WO2024073467A2 - Friteuse automatisée - Google Patents

Friteuse automatisée Download PDF

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Publication number
WO2024073467A2
WO2024073467A2 PCT/US2023/075197 US2023075197W WO2024073467A2 WO 2024073467 A2 WO2024073467 A2 WO 2024073467A2 US 2023075197 W US2023075197 W US 2023075197W WO 2024073467 A2 WO2024073467 A2 WO 2024073467A2
Authority
WO
WIPO (PCT)
Prior art keywords
ingredient
causing
mixing container
container
processor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2023/075197
Other languages
English (en)
Other versions
WO2024073467A3 (fr
Inventor
Ajay Kumar Sunkara
Vijay Prakash KODALI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nala Robotics Inc
Original Assignee
Nala Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nala Robotics Inc filed Critical Nala Robotics Inc
Publication of WO2024073467A2 publication Critical patent/WO2024073467A2/fr
Publication of WO2024073467A3 publication Critical patent/WO2024073467A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J37/00—Baking; Roasting; Grilling; Frying
    • A47J37/12—Deep fat fryers, e.g. for frying fish or chips
    • A47J37/1228—Automatic machines for frying and dispensing metered amounts of food

Definitions

  • a fryer is kitchen appliance that acts as a container for frying a food item. Frying is a method of cooking by submerging food into oil at high heat, typically between temperatures of 350 °F and 375 °F (175 °C to 190 °C). While commonly used in commercial kitchens, household models are available and have become increasingly prevalent.
  • an automated frying method includes identifying a recipe associated with an order, wherein the recipe includes a first ingredient and fry instructions, and causing a storage unit to dispense an amount of a first ingredient into a permeable container.
  • the method further includes causing a mobile cobot to affix the permeable container to a control unit associated with a fry unit based on the recipe, causing the control unit to provide the permeable container to the fry unit based on the fry instructions; and causing the mobile cobot to transfer the first ingredient to a coating unit.
  • the above method can further include causing the coating unit to transfer the first ingredient to a serving station after coating the first ingredient with a second ingredient at the coating unit.
  • the above method can further include causing the mobile cobot to transfer the first ingredient to a mixing container associated with the coating unit, causing a second ingredient to be dispensed to the mixing container, and causing the mixing container to be agitated according to coating instructions.
  • causing the mobile cobot to transfer the first ingredient can include dumping the first ingredient into a loading hopper that leads to the mixing container.
  • the second ingredient can be a sauce or seasoning.
  • agitating the mixing container can include rotating the mixing container.
  • the above method can further include causing the mixing container to be rotated to dump the first ingredient coated with the second ingredient into a serving container.
  • the aforementioned method can further include causing the serving container to be moved away from the mixing container and towards a serving station or causing the mixing container to be rotated to dump any remaining second ingredient into a clean-in-place (CIP) dump bin after causing the mixing container to be rotated to dump the first ingredient coated with the second ingredient into the serving container.
  • the aforementioned method can further include causing water to be directed into the mixing container after causing the mixing container to be rotated to dump any remaining second ingredient into the CIP dump bin, and optionally, causing air to be directed into the mixing container after causing water to be directed into the mixing container.
  • an automated frying system includes a storage unit, a control unit associated with an associated fry unit, a coating unit, a mobile cobot and a computing device having a memory and processor.
  • the memory stores instructions that when executed by the processor cause the processor to: identify a recipe associated with an order, wherein the recipe includes a first ingredient and fry instructions; cause the storage unit to dispense an amount of a first ingredient into a permeable container; cause the mobile cobot to affix the permeable container with the first ingredient therein to the control unit based on the recipe; cause the control unit to position the permeable container with the first ingredient therein in an oil reservoir of the fry unit based on the fry instructions; and cause the mobile cobot to transfer the first ingredient from the fry unit to the coating unit.
  • the coating unit in the automated frying system described above can include at least one of a spice bin and a sauce bin and further include a mixing container.
  • the memory stores instructions that when executed by the processor cause the processor to cause the control unit to dispense a second ingredient from at least one of the spice bin and the sauce bin into the mixing container based on the recipe.
  • the coating unit include a loading hopper, and the memory stores instructions that when executed by the processor cause the processor to cause the mobile cobot to transfer the first ingredient to the loading hopper, which leads to the mixing container.
  • the coating unit include a first loading hopper and a second loading hopper.
  • the memory stores instructions that when executed by the processor cause the processor to cause the mobile cobot to transfer the first ingredient to the first loading hopper based on the recipe calling for the second ingredient being a spice, and cause the mobile cobot to transfer the first ingredient to the second loading hopper based on the recipe calling for the second ingredient being a sauce.
  • the coating unit can include a suction mechanism and a mount plate.
  • the memory stores instructions that when executed by the processor cause the processor to cause the suction mechanism to grasp an associated serving container and to place the associated serving container on the mount plate.
  • the memory can also store instructions that when executed by the processor cause the processor to cause the mount plate to move towards the mixing container, and cause the mixing container to rotate to dump contents within the mixing container into the associated serving container.
  • the coating unit can include a rotary drive operably connected with the mixing container.
  • the memory can store instructions that when executed by the processor cause the processor to cause the mixing container to move among at least four positions including a loading position, a coating position, a dumping position and a cleaning position.
