EQUIPMENT FOR INSTALLING AND REPAIRING THE REFRACTORY LINING OF METALLURGICAL CULTURES WITH SPRAY SYSTEMS

Abstract

The invention relates to an apparatus for the spraying operation for repairing the lining (1L) of a metallurgical barrel (1) comprising: - a mobile firing unit (12) arranged with a small spray nozzle (13), - a positioning system (17) for determining the first position (P1) of the mobile firing unit relative to the metallurgical barrel, - a data processing system (21) configured, for determining the first firing sequence (S1) by the mobile firing unit, for running a collision test to check whether the small spray nozzle is in contact at any time with the metallurgical barrel during the deployment of the first firing sequence (S1), for controlling the spraying system (11) to apply the first firing sequence (S1), only when the collision test is certain.

Description

INSTALLATION FOR REPAIRING A REFRACTORY LINING OF A METALLURGICAL VESSEL WITH A GUNNING SYSTEMFIELD OF THE INVENTION

[0001] The present invention relates to an installation and a process for repairing a lining of a metallurgical vessel. The metallurgical vessel has an opening to an interior of the metallurgical vessel. The interior is lined with the lining, which is configured to be in contact with metal melt. The present invention allows substantially automating the repairing of the lining and substantially reducing the risks of damages to the installation. The installation and process are particularly suitable for repairing metallurgical vessels such as basic oxygen furnaces (BOF).BACKGROUND OF THE INVENTION

[0002] In metal forming processes, molten metal is stored in a metallurgical vessel where it can be processed and is transferred from one metallurgical vessel to another, to a mould or to a tool for ingots. The interiors of the metallurgical vessels are lined with a lining made of refractory material to resist the high temperatures of the metal melt and to insulate the interior from the exterior of the metallurgical vessels. During storing, processing and flow of the molten metal, the lining is eroded with local reductions of the thickness of the lining. Between successive process cycles of a metallurgical vessel, the conditions of the lining are checked to ensure that sufficient thickness remains for running an additional process cycle of filling, heating, optionally processing, and emptying the metallurgical vessel. If the thickness of the lining is locally too low, it is repaired before running a further process cycle.

[0003] An example of metallurgical vessel wherein molten metal is stored and undergoes chemical transformation includes basic oxygen furnace converter (BOF). As illustrated in Figure 1a, BOF is a metallurgical vessel (1) used for reducing the carbon content of carbon-rich molten pig iron by blowing oxygen (3g) with a lance (3) through a slag (5s) into the pig iron, to transform the pig iron into low- carbon steel. As shown in Figure 1 b, after some process cycles, the lining (1 L) is eroded and the actual thickness (t1 ) thereof is locally reduced compared with the nominal thickness (tO) of the lining (1L) (i.e., tO < t1 ) (compare in Figure 1 b the dashed line indicating the nominal thickness (tO) and solid line indicating the actual thickness (t1 )).

[0004] When the actual thickness (t1 ) becomes locally lower than a reference thickness, then the lining is repaired. As shown in Figure 2, this can be carried out with a gunning system (11) configured for gunning repair material (1 R) to the repair areas needing repair (i.e., including at least the repair areas, whose actual thickness (t1 ) is less than the reference thickness). The gunning system (11 ) is equipped with a gunning lance (13) ending with a gunning nozzle (13t). The gunning lance (13) has degrees of freedom allowing configurations thereof to be changed, such that the gunning nozzle (13t) can reach different positions and orientations relative to the mobile shooting unit (12). Figures 3a to 3c show respectively a perspective view, side view and a top view of an example of gunning system (11 ) comprising a mobile shooting unit (12) for displacing the gunning system (11 ).

[0005] Historically, assessment of the repair areas to be repaired and gunning of repair material (1 R) in the thus identified repair areas were carried out visually and manually by an operator. Both operations of visually assessing the repair areas and of manually gunning the repair material required much experience because the interior of the metallurgical vessels is glowing hot during these operations to reduce the repair time between two successive process cycles.

[0006] In recent years, automation of the assessment of the lining actual local thicknesses (t1 ) and identification of the locations of the repair areas has made much progress. For example, W003081157 describes the use of a stereo-matrix camera for determining the actual thickness of the lining. Similarly, W02007107242, US2010 / 158361 A1 , or US6780351, describe the use of a scanner system with an accurate measurement of the position of the scanner system relative to the metallurgical vessel. The scanner system is coupled to a data processing system allowing the establishment of a gunning map defining repair areas of the lining to be repaired.

[0007] The data processing system described in US6780351 is also configured for defining a shooter sequence defining the sequence of positions of the gunning nozzle suitable to gun defined volumes of repair material at the repair areas identified in the gunning map corresponding to the positions of the gunning nozzle.

[0008] Document US5745969 A describes a method and an apparatus for repairing a coke oven. The head of the gunning lance described in this document comprises a laser range finder for measuring a depth of a worn or damaged area in the oven wall. The gunning lance is used to repair said worn or damaged area.

[0009] Document US4649858 A describes a repairing apparatus for a coke oven. A head part of a lance of the apparatus can be fitted in the coal-charging ports of the oven to visualize a damage part with a camera and repair it with a plasma spray gun.

[0010] The gunning system often comprises a mobile shooting unit (12) that can be moved into repair position relative to a metallurgical vessel to be repaired. As described in US6780351 , the mobile shooting unit can be coupled to rail system, but in practice, for reasons of space saving on already overcrowded platforms, the mobile shooting unit is simply mounted on wheels and preferably can be moved freely by an operator. The mobile shooter unit is brought to a repair position, whence a gunning lance characterized by a given number of degrees of freedom is configured for reaching different areas of the lining. This creates, however, a problem that the mobile shooting unit cannot always be positioned at exactly the same repair position with respect to the vessel before each gunning operation. Even if a reference repair position (Pr) is marked on the floor, it is unlikely that an operator can position the mobile shooting unit exactly at the reference repair position, especially if the marking on the floor fades away with time and wear.

[0011] If the mobile shooting unit is not positioned exactly at the reference repair position, the shooting sequence established by the data processing system may not be adapted to the actual repair position relative to the metallurgical vessel. This is particularly critical if, like with BOF’s, the opening ofthe metallurgical vessel forms a bottle neck, i.e., has a smaller diameter than the interior of the metallurgical vessel. Indeed, the data processing system may define a shooter sequence which is well adapted for repairing the metallurgical vessel, but from the actual position of the mobile shooting unit relative to the opening of the metallurgical vessel, the gunning lance may well impact with parts of the metallurgical vessel, which could damage both mobile shooting unit and metallurgical vessel or may not be able to reach remote areas of the lining. There therefore remains a problem to automate repair of the lining of an interior of a metallurgical vessel when using a gunning system comprising a mobile shooting unit mounted on wheels.

[0012] The present invention proposes a solution for further automating repair of the lining of a metallurgical vessel, such as e.g., a BOF. These and other advantages of the present invention are explained more in detail in the following sections.SUMMARY OF THE INVENTION

[0013] The objectives of the present invention have been reached with an installation for a gunning operation for repairing a lining of a metallurgical vessel having an opening to an interior of the metallurgical vessel lined with the lining configured to be in contact with metal melt, the installation comprising,• a gunning system comprising a mobile shooting unit including a gunning lance equipped with a gunning nozzle and configured for gunning a repair gunning mass against the lining through the gunning nozzle, wherein the mobile shooting unit comprises degrees of freedom for changing configurations allowing the gunning nozzle to reach different positions relative to the mobile shooting unit,• a data processing system, in communication with the mobile shooting unit, and configured for obtaining a gunning map defining repair areas of the lining to be repaired, wherein,- the installation comprises a localisation system in communication with the data processing system and configured for determining, through a measurement and preferably some numerical calculations, a first position of the mobile shooting unit relative to the metallurgical vessel, and for transmitting the first position to the data processing system, in that,- the data processing system is configured to establish a first sequence of successive nozzle positions defining a sequence of spatial configurations of the gunning lance allowing the gunning nozzle to reach shooting positions allowing repair gunning mass to be gunned at the corresponding repair areas defined in the gunning map with the mobile shooting unit located at the first position determined through the measurement by the localisation system, the establishment of the first sequence of successive nozzle positions including a reachability test checking whether all the areas of the gunning map are reachable with the mobile shooting unit located at the first position, in that,- a geometry of the metallurgical vessel is stored in a memory of the data processing system, and in that,- the data processing system is configured to compare the spatial configurations of the gunning lance defined in the first sequence of successive gunning nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system, in order to carry out a collision test to determine whether the first sequence of successive gunning nozzle positions can be carried out without any part of the gunning lance contacting at any time any point of the metallurgical vessel, and to control the gunning system as follows,• if the reachability test concludes that all the areas of the gunning map are reachable and the collision test concludes that the gunning system can implement the first sequence of successive gunning nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to apply a first shooter sequence, defining a gunning flowrate and a displacement speed of the gunning nozzle during implementation of the first sequence of successive gunning nozzle positions,• if the reachability test concludes that not all the areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of successive gunning nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to not apply the first shooter sequence.

[0014] The gunning system comprises the mobile shooting unit and a source of repair gunning mass. The mobile shooting unit comprises a body, which is mobile and preferably mounted on wheels, and the gunning lance, which comprises the gunning nozzle. The gunning map may be obtained by any way. For example, the data processing system may download it, receives it, determines it from a measured map of actual thickness. It may comprise a collection of areas selected from a map of actual thickness. The localisation system may include elements external of the mobile shooting unit and the vessel, said elements being preferably fixed. The localisation system may include elements attached to the mobile shooting unit and / or to the vessel, said elements being mobile. The localisation system may include an information processing unit such as a microprocessor. The localisation system performs one or several measurement(s) and preferably some numerical calculations to determine the first position. The geometry of the metallurgical vessel includes especially the shape of the opening of the metallurgical vessel. The determination of the first shooting sequence takes into account the first sequence of successive nozzle positions.

