JP2020512911A - Improved automated food production equipment - Google Patents

Abstract

A method for operating an automatic food preparation device comprising a motor, an actuator arm and a device. The device can be a paddle with flexible fins. This method rotates the paddle using a pin shaft mechanism, dispenses the raw material placed in the canister, automatically controls the motor based on the weight sensor reading, and uses the position sensor to drive the actuator arm. Identify the position of. The same motor dispenses raw materials from multiple canisters. The method may include multiple paddle rotation and weighing steps until the target weight is reached. The multiple paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddles may be rotated according to one or more paddle rotation algorithms, error recovery algorithms, or different algorithms based on the amount of ingredient remaining in the canister. The paddle can be locked until the target weight is reached.

Description

  This application is a continuation-in-part application of US Provisional Patent Application No. 62 / 481,217 (filing date April 4, 2017), and claims the benefit thereof, which is incorporated by reference in US patent application Ser. / 449,548 (filed Mar. 3, 2017), which is a continuation-in-part application, which shares the benefit of US provisional patent application No. 62 / 304,277 (filed Mar. 6, 2016). It is alleged that this is a continuation-in-part application of US patent application Ser. No. 14 / 847,959 (filed Sep. 8, 2015), which is US provisional patent application No. 62 / 047,785. No. (filing date September 9, 2014), US provisional patent application No. 62 / 056,368 (filing date September 26, 2014), US provisional patent application No. 62 / 094,595 (filing date 2014) December 19), US Provisional Patent Application No. 62/150, 03 (filing date Apr. 21, 2015), US provisional patent application No. 62 / 185,524 (filing date Jun. 26, 2015), and US provisional patent application No. 62 / 201,105 (filing date). Claiming the profit of August 4, 2015). The contents of the above application are incorporated herein by reference.

  TECHNICAL FIELD This application relates to the general field of electronic assisted devices, systems, methods, and techniques for conducting food preparation processes in the home or business.

  Over the years, several innovations have emerged to help the cooking process. Food processors are currently available for chopping vegetables and meat. The induction cooktop allows for a faster cooking process. Microwave ovens allow efficient reheating. However, despite these innovations, many of us spend an hour a day, or even more time, cooking food for ourselves and our families. Cooking also requires a significant learning curve before it can be done in a palatable manner. Similarly, over-the-counter food companies, such as restaurants, must now allocate that significant amount of cost to their human cooking efforts. Methods for shortening the "personal time" required for cooking and the learning curve associated with cooking can be extremely useful. Similarly, direct and indirect economic benefits may arise for businesses by transferring human time costs to machines, devices, robots, and the like.

  U.S. Patent Application Publication No. 2013/0112683 from Hegedis, Davenport, and Hoare explicitly describes a cooking device in which a heating element works with a user interface and a temperature sensor to provide a user with a prompt during cooking. However, this requires user input to provide all the ingredients needed for cooking, the user stands near the cooktop for a long period of time and responds to the prompts provided by the cooker. Request that. The user also has to stand near the cooktop for a long period of time, as there is no mixing function available automatically.

  US Patent Application Publication No. 2011/0108546 from Cho and Chen explicitly describes an intelligent heating mechanism that adaptively provides power to an induction cooktop based on temperature sensor data and a user-defined temperature profile. To do. However, this requires the user to manually provide all the ingredients needed for cooking and requires the user to stand near the cooktop and periodically mix the food products.

  The prototype from Natural Machines and the upcoming product, Foodini, apparently prints food in 3D by heating the food paste and dispensing them onto a stage. However, this requires that the food product be in paste form before being dispensed, which can be cumbersome and expensive.

  A prototype made in Europe, Everyook, at first glance, promises to cut and mix foods and cook them using recipes. However, the user is still in the vicinity of the Everyook cooker and occasionally needs to throw off additional food.

  The U.S. prototype, Serenetti Kitchen, apparently desires to automate the cooking process, but does not make any chopping of the ingredients, instead utilizing pre-chopped food. It also does not put the measured quantity of ingredients into the cooking vessel.

  What is needed is an apparatus and method that allows for the preparation of food products with minimal human intervention.

US Patent Application Publication No. 2013/0112683 US Patent Application Publication No. 2011/0108546

  Various embodiments of the present invention will be more fully understood and appreciated from the following detailed description, taken in conjunction with the drawings.

FIG. 1 depicts an embodiment of the invention that may include a carousel on top of a cooking pot.

FIG. 2 depicts the carousel mechanism shown in FIG.

FIG. 3 illustrates an embodiment of the invention in which two carousels are installed on a cooking pot, one for housing the ingredients and one for chopping the ingredients.

FIG. 4 illustrates an embodiment of the invention in which a container with a rotating dispenser knob is used in combination with the carousel mechanism of FIG.

FIG. 5 illustrates an embodiment of the present invention, an actuation mechanism for an ingredient dispenser container.

FIG. 6A illustrates an embodiment of the present invention, which is an apparatus for chopping raw material.

FIG. 6B illustrates an embodiment of the present invention, which is a device for dicing raw material.

FIG. 7 illustrates an embodiment of the invention using a series of links to move the agitator to various positions.

FIG. 8 illustrates an embodiment of the present invention in which a solid source may be dispensed.

FIG. 9 illustrates an embodiment of the invention in which food products are prevented from sticking to the sides of the raw material container by reducing the surface area of contact between the raw material container and the food product.

10A and 10B illustrate an embodiment of the invention in which the mechanism for dispensing and sensing is described.

FIG. 11 illustrates an embodiment of the invention in which a mechanism for dispensing food products is described.

12A and 12B illustrate an embodiment of the present invention that dispenses liquid.

FIG. 13 illustrates an embodiment of the present invention showing a mass sensor system.

FIG. 14 illustrates an embodiment of the present invention showing a system capable of processing various types of food products.

FIG. 15 shows a system for installing a salad bowl or pizza dough or a cooking pan and a heater or tortilla (for making burritos), and generally a system for installing dough to be further processed. 1 illustrates an embodiment.

FIG. 16 illustrates an embodiment of the present invention illustrating a modular feedstock container and how it may be attached to a carousel.

