US 12,583,127 B2Granted

Interface system and/or method for refilling assembly systems

AssigneeChef Robotics, Inc.

InventorsClement Creusot, Rajeev Sarvaria, Luis Rayas, Rajat Bhageria, Xiaoyi Chen

Life of this patent

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Abstract

The method can include: receiving sensor measurements; maintaining an ingredient model for a foodstuff bin; determining a set of ingredient parameters; providing feedback based on the ingredient parameters; and/or any other suitable elements. The method can optionally include determining a refill event; and responding to a refill event. However, the method can additionally or alternatively include any other suitable elements. The method can function to facilitate automatic refill notifications at a human-machine interface (HMI) and/or can function to facilitate automatic control adjustments based on ingredient refill events. Additionally or alternatively, the method can function to facilitate provision of user feedback for key ingredient parameters, such as a remaining ingredient amount in a particular foodstuff bin, pick weight/volume statistics, via the HMI.

Claims22

Dependent claims

A method for a robotic foodstuff assembly system, comprising:

receiving sensor measurements from a sensor suite of the foodstuff assembly system, the sensor suite comprising:
a first and second force sensor configured to independently measure an uncalibrated weight of a first and second foodstuff bin, respectively;
and
a perception system, configured to sample images of a conveyor region and the first and second foodstuff bins;
maintaining a first and second ingredient model of bulk ingredients within the first and second foodstuff bins, respectively, based on sensor measurements received from the perception system;
autonomously controlling the robotic foodstuff assembly system to pick bulk ingredients from a target foodstuff bin, selected from the first and second foodstuff bins;
and
concurrently with controlling the robotic foodstuff assembly system:
estimating a gross ingredient parameter for each of the first and second foodstuff bins based on the first and second ingredient models, respectively;
and
determining a pick parameter based on the uncalibrated weight of the target foodstuff bin;
and
at a human-machine interface (HMI) of the foodstuff assembly system, providing feedback based on the gross ingredient parameter for each of the first and second foodstuff bins and the pick parameter.

10 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/124,451Filed 21 Mar 2023 · us provisional application
Priority: 21 Mar 2022
Published: US 2023/0294295 A121 Sep 2023
Granted: 24 Mar 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

B25J 9/1697
Characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor…:…
B25J 11/0045
Manipulators not otherwise provided for: manipulators used in the food industry
B25J 9/0093
Program-controlled manipulators: co-operating with conveyor means
B25J 9/1694
Program controls: characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception…