TW202528046A - Installation for repairing a refractory lining of a metallurgical vessel with a gunning system - Google Patents

Abstract

The present invention concerns an installation for a gunning operation for repairing a lining (1L) of a metallurgical vessel (1) comprising, ● a mobile shooting unit (12) provided with a gunning lance (13), ● a localisation system (17) for determining a first position (P1) of the of the mobile shooting unit relative to the metallurgical vessel, ● a data processing system (21) configured, to define a first shooting sequence (S1) by the mobile shooting unit, to run a collision test checking whether the gunning lance contacts at any time the metallurgical vessel during implementation of the first shooting sequence (S1), to control the gunning system (11) to apply a first shooter sequence (S1), only if the collision test is positive.

Description

Device for repairing refractory lining of metallurgical vessels using spraying system

The present invention relates to an apparatus and method for repairing a lining of a metallurgical vessel. The metallurgical vessel has an opening to an interior of the vessel. The interior is lined with the lining, which is configured to come into contact with molten metal. The present invention allows for substantial automation of the lining repair and substantially reduces the risk of damage to the apparatus. The apparatus and method are particularly suitable for repairing metallurgical vessels, such as basic oxygen furnaces (BOFs).

During the metal forming process, molten metal is stored in a metallurgical vessel where it is processed and transferred from one vessel to another, to a mold, or to a tool for casting ingots. The interior of these vessels is lined with a refractory material to withstand the high temperatures of the molten metal and to insulate the interior from the exterior. During the storage, processing, and flow of the molten metal, the lining erodes, causing localized reductions in thickness. During the continuous process cycle of a metallurgical vessel, the condition of the lining is checked to ensure that it still maintains sufficient thickness to carry out an additional process cycle of filling with molten metal, heating, optionally treating, and emptying the metallurgical vessel. If the thickness of the lining is locally too low, it is repaired before the next process cycle.

An example of a metallurgical vessel in which molten metal is stored and undergoes chemical transformation includes a basic oxygen furnace converter (BOF). As shown in Figure 1a, a BOF is a metallurgical vessel (1) used to reduce the carbon content of carbon-rich pig iron by blowing oxygen (3g) through a slag (5s) into pig iron using a blowpipe (3) to convert the pig iron into low-carbon steel. As shown in FIG1b , after some process cycles, the liner (1L) is eroded and its actual thickness (t1) is locally reduced compared to the normal thickness (t0) of the liner (1L) (i.e., t0 < t1) (compare the dotted line indicating the normal thickness (t0) with the solid line indicating the actual thickness (t1) in FIG1b ).

When the actual thickness (t1) becomes locally lower than a reference thickness, the lining is repaired. As shown in FIG2 , this can be performed by a spraying system (11) configured to spray a repair material (1R) to the repair area to be repaired (i.e., including at least the repair area where the actual thickness (t1) is smaller than the reference thickness). The spraying system (11) is equipped with a spraying blowpipe (13) with a spraying nozzle (13t) as the end. The spraying blowpipe (13) has a plurality of degrees of freedom that allow its configuration to be changed, so that the spraying nozzle (13t) can reach different positions and orientations relative to the movable blowing unit (12). 3a to 3c respectively show a perspective view, a side view and a top view of an example of a spray filling system (11), which comprises a movable blowing unit (12) for displacing the spray filling system (11).

In the past, the assessment of the repair area to be repaired and the application of repair material (1R) in the identified repair area were performed visually and manually by an operator. The two operations of visually assessing the repair area and manually applying the repair material require considerable experience to shorten the repair time between two consecutive process cycles because the interior of the metallurgical vessel is hot during these operations.

In recent years, there have been many advances in the evaluation of the actual local thickness (t1) of the lining and the automation of the identification of the location of the repair area. For example, patent WO03081157 describes the use of a stereo matrix camera to determine the actual thickness of the lining. Similarly, patents WO2007107242, 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 container. The scanner system is connected to a data processing system, which allows the creation of a spray image that defines the repair area of the lining to be repaired.

The data processing system described in US Pat. No. 6,780,351 is also configured to define a sequence of injectors, defining a sequence of positions of spray nozzles adapted to spray a predetermined volume of repair material at repair areas identified in a spray map corresponding to the positions of the spray nozzles.

Document No. US5745969A describes a method and apparatus for repairing a coke furnace. The head of the blowpipe described in the document includes a laser rangefinder for measuring the depth of a worn or damaged area in the furnace wall. The blowpipe is used to repair the worn or damaged area.

US4649858 A describes a repair device for a coke furnace. A head part of a blowpipe of the device can be fitted into the coal charging part of the furnace so that a damaged part can be visually observed with a camera and repaired with a plasma gun.

The spray repair system often comprises a movable blowing unit (12) which can be moved to a repair position relative to a metallurgical container to be repaired. As described in patent US6780351, the movable blowing unit can be connected to a rail system, but in practice, in order to save space on an already overcrowded platform, the movable blowing unit is only mounted on wheels and is preferably freely movable by an operator. The movable blowing unit is sent to a repair position, which is a repair blowpipe characterized by a given number of degrees of freedom so as to reach different areas of the lining. However, this gives rise to the problem that the movable blowing unit cannot always be positioned at exactly the same repair position relative to the container before each spray repair operation. Even if a reference repair position (Pr) is marked on the floor, it is still impossible for an operator to accurately position the movable blowing unit at the reference repair position, especially if the markings on the floor become blurred and worn over time.

If the movable blowing unit is not positioned exactly at the reference repair position, the blowing sequence created by the data processing system may not be adapted to the actual repair position relative to the metallurgical vessel. This is particularly critical if, as in BOF, the opening of the 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 blowing sequence that is very suitable for repairing the metallurgical vessel, but due to the actual position of the movable blowing unit relative to the opening of the metallurgical vessel, the supplementary blowpipe may completely impact a portion of the metallurgical vessel, which may damage both the movable blowing unit and the metallurgical vessel, or may not be able to reach remote areas of the lining. Therefore, there remains the problem of automating the repair of the lining of an interior of a metallurgical vessel when using a spraying system comprising a movable blowing unit mounted on wheels.

The present invention provides a solution for further automating the repair of the lining of a metallurgical vessel, such as a BOF. These and other advantages of the present invention will be explained in more detail in the following sections.

The objects of the present invention have been achieved by a device for a spraying operation for repairing a lining of a metallurgical vessel having an opening to an interior of the metallurgical vessel, the metallurgical vessel being lined with the lining configured to contact a metal melt, the device comprising, A spray repair system comprising a movable spray unit, the movable spray unit including a spray repair blowpipe equipped with a spray repair nozzle and configured to spray a repair spray block toward the liner through the spray repair nozzle, wherein the movable spray unit includes a plurality of degrees of freedom for changing configuration, allowing the spray repair nozzle to reach different positions relative to the movable spray unit. ●     A data processing system in communication with the movable spray unit and configured to obtain a spray repair image, the spray repair image defining a plurality of repair areas of the liner to be repaired, wherein, - The apparatus includes a calibration system in communication with the data processing system and configured to determine a first position of the movable blowing unit relative to the metallurgical vessel by a measurement and preferably numerical calculations, and to transmit the first position to the data processing system, wherein The data processing system is configured to establish a first sequence of continuous nozzle positions defining a sequence of spatial configurations of the filling nozzle, allowing the filling nozzle to reach a plurality of blowing positions and allowing the repair filling block to be filled at the corresponding repair regions defined in the filling image when the movable blowing unit is located at the first position determined by the measurement using the calibration system. Establishing the first sequence of continuous nozzle positions includes a reachability test to check whether all regions of the filling image are reachable by the movable blowing unit located at the first position. The geometry of the metallurgical vessel is stored in a memory of the data processing system, and the data processing system further includes a memory device configured to store the geometry of the metallurgical vessel in the memory device. The data processing system is configured to compare the spatial configurations of the filling nozzle defined in the first sequence of continuous filling nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system to perform a collision test to determine whether the first sequence of continuous filling nozzle positions can be performed without any portion of the filling nozzle contacting any point of the metallurgical vessel at any time, and to control the filling system as follows: If the reachability test determines that all of the areas of the spray filling image are reachable, and the collision test determines that the spray filling system can achieve the first sequence of continuous spray filling nozzle positions without the spray filling blowpipe contacting any point of the metallurgical vessel at any time, then the data processing system controls the spray filling system to implement a first blower sequence, wherein the first blower sequence defines a spray flow rate and a displacement speed of the spray filling nozzle during the implementation of the first sequence of continuous spray filling nozzle positions. If the reachability test determines that not all of the areas of the spray filling image are reachable, and/or the collision test determines that the spray filling system cannot achieve the first sequence of continuous spray filling nozzle positions such that the spray filling lance does not contact any point of the metallurgical vessel at any time, the data processing system controls the spray filling system to not perform the first blower sequence.

The spray filling system includes the movable blowing unit and a repair spray block source. The movable blowing unit includes a body and the spray filling blow pipe, the body is movable and preferably mounted on wheels, and the spray filling blow pipe includes the spray filling nozzle. The spray filling image can be obtained in any way. For example, the data processing system can download the spray filling image, receive the spray filling image, and determine the spray filling image from a measured image of an actual thickness. The nozzle image may include a collection of an area selected from an image of an actual thickness. The calibration system may include a plurality of components in the movable blowing unit and outside the container, and these components are preferably fixed. The calibration system may include a plurality of movable components attached to the movable blowing unit and/or the vessel. The calibration system may include an information processing unit, such as a microprocessor. The calibration system performs one or more measurements, and preferably numerical calculations, to determine the first position. The geometry of the metallurgical vessel, in particular, includes the shape of the opening of the metallurgical vessel. The first blowing sequence is determined by taking into account the first sequence of consecutive nozzle positions.