[0015] The data processing system may be distributed, at least partially, amongst several devices (part on the gunning system, part on a computer inside the plant, part on the localisation system for example), and / or several locations, for example in a "cloud computing" environment or as a "software as a service" (SaaS). For example, at least some of the operations may be performed by a group ofcomputers (as examples of machines including processors), these operations being accessible via a network (e.g., the Internet) and via one or more appropriate interfaces (e.g., application program interfaces (APIs).)

[0016] In the frame of the present document, a “position” of an element, like the vessel, the mobile shooting unit, the gunning lance and the gunning nozzle, preferably includes the orientation of said element. For example, the position of a basic oxygen furnace includes its tilting angle. In the frame of the present document, a “position” of the mobile shooting unit is a position relative to the metallurgical vessel, except if the context presents it otherwise, and is preferably a position of the body of the mobile shooting unit.

[0017] In the invention, the reachability test and the collision test are done before the gunning system starts to apply the first shooter sequence. In other words, the motion of the gunning nozzle according to the first sequence of successive gunning nozzle positions is not started as long as the reachability test and the collision test are not finished for the entire first sequence of successive gunning nozzle positions. The reachability test is done before the collision test.

[0018] In an embodiment of the invention, in case the reachability test concludes that not all the areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, the installation is configured to indicate that the first shooting sequence cannot be carried out.

[0019] The installation may indicate how to reach a shooting position whence the first shooting sequence can be implemented without contact between the mobile shooting unit and the metallurgical vessel, wherein the shooting position is preferably a predefined position.

[0020] In an embodiment of the invention, in case the reachability test concludes that not all the areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, the data processing system is configured:• to indicate that the mobile shooting unit must be moved,• to control the localisation system to localise a second position of the mobile shooting unit,• to establish an alternative sequence of successive nozzle positions defining a sequence of spatial configurations of the gunning lance allowing the gunning nozzle to reach shooting positions allowing repair gunning mass to be gunned at the corresponding repair areas defined in the gunning map with the mobile shooting unit located at the second position, the establishment of the alternative sequence of successive nozzle positions including an alternative reachability test checking whether all the areas of the gunning map are reachable with the mobile shooting unit located at the second position,• to compare the spatial configurations of the gunning lance defined in the alternative sequence of successive nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system, in order to carry out an alternative collision test to determine whether the alternative sequence of successive nozzle positions can be carried out without any part of the gunning lance contacting at any time any point of the metallurgical vessel, and to control the gunning system as follows: o if the alternative reachability test concludes that all the areas of the gunning map are reachable and the alternative collision test concludes that the gunning system can implement the alternative sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to apply an alternative shooter sequence, defining a gunning flowrate and a displacement speed of the gunning nozzle during implementation of the alternative sequence of successive nozzle positions, o if the alternative reachability test concludes that not all the areas of the gunning map are reachable and / or the alternative collision test concludes that the gunning system cannot implement the alternative sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to not apply the alternative shooter sequence.The second position is preferably closer to the shooting position than the first position.

[0021] In an embodiment of the invention, the localisation system is configured for determining, through a measurement and preferably some numerical calculations, a position of the metallurgical vessel, and for using said vessel position to determine the first position of the mobile shooting unit relative to the metallurgical vessel.

[0022] The vessel position is preferably determined at least once before the scanning and at least once before the gunning.

[0023] In an embodiment of the invention, in case the reachability test concludes that not all the areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, the data processing system is configured:• to indicate that a position of the metallurgical vessel must be varied, and preferably indicate how to vary the position of the metallurgical vessel,• to control the localisation system to determine, through a measurement, a new position of the metallurgical vessel and a new relative position of the mobile shooting unit with respect to the metallurgical vessel,• to establish an other sequence of successive nozzle positions defining a sequence of spatial configurations of the gunning lance allowing the gunning nozzle to reach shooting positions allowing repair gunning mass to be gunned at the corresponding repair areas defined in the gunning map with the mobile shooting unit located at the new relative position, the establishment of the other sequence of successive nozzle positions including an other reachability test checking whether all the areas of the gunning map are reachable with the mobile shooting unit located at the new relative position,• to compare the spatial configurations of the gunning lance defined in the other sequence of successive nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system, in order to carry out an other collision test to determine whether the other sequence of successive nozzle positions can be carried out without any part of the gunning lance contacting at any time any point of the metallurgical vessel, and to control the gunning system as follows: o if the other reachability test concludes that all the areas of the gunning map are reachable and the other collision test concludes that the gunning system can implement the other sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to apply an other shooter sequence, defining a gunning flowrate and a displacement speed of the gunning nozzle during implementation of the other sequence of successive nozzle positions, o if the other reachability test concludes that not all the areas of the gunning map are reachable and / or the other collision test concludes that the gunning system cannot implement the other sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to not apply the other shooter sequence.

[0024] In an embodiment of the invention, in case the reachability test concludes that not all the areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, the data processing system is configured to:• indicate that the gunning nozzle must be removed and replaced by a new gunning nozzle of different geometry, preferably indicating a tip tilting angle of the new gunning nozzle relative to the gunning lance and / or a length of the new gunning nozzle,• perform the steps as defined above, comprising: establishing a sequence of successive nozzle positions including a reachability test, performing a collision test and implementing a gunning of a shooter sequence if the tests are successful.

[0025] In an embodiment of the invention, in case the reachability test concludes that not all the areas of the gunning map are reachable and / or the collision test concludes that the gunning system cannot implement the first sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, the data processing system is configured to list unreachable repair areas defined as the repair areas corresponding to the shooting positions which cannot be reached by the shooting tip from the first position or only by contacting a point of the metallurgical vessel, and to determine whether the unreachable repair areas can be used without repair material for a further process cycle,• in case all the unreachable repair areas can be used again for at least process cycle without repair, the data processing system is configured for modifying the first shooting sequence to define a second shooter sequence by removing the shooting positions corresponding to the unreachable repair areas, and for controlling the gunning system to implement the second shooter sequence,• in case at least one of the unreachable repair areas cannot be used again for one process cycle without repair, the data processing system is configured for controlling the gunning system to not apply the second shooter sequence.

[0026] In an embodiment of the invention, the determination of the first shooter sequence takes into account a minimum amount of repair gunning mass to be applied to each repair area, and / or the determination of the first sequence of successive nozzle positions takes into account a range of a distance separating the gunning nozzle from the repair areas at each shooting position, and / or the determination of the first sequence of successive nozzle positions takes into account a range of an orientation of the gunning nozzle relative to the repair areas, and / or the determination of the first shooting sequence takes into account minimum amounts of repair gunning mass as function of the gunning map.

[0027] In an embodiment of the invention, the flowrate and displacement speed are controlled by at least one of the following :• the flowrate is constant throughout the implementation of the first shooter sequence, and either, the displacement speed is constant, or the displacement speed varies depending on the shooting positions of the gunning nozzle, or• the flowrate varies depending on the shooting positions of the gunning nozzle, and either, the displacement speed is constant, or the displacement speed varies depending on the shooting positions of the gunning nozzle.

[0028] In an embodiment of the invention, the first shooting sequence includes several passes of the gunning nozzle through a series of shooting positions to increase the volume of repair gunning mass being gunned over the corresponding repair areas.

[0029] In an embodiment of the invention, the geometry of the metallurgical vessel stored in the memory of the data processing system is a topography of both lining and at least part of an outer surfaceof the metallurgical vessel, comprising the opening.

[0030] In an embodiment of the invention, the installation comprises a scanner system configured for scanning an area of the lining to yield a scanned topography of the area of the lining; the scanner system being in communication with the data processing system; the data processing system being configured for determining actual thicknesses of the lining as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system and for defining the gunning map.

[0031] The scanned area of the lining may be the full surface of the lining or part(s) of it. Preferably, the scanner system is a mobile scanner system. The scanner system is moved away from the vessel before the mobile shooting unit is placed at the first position.

[0032] In an embodiment of the invention, the geometry of the metallurgical vessel stored in the memory of the data processing system includes a real-time geometry of the opening measured by the scanner system.

[0033] The invention also relates to a process for repairing a lining of a metallurgical vessel, comprising,(51) providing an installation according to anyone of the preceding claims,(52) obtaining a gunning map defining repair areas of the lining to be repaired,(53) preferably, moving the metallurgical vessel and / or the mobile shooting unit,(54) determining, through a measurement performed by the localisation system, the first position of the mobile shooting unit, and transmitting the first position to the data processing system,(55) establishing with the data processing system the first sequence of successive nozzle positions with the mobile shooting unit located at the first position as determined by the localisation system and through the measurement performed by the localisation system, which includes performing the reachability test checking whether all the areas of the gunning map are reachable with the mobile shooting unit located at the first position,(56) comparing the spatial configurations of the gunning lance defined in the first sequence of successive nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system in order to perform a collision test that determines whether the first sequence of successive nozzle positions can be carried out without any part of the gunning lance contacting at any time any point of the metallurgical vessel,(57) controlling the gunning system with the data processing system as follows,• if, all the areas of the gunning map are reachable with the mobile shooting unit located at the first position and if from the first position thereof, the gunning system can implement the first sequenceof successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to apply the first shooter sequence,• if not all the areas of the gunning map are reachable with the mobile shooting unit located at the first position, and / or if from the first position thereof, the gunning system cannot implement the first sequence of successive nozzle positions without the gunning lance contacting at any time any point of the metallurgical vessel, then the data processing system controls the gunning system to not apply the first shooter sequence.

