Ryan W. Sinnet, PhD

Tag: human-robot interaction

  • US-12082742-B2: Automated bin system for accepting food items in robotic kitchen workspace

    Patent Overview

    Title

    Automated bin system for accepting food items in robotic kitchen workspace

    Inventors

    • Ryan W. Sinnet 🙋‍♂️
    • Abhimanyu Bhakuni
    • William Guffey
    • Ryan R. Wach
    • Robert Anderson

    Patent No.

    US 12,082,742 B2

    Issued

    Patent Family

    The patent is a continuation patent which extends the following patent(s) (see below for key differences):

    Abstract

    A robotic kitchen system for preparing food items in combination with at least one kitchen appliance such as a fryer comprises an automated bin assembly, a robotic arm, and a basket held by the robotic arm. The automated bin assembly comprises at least one automated bin for holding the food items. A camera or sensor array collects image data of the food items in the bin(s). A central processor is operable to compute and provide directions to the first robotic arm and automated bin assembly based on the image data and stored data to (a) move the robotic arm to the bin; (b) actuate the bin to drop the food items from the bin into the basket; (c) and to move the basket into the fryer all without human interaction. Related methods are also described.

    The Problem We Solved

    Commercial kitchens are dangerous places. Hot oil, busy workers, and sharp tools create hazards daily. When you add robots to this environment, safety becomes even more critical. The fundamental challenge was creating a system that allows humans and robots to work together efficiently without slowing down operations. Traditional approaches to robot safety either require robots to slow down or stop when humans are nearby, or they place robots in completely separate workspaces, creating inefficient handoffs between zones. We needed a solution that maintained the robot’s full-speed operation while allowing humans to safely add ingredients to the workflow without interruptions.

    The Innovation

    I invented a smart bin system that creates a physical barrier between humans and robots. Workers place food into bins that stick through a window in a protective shield. The robot then positions a basket underneath the bin, the bin automatically rotates to dump the food into the basket, and the robot moves the basket to the fryer to cook. When cooking is finished, the robot dumps the food onto a chute that slides the cooked food out to another area where it can be sorted and packaged.

    Scope of the Patent

    The patent covers the entire automated cooking system including:

    • The rotating bins that accept food from humans and dump it to robots
    • The safety shield design with windows for bins and cooked food
    • The robotic arm that positions baskets and handles cooking
    • The computer vision system that identifies food types
    • The scheduling system that optimizes cooking
    • The sorting system that delivers cooked food to appropriate holding areas

    Why It Matters

    This innovation solves multiple problems at once:

    1. It keeps workers completely separated from robots and dangerous equipment
    2. It eliminates the need for workers to handle heavy fry baskets or work near hot oil
    3. It reduces food contamination by minimizing human contact with food
    4. It improves kitchen efficiency by automating repetitive tasks
    5. It enables the robot to operate at full speed without safety slowdowns since humans are physically separated
    6. It’s modular and can be expanded to handle different menu items

    The bin system is one of very few practical ways to safely transfer food between humans and robots in a commercial kitchen environment. This makes the patent particularly valuable as restaurants increasingly adopt automation to address labor challenges and improve consistency.

    Key Differences in the Continuation Patent

    The continuation patent strengthens the original invention with several key improvements:

    1. Multiple independently movable collection zones, allowing different food types to be handled simultaneously
    2. Enhanced food detection and classification system, with continuous image monitoring
    3. More sophisticated scheduling that considers food type, recipes, and current system state
    4. A complete method claim covering the entire workflow from receiving food through cooking and serving
    5. Better integration between the bin system and the scheduling engine
    6. Explicit coverage of vibrating bins to separate food items

    Why This Is Strategically Valuable

    This continuation patent significantly expands the protection of my invention by focusing on the method and workflow rather than just the physical apparatus. This is strategically important because:

    1. It makes it harder for competitors to “design around” the physical elements by protecting the overall method of operation
    2. It explicitly claims the integration of computer vision and scheduling software with the mechanical components
    3. It addresses multiple food types and parallel processing, which is essential for busy commercial kitchens
    4. It protects the end-to-end process from food entry to cooking completion
    5. The patents together create a stronger barrier to entry in the automated kitchen space by protecting both the equipment and the methodology