The data processing system may be at least partially distributed across multiple devices (e.g., partially on the spraying system, partially on a computer in the factory, partially on the calibration system), and/or across multiple locations, such as 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 cluster of computers (e.g., machines including processors), which may be accessed via a network (e.g., the Internet) and via one or more appropriate interfaces (e.g., application programming interfaces (APIs)).

In the context of this document, the "position" of a component, such as the vessel, the movable blow unit, the feed blow tube, and the feed blow nozzle, preferably includes the orientation of the component. For example, the position of a basic oxygen furnace includes its tilt angle. In the context of this document, unless the context indicates otherwise, the "position" of the movable blow unit is a position relative to the metallurgical vessel, and preferably a position of the body of the movable blow unit.

In the present invention, the reachability test and the collision test are performed before the refill system begins executing the first blower sequence. In other words, the refill nozzle movement according to the first sequence of continuous refill nozzle positions will not begin until the reachability test and the collision test are completed for the entire first sequence of continuous refill nozzle positions. The reachability test is performed before the collision test.

In one embodiment of the present invention, if the reachability test determines that not all of the areas of the fill image are reachable and/or the collision test determines that the fill system is unable to achieve the first sequence of consecutive nozzle positions such that the fill lance does not contact any point of the metallurgical vessel at any time, then the apparatus is configured to indicate that the first blow sequence cannot be performed.

The device can indicate how to reach a blowing position in which the first blowing sequence can be carried out without contact between the movable blowing unit and the metallurgical vessel, wherein the blowing position is preferably a predetermined position.

In one embodiment of the present invention, if the reachability test determines that not all of the areas of the spray filling image are reachable, and/or the collision test determines that the spray filling system is unable to achieve the first sequence of consecutive nozzle positions such that the spray filling blowpipe does not contact any point of the metallurgical vessel at any time, the data processing system is configured to: ●     indicate that the movable blow unit must be moved, ●     control the calibration system to calibrate a second position of the movable blow unit, ●    Establishing another selected sequence of continuous nozzle positions, which defines a spatial configuration of a sequence of the filling nozzle, allowing the filling nozzle to reach a plurality of blowing positions, and allowing the repair filling block to fill the corresponding repair areas defined in the filling image when the movable blowing unit is located at the second position. The establishment of the another selected sequence of continuous nozzle positions includes another selected reachability test, which checks whether all the areas of the filling image are reachable by the movable blowing unit located at the second position. Comparing the spatial configurations of the filler blowpipe defined in the alternative sequence of continuous nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system to perform an alternative collision test to determine whether the alternative sequence of continuous nozzle positions can be performed without any portion of the filler blowpipe contacting any point of the metallurgical vessel at any time, and controlling the filler blowpipe system as follows: If the alternative reachability test determines that all of the regions of the spray filling image are reachable, and the alternative collision test determines that the spray filling system can achieve the alternative sequence of continuous nozzle positions without the spray filling blowpipe contacting any point of the metallurgical vessel at any time, then the data processing system controls the spray filling system to implement an alternative blower sequence, wherein the alternative blower sequence defines a spray flow rate and a displacement speed of the spray filling nozzle during the achievement of the alternative sequence of continuous nozzle positions. If the alternative reachability test determines that not all areas of the fill image are reachable, and/or the alternative collision test determines that the fill system is unable to achieve the alternative sequence of consecutive nozzle positions such that the fill blowpipe does not contact any point of the metallurgical vessel at any time, the data processing system controls the fill system to not implement the alternative blowpipe sequence. The second position is preferably closer to the blow position than the first position.

In one embodiment of the present invention, the calibration system is configured to determine a position of the metallurgical vessel by a measurement and preferably numerical calculations, and to use the vessel position to determine the first position of the movable blowing unit relative to the metallurgical vessel.

The container position is preferably determined at least once before the scanning and at least once before the spraying.

In one embodiment of the present invention, if the reachability test determines that not all of the areas of the spray filling image are reachable, and/or the collision test determines that the spray filling system is unable to achieve the first sequence of consecutive nozzle positions such that the spray filling blowpipe does not contact any point of the metallurgical vessel at any time, the data processing system is configured to: ●     indicate that a position of the metallurgical vessel must be changed, and preferably indicate how to change the position of the metallurgical vessel, ●     control the calibration system to determine a new position of the metallurgical vessel and a new relative position of the movable blowing unit relative to the metallurgical vessel by a measurement, ●    Establishing another sequence of continuous nozzle positions, which defines a sequence of spatial configurations of the nozzle filling blowpipe, allowing the nozzle filling nozzle to reach a plurality of blowing positions, and allowing the repair nozzle to fill the corresponding repair areas defined in the nozzle filling image when the movable blowing unit is located at the new relative position. The establishment of the other sequence of continuous nozzle positions includes another reachability test, which checks whether all the areas of the nozzle filling image can be reached by the movable blowing unit located at the new relative position. Comparing the spatial configurations of the filler blowpipe defined in the other sequence of continuous nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system to perform another collision test to determine whether the other sequence of continuous nozzle positions can be performed without any portion of the filler blowpipe contacting any point of the metallurgical vessel at any time, and controlling the filler blowpipe system as follows: If the other reachability test determines that all of the regions of the fill image are reachable, and the other collision test determines that the fill system can achieve the other sequence of continuous nozzle positions without the fill blowpipe contacting any point of the metallurgical vessel at any time, then the data processing system controls the fill system to implement an other blower sequence, the other blower sequence defining a fill flow rate and a displacement velocity of the fill nozzle during the achievement of the other sequence of continuous nozzle positions. If the other reachability test determines that not all of the areas of the fill image are reachable, and/or the other collision test determines that the fill system is unable to achieve the other sequence of continuous nozzle positions such that the fill blowpipe does not contact any point of the metallurgical vessel at any time, the data processing system controls the fill system to not perform the other blowpipe sequence.

In one embodiment of the present invention, if the reachability test determines that not all of the areas of the fill image are reachable, and/or the collision test determines that the fill system is unable to achieve the first sequence of consecutive nozzle positions such that the fill lance is not in contact with any point of the metallurgical vessel at any time, the data processing system is configured to: ●     indicate that the fill nozzle must be removed and replaced with a new fill nozzle having a different geometry, preferably indicating a tip tilt angle of the new fill nozzle relative to the fill lance, and/or a length of the new fill nozzle, ●    Implementing the steps defined above includes: establishing a sequence of consecutive nozzle positions including an accessibility test, performing a collision test, and implementing a fill injection of a blower sequence if the tests are successful.

In one embodiment of the present invention, if the reachability test determines that not all of the regions of the spray filling image are reachable, and/or the collision test determines that the spray filling system is unable to achieve the first sequence of consecutive nozzle positions such that the spray filling blowpipe does not contact any point of the metallurgical vessel at any time, the data processing system is configured to list a plurality of unreachable repair regions, defined as the repair regions corresponding to the blow positions that are unreachable by the blow tip from the first position or that are reachable only by contacting a point of the metallurgical vessel, and determine whether the unreachable repair regions can be used in another process cycle without repair material. If all of the inaccessible repair areas can be reused in at least one process cycle without repair, the data processing system is configured to modify the first blow sequence by removing the blow positions corresponding to the inaccessible repair areas to define a second blow sequence, and control the spray filling system to implement the second blow sequence. ●     If at least one of the inaccessible repair areas cannot be reused in a process cycle without repair, the data processing system is configured to control the spray filling system not to implement the second blow sequence.

In one embodiment of the present invention, the first blower sequence is determined by considering a minimum total amount of repair spray applied to each repair area, and/or the positions of the consecutive nozzles in the first sequence are determined by considering a range of distances separating the spray nozzles from the repair areas at each blow position, and/or the positions of the consecutive nozzles in the first sequence are determined by considering a range of positions of the spray nozzles relative to the repair areas, and/or the first blow sequence is determined by considering a minimum total amount of repair spray applied as a function of the spray map.

In one embodiment of the present invention, the flow rate and displacement speed are controlled by at least one of the following: ●     The flow rate is constant throughout the first injector sequence, and the displacement speed is constant, or the displacement speed varies depending on the injection positions of the filler nozzles; or ●     The flow rate varies depending on the injection positions of the filler nozzles, or the displacement speed is constant, or the displacement speed varies depending on the injection positions of the filler nozzles.

In one embodiment of the present invention, the first blowing sequence comprises a plurality of passes of the spray nozzle through a series of blowing positions to increase the volume of the repair spray mass to be sprayed on the corresponding repair areas.

In one embodiment of the present invention, the geometry of the metallurgical vessel stored in the memory of the data processing system is a topography of both a liner and at least a portion of an outer surface of the metallurgical vessel, including the opening.

In one embodiment of the present invention, the apparatus includes a scanner system configured to scan a region of the liner to generate a scanned topography of the region of the liner; the scanner system is in communication with the data processing system; the data processing system is configured to determine an actual thickness of the liner as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system, and to define the spray-painted image.

The scanning area of the liner can be the entire surface of the liner or part(s) thereof. Preferably, the scanner system is a movable scanner system. The scanner system is moved away from the container before the movable blowing unit is placed in the first position.

In one embodiment of the present 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.

