Tundish covering agent adding method, system, device and equipment and medium

Abstract

The invention provides a tundish covering agent adding method, system, device and equipment and a medium, and the method comprises the steps: determining a first coordinate of a target covering agent material package; according to the first coordinate and a predetermined first coordinate conversion matrix, determining a second coordinate for capturing the target covering agent material package, the first coordinate conversion matrix being determined based on a conversion relation of converting a first test coordinate into a second test coordinate, the first test coordinate being a coordinate for testing the covering agent material package, and the second test coordinate being a coordinate for testing the covering agent material package; the second test coordinate is the coordinate of the test covering agent package grabbed by the execution mechanism of the manual control robot; an executing mechanism of the robot is controlled to grab the target covering agent material package according to the second coordinates; and the executing mechanism is controlled to add the target covering agent material package into the tundish. The covering agent bag grabbing device can improve the covering agent bag grabbing effect.

Description

Technical Field

[0001] The invention belongs to the technical field of metallurgy, and in particular relates to a method, system, device, equipment and medium for adding a covering agent to a tundish. Background Art

[0002] In the production process of continuous casting platform in the iron and steel metallurgical industry, covering agent is added to the continuous casting tundish (hereinafter referred to as tundish). Adding covering agent can reduce the heat loss of molten steel and improve the casting quality. At the same time, it can protect the surface of equipment such as tundish. At present, in the related technology of using robots to grab covering agent, the position of covering agent is usually directly determined as the grabbing position of robot. However, affected by the shape and travel range of the robot's grabbing actuator, the optimal position for the robot to grab the covering agent may not be the same as the position of the covering agent. For example, the optimal position for the robot to grab the covering agent may be above the covering agent.

[0003] It can be seen that in the related art, directly determining the physical position of the covering agent as the grasping position of the robot will result in poor grasping effect. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a method, system, device, equipment and medium for adding a covering agent to a tundish, so as to solve the above-mentioned problems.

[0005] The method for adding a covering agent to a tundish provided by the present invention comprises:

[0006] Determining a first coordinate of a target covering agent package;

[0007] Determine a second coordinate for grabbing the target covering agent package according to the first coordinate and a predetermined first coordinate conversion matrix, the first coordinate conversion matrix is ​​determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate is a coordinate of a test covering agent package, and the second test coordinate is a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package;

[0008] Controlling the actuator of the robot to grab the target covering agent package according to the second coordinate;

[0009] Controlling the actuator to add the target covering agent package to the tundish;

[0010] The first coordinate, the second coordinate, the first test coordinate and the second test coordinate are all coordinates in the base coordinate system of the robot.

[0011] In one embodiment of the present invention, before determining the first coordinate of the target covering agent package, the method further includes:

[0012] Acquiring an image of a target area by a depth camera, wherein the target area includes at least one candidate covering agent package, and the depth camera is arranged above the target area;

[0013] An image analysis is performed on the image of the target area to determine that the candidate covering agent package located on the outermost layer in the target area is the target covering agent package.

[0014] In one embodiment of the present invention, the image of the target area includes a 2D image and a depth image, and performing image analysis on the image of the target area to determine that the candidate covering agent package located on the outermost layer of the target area is the target covering agent package includes:

[0015] Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package;

[0016] Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package;

[0017] Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera;

[0018] According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point;

[0019] The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

[0020] In one embodiment of the present invention, the step of determining the first coordinate of the target covering agent package includes:

[0021] Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix;

[0022] The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

[0023] In one embodiment of the present invention, the intermediate bag is provided with a plurality of through holes for adding covering agent packages, and before controlling the actuator to add the target covering agent package to the intermediate bag, the method further comprises:

[0024] Recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled;

[0025] receiving identification information of a target through hole among the plurality of through holes input by a user;

[0026] The controlling the actuator to add the target covering agent package to the tundish comprises:

[0027] Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole;

[0028] Controlling the actuator to move to a position of a fourth coordinate associated with the target through hole;

[0029] The target covering agent package is added to the target through-hole.

[0030] In one embodiment of the present invention, a sensing device is provided at the end of the actuator, and after the actuator controlling the robot grabs the target covering agent package according to the second coordinate, the method further includes:

[0031] Turning on the sensing device;

[0032] After controlling the actuator to move to the position of the fourth coordinate associated with the target through hole, the method further includes:

[0033] When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole;

[0034] Controlling the actuator to move to a position of a fourth coordinate associated with the adjacent through hole;

[0035] When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the target covering agent package is added to the adjacent through hole.

