Multi-arm robotic system for cooking food products and method for using the same

Abstract

An automated cooking system, components thereof, and associated methods. The system can include a cooking station, a food storage station, at least one robotic arms, and a control system. The cooking station includes a fluid reservoir. The control system is programmed to selectively move at least a first of the robotic arms from the cooking station to the food storage station and vice-versa.

Description

MULTI-ARM ROBOTIC SYSTEM FOR COOKING FOOD PRODUCTS ANDMETHOD FOR USING THE SAMECROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of United States Provisional Application Serial Number 63 / 648,246 entitled “MULTI-ARM ROBOTIC SYSTEM FOR COOKING FOOD PRODUCTS AND METHOD FOR USING THE SAME”, filed May 16, 2024 - which is hereby incorporated herein by reference in its entirety, including all references cited therein.FIELD

[0002] The present disclosure relates in general to food preparation equipment, and, more particularly, to automated systems that prepare food in a cost-effective and reliable mannerBACKGROUND

[0003] As the popularity of takeouts and drive-thrus have increased, the need to prepare food in a more-efficient, convenient, and technologically-advanced manner has also increased.BRIEF SUMMARY

[0004] In one aspect, an automated cooking system for cooking food products is provided. In an example embodiment, the automated cooking system includes a cooking station, a food storage station, at least two robotic arms, and a control system. The cooking station includes a fluid reservoir. The control system is programmed to selectively move at least a first of the robotic arms from the cooking station to the food storage station and vice-versa, wherein each of the robotic arms is selectively substantially horizontally displaceable within a first plane and is selectively substantially vertically displaceable within a second plane.

[0005] In another aspect, an automated cooking system for cooking food products is provided. The automated cooking system includes a fluid reservoir, a storage station, and at least two robotic arms. The fluid reservoir is for selectively cooking food products, and the storage station is for temporarily storing cooked food products. The at least two robotic arms include at least a first robotic arm and a second robotic arm. The first robotic arm is selectively moveable substantially horizontally and is selectively moveable substantially vertically. The second robotic arm is selectively moveable independently of the first robotic arm.

[0006] Advantages will be apparent to those skilled in the art from the following description of embodiments which have been shown and described by way of illustration. The drawings and description are to be regarded as illustrative in nature and not as restrictive.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The Figures described below depict various aspects of the systems and methods disclosed therein. It should be understood that each Figure depicts an embodiment of at least a portion of a particular aspect of the disclosed systems and methods of use, and that each of the Figures is intended to accord with a possible embodiment thereof. Further, wherever possible, the following description refers to the reference numerals included in the following Figures, in which features depicted in multiple Figures are designated with consistent reference numerals.

[0008] There are shown in the drawings arrangements which are presently discussed, it being understood, however, that the present embodiments are not limited to the precise arrangements and are instrumentalities shown, wherein:

[0009] FIG. l is a front perspective view of an example automated cooking system.

[0010] FIG. 2 is another front perspective view of the example automated cooking system;

[0011] FIG. 3 is a perspective of a robotic system of the automated cooking system;

[0012] FIGS. 4-10 are front elevations of the automated cooking system showing robotic arms thereof in various positions and manipulating food baskets in example use cases;

[0013] FIG. 11 is an enlarged fragmentary front perspective of a robotic arm, a housing thereof removed to show internal components;

[0014] FIG. 12 is an enlarged fragmentary rear perspective of the robotic arm of FIG. 11 ;

[0015] FIG. 13 is a perspective of a basket of the automated cooking system;

[0016] FIG. 14 is an enlarged fragmentary front perspective of a gripper of a robotic arm approaching a handle of the basket;

[0017] FIG. 15 is an enlarged fragmentary rear perspective of the gripper and basket handle of FIG. 14;

[0018] FIG. 16 is an enlarged fragmentary front perspective of the gripper and basket handle with the gripper being shown gripping the basket handle;

[0019] FIG. 17 is an enlarged fragmentary rear perspective of the gripper and basket handle of FIG. 16;

[0020] FIG. 18 is a rear enlarged fragmentary elevation of the gripper shown in an open configuration;

[0021] FIG. 19 is a rear enlarged fragmentary elevation of the gripper shown in a gripping configuration;

[0022] FIG. 20 is a rear enlarged perspective of jaws of the gripper;

[0023] FIGS. 21-23 are enlarged fragmentary elevations of a robotic arm executing a basket dumping sequence;

[0024] FIGS. 24 and 25 are enlarged fragmentary perspectives of a basket dumping station including a basket pivot and cooking fluid diverter;

[0025] FIG. 26 is an enlarged fragmentary perspective of a food supply shuttle of the robotic system in front of a supply hopper;

[0026] FIG. 27 is an enlarged front perspective of the food supply shuttle

[0027] FIG. 28 is an enlarged front perspective of the food supply shuttle, a housing thereof removed to expose internal components;

[0028] FIG. 29 is an enlarged front perspective of a hub of the food supply shuttle;

[0029] FIG. 30 is an enlarged fragmentary rear perspective of a conveyor of the food supply shuttle removed from the hub;

[0030] FIG. 31 is a front elevation of another embodiment of an automated cooking system in which a horizontal track thereof is extended to the left to provide a parking station for the left robotic arm;

[0031] FIG. 32 is an enlarged fragmentary perspective of another embodiment of a basket dumping station having an alternative version of a basket pivot; and

[0032] FIG. 33 is a schematic of a control system of the automated food cooking system.

[0033] The Figures depict embodiments for purposes of illustration only. One skilled in the art will readily recognize from the following discussion that alternative embodiments of the systems and methods illustrated herein can be employed without departing from the scope of the present disclosure.DETAILED DESCRIPTION OF THE DRAWINGS

[0034] The present embodiments may relate to, inter alia, to cooking systems and, more particularly, to automated cooking systems technology. Described herein are automatedcooking systems that may be controlled via a control system. The control system may be coupled to, and / or include computing devices integrated therein and / or related computer systems. As described herein, all such control systems described herein include a processor and a memory (e.g., non-transitory computer-readable media). However, any processor in a computer device referred to herein may also refer to one or more processors that may be in one computing device or within a plurality of computing devices that are acting in parallel. Additionally, any memory in a computer device referred to herein may also refer to one or more memories, wherein the memories may be in one computing device or in a plurality of computing devices acting in parallel.

[0035] As used herein, a processor may include any programmable system including systems using micro-controllers, reduced instruction set circuits (RISC), applicationspecific integrated circuits (ASICs), logic circuits, and any other circuit or processor capable of executing the functions described herein. The above examples are examples only and are thus not intended to limit in any way the definition and / or meaning of the term “processor.”

[0036] As used herein, the term “database” may refer to either a body of data, a relational database management system (RDBMS), or to both. As used herein, a database may include any collection of data including hierarchical databases, relational databases, flat file databases, object-relational databases, object-oriented databases, and any other structured collection of records or data that is stored in a computer system. The above examples are examples only, and thus are not intended to limit in any way the definition and / or meaning of the term database. Example RDBMS include, but are not limited to only including, Oracle® Database, MySQL, IBM® DB2, Microsoft® SQL Server, Sybase®, and PostgreSQL. However, any database may be used that enables the control systems and / or the methods of use described herein. (Oracle is a registered trademark of Oracle Corporation, Redwood Shores, California; IBM is a registered trademark of International Business Machines Corporation, Armonk, New York; Microsoft is a registered trademark of Microsoft Corporation, Redmond, Washington; and Sybase is aregistered trademark of Sybase, Dublin, California.)

[0037] In one embodiment, a control system is provided that includes an articulation program that is embodied on a computer-readable medium. In an example embodiment, the system is executed on a single computer system, without requiring a connection to a server computer. In a further example embodiment, the system is being run in a Windows® environment (Windows is a registered trademark of Microsoft Corporation, Redmond, Washington). In yet another embodiment, the system is run on a mainframe environment and a UNIX® server environment (UNIX is a registered trademark of X / Open Company Limited located in Reading, Berkshire, United Kingdom). In a further embodiment, the system is run on an iOS® environment (iOS is a registered trademark of Cisco Systems, Inc. located in San Jose, CA). In yet a further embodiment, the system is run on a Mac OS® environment (Mac OS is a registered trademark of Apple Inc. located in Cupertino, CA). In still yet a further embodiment, the system is run on Android® OS (Android is a registered trademark of Google, Inc. of Mountain View, CA). In another embodiment, the system is run on Linux® OS (Linux is a registered trademark of Linus Torvalds of Boston, MA). The application is flexible and designed to run in various different environments without compromising any major functionality.

[0038] In some embodiments, the system includes multiple components distributed among a plurality of computer devices. One or more components may be in the form of computer-executable instructions embodied in a computer-readable medium. The systems and processes are not limited to the specific embodiments described herein. In addition, components of each system and each process can be practiced independent and separate from other components and processes described herein. Each component and process can also be used in combination with other assembly packages and processes. The present embodiments may enhance the functionality and functioning of computers and / or computer systems.