    Combined Patent Family Value

    Together, these patents create comprehensive protection for robotic kitchen automation that addresses both hardware and methodology:

    1. The original patent (US-11744403-B2: Automated bin system for accepting food items in robotic kitchen workspace) establishes the core hardware configuration and basic operation principles
    2. The continuation patent (US-12082742-B2) extends protection to the workflow methodology and multi-bin intelligent operations

    This two-patent family creates a strong competitive advantage because:

    • It protects multiple aspects of the same core technology
    • It covers both physical implementation and operational methods
    • It addresses different claim categories (apparatus and method)
    • It evolves with the technology, demonstrating ongoing innovation
    • It creates a more complete barrier to competition by protecting the entire workflow

    The combined patents represent a significant asset in the rapidly growing kitchen automation market, where the ability to safely integrate robots into existing human workflows is a critical factor for adoption. The patent family protects not just a device, but a complete solution to one of the most challenging problems in robotic kitchen implementation.

    Official Patent

    US-12082742-B2Download

  • US-11833663-B2: Robotic kitchen assistant for frying including agitator assembly for shaking utensil

    Patent Overview

    Title

    Robotic kitchen assistant for frying including agitator assembly for shaking utensil

    Inventors

    • Ryan Sinnet 🙋‍♂️
    • Robert Anderson
    • William Werst

    Patent No.

    US 11,833,663 B2

    Issued

    Patent Family

    The patent is a continuation patent which extends the following patent(s) (see below for key differences):

    US-11192258-B2: Robotic kitchen assistant for frying including agitator assembly for shaking utensil

    Abstract

    A robotic kitchen assistant for frying includes a robotic arm, a fryer basket, and a robotic arm adapter assembly allowing the robotic arm to pick up and manipulate the fryer basket. The robotic arm adapter includes opposing gripping members to engage the fryer basket. A utensil adapter assembly is mounted to the handle of the fryer basket, and the opposing gripper members are actuated to capture a three-dimensional (3D) feature of the utensil adapter assembly. The robotic arm adapter assembly can include an agitator mechanism to shake the fryer basket or another utensil as desired. Related methods are also described.

    The Problem We Solved

    Commercial kitchens face several challenges with deep fryers. Hot oil is dangerous for workers, causing burns and injuries. Food tends to clump together, requiring regular shaking, and debris builds up in oil that needs constant cleaning.

    But automating these tasks with robots creates its own challenges. Kitchen utensils like fryer baskets aren’t manufactured to precise specifications – they get bent and deformed with use. Standard robot grippers struggle to reliably grab these irregular items. When a robot shakes a basket to prevent food clumping, the violent motion can damage the expensive robot arm joints. And the messy, chaotic environment of a busy kitchen makes it hard for robots to safely and accurately perform these tasks alongside human workers.

    These technical hurdles have prevented widespread automation of frying tasks, forcing restaurants to continue putting workers at risk.

    The Innovation

    I created a robotic system that safely handles the entire frying process. The robot includes:

    • A special gripper that can reliably pick up fryer baskets (even if they’re slightly bent)
    • A unique “agitator” that gently shakes the basket to prevent food from sticking together
    • A clever design that isolates the shaking motion so it doesn’t damage the robot arm
    • A system to automatically skim debris from the oil

    The robot works alongside kitchen staff through specially designed transfer stations where humans can safely load baskets of uncooked food, while the robot handles the dangerous frying work.

    Scope of the Patent

    The patent covers the complete robotic frying system, including:

    • The mechanical gripping mechanism
    • The shaking/agitator assembly
    • The oil debris removal system
    • Methods for operating these systems in a commercial kitchen
    • The basket transfer stations
    • Safety features that allow robots and humans to work together

    Why It Matters

    This technology makes commercial kitchens safer and more efficient. By automating the dangerous, repetitive task of deep frying, it:

    • Reduces workplace injuries from hot oil
    • Improves food quality through consistent cooking
    • Maintains cleaner frying oil
    • Frees up kitchen staff to focus on food preparation and customer service

    The system is designed to integrate into existing kitchen workflows rather than requiring kitchens to completely change how they operate. This practical approach makes automation accessible to restaurants of all sizes, not just large chains with custom-built facilities.