[0036] The present invention provides a covering agent adding system for a tundish, comprising:

[0037] a sensing and positioning subsystem, for determining a first coordinate of a target covering agent package, and for determining a second coordinate for grabbing the target covering agent package based on the first coordinate and a predetermined first coordinate conversion matrix, wherein the first coordinate conversion matrix is ​​determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate is a coordinate of a test covering agent package, and the second test coordinate is a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package;

[0038] A robot subsystem, the robot subsystem includes a robot body and an actuator of the robot, the actuator is used to grab the target covering agent package according to the second coordinate and to add the target covering agent package to the intermediate package.

[0039] In one embodiment of the present invention, the perception and positioning subsystem includes a depth camera;

[0040] The depth camera is used to acquire an image of a target area, the target area includes at least one candidate covering agent package, and the depth camera is arranged above the target area;

[0041] The sensing and positioning subsystem is further used to perform image analysis on the image of the target area to determine that the candidate covering agent package located on the outermost layer in the target area is the target covering agent package.

[0042] In one embodiment of the present invention, the image of the target area includes a 2D image and a depth image, and the perception and positioning subsystem further includes an image processing module, and the image processing module is used to:

[0043] Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package;

[0044] Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package;

[0045] Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera;

[0046] According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point;

[0047] The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

[0048] In one embodiment of the present invention, the sensing and positioning subsystem further includes a covering agent grabbing posture calculation module, and the covering agent grabbing posture calculation module is used to:

[0049] Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix;

[0050] The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

[0051] In one embodiment of the present invention, the intermediate bag is provided with a plurality of through holes for adding a covering agent bag, and the sensing and positioning subsystem further comprises a covering agent adding posture calculation module, and the covering agent adding posture calculation module is used to:

[0052] Recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled;

[0053] receiving identification information of a target through hole among the plurality of through holes input by a user;

[0054] Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole;

[0055] The actuator is specifically used for:

[0056] Moving to a position of a fourth coordinate associated with the target through hole;

[0057] The target covering agent package is added to the target through-hole.

[0058] In one embodiment of the present invention, the sensing and positioning system further includes a sensing device, and the sensing device is disposed at the end of the actuator. The sensing and positioning system is further used for:

[0059] Turning on the sensing device;

[0060] When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole;

[0061] The actuator is also used for:

[0062] Move to the position of the fourth coordinate associated with the adjacent through hole;

[0063] When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the target covering agent package is added to the adjacent through hole.

[0064] The present invention provides a covering agent adding device for a tundish, comprising:

[0065] A first determination module, used to determine a first coordinate of a target covering agent package;

[0066] A second determination module is configured to determine, based on the first coordinates and a predetermined first coordinate conversion matrix, the first coordinate conversion matrix being determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate being a coordinate of a test covering agent package, and the second test coordinate being a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package;

[0067] a first control module, configured to control the actuator of the robot to grab the target covering agent package according to the second coordinate;

[0068] A second control module, used for controlling the actuator to add the target covering agent package to the tundish;

[0069] The first coordinate, the second coordinate, the first test coordinate and the second test coordinate are all coordinates in the base coordinate system of the robot.

[0070] In one embodiment of the present invention, the device further comprises:

[0071] An acquisition module, configured to acquire an image of a target area through a depth camera, wherein the target area includes at least one candidate covering agent package;

[0072] The third determination module is used to perform image analysis on the image of the target area to determine that the candidate covering agent material package located on the outermost layer in the target area is the target covering agent material package.

[0073] In one embodiment of the present invention, the image of the target area includes a 2D image and a depth image, and the third determination module is specifically used to:

[0074] Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package;

[0075] Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package;

[0076] Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera;

[0077] According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point;

[0078] The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

[0079] In one embodiment of the present invention, the first determining module is specifically used to:

[0080] Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix;

[0081] The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

[0082] In one embodiment of the present invention, the device further comprises:

[0083] A storage module, used for recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of the covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled;

[0084] A receiving module, configured to receive identification information of a target through hole among the plurality of through holes input by a user;

[0085] The second control module is specifically used for:

[0086] Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole;

[0087] Controlling the actuator to move to a position of a fourth coordinate associated with the target through hole;

[0088] The target covering agent package is added to the target through-hole.

[0089] In one embodiment of the present invention, a sensing device is provided at the end of the actuator, and the device further comprises:

[0090] An opening module, used for opening the sensing device;

[0091] The second control module is further specifically used for:

[0092] When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole;

[0093] Controlling the actuator to move to a position of a fourth coordinate associated with the adjacent through hole;

[0094] When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the actuator is controlled to add the target covering agent package to the adjacent through hole.

[0095] The electronic device provided by the present invention comprises:

[0096] one or more processors;

[0097] A storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the method for adding a covering agent to the intermediate package.