  • the mixing container occupies the loading position when receiving the first ingredient from the loading hopper; the mixing container occupies the coating position when mixing the first ingredient with the second ingredient; the mixing container occupies the dumping position when dumping the first ingredient and the second ingredient into a serving container; the mixing container occupies the cleaning position when dumping any remaining second ingredient into a CIP dump bin.
  • a non-transitory computer readable storage medium storing instructions that when executed by a computer has a processor to perform a method for automated frying.
  • the method includes identifying a recipe associated with an order, wherein the recipe includes a first ingredient and fry instructions; causing a storage unit to dispense an amount of a first ingredient into a permeable container; causing a mobile cobot to affix the permeable container to a control unit associated with a fry unit based on the recipe; causing the control unit to provide the permeable container to the fry unit based on the fry instructions; and causing the mobile cobot to transfer the first ingredient from the fry unit to a coating station.
  • FIG. 1 is a perspective view of an automated frying system.
  • FIG. 2 is a block diagram of an operating environment for systems and methods for automated frying.
  • FIG. 3 is a process flow for automated frying.
  • FIG. 4 is an illustration of an example computer-readable medium or computer-readable device including processor-executable instructions.
  • FIG. 5 is a perspective view of a control unit and a fry unit for the automated frying system depicted in FIG. 1.
  • FIG. 6 is an exploded view a portion of the control unit depicted in FIG. 5.
  • FIG. 7 is a perspective view of a coating unit for the automated frying system depicted in FIG. 1 .
  • FIG. 8 is an exploded view of the coating unit depicted in FIG. 7.
  • FIG. 9 is a front view of the coating unit depicted in FIG. 7.
  • FIG. 10 is a side view of the coating unit depicted in FIG. 7.
  • an automated frying system 20 includes may refrigerated storage unit 22 to hold ingredients such as frozen fries, wings, nuggets, etc.
  • the refrigerated storage unit 22 is capable of automatically dispensing ingredients in precise amounts, based on the instructions associated with a recipe.
  • the automated frying system 20 further includes a control unit 26 that can be attached to any existing fry unit 28 to automatically perform tasks such as dipping a permeable container, such as a fryer basket 24, intermittently lifting the fryer basket 24 and tossing it to agitate the ingredients and indicating when the cooking is completed.
  • the automated frying system 20 further includes a coating unit 34 that is used to season the fried ingredients with a second ingredient such as dry rubs or spices or wet sauces.
  • the automated frying system 20 includes a Mobile Cobot (MOCO) 36 deployed in the layout that will navigate to each station in the automated frying system 20 to perform the necessary tasks and transfer the ingredients from one place to other.
  • MOCO Mobile Cobot
  • the control unit 26 may cause the fryer basket 24 to be placed in the frying unit 26.
  • the fryer basket 24 may be affixed and secured to the control unit 26 with airtight grip.
  • the control unit 26 receives a signal to dip the basket in the oil.
  • the fryer basket 24 is lifted intermittently during the cooking process. The dip and toss action are performed using a pneumatic assembly 40.
  • Bus refers to an interconnected architecture that is operably connected to other computer components inside a computer or between computers.
  • the bus can transfer data between the computer components.
  • the bus can be a memory bus, a memory processor, a peripheral bus, an external bus, a crossbar switch, and/or a local bus, among others.
  • Computer components refers to a computer-related entity (e.g., hardware, firmware, instructions in execution, combinations thereof).
  • Computer components may include, for example, a process running on a processor, a processor, an object, an executable, a thread of execution, and a computer.
  • a computer component(s) can reside within a process and/or thread.
  • a computer component can be localized on one computer and/or can be distributed between multiple computers.
  • Computer communication refers to a communication between two or more computing devices (e.g., computer, personal digital assistant, cellular telephone, network device) and can be, for example, a network transfer, a data transfer, a file transfer, an applet transfer, an email, a hypertext transfer protocol (HTTP) transfer, and so on.
  • computing devices e.g., computer, personal digital assistant, cellular telephone, network device
  • HTTP hypertext transfer protocol
  • a computer communication can occur across any type of wired or wireless system and/or network having any type of configuration, for example, a local area network (LAN), a personal area network (PAN), a wireless personal area network (WPAN), a wireless network (WAN), a wide area network (WAN), a metropolitan area network (MAN), a virtual private network (VPN), a cellular network, a token ring network, a point-to-point network, an ad hoc network, a mobile ad hoc network, among others.
  • LAN local area network
  • PAN personal area network
  • WPAN wireless personal area network
  • WAN wireless wide area network
  • MAN metropolitan area network
  • VPN virtual private network
  • Computer communication can utilize any type of wired, wireless, or network communication protocol including, but not limited to, Ethernet (e.g., IEEE 802.3), WiFi (e.g., IEEE 802.11 ), communications access for land mobiles (CALM), WiMax, Bluetooth, Zigbee, ultra-wideband (UWAB), multiple-input and multiple-output (MIMO), telecommunications and/or cellular network communication (e.g., SMS, MMS, 3G, 4G, LTE, 5G, GSM, CDMA, WAVE), satellite, dedicated short range communication (DSRC), among others.
