A method of controlling a maintenance operation apparatus of a recovery boiler and a maintenance operation apparatus

A method of controlling a maintenance operation apparatus of a recovery boiler to carry out a maintenance operation for an at least one maintenance object at a recovery boiler, wherein the maintenance operation apparatus comprises a maintenance tool and a tool moving device for configured to move the maintenance tool to accomplish the maintenance operation, and wherein the method comprises:

• a) defining a position of a fixed world coordinate system at the recovery boiler;
• b) defining a position of an initial base coordinate system of the at least one maintenance object that is at a chosen point of the at least one maintenance object determined in the fixed world coordinate system in an initial temperature of the recovery boiler;
• c) defining a position of a corrected base coordinate system of the at least one maintenance object that is at the chosen point of the at least one maintenance object determined in the fixed world coordinate system in a transited temperature of the recovery boiler;
• and
• d) controlling the tool moving device to carry out the maintenance operation of the at least one maintenance object in the corrected base coordinate system.