    Key Differences in the Continuation Patent

    The present continuation patent (US 11,833,663) builds on the original patent (US-11192258-B2: Robotic kitchen assistant for frying including agitator assembly for shaking utensil) with several key differences:

    1. Simplified Claims Structure: The new patent streamlines the claims, focusing on core elements while keeping the same fundamental technology. This makes the patent more defensible against potential challenges.
    2. More Flexible Agitation Claims: The original patent specified an “agitator assembly mounted between the gripper and the distal portion” in claim 1, while the continuation more broadly claims the ability to “shake the gripper assembly and fryer basket” without requiring specific hardware placement.
    3. Greater Focus on Methods: The continuation patent places increased emphasis on methods for de-clumping food and isolating vibrations (claims 14-20), strengthening protection for the process itself rather than just the hardware.
    4. Expanded Protection for Debris Removal: The continuation introduces clearer and stronger claims around the skimmer functionality and debris removal systems.

    Why This Is Strategically Valuable

    The continuation patent provides significant strategic advantages:

    1. Broader Protection: By rewording claims to focus on functionality rather than specific implementation, it’s harder for competitors to “design around” the patent.
    2. Extended Timeline: Filing a continuation extends the patent family’s protection timeline, providing longer market exclusivity.
    3. Multiple Enforcement Options: Having two patents with slightly different claim structures gives Miso Robotics more flexibility in enforcement actions – if one claim is challenged, they can fall back on alternative claim structures.
    4. Response to Market Evolution: The continuation likely reflects learnings from actual market implementation, closing loopholes that might have become apparent after the original filing.
    5. Enhanced Defense Against Prior Art: The modified claims may address potential prior art concerns that emerged after the original patent was filed.

    Combined Patent Family Value

    Together, these patents create a powerful patent family that:

    1. Creates a Comprehensive Protection Wall: The two patents cover both specific implementations and broader functional concepts, making it difficult for competitors to develop similar technology without infringing.
    2. Establishes Miso Robotics as a Pioneer: Owning foundational patents in kitchen automation positions Miso as a leader in this emerging field.
    3. Builds License and Partnership Opportunities: The strong patent family creates opportunities for licensing revenue or strategic partnerships with restaurant chains and equipment manufacturers.
    4. Increases Company Valuation: A robust patent portfolio covering core technology significantly increases the company’s overall valuation, particularly for a technology startup.
    5. Provides Protection Through Market Development: As the commercial kitchen robotics market grows, having early, broad patents becomes increasingly valuable – this patent family secures Miso’s position as the market matures.

    The combined patents represent significant intellectual property in an industry that’s rapidly moving toward automation, potentially worth millions as labor costs rise and restaurants seek efficiency and safety improvements.

    Official Patent

    US-11833663-B2Download

  • US-11744403-B2: Automated bin system for accepting food items in robotic kitchen workspace

    Patent Overview

    Title

    Automated bin system for accepting food items in robotic kitchen workspace

    Inventors

    • Ryan W. Sinnet 🙋‍♂️
    • Abhimanyu Bhakuni
    • William Guffey
    • Ryan R. Wach
    • Robert Anderson

    Patent No.

    US 11,744,403 B2

    Issued

    Patent Family

    The patent was extended in the following continuation patent(s) (wherein the key differences are described):

    Abstract

    A robotic kitchen system for preparing food items in combination with at least one kitchen appliance such as a fryer comprises an automated bin assembly, a robotic arm, and a basket held by the robotic arm. The automated bin assembly comprises at least one automated bin for holding the food items. A camera or sensor array collects image data of the food items in the bin(s). A central processor is operable to compute and provide directions to the first robotic arm and automated bin assembly based on the image data and stored data to (a) move the robotic arm to the bin; (b) actuate the bin to drop the food items from the bin into the basket; (c) and to move the basket into the fryer all without human interaction. Related methods are also described.