FIG. 17 illustrates an embodiment of the present invention showing how modular feedstock containers may be attached to each other.

FIG. 18 illustrates an embodiment of the present invention, namely a paddle for dispensing ingredients.

FIG. 19 illustrates an embodiment of the present invention, namely a bearing for a feedstock container.

20A-20C illustrate embodiments of the present invention showing how magnets and Hall sensors may be structured to dispense material from a raw material container.

FIG. 21 illustrates a problem with the proposed dispensing system where the vertical knob may collide with the actuator used for dispensing.

FIG. 22 illustrates an embodiment of the invention showing how a knob can be straightened using a “knob straightener mechanism”.

23A-23B illustrate an embodiment of the present invention showing how a robot can be controlled using a touch screen user interface.

24A-24B illustrate an embodiment of the present invention showing how insulation is provided between a chamber in which raw material is held and the rest of the apparatus.

FIG. 25 illustrates an embodiment of the invention showing how a container can be used to provide insulation by closing the holes through which the ingredients fall.

26A-26C illustrate an embodiment of the invention showing a mechanism for opening and closing holes through which raw material falls.

FIG. 27 illustrates an embodiment of the present invention showing a method for dispensing raw materials.

FIG. 28 illustrates an embodiment of the invention showing a method of dispensing a liquid source.

FIG. 29 illustrates an embodiment of the present invention showing a feed cutting based dispensing algorithm.

FIG. 30 illustrates an embodiment of the invention showing a paddle-based dispense algorithm.

FIG. 31 illustrates an embodiment of the invention showing a threshold-based velocity algorithm.

FIG. 32 illustrates an embodiment of the invention showing a threshold-based gravimetric frequency algorithm.

FIG. 33 illustrates an embodiment of the present invention showing an ingredient level based dispensing algorithm.

FIG. 34 illustrates an embodiment of the present invention showing a liquid pullback algorithm.

FIG. 35 illustrates an embodiment of the present invention showing a dispenser collision recovery algorithm.

FIG. 36 illustrates an embodiment of the present invention showing a raw material jam recovery backward algorithm.

FIG. 37 illustrates an embodiment of the present invention showing a feed jam recovery carousel oscillation algorithm.

FIG. 38 illustrates an embodiment of the invention showing a fallback container algorithm.

FIG. 39 illustrates an embodiment of the invention showing a swing motion dispense algorithm.

FIG. 40 illustrates an embodiment of the present invention showing a bi-directional motion algorithm.

FIG. 41 illustrates an embodiment of the invention showing an algorithm for switching directions between salads.

FIG. 42 illustrates an embodiment of the present invention showing a quantised weight dispense algorithm.

FIG. 43 illustrates an embodiment of the present invention showing a multiple ingredient dispensing algorithm.

FIG. 44 illustrates an embodiment of the present invention showing a predictive zero mechanism undershoot algorithm.

FIG. 45 illustrates an embodiment of the present invention showing a predictive dispense undershoot algorithm.

46A-D illustrate an embodiment of the present invention showing a liquid dispensing mechanism.

47A-C illustrate an embodiment of the present invention showing a tabbed paddle.

48A-C illustrate an embodiment of the present invention showing a shuffler for dispensing material that does not work perfectly under the gravity feed mechanism.

49A-D illustrate an embodiment of the present invention showing a device for snap-fitting a pin shaft mechanism and paddle onto a canister.

FIG. 50 illustrates an embodiment of the present invention illustrating a swing motion dispense algorithm with weight feedback.

  Embodiments of the present invention will now be described with reference to at least the above figures. Those of skill in the art will understand that the description and figures illustrate rather than limit the invention and that, in general, the figures are not drawn to scale for clarity of presentation. A person of ordinary skill in the art will also appreciate that many more embodiments are possible by applying the principles of the invention contained herein, and such embodiments are limited except in accordance with any appended claims. It will be appreciated that it is not within the scope of the invention.

  FIG. 1 illustrates an embodiment of the invention, which may be a robotic cooking device or a food preparation machine / device. The robot cooking device includes an outer container 100, an inner container 102, a carousel 104, a shaft 106, a pan 108, a stirrer 110, a robot arm 112, an X rail 114, a Y rail 116, and a motor 118. The plate 120 and the heater 122 may be included. Food products may be stored in ingredient dispenser containers such as outer container 100 and inner container 102. The terms “tube” and “canister” may also be used to refer to containers in various sections of this patent application. The ingredient dispenser containers, outer container 100 and inner container 102, may be mounted on a carousel 104, which may be attached to a rotating shaft 106. The shaft 106 may be rotated with the help of a motor. Several features may be used to rotate the containers installed in a circular configuration, which may be installed on a circular board / platform. In FIG. 1, two circular rows of ingredient dispensers are depicted, with the outer container 100 on the outer circular row and the inner container 102 on the inner circular row. Several circular rows may be designed and utilized and may range from at least 1-10. The carousel 104 may be placed on a pan 108 where cooking may occur. Bread 108 may be referred to herein as a pan, a pan, a pan, or a cooking vessel. The carousel 104 may include openings (not shown), including generally circular and other shapes, for dispensing food products from the ingredient containers, ie, outer container 100 and inner container 102, and other containers. . These circular openings may be structured such that they fall into the bread 108 as the food product falls through these circular openings. For example, a heater such as induction heater 122 may be used to cook the dish. This may include a stirrer 110, which may be moved in the X and Y dimensions (relative to pan 108) using a robotic mechanism, which may include circular shafts or rails such as X rail 114 and Y rail 116. . The stirrer 110 may also be designed to move in the Z dimension and various angles / combinations of X, Y, and Z. A motor 118 may be used to rotate the stirrer 110. Several variations of these embodiments are possible. For example, the stirrer 110 may be attached to a polar robotic mechanism. The polar mechanism may provide easier resistance to cooking oil-related reliability issues because it may be easier to seal. Cooking pan 108 and heater 122 may be moved via moving plate 120 up and down using robot arm 112. The robot arm shown in FIG. 1 may be constructed using several different mechanisms such as chains, belts, lead screws, ball screws, and many other materials, for example. A refrigeration system, a Peltier cooling system, or other cooling device may be utilized to cool the area above the carousel 104, and the efficiency of the components above the carousel 104 in a thermally isolated environment. Can be improved by placing. The opening on the carousel, which may allow food to be dispensed into the bread 108, may be opened and closed using a robot arm or other actuation mechanism. Plate 120 may include a mass sensor that measures the weight of food in bread. This may provide information about the status of certain dispense steps, ie the amount of food dispensed into bread 108 from ingredient dispensers such as outer container 100 and inner container 102. The mass sensor may also optionally provide information about the status of the cooking process by measuring the amount of weight reduction that occurs during the cooking process. It will be apparent to those skilled in the art that some variations of these embodiments may be possible. For example, the induction heater 122 need not be present, and robotic cooking equipment for making salads and other types of food may be used to dispense the ingredients. A sensor (not shown) may be present to infer whether the ingredients in a container, such as inner container 102, may rot. The carousel 104 may include more than two rows of containers or only one row of containers. The temperature of the environment in which the carousel with the container is installed can be modulated using, for example, a refrigeration system or a heating system.

