US 12,135,533 B2
Automated kitchen system for assisting human worker prepare food
Ryan W. Sinnet, Pasadena, CA (US); and Robert Anderson, Pasadena, CA (US)
Assigned to Miso Robotics, Inc., Pasadena, CA (US)
Filed by Miso Robotics, Inc., Pasadena, CA (US)
Filed on Jun. 1, 2022, as Appl. No. 17/829,466.
Claims priority of provisional application 63/196,636, filed on Jun. 3, 2021.
Prior Publication US 2022/0386807 A1, Dec. 8, 2022
Int. Cl. G05B 19/042 (2006.01); A23L 5/10 (2016.01); B25J 11/00 (2006.01)
CPC G05B 19/042 (2013.01) [A23L 5/15 (2016.08); B25J 11/0045 (2013.01); G05B 2219/2643 (2013.01)] 11 Claims
OG exemplary drawing
 
1. An automated food preparation assistant system for preparing a food item comprises:
a first sensor configured to obtain first visible spectrum image data;
a second sensor configured to obtain second visible spectrum image data; and
at least one processor programmed and operable to:
detect food objects of interest based on image data from the first sensor and image data from the second sensor, wherein the food objects comprise at least one food item and optionally, a non-food item, and wherein the detecting comprises computing location and identity of the food objects;
track the location of the detected food objects, wherein the tracking comprises:
select a unique filter from a plurality of filters based on the motion of the food object being tracked;
compute a current predicted location of the food object based on the selected filter;
compare the current predicted location of the food object and a current measured location of the food object including applying custom matching resolution rules for tracking unobserved food items if a non-food item is detected between the sensors and the unobserved food items;
create an occlusion mask for the non-food item detected between the sensors and the unobserved food items;
evaluate whether the food item is occluded based on the occlusion mask; and
update the location of the food item only if the food item is not occluded; and
determine an instruction relating to the food item.