  • Ethernet e.g., IEEE 802.3
  • WiFi e.g., IEEE 802.11
  • Communications Access e.g., WiMax
  • Bluetooth e.g., Zigbee, ultra-wideband (UWAB), multiple-input and multiple-output (MIMO), telecommunications and/or cellular network communication (e.g., SMS, MMS, 3G, 4G, LTE, 5G, GSM
  • Computer-readable medium refers to a non-transitory medium that stores instructions and/or data.
  • a computer-readable medium can take forms, including, but not limited to, non-volatile media, and volatile media.
  • Non-volatile media can include, for example, optical disks, magnetic disks, and so on.
  • Volatile media can include, for example, semiconductor memories, dynamic memory, and so on.
  • a computer-readable medium can include, but are not limited to, a floppy disk, a flexible disk, a hard disk, a magnetic tape, other magnetic medium, an ASIC, a CD, other optical medium, a RAM, a ROM, a memory chip or card, a memory stick, and other media from which a computer, a processor or other electronic device can read.
  • Database is used to refer to a table. In other examples, “database” can be used to refer to a set of tables. In still other examples, “database” can refer to a set of data stores and methods for accessing and/or manipulating those data stores.
  • a database can be stored, for example, at a disk and/or a memory.
  • Data store can be, for example, a magnetic disk drive, a solid-state disk drive, a floppy disk drive, a tape drive, a Zip drive, a flash memory card, and/or a memory stick.
  • the disk can be a CD-ROM (compact disk ROM), a CD recordable drive (CD-R drive), a CD rewritable drive (CD-RW drive), and/or a digital video ROM drive (DVD ROM).
  • the disk can store an operating system that controls or allocates resources of a computing device.
  • Display can include, but is not limited to, LED display panels, LCD display panels, CRT display, plasma display panels, touch screen displays, among others, that are often found on portable devices to display information.
  • the display can receive input (e.g., touch input, keyboard input, input from various other input devices, etc.) from a user.
  • I/O device can include devices for receiving input and/or devices for outputting data.
  • the input and/or output can be for controlling different features which include various components, systems, and subsystems.
  • the term “input device” includes, but it not limited to: keyboard, microphones, pointing and selection devices, cameras, imaging devices, video cards, displays, push buttons, rotary knobs, and the like.
  • the term “input device” additionally includes graphical input controls that take place within a user interface which can be displayed by various types of mechanisms such as software and hardware-based controls, interfaces, touch screens, touch pads or plug and play devices.
  • An “output device” includes, but is not limited to: display devices, and other devices for outputting information and functions.
  • Logic circuitry includes, but is not limited to, hardware, firmware, a non-transitory computer readable medium that stores instructions, instructions in execution on a machine, and/or to cause (e.g., execute) an action(s) from another logic circuitry, module, method and/or system.
  • Logic circuitry can include and/or be a part of a processor controlled by an algorithm, a discrete logic (e.g., ASIC), an analog circuit, a digital circuit, a programmed logic device, a memory device containing instructions, and so on.
  • Logic can include one or more gates, combinations of gates, or other circuit components. Where multiple logics are described, it can be possible to incorporate the multiple logics into one physical logic.
  • Non-volatile memory can include volatile memory and/or nonvolatile memory.
  • Non-volatile memory can include, for example, ROM (read only memory), PROM (programmable read only memory), EPROM (erasable PROM), and EEPROM (electrically erasable PROM).
  • Volatile memory can include, for example, RAM (random access memory), synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), and direct RAM bus RAM (DRRAM).
  • the memory can store an operating system that controls or allocates resources of a computing device.
  • Module includes, but is not limited to, non-transitory computer readable medium that stores instructions, instructions in execution on a machine, hardware, firmware, software in execution on a machine, and/or combinations of each to perform a function(s) or an action(s), and/or to cause a function or action from another module, method, and/or system.
  • a module can also include logic, a software-controlled microprocessor, a discrete logic circuit, an analog circuit, a digital circuit, a programmed logic device, a memory device containing executing instructions, logic gates, a combination of gates, and/or other circuit components. Multiple modules can be combined into one module and single modules can be distributed among multiple modules.
  • Operaable connection or a connection by which entities are “operably connected,” is one in which signals, physical communications, and/or logical communications can be sent and/or received.
  • An operable connection can include a wireless interface, a physical interface, an optical interface, a data interface, and/or an electrical interface.
  • Portable device is a computing device typically capable of computer communication.
  • the portable device may have a display screen with user input (e.g., touch, keyboard) and a processor for computing.
  • Portable devices include, but are not limited to, handheld devices, mobile devices, smart phones, laptops, tablets and e-readers.
  • a "portable device” could refer to a remote device that includes a processor for computing and/or a communication interface for receiving and transmitting data remotely.
  • the portable device may be a device for facilitating remote communication.
  • the portable device may be a key fob that remotely controls the security system including the door locks, alarms, etc.
  • processor processes signals and performs general computing and arithmetic functions. Signals processed by the processor can include digital signals, data signals, computer instructions, processor instructions, messages, a bit, a bit stream, that can be received, transmitted and/or detected. Generally, the processor can be a variety of various processors including multiple single and multicore processors and co-processors and other multiple single and multicore processor and co-processor architectures. The processor can include logic circuitry, such as a programmable logic controller, to execute actions and/or algorithms.
  • Robot system can include, but is not limited to, any automatic or manual systems that can be used to enhance the dish washing process.