The present invention also relates to a method for repairing a lining of a metallurgical vessel, comprising: (S1) providing an apparatus as claimed in any one of the preceding claims, (S2) obtaining a spray patch image, the spray patch image defining a plurality of repair areas of the lining to be repaired, (S3) preferably moving the metallurgical vessel and/or the movable blasting unit, (S4) determining a first position of the movable blasting unit by a measurement performed by the calibration system, and transmitting the first position to the data processing system, (S5) When the movable blowing unit is located at the first position determined by the calibration system and through the measurement performed by the calibration system, the data processing system is used to establish the first sequence of continuous nozzle positions, which includes performing the reachability test to check whether all the areas of the spray filling image are reachable by the movable blowing unit located at the first position. (S6) comparing the spatial configurations of the filling nozzle defined in the first sequence of continuous filling nozzle positions with the geometry of the metallurgical vessel stored in the memory of the data processing system to perform a collision test to determine whether the first sequence of continuous filling nozzle positions can be performed without any portion of the filling nozzle contacting any point of the metallurgical vessel at any time, (S7) controlling the filling nozzle system with the data processing system as follows, ● If all of the areas of the filling image can be reached by the movable blowing unit in the first position, and if from the first position, the filling system can achieve the first sequence of continuous filling nozzle positions without the filling blowpipe contacting any point of the metallurgical vessel at any time, the data processing system controls the filling system to perform the first blowpipe sequence, If not all of the areas of the filling image can be reached by the movable blowing unit in the first position and/or if, from the first position, the filling system cannot achieve the first sequence of consecutive filling nozzle positions such that the filling blowpipe does not contact any point of the metallurgical vessel at any time, the data processing system controls the filling system to not perform the first blower sequence.

The steps of the method for repairing the lining may be performed in the order presented herein. However, one or more of the steps may be interchanged without departing from the scope of the present invention. For example: ●     Step (S7) follows each of steps (S1) to (S6); ●     Step (S6) follows each of steps (S1) to (S5); ●     Step (S5) follows each of steps (S1) to (S4); ●     Step (S4) follows step (S3); ●     As will be readily understood by those skilled in the art, some interchange may be made between steps (S1), (S2), (S3), and (S4), such that synchronization step (S2) may be completed after step (S4).

It is also possible to implement a process cycle while determining the second injector sequence.

In one embodiment of the present invention, the apparatus includes a scanner system configured to scan a region of the liner to generate a scanned topography of the region of the liner and communicate with the data processing system. The data processing system is configured to determine an actual thickness of the liner as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system, and to define the spray-painted image. The method comprises the following steps: Positioning the metallurgical vessel so that its opening is exposed to the scanner system; Moving the scanner system into a scanning position and scanning a region of the liner to generate a scanned topography of the region of the liner; The data processing system determines the actual thickness of the liner as a function of spatial coordinates (x, y, z) based on the scanned topography acquired by the scanner system, and defines the spray image using the data processing system, wherein the spray image defines a plurality of repair regions of the liner to be repaired.

The invention relates to a device for a spray repair operation for repairing a lining (1L) of a metallurgical vessel (1), the metallurgical vessel having an opening to an interior of the metallurgical vessel, the interior being lined with a lining (1L) configured to come into contact with a metal melt. Preferably, at least a portion of the lining (1L) is concave. Starting from the opening, the interior of the metallurgical vessel expands at least longitudinally (i.e., in a direction perpendicular to the opening surface) and preferably also radially (i.e., in at least one direction parallel to the opening surface) over at least a portion of the metallurgical vessel. In other words, the opening of the metallurgical container forms a neck, ie has a smaller diameter than a portion of the interior of the metallurgical container adjacent to the opening. As shown in Figures 7a to 7d, the device preferably includes a scanner system (31) and a spray filling system (11), the scanner system being configured to scan an area of the liner (1L) to generate a scanned topography of the area of the liner, the spray filling system comprising a movable blowing unit (12), the movable blowing unit comprising a body and a spray filling blowpipe (13), the spray filling blowpipe comprising a spray filling nozzle (13t) and being configured to spray a repair spray block (1R) toward the liner (1L) through the spray filling nozzle (13t). The filling block is made of refractory material, bonded to the lining and increasing its thickness. As shown in Figures 3a to 3c, the movable blowing unit (12) is preferably mounted on wheels, allowing it to be freely displaced across a substantially flat surface. Figures 3a to 3c also show that the filling blowpipe (13) includes multiple degrees of freedom to change the configuration and allow the filling nozzle (13t) to reach different positions relative to the movable blowing unit (12) (illustrated by a shaded area in Figures 3a to 3c). During the filling period, although the filling blowpipe (13) adopts different configurations, the body of the movable blowing unit (12) does not move.

The apparatus also includes a data processing system (21) in communication with the scanner system (31) and the spray patch system (11). In one embodiment, the data processing system (21) is configured to determine an actual thickness (t1) of the liner (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 is also configured to define a spray patch image (G1) that defines a repair area of the liner to be repaired. The spray patch image (G1) can be provided to the data processing system (21) or determined by the data processing system (21) based on received data.

Since the movable blowing unit (12) is preferably movable on its wheels and/or the metallurgical vessel (1) is movable, the device includes a calibration system (17) that communicates with the data processing system (21) and is configured to determine a first position (P1) of the movable blowing unit (12) relative to the metallurgical vessel (1). The first position (P1) is preferably relative to the body of the movable blowing unit (12) rather than the supplementary blowpipe (13). The position of the supplementary blowpipe (13) can be determined by the position of the body and its configuration. The first position (P1) is determined by providing one or more measurements of the position of the movable blowing unit (12). In one embodiment, the position of the metallurgical vessel (1) can be determined by the calibration system by providing one or more measurements of the position of the metallurgical vessel (1). In another embodiment, the position of the metallurgical vessel (1) can be at a reproducible reference position in the device according to the invention. The position of the metallurgical vessel is preferably used to determine a first position (P1) of the movable blowing unit (12) relative to the metallurgical vessel (1). The first position (P1) is transmitted to a data processing system (21), which uses the first position to establish a first sequence of continuous nozzle positions (T1), which defines a sequence of spatial configurations of the repair nozzle (13), allowing the repair nozzle (13t) to reach the repair nozzle block (1R) at the corresponding repair area defined in the repair image (G1) to be filled. The establishment of the first sequence of continuous nozzle positions (T1) takes into account that the movable blowing unit (12) is located at the first position (P1) determined by the calibration system (17) and by the measurements performed by the calibration system (17).

The establishment of a first sequence of continuous nozzle positions (T1) includes a reachability test, which numerically checks whether all areas of the nozzle image (G1) can be reached by the measured position (P1) of the movable blowing unit. If the first sequence of continuous nozzle positions (T1) can be established with the first position (P1) of the movable blowing unit (12), a collision test is performed as described below.

A geometry of the metallurgical vessel (1) is stored in a memory of a data processing system (21), which can compare the spatial configuration of the filling nozzle (13) defined in a first sequence of continuous nozzle (tip positions (T1) with the stored geometry before the first sequence of continuous filling nozzle positions (T1) is realized. It can thereby be numerically determined whether the first sequence of continuous nozzle positions (T1) can be executed without any part of the filling nozzle (13) being in contact with any point of the metallurgical vessel (1) at any time. Depending on the result of the comparison, the data processing system (21) controls the filling nozzle system (11) in different ways. If, from its first position (P1), the movable blowing unit (12) can realize a first sequence of consecutive nozzle positions (T1) so that the filling nozzle (13) does not touch any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the filling nozzle system (11) to realize a first blowing sequence (S1), defining a filling flow rate (dV/dt) and a displacement speed (v) of the filling nozzle (13t) during the realization of the first sequence of consecutive nozzle positions (T1), On the other hand, if the movable blowing unit (12) cannot achieve the first sequence of continuous nozzle positions (T1) from its first position (P1) and the filling nozzle (13) does not contact any point of the metallurgical vessel (1) at any time and/or the first sequence of continuous nozzle positions (T1) cannot be established, the data processing system (21) controls the filling nozzle system (11) not to implement the first blower sequence (S1). Metallurgical vessel (1)

All metallurgical vessels having an internal volume accessible from the outside through an opening (1o) and delimited by a plurality of walls, said walls comprising a shell structure substantially made of metal, the inner surface of which is lined with a lining (1L) made of a refractory material, can be repaired with the device and process of the invention. The invention is particularly advantageous for use in conjunction with metallurgical vessels having an opening (1o) forming a neck having a diameter smaller than that of the internal volume. A spraying lance (13) of a spraying unit (11) enters the inner volume, thereby increasing the risk of damage caused by contact between the spraying lance (13) and multiple walls of the metallurgical vessel (1) due to the smaller diameter restriction of the opening.

A typical example of such a metallurgical vessel (1) is a basic oxygen furnace converter (BOF), which is used to convert high-carbon pig iron into low-carbon steel by blowing oxygen. An example of a BOF is shown in Figures 1a and 1b. The BOF comprises three parts: a spherical bottom, a cylindrical center part, and an upper cone truncated by an opening (1o). The BOF also comprises an outflow hole at the cylindrical center part or at the upper cone for draining the low-carbon steel after the oxidation reaction is completed. A ratio of the internal height to the internal width of the BOF is generally comprised between 1.2 and 1.6. During use, the lining (1L) is exposed to strong oxidizing conditions at high temperatures, and corrosion is most intense at the level of the contact line with the slag (5s). Since, during use, only about 8 to 12% of the inner volume of the BOF is filled with molten pig iron, corrosion is most intense between the spherical bottom and the lower part of the cylindrical center part, i.e., well away from the opening (1o). This makes it more difficult to introduce the blowing rod (13) deep into the inner volume through the opening (1o).

The BOF is mounted on a plurality of tilting hinges, allowing the BOF to rotate (tilt) about a horizontal axis. During a transformation process, the BOF is held so that the opening (1o) is located at a highest point above the spherical base. This configuration is referred to herein as a "vertical configuration", as shown in Figures 1a and 1b. The BOF can be tilted to lower the opening (1o) by up to 90° to a configuration referred to herein as a "horizontal configuration", as shown in Figure 2. The tilt angle can be controlled to any value comprised between 0 and 90° to bring the BOF to a "tilted configuration", defined as any configuration different from the vertical configuration. The tilted configuration is used for charging raw materials, sampling melt, pouring steel out of the BOF through the outflow hole, and for repairing the lining (1L). Indeed, it is easier to introduce the spray filler tube (13) through the opening into the inner volume when the opening is in a lower position, as shown in Figure 2.