  FIG. 2 illustrates a close-up view of the carousel design illustrated in FIG. The outer container 200 and inner container 202 may be mounted on a carousel 204, which may contain a shaft 206. The placement of the outer container 200 and the inner container 202 on the carousel 204 is such that their bottom openings are positioned substantially directly over the openings (not shown) within the thermally isolated carousel environment of FIG. May be designed so that it can be A chute configuration (not shown) may alternatively be employed, with the container substantially not directly over the opening. Gravity feed and motorized transfer of food ingredients from the container through the opening to the bread (or other receptacle) may be utilized.

  FIG. 3 illustrates an embodiment of the invention in which two carousels, an upper carousel 300 and a lower carousel 302, may be installed above a cooking pan (not shown). The upper carousel 300 may be connected to a container having raw materials, such as an outer raw material container 304 and an inner raw material container 306. The lower carousel 302 may be connected to a chopper such as chopper 308. Some choppers may contain blades for slicing the raw material, some choppers may contain blades for dicing the raw material, and some choppers may be finely chopped for the raw material. It may contain blades for chopping and some choppers may have other functions. The robot cooker controls the ingredient container set above the chopper by rotating the individual carousels, ie, the upper carousel 300 and the lower carousel 302, so that an ingredient or combination of ingredients can be chopped. be able to. Several features may be present to rotate the carousels, ie, upper carousel 300 and lower carousel 302. For example, belts such as upper belt 312 and lower belt 318 may be used in combination with pulleys, ie, upper carousel pulley 310, upper motor pulley 314, and lower motor pulley 316. Direct drive and other gear mechanisms may also be utilized to rotate upper carousel 300 and lower carousel 302.

  FIG. 4 illustrates an embodiment of the present invention in which the container shown in FIG. 4 may be used in conjunction with the carousel mechanism of FIG. 1 to dispense a controlled amount of raw material. A second view 402 shows an exploded view of a container that may be used in carousel 104, while a view 400 shows a side view of a container that may be used in carousel 104. The container may include an object such as a cylinder 404 for storing the raw material. The cylinder 404 may have a square or rectangular cross-sectional shape, the diameter may increase or decrease in the vertical direction, and the material composition and surface coefficient of friction / roughness may be, for example, food ingredient type, water content, It may be selected depending on design and engineering considerations such as container cleaning / sterilization constraints. Shapes such as container side 406 may be added to facilitate insertion into the carousel mechanism by inserting the shape into slots on the carousel. Shapes such as handle 408 may be used to dispense a controlled amount of ingredient. A second exploded view 402 shows further details of the ingredient dispensing mechanism. The shaft 414 may rotate the paddle 412 when the knob 410 is rotated. The rotary movement may allow dispensing of a controlled amount of raw material. Paddle 412 may be partially constructed of a flexible material such as silicone, for example. A mass sensor (not shown) may be used in conjunction with the mechanism to determine the amount of ingredient dispensed. In addition, monitoring the rotation angle (theta) traversed by knob 410 may provide an estimate / measurement of the dispensed ingredient.

  FIG. 5 illustrates an embodiment of the present invention illustrating an apparatus for actuating the knob 410 of the container cylinder 404 of FIG. 4 herein. A dispenser container knob 402 (or some other protrusion) may be present and may be shown as protrusion 502. A gripper mechanism may be used to rotate the protrusion 502. Two arms, a gripper upper arm 504 and a lower arm 506, may be used to grip and then securely hold the protrusion 502. Following this, the motor 510 may be used to rotate the gripper by rotating the gripper body 508. If some foodstuffs get stuck in the container cylinder 404, the gripper body 508 may be rotated in the opposite direction. The motor 510, and thus the gripper body 508 (and ultimately the paddle 412), may also be activated through an acceleration / deceleration forward / backward algorithm (e.g., generate vibrations) to clear jammed food. Several other mechanisms are possible, for example utilizing a robot arm or a single / 4 gripper arm to hold and rotate the protrusion 502.

  FIG. 6A illustrates an embodiment of the present invention, which is an apparatus for chopping raw material within a carousel mechanism that may be depicted in FIG. The exemplary ingredient container 600 may be installed in the carousel 602. A shredder slider 604 may be installed in the socket 606 at the base of the raw material container so that it can slide back and forth in the socket 606. The shredding blade 608 may chop the raw material in the container as the shredder slider 604 is moved in a certain direction. The shred slider 604 may be pushed or pulled using an actuator mechanism (not shown).

  FIG. 6B illustrates an embodiment of the present invention, which is an apparatus for dicing feedstock within a carousel mechanism that may be depicted in FIG. An exemplary ingredient container 620 may be installed in the carousel 622. A shred slider 628 may be installed in the socket 630 at the base of the raw material container so that it can slide back and forth within the socket 630. For example, a dice grid such as 624 may be installed at the base of the ingredient dispenser. The feedstock may be pushed down the feedstock container using a plunger mechanism, such as the plunger described, for example. The action of the raw material being pushed down the raw material dispenser into the dice grid may be combined with the movement of the shred slider 628 to diced and dispense the raw material together. The shred slider 628 may also include shred blades 626 to provide a dual use function.

