Path planning method and device for egg liquid brushing manipulator

The invention discloses a path planning method and device for an egg liquid brushing manipulator. The method comprises the steps of: obtaining three-dimensional images of a to-be-processed cake blankon a conveyor belt through a three-dimensional scanner, wherein the three-dimensional images comprise a gray-scale image and a depth image; extracting a target cake blank area image from the grey-scale image, and calculating plane coordinates of the to-be-processed cake blank according to the target cake blank area image; calculating height information of the to-be-processed cake blank according to the filtered depth image; obtaining a currently encoded numerical value of a transmission shaft of the conveyor belt through an encoder; carrying out path planning according to the plane coordinates, the height information and the currently encoded numerical value to obtain a target motion track; and carrying out egg liquid brushing operation according to the target motion track. The technical problem that in the prior