  • exemplary robotic systems include, but are not limited to: an electronic mobility and stability control systems, visual devices (e.g., camera systems, proximity sensor systems), a temperature control system, a lighting system, an audio system, and a sensory system, among others.
  • User can include, but is not limited to, one or more biological beings.
  • the user can be the user of a portable device or wearable device.
  • the user can be a human (e.g., an adult, a child, an infant) or an animal (e.g., a pet, a dog, a cat).
  • FIG. 2 is a schematic diagram of an operating environment 100 for the frying system 20.
  • the components of the operating environment 100, as well as the components of other systems, hardware architectures, and software architectures discussed herein, may be combined, omitted, or organized into different architectures for various embodiments.
  • the operating environment 100 may be implemented with a device or remotely stored.
  • the operating environment 100 may include a computing device 104, a robotic device 106, and a remote system 108 that communicates via a network 110.
  • the computing device 104 includes a device processor 112, a device memory 114, a device data store 116, a position determination unit 118, and a communication interface 120, which are each operably connected for computer communication via a bus 122 and/or other wired and wireless technologies defined herein.
  • the computing device 104 can include provisions for processing, communicating, and interacting with various components of the operating environment 100.
  • the computing device 104 can be implemented with the robotic device 106, for example, as part of a telematics unit, a head unit, an electronic control unit, an on-board unit, or as part of a specific robotic system, among others.
  • the computing device 104 can be implemented remotely, for example, with a remote system 108 or a portable device (not shown) connected via the communications network 110.
  • the processor 112 can include logic circuitry with hardware, firmware, and software architecture frameworks for automated frying.
  • the processor 112 can store application frameworks, kernels, libraries, drivers, application program interfaces, among others, to execute and control hardware and functions discussed herein.
  • the processor 112 can include a dispensing module 124, a frying module 126, a coating module 128, and a serving module 130, although it is understood that the processor 112 can be configured into other architectures.
  • the device memory 114 and/or the device data store 116 can store similar components as the processor 112 for execution by the processor 112.
  • the modules of the processor 112 may access the position determination unit 118 via the bus 122.
  • the position determination unit 118 can include hardware (e.g., sensors) and software to determine and/or acquire position data about various components of the operating environment 100, such as the robotic device 106.
  • the position determination unit 118 can include a positioning system (not shown) and/or an inertial measurement unit (IMU) (not shown).
  • IMU inertial measurement unit
  • the position determination unit 118 can provide dead-reckoning data or motion data from, for example, a gyroscope, accelerometer, magnetometers, among other sensors, such as the robotic sensors 140.
  • the communication interface 120 can include software and hardware to facilitate data input and output between the components of the computing device 104 and other components of the operating environment 100.
  • the communication interface 120 can include network interface controllers (not shown) and other hardware and software that manages and/or monitors connections and controls bi-directional data transfer between the communication interface 120 and other components of the operating environment 100 using, for example, the communication network 110.
  • the robotic device 106 can include a robot processor 132, a robot memory 134, a robot communications system 136, robotic systems 138, and robotic sensors 140.
  • the robotic device 106 may include the automated frying system 20 in whole or in part, such as the control unit 26 and pneumatic assembly 40, the MOCO 36 and the coating unit 34 among others.
  • the robot processor 132, the robot memory 134, and the robot communications system 136 may be situated in one or more robotic arms or distributed among multiple components of the automated frying system 20.
  • the robotic systems 138 can include any type of robotic control system and/or component of the automated frying system 20 described herein to enhance the robotic device 106.
  • the robotic systems 138 can include measuring systems, electronic mobility control, electronic stability control, etc. As will be described, one or more of the robotic systems 138 can be controlled remotely according the systems and methods discussed herein.
  • the robotic sensors 140 can include various types of sensors for use with the robotic device 106 and/or the robotic systems 138 for detecting and/or sensing a parameter of the associated with the automated frying system 20.
  • the robotic sensors 140 can provide data about ingredients, recipes, tasks, and/or various components of the operating environment 100.
  • the robotic sensors 140 may include, but are not limited to: acceleration sensors, speed sensors, braking sensors, proximity sensors, load sensors and vision sensors, among others.
  • the robotic sensors 140 can be any type of sensor, for example, acoustic, electric, environmental, optical, imaging, light, pressure, force, thermal, temperature, and/or proximity, among others.
  • the remote system 108 may include a remote processor 142, a remote memory 144, and a remote communication system 146 that are configured to be in communication with one another.
  • the remote system 108 can receive and transmit information to and from the computing device 104 and/or the robotic device 106 including, but not limited to a debris threshold, cleaning criteria, etc.
  • the robotic devices of the automated frying system 20 can be controlled to perform automated frying tasks without human intervention.
  • Detailed embodiments describing exemplary methods using the system and network configuration discussed above will now be discussed in detail.
  • FIG. 3 a method 200 for automated frying will now be described according to an exemplary embodiment.
  • FIG. 3 will also be described with reference to FIGS. 1 and 2.
  • the method 200 will be described by the following steps, but it is understood that the elements of the method 200 can be organized into different architectures, blocks, stages, and/or processes.
  • the method 200 includes the computing device 104 identifying a recipe associated with an order.
  • the recipe may include a number of ingredients, such as a first ingredient and a second ingredient.
  • the recipe may also include instructions such as fry instructions and coating instructions.