  FIG. 7 illustrates an embodiment of the invention that allows movement of components in a plane based on movement of multiple links, namely first link 706 and second link 708. The motors, ie, the first link motor 700 and the second link motor 702, rotate the links, ie, the first link 706 and the second link 708, and thus the agitator 710 in the cooking vessel 714. It can be used to move to various points. The stirrer motor 704 is combined with other movements of the stirrer 710, such as clockwise and counterclockwise rotation, link movement and orientation (eg, to provide a demolition action on the surface of the cooking vessel 714). It may be utilized to provide specific stirrer blade orientations and the like. The cooking vessel 714 may be located above the heater 716. With this type of robotic system for handling agitator 710, the wires and motors may be encapsulated and thereby protected from environmental factors such as mud and oil. This type of link-based system can be used to move or provide movement to objects and features other than stirrers, such as, for example, spice dispensers, liquid dispensers, and other objects. Several variations of the present link-based system may be possible. For example, it may have more than two links, the motors may be installed in alternative positions, Z movements and combinations of X, Y, and Z movements, and many other options are possible. obtain.

  FIG. 8 illustrates an embodiment of the present invention, namely a solids dispensing device. Paddle 806 (similar to paddle 412 of FIG. 4 herein) may be present within food containing tube 802 (at least similar to the ingredient container of FIGS. 1-4, 6A, and 6B herein). The tube 802 may be attached to the carousel using the collar 804. Knob 808 (similar to knob 410 of FIG. 4 herein) may be rotated using the help of a motor to rotate paddle 806 and dispense food in combination with weight. The term "pin" may also be used to describe a knob in various sections of this patent application. To reduce the sticking of food products in the food containing tube 802, the knobs 808 are set at least during the dispensing process, as previously described in FIG. 4 herein and in the relevant section of this specification. It may be rotated in more than one direction. At various points in this patent application, the terms "tube" and "canister" may be used interchangeably.

  FIG. 9 illustrates an embodiment of the invention that may help reduce food deposition on the sides of the container 802 depicted in FIG. This may be done by having a non-circular side wall 912 inside the container so that the surface area of contact between the food product and the inner wall is reduced. The outer wall 910 can be circular. Several variations of these embodiments may be possible. For example, it may have non-circular inner and outer walls, and a wavy pattern or other pattern may be used on the inner wall to reduce adhesion. The pattern can be tuned or "matched" to the type and shape of the food ingredient. For example, the vertical wave pattern can be one-half or one-quarter period of the average size ("wave") of the food product.

  10A and 10B illustrate an embodiment of the present invention, a mechanism for rotating the knob 808 shown in FIG. In FIG. 10A, a motor 1002 may be used to rotate shaft 1008, which in turn may rotate dispensing mechanism 1006. The magnet may be used as part of the dispensing mechanism 1006. The Hall sensor 1010 shown in FIG. 10B may be used to determine the rest position of the knob 808 after the dispensing operation is complete.

  FIG. 11 illustrates an embodiment of the present invention, a mechanism for dispensing a food product, which may include a raw material container 1100, a raw material container knob 1102, a dispense knob 1104, and a motor 1106. Motor 1106 may be used to rotate dispense knob 1104. As the dispensing knob 1104 rotates, the ingredient container knob 1102 may also rotate. This, in turn, may dispense food ingredients from ingredient container 1100. The term "pin" may be used in place of the term "knob" in various sections of this document.

  12A and 12B show an embodiment of the present invention, namely pin 1202, raw material container 1204, spacer 1206, cam mechanism 1208, shaft 1210, raw material container knob 1212, pin 1214, head 1216. , A discharge port 1218 is shown. The cam mechanism 1208 may be pushed up onto the spacer 1206 as the feed container knob 1212 may be rotated. When the cam mechanism 1208 is pushed up, the outlet 1218 may use a pump mechanism to dispense material from the container 1204. A one-way valve may be added at the end of the outlet 1218 to reduce dripping of liquid when dispensing is not required.

  FIG. 13 illustrates an embodiment of the present invention, a mass sensor scheme that may include a load cell 1302, a mass measurement system 1304, and a bowl 1306. A load cell 1302 may be used and attached to the mass measurement system 1304. The weight may be measured as the food product falls through the top opening into the salad bowl 1306 and into the mass measurement system 1304. Based on whether the desired weight of raw material has been dispensed, the motor for dispensing raw material may be turned to the off position. The mass sensor system shown in FIG. 13 is isolated from the food zone where a salad bowl or cooking container or induction heater can be installed. According to some embodiments of the invention, bowl 1306 may be installed to be isolated from the wires associated with load cell 1302.

  FIG. 14 is part of a robotic cooking device that can help in making pizza, cooking food, making burritos, making salads, and some other types of food. 1 is an illustration of an embodiment of the present invention illustrating a food system 1499. FIG. The food system 1499 may include a plate 1402, a second link motor 1404, a first link motor 1406, a compartment 1408, a raw material container 1410, a carousel 1412, and a dispenser motor 1414. Ingredients may be placed in an ingredient container 1410 (one shown for clarity), for example movement of the carousel 1412 and dispensing mechanism using a dispenser motor, such as dispenser motor 1414. It may be dispensed using. The dispensing mechanism may be shared among multiple containers to reduce the cost and weight of food production machines.

  When making a pizza, pizza dough may be placed on the plate 1402. The plate 1402 may be moved using a multi-link mechanism, which in turn, includes a second link motor 1404, a first link motor 1406, and an additional motor installed in the compartment 1408. It may be moved based on the movement of the dynamic motor. Ingredients may be dropped onto pizza dough using the techniques described herein in Figures 1-13. The pizza dough may be moved using the movement of plate 1402 to distribute the ingredients over the pizza area.

  When making burritos, tortillas may be placed on the plate 1402 and the ingredients may be dispensed thereon.