[0034] The steps of the process for repairing the lining are potentially performed in the order provided here. However, one or some of them may be switched without departing from the scope of the present invention. For example:• step (S7) is after each of steps (S1 ) to (S6);• step (S6) is after each of steps (S1 ) to (S5);• step (S5) is after each of steps (S1 ) to (S4);• step (S4) is after step (S3);• some switches can be done between steps (S1 ), (S2), (S3) and (S4) as the skilled person will easily understand it, like step (S2) can be done after step (S4).

[0035] It is also possible that a process cycle would be performed while the second shooter sequence is determined.

[0036] In an embodiment of the invention, the installation comprises a scanner system configured for scanning an area of the lining to yield a scanned topography of the area of the lining and in communication with the data processing system, the data processing system being configured for determining actual thicknesses of the lining as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system and for defining the gunning map, the process comprising the steps of: positioning the metallurgical vessel to expose the opening thereof to the scanner system, bringing into a scanning position the scanner system and scanning an area of the lining to yield a scanned topography of the area of the lining, determining with the data processing system actual thicknesses of the lining as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system, and defining with the data processing system the gunning map defining repair areas of the lining to be repaired.BRIEF DESCRIPTION OF THE FIGURES

[0037] On these figures,FIG.1a shows a basic oxygen furnace converter (BOF) with an oxygen lance blowing oxygen to transform pig iron into low carbon steel.FIG.1 b shows the BOF of Figure 1 a after one or more process cycles which eroded the lining.FIG.2 shows a gunning system comprising a gunning lance gunning repair mass at location of strong erosion.FIG.3a to 3c show (a) a perspective view, (b) a side view, and (c) a top view of an embodiment of gunning system comprising a mobile shooting unit provided with a gunning lance and the degrees of freedom thereof.FIG.4a and 4b show a 2D representation of the actual thickness of the lining (a) barrel part of the BOF of Figure 1 b, and (b) bottom part of the BOF.FIG.4c shows a gunning map on the representation of FIG. 4a.FIG.5a and 5b show the determination of the position of the vessel and of the position (P1) of the mobile shooting unit, (a) side view, (b) top view.FIG.6a shows an embodiment wherein when the mobile shooting unit is at the reference position (xr, yr) with the reference orientation of 90°, the gunning lance can reach all areas of the lining without contacting the metallurgical vessel (here a BOF).FIG.6b shows an embodiment wherein when the mobile shooting unit is at the reference position (xr, yr) but with an orientation different from the reference orientation of 90°, the gunning lance can still reach all areas of the lining without contacting the BOF.FIG.6c shows an embodiment wherein when the mobile shooting unit is at a position (P1 ) different from the reference position (xr, yr), although it has the reference orientation of 90°, the gunning lance cannot reach all areas of the lining without contacting the BOF.FIG.6d shows an embodiment wherein when the mobile shooting unit is at a position (P1 ) different from the reference position (xr, yr), with an orientation different from the reference orientation of 90°, the gunning lance cannot reach all areas of the lining without contacting the BOF.FIG.6e shows an embodiment wherein when the mobile shooting unit is at a position (P1 ) different from the reference position (xr, yr), although it has the reference orientation of 90°, the gunning lance cannot reach all areas of the lining without contacting the BOF.FIG.7a and 7b show (a) a side view and (b) top view of the scanner system configured for establishing a scanned topography of the area of the lining, with establishment of the gunning map (G1 ).FIG.7c and 7d show (c) a side view and (d) top view of the bringing of the mobile shooting unit to the repair position and measuring of the first position (R1 ) of the mobile shooting unit relative to the BOF.FIG.7e and 7f show (e) a side view and (f) top view of the determination of whether the first sequence of successive nozzle positions can be carried out without any part of the gunning lance contacting at any time any point of the metallurgical vessel.FIG.8 shows a flowchart of a process according to the present invention.FIG.9 shows a flowchart of a preferred embodiment of the process according to the present invention.FIG.10 shows a flowchart of an alternative preferred embodiment of the process according to the present invention.DETAILED DESCRIPTION.

[0038] The present invention concerns an installation for a gunning operation for repairing a lining (1L) of a metallurgical vessel (1 ) having an opening to an interior of the metallurgical vessel lined with the lining (1 L) configured to be in contact with metal melt. Preferably, at least part of the lining (1L) is concave. Starting from the opening, the interior of the metallurgical vessel expands at least longitudinal (i.e. in a direction perpendicular to the opening surface) and also preferably radially (i.e. in at least one direction parallel to the opening surface), on at least part of the metallurgical vessel. In other words, the opening of the metallurgical vessel forms a bottle neck, i.e., has a smaller diameter than the part of the interior of the metallurgical vessel adjacent to the opening. As shown in Figures 7a to 7d, the installation preferably comprises a scanner system (31 ) configured for scanning an area of the lining (1 L) to yield a scanned topography of the area of the lining and comprises a gunning system (11) comprising a mobile shooting unit (12) including a body and a gunning lance (13) comprising a gunning nozzle (13t) and configured for gunning a repair gunning mass (1 R) against the lining (1 L) through the gunning nozzle (13t). The gunning mass is made of refractory material that sticks on the lining and increases its thickness. As shown in Figures 3a to 3c, the mobile shooting unit (12) is preferably mounted on wheels, allowing it to be freely displaced over a substantially flat surface. Figures 3a to 3c also show that the gunning lance (13) comprises degrees of freedom for changing configurations allowing the gunning nozzle (13t) to reach different positions relative to the mobile shooting unit (12) (illustrated with a shaded area in Figures 3a to 3c). During the gunning, while the gunning lance (13) takes different configurations, the body of the mobile shooting unit (12) does not move.

[0039] The installation also comprises a data processing system (21) in communication with the scanner system (31) and with the gunning system (11 ). In an embodiment, the data processing system (21) is configured for determining actual thicknesses (t1 ) of the lining (1 L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31). It is also configured for defining a gunning map (G1) defining repair areas of the lining to be repaired. The gunning map (G1 ) may be provided to the data processing system (21 ), or determined by the data processing system (21 ) based on received data.

[0040] Because the mobile shooting unit (12) can be moved, preferably on its wheels, and / or the metallurgical vessel (1 ) can be moved, the installation comprises a localisation system (17) in communication with the data processing system (21 ) and configured for determining a first position ( P 1 ) of the mobile shooting unit (12) relative to the metallurgical vessel (1 ). The first position (R1 ) preferably relates to the body of the mobile shooting unit (12), not to the gunning lance (13). The position of the the gunning lance (13) can be determined from the position of the body and its configuration. The first position (P1) is determined through one or more measurements providing the position of the mobile shooting unit (12). In an embodiment, the position of the metallurgical vessel (1 ) can be determined by the localisation system, through one or more measurements providing the position of the metallurgical vessel (1 ). In another embodiment, the position of the metallurgical vessel (1) can be brought at a reproducible reference position in the installation according to the invention. The position of the metallurgical vessel is preferably used to determine the first position (P1) of the mobile shooting unit (12) relative to the metallurgical vessel (1 ). The first position (P1 ) is transmitted to the data processing system (21 ), which used the first position to establish a first sequence of successive nozzle positions (T1) defining a sequence of spatial configurations of the gunning lance (13) allowing the gunning nozzle ( 13t) to reach shooting positions where repair gunning mass (1 R) is gunned at the corresponding repair areas defined in the gunning map (G1 ). The establishment of the first sequence of successive nozzle positions (T1 ) takes into account that the mobile shooting unit (12) is located at the first position (P1 ) as determined by the localisation system (17) and through the measurement performed by the localisation system (17).

[0041] The establishment of the first sequence of successive gunning nozzle positions (T1) includes a reachability test checking, numerically, whether all the areas of the gunning map (G1 ) are reachable with the measured mobile shooting unit position (R1 ). In case, with the first position (P1 ) of the mobile shooting unit (12), the first sequence of successive nozzle positions (T1 ) can be established, a collision test is performed as described below.

[0042] A geometry of the metallurgical vessel (1 ) is stored in a memory of the data processing system (21), which can compare the spatial configurations of the gunning lance (13) defined in the first sequence of successive nozzle tip positions (T 1 ) with the stored geometry before implementing the first sequence of successive gunning nozzle position (T1 ). It can thus numerically determine whether the first sequence of successive nozzle positions (T 1 ) can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ). Depending on the result of the comparison, the data processing system (21 ) controls the gunning system (11) in different manners.• In case, from the first position (P1 ) thereof, the mobile shooting unit (12) can implement the first sequence of successive nozzle positions (T1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11 ) to apply a first shooter sequence (S1 ), defining a gunning flowrate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during implementation of the first sequence of successive nozzle positions (T 1 ),• On the other hand, in case from the first position (P1) thereof, the mobile shooting unit (12) cannot implement the first sequence of successive nozzle positions (T 1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1) and / or the first sequence of successive nozzle positions (T 1 ) cannot be established, then the data processing system (21) controls the gunning system (11 ) to not apply the first shooter sequence (S1 ).METALLURGICAL VESSEL (1 )

[0043] All metallurgical vessels having an interior volume accessible from an exterior through an opening (1 o) and defined by walls comprising an outer shell structure, generally made of metal, whose inner surface is lined with a lining (1 L) made of a refractory material can be repaired with the installation and process of the present invention. The present invention is particularly advantageous for use with metallurgical vessels having an opening (1 o) forming a bottle neck of diameter smaller than a diameter of the interior volume. Access of the gunning lance (13) of a gunning unit (11 ) to the interior volume is thus limited by the smaller diameter of the opening, increasing the risk of damages caused by contact between the gunning lance (13) and walls of the metallurgical vessel (1 ).

