Auxiliary cooking planning method for rice served in pot based on double-arm robot

Abstract

The invention discloses an auxiliary cooking planning method for rice served in pot based on a double-arm robot. The method comprises the following steps of: establishing a menu directory stipulated to be executed by the double-arm robot, and determining dish cooking information corresponding to a plurality of dish names; acquiring mark information of all heating cooking benches on an operation table and all placing plates on a dish storage platform; constructing a dish delivery movement strategy library of the robot by combining initial pose data of a robot body and the mark information of all the heating cooking benches; constructing a dish selection control strategy library of the robot by combining the initial pose data and the mark information of all the placing plates; screening a plurality of dish selection control strategies from the dish selection control strategy library for sorting to form a basic cooking planning path; and selecting a dish delivery movement strategy from the dish delivery movement strategy library to perform coherent movement supplement on the basic cooking planning path to form a final cooking planning path. The method disclosed by the invention can relieve the highly centralized working state of an operator, is conducive to improving the processing efficiency of a plurality of rice served in pot, and ensures the quality of finished products.

Description

technical field [0001] The invention relates to the technical field of robot-assisted processing, in particular to a dual-arm robot-based auxiliary cooking planning method for claypot rice. Background technique [0002] In the environment of manual control, the production process of a single claypot rice is relatively cumbersome. In order to make the taste of the finished product better and ensure the number of customers, the cooking time of each raw material should be strictly controlled. This is undoubtedly High professional technical requirements for the operator. When facing the peak dining period, due to the long production time of a single claypot rice, if the operator makes multiple claypot rice at the same time, it will greatly consume the operator's work energy, and it is impossible to fully guarantee the cooking of each claypot rice. The monitoring of the progress is in place, that is, it is impossible to guarantee that the processing efficiency of multiple claypo...

AI Technical Summary

Problems solved by technology

[0002] In the environment of manual control, the production process of a single claypot rice is relatively cumbersome. In order to make the taste of the finished product better and ensure the number of customers, the cooking time of each raw material should be strictly controlled. This is undoubtedly High professional technical requirements for operators

When facing the peak dining period, due to the long production time of a single claypot rice, if the operator makes multiple claypot rice at the same time, it will greatly consume the operator's work energy, and it is impossible to fully guarantee the cooking of each claypot rice. The monitoring of the progress is in place, that is, it is impossible to guarantee that the processing efficiency of multiple claypot rice and the quality of the finished product reach a balance

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