  When making a salad, a salad bowl may be placed on the plate 1402 and the ingredients may be dispensed thereon.

  For example, when making stew and many hot pot dishes such as Indian and Chinese and Thai main dishes, an induction heater and pot may be placed above the plate 1402 and the ingredients are dispensed into the pot. May be. An additional robot arm may be used to agitate the food product. The robot arm is designed as a Cartesian robot system with a stirrer at the end, or using a technique similar to that described in FIG. 7 herein, or using some other technique. Good.

  FIG. 15 is an illustration of an embodiment of the present invention illustrating a closer view of the mechanism for moving plate 1402 of FIG. The plate 1502 may be moved using the movement of the links, ie, the third link 1506, the second link 1510, and the first link 1512. The motors, ie, the third link motor 1504 and the second link motor 1508, rotate and move the links, ie, the third link 1506 and the second link 1510, thereby moving the plate 1502 in the horizontal plane. You may move it. The first link 1512 may move up and down via a motor installed in the compartment 1514. Some other mechanisms may provide movement to the plate 1502 in the X, Y, Z planes and dispense the ingredients thereon. For example, the plate 1502 is installed on the 3D exercise table.

  FIG. 16 is an illustration of an embodiment of the invention illustrating a modular ingredient container and how it may be attached to a carousel. The modular ingredient container 1642 (and magnified view 1640) may consist of two or more parts that may be attached to each other using a latching mechanism 1644 (eg, upper portion 1623 and lower portion 1624, etc.). The use of modular ingredient containers is an innovation that offers several benefits: (1) if it is desired to increase the food capacity of the device, one or more modular ingredient container parts may be (2) Larger size raw material containers can be added to provide extra capacity, when divided into two smaller raw material containers, into a dishwasher or sink for cleaning purposes. It is easier to fit. The modular ingredient container may be attached to the carousel 1625 using various mechanisms. These may include pin features such as pins 1630, which may be inserted into slots such as left slot 1619 and right slot 1626. The modular feedstock container may also be attached to the carousel 1625 using a clip mechanism, where the clip 1628 may be used to attach to a portion of the feedstock container, such as location 1620. In some embodiments, a portion of the raw material container is attached to clip 1622. Several alternative mechanisms may be possible to attach the ingredient container to the carousel. For example, magnets may be used, for example a combination of permanent magnets and electromagnets. For example, pins such as cotter pin 1632 may be used to ensure that the shaft used in the canister does not slip out.

  Figure 17 is an illustration of an embodiment of the present invention, i.e., how different parts of a raw material container may be attached to each other. Protrusions, such as the first protrusion 1712, the second protrusion 1713, the third protrusion 1710, and the fourth protrusion 1714, may need to be attached to each other, the raw material container portion, ie, the upper portion 1717 and the lower portion 1717. It may be added to portion 1716. A joiner may be added, which may consist of parts such as flap 1715, elastic flap 1711 and stem 1720. The elastic flap 1711 may allow for a good fit despite manufacturing tolerances of various parts. It may consist of a flexible material that can deform to allow a good fit. Examples of flexible materials may include silicone rubber, polyurethane, and many other materials. The stem 1720, flap 1715, and other parts of the joiner may be made of non-flexible material so that multiple parts of the feed container are securely closed without material leakage. Examples of materials for this application may include polycarbonate, PVC, and many other materials. The ingredient container may be opened or closed by moving the joiner to the open or closed position. FIG. 17 includes illustrations of the locked position 1718 and the unlocked position 1719. In various sections of this patent application, the term "latch" may be used in place of the term "joiner."

  FIG. 18 is an illustration of an embodiment of the present invention, a method in which a paddle may be designed for use in a raw material container. The paddle may be constructed, for example, of similar or different materials for the core 1834 and the exterior, ie, the first extension 1830 and the second extension 1831. According to one embodiment of the invention, the core 1834 may primarily comprise a non-flexible plastic, such as polycarbonate, PVC, or other suitable non-flexible plastic. The exterior, first extension 1830 and second extension 1831, may comprise a flexible material such as, for example, silicone rubber, polyurethane, or some such material. According to one embodiment of the invention, the outer or first extension 1830 may be thicker than the outer or second extension 1831. This may provide the most effective combination of rigidity and flexibility for dispensing a particular ingredient. Alternatively, it may have only one thickness for the whole exterior. It is possible that several different thicknesses for the non-flexible plastic may be possible on different exteriors of the paddle to provide the various mechanical properties needed to dispense the ingredients. It will be clear to those skilled in the art. According to certain embodiments of the present invention, the exterior, ie, first extension 1830 and second extension 1831, may be overmolded onto core 1834. The holes 1832 may be inserted into the core 1834 to allow for a more convenient overmold.

  FIG. 19 is an illustration of an embodiment of the present invention, a method in which bearings may be used to provide long term reliability to a container. When the shaft 1933 is inserted into the container 1936 and rotated over a long period of time to dispense the ingredients, the plastic used in the container 1936 can deteriorate and / or wear. By inserting the bearings, outer bearing 1940 and inner bearing 1938, into the raw material container 1936, reliability issues may be reduced. Various types of bearings and materials for bearings may be possible and may reduce friction, deterioration, or wear.

  20A-20C illustrate embodiments of the present invention in which multiple Hall sensors and magnets may be installed within the dispenser motor assembly to more accurately dispense the ingredients. FIG. 20A shows a dispensing actuator arm 2004, a motor shaft 2006 that rotates the actuator arm 2004, a plate 2008, and a motor cover 2002. Two Hall sensors, Sensor 1 2010 and Sensor 2 2012, may be used to detect the location of the actuator arm 2014 based on the positions of the magnets, the top magnet 2016 and the bottom magnet 2018. When the magnet is directly above the sensor during the rotational movement of the actuator arm 2014, the sensor may indicate it and provide feedback to the control PCB on the actuator arm location. Various types of sensors may be possible, not just Hall sensors. The magnet may be of various shapes, sizes and types. More than two Hall sensors may be used. A single Hall sensor architecture may also be used. Alternatively, an encoder may be used on the motor to indicate its position.