[0098] The computer-readable storage medium provided by the present invention stores a computer program thereon, and when the computer program is executed by a processor of a computer, the computer is enabled to execute the method for adding a covering agent to the intermediate package.

[0099] Beneficial effects of the present invention: In the present invention, the first test coordinate is the coordinate of the test covering agent package, and the second test coordinate is the coordinate of the actuator of the manually controlled robot to grab the test covering agent package. Since the grabbing in the test stage is manually controlled, the actuator can usually achieve a better grabbing effect of the covering agent package according to the above-mentioned second test coordinate. Based on the coordinate conversion relationship between the first test coordinate and the second test coordinate, the coordinate conversion relationship between the physical coordinates of the covering agent package and the grabbing coordinates of the covering agent package can be obtained. Based on this, in the present invention, the above-mentioned first coordinate conversion matrix is ​​pre-determined according to the conversion relationship between the first test coordinate and the second test coordinate, and the grabbing coordinates of grabbing the target covering agent (that is, the above-mentioned second coordinate) can be obtained through the physical coordinates of the target covering agent (that is, the above-mentioned first coordinate) and the first coordinate conversion matrix. It can be seen that compared with the related art in which the physical position of the covering agent is directly determined as the grabbing position of the robot, the present invention is conducive to improving the grabbing effect.

[0100] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0101] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0102] Figure 1 It is one of the schematic diagrams of the implementation environment of the method for adding a covering agent to a tundish according to an exemplary embodiment of the present application;

[0103] Figure 2 is a flow chart of a method for adding a covering agent to a tundish shown in an exemplary embodiment of the present application;

[0104] Figure 3This is a second schematic diagram of an implementation environment of a method for adding a covering agent to a tundish according to an exemplary embodiment of the present application;

[0105] Figure 4 is a block diagram of a covering agent adding system for a tundish shown in an exemplary embodiment of the present application;

[0106] Figure 5 is a block diagram of a covering agent adding device for a tundish shown in an exemplary embodiment of the present application;

[0107] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0108] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0109] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0110] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0111] Figure 1 FIG. 1 is a schematic diagram of an implementation environment of a method for adding a covering agent to a tundish according to an exemplary embodiment of the present application. Figure 1 As shown, the implementation environment of the method for adding covering agent to the tundish includes a ladle 1 and a tundish 2, wherein the ladle 1 is used to inject molten steel into the tundish 2. The method provided in the embodiment of the present application is used to grab a covering agent bag and add a covering agent bag to the tundish 2 using a robot.

[0112] Hereinafter, the method for adding a covering agent to a tundish according to an embodiment of the present application (hereinafter referred to as the covering agent adding method) will be described in detail.

[0113] See also Figure 2 , Figure 2 is a flow chart of a method for adding a covering agent according to an exemplary embodiment of the present application. The method can be applied to Figure 1 The implementation environment shown can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable. In addition, the method can be executed by a covering agent adding system for a tundish, or by a covering agent adding device for a tundish, or by a device. This embodiment of the application does not limit this.

[0114] like Figure 2 As shown, in an exemplary embodiment, the covering agent adding method includes steps S210 to S240, which are described in detail as follows:

[0115] Step S210, determining the first coordinate of the target covering agent package;

[0116] Step S220, determining a second coordinate for grabbing the target covering agent package according to the first coordinate and a predetermined first coordinate conversion matrix, wherein the first coordinate conversion matrix is ​​determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate is a coordinate for grabbing the test covering agent package by an actuator of a manually controlled robot;

[0117] Step S230, controlling the actuator of the robot to grab the target covering agent package according to the second coordinate;

[0118] Step S240, controlling the actuator to add the target covering agent package to the tundish;

[0119] The first coordinate, the second coordinate, the first test coordinate and the second test coordinate are all coordinates in the base coordinate system of the robot.

[0120] First, it should be noted that, in step S210, the first coordinate of the target covering agent package is the physical coordinate of the target covering agent package in the base coordinate system of the robot, and the position and posture of the target covering agent package can be determined based on the first coordinate. Figure 1, the robot (or robot subsystem) in the embodiment of the present application includes a robot body 4 and an actuator 3 of the robot, wherein the base coordinate system of the above-mentioned robot is generally a coordinate system with the base of the robot body 4 as the origin. It should be noted that the actuator in the embodiment of the present application refers to the end effector of the robot, and the actuator can be used to grab the covering agent package and add the covering agent package. Among them, the actuator may generally include an extension mechanism and a clamp, one end of the extension mechanism is connected to the power output end of the robot body (which may be the end flange of the robot body), and the other end of the extension mechanism is linked to the above-mentioned clamp. By setting the extension mechanism, the working range of the robot can be expanded. The clamp is a specific execution device for grabbing the covering agent package. The structure of the clamp can be a clamp type or a suction cup type. Its specific structure and size can be set according to the weight and size of the covering agent package, with the principle of being able to stably grab the covering agent package.