[0039] As used herein, an element or step recited in the singular and proceeded with the word “a” or “an” should be understood as not excluding plural elements or steps, unlesssuch exclusion is explicitly recited. Furthermore, references to “example embodiment” or to “one embodiment” of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0040] As used herein, the terms “software” and “firmware” are interchangeable, and include any computer program stored in memory for execution by a processor, including RAM memory, ROM memory, EPROM memory, EEPROM memory, and non-volatile RAM (NVRAM) memory. The above memory types are example only, and are thus not limiting as to the types of memory usable for storage of a computer program.

[0041] Furthermore, as used herein, the term “real-time” refers to at least one of the time of occurrence of the associated events, the time of measurement and collection of predetermined data, the time to process the data, and the time of a system response to the events and the environment. In the embodiments described herein, these activities and events occur substantially instantaneously.

[0042] The systems and processes are not limited to the specific embodiments described herein. In addition, components of each system and each process can be practiced independently and separate from other components and processes described herein. Each component and process also can be used in combination with other assembly packages and processes.

[0043] As used herein, the term “non-transitory computer-readable media” is intended to be representative of any tangible computer-based device implemented in any method of technology for short-term and long-term storage of information, such as, computer- readable instructions, data structures, program modules and sub-modules, or other data in any device. Therefore, the methods described herein may be encoded as executable instructions embodied in a tangible, non-transitory, computer-readable medium, including, without limitation, a storage device and / or a memory device. Such instructions, when executed by a processor, cause the processor to perform at least a portion of the methodsdescribed herein. Moreover, as used herein, the term “non-transitory computer-readable media” includes all tangible, computer-readable media, including, without limitation, non- transitory computer storage devices, including without limitation, volatile and non-volatile media, and removable and non-removable media such as firmware, physical and virtual storage, CD-ROMS, DVDs, and any other digital source such as a network or the Internet, as well as yet to be developed digital means, with the sole exception being transitory, propagating signal.

[0044] The processor may execute computer-executable instructions for implementing aspects of this disclosure. In some embodiments, the processor is transformed into a special purpose microprocessor by executing computer-executable instructions or by otherwise being programmed.

[0045] The processor may also be operatively coupled to a storage device. The storage device may be any computer-operated hardware suitable for storing and / or retrieving data. In some embodiments, the storage device is integrated in a server system. In other embodiments, the storage device is external to the server system and is similar to a database. For example, the server system may include one or more hard disk drives as storage device. In other embodiments, the storage device may include multiple storage units such as hard disks or solid-state disks in a redundant array of inexpensive disks (RAID) configuration. The storage device may include a storage area network (SAN) and / or a network attached storage (NAS) system. The storage device may include, for example, an Advanced Technology Attachment (ATA) adapter, a Serial ATA (SATA) adapter, a Small Computer System Interface (SCSI) adapter, a RAID controller, a SAN adapter, a network adapter, and / or any component that provides the processor with access to the storage device.

[0046] The patent claims at the end of this document are not intended to be construed under 35 U.S.C. § 112(f) unless traditional means-plus-function language is expressly recited, such as, but not limited to, “means for” or “step for” language being expressly recited in the claim(s).

[0047] The implementations described herein relate to systems and methods for automated cooking of food products and, more specifically, in the example embodiments, to automatically transporting foods to be cooked to a cooking station, cooking the foods in the cooking station, transporting the cooked foods from the cooking station to the food storage station after the food has been at the cooking station for a pre-determined amount of time, and tracking the movement of all components used in the automated cooking station. Example embodiments of automated cooking systems and processes that facilitate cooking food in an accurate, reliable, efficient, and repeatable manner, are described herein. In particular, in the example embodiments, a control system accurately controls and tracks movement of at least two robotic arms, and associated equipment. The systems and processes are not limited to the specific embodiments described herein, but rather, components of each system and each process can be practiced independently and separately from other components and processes described herein. Each component and process can also be used in combination with other components and processes.

[0048] At least one of the technical problems addressed by this automated cooking system may include: (i) controlling movement of at least two robotic arms to enable automated cooking of food products; (ii) controlling movement of at least two robotic arms to automatically transport foods to be cooked to a cooking station; (iii) controlling movement of at least two robotic arms to facilitate cooking the foods in the cooking station; (iv) transporting the cooked foods from the cooking station to the food storage station after the food has been at the cooking station for a pre-determined amount of time, and (v) tracking the movement of at least two robotic arms and all associated components used in the automated cooking station accurately in real time.

[0049] Various embodiments will be better understood when read in conjunction with the appended drawings. To the extent that the figures illustrate the functional blocks of various embodiments, the functional blocks are not necessarily indicative of a division between hardware circuitries. Thus, for example, one or more of the functional blocks (e.g., systems, devices, processors, controllers, and / or memories) may be implemented in asingle piece of hardware (e.g., a general-purpose signal processor or random-access memory, hard disk, or the like) or in multiple pieces of hardware. Similarly, any program may be a stand-alone program, may be incorporated as subroutines in an operating system, may be a function(s) in an installed software package, and / or the like. It should be understood that the various embodiments are not limited to the arrangements and instrumentality shown in the drawings.

[0050] Referring now to the drawings, and to FIGS. 1-2, an example embodiment of an automated cooking system 20 is illustrated. In the example embodiment, the automated cooking system 20 includes a plurality of food preparation apparatus and a robotics system 21. The food preparation apparatus includes a supply hopper 30, a fryer 32 (broadly, food cooking apparatus), and a cooked food holder 34. Referring to FIG. 3, where the robotic system is shown by itself, the robotic system generally includes a food supply shuttle 36, first and second robotic arms 40, and a basket pivot 44 to facilitate dumping baskets 46 of cooked food. The supply shuttle 36 and robotic arms 40 are configured to automatically transfer food from the supply hopper 30 to the fryer 32, and the robotic arms and basket pivot 44 are configured to transfer the cooked food to the food holder 34.

[0051] In the example embodiment, the robotic system is intended to be a retrofit system configured for installation in a freestanding manner with respect to at least some of the food preparation apparatus, such as supply hopper 30 and fryer 32. In the example embodiment, the supply hopper 30 and fryer 32 are self-contained units that may be preexisting in the commercial kitchen. Referring to FIG. 3, the robotic system includes a frame 50 configured to straddle the fryer 32. The frame has a base including two legs 52 (each having two feet) spaced from each other to define a fryer receiving space therebetween. When the frame 50 is installed, the legs 52 are located to the left and right sides, respectively, of the fryer 32. The right leg is located to the left of the supply hopper 30. The food supply shuttle 36 is connected to the right leg 52 and cantilevers in front of the supply hopper 30. The frame includes a platform 54 supported by the left leg configured to carry the food holder 34. The frame also includes a rack 60 extendingbetween the legs and supporting a horizontal track 62 on which the two robotic arms 40 are moveable to the left and right. A user interface 64 is mounted on the left side of the rack. The basket pivot 44 and a cooking fluid diverter 66 are connected to the left leg 52. It will be appreciated that the robotic system can be implemented as an integrated system with respect to the food preparation apparatus (e.g., in which one or more components of the robotic system are coupled to, joined with, or connected with, the food preparation apparatus) without departing from the scope of the present disclosure.

[0052] The robotic system is arranged with respect to the food preparation apparatus to define a plurality of stations through which food is moveable in the automated food cooking system. As indicated in FIG. 4, food is supplied at a food supply station 70 from the supply hopper 30, transferred from the food supply station to a food pickup station 72 between the supply hopper and fryer 32, transferred from the food pickup station to a food cooking station 74 including the fryer, transferred from the food cooking station to a food dumping station 76 including the basket pivot 44, and finally transferred from the food dump station to a food holding station 78 including the food holder 34. In some embodiments, the food dumping station is part of the cooked food holding station or may be considered part of the cooked food holding station. In alternative embodiments, in addition to or in the alternative, the automated cooking system 20 may include, but is not limited to only including, additional stations and / or food preparation components, such as a packaging station and / or a rinse station, for example. Moreover, in alternative embodiments, the automated cooking station 20 does not include the supply hopper 30.

[0053] In the example embodiment, the supply hopper 30 is removable from the automated cooking system 20. As such, supply hopper 30 may be selectively removed from the cooking system 20 to facilitate cleaning, maintenance, and / or reconfiguration of cooking system 20, for example. Moreover, in the example embodiment, automated cooking system 20 is operable without the inclusion of supply hopper 30. As described in more detail below with respect to FIGS. 26-30, the supply shuttle 36 includes a removable conveyor 80 to permit ingress and / or egress of the supply hopper 30 into the cookingsystem 20 and / or more free access to the supply hopper in its installed position for easier cleaning or maintenance, etc.