  • the order identifies at least one food item to be prepared, served, and/or delivered by the automated frying system 20.
  • the order may be received from a user.
  • a user may submit the order remotely from or on-site.
  • the automated frying system 20 may be associated with a restaurant, storefront, kiosk, or vending system. Accordingly, an order may be made at the premises of the automated frying system 20, for example, via a digital menu.
  • At least one recipe is identified for the order based on the food items included in the order.
  • the recipes may be stored and identified in the device memory 114, the device data store 116, or the remote memory 144.
  • the recipes may be stored locally or remotely in a recipe database 154.
  • Receiving the order may cause querying the computing device 104, the remote system 108, or the recipe database 154 for the one or more recipes associated with the food items included in the order.
  • the computing device 104 is local to the robotic device 106 and the recipe is received from the remote system 108 via the network 110.
  • the recipe includes a set of instructions for preparing the at least one food item.
  • the recipe includes an exemplary set of instructions for a recipe for automated cooking, according to one aspect.
  • the set of instructions includes a number of steps, such as a first step, a second step, a third step, a fourth step, a fifth step, a sixth step, a seventh step, an eighth step, a ninth step, a tenth step.
  • the steps may include actions.
  • the actions include operations to be taken by the automated frying system 20 to facilitate preparation of the food item, for example, frying time, coating instructions, among others.
  • the steps may further include location of objects such as ingredients, containers, cookware, utensils, etc.
  • the method 200 includes the computing device 104, e.g., the dispensing module 124, causing the refrigerated storage unit 22 to dispense an amount of a first ingredient into the fryer basket 24.
  • the computing device 104 may determine an amount of the ingredient based on the volume, weight, specific gravity, time to dispense, etc.
  • Some recipes may provide a measurement that can be dispensed as recited by the recipe database 154.
  • some recipes may identify pre-programmed measurements of ingredients.
  • Other recipes may require conversion. For example, suppose that the set of instructions included in the recipe, describe a measurement in cups, while the automated frying system 20 functions in ounces.
  • the computing device 104 may access a conversion chart that allows the automated frying system 20 to translate recipes from third party sources to a recipe that can be performed by the computing device 104.
  • the recipe may call for one cup of granulated sugar; the computing device 104 may cause the MOCO 36 to collect 7.5 ounces. In this manner, the computing device 104 may translate the recipe to a measuring method that is actionable by the automated frying system 20.
  • the computing device 104 determines whether an ingredient is dispensed in the manner recited in the recipe according to the set of instructions or whether the amount of the ingredient will be converted to a measurement that is machine actionable by the automated frying system 20.
  • the automated frying system 20 may include the ingredient sensor as a pressure sensor to collect sensor data.
  • the computing device 104 may calculate a weight of the first ingredient based on the sensor data. Additionally, the computing device 104 may determine the first ingredient is dispensed based on the weight. In this manner, the computing device 104 may confirm that an ingredient has been dispensed. In some embodiments, the computing device 104 may transmit an ingredient signal to confirm that the ingredient was dispensed.
  • the computing device 104 may also determine a measurement associated with the ingredient based on a type of compartment of the storage unit. For example, suppose that the type of the compartment is based on a chute and auger system. The computing device 104 may determine the measurement as a number of turns of the auger. In another embodiment, the type of compartment may be the liquid dispenser that dispenses a liquid ingredient as an amount of time based on viscosity. For example, suppose that the recipe recites 1 tablespoon of honey. The dispensing module 124 may determine that the measurement for 1 tablespoon of honey is activating a liquid dispenser for 1.2 seconds.
  • the method 200 includes the computing device 104, e.g., the frying module 126, causing the MOCO 36 to affix a permeable container, e g., the fryer basket 24, to the control unit 26 associated with the fry unit 28 in response to receiving an ingredient signal from an ingredient sensor confirming that the first ingredient was dispensed, as discussed above.
  • the MOCO 36 may path plan in the kitchen environment based on dead reckoning data provided by the position determination unit 118.
  • the robotic device 106 may navigate the kitchen environment based on the robotic systems 138 and/or the robotic sensors 140. Accordingly, the MOCO 36 can determine the precise location of the cookware in the kitchen environment.
  • the MOCO 36 may execute a task in response to the measured portion of the ingredient being delivered to the fryer basket 24.
  • the MOCO 36 may execute the task associated with the recipe by utilizing the robotic systems 138 and/or the robotic sensors 140. In this manner, the MOCO 36 executes a task such as affixing the fryer basket 24 to the control unit 26.
  • the method 200 includes causing the control unit 26 to provide the fryer basket 24 to the fry unit 28 based on the fry instructions, such as the instructions from the recipe.
  • the computing device 104 e.g., the coating module 128 may cause the first ingredient to be coated with a seasoning or sauce.
  • the MOCO 36 may transfer the first ingredient to a mixing container, e.g., the first bin 656 or the second bin 658 described in further detail below.
  • a second ingredient e.g., a sauce or spice, may be dispensed to the mixing container.
  • the mixing container may be agitated according to coating instructions.
  • the method 200 includes the computing device 104, e.g., the serving module 130, causing the MOCO 36 to transfer the first fried and coated ingredient to a serving station 48.
  • the food item may be served to the user on a plate or in a container.
  • the food item may be delivered directly to the user on-site.
  • the food item may be delivered to the user using a conveyor.