[0121] In step S210, based on the first coordinate and the predetermined first coordinate conversion matrix, the second coordinate for grabbing the target covering agent package can be determined. Wherein, as an example, when the method in the embodiment of the present application is executed by a covering agent addition system, the first coordinate conversion matrix can be calculated by the covering agent grabbing posture calculation module of the covering agent addition system. The first coordinate conversion matrix is ​​determined based on the first test coordinate and the second test coordinate, and is used to realize the conversion between the physical coordinate and the grabbing coordinate of the covering agent package. It is worth mentioning that since the second test coordinate is the coordinate of the actuator of the manually controlled robot to grab the test covering agent package, in the case of manual teaching, the actuator can achieve a better grabbing effect on the test covering agent package through manual adjustment, that is, the actuator can achieve a better grabbing effect by grabbing the covering agent package according to the second test coordinate. Based on this, based on the first coordinate conversion matrix and the first coordinate of the target covering agent package, a second coordinate with a better grabbing effect can be obtained.

[0122] It should be noted that, when the storage area of ​​the covering agent package has at least one covering agent package, the above-mentioned test covering agent package is the package of the covering agent on the outermost layer, which is conducive to improving the grabbing effect of the test covering agent package. Among them, how to determine the covering agent package on the outermost layer and how to determine the physical coordinates of the covering agent package in the robot base coordinate system can refer to the following related embodiments such as how to determine the target covering agent package and how to determine the first coordinates of the target covering agent package.

[0123] After determining the second coordinate, the robot's actuator can be controlled to grab the target covering agent package according to the second coordinate and add the target covering agent package to the intermediate package. It should be noted that based on the distance relationship between the target covering agent and the intermediate package, the robot body may or may not need to move during the process of the actuator grabbing the target covering agent package and adding the target covering agent package. In the case where the robot body needs to move, the movement trajectory of the robot body can be preset so that the robot body can move from the area where the target covering agent is located to the area where the intermediate package is located.

[0124] The embodiment of the present application can obtain the grasping coordinates of the target covering agent (i.e., the above-mentioned second coordinates) through the physical coordinates of the target covering agent (i.e., the above-mentioned first coordinates) and the first coordinate conversion matrix. Compared with the related art of directly determining the physical position of the covering agent as the grasping position of the robot, the technical solution of the present application is conducive to improving the grasping effect.

[0125] In one embodiment of the present invention, before determining the first coordinate of the target covering agent package, the method further includes:

[0126] Acquiring an image of a target area by a depth camera, wherein the target area includes at least one candidate covering agent package, and the depth camera is arranged above the target area;

[0127] An image analysis is performed on the image of the target area to determine that the candidate covering agent package located on the outermost layer in the target area is the target covering agent package.

[0128] In this embodiment, the target area is an area for storing the candidate covering agent packages. The depth camera is arranged above the target area, specifically, it can be arranged directly above or obliquely above the target area, and the image of the target area can be obtained through the depth camera. Among them, the depth camera refers to information that can output two-dimensional (two dimensional, 2D) images and depth images, and the positional relationship between the photographed object and the depth camera can be obtained through the depth image.

[0129] It is worth mentioning that the above-mentioned depth camera can obtain image information of the target area in real time, and can also obtain image information of the target area only when there is a need to add a covering agent. After the depth camera obtains the image of the target area, it can output the image immediately, so that the system can perform the next step of determining the target covering agent package based on the image output by the depth camera.

[0130] It is easy to understand that since the candidate covering agent package on the outermost layer is less affected by the occlusion of other packages, the grasping effect is better. Based on this, in the embodiment of the present application, the grasping effect can be improved by determining the candidate covering agent package on the outermost layer in the target area as the target covering agent package and grasping the target covering agent package.

[0131] In one embodiment of the present invention, the image of the target area includes a 2D image and a depth image, and performing image analysis on the image of the target area to determine that the candidate covering agent package located on the outermost layer of the target area is the target covering agent package includes:

[0132] Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package;

[0133] Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package;

[0134] Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera;

[0135] According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point;

[0136] The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

[0137] In this embodiment, when the depth camera outputs an image of the target area, a pre-trained target detection neural network model (such as a series of models such as YOLO) can be used to perform image recognition on the 2D image of the target area to identify the 2D image of each candidate covering agent package in the target area. Among them, the image recognition of the 2D image of the target area can be performed in real time or when there is a need to add a covering agent. In addition, before performing image recognition on the 2D image, it can also be pre-processed, such as graying and image enhancement.