    The Problem We Solved

    Commercial kitchens are dangerous places where hot oil, busy workers, and sharp tools create hazards daily. When adding robots to this environment, traditional approaches require either slowing down the robot when humans are nearby or creating completely separate work zones. Both solutions hurt efficiency. Slowed robots can’t operate at full capacity, while separate zones require workers to constantly move between areas to hand off food. We needed a system that would allow humans and robots to work simultaneously at full speed, maintain a complete safety barrier, and enable smooth food transfer without workflow disruptions.

    The Innovation

    We invented a smart bin system that creates a physical barrier between humans and robots. Workers place food into bins that stick through a window in a protective shield. The robot then positions a basket underneath the bin, the bin automatically rotates to dump the food into the basket, and the robot moves the basket to the fryer to cook. When cooking is finished, the robot dumps the food onto a chute that slides the cooked food out to another area where it can be sorted and packaged.

    Scope of the Patent

    The patent covers the entire automated cooking system including:

    • The rotating bins that accept food from humans and dump it to robots
    • The safety shield design with windows for bins and cooked food
    • The robotic arm that positions baskets and handles cooking
    • The computer vision system that identifies food types
    • The scheduling system that optimizes cooking
    • The sorting system that delivers cooked food to appropriate holding areas

    Why It Matters

    This innovation solves multiple problems at once:

    1. It keeps workers completely separated from robots and dangerous equipment
    2. It eliminates the need for workers to handle heavy fry baskets or work near hot oil
    3. It reduces food contamination by minimizing human contact with food
    4. It improves kitchen efficiency by automating repetitive tasks
    5. It’s modular and can be expanded to handle different menu items

    The bin system is one of very few practical ways to safely transfer food between humans and robots in a commercial kitchen environment. This makes the patent particularly valuable as restaurants increasingly adopt automation to address labor challenges and improve consistency.

    Official Patent

    US-11744403-B2Download

  • US-11618155-B2: Multi-sensor array including an IR camera as part of an automated kitchen assistant system for recognizing and preparing food and related methods

    Patent Overview

    Title

    Inventors

    • Ryan W. Sinnet 🙋‍♂️
    • Robert Anderson
    • Zachary Zweig Vinegar
    • William Werst
    • David Zito
    • Sean Olson

    Patent No.

    US 11,618,155 B2

    Issued

    Patent Family

    The patent is a continuation patent which extends the following patent(s) (see below for key differences):

    Abstract

    An automated kitchen assistant system inspects a food preparation area in the kitchen environment using a novel sensor combination. The combination of sensors includes an Infrared (IR) camera that generates IR image data and at least one secondary sensor that generates secondary image data. The IR image data and secondary image data are processed to obtain combined image data. A trained convolutional neural network is employed to automatically compute an output based on the combined image data. The output includes information about the identity and the location of the food item. The output may further be utilized to command a robotic arm, kitchen worker, or otherwise assist in food preparation. Related methods are also described.

    The Problem We Solved

    Accurately identifying and tracking food items in commercial kitchens remains challenging for automation systems. While our earlier invention (US-10919144-B2: Multi-sensor array including an IR camera as part of an automated kitchen assistant system for recognizing and preparing food and related methods) used infrared imaging to address this, we recognized that multiple standard cameras could also provide effective food recognition if their data is properly combined, offering greater flexibility in system design and potentially lower implementation costs.

    The Innovation

    We developed a system that uses multiple cameras with different viewpoints of the kitchen work area, rather than requiring specialized infrared sensors. This multi-camera approach:

    • Transforms image data from different cameras into a single unified reference frame
    • Accurately identifies food items and continuously tracks their position
    • Updates location information based on prior knowledge and optional human input
    • Integrates with recipe data to generate appropriate food preparation commands
    • Communicates instructions to either human workers or robotic systems

    The system can effectively “see” the entire kitchen workspace from multiple angles, creating a more complete understanding of the cooking environment than would be possible with a single camera.