  • the food item may also be delivered to the user who is located remotely from the frying system 20.
  • the order can be completed from order to delivery without human intervention including frying.
  • Still another aspect involves a computer-readable medium including processor-executable instructions configured to implement one aspect of the techniques presented herein.
  • An aspect of a computer-readable medium or a computer-readable device devised in these ways is illustrated in FIG. 4, wherein an implementation 300 includes a computer-readable medium 308, such as a CD-R, DVD-R, flash drive, a platter of a hard disk drive, etc., on which is encoded computer- readable data 306.
  • the processor-executable computer instructions 304 may be configured to perform a method 302, such as the method 200 of FIG. 3.
  • the processorexecutable computer instructions 304 may be configured to implement a system, such as the operating environment 100 of FIG. 2.
  • Many such computer-readable media may be devised by those of ordinary skill in the art that are configured to operate in accordance with the techniques presented herein.
  • the refrigerated storage unit 22 is capable of automatically dispensing ingredients in precise amounts to a dispensing area 52 located below the refrigerated storage unit 22.
  • the MOCO 36 can pick up one fryer basket 24 among a plurality of fryer baskets and place it beneath the refrigerated storage unit 22 within the dispensing area 52 to receive the dispensed ingredients as described in more detail above with reference to block 204 in FIG. 3.
  • the control unit 26 and the fry unit 28 are shown in more detail.
  • the fry unit 28 includes an oil reservoir 502 and can be otherwise be conventional. As such, further description of the fry unit 28 will be omitted for the sake of brevity.
  • the control unit 26 includes a housing 510 that houses internal components that will be described in more detail below.
  • a locking mechanism 512 can extend from the housing 510 and cooperate with a floor to inhibit movement of the control unit 26 with respect to the floor.
  • Pneumatic hoses 514 (depicted schematically) extend outwardly from the housing 510 and each connect with a respective pneumatic assembly 40.
  • the pneumatic assembly 40 cooperates with a base block 518, which includes an opening 520 visible in FIG. 6.
  • the opening 520 receives a correspondingly shaped block (not visible) connected with a handle portion 524 on the fryer basket 24.
  • the base block 518 includes through holes 526 that selectively receive pins 528 extending from a pin plate 534.
  • the fryer basket 24 is operatively connected with an ISO cylinder 536, which can be hydraulic or pneumatic, via a pedestal 538 fixed to a distal end of the ISO cylinder 536.
  • Operation of the ISO cylinder 536 e.g., linear movement of a piston with respect to a cylinder, can be controlled by the computing device 104, and more particularly the frying module 126.
  • the ISO cylinder 536 can be operated to place the fryer basket 24 into, to remove the fryer basket 24 from and to agitate the fryer basket 24 within the oil reservoir 502.
  • the pneumatic assembly 40 includes pneumatic cylinders 542 positioned within a casing 544.
  • the pneumatic cylinders 542 are connected with the pneumatic hoses 514 to drive pistons 546 connected with a piston plate 548 that connects with the pin plate 534.
  • Operation of pneumatic cylinders 542 can be controlled by the computing device 104, and more particularly the frying module 126.
  • the fryer basket 24 is fixed to the ISO cylinder 536 with the pins 528 extending through the through holes 526 and corresponding through holes in the correspondingly shaped block (not visible) connected with a handle portion 524 of the fryer basket 24.
  • the fryer basket 24 can be removed from the base block 518.
  • a gasket plate 562 covers a gasket 564 to provide protection for the ISO cylinder 536.
  • An internal frame structure 566 is provided within the housing 510 of the control unit 26.
  • FIGS. 7 - 10 depict the coating unit 34 in more detail.
  • the coating unit 34 includes a main frame structure 602 to provide support for various components.
  • a lid 636 covers the sauce and spice holding subassembly 624.
  • Each sauce bin 632 and each spice bin 634 can be associated with a respective load cell, which can electronically communicate a load signal with the computing device 104 to provide an indication of the volume of spices or sauces within the respective sauce bin 632 or spice bin 634.
  • An actuator 638 is associated with each spice bin 634.
  • the actuator 638 can be in electrical communication with the computing device 104, and more particularly the coating module 128, to receive signal instructions for operation.
  • each actuator 638 can open an outlet (not visible) to dispense a determined quantity of spices into spice chute 642, which is visible in FIG. 9.
  • the sauce dispensing pumps 612 can be in electrical communication with the computing device 104, and more particularly the coating module 128, to receive signal instructions for operation.
  • each sauce dispensing pump 612 which are in fluid communication with at least one of the sauce bins 632, can draw sauce from the respective sauce bin 632 and deliver the sauce to a sauce chute 644, which is visible in FIG. 9.
  • the coating unit 34 includes at least one loading hopper, which in the illustrated embodiment includes a first loading hopper 652 and a second loading hopper 654, attached to the main frame structure 602. Both the first loading hopper 652 and the second loading hopper 654 are open at the top and at the bottom such that items loaded into the top pass through the respective hopper and exit at the bottom.
  • the MOCO 36 can pick up one fryer basket 24 to remove the fried food from the oil reservoir 502 and dump the fried food into either the first loading hopper 652 or the second loading hopper 654.
  • the first loading hopper 652 is associated with the first bin 656 and the second loading hopper 654 is associated with the second bin 658, which is shown removed from the main frame structure 602 in FIG. 8.