[0138] After identifying the 2D image of each candidate covering agent package, the 2D image of each candidate covering agent package can be determined. When identifying the candidate covering agent packages in the 2D image of the target area, the image of each covering agent package can usually be marked with a rectangular frame. When the image of each covering agent package is marked with a rectangular frame, the central pixel point of each rectangular frame can be regarded as the central pixel point of the 2D image of the corresponding covering agent package.

[0139] After determining the center pixel of the 2D image of each candidate covering agent package, each center pixel can be recorded and saved. Based on the information of each center pixel in the depth image, the third coordinate (i.e., camera coordinate) of each center pixel in the coordinate system of the depth camera can be determined, and then the vertical distance between each center pixel and the depth camera can be determined. Among them, the coordinate system of the depth camera is a coordinate system with the depth camera as the origin. In some embodiments, the Z-axis direction of the depth camera coordinate system can be set as the gravity direction, and the vertical distance between the center pixel and the depth camera is the Z coordinate value of the center pixel; in other embodiments, the other axis (e.g., X-axis) direction of the depth camera coordinate system can also be set as the gravity direction, and the vertical distance between the center pixel and the depth camera can be determined with reference to the above embodiments.

[0140] In an embodiment of the present application, the central pixel point of the 2D image of the candidate covering agent package is determined, and the camera coordinates of the central pixel point are regarded as the camera coordinates of the candidate covering agent package. The vertical distance between the candidate covering agent package and the depth camera is determined, which can simply and efficiently determine the outermost covering agent package among the candidate covering agent packages.

[0141] In one embodiment of the present invention, the step of determining the first coordinate of the target covering agent package includes:

[0142] Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix;

[0143] The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

[0144] In the above implementation, the camera coordinates (i.e., the third coordinates) of each of the above-mentioned center pixel points can be obtained based on the depth image, including the camera coordinates of the target center pixel point. Based on the camera coordinates of the target center pixel point and the predetermined second coordinate conversion matrix, the coordinates of the target center pixel point in the base coordinate system of the robot can be obtained. In an embodiment of the present application, the coordinates of the target center pixel point in the base coordinate system of the robot are regarded as the coordinates of the target covering agent package in the base coordinate system of the robot. As an example, the second coordinate conversion matrix from the camera coordinate system to the robot base coordinate system can be obtained by a hand-eye calibration operation.

[0145] In the embodiment of the present application, the second coordinate conversion matrix is ​​predetermined so that the coordinates of the target covering agent package in the robot base coordinate system can be quickly obtained based on the camera coordinates (ie, the third coordinates) of the target center pixel point.

[0146] See also Figure 3In one embodiment of the present invention, the intermediate bag is provided with a plurality of through holes for adding the covering agent bag, and before controlling the actuator to add the target covering agent bag to the intermediate bag, the method further comprises:

[0147] Recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled;

[0148] receiving identification information of a target through hole among the plurality of through holes input by a user;

[0149] The controlling the actuator to add the target covering agent package to the tundish comprises:

[0150] Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole;

[0151] Controlling the actuator to move to a position of a fourth coordinate associated with the target through hole;

[0152] The target covering agent package is added to the target through-hole.

[0153] In this embodiment, the intermediate bag is provided with a plurality of through holes, including a central through hole 21 and other through holes 22, and the user can select the hole position to which the target covering agent bag is currently added.

[0154] In order to improve the accuracy of the actuator adding the target covering agent, the present application aims at the covering agent adding operation of different hole positions of the tundish, and obtains the covering agent adding point coordinate information of each hole position through manual teaching in advance and saves the records, that is, obtains and saves the fourth coordinates associated with multiple through holes. It is easy to understand that since the above fourth coordinates are obtained through manual teaching, adding the covering agent to a through hole according to the fourth coordinate associated with the through hole can make the addition more accurate.

[0155] After saving the fourth coordinates associated with each through hole, the user can select a target through hole for adding the covering agent. Specifically, the user can enter the identification information of the selected target through hole, such as a number or icon. After receiving the identification information entered by the user, the system queries the fourth coordinate associated with the target through hole and controls the actuator to add the target covering agent package according to the fourth coordinate associated with the target through hole.

[0156] The embodiment of the present application records and stores the fourth coordinates associated with each of the through holes in advance, which is conducive to achieving a better covering agent addition effect.