[0044] A typical example of such metallurgical vessel (1 ) is a basic oxygen furnace converter (BOF) used for transforming high carbon content pig iron into low carbon steel by blowing oxygen. An example of BOF is represented in Figures 1a and 1 b. The BOF comprises three parts: a spherical bottom, a cylindrical central part, and an upper cone truncated by the opening (1 o). The BOF also comprises a tap hole either at the cylindrical central part or at the upper cone, for pouring the low carbon steel after completion of the oxidization reaction. A ratio of the inner height to the inner width of the BOF is generally comprised between 1.2 and 1.6. In use, the lining (1 L) is exposed to severe oxidising conditions at high temperatures and erosion is most severe at the level of the contact line with the slag (5s). Because in use only about 8-12% of the interior volume of the BOF is filled with molten pig iron, erosion is strongest between the spherical bottom and lower part of the cylindrical central part, I. e. , quite remote from the opening (1 o). This renders more delicate the introduction through the opening (1 o) of the shooting shaft (13) deep into the interior volume.

[0045] BOF’s are mounted on tilting hinges allowing the BOF to rotate (tilt) about a horizontal axis. During a conversion process, the BOF is held with the opening (1 o) located at a highest point above the spherical bottom. This configuration is herein referred to as a “vertical configuration,” as shown in Figures 1a and 1 b. The BOF can be tilted to lower the opening (1 o) as far as by 90° to a configuration herein referred to as “horizontal configuration” as illustrated in Figure 2. The tilting angle can be controlled to any value comprised between 0 and 90° to bring the BOF into a “tilted configuration” defined as any configuration different from the vertical configuration. The tilting configuration is used for charging raw materials, sampling the melt, pouring the steel out of the BOF through the tap hole, and for repairing the lining (1 L). Indeed, it is much more comfortable to introduce the gunning lance (13) into the interior volume through the opening when this one is at a lower position, as shown in Figure 2.

[0046] BOF’s are mentioned as a particularly complex embodiment of metallurgical vessels to berepaired by gunning in a (semi-) automated manner because of the bottle neck formed by the opening (1 o). The present invention is, however, not restricted to BOF’s and can be applied to any metallurgical vessel comprising a lining which can be repaired by gunning a repair gunning mass (1 R).SCANNER SYSTEM (31 )

[0047] Any scanner system (31 ) available on the market, configured for scanning an area of the lining (1 L) of a hot metallurgical vessel (1 ) to yield a scanned topography of the area of the lining can be used in the present invention. Preferably, the scanner system comprises a laser scanner emitting laser beams collected by photodetectors after reflecting on the walls of the interior volume. For example, the laser scanner system of the type described in US6780351 can be used. As shown in Figures 7a to 7d, the scanner system (31 ) can be mounted on a structure ensuring that the beam emitter is always located at a same position. The scanner system (31 ) can, however, be mounted on a mobile platform, which can be moved freely. It is therefore preferred to localize the scanner system (31 ) with the localisation system (17) for defining precisely the position of the scanner system (31 ). This can be achieved by measuring the distance separating the scanner system (31 ) from two or three fixed points.GUNNING SYSTEM (11 )

[0048] As illustrated in Figures 3a to 3c, the gunning system (11 ) of the present invention is of the type comprising a mobile shooting unit (12), which can preferably freely be moved by an operator, e.g., with wheels. The mobile shooting unit (12) is provided with a gunning lance (13) equipped with a gunning nozzle (13t). The gunning nozzle (13t) can be aligned with the gunning lance (13) or, as illustrated in Figure 3a, it can form a tip tilting angle (<p13t) with the gunning lance (13). The gunning nozzle (13t) can preferably be changed by a different gunning nozzle (13t) having a different length and / or a different tip tilting angle (<p13t). As shown in Figure 2, the mobile shooting unit (12) can be coupled to a source (15) of repair gunning mass (1R) and is configured for gunning a repair gunning mass (1 R) from the source (15) against the lining (1 L) through the gunning nozzle (13t). The repair gunning mass (1R) preferably comprises a refractory material and water. The source (15) preferably comprises a source of refractory material and a source of water. The refractory material and the water may be mixed in the mobile shooting unit (12), for example in the gunning lance (13).

[0049] The gunning lance (13) is characterized by degrees of freedom allowing changes of configurations for the gunning nozzle (13t) to reach different positions relative to the mobile shooting unit (12), and in particular to the body of the mobile shooting unit (12). In the embodiment illustrated in Figures 3a to 3c, the gunning lance has at least four degrees of freedom, as it can,• rotate by an angle ( p2) in a plane (X, Z) about a Y-axis perpendicular to the plane (X, Z), as shown in Figure 3b,• rotate by an angle (<p3) in a plane (X, Y) about the Z-axis perpendicular to the plane (X, Y), as shown in Figure 3c,• rotate by an angle (<p1) about the X-axis as shown in Figure 3a, allowing the gunning nozzle to rotate about a cone of aperture (2 <p13t), and• translate over a distance (Ax) along the gunning lance (13) direction,• additionally, (not shown) the gunning lance (13) can also optionally vertically translate along the Z-axis to align it with the opening (1 o) of the metallurgical vessel (1 ).

[0050] With the foregoing degrees of freedom, the gunning nozzle (13t) can reach any point comprised within a repair volume identified in Figures 3a to 3c by the shaded area. To be suitable for repairing a given metallurgical vessel (1), the gunning system (11 ) has preferably a repair volume at least equal to the interior volume of the metallurgical vessel and is preferably capable of enclosing the interior volume, to ensure that the gunning nozzle (13t) can reach all points of the lining (1 L) inside the interior volume, with the mobile shooting unit (12) standing at a given position, preferably at the reference position, outside of the metallurgical vessel (1 ) as illustrated in Figures 6a and 6b.

[0051] The installation is also equipped with a localisation system (17) preferably configured for determining a vessel position of the metallurgical vessel and, from the vessel position, a first position (P1 ) of the mobile shooting unit (12), which is a position relative to the metallurgical vessel. The localisation system (17) may comprise an optical system emitting laser beams to measure the distance and / or angle of the mobile shooting unit (12) with respect to two or three reference points (1 RP) as shown in Figures 5a, 5b, 7c and 7d with dashed lines representing the laser beam. Knowing the position (P1 ) of the mobile shooting unit (12) is required to establish the sequence of successive nozzle positions (T1), because the positioning of the mobile shooting unit (12) at the repair position is not accurately reproducible by an operator. The localisation system (17) may comprise a tilting angle measurement system next to the trunnions of the metallurgical vessel (1 ) as schematized by rectangles in Figures 5b and 7d.

[0052] Any gunning system (11) available on the market can be used in the present invention, provided it is mobile, has a suitable repair volume as defined supra with a gunning lance (13) ending at a gunning nozzle (13t), and is suitable to be localized by a localisation system (17).DATA PROCESSING SYSTEM (21 )

[0053] The data processing system (21 ) is the gist of the present invention. It is configured to carry out a number of operations. It controls the gunning system (11 ) after having established a gunning map (G1 ), a first sequence of successive nozzle positions (T1 ) and a first shooting sequence (S1 ). It may also control the localisation system and / or the scanner system.Data processing system (21) and Gunning Map (G1)

[0054] In an embodiment of the invention, the data processing system (21 ) is coupled to the scanner system (31 ) and is configured for determining actual thicknesses (t1 ) of the lining (1L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31 ).The data processing system (21 ) is also configured for defining, possibly taking into account external instructions, a gunning map (G1 ) defining repair areas of the lining to be repaired. The gunning map (G1 ) can be established based on the actual thicknesses (t1) previously determined. For example, a thickness map of the actual thicknesses (t1 ) of the type illustrated in Figures 4a and 4b can be established. Figure 4c shows the repair areas forming the gunning map (G1 ). It preferably includes areas of the thickness map having actual thicknesses (t1 ) lower than a corresponding minimal thickness (tm) (i.e., t1 < tm). The repair areas are repaired by gunning repair gunning mass (1 R) to increase the actual thickness to above the minimal thickness (tm) and preferably above a target thickness, lest the molten metal in the next process cycle would reach the metal shell of the metallurgical vessel and would pierce it with potentially catastrophic consequences.Data processing system (21) and the Localisation System (17)

[0055] The data processing system (21 ) is coupled to the localisation system (17) which, after having determined the vessel position and the first position (P1 ) of the mobile shooting unit (12), transmits the coordinates of the first position (P1 ) to the data processing system (21 ). In the frame of the present document, the transmitted coordinates of the first position (P1) may be data making possible to determine the coordinates of the first position (P1 ) instead of the actual coordinates of the first position (P1 ) themselves.