  FIG. 21 illustrates a problem that occurs when using the pin dispenser rod actuator system 2106. The pin 2102 and actuator arm 2104 may be aligned in the same direction and may collide during movement of the carousel. This needs to be avoided for proper system operation. FIG. 22 illustrates an embodiment of the present invention, a system for aligning pins 2204 so that they do not collide with the actuator arm shown in FIG. A pin straightener 2202 may be installed in the device. As the carousel rotates, the pins 2204 may be automatically aligned horizontally due to engagement with the pin straightener 2202.

  23A-23B may be used to control the operation of a food preparation / robot cooker in which a touch screen has one or more of the features shown in FIGS. 1-22 and 24-28. , Illustrates an embodiment of the present invention. Touch screen 2308 may be installed within door 2306, as shown in FIG. 23B. FIG. 23A shows the back side of the door 2304 and FIG. 2302 shows an exemplary carousel system with an exemplary canister loaded thereon. The customer may use touch screen 2308 to show their food options, and the device shown in FIGS. 23A-B may prepare food.

  Food preparation equipment as shown in this patent application frequently needs to be refrigerated to store food for long periods of time without spoilage. 24A-B illustrate an embodiment of the present invention, which is a system for insulating a food storage chamber of a device. The system may consist of an insulating canister 2404 made for insulating purposes. One location of the insulating canister 2404 may be shown in FIG. 24A, where the insulating layer 2406 does not contact the food opening 2402, ie the food opening is not sealed. Another location of the insulating canister 2404 may be shown in FIG. 24B, where the insulating layer 2406 may contact and seal the food opening 2402, preventing significant heat from entering the chamber. The insulating layer 2406 may include a good insulating material such as, for example, silicone or some other insulating material. Insulation layer 2406 may also include some flexible material to provide a tight fit with food opening 2402. When the device is not being used to make food, the carousel moves the canister made for insulation (insulation canister 2404) directly above the food opening 2402 to insulate the food storage chamber. You may keep it in the state. It will be apparent to those skilled in the art that some variations of this embodiment may be possible. For example, the canister, thermal barrier, and food opening shapes may differ from those shown. The insulating canister may also contain some insulating material in addition to the insulating layer 2406.

  FIG. 25 illustrates different portions of the adiabatic canister illustrated in FIGS. 24A-24B. The canister may, for example, consist of two parts, an upper part 2502 and a lower part 2504. The insulation layer 2506 may be connected to features within the insulation canister using components 2508. 26A-26C illustrate a simplified view of internal features within a thermal insulation canister. It will be apparent to those skilled in the art that the features shown in FIGS. 26A-26C are exemplary and that there may be some variations. The thermal insulation layer 2606 may be connected to a platform 2604 that moves within the canister. The pin 2610 may be rotated using a dispense actuator similar to that previously described in this patent application. The pin may use the shaft to actuate the mechanism consisting of the cam 2614. FIG. 26B may illustrate one position of the mechanism where portion 2616 of cam 2614 may contact wall 2618. Wheels 2612 may allow smooth movement of cam 2614. Platform 2604 is not shown in FIGS. 26B-26C to better illustrate the operation of the mechanism. FIG. 26C may illustrate another position of the mechanism, where the cam 2620 may be in another stable position. One of the main factors of the present invention shown in FIGS. 26A-26C is the fact that the cam 2614 can be in two stable positions. This is "closed" to the food opening 2402 when actuated "down", the cam position pulls the insulation layer 2606 "up" so that the insulation canister 2404 is free to rotate on the carousel. It provides a stable open and closed position for the thermal insulation layer 2606, which is sometimes "open" to the food opening 2402. Therefore, the insulated canister may be operated by the same motor / cam system as normal food dispensing operations.

  FIG. 27 illustrates an embodiment of the present invention in which feedstock adhering to the feedstock container / canister wall may be reduced by using fittings 2704 in the canister. These joints may be actuated by movement of paddle 2710. The fitting 2704 may be attached to the top of the canister 2708 or the side of the canister 2709. They may have multiple parts, for example, one part, the fitting bottom 2707, contacts the paddle and another part, the fitting top 2704, contacts the top of the canister 2708. As the paddle rotates, the fitting may be moved back and forth by contacting the fitting bottom 2707 and causing movement within the canister that may allow the material adhering to the sides of the canister to peel off. Snapshot 1 2700 illustrates fitting 2704 that paddle 2710 does not contact, snapshot 2 2701 illustrates fitting 2704 that causes paddle 2710 to contact one side, and snapshot 3 2702 illustrates paddle 2710 on the other side. FIG. Several variants of this embodiment may be possible. For example, the shape of the fitting can be different and can be the shape of the curtain. The fitting may be attached to the side of the canister instead of the center as shown in FIG. The fitting may include a hinge. Some other variations may be possible.

  FIG. 28 illustrates an embodiment of the invention showing a device for dispensing liquid. The liquid to be dispensed may be stored in a bottle located within the canister 2806 and the flexible tube 2800 may lead therethrough. The flexible tube may be compressed by rollers such as 2802 and 2804 to control the dispensing of liquid. A one-way valve may be added to the end of tube 2810 to reduce dripping of liquid where it is not needed. Rollers 2802 and 2804 may be moved using rotation of shaft 2812, which in turn may be rotated using shared dispensing, which may be connected to pins 2812 located on canister 2806. .

  Additional methods, algorithms, and software.

  A device of an automated food preparation machine, eg, FIG. 14 herein, and a sub-device, eg, pin straightener 2202 of FIG. 22 herein, can be implemented with various algorithms instantiated in a computer / microprocessor system. And software may be controlled by a computer system, which may form a method of operating and controlling a machine or sub-device. Following are inventive embodiments of methods, algorithms, and software. Of course, some of these functions may be controlled from a computer / microprocessor that is not within the food production machine, such as a centralized control system at a company, home, or operated from / by a manufacturer. Good.

Algorithms and software programs may include at least the following commands and values.

  The minimum and maximum values may be adjusted based on engineering and design considerations. For example, the number Q of weight samples may have a maximum value greater than 50 if a faster reading scale is used for a particular overall mechanical model.