Due to the neck formed by the opening (1o), the BOF is listed as a particularly complex embodiment of a metallurgical vessel to be repaired by spraying in a (semi-)automatic manner. However, the invention is not limited to BOF and can be applied to any metallurgical vessel comprising a lining that can be repaired by spraying a repair spray block (1R). Scanner system (31)

Any scanner system (31) currently available on the market can be used in the present invention, which is configured to scan an area of a lining (1L) of a hot metallurgical container (1) to produce a scanned topography of the area of the lining. Preferably, the scanner system includes a laser scanner that emits a laser beam that is collected by a light detector after reflection on the walls of the internal volume. For example, a laser scanner system of the type described in U.S. Patent No. US6780351 can be used. As shown in Figures 7a to 7d, the scanner system (31) can be mounted on a structure that ensures that the beam emitter is always located at the same position. However, the scanner system (31) can be mounted on a movable platform that can move freely. Therefore, it is preferred to calibrate the scanner system (31) with a calibration system (17) to precisely define the position of the scanner system (31). This can be achieved by measuring the distance separating the scanner (31) from two or three fixed points. Spray filling system (11)

As shown in Figures 3a to 3c, the spray filling system (11) of the present invention is of a type comprising a movable blowing unit (12), which can be moved by an operator, preferably, for example, on wheels. The movable blowing unit (12) is provided with a spray filling blow pipe (13), which is equipped with a spray filling nozzle (13t). The spray filling nozzle (13t) can be aligned with the spray filling blow pipe (13), or, as shown in Figure 3a, it can form a tip tilt angle (φ13t) with the spray filling blow pipe (13). The spray nozzle (13t) can be preferably changed by using different spray nozzles (13t) with different lengths and/or different tip tilt angles (φ13t). As shown in FIG2 , the movable blowing unit (12) can be connected to a source (15) of the repair spray block (1R) and is configured to spray a repair spray block (1R) from the source (15) through the spray nozzle (13t) toward the lining (1L). The repair spray block (1R) preferably includes a refractory material and water. The source (15) preferably includes a source of refractory material and a source of water. The refractory material and the water can be mixed in the movable blowing unit (12), for example in a spraying blowpipe (13).

The filling blow pipe (13) is characterized by a plurality of degrees of freedom, allowing the configuration of the filling nozzle (13t) to be changed to reach different positions relative to the movable blowing unit (12) and in particular relative to the body of the movable blowing unit (12). In the embodiment illustrated in Figures 3a to 3c, the injection nozzle has at least four degrees of freedom, since it can, ●     rotate in a plane (X, Z) about a Y axis perpendicular to the plane (X, Z) by an angle (φ2), as shown in Figure 3b, ●     rotate in a plane (X, Y) about a Z axis perpendicular to the plane (X, Y) by an angle (φ3), as shown in Figure 3c, ●     rotate about the X axis by an angle (φ1), as shown in Figure 3a, allowing the injection nozzle to rotate about a cone of the orifice (2φ13t), and ●     translate across a distance (Δx) in the direction of the injection nozzle (13), ●    Additionally, (not shown) the injection nozzle (13) can also be selectively translated vertically along the Z axis to align it with the opening (1o) of the metallurgical vessel (1).

With the aforementioned degrees of freedom, the filling nozzle (13t) can reach any point included in a repair volume identified by the shaded area in Figures 3a to 3c. In order to be suitable for repairing a given metallurgical vessel (1), the filling system (11) preferably has a repair volume that is at least equal to the internal volume of the metallurgical vessel and is preferably capable of enclosing the internal volume to ensure that when the movable blowing unit (12) is upright at a given position, preferably a reference position, outside the metallurgical vessel (1) as shown in Figures 6a and 6b, the filling nozzle (13t) can reach all points of the lining (1L) inside the internal volume.

The device is also equipped with a calibration system (17), preferably configured to determine a container position of the metallurgical container and a first position (P1) of the movable blowing unit (12) starting from the container position, the first position being relative to a position of the metallurgical container. The calibration system (17) may include an optical system that emits a laser beam to measure the distance and/or angle of the movable blowing unit (12) relative to two or three reference points (1RP), as shown in Figures 5a, 5b, 7c and 7d, where the laser beam is represented by a dotted line. It is known that the position (P1) of the movable blowing unit (12) is required to establish the sequence of continuous nozzle positions (T1), because the positioning of the movable blowing unit (12) in the repair position cannot be accurately reproduced by an operator. The calibration system (17) may comprise a tilt angle measurement system adjacent to the ear axis of the metallurgical vessel (1), as represented by the rectangular system in Figures 5b and 7d.

Any existing spray filling system (11) on the market can be used in the present invention, as long as it is movable, has a suitable repair volume as defined above in combination with a spray filling blowpipe (13) terminating in a spray filling nozzle (13t), and is suitable for calibration by a calibration system (17). Data processing system (21)

The data processing system (21) is the essence of the present invention. The data processing system is configured to perform a plurality of operations. The data processing system controls the spray filling system (11) after establishing a spray filling image (G1), a first sequence of continuous nozzle positions (T1) and a first blowing sequence (S1). The data processing system can also control the calibration system and/or the scanner system. Data processing system (21) and spray filling image (G1)

In one embodiment of the invention, a data processing system (21) is connected to a scanner system (31) and is configured to determine the actual thickness (t1) of the liner (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 to define a spray patch image (G1), possibly taking into account external instructions, which defines the repair area of the liner to be repaired. The spray patch image (G1) can be created based on the previously determined actual thickness (t1). For example, a thickness map of the actual thickness (t1) of the type illustrated in Figures 4a and 4b can be created. FIG4c shows the repair areas forming the spray repair image (G1). It preferably includes areas in the thickness map having an actual thickness (t1) lower than a corresponding minimum thickness (tm) (i.e., t1 < tm). The repair areas are repaired by spraying the repair patch (1R) to increase the actual thickness to above the minimum thickness (tm) and preferably above a target thickness to prevent the molten metal in the next process cycle from reaching the metal shell of the metallurgical vessel and piercing it with potentially destructive consequences. Data processing system (21) and calibration system (17)

The data processing system (21) is connected to the calibration system (17), which, after determining the position of the container and the first position (P1) of the movable blowing unit (12), transmits the coordinates of the first position (P1) to the data processing system (21). In the framework of this document, the transmitted coordinates of the first position (P1) can be data that can determine the coordinates of the first position (P1), rather than the actual coordinates of the first position (P1) itself.

By combining each of the first positions (P1) of the movable blowing unit (12), the repair volume and the spray map (G1) that preferably characterize the spray system (11), the data processing system (21) is configured to establish a first sequence of consecutive nozzle positions (T1). The first sequence of nozzle positions (T1) defines a sequence of spatial configurations of the spray nozzle (13) that allows the spray nozzle (13t) to reach a plurality of blowing positions. Considering that the movable blowing unit (12) is located at the first position (P1), the blowing positions allow the repair spray block (1R) to be sprayed at the repair areas defined in the spray map (G1). The blowing positions correspond to the repaired areas to be sprayed. In other words, the first sequence of consecutive nozzle positions (T1) defines a loop that is followed by the spray nozzle (13t) to reach each repair area defined in the first nozzle image. This also includes defining the movement of the spray nozzle (13) and the spray nozzle (13t) along the respective degrees of freedom required for the spray nozzle (13t) to follow the loop when the movable blowing unit (12) is vertically fixed at the first position (P1). When establishing the first sequence of consecutive nozzle positions (T1), the data processing system also considers a distance range and an orientation range of the filler nozzle relative to the surface of the repair areas. The distance range and orientation range are stored in the memory of the data processing system and are determined by the movable spray unit, in particular the filler nozzle data. The distance range ensures that the filler nozzle never contacts the surface of the repair areas and that the repair spray block does not bounce excessively when dropped against the surface of the repair areas. In addition, the distance range ensures that the spray nozzle is never too far away from the surface of the repair area, so that the repair spray block can be effectively projected against the surface of the repair area. The position range of the spray nozzle may be important depending on the topography of the repair area.

The spray pattern (G1) preferably includes a minimum total amount of repair spray (1R) applied to each repair area. More preferably, the spray pattern includes a range of total amounts of repair spray (1R) applied to each repair area, with a minimum total amount and a maximum total amount to avoid wasting repair spray and to avoid protrusions on the surface of the liner (1R) due to excess repair material (1R).

The establishment of a first sequence of consecutive nozzle positions (T1) includes a reachability test to check whether all areas of the spray repair image (G1) can be reached by the movable blowing unit (12) located in the first position (P1). If the movable blowing unit (12) does not allow the spray repair nozzle to reach a first position (P1) of the repair areas identified in the spray repair image (G1), as determined by the measurement by the calibration system (17), the reachability test is negative, i.e., fails. For example, if the spray repair blowpipe (13) is too short to reach one of the repair areas, the reachability test is negative. If the reachability test is negative, the data processing system can inform the operator that a first sequence of consecutive nozzle positions (T1) cannot be established at the first position (P1) with the movable blow unit (12) and that the movable blow unit should be moved to a second position. The data processing system is preferably configured to indicate where to best move the movable blow unit (12) from the second position to allow an alternative sequence of consecutive nozzle positions (T1). Data processing system (21) , geometry of metallurgical vessel (1) , and collision test

The data processing system (21) comprises a memory in which the geometry of the metallurgical vessel (1) is stored. The geometry of the metallurgical vessel (1) comprises the interior volume and preferably an exterior of the vessel. The geometry of the metallurgical vessel (1) can be an engineering drawing of the metallurgical vessel (e.g. an AUTOCAD file) and/or it can be the result of a three-dimensional image of the interior and exterior of the metallurgical vessel (1). The geometry of the metallurgical vessel (1) comprises the geometry of the opening (1o), which is critical. Considering that the diameter of the opening (1o) can be reduced by the presence of solidified metal protrusions, at least the geometry of the opening (1o) is preferably the result of measurements of deposition on the opening over time and/or a mathematical model.