[0157] In one embodiment of the present invention, a sensing device is provided at the end of the actuator, and after the actuator controlling the robot grabs the target covering agent package according to the second coordinate, the method further includes:

[0158] Turning on the sensing device;

[0159] After controlling the actuator to move to the position of the fourth coordinate associated with the target through hole, the method further includes:

[0160] When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole;

[0161] Controlling the actuator to move to a position of a fourth coordinate associated with the adjacent through hole;

[0162] When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the target covering agent package is added to the adjacent through hole.

[0163] In this embodiment, the sensing device can sense the distance between itself and the surrounding devices. As an example, the sensing device can be a laser radar. After the above-mentioned actuator completes the grabbing action, the sensing device is turned on. After the actuator completes the adding action, the sensing device can be turned off. The sensing device can detect the distance from the surrounding devices in real time before ending the covering agent adding action. If it exceeds the above-mentioned preset threshold, it may cause certain risks. Based on this, the fourth coordinate associated with the through hole adjacent to the target through hole can be queried to add the target covering agent package to the adjacent through hole. Among them, it is worth mentioning that in the case where the target through hole has multiple adjacent through holes, any adjacent through hole can be selected as the changed target covering agent package addition hole. In actual application scenarios, in the process of adding covering agent to the central through hole, the sensing device may sense that the distance to the surrounding devices exceeds the preset threshold. In this scenario, the target covering agent addition through hole can be changed to a through hole next to the central through hole.

[0164] By adopting the above-mentioned technical solution of the embodiment of the present application, during the covering agent adding process, if it is sensed that the distance to the surrounding equipment exceeds a preset threshold, the covering agent adding hole is changed, which is beneficial to improving the safety of the equipment.

[0165] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0166] Figure 4 is a block diagram of a system for adding a covering agent to a tundish as shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown is that the system can also be applied to other exemplary implementation environments, and this embodiment does not limit the implementation environment to which the device is applicable.

[0167] like Figure 4 As shown, the exemplary covering agent adding system of the tundish includes:

[0168] The sensing and positioning subsystem 410 is used to determine the first coordinates of the target covering agent package, and is also used to determine the second coordinates for grabbing the target covering agent package based on the first coordinates and a predetermined first coordinate conversion matrix, wherein the first coordinate conversion matrix is ​​determined based on a conversion relationship from a first test coordinate to a second test coordinate, wherein the first test coordinates are the coordinates of the test covering agent package, and the second test coordinates are the coordinates of the actuator of the manually controlled robot grabbing the test covering agent package;

[0169] The robot subsystem 420 includes a robot body and an actuator of the robot, wherein the actuator is used to grab the target covering agent package according to the second coordinate and to add the target covering agent package to the intermediate package.

[0170] In this embodiment, the sensing and positioning subsystem 410 can obtain the grasping coordinates of the target covering agent (i.e., the above-mentioned second coordinates) through the physical coordinates of the target covering agent (i.e., the above-mentioned first coordinates) and the first coordinate transformation matrix. Compared with the related art of directly determining the physical position of the covering agent as the grasping position of the robot, the technical solution of the present application is conducive to improving the grasping effect.

[0171] In one embodiment of the present invention, the sensing and positioning subsystem 410 includes a depth camera;

[0172] The depth camera is used to acquire an image of a target area, the target area includes at least one candidate covering agent package, and the depth camera is arranged above the target area;

[0173] The sensing and positioning subsystem 410 is further used to perform image analysis on the image of the target area to determine that the candidate covering agent package located on the outermost layer in the target area is the target covering agent package.

[0174] In one embodiment of the present invention, the image of the target area includes a 2D image and a depth image, and the perception and positioning subsystem 410 further includes an image processing module, and the image processing module is used to:

[0175] Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package;

[0176] Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package;

[0177] Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera;

[0178] According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point;

[0179] The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

[0180] In one embodiment of the present invention, the sensing and positioning subsystem 410 further includes a covering agent grabbing posture calculation module, and the covering agent grabbing posture calculation module is used to:

[0181] Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix;

[0182] The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

[0183] In one embodiment of the present invention, the intermediate bag is provided with a plurality of through holes for adding a covering agent bag, and the sensing and positioning subsystem 410 further includes a covering agent adding posture calculation module, and the covering agent adding posture calculation module is used to:

[0184] Recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled;

[0185] receiving identification information of a target through hole among the plurality of through holes input by a user;

[0186] Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole;

[0187] The actuator is specifically used for:

[0188] Moving to a position of a fourth coordinate associated with the target through hole;

[0189] The target covering agent package is added to the target through-hole.