[0056] By combining each of the first position (P1 ) of the mobile shooting unit (12), preferably the repair volume characterizing the gunning system (11 ), and the gunning map (G1 ), the data processing system (21 ) is configured for establishing a first sequence of successive nozzle positions (T 1 ). The first sequence of successive nozzle positions (T1 ) defines a sequence of spatial configurations of the gunning lance (13) allowing the gunning nozzle (13t) to reach shooting positions. The shooting positions allow repair gunning mass (1 R) to be gunned at the repair areas defined in the gunning map (G1 ), considering that the mobile shooting unit (12) is located at the first position (P1 ). The shooting positions correspond to the gunned repair areas. In other words, the first sequence of successive nozzle positions (T1 ) defines a circuit to be followed by the gunning nozzle (13t) to reach each repair area defined in the first gunning map. This also includes defining movements of the gunning lance (13) and gunning nozzle (13t) along the respective degrees of freedom required for the gunning nozzle (13t) to follow the circuit with the mobile shooting unit (12) standing fixed at the first position (P1 ). When establishing the first sequence of successive nozzle positions (T1 ), the data processing system also takes into account a distance range and an orientation range of the gunning nozzle relative to the surfaces of the repair areas. The distance range and orientation range are data stored in the memory of the data processing system and depend on the mobile shooting unit, especially on the gunning nozzle. The distance range ensures, on the one hand, that the gunning nozzle never contacts the surface of the repair areas and that the repair gunning mass does not rebound too much when projected against the surface of the repair areas. Moreover, the distance range ensures that the gunning nozzle is never too far away from the surface of the repair area such that the repair gunning mass can effectively be projected against the surface of the repair areas. The orientation range of the gunningnozzle can be important depending on the topography of the repair areas.

[0057] The gunning map (G1) preferably includes a minimum amount of repair gunning mass (1 R) to be applied to each repair area. More preferably, the gunning map includes an amount range of repair gunning mass (1 R) to applied to each repair area, with the minimum amount and also a maximum amount, to avoid wasting repair gunning mass and to avoid the formation of protrusions on the surface of the lining (1 R) due to excess repair material (1 R).

[0058] The establishment of the first sequence of successive nozzle positions (T1) includes a reachability test checking whether all the areas of the gunning map (G1 ) are reachable with the mobile shooting unit (12) located at the first position (P1). The reachability test is negative, i.e. fails, if the mobile shooting unit (12) is at a first position (P1), as determined through the measurement by the localisation system (17), which does not allow the gunning nozzle to reach all the repair areas identified in the gunning map (G1 ). For example, the reachability test is negative if the gunning lance (13) is too short to reach one of the repair areas. If the reachability test is negative, the data processing system may inform the operator that no first sequence of successive nozzle positions (T1 ) can be established with the mobile shooting unit (12) at the first position (P1 ) and that it should be moved to a second position. The data processing system is preferably configured for indicating where to best displace the mobile shooting unit (12) to allow an alternative sequence of successive nozzle positions (T1 ) to be established from the second position.Data processing system (21), Geometry of the Metallurgical Vessel (1), and Collision test

[0059] The data processing system (21 ) comprises a memory, wherein the geometry of the metallurgical vessel (1 ) is stored. The geometry of the metallurgical vessel (1 ) includes the interior volume, and preferably an exterior of the vessel. The geometry of the metallurgical vessel (1 ) can be a technical drawing of the metallurgical vessel (e.g., an AUTOCAD file) and / or it can be the result of a stereoscopic image of the interior and exterior of the metallurgical vessel (1 ). The geometry of the metallurgical vessel (1 ) includes the geometry of the opening (1 o), which is critical. Considering that the diameter of the opening ( 1 o) can be reduced by the presence of solidified metal projections, at least the geometry of the opening (1o) is preferably the result of measurements and / or of a mathematical model of the deposits on the opening over time.

[0060] In a preferred embodiment, the geometry of the metallurgical vessel (1 ) stored in the memory of the data processing system (21 ) includes a real-time geometry of at least the opening (1 o) measured by the scanner system (31 ). Preferably, the geometry of the metallurgical vessel (1 ) can comprise a topography of both lining (1L) and an outer surface of the metallurgical vessel (1 ), comprising the opening (1 o). The topography of the area of the lining (1 L) is preferably the scanned topography yielded by the scanner system (31 ).

[0061] As schematically illustrated in Figures 7e and 7f, the data processing system (21 ) is configured for running a collision test by comparing the spatial configurations of the gunning lance (13) defined in the first sequence of successive nozzle positions (T 1 ) with the geometry of the metallurgicalvessel (1) stored in the memory of the data processing system (21). From this collision test, the data processing system can then determine whether the first sequence of successive nozzle positions (T1) can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ). Figures 6a and 6b show two embodiments, wherein the sequence of successive nozzle positions (T1 ) can be implemented with the mobile shooting unit (12) standing at the first position (P1 ), as determined through the measurement by the localisation system (17), without the gunning lance (13) ever contacting at any time the walls of the metallurgical vessel (1 ). By contrast, Figures 6c to 6e show three embodiments, wherein, from the first position (P1 ), the gunning lance (13) contacts the opening of the metallurgical vessel upon implementing the first sequence of successive nozzle positions (S1), with the risk of seriously damaging the metallurgical vessel (1) and / or the gunning lance (13).

[0062] From the gunning map (G1 ) and the first sequence of successive nozzle positions (T1 ), the data processing system (21 ) is configured for establishing a first shooter sequence (S1 ).First Shooter Sequence (S1)

[0063] The gunning map (G1 ) indicates the actual thickness of the lining (1 L) at each repair area. By comparing the actual thicknesses with the corresponding minimum thicknesses (tm) or with the target thicknesses, the data processing system can determine the volume of repair gunning mass (1 R) to be gunned at each repair area. The volume of repair gunning mass (1 ) being gunned can be controlled by varying the flowrate (dV / dt) of the repair gunning mass being gunned out of the gunning nozzle ( 13t) and / or by varying the displacement speed (v) of the gunning nozzle (13t) as the repair gunning mass (1 ) is being gunned. The first shooter sequence (S1 ) defines the gunning flowrate (dV / dt) and the displacement speed (v) of the gunning nozzle (13t) during implementation of the first sequence of successive nozzle positions (T1). In a preferred embodiment, the gunning flowrate (dV / dt) can be varied as the gunning nozzle (13t) follows the circuit defined by the first sequence of successive nozzle positions (S1 ). Alternatively, or concomitantly, the displacement speed (v) of the gunning nozzle (13t) can be varied during the circuit. Either or both variations of the flowrate (dV / dt) and the displacement speed (v) permits to control the volume of repair gunning mass (1 R) being gunned locally at each repair area. In other words,• the flowrate can be constant throughout the implementation of the first shooter sequence ( S 1 ), and either, o the displacement speed (v) is constant, or o the displacement speed (v) can vary depending on the shooting positions of the gunning nozzle (13t), or• the flowrate (dV / dt) can vary depending on the shooting positions of the gunning nozzle (13t) and can even be interrupted, and either, o the displacement speed (v) is constant, or o the displacement speed (v) varies depending on the shooting positions of the gunningnozzle (13t).

[0064] The first shooting sequence (S1) can also include several passes of the gunning nozzle (13t) through a series of shooting positions to increase the volume of repair gunning mass being gunned over the corresponding repair areas without having to increase the flowrate accordingly.

[0065] If the gunning map (G1 ) also includes a minimum amount of repair gunning mass (1 R) to be applied to each repair area, then the first shooting sequence (S1 ) can be established by combining the minimum amounts of repair gunning mass (1 R) defined in the gunning map (G1 ) with the first sequence of successive nozzle positions (T1 ).Collision test and Control of Gunning System (11)

[0066] The collision test yields the information of whether or not, from the first position (R1 ) the first sequence of successive nozzle positions (T 1 ) can be carried out in its entirety without the gunning lance (13) contacting at any time any part of the metallurgical vessel (1). A positive collision test is obtained when it is concluded that no contact will occur during the implementation of the first sequence of successive nozzle positions (T1 ) (as shown e.g., in Figures 6a and 6b). Conversely, a negative collision test is obtained when a contact or impact is identified between the gunning lance (13) and the metallurgical vessel (1 ), at any time during running of the first sequence of successive nozzle positions (T1) (as shown e.g., in Figures 6c to 6e with the circles identifying a contact between the gunning lance and the opening (1 o) of the metallurgical vessel (1 )).

[0067] In case of a positive collision test (i.e., no contact between the gunning lance (13) and the metallurgical vessel (1)), then the data processing system (21 ) is configured for controlling the gunning system (11 ) to apply the first shooter sequence (S1 ). The mobile shooting unit (12) standing at the first position (P1 ) is thus controlled by the data processing system (21) to move the gunning nozzle (13t) along the circuit defined by the first sequence of successive nozzle positions (T1) and to gun repair gunning mass against the repair areas identified in the gunning map (G1 ) at flowrates and displacement speeds (v) as defined in the first shooter sequence (S1 ).

[0068] On the other hand, in case of a negative collision test (i.e., at least one contact is identified between the gunning lance (13) and the metallurgical vessel (1 )), then the data processing system (21) controls the gunning system (11) to not apply the first shooter sequence (S1 ). The data processing system can take at least one amongst a number of different corrective actions.Negative Collision test and / or Negative Reachability Test -> Corrective Action

[0069] In case of a negative reachability test and / or negative collision test, the data processing system (21) controls the gunning system to not run the first shooter sequence (S1 ). At least one corrective action may thus be carried out.

[0070] A first corrective action is to indicate that the first shooting sequence cannot be carried out. This can be in the form of a written message on a screen, or of an acoustical or optical signal (e.g.,blinking red light). Additionally, or alternatively, the data processing system can trigger other corrective actions in case of a negative collision test.