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 (1o) measured by a scanner system (31). Preferably, the geometry of the metallurgical vessel (1) includes a topography of both a lining (1L) and an outer surface of the metallurgical vessel (1), including the opening (1o). The topography of the region of the lining (1L) is preferably a scanned topography generated by the scanner system (31).

As schematically illustrated in Figures 7e and 7f, the data processing system (21) is configured to perform a collision test by comparing the spatial configuration of the filler blowpipe (13) defined in the first sequence of consecutive nozzle positions (T1) with the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21). From the collision test, the data processing system can then determine whether the first sequence of consecutive nozzle positions (T1) can be performed without any part of the filler blowpipe (13) contacting any point of the metallurgical vessel (1) at any time. Figures 6a and 6b show two specific embodiments in which a sequence of continuous nozzle positions (T1) can be achieved with a movable blowing unit (12), which is vertically positioned at a first position (P1) determined by measurement by a calibration system (17) so that the supplementary blowpipe (13) does not come into contact with the walls of the metallurgical vessel (1) at any time. In contrast, Figures 6c to 6e show three specific embodiments in which, from the first position (P1), the supplementary blowpipe (13) comes into contact with the opening of the metallurgical vessel when achieving a first sequence of continuous nozzle positions (S1), with the risk of seriously damaging the metallurgical vessel (1) and/or the supplementary blowpipe (13).

The data processing system (21) is configured to establish a first ejector sequence (S1) based on the ejection image (G1) and the first sequence of consecutive ejector nozzle positions ( T1).

The spray map (G1) indicates the actual thickness of the liner (1L) at each repair area. By comparing the actual thickness with the corresponding minimum thickness (tm) or with the target thickness, the data processing system can determine the volume of the repair spray block (1R) to be sprayed at each repair area. The volume of the repair spray block (1R) to be sprayed can be controlled by varying the flow rate (dV/dt) of the repair spray block to be sprayed from the spray nozzle (13t) and/or by varying the displacement speed (v) of the spray nozzle (13t) when the repair spray block (1R) is being sprayed. The first injector sequence (S1) defines the injection flow rate (dV/dt) and displacement speed (v) of the injection nozzle (13t) during the first sequence of consecutive nozzle positions (T1). In a preferred embodiment, the injection flow rate (dV/dt) can be varied as the injection nozzle (13t) follows the loop defined by the first sequence of consecutive nozzle positions (S1). Alternatively, or concomitantly, the displacement speed (v) of the injection nozzle (13t) can be varied during the loop. Variation of either the flow rate (dV/dt) and the displacement speed (v), or both, allows control of the volume of the repair spray mass (1R) to be locally sprayed at each repair area. In other words, ●     The flow rate may be constant throughout the implementation of the first injector sequence (S1), and ○     The displacement speed (v) may be constant, or ○     The displacement speed (v) may vary depending on the injection position of the replenishing nozzle (13t), or ●     The flow rate (dV/dt) may vary depending on the injection position of the replenishing nozzle (13t) and may even be interrupted, and ○     The displacement speed (v) may be constant, or ○     The displacement speed (v) may vary depending on the injection position of the replenishing nozzle (13t).

The first blowing sequence (S1) may also comprise several passes of the spray nozzle (13t) through a series of blowing positions in order to increase the volume of the repair spray mass to be sprayed on the corresponding repair area without a corresponding increase in the flow rate.

If the spraying image (G1) also includes a minimum total amount of repair spray blocks (1R) to be applied to each repair area, the first blowing sequence (S1) can be established by combining the minimum total amount of repair spray blocks (1R) defined in the spraying image (G1) with the continuous nozzle positions (T1 ) of the first sequence.

The collision test generates information on whether a first sequence of consecutive nozzle positions (T1) can be performed as a whole from a first position (P1) without the post-blow tube (13) coming into contact with any part of the metallurgical vessel (1) at any time. A positive collision test is obtained when it is determined that no contact will occur during the implementation of the first sequence of consecutive nozzle positions (T1), as shown in Figures 6a and 6b. Conversely, a negative impact test is obtained when a contact or impact between the post-blow pipe (13) and the metallurgical vessel (1) is identified at any time during the first sequence of consecutive nozzle positions (T1) (as shown in Figures 6c to 6e, where a circle identifies a contact between the post-blow pipe and the opening (1o) of the metallurgical vessel (1)).

If a positive collision test occurs (i.e., no contact between the filling nozzle (13) and the metallurgical vessel (1)), the data processing system (21) is configured to control the filling nozzle system (11) to perform a first blower sequence (S1). The movable blower unit (12) standing at the first position (P1) is then controlled by the data processing system (21) to move the filling nozzle (13t) along a loop defined by the first sequence of consecutive nozzle positions (T1) and to spray the filling nozzle block toward the repair area identified in the filling nozzle map (G1) according to the flow rate and displacement speed (v) defined in the first blower sequence (S1).

On the other hand, if a negative collision test occurs (i.e., at least one contact is detected between the filling blowpipe (13) and the metallurgical vessel (1), the data processing system (21) controls the filling blowpipe (11) not to perform the first blowpipe sequence (S1). The data processing system can take at least one of a plurality of different corrective actions. Negative reachability test and / or negative collision test → corrective action

If a negative reachability test and/or a negative collision test occurs, the data processing system (21) controls the spray filling system not to perform the first blower sequence (S1), thereby performing at least one corrective action.

A first corrective action is to indicate that the first blower sequence is not executed. This may be a text message on a screen, or an acoustic or optical signal (e.g., a flashing red light). Additionally or alternatively, the data processing system may trigger other corrective actions if a negative bump test occurs.

According to a second corrective action, the data processing system (21) is configured to list inaccessible repair areas, which are defined as repair areas corresponding to blowing positions that cannot be reached by the blowing tip (13t) from the first position (P1) or can only be reached by contacting a point of the metallurgical vessel (1). The data processing system can then decide whether these inaccessible repair areas can be used for a further process cycle without repair material (1R). This can be the case if an inaccessible repair area has a thickness that is lower than, but close to, a minimum thickness (tm) used to identify these repair areas. The minimum thickness (tm) is defined with a sufficient safety margin and a small deviation can be accepted without excessive risk. For example, the data processing system can control whether the actual thickness (t1) of the inaccessible repair area is included in a given safety margin (δ) from the minimum thickness (tm) (i.e., tm-δ≤t1≤tm), wherein the safety margin can be expressed as an absolute value (in millimeters) or as a relative value (in %) of tm. Special care must be taken during processing and special attention must be paid to ensure that the safety margin (δ) is completely within the safety margin and that the risk of erosion of the lining (1L) reaching the metal shell of the metallurgical vessel remains extremely low.

If all the inaccessible repair areas can be reused in a process cycle without repair, the data processing system (21) is configured to modify the first sequence of continuous nozzle positions (T1) by removing the inaccessible repair areas that can be reused in another process cycle to define a second sequence of continuous nozzle positions (T2). The data processing system then modifies the first blowing sequence (S1) according to the second sequence of continuous nozzle positions (T2) by removing the blowing positions corresponding to the inaccessible repair areas to define a second blower sequence (S2). The data processing system (21) then controls the spray filling system to implement the second blower sequence (S2).

If all such unreachable repair areas cannot be used again in a process cycle without repair, then it is preferable to perform the corrective actions described below.

According to a third corrective action, the data processing system (21) can be configured to indicate that the movable blowing unit (12) must be moved. In a preferred embodiment, the data processing unit indicates how to reach a reference repair position (Pr) at which the first blowing sequence (S1) can be achieved without contact between the spraying system (11) and the metallurgical vessel (1). For example, the reference repair position (Pr) can be a predetermined position that can be marked on the floor or identified in another way. An operator or a movement system can then move the movable blowing unit (12). Once the movable blowing unit (12) has moved to a second position (P2), preferably closer to the reference repair position (Pr), the data processing system (21) is configured to control the calibration system (17), calibrate the second position (P2) by a measurement, to include another optional reachability test to establish another optional sequence of consecutive nozzle positions, and to perform another optional collision test considering that the movable blowing unit (12) is at the second position (P2) determined by the measurement of the calibration system (17). Only if these tests are successful, the injection of another optional blower sequence determined by the consecutive nozzle positions of the another optional sequence is realized.

According to a fourth corrective action, the data processing system (21) can be configured to indicate that the position of the metallurgical vessel, for example a tilt angle, must be changed. The tilt angle is particularly relevant if the metallurgical vessel (1) is a BOF. The data processing system preferably indicates how to change the position and/or tilt 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 calibration system (17) to calibrate the new position of the metallurgical vessel and to determine a new relative position (P1) of the movable blowing unit (12) from the new position of the metallurgical vessel, which is its position relative to the metallurgical vessel (1). The data processing system (21) can then be configured to include another reachability test to establish another sequence of consecutive nozzle positions and to perform another bump test considering the container is in the new position. Only if these tests are successful is injection replenishment using another blower sequence determined by the other sequence of consecutive nozzle positions realized.

