate that the first injector sequence (S1) cannot be implemented if the accessibility test concludes that not all areas of the spray pattern (G1) are reachable and / or the collision test concludes that the spray system (11) cannot implement the first continuous nozzle position sequence (T1) when the spray gun (13) does not contact any point of the metallurgical container (1) at any time.

3. The device according to claim 1 or 2, wherein, If the accessibility test concludes that not all areas of the spray pattern (G1) are reachable and / or the collision test concludes that the spray system (11) cannot implement the first continuous nozzle position sequence (T1) without the spray gun (13) contacting any point of the metallurgical container (1) at any time, the data processing system (21) is configured to: • Indicates that the movable injection unit (12) must be moved. • The positioning system (17) is controlled to locate the second position (P2) of the movable injection unit (12) by measurement. • An alternative continuous nozzle position sequence is established to define the spatial layout sequence of the spray gun (13), thereby allowing the spray nozzle (13t) to reach the spray position when the movable spray unit (12) is located at the second position (P2), thus allowing the repair spray material (1R) to be sprayed at the corresponding repair area defined in the spray pattern (G1). The establishment of the alternative continuous nozzle position sequence includes an alternative accessibility test, which checks whether all areas of the spray pattern (G1) are accessible when the movable spray unit (12) is located at the second position (P2). • The spatial layout of the patching gun (13) defined in the alternative continuous nozzle position sequence is compared with the geometric features of the metallurgical container (1) stored in the memory of the data processing system (21) in order to perform an alternative collision test to determine whether the alternative continuous nozzle position sequence can be implemented without any part of the patching gun (13) contacting any point of the metallurgical container (1) at any time, and the patching system (11) is controlled in the following manner: If the alternative accessibility test concludes that all areas of the spraying map (G1) are reachable and the alternative collision test concludes that the spraying system (11) can implement the alternative continuous nozzle position sequence without the spraying gun (13) contacting any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spraying system (11) to apply the alternative injector sequence, thereby limiting the spraying flow rate (dV / dt) and displacement velocity (v) of the spraying nozzle (13t) during the implementation of the alternative continuous nozzle position sequence. If the conclusion of the alternative accessibility test is that not all areas of the spray pattern (G1) are reachable and / or the conclusion of the alternative collision test is that the spray system (11) cannot implement the alternative continuous nozzle position sequence when the spray gun (13) does not contact any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) not to apply the alternative injector sequence.

4. The device according to claim 1, wherein, The positioning system (17) is configured to determine the container position of the metallurgical container and use the container position to determine the first position (P1) of the movable injection unit (12) relative to the metallurgical container (1).

5. The device according to claim 4, wherein, If the accessibility test concludes that not all areas of the spray pattern (G1) are reachable and / or the collision test concludes that the spray system (11) cannot implement the first continuous nozzle position sequence (T1) without the spray gun (13) contacting any point of the metallurgical container (1) at any time, the data processing system (21) is configured to: • The location of the metallurgical vessel must be changed. • The positioning system (17) determines the new position of the metallurgical container and the new relative position (P1) of the movable injection unit (12) relative to the metallurgical container (1) by measurement. • Establish another sequence of consecutive nozzle positions that defines the spatial layout sequence of the spray gun (13), thereby allowing the spray nozzle (13t) to reach the spray position when the movable spray unit (12) is located at the new relative position (P1), thus allowing the repair spray material (1R) to be sprayed at the corresponding repair area defined in the spray pattern (G1). The establishment of the other sequence of consecutive nozzle positions includes another accessibility test that checks whether all areas of the spray pattern (G1) are reachable when the movable spray unit (12) is located at the new relative position (P1). • The spatial layout of the spray gun (13) defined in the other consecutive nozzle position sequence is compared with the geometric features of the metallurgical container (1) stored in the memory of the data processing system (21) in order to perform another collision test to determine whether the other consecutive nozzle position sequence can be implemented without any part of the spray gun (13) contacting any point of the metallurgical container (1) at any time, and the spray system (11) is controlled in the following manner: If the conclusion of the other accessibility test is that all areas of the spray pattern (G1) are reachable and the conclusion of the other collision test is that the spray system (11) is able to implement the other continuous nozzle position sequence without the spray gun (13) contacting any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) to apply the other injector sequence, thereby limiting the spray flow rate (dV / dt) and displacement velocity (v) of the spray nozzle (13t) during the implementation of the other continuous nozzle position sequence. If the conclusion of the other accessibility test is that not all areas of the spray pattern (G1) are reachable and / or the conclusion of the other impact test is that the spray system (11) cannot implement the other continuous nozzle position sequence when the spray gun (13) does not contact any point of the metallurgical container (1) at any time, then the data processing system (21) controls the spray system (11) not to apply the other injector sequence.