[0071] According to a second corrective action, the data processing system (21 ) is configured for listing the unreachable repair areas defined as the repair areas corresponding to the shooting positions which cannot be reached by the shooting tip (13t) from the first position (P1 ) or can be reached only by contacting a point of the metallurgical vessel (1 ). The data processing system can then determine whether the unreachable repair areas can be used without repair material (1 R) for a further process cycle. This could be the case if an unreachable repair area has a thickness lower than, but close to the minimum thickness (tm) used to identify the repair areas. The minimum thickness (tm) is defined with a comfortable safety margin, and small deviations therefrom may be admitted without excessive risk. For example, the data processing system may control whether the actual thickness (t1 ) of the unreachable repair area is comprised within a given safety range (5) from the minimum thickness (tm) (i.e., tm - 5 < t1 < tm), wherein the safety range can be expressed in terms of absolute values (in mm) or of relative values of tm (in %). This is handled with much care, and special attention is drawn to ensuring that the safety range (5) is well within the safety margin and that the risk of the erosion of the lining (1 L) reaching the metal shell of the metallurgical vessel remains extremely low.

[0072] In case all the unreachable repair areas can be used again for one process cycle without repair, the data processing system (21 ) is configured for modifying the first sequence of successive nozzle positions (T1 ) by removing the unreachable repair areas which can be used again for a further process cycle to define a second sequence of successive nozzle positions (T2). The data processing system then modifies the first shooting sequence (S1) on the basis of the second sequence of successive nozzle positions (T2) by removing the shooting positions corresponding to the unreachable repair areas to define a second shooter sequence (S2). The data processing system (21 ) then controls the gunning system to apply the second shooter sequence (S2).

[0073] The corrective actions described below are preferably carried out if all the unreachable repair areas cannot be used again for one process cycle without repair.

[0074] According to a third corrective action, the data processing system (21 ) can be configured for indicating that the mobile shooting unit (12) must be moved. In a preferred embodiment, the data processing unit indicates how to reach a reference repair position (Pr) whence the first shooting sequence (S1) can be implemented without contact between the gunning system (11 ) and the metallurgical vessel (1 ). For example, the reference repair position (Pr) can be a predefined position, which can be marked on the floor or otherwise identified. An operator or a moving system can then move the mobile shooting unit (12). Once the mobile shooting unit (12) has been moved to a second position (P2), preferably closer to the reference repair position (Pr), the data processing system (21 ) can be configured to control the localisation system (17) to localise the second position (P2) through a measurement, to establish an alternative sequence of successive nozzle positions including an alternative reachability test, and to carry out an alternative collision test taking into account that the mobile shooting unit (12) is at the second position (P2) determined through the measurement of thelocalisation system (17), . The gunning, using an alternative shooter sequence determined from the alternative sequence of successive nozzle positions, is implemented only if the tests are successful.

[0075] According to a fourth corrective action, the data processing system (21) can be configured to indicate that the position, for example a tilting angle, of the metallurgical vessel, must be varied. The tilting angle is particularly relevant in case the metallurgical vessel (1 ) is a BOF. The data processing system preferably indicates how to vary the position and / or tilting angle of the metallurgical vessel. Once the vessel (1 ) has been moved to a new position, the data processing system (21 ) can be configured to control the localisation system (17) to localise the new position of the metallurgical vessel and to determine, from the new position of the metallurgical vessel, a new relative position (P1 ) of the mobile shooting unit (12), which is its position with respect to the metallurgical vessel (1 ). Then, the data processing system (21) can be configured to establish another sequence of successive nozzle positions including another reachability test, and to carry out another collision test taking into account that the vessel is at the new position. The gunning, using another shooter sequence determined from the other sequence of successive nozzle positions, is implemented only if the tests are successful.

[0076] According to a fifth corrective action, the data processing system (21 ) can indicate that the gunning nozzle (13t) has to be removed and replaced by a new gunning nozzle (13t) of different geometry. For example, the data processing system (21 ) can define the geometry of the new gunning nozzle (13t) indicating a tip tilting angle (<p13t) of the new gunning nozzle (13t) relative to the gunning lance (13) and / or a length of the new gunning nozzle (13t). The number of gunning nozzle geometries being limited, the data processing system (21 ) can have them saved in the memory and can be configured to establish a sequence of successive nozzle positions with the new gunning nozzle (13t) including another reachability test, followed by a collision test for this sequence of successive nozzle positions. The gunning is implemented only if the tests are successful.PROCESS FOR REPAIRING A LINING (1 L) OF A METALLURGICAL VESSEL (1 )

[0077] The present invention also concerns a process for repairing the lining (1L) of a metallurgical vessel (1 ) using an installation as defined supra. In an embodiment, the metallurgical vessel (1 ) is first positioned to expose the opening (1 o) thereof to the scanner system (31 ). If the metallurgical vessel (1) is a BOF, then it is tilted to bring the BOF from a vertical position suitable for the conversion process, to a tilted, preferably a horizontal position, giving an easier access of the opening (1 o) to the scanner system (31 ) and to the shooter arm (13) of the gunning system (11 ), as shown in Figures 2, 5a, 5b, 6a to 6e, and 7a to 7f.

[0078] The scanner system (31 ) can be brought into a scanning position. If the scanner system (31 ) is a mobile system which can be freely moved by an operator, the position of the scanner system (31) is measured. The data processing system (21 ) controls the scanner system (31 ) to scan an area of the lining (1L) to yield a scanned topography of the area of the lining. The area can be at least 90%, preferably at least 95%, more preferably 100% of an area of the lining (1 L). Alternatively, the area can be reduced to a reduced area known to be particularly sensitive to erosion. A combination of both ispossible, wherein the area covers 100% of the area of the lining (1 L) every N process cycles, and it covers only a reduced area every (N + 1 )thto (2N - 1 )thprocess cycles. The data processing system (21 ) can, from the scanned topography of the area, determine the actual thicknesses (t1) of the lining (1L) as a function of spatial coordinates (x, y, z).

[0079] By comparing the actual thicknesses (t1 ) of the lining (1L) with predefined minimal thicknesses (tm), the data processing system (21 ) can define the repair areas requiring reparation (i.e., area wherein t1 < tm); to establish a gunning map (G1) defining the repair areas of the lining to be repaired.

[0080] An operator can bring the mobile shooting unit (12) to a first position (P1 ), preferably as close as possible from a predefined reference repair position (Pr). With the localisation system (17) the first position (P1 ) of the mobile shooting unit (12) can be determined and transmitted to the data processing system (21).

[0081] The data processing system (21 ) establishes the first sequence of successive nozzle positions (T1 ) with the mobile shooting unit (12) located at the first position (P1 ) as determined by the localisation system (17). The first sequence of successive nozzle positions (T1 ) can be established by combining the first position (P1 ) of the mobile shooting unit (12), the repair volume characterizing the gunning system (11) as illustrated in Figures 3a to 3c, and the gunning map (G1 ). It defines a circuit to be followed by the gunning nozzle (13t) to reach all repair areas where repair gunning mass (1 R) is to be gunned and defines the various spatial configurations of the gunning lance (13) required for the gunning nozzle (13t) to follow the circuit. The first sequence of successive nozzle positions (T1) preferably defines a chronological sequence of repair areas to be visited by the circuit. The determination of the first sequence of successive nozzle positions (T1 ) includes a reachability test checking whether all the areas of the gunning map (G1 ) are reachable with the mobile shooting unit (12) located at the first position (P1 ).

[0082] The data processing system (21) can also establish a first shooter sequence (S1 ) defining a gunning flowrate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during implementation of the first sequence of successive nozzle positions (T1 ). The gunning flowrate (dV / dt) and the displacement speed (v) control the volume of repair gunning mass to be gunned at each repair area. The volume of repair gunning mass (1 ) can be determined by the data processing system (21) by comparing the actual thicknesses of the repair areas reported in the gunning map (G1 ) with corresponding target thicknesses to be achieved after gunning.

[0083] By comparing the spatial configurations of the gunning lance (13) defined in the first sequence of successive nozzle positions (T1) with the geometry of the metallurgical vessel (1 ) stored in the memory thereof, the data processing system (21 ) carries out a collision test to determine whether the first sequence of successive nozzle positions (T 1 ) can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ). If the collision test and the reachability test are positive, then the data processing system (21 ) controls the gunning system (11 ) toapply the first shooter sequence (S1 ). If, on the other hand, the collision test is negative (i.e. , there is a contact during T1 ) and / or the reachability test is negative (i.e., at least one area of the gunning map (G1 ) cannot reached) then the data processing system (21 ) controls the gunning system (11 ) to not apply the first shooter sequence (S1 ).

[0084] If at least one of the collision test and the reachability test is negative, the data processing system (21 ) is configured to take at least one corrective action as defined supra.

[0085] Figure 8 shows a flowchart illustrating the process steps of an embodiment of the present invention, wherein the metallurgical vessel (1) is a BOF. At the end of a process cycle of the BOF, it is emptied of the molten metal it contained (cf. Figure 8(a)). The BOF is tilted to expose the opening (1 o) to the scanner system (31 ) and to the gunning lance (13) of the gunning system (11 ) (cf. Figure 8(b)). The surface of the lining (1 L) is scanned by the scanner system (31 ) to obtain a topography of the lining (1L) used for establishing a gunning map (G1 ) (cf. Figure 8(c)). If the gunning map (G1) identifies no repair area, then the BOF needs not be repaired and can be returned to run a next process cycle (cf. Figure 8(m)), possibly after some further operations which are not concerned with the present invention.