According to a fifth corrective action, the data processing system (21) can indicate that the filling nozzle (13t) must be removed and replaced by a new filling nozzle (13t) having a different geometry. For example, the data processing system (21) can define the geometry of the new filling nozzle (13t), indicate a tip tilt angle (φ13t) of the new filling nozzle (13t) relative to the filling blowpipe (13) and/or a length of the new filling nozzle (13t). Since the number of nozzle geometries for filling is limited, the data processing system (21) can store the nozzle geometries in the memory and can be configured to establish a sequence of consecutive nozzle positions with a new filling nozzle (13t) including another reachability test, followed by a collision test for the consecutive nozzle positions in the sequence. Only if the tests are successful is the filling performed. Process for repairing a lining (1L) of a metallurgical vessel (1)

The invention also relates to a process for repairing the lining (1L) of a metallurgical vessel (1) using a device as defined above. In a specific embodiment, the metallurgical vessel (1) is first positioned so that its opening (1o) is exposed to the scanner system (31). If the metallurgical vessel (1) is a BOF, it is tilted to bring the BOF from a vertical position suitable for the conversion process to an inclined, preferably horizontal position, providing easier access to the opening (1o) for the scanner system (31) and for the blower arm (13) of the spray filling system (11), as shown in Figures 2, 5a, 5b, 6a to 6e, and 7a to 7f.

The scanner system (31) can be brought into a scanner position. If the scanner system (31) is a movable system that 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 substrate (1L) to generate a scanned topography of the area of the substrate. The area can be at least 90%, preferably at least 95%, and more preferably 100% of an area of the substrate (1L). Alternatively, the region can be reduced to a reduced area known to be particularly sensitive to erosion, wherein the region covers 100% of the area of the liner (1L) every N process cycles and only one reduced area every (N+1) to (2N-1) process cycles. The data processing system (21) can determine the actual thickness (t1) of the liner (1L) as a function of the spatial coordinates (x, y, z) from the scanned topography of the region.

By comparing the actual thickness (t1) of the liner (1L) with a predetermined minimum thickness (tm), the data processing system (21) can define the repair area that needs to be repaired (i.e., the area where t1 < tm); and create a spray repair image (G1) that defines the repair area of the liner to be repaired.

An operator can move the movable blowing unit (12) from a predetermined reference repair position (Pr) to a first position (P1), preferably as close as possible. By means of a calibration system (17), the first position (P1) of the movable blowing unit (12) can be determined and transmitted to a data processing system (21).

The data processing system (21) establishes a first sequence of continuous nozzle positions (T1) when the movable blowing unit (12) is located at a first position (P1) determined by the calibration system (17). The first sequence of continuous nozzle positions (T1) can be established by combining the first position (P1) of the movable blowing unit (12), the repair volume that depicts the characteristics of the spray filling system (11) as shown in Figures 3a to 3c, and the spray filling image (G1). It defines a loop that the nozzle (13t) to be sprayed follows to reach all repair areas where the repair spray block (1R) is to be sprayed, and defines various spatial configurations of the spray nozzle (13) required for the spray nozzle (13t) to follow the loop. A first sequence of continuous nozzle positions (T1) preferably defines a time sequence of repair areas that stay in the loop. The determination of the first sequence of continuous nozzle positions (T1) includes an accessibility test to check whether all areas of the spray image (G1) can be reached by the movable blowing unit (12) located at the first position (P1).

The data processing system (21) can also establish a first blower sequence (S1) that defines a spray flow rate (dV/dt) and a displacement speed (v) of the spray nozzle (13t) during the realization of the first sequence of consecutive nozzle positions (T1). The spray flow rate (dV/dt) and the displacement speed (v) control the volume of the repair spray patch to be sprayed at each repair area. The volume of the repair spray patch (1R) can be determined by the data processing system (21) comparing the actual thickness of the repair area reported in the spray image (G1) with the corresponding target thickness to be achieved after the spraying.

By comparing the spatial configuration of the filling blowpipe (13) defined in the first sequence of consecutive nozzle positions (T1) with the geometry of the metallurgical vessel (1) stored in the memory, the data processing system (21) performs a collision test to determine whether the first sequence of consecutive nozzle positions (T1) can be performed without any part of the filling blowpipe (13) contacting any point of the metallurgical vessel (1) at any time. If the collision test and the reachability test are positive, the data processing system (21) controls the filling blowpipe system (11) to implement the first blowpipe sequence (S1). On the other hand, if 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 spray patch image (G1) is not reachable), the data processing system (21) controls the spray patch system (11) not to perform the first blower sequence (S1).

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 above.

FIG8 shows a flow chart illustrating a plurality of 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, the molten metal contained therein is drained (see FIG8( a)). The BOF is tilted so that the opening (10) is exposed to the scanner system (31) and to the spray lance (13) of the spraying system (11) (see FIG8( b)). The surface of the liner (1L) is scanned by the scanner system (31) to obtain a topography of the liner (1L) for creating a spraying image (G1) (see FIG8( c)). If the spray image (G1) identifies no repair area, then the BOF does not need to be repaired and returns to the next process loop (see FIG8(m) ) after some additional operations that may not be related to the present invention.

If, on the other hand, the spray patch image (G1) identifies a repair area, the movable blowing unit (12) is brought close to the reference repair position (Pr) by an operator (see FIG8 (d)). The actual first position (P1) of the movable blowing unit (12) relative to the BOF is determined by a measurement using a calibration system (17) and transmitted to the data processing system (see FIG8 (e)). A first sequence of consecutive nozzle positions (T1) is established based on the first position (P1) and based on the spray patch image (G1) (see FIG8 (f)), including an accessibility test to check whether all areas of the spray patch image can be sprayed. The first sequence of consecutive nozzle positions (T1) is compared with the geometry of the BOF stored in the memory of the data processing system (21) to perform a collision test to numerically determine whether the filling blowpipe (13) is in contact with the metallurgical vessel (1) at any time during the sequence of consecutive nozzle positions (T1) (see Figure 8(h)). If the collision test and the reachability test are positive, the data processing system (21) controls the spray filling system (21) to implement a first blower sequence (S1) (see FIG8 (l)), which is previously established by the data processing system (21) from the volume of the repair spray block required to repair each repair area and the first sequence of consecutive nozzle positions (T1), which volumes can be obtained from the spray filling image (G1). After the repair and possible further operations, the BOF is not tilted and is used for another process cycle (see FIG8 (m)).

If, on the other hand, the collision test or the reachability test is negative, the data processing system (21) controls the spray filling system (11) not to implement the first blower sequence (S1) (see Figure 8 (i)) and indicates that spraying with the movable spray filling unit (12) at the first position (P1) is not possible (see Figure 8 (j)). Then, a plurality of corrective actions can be controlled by the data processing system (21) (see Figure 8 (k)).

FIG9 is a flow chart of an embodiment according to FIG8 , wherein the data processing system performs a corrective action by instructing the operator to move the movable blowing unit (12) to a second position (P2) if the collision test or the reachability test is negative (see FIG8 (k) and FIG9 (k)). The same boxes labeled (a) to (m) in FIG9 refer to the same actions discussed with respect to the boxes labeled (a) to (m) in FIG8 and are not repeated here. The first position (P1) is replaced by the i-th position (Pi) and i extends from 1 to N, where N defines the number of repetitions of the loop [i=i+1]. If the collision test fails when the movable blowing unit (11) is in the first position (P1, i.e., i=1), then in a loop when i=i+1=2, the data processing system instructs the operator to move the movable blowing unit (12) to an (i+1)th position (P(i+1)) (see FIG. 9(n)). Once the movable blowing unit moves to the (i+1)th position (P(i+1)) (see FIG. 9(d)), steps (e) to (h) are repeated when the movable blowing unit is in the (i+1)th position (P(i+1)). If the collision test is negative again, the loop is repeated unless i=N (see FIG. 9(n)). In practice, the maximum number N of repeated loops can be increased as needed.

FIG10 is a flow chart according to the embodiment of FIG8 , wherein the data processing system performs a corrective action (see FIG8( k) and FIG8( k)) by checking whether different sequences of consecutive nozzle positions (T(i+1)) exclude the unreachable repair regions defined (see FIG10( k), FIG10( o), and FIG10( p)) if the collision test or the reachability test is negative. The same blocks labeled (a) through (m) in FIG10 refer to the same actions discussed with respect to the blocks labeled (a) through (m) in FIG8 and are not repeated here. The first sequence of consecutive nozzle positions (T1) is replaced by the i-th sequence of consecutive nozzle positions (Ti) and i extends from 1 to N, where N defines the number of repetitions of the loop [i=i+1]. If the collision test or the reachability test fails, then in a loop where i=i+1=2, the data processing system lists the inaccessible repair areas (see FIG. 10(o)) and checks whether all the inaccessible repair areas are thick enough to pass through the next process cycle without the risk of failure (see FIG. 10(p)). If at least one inaccessible repair area is not thick enough to pass through the next process cycle, the data processing unit reverts to a corrective action (see FIG. 10, arrow [No] between boxes (p) and (k)). If all the unreachable repair areas are thick enough to undergo another process cycle, the data processing system (21) creates a different spray fill image (G(i+1)) that excludes the unreachable repair areas (see Figure 10(q)). Based on the different spray fill images (G(i+1)), a (i+1)th sequence of continuous nozzle positions (T(i+1)) is determined and subjected to a reachability test and a collision test (see Figures 10(f) to 10(h)). If the collision test and the reachability test are positive, the data processing system (21) establishes an (i+1)th blower sequence (S(i+1)) and controls the spray filling system (11) to implement the (i+1)th blower sequence (S(i+1)) which excludes any spraying of the repair spray block (1R) onto the inaccessible repair areas.