[0054] Supply hopper 30 is sized to contain a food product to be cooked via automated cooking system 20. For example, in some embodiments, supply hopper 30 may contain French fries, onion rings, chicken nuggets, fish or chicken filets or patties, corn dogs, shrimp, donuts, pickles, cheese curds, and / or any other food product that may be cooked via automated cooking system 20. Moreover, in the example embodiment, supply hopper 30 contains food that is frozen and / or that has been recently removed from a freezer. In other embodiments, the supply hopper may be refrigerated and / or temperature controlled. In further embodiments, the supply hopper 30 contains fresh (i.e., non-frozen) food products.

[0055] In the example embodiment, the supply hopper 30 is sized to contain a predetermined volume of food products. For example, in one embodiment, the supply hopper 30 contains enough food products to ensure that during pre-determined periods of the day, such as, but not limited to, breakfast hours, lunch to mid-day hours, and / or early evening to dinner hours, the automated cooking system 20 is continuously supplied with enough food products to enable enough food products to be cooked to meet anticipated consumer demands.

[0056] In the example embodiment, the supply hopper 32 includes an upper food intake, a lower food discharge, and a food storage reservoir therebetween. In the example embodiment, food products are manually input into supply hopper 30. In alternative embodiments, supply hopper 30 may be coupled to a food supply device that is programmed to cooperate with automatic cooking system 20 and that automatically dispenses food to be cooked into the supply hopper 30 as needed.

[0057] In the example embodiment, the supply hopper 30 is automated and includes at least one sensor that enables a volume of food contained within the supply hopper 30 to be monitored remotely in real-time. In alternative embodiments, at least a portion of thesupply hopper functionality is not automated, and in such embodiments, the supply hopper 30 may include a sight glass window that enables a user to visually determine a volume level of food products contained within the supply hopper 30.

[0058] Food products dispensed from supply hopper 30 fall into food baskets 46 that are sized to hold a pre-determined volume of food products. In the example embodiment, the dispensing of food products from the supply hopper 30 into the food baskets is automated. In other embodiments, a user may load the food products into the food baskets manually.

[0059] Referring to FIG. 13, an example food basket 46 (broadly, container) includes a basket body 84 comprising a frame 84A and mesh or screen walls 84B defining a compartment for receiving food to be carried by the basket. The basket 46 includes a handle 86 connected to the basket body by a handle bracket. The handle extends distally from the handle bracket away from the basket body to a free end of the handle. The handle 86 includes a generally cylindrical handle body including a cylindrical proximal handle portion 86A and a cylindrical distal portion 86B. The handle has an annular groove 86C (broadly, recess) between the proximal and distal portions. The annular groove 86C includes angled side walls (broadly, ramps) converging or tapering toward each other as they extend toward a base between the side walls. The handle 86 is configured to be grasped by a hand of a user but is also customized for securely interfacing with grippers 90 of the first and second robotic arms 20, as explained in further detail below.

[0060] In the example embodiment, the robotic system includes the food supply shuttle 36 for moving one or more food baskets 46 from the supply hopper 30 to the pickup station 72. The food supply shuttle 36 includes the conveyor 80, which has a basket holder 92 including two basket cradles 92A moveable by the conveyor back-and-forth between the food discharge of the supply hopper 30 and the pickup station 72. In the example embodiment, the basket holder 92 is sized to hold two food baskets in a side-by-side relationship beneath the food discharge of the supply hopper 30. Alternatively, the basket holder may be sized to hold more or less than two food baskets, including one or three or more, for example, food baskets, depending on the size and design of the supply hopper 30and the overall size and functionality of the automated cooking system 20.

[0061] In the example embodiment, the food products to be cooked are intended to be fried. Accordingly, in the example embodiment, the cooking station 74 includes a fluid reservoir 100 that is sized to contain a pre-determined amount of cooking fluid, such as, but not limited to, cooking oil, broth, water, tallow, and / or stock. The fluid reservoir 100 may be sized with any dimensions that enable the automated cooking system 20 to function as described herein. In the example embodiment, the cooking station 30 includes a pair of fluid reservoirs 100 that are positioned adjacent to each other and that are each sized to receive two food baskets 46 side-by-side therein such that the food products that are contained in the food baskets may be completely immersed in the cooking fluid. The multiple fluid reservoirs enable a plurality of food baskets containing food product to be immersed within the cooking fluid simultaneously and at different temperatures in the different reservoirs. In alternative embodiments, the cooking station 74 may include more or less than two fluid reservoirs. For example, in one alternative embodiment, the automated cooking system includes six fluid reservoirs.

[0062] In the example embodiment, the cooking station 74 includes a plurality of sensors that enable the level of the cooking fluid within the fluid reservoir 100 to be accurately determined and monitored in real-time. In addition, in the example embodiment, the automated cooking system 20 monitors an amount of time that a food product is immersed, i.e., cooking, within the fluid reservoir.

[0063] The cooked food holder 34 is located on an opposite side of the food cooking station 74 relative to the supply hopper 30. More specifically, in the example embodiment, the food holding station is to the left of the food cooking station. In the example embodiment, the food holding station includes a heated storage basin 102 that is sized to receive and contain food product therein that was cooked at the cooking station 74.

[0064] In the example embodiment, the dumping station 76 is positioned between the food storage station 78 and the cooking station 74. As shown in FIGS. 24 and 25, in theexample embodiment, the dumping station 76 comprises the basket pivot 44. The basket pivot is removably coupled to the frame 50 of the robotic system between the storage station and the cooking station. As shown in FIGS. 24 and 25, the basket pivot 44 includes a rod 110 connected to the frame by a mount 112. The rod cantilevers from the mount. The rod extends from a proximal portion connected to the mount to a distal portion defining a free end of the rod. The mount can be secured to the frame by fasteners or other suitable means. The rod 110 is received in a receiver of the mount 112 and retained in the mount by a ball detent pin 114 extending in an annular groove in the proximal portion of the rod. The arrangement is such that the rod 1 10 (broadly, basket pivot 44) is permitted to spin in the receiver of the mount and functions as a roller. Alternatively, a tube can be provided over the rod to function as a roller. In the example embodiment, the rod and / or roller (broadly, basket pivot) is removable without requiring tools, such as by merely removing the pin 114 and pulling the rod from the receiver. Removal of the rod facilitates cleaning of the rod and / or roller and other components surrounding the dump station. In an alternative embodiment, the basket pivot is securely coupled in a fixed relationship within the automated cooking system 20 and is not rotatable. Moreover, in another alternative embodiment, the dumping station may be any other component, other than a basket pivot, that enables the automated cooking system 20 to function as described herein. In the example embodiment, the basket pivot 44 is spaced above the fryer and food holder, and the dump station includes a cooking fluid deflector 122 under the basket pivot. The cooking fluid deflector 122 comprises a peak 122A and slides 122B extending downward from opposite sides of the peak to direct falling cooking fluid back to the cooking station or to the holding station. For example, the cooking fluid deflector 122 can be formed by bending a piece of sheet metal to form the peak and slides. The location of the basket pivot 44 above the food holding station, cooking station, and cooking fluid diverter therebetween, enables the basket pivot to contact food baskets to at least partially rotate and / or invert the food baskets relative to the basket pivot and cause dumping of the food into the food holding station. The rotation and / or inversion causes any food products, i.e., cooked food products being transferred from the cooking station, to fall and be dispensedfrom the food basket into the food storage station. Cooked food products dispensed from the food basket are contained within the storage basin 102 for storage until gathered for serving to a customer, for example.

[0065] The rotatable basket pivot 44 facilitates pivoting food baskets 46 about the basket pivot to dump the food. In the example embodiment, when a food basket contacts the dumping station basket pivot 44 as it is being transported as described herein, the rotation of the basket pivot facilitates reducing stresses that may be induced to the food basket from the contact between the dumping station and the food basket, as compared to the amount of stresses that may be induced with other types of dumping stations, including those that use a fixed plate to induce the dumping of the food baskets. In addition, the rotation of the basket pivot 44 also facilitates causing the food basket to invert, such that any contents within the food basket are evacuated. Moreover, the rotation of the dumping basket pivot 44 also facilitates reducing an amount of wear induced to the dumping station and / or to the food baskets.

[0066] Referring to FIG. 32, an alternative embodiment of a basket pivot 44' at a food dumping station between a food cooking station and a food holding station is shown as including a roller that is supported at its opposite ends rather than being cantilevered. The opposite ends of the roller 44' are pivotably connected to respective upstanding brackets 130 that permit the roller to rotate responsive to engagement of the basket 46 with the roller.