6. The device according to claim 5, wherein, Indicating that the position of the metallurgical container must be changed includes indicating how to change the position of the metallurgical container.

7. The device according to claim 1, wherein, If the accessibility test concludes that not all areas of the spray pattern (G1) are reachable and / or the collision test concludes that the spray system (11) cannot implement the first continuous nozzle position sequence (T1) without the spray gun (13) contacting any point of the metallurgical container (1) at any time, the data processing system (21) is configured to: • Indicates that the spray nozzle must be removed and replaced with a new spray nozzle (13t) with different geometries. • Performing the steps as described in claim 1 includes: establishing a continuous nozzle position sequence, the establishment of the continuous nozzle position sequence including an accessibility test; performing a collision test; and if the test is successful, then performing spraying in the injector sequence.

8. The device according to claim 7, wherein, Indicating that the spray nozzle must be removed and replaced with a new spray nozzle (13t) with different geometric features includes indicating the tip tilt angle (φ13t) of the new spray nozzle (13t) relative to the spray gun (13) and / or the length of the new spray nozzle (13t).

9. The device according to claim 1, wherein, If the accessibility test concludes that not all areas of the spray pattern (G1) are reachable and / or the collision test concludes that the spray system (11) cannot implement the first continuous nozzle position sequence (T1) without the spray gun (13) contacting any point of the metallurgical container (1) at any time, the data processing system (21) is configured to list unreachable repair areas, defined as repair areas that correspond to spray positions that cannot be reached by the spray nozzle (13t) from the first position (P1) or can only be reached by contacting a point of the metallurgical container (1), and to determine whether the unreachable repair areas can be used for another process cycle without repair spray material (1R). If all the unreachable repair areas can be reused for at least one process cycle without repair, the data processing system (21) is configured to modify the first injector sequence (S1) to define a second injector sequence (S2) by removing the injection positions corresponding to the unreachable repair areas, and to control the spraying system (11) to implement the second injector sequence (S2). In cases where at least one of the unreachable repair areas cannot be reused in a process cycle without repair, the data processing system (21) is configured to control the spraying system (11) not to apply the second injector sequence (S2).

10. The device according to claim 1, wherein, The determination of the first injector sequence (S1) takes into account the minimum amount of repair spray material (1R) to be applied to each repair area, and / or The determination of the first continuous nozzle position sequence (T1) takes into account the range of distances between the spray nozzle (13t) and the repair area at each spray position, and / or The determination of the first continuous nozzle position sequence (T1) takes into account the range of the orientation of the repair nozzle (13t) relative to the repair area, and / or • The determination of the first injector sequence (S1) takes into account the minimum amount of repair spraying material (1R) according to the spraying diagram (G1).

11. The device according to claim 1, wherein, The flow velocity (dV / dt) and the displacement velocity (v) are controlled by the following conditions: • The flow rate is constant throughout the first injector sequence (S1), and either the displacement velocity (v) is constant, or the displacement velocity (v) varies according to the injection position of the injection nozzle (13t), and / or The flow rate (dV / dt) varies depending on the spray position of the spray nozzle (13t), and either the displacement velocity (v) is constant or varies depending on the spray position of the spray nozzle (13t).

12. The device according to claim 1, wherein, The first injector sequence (S1) includes the spray nozzle (13t) passing through a series of spray positions several times to increase the volume of the repair spray material sprayed on the corresponding repair area.

13. The device according to claim 1, wherein, The geometric features of the metallurgical container (1) stored in the memory of the data processing system (21) are the morphology of both the lining (1L) of the metallurgical container (1) and at least a portion of the outer surface of the metallurgical container, the outer surface including the opening (1o).

14. The device of claim 1, comprising a scanner system (31) configured to scan an area of ​​the lining (1L) to generate a scanned topography of the area of ​​the lining; the scanner system (31) communicating with the data processing system (21); the data processing system (21) configured to determine the actual thickness (t1) of the lining (1L) based on the scanned topography obtained by the scanner system (31) according to spatial coordinates (x, y, z) and define the spray pattern (G1).

15. The device according to claim 14, wherein, The geometric features of the metallurgical container (1) stored in the memory of the data processing system (21) include the real-time geometric features of the opening (1o) measured by the scanner system (31).

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