[0190] In one embodiment of the present invention, the sensing and positioning system further includes a sensing device, and the sensing device is disposed at the end of the actuator. The sensing and positioning system is further used for:

[0191] Turning on the sensing device;

[0192] When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole;

[0193] The actuator is also used for:

[0194] Move to the position of the fourth coordinate associated with the adjacent through hole;

[0195] When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the target covering agent package is added to the adjacent through hole.

[0196] It should be noted that the covering agent adding system for the tundish provided in the above embodiment and the covering agent adding method for the tundish provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual application, the covering agent adding system for the tundish provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0197] Figure 5 is a block diagram of a device for adding a covering agent to a tundish according to an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown is as follows. The device may also be applicable to other exemplary implementation environments. This embodiment does not limit the implementation environment to which the device is applicable.

[0198] like Figure 5 As shown, the exemplary covering agent adding device of the tundish includes:

[0199] A first determination module 510 is used to determine a first coordinate of a target covering agent package;

[0200] A second determination module 520 is used for determining, based on the first coordinates and a predetermined first coordinate conversion matrix, the first coordinate conversion matrix being determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate being a coordinate of a test covering agent package, and the second test coordinate being a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package;

[0201] A first control module 530 is used to control the actuator of the robot to grab the target covering agent package according to the second coordinate;

[0202] A second control module 540 is used to control the actuator to add the target covering agent package to the tundish;

[0203] The first coordinate, the second coordinate, the first test coordinate and the second test coordinate are all coordinates in the base coordinate system of the robot.

[0204] In this embodiment, the grasping coordinates of the target covering agent (i.e., the first coordinates mentioned above) and the first coordinate transformation matrix can be used to obtain the grasping coordinates of the target covering agent (i.e., the second coordinates mentioned above). Compared with the related art of directly determining the physical position of the covering agent as the grasping position of the robot, the technical solution of the present application is conducive to improving the grasping effect.

[0205] In one embodiment of the present invention, the device further comprises:

[0206] An acquisition module, configured to acquire an image of a target area through a depth camera, wherein the target area includes at least one candidate covering agent package;

[0207] The third determination module is used to perform image analysis on the image of the target area to determine that the candidate covering agent material package located on the outermost layer in the target area is the target covering agent material package.

[0208] In one embodiment of the present invention, the image of the target area includes a 2D image and a depth image, and the third determination module is specifically used to:

[0209] Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package;

[0210] Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package;

[0211] Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera;

[0212] According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point;

[0213] The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

[0214] In one embodiment of the present invention, the first determining module 510 is specifically configured to:

[0215] Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix;

[0216] The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

[0217] In one embodiment of the present invention, the device further comprises:

[0218] A storage module, used for recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of the covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled;

[0219] A receiving module, configured to receive identification information of a target through hole among the plurality of through holes input by a user;

[0220] The second control module 540 is specifically used for:

[0221] Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole;

[0222] Controlling the actuator to move to a position of a fourth coordinate associated with the target through hole;

[0223] The target covering agent package is added to the target through-hole.

[0224] In one embodiment of the present invention, a sensing device is provided at the end of the actuator, and the device further comprises:

[0225] An opening module, used for opening the sensing device;

[0226] The second control module 540 is further specifically configured to:

[0227] When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole;

[0228] Controlling the actuator to move to a position of a fourth coordinate associated with the adjacent through hole;

[0229] When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the actuator is controlled to add the target covering agent package to the adjacent through hole.

[0230] It should be noted that the covering agent adding device for the tundish provided in the above embodiment and the covering agent adding method for the tundish provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual application, the covering agent adding device for the tundish provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0231] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the method for adding a covering agent to the intermediate package provided in the above-mentioned embodiments.

[0232] Figure 6 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0233] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the method described in the above embodiment. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, ROM 602 and RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0234] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0235] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1209, and / or installed from a removable medium 1211. When the computer program is executed by a central processing unit (CPU) 1201, various functions defined in the system of the present application are executed.

[0236] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0237] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0238] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0239] Another aspect of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0240] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method provided in each of the above embodiments.

[0241] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for adding a covering agent to a tundish, characterized in that: include: Determining a first coordinate of a target covering agent package; Determine a second coordinate for grabbing the target covering agent package according to the first coordinate and a predetermined first coordinate conversion matrix, the first coordinate conversion matrix is ​​determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate is a coordinate of a test covering agent package, and the second test coordinate is a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package; Controlling the actuator of the robot to grab the target covering agent package according to the second coordinate; Controlling the actuator to add the target covering agent package to the tundish; The first coordinate, the second coordinate, the first test coordinate and the second test coordinate are all coordinates in the base coordinate system of the robot.