[0067] The automated cooking system 20 includes the pair of robotic arms 40, but other numbers of arms can be used. In an alternative embodiment, the automated cooking system 20 includes one robotic arm, or more than two robotic arms. For example, in an alternative embodiment, the automated cooking system 20 includes six robotic arms. More specifically, in the example embodiment, arms 40 are substantially identical. Alternatively, arms 40 may be different. Furthermore, arms 40 may be programmed to perform different tasks or functionality simultaneously and independently. In the example embodiment, arms 40 are capable of working and moving independently and simultaneously as describedherein. Alternatively, arms 40 may each be programmed (i.e., each programmed to function as a back-up for the other robotic arm) substantially identically such that if one arm 40 becomes inactive, due to maintenance, damage, or during idle or non-peak customer demand times, for example, the automated cooking system 20 is capable of performing with a high efficiency using the other arm 40 (i.e., in such an embodiment, arms provide a redundancy). In the example embodiment, each arm 40 is capable of being selectively moved substantially vertically relative to the automated cooking system 20, and / or is capable of being moved substantially horizontally relative to the automated cooking system 20. More specifically, each arm 40, as described in more detail below, is capable of being selectively moved across substantially the full width of the automated cooking system 20.

[0068] Referring to FIGS. 11 and 12, a drive system for the left arm 40 will be described with the understanding the drive system for the right arm is essentially the same. The horizontal track 62 includes a rail along which the arms 40 are moveable. The arm includes a horizontal drive prime mover 132 (e.g., motor) operatively coupled to a horizontal drive gear 134 in mesh with a rack 136 extending along the length of the track. The prime mover 132 is responsive to the control system (described further below) to turn the drive gear 134 to move the arm 40 left / right along the track. Moreover, each arm 40 includes a vertical drive prime mover 140 (e.g., motor) operatively coupled to a vertical drive gear 142 in mesh with a vertical rack 144 for extending the arm upward / downward with respect to the horizontal track 62. Rotation of the vertical drive gear 142 causes the rack 144 and thus a gripper 90 of the arm to move up / down. The control system receives data from the prime movers to indicate a status of the arm along the horizontal track and a status of the arm regarding extension below the horizontal track.

[0069] Referring to FIGS. 18-20, each arm 40 includes the gripper 90 at a lower end thereof, and the gripper comprises first and second jaws 160. In the example embodiment, each gripper 90 is identical and each includes a pair of gripping jaws 160. In alternative embodiments, any other coupling member, other than gripping jaws 160 and / or gripper 90 may be used provided that coupling member facilitates the automated cooking system 20functioning as described herein. In one embodiment, one gripping jaw 160 remains stationary and the second gripping jaw 160 is selectively moveable from a closed position to an open position, and vice-versa. In the example embodiment, gripping jaws 160 cooperate and all of the gripping jaws 160 are selectively moveable from a closed position to an open position, and vice-versa. As shown in FIG. 18, the gripper 90 includes a cam arrangement configured to drive opening and closing movement of the jaws 160. The cam arrangement includes cams 162 on proximal ends of the jaws defining respective cam follower tracks 164. The gripper drive comprises a gripper prime mover 166 (e.g., motor) configured to drive linear upward and downward movement of a cam follower 168. Upward movement of the cam follower 168 drives closing movement of the jaws 160, and downward movement of the cam follower drives opening movement of the jaws. In FIG. 18, the cam follower is in opening segments of the cam tracks 164 to position the jaws 160 in open positions such that the gripper 90 is in an open configuration. In FIG. 19, the cam follower 168 is in grip locking segments of the cam tracks to position the jaws in gripping positions to grip the basket handle and "lock" the grip by preventing outward movement of the jaws tending to open the gripper. Relative to FIG. 19, the cam follower 168 can be moved upward toward the upper ends of the cam follower tracks 164 into reference segments of the cam follower tracks which causes the jaws to move closer to each other into a reference configuration of the gripper. Above the gripper prime mover 166, a shaft 170 extends upwardly to a free end which is moveable in a space between two transmitter / receiver beam sensors 172, 174. When the cam follower 168 is lowered to open the gripper 90, the upper end of the shaft 170 is below both sensors 172, 174. The control system interprets the sensor feedback (no presence of shaft 170) as indicating the gripper 90 is open. When the cam follower 168 is moved upward to close the jaws to grasp a basket handle, if the basket handle is successfully located between the jaws and gripped, the upper end of the shaft 170 stops its upward movement in registration with the first (lower) beam sensor 172. The control system interprets such sensor data as indicating a basket is properly gripped by the gripper. If the basket handle is missed such that the cam follower is raised sufficiently to bring the jaws closer together than would be permittedwith a basket handle in the gripper (to a "reference" configuration of the gripper 90), the upper end of the shaft 170 will stop its upward movement in registration with the second (upper) beam sensor 174. The control system interprets such sensor data as indicating no basket 46 is gripped by the gripper 90, such that an attempt to grip the basket was unsuccessful. Such sensor data can be treated as a signal the robotic arm is malfunctioning or disabled, or that a basket was not located where expected.

[0070] In the example embodiment, each gripper 90 is configured to support the food basket 46 in an upstanding orientation from only one side of the food basket (the handle side) while permitting the food basket to rotate in the gripper. As shown in FIGS. 14-17, in the example embodiment, each jaw 160 includes a locator 190 (e.g., detent or stop) that is sized to be at least partially inserted within the recess or annular groove in the basket handle. If the gripper 90 is slightly out of registration with respect to the basket handle as the jaws 160 are closing on the handle, the locators 190 ride on the tapered side walls of the annular groove 86C to move the handle into better registration with the jaws as the locators come to rest in the valley of the annular groove. When the jaws 160 are in gripping configuration around the basket handle 86, the locators function as stops to prevent the basket handle from sliding out of the gripper 90. The fit of the locators 190 in the annular grooves 86C permits rotational movement of the basket handle in the cavity between the jaws of the gripper, which is useful for permitting the basket 46 to rotate at the dump station to dump cooked food to the holding station. To further facilitate rotational movement of the basket handle in the gripper, the jaws each include four bearings 192 (e.g., rollers) that surround the gripper cavity and form the primary contact points of the gripper with the basket handle. Each jaw 160 includes two bearings 192 on a first side of the jaw for contacting the cylindrical proximal portion 86A of the basket handle and includes two bearings 192 on a second side of the jaw for contacting the cylindrical distal portion 86B of the basket handle. The arrangement is such that the gripper 90 engages the basket handle proximally from the annular groove 86C with a plurality of bearings 192 (e.g., four) and distally from the annular groove with a plurality of bearings (e.g., four) to provide a stable connection to the handle that fully supports the weight of the basket and food therein yetpermits free rotation of the basket handle in the gripper to facilitate dumping at the dump station. The bearings 192 define engagement surfaces of the gripper that are spaced axially with respect to the basket handle on opposite axial sides of the annular groove to support the basket against sagging. The gripper 90 includes a block 196 that prevents rotation of the basket 46 in a direction opposite the dumping direction. For example, the block 196 is useful to prevent swinging of the basket in the gripper after the basket has dumped and is returned to its upstanding orientation. In alternative embodiments, gripper may include any other mechanical device that enables rotation of a component relative to the gripper when the component is secured within the gripper via the gripping jaws.

[0071] The design of the gripper 90 and gripping jaws 160 enables each robotic arm 40 to grasp each food basket 46 along only one side of the basket and more specifically, only using the handle extending from the food basket. More specifically, within the automated cooking system 20, unlike at least some known automated cooking systems, the food baskets within automated cooking system 20 are only supported on only one end of each basket by the robotic arms.

[0072] In one aspect, as will now be described with reference to FIGS. 26-30, the conveyor 80 of the food supply shuttle 36 is removable to permit ingress / egress of the supply hopper 30 and / or to facilitate free access to the supply hopper for cleaning or maintenance. As shown in FIG. 26, when the supply hopper 30 is in its installed position, the conveyor of the food supply shuttle extends in front of the discharge of the supply hopper for collecting food in baskets moved by the shuttle. The shuttle 36 includes a hub portion 200 secured (e.g., fastened) to the right leg of the robotic system frame, and the conveyor 80 is removable from the hub portion. The hub portion includes mounting structure that supports the shuttle prime mover 202, a drive gear 204 driven by the shuttle prime mover, and a conveyor receiver 206. The conveyor 80 includes a track 208 along which a basket holder mount 210 is moveable. The conveyor 80 includes a belt drive comprising first and second pulleys 212 and a belt 214 extending therebetween. The first pulley is conjointly rotatable with a driven gear 216 in mesh with the drive gear 204. Theconveyor 80 further includes a tongue 220 (broadly, connector) that is formed to mate with a receiver 222 of the hub portion. Mating of the tongue 220 with the receiver 222 forms a connection that supports the conveyor 80 with respect to the hub portion 200. When the tongue 220 is seated in the receiver 222, the driven gear 216 is in mesh with the drive gear 204. A ball detent pin 226 (FIG. 29) passes through openings in the conveyor 80 and hub 200 to retain the connection. To conveyor can be removed from the hub without tools by removing the ball detent pin 226 and pulling the conveyor away from the hub to withdraw the tongue 220 from the receiver 222, which causes the driven gear 216 to disengage and separate from the drive gear 204 as the driven gear is removed as part of the conveyor. Accordingly, the conveyor 80 that cantilevers in front of the supply hopper is easily removable without tools.