On the other hand, if the collision test or the reachability test is still negative, the data processing system undergoes a new loop [(n)-(q)] if i＜N. Otherwise, a plurality of corrective actions are taken into account (see Figure 10(k)). Since this corrective action (k) of skipping an actual thickness (t1) of the liner that is smaller than the minimum thickness (tm) but larger than a safety margin (tm-δ) (i.e., tm-δ＜t1＜tm) cannot be repeated too often due to the successively decreasing safety margin, the maximum number N of repeated loops is preferably limited to 2, or in exceptional cases to 3 (i.e., N=2 or 3). Conclusion

The invention represents a significant step forward in terms of safety during repair operations on the lining (1L) of a metallurgical vessel (1) using a spraying system (11) comprising a movable spraying unit (12) which is manually brought to the repair position by an operator. The full automation of the spraying sequence established by a data processing system (21) has hitherto been hampered by the uncertainty of the position of the spraying system (11). When the filling blow pipe (13) drives the filling nozzle (13t) along a circuit defined by a sequence of consecutive nozzle positions (T1) to spray the repair spray blocks onto the repair areas, the risk of contact between the filling blow pipe and the metallurgical vessel (1) is still high. With the present invention, the calibration of the movable blowing unit (12) and the introduction of the collision test, the risk of impact between the filling blow pipe (13) and the metallurgical vessel will be reduced to almost zero.

1: Metallurgical vessel (e.g., BOF) 1L: Liner 1o: Metallurgical vessel opening 1R: Repair spray block 1RP: Reference point on the metallurgical vessel 3: Blowpipe 3g: Gas (oxygen) blown into the molten metal 5: Molten metal 5s: Slag 11: Spraying system 12: Movable spray unit 13: Spraying blowpipe 13t: Spraying nozzle 15: Repair spray block source 17: Calibration system 21: Data processing system 31: Scanner system G1: Spraying image P1, P2: First and second positions of the movable spray unit S1, S2: First and second blower sequence T1, T2: Continuous nozzle positions for the first and second sequence t0: Target thickness t1: Actual thickness tm: Minimum thickness X, Y, Z: X-axis, Y-axis, and Z-axis (x1, y1, z1): = P1 δ: Safety margin Δx, Δz: Translation of the nozzle along the X and Z axes φ1: Rotation around the X axis φ2: Rotation around the Y axis φ3: Rotation around the Z axis φ13t: Tip tilt angle

In the drawings, Figure 1a shows a basic oxygen furnace converter (BOF) that converts pig iron into low-carbon steel by blowing oxygen through an oxygen lance. Figure 1b shows the BOF of Figure 1a after one or more cycles of etching the lining. Figure 2 shows a spray repair system including a spray repair lance that sprays repair patches at locations of intense corrosion. Figures 3a through 3c show (a) perspective, (b) side, and (c) top views of a specific embodiment of a spray repair system including a movable spray unit having a spray repair lance and multiple degrees of freedom. Figures 4a and 4b show a 2D representation of the actual thickness of the lining, (a) the barrel portion of the BOF of Figure 1b, and (b) the bottom portion of the BOF. Figure 4c shows a spray-fill image of the representation of Figure 4a. Figures 5a and 5b show the position of the container and the determination of the position (P1) of the movable blow unit. (a) Side view, (b) Top view. Figure 6a shows a specific embodiment in which the spray-fill blowpipe can reach all areas of the lining without contacting the metallurgical container (here, a BOF) when the movable blow unit is at a reference position (xr, yr) combined with a 90° reference orientation. Figure 6b illustrates an embodiment in which, when the movable blow unit is at a reference position (xr, yr) combined with an orientation different from the 90° reference orientation, the filler blowpipe can still reach all areas of the substrate without contacting the BOF. Figure 6c illustrates an embodiment in which, when the movable blow unit is at a position (P1) different from the reference position (xr, yr) but with a 90° reference orientation, the filler blowpipe cannot reach all areas of the substrate without contacting the BOF. Figure 6d illustrates an embodiment in which the filler blowpipe is unable to reach all areas of the substrate without contacting the BOF when the movable blowpipe unit is at a position (P1) different from the reference position (xr, yr) and an orientation different from the 90° reference orientation. Figure 6e illustrates an embodiment in which the filler blowpipe is unable to reach all areas of the substrate without contacting the BOF when the movable blowpipe unit is at a position (P1) different from the reference position (xr, yr) but has a 90° reference orientation. Figures 7a and 7b show (a) a side view and (b) a top view of a scanner system configured to generate a scanned topography of an area where a lining is to be established, in conjunction with the creation of a fill-in image (G1). Figures 7c and 7d show (c) a side view and (d) a top view of the movable blow unit being moved to a repair position and measuring a first position (P1) of the movable blow unit relative to the BOF. Figures 7e and 7f show (e) a side view and (f) a top view of determining whether a first sequence of continuous nozzle positions can be performed such that no portion of the fill-in blow pipe contacts any point of the metallurgical vessel at any time. Figure 8 shows a flow chart of a process according to the present invention. FIG9 is a flow chart illustrating a preferred embodiment of a process according to the present invention. FIG10 is a flow chart illustrating another preferred embodiment of a process according to the present invention.

P1: The first position of the movable blowing unit

X,Y:X axis, Y axis

Claims (15)