    Scope of the Patent

    This patent expands the coverage established in my earlier landmark patent (US-10919144-B2: Multi-sensor array including an IR camera as part of an automated kitchen assistant system for recognizing and preparing food and related methods). While the original patent required an IR camera combined with visible light cameras, this continuation broadens protection to include systems using multiple standard cameras viewing the workspace from different angles. The patent claims a complete system that transforms data from multiple viewpoints into a unified reference frame, identifies food items, tracks them continuously, and generates appropriate preparation commands.

    This strategic continuation ensures comprehensive protection for the most practical and effective approaches to kitchen automation, making it difficult for competitors to design around our intellectual property. The patent covers both purely vision-based systems and hybrid approaches, providing flexibility in implementation while maintaining broad protection.

    Why It Matters

    This technology offers significant advantages for commercial kitchens:

    • More flexible implementation options that don’t require specialized infrared sensors
    • Potentially lower hardware costs while maintaining robust food recognition
    • Continuous tracking of food items as they move through the preparation process
    • Seamless integration with both robotic systems and human kitchen staff
    • Improved consistency and accuracy in food preparation

    Together with the original IR-based patent, this continuation establishes a strong patent family that protects the fundamental approaches to vision-based kitchen automation, positioning this technology as an essential building block for the future of commercial food preparation.

    Key Differences in the Continuation Patent

    This present continuation patent broadens the scope of the original invention by replacing the specific requirement for an IR camera with a more general approach using multiple cameras with different viewpoints. The key innovation here is:

    1. Instead of requiring an IR camera + visible light camera combination, this patent claims a system using two cameras with different views of the working area
    2. The patent focuses on transforming data from both cameras into a single frame of reference
    3. It places greater emphasis on continuously updating location information and tracking food items
    4. It explicitly includes the display interface for human workers as part of the claimed system

    Why This Is Strategically Valuable

    This continuation patent is extremely valuable because:

    1. Expanded Protection: It broadens your intellectual property coverage beyond just IR-based systems to include any multi-camera kitchen automation system that transforms different viewpoints into a single frame of reference.
    2. Alternative Implementation Path: It provides legal protection for implementations that might not use IR cameras but still need to accurately identify and track food items in a kitchen environment.
    3. Defensive Strategy: By claiming both IR-based and non-IR-based approaches, you’ve effectively blocked competitors from working around your original patent by simply removing the IR camera.
    4. More Flexible Implementation: This continuation allows for potentially less expensive implementations that use only standard cameras rather than specialized IR sensors.

    Combined Patent Family Value

    Together, these two patents form a powerful patent family that covers:

    1. The use of IR + visible cameras for food recognition (original patent)
    2. The use of multiple cameras with different viewpoints for food recognition (continuation)
    3. The transformation of data from different sensors into a unified coordinate system
    4. The continuous tracking of food items during preparation
    5. The integration with both robotic systems and human workers

    This comprehensive coverage makes it difficult for competitors to design around your intellectual property in the kitchen automation space, which significantly increases the value of your patent portfolio.

    Official Patent

    US-11618155-B2Download

  • US-11577401-B2: Modular robotic food preparation system and related methods

    Patent Overview

    Title

    Modular robotic food preparation system and related methods

    Inventors

    • Ryan W. Sinnet 🙋‍♂️
    • Robert Anderson
    • William Werst
    • David Zito

    Patent No.

    US 11,577,401 B2

    Issued

    Abstract

    A modular robotic kitchen system is conveniently adaptable to perform a wide range of cooking applications. The modular robotic kitchen system can include a plurality of discrete modular units organized in a small footprint such that multiple types of cooking applications can be performed without a need to replace the modular units. Exemplary modular units include an ingredient module, robotic arm module, assembly and packaging module, and warming module. Optionally a transport unit or sled moves the modules into position. The modular kitchen system includes a central processor operable to carry out different cooking applications upon downloading software corresponding to the specific cooking application and without retooling the existing modules. Related methods are also described.

    The Problem We Solved

    Commercial kitchens face major challenges with high labor costs, inconsistent food quality, food safety concerns, and wasted ingredients. Traditional kitchen automation has been limited to single-purpose machines that take up too much space, cost too much, and still require extensive human involvement. These isolated solutions don’t work together or adapt to different cooking needs without expensive retooling.