  • the first bin 656 and the second bin 658 can rotate about a horizontal axis 662 among multiple positions including a loading position, a coating position, a dumping position and a cleaning position.
  • the first bin 656 is shown in the loading position in which the first bin 656 is positioned to receive food items passing through the first hopper 652.
  • the coating position is when the first bin 656 is aligned with the first spice chute 642 to receive spices passing through the first spice chute 642.
  • the dumping position is when the first bin 656 is aligned with a serving container (e.g., a plurality of serving buckets 664 are depicted in FIGS. 7 - 10) so as to dump the food items, which have now been coated with spices, into the serving bucket.
  • the cleaning position is when the first bin 656 is aligned with a first clean-in-place (CIP) dump bin 668, which is schematically depicted in FIG. 9.
  • CIP clean-in-place
  • the first bin 656 and the second bin 658 move in a counterclockwise direction from the loading position toward the coating position, then toward the dumping position, and then toward the cleaning position.
  • a rotary drive 672 e.g., a motor, connects with a second bin support 674 connected with the second bin 658.
  • the first bin 656 connects with a similar rotary drive (not visible) and a first bin support 676.
  • Each rotary drive 672 is in electrical communication with the computing device 104 to control operation to rotate each of the first bin 656 and the second bin 658 from the loading position toward the coating position, then toward the dumping position, and then toward the cleaning position, and then clockwise (per the orientation shown in FIG. 10) from the cleaning position back toward the loading position.
  • the first bin 656 also connects with a first rotational drive mechanism 680, e.g., a motor, which is also connected with the first bin support 676.
  • the second bin 658 connects with a second rotational drive mechanism 682, e.g., a motor, which is also connected with the second bin support 674.
  • the first rotational drive mechanism 680 and the second rotational drive mechanism 682 are in electrical communication with the computing device 104 to control operation to rotate each of the first bin 656 and the second bin 658, respectively, about respective axes that are perpendicular to the horizontal axis 662.
  • the computing device 104 can deliver an appropriate signal to the first rotational drive mechanism 680 to rotate the first bin 656 about what would be a generally vertical axis to coat the food item with spices.
  • the computing device 104 can deliver an appropriate signal to the second rotational drive mechanism 682 to rotate the second bin 658 about what would be a generally vertical axis to coat the food item with sauce.
  • the computing device 104 can deliver an appropriate signal to the first rotational drive mechanism 680 to rotate the first bin 656 and/or deliver an appropriate signal to the second rotational drive mechanism 682 to rotate the second bin 658 about what would be a generally vertical axis with each of the first bin 656 or the second bin 658 having its respective open end facing downward, which will be described in more detail below.
  • a serving base plate 690 mounts to the main frame structure 602 to provide a horizontal support surface for the serving buckets 664 having a prepared food item placed therein and can make up part of the serving station 48.
  • the serving base plate 690 includes a first opening 692 and a second opening 694.
  • a first suction mechanism 702 (FIG. 7) is extendable through the first opening 692 and a second suction mechanism 704 (FIG. 8) is extendable through the second opening 694.
  • Each of the first suction mechanism 702 and the second suction mechanism 704 is in electrical communication with the computing device 104 to control operation to selectively extend and retract a respective arm through the respective first opening 692 or second opening 694.
  • the first suction mechanism 702 can extend a respective arm through the first opening 692 to grasp, e.g., via suction, one of the serving buckets 664 held by a first serving bucket stacker 712.
  • the second suction mechanism 704 can extend a respective arm through the second opening 694 to grasp, e.g., via suction, one of the serving buckets 664 held by a second serving bucket stacker 714.
  • the coating unit 34 includes a first mount plate 722 operatively connected with a first linear drive mechanism 724.
  • the first mount plate 722 includes a first hole 726 to allow for the respective arm of the first suction mechanism 702 to extend through the first hole 726 when the first mount plate 722 is aligned beneath the first serving bucket stacker 712.
  • the coating unit 34 also includes a second mount plate 734 operatively connected with a second linear drive mechanism 736.
  • the second mount plate 734 includes a second hole 738 to allow for the respective arm of the second suction mechanism 704 to extend through the second hole 738 when the second mount plate 734 is aligned beneath the second serving bucket stacker 714.
  • Each of the first linear drive mechanism 724 and the second linear drive mechanism 736 is in electrical communication with the computing device 104 to control operation to selectively extend and retract a respective arm to move the first mount plate 722 and the second mount plate 734, respectively. Operation of the first linear drive mechanism 724 will be described in detail with the understanding that the second linear drive mechanism 736 can operate in a similar manner. Upon receiving appropriate signal instructions from the computing device 104, the first linear drive mechanism 724 can be moved to position the first mount plate 722 beneath the first serving bucket stacker 712.
  • the computing device 104 can then send instructions to the first suction mechanism 702, which can raise a respective arm through the first opening 726 in the first mount plate 722 to grasp one of the serving buckets 664 held by the first serving bucket stacker 712.
  • the computing device 104 can then send instructions to the first suction mechanism 702 to retract the arm bringing the serving bucket 664 in contact with the first mount plate 722.
  • the computing device 104 can then send instructions to the first linear drive mechanism 724 to move the first mount plate 722 toward the first bin 656.