[0086] If on the other hand, the gunning map (G1 ) identifies repair areas, the mobile shooting unit (12) is brought close to the reference repair position (Pr) by an operator (cf. Figure 8(d)). The actual first position (P1 ) of the mobile shooting unit (12) with respect to the BOF is determined, through a measurement, with the localization system (17) and transmitted to the data processing system (cf. Figure 8(e)). A first sequence of successive nozzle positions (T1 ) is established based on the first position ( P1 ) and on the gunning map (G 1 ) (cf. Figure 8(f)), which comprises a reachability test checking whether all areas of the gunning map can be gunned. The first sequence of successive nozzle positions (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 numerically determine whether the gunning lance (13) contacts the metallurgical vessel (1 ) at any time during the sequence of successive nozzle positions (T1 ) (cf. Figure 8(h)). If the collision test and the reachability test are positive, then the data processing system (21) controls the gunning system (21 ) to implement the first shooter sequence (S1 ) (cf. Figure 8(l)) previously established by the data processing system (21 ) from the volumes of repair gunning mass required to repair each repair area, which can be obtained from the gunning map (G1), and the first sequence of successive nozzle positions (T1). After repair and possible further operations, the BOF can be untilted and used for a further process cycle (cf. Figure 8(m)).

[0087] If on the other hand, the collision test or the reachability test is negative, the data processing system (21 ) controls the gunning system (11 ) to not implement the first shooter sequence (S1 ) (cf. Figure 8(i)) and indicates that gunning is not possible with the mobile gunning unit (12) located at the first position (P1 ) (cf. Figure 8(j)). Corrective actions can then be controlled by the data processing system (21 ) (cf. Figure 8(k)).

[0088] Figure 9 is a flowchart according to the embodiment of Figure 8, wherein the data processing system carries out a corrective action (cf. Figure 8(k) and 9(k)) in case the collision test or thereachability test is negative, by instructing the operator to move the mobile shooting unit (12) to a second position (P2). The same boxes labelled (a) to (m) in Figure 9 refer to the same actions as discussed with respect to boxes labelled (a) to (m) in Figure 8 and are not repeated herein. The first position (P1 ) was replaced by the ithposition (Pi) with i ranging from 1 to N, wherein N defines the number of repetitions of the loop [i = i + 1], In case the collision test failed with the mobile shooting unit (11 ) at the first position (P1 , i.e., i = 1 ), then in a loop with i = i+1 = 2, the data processing system instructs the operator to move the mobile shooting unit (12) to a (i + 1 )thposition (P(i+1 )) (cf. Figure 9(n)). Once the mobile shooting unit is moved to the (i + 1 )thposition (P(i+1 )) (cf. Figure 9(d)), steps (e) to (h) are run anew over with the mobile shooting unit at the (i + 1 )thposition (P(i+1 ))). If the collision test is again negative, then the loop is run again, unless i = N (cf. Figure 9(n)). In practice, the maximum number N of repetition loops can be as high as desired.

[0089] Figure 10 is a flowchart according to the embodiment of Figure 8, wherein the data processing system carries out a corrective action (cf. Figures 8(k) and 10(k)) in case the collision test or the reachability test is negative, by checking whether a different sequence of successive nozzle positions (T(i+1 )) can be defined excluding the unreachable repair areas (cf. Figure 10(k), (o), (p)). The same boxes labelled (a) to (m) in Figure 10 refer to the same actions as discussed with respect to boxes labelled (a) to (m) in Figure 8 and are not repeated herein. The first sequence of successive nozzle positions (T1) was replaced by the ithsequence of successive nozzle positions (Ti), with i ranging from 1 to N, wherein N defines the number of repetitions of the loop [i = i + 1], In case the collision test or the reachability test failed, then in a loop with i = i+1 = 2, the data processing system lists the unreachable repair areas (cf. Figure 10(o)) and check whether all the unreachable repair areas are thick enough to go through a next process cycle without risk of failure (cf. Figure 10(p)). If at least one unreachable repair area is not thick enough to run through a next process cycle, the data processing unit reverts to corrective actions (cf. Figure 10, arrow [no] between boxes (p) and (k)). If all the unreachable repair areas are thick enough to undergo a further process cycle, then the data processing system (21) establishes a different gunning map (G(i+1 )) excluding the unreachable repair areas (cf. Figure 10(q)). From the different gunning map (G(i+1 )), an (i+1 )thsequence of successive nozzle positions (T(i+1 )) is determined, and a reachability test and a collision test are run over (cf. Figure 10(f)-(h)). If the collision test and the reachability test are positive, then the data processing system (21) establishes an (i+1 )thshooter sequence (S(i+1)) and controls the gunning system (11 ) to implement the (i+1 )thshooter sequence (S(i+1 )), which excludes any gunning of repair gunning mass (1 R) onto the unreachable repair areas.

[0090] On the other hand, if the collision test or the reachability test is still negative, the data processing system goes through a new loop [(n) - (q)] if i < N. Else corrective actions are considered (cf. Figure 10(k)). Because this corrective action (k) of skipping the unreachable repair areas having a lining actual thickness (t1) smaller than the minimum thickness (tm), but larger than a safety range (tm - 5) (i.e., tm - 5 < t1 < tm) cannot be repeated too often, as the safety margin decreases each time, the maximum number N of repetition loops is preferably limited to 2 or, in exceptional cases to 3 (i.e., N = 2 or 3).CONCLUDING REMARKS

[0091] The present invention marks a substantial step forward in terms of security during the repair operations of the lining (1 L) of a metallurgical vessel (1 ) using a gunning system (11 ) comprising a mobile shooting unit (12) to be brought into repair position manually by an operator. The full automation of the shooter sequence established by the data processing system (21 ) was to date impaired by the uncertainty of the position of the gunning system (11 ). The risk remained high of having a contact between the gunning lance (13) and the metallurgical vessel (1 ) when the former drove the gunning nozzle (13t) along the circuit defined by the sequence of successive nozzle positions (T1 ) to gun repair gunning mass onto the repair areas. With the present invention and the introduction of localisation of the mobile shooting unit (12) and of the collision test, the risk of impact between the gunning lance (13) and the metallurgical vessel is reduced to virtually zero.

Claims

CLAIMS1. Installation for a gunning operation for repairing a lining (1 L) of a metallurgical vessel (1) having an opening (1 o) to an interior of the metallurgical vessel lined with the lining (1 L) configured to be in contact with metal melt, the installation comprising,• a gunning system (11 ) comprising a mobile shooting unit (12) including a gunning lance (13) equipped with a gunning nozzle (13t) and configured for gunning a repair gunning mass (1 R) against the lining (1 L) through the gunning nozzle (13t), wherein the mobile shooting unit (12) comprises degrees of freedom for changing configurations allowing the gunning nozzle (13t) to reach different positions relative to the mobile shooting unit (12),• a data processing system (21 ), in communication with the mobile shooting unit (12), and configured for obtaining a gunning map (G1 ) defining repair areas of the lining to be repaired,• a localisation system (17) in communication with the data processing system (21) and configured for determining, through a measurement, a first position (P1 ) of the mobile shooting unit (12) relative to the metallurgical vessel (1 ), and for transmitting the first position (P1) to the data processing system (21 ), characterized in that(a) the data processing system (21 ) is configured to establish a first sequence of successive nozzle positions (T1 ) defining a sequence of spatial configurations of the gunning lance (13) allowing the gunning nozzle (13t) to reach shooting positions allowing repair gunning mass (1 ) to be gunned at the corresponding repair areas defined in the gunning map (G1 ) with the mobile shooting unit (12) located at the first position (P1) determined through the measurement by the localisation system (17), the establishment of the first sequence of successive nozzle positions (T1 ) including a reachability test checking whether all the areas of the gunning map (G1 ) are reachable with the mobile shooting unit (12) located at the first position (P1 ), in that,(b) a geometry of the metallurgical vessel (1 ) is stored in a memory of the data processing system (21), and in that,(c) the data processing system (21 ) is configured to compare the spatial configurations of the gunning lance (13) defined in the first sequence of successive gunning nozzle positions (T1 ) with the geometry of the metallurgical vessel (1 ) stored in the memory of the data processing system (21), in orderto carry out a collision test to determine whether the first sequence of successive gunning nozzle positions (T 1 ) can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), and to control the gunning system (11 ) as follows, if the reachability test concludes that all the areas of the gunning map (G 1 ) are reachable andthe collision test concludes that the gunning system (11 ) can implement the first sequence of successive gunning nozzle positions (T1) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11 ) to apply a first shooter sequence (S1), defining a gunning flowrate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during implementation of the first sequence of successive gunning nozzle positions (T 1 ),• if the reachability test concludes that not all the areas of the gunning map (G1 ) are reachable and / or the collision test concludes that the gunning system (11 ) cannot implement the first sequence of successive gunning nozzle positions (T1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1), then the data processing system (21) controls the gunning system (11 ) to not apply the first shooter sequence (S1 ).

2. Installation according to claim 1 , wherein, in case the reachability test concludes that not all the areas of the gunning map (G1 ) are reachable and / or the collision test concludes that the gunning system (11) cannot implement the first sequence of successive nozzle positions (T1) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), the installation is configured to indicate that the first shooting sequence (S1 ) cannot be carried out.

3. Installation according to claim 1 or 2, wherein, in case the reachability test concludes that not all the areas of the gunning map (G1 ) are reachable and / or the collision test concludes that the gunning system (11 ) cannot implement the first sequence of successive nozzle positions (T1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1), the data processing system (21) is configured:• to indicate that the mobile shooting unit (12) must be moved,• to control the localisation system (17) to localise, through a measurement, a second position (P2) of the mobile shooting unit (12),• to establish an alternative sequence of successive nozzle positions defining a sequence of spatial configurations of the gunning lance (13) allowing the gunning nozzle (13t) to reach shooting positions allowing repair gunning mass (1 R) to be gunned at the corresponding repair areas defined in the gunning map (G1) with the mobile shooting unit (12) located at the second position (P2), the establishment of the alternative sequence of successive nozzle positions including an alternative reachability test checking whether all the areas of the gunning map (G1) are reachable with the mobile shooting unit (12) located at the second position (P2),• to compare the spatial configurations of the gunning lance (13) defined in the alternative sequence of successive nozzle positions with the geometry of the metallurgical vessel (1 ) stored in the memory of the data processing system (21), in order to carry out an alternative collision test to determinewhether the alternative sequence of successive nozzle positions can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1), and to control the gunning system (11) as follows: o if the alternative reachability test concludes that all the areas of the gunning map (G1 ) are reachable and the alternative collision test concludes that the gunning system (11 ) can implement the alternative sequence of successive nozzle positions without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11 ) to apply an alternative shooter sequence, defining a gunning flowrate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during implementation of the alternative sequence of successive nozzle positions, o if the alternative reachability test concludes that not all the areas of the gunning map (G1) are reachable and / or the alternative collision test concludes that the gunning system (11) cannot implement the alternative sequence of successive nozzle positions without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11 ) to not apply the alternative shooter sequence.

