A planning method for assisted cooking of claypot rice based on a dual-arm robot

Abstract

The invention discloses a claypot rice auxiliary cooking planning method based on a dual-arm robot, which includes: establishing a menu catalog executed by the dual-arm robot, determining the cooking information of several dishes corresponding to the names of the dishes; obtaining all the heating stoves on the operating table With the marking information of all the dishes on the dish storage platform; combine the initial pose data of the robot body and the marking information of all heating stoves to build the robot's food delivery movement strategy library; combine the initial pose data and the marking information of all the dishes , to construct the vegetable selection control strategy library of the robot; select several vegetable selection control strategies from the vegetable selection control strategy library and sort them to form a basic cooking planning path; select a food delivery motion strategy from the food delivery motion strategy library The path is supplemented by coherent motion to form the final cooking planning path. The invention can alleviate the highly concentrated working state of the operator, contribute to improving the processing efficiency of multiple claypot rice, and ensure the quality of the finished product.

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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