Determining how to assemble a meal
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Solution Overview
Problem
Traditional methods for assembling meals in food-service settings using robots are hindered by unpredictable ingredient arrangements and changes in food texture and taste, as well as the unsuitability of existing material handling systems for cooked foods, which lead to clogging and alteration of food quality.
Innovation Solution
A system comprising sensors, manipulators, and smart kitchen equipment that determines the optimal sequence of actions and spatial relations for assembling recipes, using physics-based models and closed-loop control policies to manage deformable and granular materials, and autonomously execute motion plans while adapting to environmental changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional material handling mechanisms (auger, conveyor, suction) are used to move foodstuffs, then material transport is achieved, but the friction, stiction, and viscosity cause clogging and soiling while imparting forces that alter texture, consistency, and taste-profile
Solution Approach 1:
The patent replaces traditional mechanical material handling systems (augers, conveyors, suction mechanisms) with a robotic manipulator that uses controlled gripping and lifting motions. This substitution eliminates the friction, stiction, and viscosity-related problems by using a gentler, more precise mechanical interaction that doesn't cause clogging or alter food texture and taste.
2Extent of automation
If robots are used to assemble complete meals from prepared ingredients, then labor automation is achieved, but unpredictable ingredient arrangements and shape changes render traditional methods ineffective
Solution Approach 1:
The patent employs a robotic manipulator with dynamic control capabilities that can adapt to unpredictable ingredient arrangements and shape changes in real-time. The system uses sensors to detect ingredient positions and characteristics, then dynamically adjusts its gripping and movement strategies to accommodate variations in ingredient placement and deformation during the assembly process.
Solution Approach 2:
The patent incorporates sensor feedback mechanisms that continuously monitor ingredient positions, arrangements, and shape changes during meal assembly. This feedback allows the robotic system to detect unpredictable variations and adjust its actions accordingly, enabling effective handling of ingredients in difficult-to-predict ways while maintaining automation.
3Extent of automation
If extensive modifications to existing kitchens are made to accommodate robotic assembly, then robotic meal assembly becomes feasible, but device complexity and implementation cost increase significantly
Solution Approach 1:
The patent designs a robotic manipulator system with universal, multi-functional capabilities that can handle various types of ingredients and assembly tasks using the same core mechanism. This universality reduces the need for extensive kitchen modifications, as the system can adapt to different ingredient types and recipe requirements without requiring specialized infrastructure for each function.
Data Source
AI summary
In an embodiment, a method includes determining a given material to manipulate to achieve a goal state. The goal state can be one or more deformable or granular materials in a particular arrangement. The method further includes, for the given material, determining, a respective outcome for each of a plurality of candidate actions to manipulate the given material. The determining can be performed with a physics-based model, in one embodiment. The method further can include determining a given action of the candidate actions, where the outcome of the given action reaching the goal state is within at least one tolerance. The method further includes, based on a selected action of the given actions, generating a first motion plan for the selected action.