2. The method for adding a covering agent according to claim 1, characterized in that: Before determining the first coordinate of the target covering agent package, the method further includes: Acquiring an image of a target area by a depth camera, wherein the target area includes at least one candidate covering agent package, and the depth camera is arranged above the target area; An image analysis is performed on the image of the target area to determine that the candidate covering agent package located on the outermost layer in the target area is the target covering agent package.

3. The method for adding a covering agent according to claim 1, characterized in that: The image of the target area includes a 2D image and a depth image, and performing image analysis on the image of the target area to determine that the candidate covering agent material package located at the outermost layer of the target area is the target covering agent material package includes: Performing image recognition on the 2D image of the target area to determine the 2D image of each candidate covering agent package in the at least one candidate covering agent package; Determine the central pixel point of each candidate covering agent material package according to the 2D image of each candidate covering agent material package; Determine, according to the central pixel of each candidate covering agent package and the depth information of each central pixel in the depth image, a third coordinate of each central pixel in the coordinate system of the depth camera; According to the third coordinate of each central pixel point, determine the central pixel point with the closest vertical distance to the depth camera as the target central pixel point; The candidate covering agent material package corresponding to the target central pixel point is determined to be the candidate covering agent material package on the outermost layer.

4. The method for adding a covering agent according to claim 3, characterized in that: The step of determining the first coordinate of the target covering agent package comprises: Determining the first coordinates of the target covering agent package based on the third coordinates of the target central pixel point and the predetermined second coordinate conversion matrix; The second coordinate transformation matrix is ​​determined according to the coordinate system of the depth camera and the base coordinate system of the robot.

5. The method for adding a covering agent according to claim 1, characterized in that: The intermediate bag is provided with a plurality of through holes for adding covering agent packages. Before controlling the actuator to add the target covering agent package to the intermediate bag, the method further includes: Recording and saving fourth coordinates respectively associated with the plurality of through holes, wherein the fourth coordinates respectively associated with the plurality of through holes are: coordinates of the covering agent packages added to the plurality of through holes by the actuator when the actuator is manually controlled; receiving identification information of a target through hole among the plurality of through holes input by a user; The controlling the actuator to add the target covering agent package to the tundish comprises: Based on the saved fourth coordinates respectively associated with the plurality of through holes, querying the fourth coordinate associated with the target through hole; Controlling the actuator to move to a position of a fourth coordinate associated with the target through hole; The target covering agent package is added to the target through-hole.

6. The method for adding a covering agent according to claim 5, characterized in that: A sensing device is disposed at the end of the actuator, and after the actuator controlling the robot grabs the target covering agent package according to the second coordinate, the method further includes: Turning on the sensing device; After controlling the actuator to move to the position of the fourth coordinate associated with the target through hole, the method further includes: When the sensing device senses that the distance to the surrounding device exceeds a preset threshold, querying a fourth coordinate associated with an adjacent through hole, wherein the adjacent through hole is a through hole adjacent to the target through hole; Controlling the actuator to move to a position of a fourth coordinate associated with the adjacent through hole; When the sensing device does not sense that the distance to the surrounding devices exceeds a preset threshold, the target covering agent package is added to the adjacent through hole.

7. A covering agent adding system for a tundish, characterized in that: include: a sensing and positioning subsystem, for determining a first coordinate of a target covering agent package, and for determining a second coordinate for grabbing the target covering agent package based on the first coordinate and a predetermined first coordinate conversion matrix, wherein the first coordinate conversion matrix is ​​determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate is a coordinate of a test covering agent package, and the second test coordinate is a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package; A robot subsystem, the robot subsystem includes a robot body and an actuator of the robot, the actuator is used to grab the target covering agent package according to the second coordinate and to add the target covering agent package to the intermediate package.

8. A covering agent device for a tundish, characterized in that: include: A first determination module, used to determine a first coordinate of a target covering agent package; A second determination module is configured to determine, based on the first coordinates and a predetermined first coordinate conversion matrix, the first coordinate conversion matrix being determined based on a conversion relationship from a first test coordinate to a second test coordinate, the first test coordinate being a coordinate of a test covering agent package, and the second test coordinate being a coordinate of an actuator of a manually controlled robot grabbing the test covering agent package; a first control module, configured to control the actuator of the robot to grab the target covering agent package according to the second coordinate; A second control module, used for controlling the actuator to add the target covering agent package to the tundish; The first coordinate, the second coordinate, the first test coordinate and the second test coordinate are all coordinates in the base coordinate system of the robot.

9. A device, characterized in that: include: one or more processors and memory, A computer program is stored in the memory, and when the one or more processors execute the computer program, the device is caused to perform the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, which, when executed by one or more processors, causes the device to perform the method according to any one of claims 1 to 6.

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