  • the computing device 104 can then send instructions to the rotary drive (similar to the rotary drive 672 in FIG. 8) to dump the contents of the first bin 656 into the serving bucket 664 resting on the first mount plate 722.
  • the computing device 104 can then send instructions to the first linear drive mechanism 724 to move the first mount plate 722 away the first bin 656 so that the serving bucket 664 with the prepared food item therein can be grasped by an operator at the serving station 48.
  • the coating unit 34 includes the first CIP dump bin 668 associated with the first bin 656 and the second CIP dump bin 670 associated with the second bin 658. Operation of the second bin 658 associated with the second CIP dump bin 670 will be described in particularity with the understanding that the first bin 656 associated with the first CIP dump bin 668 will operate in a similar manner. After the second bin 658 has dumped the prepared food into one of the serving buckets 664, sauce may still reside in the second bin 658.
  • the computing device 104 can send instructions to the rotary drive 672 to rotate the second bin 658 from the dumping position to the cleaning position where the second bin 658 is generally disposed upside down with its open end facing toward the second CIP dump bin 670.
  • a water nozzle 750 and an air nozzle 752 can be positioned adjacent to or within the second CIP dump bin 670.
  • a water pump 754 which is in fluid communication with the water nozzle 750 and a water source such as a municipal water source, is in signal communication with the computing device 104.
  • An air pump 756, which is in fluid communication with the air nozzle 752, is in signal communication with the computing device 104.
  • the water pump 754 Upon receiving appropriate instructions from the computing device 104, the water pump 754 can be turned on to deliver water to the water nozzle 750, which can spray water into the second bin 658.
  • the air pump 756, upon receiving appropriate instructions from the computing device 104 can be turned on to deliver air to the air nozzle 752, which can direct air into the second bin 658.
  • a component may be, but is not limited to being, a process running on a processor, a processing unit, an object, an executable, a thread of execution, a program, or a computer.
  • a component may be, but is not limited to being, a process running on a processor, a processing unit, an object, an executable, a thread of execution, a program, or a computer.
  • an application running on a controller and the controller may be a component.
  • One or more components residing within a process or thread of execution and a component may be localized on one computer or distributed between two or more computers.
  • the claimed subject matter is implemented as a method, apparatus, or article of manufacture using standard programming or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a computer to implement the disclosed subject matter.
  • article of manufacture as used herein is intended to encompass a computer program accessible from any computer-readable device, carrier, or media.
  • Computer readable instructions may be distributed via computer readable media as will be discussed below.
  • Computer readable instructions may be implemented as program modules, such as functions, objects, Application Programming Interfaces (APIs), data structures, and the like, that perform one or more tasks or implement one or more abstract data types.
  • APIs Application Programming Interfaces
  • Computer readable media includes communication media.
  • Communication media typically embodies computer readable instructions or other data in a “modulated data signal” such as a carrier wave or other transport mechanism and includes any information delivery media.
  • modulated data signal includes a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.
  • first”, “second”, or the like are not intended to imply a temporal aspect, a spatial aspect, an ordering, etc. Rather, such terms are merely used as identifiers, names, etc. for features, elements, items, etc.
  • a first channel and a second channel generally correspond to channel A and channel B or two different or two identical channels or the same channel.
  • “comprising”, “comprises”, “including”, “includes”, or the like generally means comprising or including, but not limited to.

Landscapes

  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Frying-Pans Or Fryers (AREA)
  • General Preparation And Processing Of Foods (AREA)

Abstract

Un procédé de friture automatisé consiste à identifier une recette associée à une commande, la recette comprenant un premier ingrédient et des instructions de friture, et à amener une unité de stockage à distribuer une quantité d'un premier ingrédient dans un récipient perméable. Le procédé consiste en outre à amener un cobot mobile à fixer le récipient perméable à une unité de commande associée à une unité de friture sur la base de la recette, à amener l'unité de commande à fournir le contenant perméable à l'unité de friture sur la base des instructions de friture ; et à amener le cobot mobile à transférer le premier ingrédient à une unité d'enrobage.
PCT/US2023/075197 2022-09-29 2023-09-27 Friteuse automatisée Ceased WO2024073467A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202263411377P 2022-09-29 2022-09-29
US63/411,377 2022-09-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12285136B2 (en) 2023-07-22 2025-04-29 Dinemic Ventures LLC Automated cooking systems and methods of operating thereof

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Publication number Priority date Publication date Assignee Title
CN108354435A (zh) * 2017-01-23 2018-08-03 上海长膳智能科技有限公司 自动烹调设备与利用其进行烹调的方法
US20210030199A1 (en) * 2017-03-06 2021-02-04 Miso Robotics, Inc. Augmented reality-enhanced food preparation system and related methods
US11577401B2 (en) * 2018-11-07 2023-02-14 Miso Robotics, Inc. Modular robotic food preparation system and related methods
WO2021209885A1 (fr) * 2020-04-13 2021-10-21 Rebel Foods Private Limited Friteuse intelligente
US11882964B2 (en) * 2020-10-06 2024-01-30 Lab2Fab. LLC Automated frying system
US20230292957A1 (en) * 2022-02-03 2023-09-21 Miso Robotics, Inc. Automated food frying system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12285136B2 (en) 2023-07-22 2025-04-29 Dinemic Ventures LLC Automated cooking systems and methods of operating thereof

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