A device for a spraying operation for repairing a lining (1L) of a metallurgical container (1), the metallurgical container having an opening (1o) to an interior of the metallurgical container, the metallurgical container being lined with the lining (1L) configured to contact a metal melt, the device comprising: A spray filling system (11) includes a movable blowing unit (12), the movable blowing unit including a spray filling blowpipe (13), the spray filling blowpipe is equipped with a spray filling nozzle (13t) and is configured to spray a repair spray filling block (1R) toward the lining (1L) through the spray filling nozzle (13t), wherein the movable blowing unit (12) includes a plurality of degrees of freedom for changing the configuration, allowing the spray filling nozzle (13t) to reach different positions relative to the movable blowing unit (12), A data processing system (21) communicates with the movable blasting unit (12) and is configured to obtain a spray patch image (G1), wherein the spray patch image defines a plurality of repair areas of the lining to be repaired. A calibration system (17) communicates with the data processing system (21) and is configured to determine a first position (P1) of the movable blasting unit (12) relative to the metallurgical container (1) by a measurement and transmit the first position (P1) to the data processing system (21), wherein the first position (P1) is transmitted to the data processing system (21). (a) The data processing system (21) is configured to establish a first sequence of consecutive nozzle positions (T1) defining a sequence of spatial configurations of the filling nozzle (13) allowing the filling nozzle (13t) to reach a plurality of blowing positions and allowing the repair filling block (1R) to be positioned at the movable blowing unit (12) by the measurement determined by the calibration system (17). When the nozzle is at the first position (P1) determined, the nozzle is sprayed at the corresponding repair areas defined in the spray image (G1), and the establishment of the first sequence of consecutive nozzle positions (T1) includes a reachability test, which checks whether all the areas of the spray image (G1) can be reached by the movable blowing unit (12) located at the first position (P1), and (b) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (c) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (d) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (e) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (f) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (g) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (g) a geometry of the metallurgical vessel (1) is stored in a memory of the data processing system (21), and (h ... (c) The data processing system (21) is configured to compare the spatial configurations of the filling nozzle (13) defined in the first sequence of continuous filling nozzle positions (T1) with the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21) to perform a collision test to determine whether the first sequence of continuous filling nozzle positions (T1) can be performed without any part of the filling nozzle (13) contacting any point of the metallurgical vessel (1) at any time, and to control the filling system (11) as follows, If the reachability test determines that all the areas of the filling image (G1) are reachable, and the collision test determines that the filling system (11) can achieve the first sequence of continuous filling nozzle positions (T1) without the filling blowpipe (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the filling system (11) to implement a first blower sequence (S1), which defines a filling flow rate (dV/dt) and a displacement speed (v) of the filling nozzle (13t) during the realization of the first sequence of continuous filling nozzle positions (T1), If the reachability test determines that not all of the areas of the filling image (G1) are reachable, and/or the collision test determines that the filling system (11) cannot achieve the first sequence of continuous filling nozzle positions (T1) so that the filling blowpipe (13) does not contact any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the filling system (11) not to implement the first blower sequence (S1). The apparatus of claim 1, wherein if the reachability test determines that not all of the areas of the fill image (G1) are reachable, and/or the collision test determines that the fill system (11) is unable to achieve the first sequence of consecutive nozzle positions (T1) such that the fill blowpipe (13) does not contact any point of the metallurgical vessel (1) at any time, the apparatus is configured to indicate that the first blow sequence (S1) cannot be performed. The device of claim 1 or 2, wherein, if the reachability test determines that not all of the areas of the injection filling image (G1) are reachable, and/or the collision test determines that the injection filling system (11) cannot achieve the first sequence of consecutive nozzle positions (T1) so that the injection filling blowpipe (13) does not contact any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to: ●     indicate that the movable blowing unit (12) must be moved, ●     control the calibration system (17) to calibrate a second position (P2) of the movable blowing unit (12) by a measurement, ●    Establishing another selection sequence of continuous nozzle positions, which defines a sequence of spatial configurations of the spray filling blowpipe (13), allowing the spray filling nozzle (13t) to reach a plurality of blowing positions, and allowing the repair spray filling block (1R) to spray the corresponding repair areas defined in the spray filling image (G1) when the movable blowing unit (12) is located at the second position (P2), the establishment of the another selection sequence of continuous nozzle positions includes another selection of reachability test, which checks whether all the areas of the spray filling image (G1) can be reached by the movable blowing unit (12) located at the second position (P2), ●    Comparing the spatial configurations of the filling nozzle (13) defined in the alternative sequence of continuous nozzle positions with the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21), performing an alternative collision test to determine whether the alternative sequence of continuous nozzle positions can be performed without any portion of the filling nozzle (13) contacting any point of the metallurgical vessel (1) at any time, and controlling the filling nozzle system (11) as follows: If the alternative reachability test determines that all of the areas of the filling image (G1) are reachable, and the alternative collision test determines that the filling system (11) can achieve the alternative sequence of continuous nozzle positions without the filling blowpipe (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the filling system (11) to implement an alternative blower sequence, which defines a filling flow rate (dV/dt) and a displacement velocity (v) of the filling nozzle (13t) during the achievement of the alternative sequence of continuous nozzle positions. If the alternative reachability test determines that not all of the areas of the injection filling image (G1) are reachable, and/or the alternative collision test determines that the injection filling system (11) cannot achieve the alternative sequence of continuous nozzle positions so that the injection filling blowpipe (13) does not contact any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the injection filling system (11) not to implement the alternative blowpipe sequence. An apparatus as claimed in any one of claims 1 to 3, wherein the calibration system (17) is configured to determine a position of the metallurgical vessel and to use the vessel position to determine the first position (P1) of the movable blowing unit (12) relative to the metallurgical vessel (1). The apparatus of claim 4, wherein, if the reachability test determines that not all of the areas of the injection filling image (G1) are reachable, and/or the collision test determines that the injection filling system (11) is unable to achieve the first sequence of consecutive nozzle positions (T1) such that the injection filling blowpipe (13) is not in contact with any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to: ●     indicate that a position of the metallurgical vessel must be changed, and preferably indicate how to change the position of the metallurgical vessel, ●     control the calibration system (17) to determine a new position of the metallurgical vessel and a new relative position (P1) of the movable blowing unit (12) relative to the metallurgical vessel (1) by a measurement, ●     Establishing another sequence of continuous nozzle positions, which defines a sequence of spatial configurations of the nozzle filling blowpipe (13), allowing the nozzle filling nozzle (13t) to reach a plurality of blowing positions, and allowing the repair nozzle filling block (1R) to spray the corresponding repair areas defined in the nozzle filling image (G1) when the movable blowing unit (12) is located at the new relative position (P1). The establishment of the other sequence of continuous nozzle positions includes another reachability test, which checks whether all the areas of the nozzle filling image (G1) can be reached by the movable blowing unit (12) located at the new relative position (P1). Comparing the spatial configurations of the filler nozzle (13) defined in the other sequence of continuous nozzle positions with the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21), performing another collision test to determine whether the other sequence of continuous nozzle positions can be performed without any part of the filler nozzle (13) contacting any point of the metallurgical vessel (1) at any time, and controlling the filler nozzle system (11) as follows: If the other reachability test determines that all of the areas of the filling image (G1) are reachable, and the other collision test determines that the filling system (11) can achieve the other sequence of continuous nozzle positions without the filling blowpipe (13) contacting any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the filling system (11) to implement an other blower sequence, which defines a filling flow rate (dV/dt) and a displacement velocity (v) of the filling nozzle (13t) during the realization of the other sequence of continuous nozzle positions, If the other reachability test determines that not all of the areas of the injection filling image (G1) are reachable, and/or the other collision test determines that the injection filling system (11) cannot achieve the other sequence of continuous nozzle positions so that the injection filling blowpipe (13) does not contact any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the injection filling system (11) not to implement the other blowpipe sequence. The apparatus of any one of claims 1 to 5, wherein if the reachability test determines that not all of the regions of the fill image (G1) are reachable, and/or the collision test determines that the fill system (11) is unable to achieve the first sequence of consecutive nozzle positions (T1) such that the fill lance (13) is not in contact with any point of the metallurgical vessel (1) at any time, the data processing system (21) is configured to: Indicating that the filling nozzle must be removed and replaced by a new filling nozzle (13t) of a different geometry, preferably indicating a tip tilt angle (φ13t) of the new filling nozzle (13t) relative to the filling blowpipe (13), and/or a length of the new filling nozzle (13t), ●     Performing the steps as defined in claim 1, including: including an accessibility test to establish a sequence of consecutive nozzle positions, performing a collision test, and performing a filling of a blower sequence if the tests are successful. The apparatus of any one of claims 1 to 6, wherein if the reachability test determines that not all of the areas of the fill image (G1) are reachable, and/or the collision test determines that the fill system (11) is unable to achieve the first sequence of consecutive nozzle positions (T1) such that the fill lance (13) is not in contact with any point of the metallurgical vessel (1) at any time, the data processing The system (21) is configured to list a plurality of inaccessible repair areas, which are defined as the repair areas corresponding to the blowing positions that are not reachable by the blowing tip (13t) from the first position (P1) or are reachable only by contacting a point of the metallurgical vessel (1), and to determine whether the inaccessible repair areas can be used for another process cycle without repair material (1R), ○     If all of the inaccessible repair areas can be reused in at least one process cycle without repair, the data processing system (21) is configured to modify the first blow sequence (S1) by removing the blow positions corresponding to the inaccessible repair areas to define a second blow sequence (S2), and control the spray filling system (11) to implement the second blow sequence (S2). ○     If at least one of the inaccessible repair areas cannot be reused in a process cycle without repair, the data processing system (21) is configured to control the spray filling system (11) not to implement the second blow sequence (S2). The device of any one of claims 1 to 7, wherein: ●     the first blower sequence (S1) is determined by taking into account a minimum total amount of repair spray (1R) applied to each repair area, and/or ●     the first sequence of consecutive nozzle positions (T1) is determined by taking into account a range of distances separating the spray nozzle (13t) from the repair areas at each blowing position, and/or ●     the first sequence of consecutive nozzle positions (T1) is determined by taking into account a range of positions of the spray nozzle (13t) relative to the repair areas, and/or ●    The first shot sequence (S1) is determined by considering the minimum total amount of repair patch blocks (1R) as a function of the patch image (G1). The device of any one of claims 1 to 8, wherein the flow rate (dV/dt) and the displacement speed (v) are controlled by: ●     the flow rate being constant throughout the first injector sequence (S1), and the displacement speed (v) being constant, or the displacement speed (v) being varied depending on the injection positions of the injection-filling nozzle (13t), and/or ●     the flow rate (dV/dt) being varied depending on the injection positions of the injection-filling nozzle (13t), and the displacement speed (v) being constant, or the displacement speed (v) being varied depending on the injection positions of the injection-filling nozzle (13t). The device of any one of claims 1 to 9, wherein the first blowing sequence (S1) comprises a plurality of passes of the spray nozzle (13t) through a series of blowing positions to increase the volume of the repair spray blocks to be sprayed on the corresponding repair areas. An apparatus as claimed in any one of claims 1 to 10, wherein the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21) is a topography of both a lining (1L) and at least a portion of an outer surface of the metallurgical vessel (1), including the opening (1o). An apparatus as claimed in any one of claims 1 to 11, comprising a scanner system (31) configured to scan a region of the liner (1L) to generate a scanned topography of the region of the liner; the scanner system (31) being in communication with the data processing system (21); the data processing system (21) being configured to determine an actual thickness (t1) of the liner (1L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31), and to define the spray-painted image (G1). The apparatus of any one of claims 1 to 12, wherein the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21) comprises a real-time geometry of the opening (1o) measured by the scanner system (31). A method for repairing a lining (1L) of a metallurgical vessel (1), comprising: providing an apparatus as claimed in any one of claims 1 to 13, obtaining a spray repair image (G1), the spray repair image defining a plurality of repair areas of the lining to be repaired, determining the first position (P1) of the movable spray unit (12) by a measurement using the calibration system (17), and transmitting the first position (P1) to the data processing system (21), When the movable blowing unit (12) is located at the first position (P1) determined by the measurement by the calibration system (17), the data processing system (21) establishes the first sequence of continuous nozzle positions (T1), which includes performing the reachability test to check whether all the areas of the injection image (G1) can be reached by the movable blowing unit (12) located at the first position (P1). Comparing the spatial configurations of the filling nozzle (13) defined in the first sequence of continuous filling nozzle positions (T1) with the geometry of the metallurgical vessel (1) stored in the memory of the data processing system (21) to perform a collision test to determine whether the first sequence of continuous filling nozzle positions (T1) can be performed without any part of the filling nozzle (13) contacting any point of the metallurgical vessel (1) at any time, Controlling the filling nozzle system (11) with the data processing system (21) as follows, ○    If all the areas of the filling image (G1) can be reached by the movable blowing unit (12) at the first position (P1), and if from the first position (P1), the filling system (11) can realize the first sequence of continuous filling nozzle positions (T1) without the filling blowpipe (13) being in contact with any point of the metallurgical vessel (1) at any time, then the data processing system (21) controls the filling system (11) to implement the first blower sequence (S1), If not all of the areas of the filling image (G1) can be reached by the movable blowing unit (12) at the first position (P1) and/or if from the first position (P1) the filling system (11) cannot achieve the first sequence of consecutive filling nozzle positions (T1) so that the filling blowpipe (13) does not contact any point of the metallurgical vessel (1) at any time, the data processing system (21) controls the filling system (11) not to perform the first blower sequence (S1). The method of claim 14, wherein the apparatus comprises a scanner system (31) configured to scan a region of the liner (1L) to generate a scanned topography of the region of the liner and to communicate with the data processing system (21), the data processing system (21) being configured to determine an actual thickness (t1) of the liner (1L) as a function of spatial coordinates (x, y, z) based on the scanned topography obtained by the scanner system (31), and to define the spray fill image (G1), the method comprising the steps of: positioning the metallurgical vessel (1) so that its opening (1o) is exposed to the scanner system (31), The scanner system (31) is moved to a scanning position and scans a region of the liner (1L) to generate a scanned topography of the region of the liner. The data processing system (21) determines the actual thickness (t1) of the liner (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) defines the spray patch image (G1), which defines a plurality of repair regions of the liner to be repaired.