    The Innovation

    We devised a modular robotic kitchen system where different components work together seamlessly. The system includes:

    • Robotic arms that can handle food preparation tasks
    • Modular carts for ingredients, assembly, and packaging
    • Smart temperature monitoring system that ensures food safety
    • Vision systems that can identify food items and their proper cooking state
    • Central computer brain that coordinates everything and learns over time

    Unlike fixed automation, the described system can be quickly reconfigured by simply downloading new software – no hardware changes needed. The modules can be arranged to fit any kitchen layout, and the robots can work with standard kitchen equipment like fryers and grills.

    Scope of the Patent

    This patent covers the entire modular kitchen system as well as specific innovations like:

    • The overall modular cart architecture and how the components work together
    • Temperature testing methods using a smart probe that identifies the thickest part of food
    • Special food packaging designed for robot handling
    • Scheduling systems that coordinate kitchen activities based on predicted demand
    • Safety features that allow robots and humans to work together

    Why It Matters

    This system tackles the biggest challenges facing restaurants today. It reduces labor costs while improving consistency and food safety. By predicting demand and optimizing production, it cuts down on food waste.

    Unlike previous automation attempts, this system can truly transform a commercial kitchen by handling most preparation tasks while adapting to changing menus and requirements. The modular approach means restaurants can start small and add capabilities over time, making advanced kitchen robotics accessible to more businesses.

    As restaurants continue to struggle with staffing shortages and rising costs, this innovation offers a practical path to more efficient, consistent, and profitable operations.

    Official Patent

    US-11577401-B2Download

  • US-11351673-B2: Robotic sled-enhanced food preparation system and related methods

    Patent Overview

    Title

    Robotic sled-enhanced food preparation system and related methods

    Inventors

    • David Zito
    • Ryan W. Sinnet 🙋‍♂️
    • Robert Anderson
    • Grant Stafford
    • Sean Olson

    Patent No.

    US 11,351,673 B2

    Issued

    Abstract

    A robotic sled-enhanced food preparation system includes a robotic kitchen assistant operable to determine and to perform food preparation steps, and an autonomous mobile sled operable to supply the robotic kitchen assistant with ingredients and supplies. The robotic kitchen assistant includes a scheduling engine to evaluate food inventory levels and automatically determine when to replenish the food inventories using the sled if the food inventory levels are insufficient to complete the food preparation steps. Related methods are also described.

    The Problem We Solved

    Restaurant kitchens face major challenges with food preparation, inventory management, and labor costs. Traditional kitchen automation typically focuses on single cooking tasks, leaving the logistics of moving ingredients and managing inventory to human workers. Even automated cooking equipment still requires constant human monitoring to replenish ingredients and remove waste, creating inefficiencies and potential for human error.

    The Innovation

    This patent describes an intelligent kitchen system that combines a robotic kitchen assistant with an autonomous mobile sled. In the concept, the robotic arm would handle cooking tasks while the mobile sled would automatically transport ingredients from storage areas to the cooking station as needed. The system would continuously monitor inventory levels and use smart algorithms to predict when supplies will run low, automatically dispatching the sled to retrieve more ingredients before they run out. The sled could also transport the entire robotic cooking station to different areas of the kitchen as needed.

    Scope of the Patent

    The patent covers a complete restaurant automation system including:

    • A robotic kitchen assistant with tools for food preparation
    • An autonomous mobile sled for transporting ingredients and equipment
    • Standardized food containers that work with both robots and humans
    • A scheduling engine that predicts demand and manages inventory
    • Methods for automatically replenishing ingredients
    • Safety barriers that protect workers and display information
    • Systems for waste collection and removal

    Why It Matters

    This patent represents a conceptual approach to transforming kitchen operations by addressing the entire workflow, not just isolated cooking tasks. While this system was never built, the patent secures intellectual property for a solution that could potentially reduce labor costs and human error while improving food consistency and kitchen efficiency. The mobile aspect of the concept is particularly important as it addresses the movement problem that limits traditional fixed cooking robots. This patent protects a theoretical framework for restaurant automation that could work alongside human staff while handling many of the repetitive logistical tasks that consume valuable worker time.

    Official Patent

    US-11351673-B2Download