[0073] In the example embodiment, the automated cooking system 20 also includes a control system 300 and an associated control panel 64 that controls operation of the automated cooking system 20, including selective movement of the robotic arms 40, and selective movement of the gripper 90 associated with each arm. More specifically, FIG. 33 is a system block diagram that schematically illustrates the automated cooking system 20 as described herein. In the example embodiment, the control system 300 may be coupled via an example network 304 (e.g., including interconnections electronics 306 such as wired or wireless connections, and data ports 307) for use in detecting, controlling, and tracking the movement and activity of the robotic arms 40 in real-time. In the example embodiment, a cloud-based system is used in tracking, detecting, and controlling the robotic arms 40 in real-time. In such embodiments, a processor 308 and / or computer 310 on-site may be used to facilitate expediency of the detection, tracking, and control of the robotic arms 40. Moreover, in some embodiments, location data gathered is transmitted via the cloud to an offsite or remote computer 312 that monitors and tracks the movements and the operating efficiency of the automated cooking system 20. Alternatively, the automated cooking system 20 may use a web-based system. In the example embodiment, the control system 300 is coupled to a server 320 that also maintains historical dataassociated with operations of the automated cooking system 20.

[0074] In one embodiment, the control system 300 may be coupled to the Internet through at least one interface and / or through a network, such as a local area network (LAN) or a wide area network (WAN), through dial-in-connections, cable modems and / or special high-speed ISDN lines. Alternatively, the control system 300 could include any device capable of interconnecting to the Internet, including a web-based phone or other web-based connectable equipment.

[0075] In the example embodiment, the control panel 64 is operated via a graphical user interface (GUI) and in cooperation with a controller (printed circuit board, CPU, etcetera) that provides a plurality of functionality. The control system employs an advanced processor 308 capable of executing sophisticated algorithms that in combination with a neural network facilitate optimizing cooking performance based on multiple input parameters.

[0076] In the example embodiment, a plurality of cooking profdes associated with a plurality of different food products, may be stored within the control system 300. For example, the control system 300 may include a plurality of temperature curves associated with a plurality of different food products. Moreover, the control panel 64 may alter normal cooking cycles based on the food product being cooked. For example, alternations may be made to the automated cooking system 20 including, but not limited to, varied shaking patterns, varied cooking time adjustments based on historical factors including initial food temperatures, oil temperature recovery rates, and / or batch size, for example. Moreover, various cooking algorithms based on historical data gathered during previous cooking batches, various quality control implementations, and / or various predictive maintenance schedules may also be stored within the control system 200.

[0077] The control system 300 may include an input device 324, such as for example, a keyboard, a pointing device, a mouse, a stylus, a touch sensitive panel (e.g., a touch pad or a touch screen), and / or an audio input device. Moreover, in the example embodiment, theinput device may be any personal computing device and / or any mobile communications device of a user, such as a personal computer, a tablet computer, a smartphone, and the like. The input device, in the example embodiment, may be configured to present an application (e.g., a smartphone “app”) or a webpage, such as webpage or an app for authenticating a user to make changes to the automated cooking system 20.

[0078] The control system 300, in the example embodiment, is in communication with a memory 326 that includes, for example, computer readable instructions for providing a user interface to the user and, optionally, receiving and processing input from their input device. In the example embodiment, the control system 300 may receive locational data from sensors positioned throughout the automated cooking system 20. In some embodiments, the sensors may be any suitable electronic device capable of wirelessly transmitting relative location data via one or more communications protocols. In some embodiments, the wireless sensors may be configured to transmit a low energy BLUETOOTH signal and / or a Wi-Fi signal.

[0079] The control system may be programmed to execute any computer program that facilitates controlling movement and articulation of the moveable components within the automated control system 20. Although the components of the automated cooking system 20 are described herein and depicted in the Figures as being interconnected in a particular configuration, it is contemplated that the physical components, systems, hardware and software components, various network components, and database systems described herein may be variously configured and interconnected in any manner that facilitates the processes and advantages described herein. Further, although certain functions, processes, and operations are described herein with respect to one or more system components, it is contemplated that one or more other system components may perform the functions, processes, and operations described herein. In some embodiments, the control system 300 may be associated with a computing device that may include a user interface, e.g., a visual and / or audio display, enabling a graphical user interface (GUI) to present information tointerested parties.

[0080] In some embodiments, a user may input, store, and / or change cooking preferences or additional functionality to the robotic arms 40, if for example the food product to be cooked is changed. The computer-implemented methods and processes described herein may include additional, fewer, or alternate actions, including those discussed elsewhere herein. Unless described herein to the contrary, the various steps of the several processes described herein may be performed in a different order, or simultaneously in some instances. Additionally, the computer systems discussed herein may include additional, fewer, or alternative elements and respective functionalities, including those discussed elsewhere herein, which themselves may include or be implemented according to computer-executable instructions stored on non-transitory computer-readable media or medium.

[0081] In the example embodiment, the control system 300 facilitates selective movement and articulation of the robotic arms 40. More specifically, in the example embodiment, the automated cooking system 20 is designed for operation using both robotic arms 40 concurrently. More specifically, to facilitate optimizing efficiency and timeliness of the automated cooking system 20, during peak demand operations, a first of the robotic arms 40 performs different functions than the second of the robotic arms 40.

[0082] In some situations, the control system 300 may determine that operation one of the robotic arms 40 is not needed. Moreover, during use, it may be desirable to deactivate use of one of the robotic arms 40 to facilitate repairs, updates, or cleaning, for example. In these situations, in one embodiment, the automated cooking system 20 includes at least one parking station wherein a robotic arm 40 may be temporarily positioned. For example, FIG. 4 shows the right robotic arm 40 in a location that can be referred to as a parking station in the sense that the right robotic arm can be parked there to permit the left robotic arm 40 to have full access the cooking station and to have access to the left side of the food pickup station. Notably, the food pickup station is wide enough for both arms to pick up food baskets from the supply shuttle at the same time, such that the right arm parked in theright side of the pickup station 72 does not impede the left arm from accessing the left side of the pickup station. Referring to FIG. 31, an alternative embodiment is shown in which the horizontal track 62 is extended farther to the left to define a second parking station to the left of the dumping station such that the left arm 40 can be parked (as shown) in a location that does not interfere the right arm from fully accessing the cooking station and dumping station. The parking stations are offset from the required robotic arm travel path so the other arm is not hindered to permit full functionality of the automated cooking system in the event one of the arms is not needed or is malfunctioning.

[0083] In one aspect of the present disclosure, the control system 300 can identify malfunctioning of a robotic arm 40 (e.g., via sensor feedback described herein) and / or determine food cooking demand does not require the additional capacity of the robotic arm, and, responsive thereto reassign the unneeded or malfunctioning arm from an active mode to an inactive or manual override mode. In the inactive mode, the control system 300 moves the inactive arm 40 to a respective parking station (e.g., right parking station for right arm or left parking station for left arm). Alternatively, in the manual override mode, the control system 300 signals a user via the user interface (e.g., GUI) to, and permits the user to, manually move the inactive arm 40 to a parking station or to remove the arm (lift off horizontal track) from the robotic system to storage. Moreover, the control system reassigns tasks for the remaining robotic arm 40 to account for the tasks that would have been executed by the inactive arm if it were active. The remaining arm 40 is reassigned to sole arm operational mode and is used by the control system to move food from the pickup station to the cooking station, and from the cooking station to the food dump station.

[0084] An example cycle of using the automated food cooking system 20 will now be described with reference to FIGS. 4-10. Generally, during normal operations, a food product is dispensed from the food hopper 30 into a food basket 46 that has been positioned on the basket holder (e g., FIG. 4). In the example embodiment, the supply shuttle 36 moves the food basket generally horizontally towards the cooking station (e.g., FIG. 5). In alternative embodiments, a user may manually position food baskets in position relative tothe cooking station. In the example embodiment, the first robotic arm 40 is then moved into position adjacent to the food basket that was just moved from beneath the hopper 30 along the shuttle. To move the robotic arm 40 into this position, depending on the initial position of the robotic arm, the robotic arm may be moved horizontally and or vertically downward towards the shuttle (e.g., FIG. 5). More specifically, the downward vertical movement is necessitated because the shuttle 36 and the basket holder are each positioned generally lower than other components of the automated cooking system 20.