4. Installation according to anyone of the preceding claims, wherein the localisation system (17) is configured for determining a position of the metallurgical vessel, and for using said vessel position to determine the first position (P1 ) of the mobile shooting unit (12) relative to the metallurgical vessel (1 ).

5. Installation according to claim 4, wherein, in case the reachability test concludes that not all the areas of the gunning map (G1 ) are reachable and / or the collision test concludes that the gunning system (11) cannot implement the first sequence of successive nozzle positions (T1) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), the data processing system (21 ) is configured:• to indicate that a position of the metallurgical vessel must be varied, and preferably indicate how to vary the position of the metallurgical vessel,• to control the localisation system (17) to determine, through a measurement, a new position of the metallurgical vessel and a new relative position (P1 ) of the mobile shooting unit (12) with respect to the metallurgical vessel (1),• to establish an other sequence of successive nozzle positions defining a sequence of spatial configurations of the gunning lance (13) allowing the gunning nozzle (13t) to reach shooting positions allowing repair gunning mass (1 R) to be gunned at the corresponding repair areas defined in the gunning map (G 1 ) with the mobile shooting unit (12) located at the new relative position (P1 ),the establishment of the other sequence of successive nozzle positions including an other reachability test checking whether all the areas of the gunning map (G1) are reachable with the mobile shooting unit (12) located at the new relative position (P1 ),• to compare the spatial configurations of the gunning lance (13) defined in the other sequence of successive nozzle positions with the geometry of the metallurgical vessel (1 ) stored in the memory of the data processing system (21 ), in order to carry out an other collision test to determine whether the other sequence of successive nozzle positions can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), and to control the gunning system (11 ) as follows: o if the other reachability test concludes that all the areas of the gunning map (G1 ) are reachable and the other collision test concludes that the gunning system (11 ) can implement the other sequence of successive nozzle positions without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11) to apply an other shooter sequence, defining a gunning flowrate (dV / dt) and a displacement speed (v) of the gunning nozzle (13t) during implementation of the other sequence of successive nozzle positions, o if the other reachability test concludes that not all the areas of the gunning map (G1 ) are reachable and / or the other collision test concludes that the gunning system (11 ) cannot implement the other sequence of successive nozzle positions without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1), then the data processing system (21 ) controls the gunning system (11 ) to not apply the other shooter sequence.

6. Installation according to anyone of the preceding claims, wherein, in case the reachability test concludes that not all the areas of the gunning map (G1) are reachable and / or the collision test concludes that the gunning system (11) cannot implement the first sequence of successive nozzle positions (T1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1), the data processing system (21 ) is configured to:• indicate that the gunning nozzle must be removed and replaced by a new gunning nozzle (13t) of different geometry, preferably indicating a tip tilting angle (<p13t) of the new gunning nozzle (13t) relative to the gunning lance (13) and / or a length of the new gunning nozzle (13t),• perform the steps as defined in claim 1 , comprising: establishing a sequence of successive nozzle positions including a reachability test, performing a collision test and implementing a gunning of a shooter sequence if the tests are successful.

7. Installation according to anyone of the preceding claims, wherein, in case the reachability test concludes that not all the areas of the gunning map (G 1 ) are reachable and / or the collision testconcludes that the gunning system (11 ) cannot implement the first sequence of successive nozzle positions (T1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1), the data processing system (21 ) is configured to list unreachable repair areas defined as the repair areas corresponding to the shooting positions which cannot be reached by the shooting tip (13t) from the first position (P1 ) or only by contacting a point of the metallurgical vessel (1 ), and to determine whether the unreachable repair areas can be used without repair material (1 R) for a further process cycle, o in case all the unreachable repair areas can be used again for at least process cycle without repair, the data processing system (21 ) is configured for modifying the first shooting sequence (S1 ) to define a second shooter sequence (S2) by removing the shooting positions corresponding to the unreachable repair areas, and for controlling the gunning system (11) to implement the second shooter sequence (S2), o in case at least one of the unreachable repair areas cannot be used again for one process cycle without repair, the data processing system (21 ) is configured for controlling the gunning system (11) to not apply the second shooter sequence (S2).

8. Installation according to anyone of the preceding claims, wherein,• the determination of the first shooter sequence (S1 ) takes into account a minimum amount of repair gunning mass (1 ) to be applied to each repair area, and / or• the determination of the first sequence of successive nozzle positions (T 1 ) takes into account a range of a distance separating the gunning nozzle (13t) from the repair areas at each shooting position, and / or• the determination of the first sequence of successive nozzle positions (T 1 ) takes into account a range of an orientation of the gunning nozzle (13t) relative to the repair areas, and / or• the determination of the first shooting sequence (S1 ) takes into account minimum amounts of repair gunning mass (1 R) as function of the gunning map (G1 ).

9. Installation according to anyone of the preceding claims, wherein the flowrate (dV / dt) and displacement speed (v) are controlled by:• the flowrate is constant throughout the implementation of the first shooter sequence (S 1 ), and either, the displacement speed (v) is constant, or the displacement speed (v) varies depending on the shooting positions of the gunning nozzle (13t), and / or• the flowrate (dV / dt) varies depending on the shooting positions of the gunning nozzle (13t), and either, the displacement speed (v) is constant, or the displacement speed (v) varies depending on the shooting positions of the gunning nozzle (13t).

10. Installation according to anyone of the preceding claims, wherein the first shooting sequence (S1) includes several passes of the gunning nozzle (13t) through a series of shooting positions to increase the volume of repair gunning mass being gunned over the corresponding repair areas.11 . Installation according to anyone of the preceding claims, wherein the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21 ) is a topography of both lining (1 L) and at least part of an outer surface of the metallurgical vessel (1 ), comprising the opening (1o).

12. Installation according to anyone of the preceding claims, comprising a scanner system (31) configured for scanning an area of the lining (1 L) to yield a scanned topography of the area of the lining; the scanner system (31 ) being in communication with the data processing system (21 ); the data processing system (21 ) being configured for determining actual thicknesses (t1) of the lining (1 L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31 ) and for defining the gunning map (G1 ).

13. Installation according to the preceding claim, wherein the geometry of the metallurgical vessel (1 ) stored in the memory of the data processing system (21) includes a real-time geometry of the opening (1o) measured by the scanner system (31 ).

14. Process for repairing a lining (1 L) of a metallurgical vessel (1 ), comprising, providing an installation according to anyone of the preceding claims, obtaining a gunning map (G1 ) defining repair areas of the lining to be repaired, determining with the localisation system (17), and througt a measurement, the first position (P1 ) of the mobile shooting unit (12), and transmitting the first position (P1 ) to the data processing system (21 ), establishing with the data processing system (21 ) the first sequence of successive nozzle positions (T 1 ) with the mobile shooting unit (12) located at the first position (P1) as determined, throught the measurement, by the localisation system (17), which includes performing the reachability test checking whether all the areas of the gunning map (G1 ) are reachable with the mobile shooting unit (12) located at the first position (P1 ), comparing the spatial configurations of the gunning lance (13) defined in the first sequence of successive nozzle positions (T1 ) with the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21 ) in order to perform a collision test that determines whether the first sequence of successive nozzle positions (T1 ) can be carried out without any part of the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), controlling the gunning system (11 ) with the data processing system (21 ) as follows, o if, all the areas of the gunning map (G1 ) are reachable with the mobile shooting unit (12)located at the first position (P1) and if from the first position (P1) thereof, the gunning system (11 ) can implement the first sequence of successive nozzle positions (T1) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11 ) to apply the first shooter sequence (S1 ), o if not all the areas of the gunning map (G1 ) are reachable with the mobile shooting unit (12) located at the first position (P1 ), and / or if from the first position (P1 ) thereof, the gunning system (11 ) cannot implement the first sequence of successive nozzle positions (T1 ) without the gunning lance (13) contacting at any time any point of the metallurgical vessel (1 ), then the data processing system (21 ) controls the gunning system (11 ) to not apply the first shooter sequence (S1 ).

15. Process according to the preceding claim, wherein the installation comprises a scanner system (31 ) configured for scanning an area of the lining (1 L) to yield a scanned topography of the area of the lining and in communication with the data processing system (21), the data processing system (21) being configured for determining actual thicknesses (t1 ) of the lining (1 L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31 ) and for defining the gunning map (G1 ), the process comprising the steps of: positioning the metallurgical vessel (1 ) to expose the opening (1o) thereof to the scanner system (31 ), bringing into a scanning position the scanner system (31) and scanning an area of the lining (1L) to yield a scanned topography of the area of the lining, determining with the data processing system (21 ) actual thicknesses (t1 ) of the lining (1 L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31 ), and defining with the data processing system (21 ) the gunning map (G1 ) defining repair areas of the lining to be repaired.

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