In an embodiment, a method and system use various sensors to determine a shape of a collection of materials (e.g., foodstuffs). A controller can determine a trajectory which achieves the desired end-state, possibly chosen from a set of feasible, collision-free trajectories to execute, and a robot executes that trajectory. The robot, executing that trajectory, scoops, grabs, or otherwise acquires the desired amount of material from the collection of materials at a desired location. The robot then deposits the collected material in the desired receptacle at a specific location and orientation.

Provided is an alimentary-product assembling and dispensing device comprising: a plurality of alimentary-ingredient dispensers positioned to dispense respective ingredients in a plurality of different locations of a robotic work environment; a robot configured to receive an open-top vessel from an open-top-vessel dispenser and move the open-top vessel to the different locations to receive different ingredients from the plurality of alimentary-ingredient dispensers, wherein the robot comprises four or fewer degrees of freedom; and a vending aperture through which consumers retrieve vended alimentary products assembled by the robot from ingredients dispensed from the plurality of alimentary-ingredient dispensers.

Provided is an alimentary-product assembling and dispensing device comprising: a plurality of alimentary-ingredient dispensers positioned to dispense respective ingredients in a plurality of different locations of a robotic work environment; a robot configured to receive an open-top vessel from an open-top-vessel dispenser and move the open-top vessel to the different locations to receive different ingredients from the plurality of alimentary-ingredient dispensers, wherein the robot comprises four or fewer degrees of freedom; and a vending aperture through which consumers retrieve vended alimentary products assembled by the robot from ingredients dispensed from the plurality of alimentary-ingredient dispensers.

A food preparation system arranged in a kitchen includes a gantry fixed with the kitchen, at least one robot arm having an end effector supported on a base in the kitchen, where the base is movably mounted on the gantry, defining a reaching distance of the robot from the end effector to the base, along a travel path of the base on the gantry, a storage container arranged in the kitchen, within the reaching distance of the at least one robot arm, and configured for storing a food item, at least one ingredient distribution device arranged in the kitchen, within the reaching distance of the at least one robot arm, and configured for dispensing at least one ingredient on the food item, and an oven arranged in the kitchen, within the reaching distance of the at least one robot arm, and configured for baking the food item.

A food preparation system arranged in a kitchen includes a gantry fixed with the kitchen, at least one robot arm having an end effector supported on a base in the kitchen, where the base is movably mounted on the gantry, defining a reaching distance of the robot from the end effector to the base, along a travel path of the base on the gantry, a storage container arranged in the kitchen, within the reaching distance of the at least one robot arm, and configured for storing a food item, at least one ingredient distribution device arranged in the kitchen, within the reaching distance of the at least one robot arm, and configured for dispensing at least one ingredient on the food item, and an oven arranged in the kitchen, within the reaching distance of the at least one robot arm, and configured for baking the food item.

The present invention relates to a process for continuous of drying or removing the water phase from wet material, such as organic material and for regulating or controlling the drying mechanisms using heating and drying components in a mechanic set up for drying material. The steam generated in the pre-dryer in the process is sufficient to sustain the energy need of the system as the different components of a meal factory are set up as a closed system.

The present invention relates to a process for continuous of drying or removing the water phase from wet material, such as organic material and for regulating or controlling the drying mechanisms using heating and drying components in a mechanic set up for drying material. The steam generated in the pre-dryer in the process is sufficient to sustain the energy need of the system as the different components of a meal factory are set up as a closed system.

An ovenable cooking apparatus for facilitating the cooking of food components while maintaining the separateness thereof may include a first container for holding a first food component, and a second container for holding a second food component. The separation of the first food component from the second food component maintains the surface area for the first and second food components to facilitate heating of the first and second food components. The first food component may have a liquid based content for producing steam when heated, and one or both of the first container and the second container may define a passage for providing airflow and steam flow for contacting the second container and/or the second foodstuff and heating or steaming the second food component. Additionally, the second container may be steam impermeable for cooking bread and the like.

An ovenable cooking apparatus for facilitating the cooking of food components while maintaining the separateness thereof may include a first container for holding a first food component, and a second container for holding a second food component. The separation of the first food component from the second food component maintains the surface area for the first and second food components to facilitate heating of the first and second food components. The first food component may have a liquid based content for producing steam when heated, and one or both of the first container and the second container may define a passage for providing airflow and steam flow for contacting the second container and/or the second foodstuff and heating or steaming the second food component. Additionally, the second container may be steam impermeable for cooking bread and the like.

A food preparation apparatus includes a cooker assembly, a food delivery mechanism, a food release mechanism, a food removal mechanism, and a food transport mechanism. The food delivery mechanism includes a first arm and a food vessel mounted to the first arm. The food vessel is configured to deposit a food item onto the cooker assembly. The food release mechanism includes a second arm that is movable between a first position spaced apart from the cooking station and a second position adjacent to a location at which the food vessel deposits the food item onto the cooking station. The food removal mechanism includes a third arm and a set of wipers. The food transport mechanism includes a spatula. The food removal mechanism and the food transport mechanism cooperate to remove the food item from the cooker assembly and transport the food item to a desired location.