[0085] As the robotic arm 40 is being positioned adjacent to the food basket 46, the gripping jaws 160 are moved toward each other (e.g., FIG. 6) such that the handle of the food basket is properly positioned within the gripper cavity and such that the locators mate with the annular groove and the bearings of the gripping jaws 160 encircle and stably engage the basket handle.

[0086] The robotic arm 40 is then translated vertically and horizontally as necessary into position above a cooking station fluid reservoir 100 (e.g., FIGS. 7-8). The robotic arm 40 is then lowered such that the food basket 46, and any food product contained therein, is at least partially immersed in the cooking fluid (e.g., FIGS. 9-10). As the food is cooking, if needed, the robotic arm 40 then repeats the process with another food basket that has received a food product dispensed therein from the food hopper 30. Notably, if desired or required, both the left and right robotic arms 40 can retrieve food baskets from the supply shuttle 36 at the same time because the pickup station is wide enough for both arms to pick up respective baskets from the left and right sides of the shuttle.

[0087] After the processor coupled to automated cooking system 20 has determined that the food cooking has been immersed within the heated cooking fluid for a pre-determined amount of time, the processor coupled to the control system causes the second robotic arm 40 to move into position relative to the first food basket. More specifically, the second robotic arm 40 is selectively moved to cause its gripping jaws 160 to securely grasp the first food basket containing the cooked food product (e.g., FIGS. 4-6). The food basket is then elevated from the cooking fluid by the second robotic arm 40 and is shaken to facilitateremoving any residual cooking fluid that may be still clinging to the food basket and / or the cooked food product (e.g., FIG. 7).

[0088] After a pre-determined amount of shaking and / or time has elapsed, the second robotic arm 40 is moved generally horizontally from the cooking station 74towards the food storage station 34. More specifically, as the second robotic arm 40 is moved towards the food storage station, the food basket contacts the dumping station 36 and is rotated to dump, while remaining in contact with the dumping basket pivot 44, before pivoting the basket back to an upstanding orientation (e.g., FIGS. 8-10). The dumping sequence is shown in closer detail in FIGS. 21-23. As shown in FIG. 21, the arm 40 moves laterally to move the basket 46 laterally into engagement with the basket pivot 44. As shown by comparison of FIGS. 21 and 22, after the basket begins to pivot toward a dumping configuration, the robotic arm 40 moves farther laterally and extends downwardly to cause the basket to fully dump. In other words, the gripper 90 moves laterally and downwardly to cause the basket to pivot about the basket pivot 44 while the basket handle 86 turns in the gripper to cause dumping of the basket. The contact with the basket pivot 44 causes the food basket to invert such that the contents of the food basket are dispensed onto the food storage station 34 and into the storage basin 102. The basket pivot 44 may turn or rotate while in engagement with the basket 46 to facilitate pivoting of the basket. As the second robotic arm 40 is moving the food basket from the cooking fluid and towards the dumping basket pivot 44, and during dumping of the basket, if any excess cooking fluid drips from the food basket and / or the food products within the food basket, the cooking fluid will fall against the deflector 122 and is gravity fed back into the cooking station fluid reservoir or the food holding station basin. After the food is dumped, the motion of the gripper 90 is reversed (now upward and laterally to the right) to permit the basket to pivot about the basket pivot 44 back to its upstanding orientation. The block 196 of the gripper contacts the basket handle bracket to prevent the basket from swinging when it rotates back to its upstanding orientation. The emptied food basket is then moved to a predetermined location (e.g., back to the food supply shuttle 36) for re-use within the automated cookingsystem 20.

[0089] During operation, the control system 300 continuously monitors operation of the automated cooking system 20. For example, in the example embodiment, the control system 300 may monitor, but is not limited to only monitoring, real-time cooking fluid quality. Moreover, depending on the field of use, the automated cooking system 20 may include multi-zone cooking stations that enable different food products to be cooked simultaneously, and / or that enables different cooking fluid reservoirs to be used with different cooking fluids. Moreover, in the example embodiment, the control system 300 can prompt the user to make changes based on stored historical data that facilitates optimizing cooking sequence based on anticipated or predictive demand patterns. Furthermore, the control system 300 may suggest dynamic workflow adaptations that cause tasks and functionality to be reallocated between the robotic arms in response to changing demand conditions or priorities. In other embodiments, the control system 300 may effectuate safety protocols that monitor for anomalous conditions in real time and / or that enable appropriate responses to be implemented to facilitate preventing equipment damage and / or cooking failures. Moreover, in other embodiments, the control system 300 in combination with the neural network may facilitate energy efficiency optimization wherein heating elements are modulated based on cooking schedules to facilitate reducing power consumption. Furthermore, the control system 300 may provide audio-visual feedback that provides communication to users without requiring constant monitoring. In some embodiments, the control system 300 facilitates identifying potential issues via selfdiagnostic monitoring.

[0090] The example systems and methods described and illustrated herein therefore significantly increase the accuracy, efficiency, and repeatability of cooking food products in an automated cooking system. The present systems and methods are further advantageous over conventional cooking systems as the embodiments herein include a pair of robotic arms that provides redundancy and facilitates increasing the flexibility of theautomated cooking system to the user in a cost-effective manner.

[0091] Example embodiments of systems and methods for contextually activating voice control features are described above in detail. The systems and methods of this disclosure though, are not limited to only the specific embodiments described herein, but rather, the components and / or steps of their implementation may be utilized independently and separately from other components and / or steps described herein.

[0092] Although specific features of various embodiments may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the systems and methods described herein, any feature of a drawing may be referenced or claimed in combination with any feature of any other drawing.

[0093] In the present specification and the claims, reference is made to a number of terms, which shall be defined to have the following meanings.

[0094] The singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise.

[0095] Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about,” “approximately,” and “substantially,” are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and / or interchanged; such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise.

[0096] This written description uses examples to disclose the disclosure, including the best mode, and also to enable any person skilled in the art to practice the disclosure, including making and using any devices or systems and performing any incorporatedmethods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.OTHER STATEMENTS OF THE DISCLOSURE

[0097] The following are statements or features of invention described in the present disclosure. Some or all of the following statements may not be currently presented as claims. Nevertheless, the statements are believed to be patentable and may subsequently be presented as claims. Associated methods corresponding to the statements or apparatuses below, and products and apparatuses corresponding to the methods below, are also believed to be patentable and may subsequently be presented as claims. It is understood that the following statements may refer to and be supported by one, more than one, or all the embodiments described above.

[0098] Al. An automated food cooking system for cooking food products, the automated food cooking system comprising: a food supply station; a food cooking station; a cooked food holding station; a first robotic arm moveable at least between the food supply station and food cooking station to transfer food from the food supply station to the food cooking station; and a second robotic arm independently moveable with respect to the first robotic arm at least between the food cooking station and the cooked food holding station totransfer food from the food cooking station to the cooked food holding station.

[0099] A2. An automated food cooking system as set forth in statement Al, wherein the first robotic arm is moveable between the food supply station and the cooked food holding station.

[0100] A3. An automated food cooking system as set forth in statement Al, wherein the second robotic arm is moveable between the cooked food holding station and the food supply station.

[0101] A4. An automated food cooking system as set forth in statement Al, further comprising a food cooking control system comprising a robotic arm control processor and a non-transitory tangible storage medium storing instructions executable by the robotic arm control processor to coordinate operation of the first and second robotic arms to move food from the food supply station to the food cooking station and from the food cooking station to the cooked food holding station.

[0102] A5. An automated food cooking system as set forth in statement A4, wherein the non-transitory tangible storage medium stores instructions executable by the robotic arm control processor to control the first robotic arm to transfer food from the food supply station to the food cooking station and to control the second robotic arm to transfer food from the food cooking station to the cooked food holding station.

[0103] A6. An automated food cooking system as set forth in statement A5, wherein the non-transitory tangible storage medium stores instructions executable by the robotic arm control processor to identify a malfunction of the first robotic arm and to control the second arm to transfer food from the food supply station to the food cooking station based on the malfunction.

[0104] A7. An automated food cooking system as set forth in statement A6, wherein the non-transitory tangible storage medium stores instructions to change a mode of the firstrobotic arm from an active mode to an inactive mode based on the malfunction.

[0105] A8. An automated food cooking system as set forth in statement A6, wherein the non-transitory tangible storage medium stores instructions to move the first robotic arm to a parking station offset from a travel path of the second robotic arm to move between the food supply station and the food cooking station.

[0106] A9. An automated food cooking system as set forth in statement A6, wherein the non-transitory tangible storage medium stores instructions to change a mode of the first robotic arm from an active mode to a manual override mode based on the malfunction.

[0107] A10. An automated food cooking system as set forth in statement A5, wherein the non-transitory tangible storage medium stores instructions executable by the robotic arm control processor to identify a malfunction of the second robotic arm and to control the first arm to transfer food from the food cooking station to the cooked food holding station based on the malfunction.