For example, the algorithms and software programs may have the following steps.

The above example may be written as three lines of code as follows:

  Ingredient cutting-based dispensing algorithms and software programs may be located in the food production machinery and may require different sub-algorithms to control the appropriate machine subunits and / or components. Different cuts (eg shreds, diced, chopped etc.) for the ingredients (eg iceberg lettuce, romaine lettuce, carrots, beets, cheese etc.) may be selected and controlled. As illustrated in FIG. 29, an exemplary embodiment of a feed cutting based dispensing algorithm and software program is shown in the overview flow chart. For example, start 2900 may start the algorithm and the first question asked may be a diced ingredient [2910]. For example, as a customer may order a diced cucumber for a salad, the machine is directed to the cucumber container and uses the diced sub-algorithm 1 [2930] to dice the cucumber container under the cucumber container. May be activated. If the ingredient is diced [2912], Dispensing Algorithm 2 [2932] moves and operates the slicing and dispensing mechanism for that ingredient (eg, to slice a cucumber from a cucumber container). It may be used to If the ingredient is chopped [2914], Dispensing Algorithm 3 [2934] may be utilized to move and operate the chopping and dispensing mechanism for the ingredient. If the ingredient is chopped in some other form [2916], Dispensing Algorithm 4 [2936] may be utilized to move and operate the shredding and dispensing mechanism for that ingredient. If an ingredient is treated in some other way ("No" to [2916]), Dispensing Algorithm 5 [2938] is used to move and operate the appropriate mechanism for that ingredient. Good. All of the dispensing algorithms may be completed at the end [2999] when the appropriate amount of ingredient has been dispensed.

  Paddle-based dosing algorithms and software programs may be located in the food production machinery and may require different sub-algorithms to control the appropriate machine subunits and / or components for various ingredients. Different paddles (eg 2 fins, 4 fins, 6 fins, flexible, rigid, rigid / flexible etc.) (eg iceberg lettuce, spinach, carrots, nuts, raisins, seeds, croutons etc.) May be selected and controlled. As illustrated in FIG. 30, an illustrative embodiment of a paddle-based dispensing algorithm and software program is shown in the overview flowchart. For example, start [3000] may start the algorithm and the first question asked may be diced ingredient [3010]. For example, as a customer may order a diced cucumber for a salad, the machine may be directed to the cucumber container and use the diced sub-algorithm [2930] (see Figure 29). The dispense paddle type 1 [3030] may then be activated to precisely dispense the diced food product. When the raw material is sliced [3012], the dispensing paddle type 2 [3032] may dispense the sliced food precisely. When the ingredient is finely chopped [3014], Dispensing Paddle Type 3 [3034] may be utilized to precisely dispense the finely chopped food product for that ingredient. If the ingredients are chopped in some other form [3016], Dispense Paddle Type 4 [3036] may be utilized to precisely dispense the chopped food for that ingredient. If an ingredient is treated in some other way (“No” to [3016]), Dispensing Paddle Type 5 [3038] is used to precisely dispense food for that ingredient. Good. All of the dispense paddle type algorithms may complete at the end [3099] when the appropriate amount of processed ingredient has been dispensed.

  A threshold-based velocity algorithm and software program may be located in the food preparation machine to select and control different dispense rates / velocities as a function of another input (eg, 80% target weight). Faster food dosing rates up to%, then slower rates until finished, etc.). The input may be, for example, the weight of the food to be dispensed, and the sample rate of that weight may be adjusted in some manner, e.g., inversely proportional to the percentage of target weight, etc. May differ for different ingredients (eg iceberg lettuce, spinach, carrots, nuts, raisins, seeds, croutons, etc.) that may require different sub-algorithms to control units and / or components (speed control and weight Sampling rate). As illustrated in FIG. 31, an illustrative embodiment of a threshold-based velocity algorithm and software program is shown in program form and overview flow chart. For example, start [3100] may start the algorithm and the default speed of dispense motor rotation S1 [3110] may be set to dispense food, while target weight monitoring may It may be implemented. This may be due to the differential weight of the bowl or other means. If the first threshold (which may depend on the ingredient type) is reached [3120], the speed may be reduced to S2 [3130] and the weight continues to be monitored. If the target weight is reached, the threshold-based speed routine may complete at end [3199]. More than two dispense motor rotation speeds may be utilized depending on engineering options and raw material type and processing (thinned, chopped, etc.). It will be apparent to those skilled in the art that higher speeds may result in slower, more controlled dispensing, and in some cases speed S2 may be set faster than S1.

  Threshold-based gravimetric frequency algorithms and software programs may be located in the food production machinery to select and control the dispense rate / rate as a function of dispensed food weight sampling (eg, , Increase the weight sample rate more often near the target weight, etc.). The weight sample rate may be adjusted in some manner, eg, inversely proportional to the target weight percentage, and may require different sub-algorithms to control the appropriate mechanical subunits and / or components. , Can differ for different sources (eg iceberg lettuce, spinach, carrots, nuts, raisins, seeds, croutons, etc.) (rate control and weight sampling rate). The algorithm may stop dispensing when the target weight is reached. As illustrated in FIG. 32, an exemplary embodiment of a threshold-based gravimetric frequency algorithm and software program is shown in the overview flow chart. For example, start [3200] may start the algorithm and the default weight sampling setting W1 [3210] for the food to be dispensed may be set to dispense the food, while Monitoring may be performed. This may be due to the differential weight of the bowl or other means. If a first threshold (which may depend on the feedstock type) is reached [3220], weight sampling may be increased to W2 or otherwise performed in a more precise manner [3230], weight. Keeps being monitored. If the target weight is reached, the threshold-based weight measurement routine may end at [3199] or complete at [3299]. Alternatively, dispensing continues with a more accurate W2 weight sensing scheme.