[0108] Al l. An automated food cooking system as set forth in statement A10, wherein the non-transitory tangible storage medium stores instructions to change a mode of the second robotic arm from an active mode to an inactive mode based on the malfunction.

[0109] A12. An automated food cooking system as set forth in statement A10, wherein the non-transitory tangible storage medium stores instructions to move the second robotic arm to a parking station offset from a travel path of the first robotic arm to move between the food cooking station and the cooked food holding station.

[0110] Al 3. An automated food cooking system as set forth in statement A10, wherein the non-transitory tangible storage medium stores instructions to change a mode of the second robotic arm from an active mode to a manual override mode based on the malfunction, and in the manual override mode the second robotic arm is moveable manually by a user to a parking station offset from a travel path of the first robotic arm tomove between the food cooking station and the cooked food holding station.

[0111] A14. An automated food cooking system as set forth in statement Al, wherein the first and second robotic arms are movable on a common track, the track including a parking station for the first robotic arm configured to offset the first robotic arm from a travel path of the second robotic arm to move along the common track between the food supply station and food cooking station to transfer food from the food supply station to the food cooking station.

[0112] A15. An automated food cooking system as set forth in statement Al, wherein the first and second robotic arms are movable on a common track, the track including a parking station for the second robotic arm configured to offset the second robotic arm from a travel path of the first robotic arm to move along the common track between the food cooking station and the cooked food holding station to transfer food from the food cooking station to the cooked food holding station.

[0113] Al 6. An automated food cooking system as set forth in statement Al, wherein the second robotic arm includes a food basket gripper configured to permit a food basket holding food to rotate in the food basket gripper when the food basket gripper grips the food basket.

[0114] A17. An automated food cooking system as set forth in statement A16, wherein the food basket gripper comprises at least one jaw comprising a roller configured to engage the food basket when the food basket is gripped by the food basket gripper and to configured to roll when the food basket rotates in the food basket gripper.

[0115] Al 8. An automated food cooking system as set forth in statement Al 6, wherein the roller is a first roller and the food basket gripper includes a second roller configured to engage the food basket when the food basket is gripped by the food basket gripper.

[0116] Al 9. An automated food cooking system as set forth in statement Al 6, wherein the second robotic arm is configured to grip the food basket from only one side of the foodbasket.

[0117] A20. An automated food cooking system as set forth in statement A16, in combination with the food basket.

[0118] Bl. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food cooking station; a cooked food holding station; a food dumping station including a food basket pivot; a first robotic arm having a gripper configured to grip the food basket and to permit the food basket to rotate in the gripper when the gripper grips the food basket, the first robotic arm being moveable between the food cooking station and the food dumping station for carrying the food basket via the gripper to transfer food from the food cooking station to the cooked food holding station, the first robotic arm being configured to move the gripper to engage the food basket with the food basket pivot at the food dumping station and configured to, after engaging the food basket with the food basket pivot, move the gripper downward to cause the food basket to further pivot in engagement with the food basket pivot to dump the food from the food basket.

[0119] B2. An automated food cooking system as set forth in statement Bl, wherein the gripper includes at least one roller configured to engage the food basket when the food basket is gripped by the gripper to facilitate rotation of the food basket in the gripper.

[0120] B3. An automated food cooking system as set forth in statement B2, wherein the at least one gripper comprises a first roller and a second roller, the first and second rollers being configured to engage the food basket when the food basket is gripped by thegripper to facilitate rotation of the food basket in the gripper.

[0121] B4. An automated food cooking system as set forth in statement B3, wherein the gripper is configured to grip a handle of the food basket, the first and second rollers being spaced from each other to engage the basket handle at locations spaced along a length of the handle when the handle is gripped by the gripper.

[0122] B5. An automated food cooking system as set forth in statement Bl, wherein the gripper is configured to grip the food basket from only one side of the food basket.

[0123] B6. An automated food cooking system as set forth in statement Bl, wherein the gripper comprises a protrusion configured to mate with the food basket when the gripper grips the food basket.

[0124] B7. An automated food cooking system as set forth in statement B6, wherein the gripper comprises a plurality of rollers configured to engage the food basket when the gripper grips the food basket.

[0125] B8. An automated food cooking system as set forth in statement Bl, in combination with the food basket.

[0126] B9. An automated food cooking system as set forth in statement B8, wherein the gripper is configured to grip a handle of the food basket and includes a protrusion for mating with the basket handle when the basket handle is gripped by the gripper, and the food basket handle comprises a recess configured to mate with the protrusion when the basket handle is gripped by the gripper.

[0127] B10. An automated food cooking system as set forth in statement B8, wherein the gripper is configured to grip a handle of the food basket, the handle comprising a first cylindrical portion and a second cylindrical portion with a recess therebetween.

[0128] Bl l. An automated food cooking system as set forth in statement Bl, wherein the gripper is configured to permit the food basket to rotate in the gripper in a dumpingdirection, the gripper including a block located to block rotation of the basket in a direction opposite the dumping direction.

[0129] Cl. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a first robotic arm having a gripper configured to grip the food basket and to permit the food basket to rotate in the gripper when the gripper grips the food basket, the gripper including at least one roller configured to engage the food basket when the food basket is gripped by the gripper to facilitate rotation of the food basket in the gripper.

[0130] C2. An automated food cooking system as set forth in statement Cl, wherein the at least one gripper comprises a first roller and a second roller, the first and second rollers being configured to engage the food basket when the food basket is gripped by the gripper to facilitate rotation of the food basket in the gripper.

[0131] C3. An automated food cooking system as set forth in statement C2, wherein the gripper is configured to grip a handle of the food basket, the first and second rollers being spaced from each other to engage the basket handle at locations spaced along a length of the handle when the handle is gripped by the gripper.

[0132] C4. An automated food cooking system as set forth in statement Cl, wherein the gripper is configured to grip the food basket from only one side of the food basket.

[0133] C5. An automated food cooking system as set forth in statement Cl, wherein the gripper comprises a protrusion configured to mate with the food basket when the gripper grips the food basket.

[0134] C6. An automated food cooking system as set forth in statement C5, wherein the at least one roller comprises at least three rollers configured to engage the food basketwhen the gripper grips the food basket.

[0135] C7. An automated food cooking system as set forth in statement Cl, in combination with the food basket.

[0136] C8. An automated food cooking system as set forth in statement C7, wherein the gripper is configured to grip a handle of the food basket and includes a protrusion for mating with the basket handle when the basket handle is gripped by the gripper, and the food basket handle comprises a recess configured to mate with the protrusion when the basket handle is gripped by the gripper.

[0137] C9. An automated food cooking system as set forth in statement C7, wherein the gripper is configured to grip a handle of the food basket, the handle comprising a first cylindrical portion and a second cylindrical portion with a recess therebetween.

[0138] CIO. An automated food cooking system as set forth in statement Cl, wherein the gripper is configured to permit the food basket to rotate in the gripper in a dumping direction, the gripper including a block located to block rotation of the basket in a direction opposite the dumping direction.

[0139] DI. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a first robotic arm having a gripper configured to grip the food basket front only one side of the food basket and to permit the food basket to rotate in the gripper when the gripper grips the food basket.

[0140] D2. An automated food cooking system as set forth in statement DI, wherein the gripper includes at least one roller configured to engage the food basket when the food basket is gripped by the gripper to facilitate rotation of the food basket in the gripper

[0141] D3. An automated food cooking system as set forth in statement DI, incombination with the food basket.

[0142] El. An automated food cooking system for cooking food products, the automated food cooking system comprising: a food basket having a basket body and a handle, the handle including a recess; and a first robotic arm having a gripper configured to grip the handle of the food basket, the gripper including a locator configured to register the gripper with respect to the food basket handle by mating of the locator in the recess when the gripper grips the handle.

[0143] E2. An automated food cooking system as set forth in statement El, wherein the gripper is configured to permit the food basket handle to rotate in the gripper when the food basket handle is gripped by the gripper.

[0144] E3. An automated food cooking system as set forth in statement E2, wherein the gripper includes a first roller and a second roller, the first and second rollers being spaced from each other and configured to engage the food basket handle on opposite sides of the recess when the handle is gripped by the gripper.

[0145] Fl. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food cooking station; a cooked food holding station; a food dumping station including a food basket pivot, the food basket pivot comprising a roller; a first robotic arm having a gripper configured to grip the food basket, the first robotic arm being configured to move the gripper to engage the food basket with the food basket pivot at the food dumping station to cause the roller to turn as thefood basket pivots about the food basket pivot.

[0146] Gl. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food cooking station; a cooked food holding station; a food dumping station including a cantilevered food basket pivot, the cantilevered food basket pivot protruding between the food cooking station and the cooked food holding station; a first robotic arm having a gripper configured to grip the food basket, the first robotic arm being configured to move the gripper to engage the food basket with the cantilevered food basket pivot to cause the food basket to dump food.

[0147] Hl. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food cooking station; a cooked food holding station; a food dumping station including a food basket pivot and including a food cooking fluid diverter between the food cooking station and the cooked food station, the food cooking fluid diverter being configured to guide drippings of food cooking fluid from the food basket toward at least one of the cooked food holding station of the food cooking station; a first robotic arm having a gripper configured to grip the food basket, the first robotic arm being configured to move the gripper to engage the food basket withthe food basket pivot to cause the food basket to dump food.

[0148] JI. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food cooking station; a cooked food holding station; a food dumping station including a food basket pivot, the food basket pivot being disconnectable from the food dumping station without requiring a tool; a first robotic arm having a gripper configured to grip the food basket, the first robotic arm being configured to move the gripper to engage the food basket with the food basket pivot to cause the food basket to dump food.

[0149] KI. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food supply station; a food supply pickup station; a food supply shuttle comprising a hub and a conveyor, the conveyor extending in front of the food supply station and being configured to convey a food basket between the food supply station and the food supply pickup station, the conveyor being removable from the hub for removing the conveyor from extending in front of the food supply station.

[0150] K2. An automated food cooking system as set forth in statement KI, wherein the hub comprises a shuttle prime mover configured to drive the conveyor when the conveyor is connected to the hub.

[0151] K3. An automated food cooking system as set forth in statement K2, whereinthe hub comprises a drive gear and the conveyor comprises a driven gear, the drive gear configured to be in mesh with the driven gear to drive the driven gear when the conveyor is connected to the hub.

[0152] K4. An automated food cooking system as set forth in statement KI, wherein the conveyor is removable from the hub without requiring a tool.

[0153] LI. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food supply pickup station; a food cooking station; a first robotic arm moveable between the food supply station and the food cooking station for transferring food to the food cooking station; a second robotic arm moveable between the food supply station and the food cooking station for transferring food to the food cooking station; a food supply shuttle comprising a first food basket cradle and a second food basket cradle, the first and second food basket cradles being moveable together to the food supply pickup station, the first food basket cradle being configured to hold a food basket for pickup by the second robotic arm, the second food basket cradle being configured to hold a food basket for pickup by the first robotic arm.

[0154] Ml. An automated food cooking system for cooking food products in a food basket, the automated food cooking system comprising: a food supply pickup station; a food cooking station; a first robotic arm moveable between the food supply station and the food cookingstation for transferring food to the food cooking station; a second robotic arm moveable between the food supply station and the food cooking station for transferring food to the food cooking station; wherein the food supply pickup station is sufficiently wide to permit the first and second robotic arms to pick up respective baskets of food at the food supply pickup station at the same time.

[0155] Nl. An automated food cooking system for cooking food products, the automated food cooking system comprising: a food supply pickup station; a food cooking station comprising a fryer; a cooked food holding station; a first robotic arm moveable between at least the food cooking station and the cooked food holding station to transfer food to the cooked food holding station; a frame supporting the first robotic arm, the frame including a first leg to a first side of the fryer and a second leg to a second side of the fryer opposite the first side, the frame being clear of obstructing a front of the fryer to permit the fryer to be moved into position under the frame between the legs and removed from said position without moving the frame.

[0156] Pl. An automated food cooking system for cooking food products, theautomated food cooking system comprising: a food supply station comprising a food supply hopper; a food cooking station comprising a fryer; a cooked food holding station; a first robotic arm moveable between at least the food cooking station and the cooked food holding station to transfer food to the cooked food holding station; a frame supporting the first robotic arm, the frame being self-supported with respect to at least one of the food supply hopper or the fryer.

Claims

WE CLAIM:

1. An automated cooking system for cooking food products, the automated cooking system comprising: a cooking station comprising a fluid reservoir; a food storage station; at least two robotic arms including a first robotic arm and a second robotic arm; and a control system programmed to selectively move at least the first robotic arm from the cooking station to the food storage station and vice-versa, wherein each robotic arm is selectively substantially horizontally displaceable and is selectively substantially vertically displaceable.

2. The automated cooking system in accordance with Claim 1 wherein each of the robotic arms is independently moveable by the control system.

3. The automated cooking system in accordance with Claim 1 wherein the cooking station reservoir is sized and shaped to contain a cooking oil therein, the control system further programmed to: move the first robotic arm to carry a food product to be immersed within the cooking oil for a pre-determined amount of time; translate the second robotic arm from the cooking station to carry the food product to the food storage station after the pre-determined amount of time has elapsed.

4. The automated cooking system in accordance with Claim 3 further comprising at least one food basket sized and shaped to receive a food product to be cooked therein, the at least one food basket comprising a basket portion fabricated from a screen, and a handle portion extending outwardly from the basket portion.

5. The automated cooking system in accordance with Claim 4 wherein at least a first of the robotic arms comprises a pair of jaws, at least one of the jaws being selectively movable by the control system between a fully open position and a gripping position, wherein when in the gripping position a cavity is defined between the pair of jaws, the cavity being sized and shaped to hold a portion of the basket handle therein.

6. The automated cooking system in accordance with Claim 5 wherein the cavity has a cross-sectional shape that is substantially similar to a cross-sectional shape of the basket handle, wherein when the basket handle is positioned within the cavity defined by the pair of jaws, the basket handle is securely coupled between the pair of jaws.

7. The automated cooking system in accordance with Claim 5 wherein when the basket handle is positioned within the cavity defined by the pair of jaws, the basket handle is rotatable within the cavity relative to the pair of jaws.

8. The automated cooking system in accordance with Claim 5 wherein the basket handle is formed with a detent that facilitates positioning the handle between the pair of jaws.

9. The automated cooking system in accordance with Claim 4 further comprising a dumping station oriented to contact a portion of the at least one food basket as the second robotic arm is translated from the cooking station to the food storage station, wherein a combination of the control panel and the contact with the dumping station facilitates rotating the at least one food product to enable any food product contained within the food basket to fall into the food storage station.

10. The automated cooking station in accordance with Claim 1 wherein the pair of robotic arms are non-identical and the control system is programmed to move a first of the robotic arms to primarily move food products to the cooking station and to move a second of the robotic arms to move food products from the cooking station.

11. The automated cooking station in accordance with Claim 1 wherein the automated cooking system further comprises a parking station, the control system programmed to selectively move at least one of the two robotic arms to the parking station during predetermined modes of operation.

12. An automated cooking system for cooking food products, the automated cooking system comprising: a fluid reservoir for selectively cooking food products; a storage station for temporarily storing cooked food products; and at least two robotic arms comprising a first robotic arm and a second robotic arm, wherein the first robotic arm is selectively moveable substantially horizontally and is selectively moveable substantially vertically, and wherein the second robotic arm is selectively moveable independently of the first robotic arm.

13. The automated cooking system in accordance with Claim 12 further comprising a control system programmed to: selectively move at least the first robotic arm to the fluid reservoir; and selectively move at least the second robotic arm from the fluid reservoir to the food storage station.

14. The automated cooking station in accordance with Claim 13 further comprising a dumping station oriented to cause a food basket supported by the second robotic arm to rotate such that any food contained within the food basket falls from the food basked into the food storage station.

15. The automated cooking station in accordance with Claim 14 wherein the control system is programmed to shake the food basket supported by thesecond robotic arm prior to selectively moving the second robotic arm towards the food storage station.

16. The automated cooking system in accordance with Claim 12 further comprising at least one parking station, the control system programmed to selectively position at least one of the two robotic arms at the at least one parking station such that the robotic arm located within the parking station does not interfere with operation of the remaining robotic arm relative to the cooking station.

17. The automated cooking system in accordance with Claim 12 wherein the at least two robotic arms are identical.

18. The automated cooking system in accordance with Claim 12 further comprising a control system programmed to: selectively move at least the first robotic arm to transfer food to the fluid reservoir for a predetermined amount of time; and selectively move at least the second robotic arm from the fluid reservoir to transfer the food to the food storage station after the pre-determined amount of time has elapsed.

19. The automated cooking system in accordance with Claim 18 wherein at least one of the two robotic arms includes a pair of jaws, the control system programmed to cause at least a first of the jaws to selectively move relative to a second of the jaws.

20. The automated cooking system in accordance with Claim 18 wherein at least one of the two robotic arms includes a pair of jaws, wherein at least a first of the jaws is selectively moveable relative to the second jaw from a gripping position to an open position, wherein when in the gripping position the pair of gripping members define a cavity therebetween that is at least partially surrounded by a plurality of bearingssuch that a handle securely retained between the pair of gripping members is rotatably moveable within the cavity relative to the pair of jaws.

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