  Ingredient level-based dosing algorithms and software programs may be located in the food production machinery to select and control the dosing rate / rate as a function of the dispensed food level in the food ingredient container. (Eg, when the level in the ingredient container is 25%, it may be necessary to increase the flipper rotation speed to dispense the same amount of food ingredient at the same time). The adjustment rate may be different container levels (eg 100%, 75%, 50%, 33%, 25%, 10%, which may require different sub-algorithms to control the appropriate mechanical subunits and / or components. %, 5%, etc.), such as iceberg lettuce, spinach, carrot, nuts, raisins, seeds, croutons, etc. As illustrated in FIG. 33, an exemplary embodiment of an ingredient level based dispensing algorithm and software program is shown in the overview flow chart. For example, start [3300] may start an algorithm, default dispense algorithm 1 [3310] may be activated, and the level of food in a particular canister / container is monitored (typically , Dispensed by weight and recorded in software, but can also be monitored by sensors such as optical or proximity). If the first threshold of the canister is depleted, eg 33% [3320], then a second dispensing algorithm, eg, Dispensing Algorithm 2 [3330], determines accurate and precise food dispensing. May be used to maintain If the canister is depleted to another threshold, eg, 66% [3340], a third algorithm, such as Dispensing Algorithm 3 [3350], may control the dispensing. The ingredient level based dispensing algorithm may be completed at termination [3399].

  Liquid pullback algorithms and software programs may be located in the food production machinery and may select and control the dispensing of liquids (eg, salad dressings, etc.). The liquid may at some time be dripped from the dispenser after being stopped. Reversing the flow in the liquid dispenser can reduce unwanted drip. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 34, an illustrative embodiment of the liquid pullback algorithm and software program is shown in the overview flow chart. For example, start [3400] may start the algorithm and default liquid dispense algorithm 1 [3410] dispenses the desired liquid, eg, increments or reverses the time depending on the type of dispense machine. It may be activated to perform a default pullback, which may include the number of rotations. If drip is detected [3420] by other means such as weight gain between salad making or visual reporting by the customer [3420], the liquid pullback is due to the combination of that particular liquid and dispensing machine. [3430]. For example, the viscosity of a salad dressing can change with batch, or as the dispense container approaches the end of its dispense volume (liquid aging / evaporation), with temperature excursions, etc. Pullback changes may be sent to the dispensing algorithm so that adjustments can be made to maintain a consistent product delivery volume. The liquid pullback algorithm may complete at end [3499].

  Dispenser collision recovery algorithms and software programs may be placed in the food preparation machinery due to inconsistent or substandard foods (eg, larger diameter nuts than expected, spinach chunks, etc.). The dispenser may be selected and controlled which may clog. When a blockage is detected, the algorithm may re-center the dispenser and switch movement algorithms. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 35, an illustrative embodiment of the dispenser collision recovery algorithm and software program is shown in the overview flowchart. For example, start [3500] may start the algorithm and default dispense algorithm 1 [3510] may be activated to dispense the food ingredient. If a blockage is detected in the food dispense [3520], the deblocking dispense algorithm 2 [3530] may be activated in an attempt to deblock the container and dispenser. For example, dispense algorithm 2 may re-center the canister / container and switch dispenser movement algorithms. It will be clear that many other types of deblocking algorithms may be possible. The dispenser collision recovery algorithm may complete at end [3599].

  Ingredient jam recovery backward algorithms and software programs may be placed in the food production machinery to dispense less than expected amount of ingredient (or otherwise cause incorrect dispensing). When detected, it reverses the direction of the paddle, causing blockages (eg, nuts of larger diameter than expected, spinach lumps, etc. Food gets stuck in the container, leaving voids that the paddle cannot reach. (Which may be left) may be crushed. Reversing direction may also include fast forward and reverse movement, fast reverse and slow forward, and other combinations including time, rotational acceleration, and velocity. The present recovery algorithm may also be combined with the raw material jam recovery carousel oscillation algorithm herein to clear the raw material jam. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 36, an illustrative embodiment of the raw material jam recovery backward algorithm and software program is shown in the overview flow chart. For example, start [3600] may start the algorithm and default dispense algorithm 1 [3610] may be activated to dispense the food ingredient. If a blockage is detected in the food dispense [3620], the deblocking dispense algorithm 2 [3630] may be activated in an attempt to unclog the container and dispenser. For example, dispensing algorithm 2 may reverse the direction of rotation, which may include various speed and acceleration changes. The raw material jam recovery backward algorithm may be completed at the end [3699].

  Ingredient blockage recovery carousel vibration algorithms and software programs may be placed in the food production machinery to dispense less than expected amount of ingredient (or otherwise cause incorrect dispensing). When it is detected, it oscillates the carousel back and forth, causing blockages (eg, nuts of larger diameter than expected, spinach lumps, etc.) Food gets stuck in the container, creating voids that the paddle cannot reach. (Which may be left) may be crushed. Vibrating may also include fast forward and reverse motion, fast reverse and slow forward, and other combinations including time, linear / rotary acceleration, and velocity. The present recovery algorithm may also be combined with the raw material jam recovery carousel oscillation algorithm herein to clear the raw material jam. Zeroing of container positions will be implemented to avoid further errors. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 37, an illustrative example of a feed jam recovery carousel vibration algorithm and software program is shown in the overview flow chart. For example, start [3700] may start the algorithm and default dispense algorithm 1 [3710] may be activated to dispense the food ingredient. If a blockage is detected in the food dispense [3720], the unclog dispense algorithm 2 [3730] may be activated in an attempt to unclog the container and dispenser. For example, dispensing algorithm 2 may cause the carousel to oscillate, which may include various velocity and acceleration changes, such as back and forth movement. The feed jam recovery carousel vibration algorithm may be completed at the end [3799].

  A fallback container algorithm and software program may be located in the food production machine to fall the container used for that ingredient when the ingredient is exhausted in the second container. It can be used by switching to a back dispenser. A message may be sent to the appropriate person or device to inform about the empty container. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 38, an illustrative embodiment of the fallback container algorithm and software program is shown in the overview flowchart. For example, start [3800] may start the algorithm, and as dispensing occurs from the canister [3810], the canister is detected to run out of ingredients [3820]. The detection can be by various means, such as by calculation, weighing, by a sensor, etc. The algorithm may then direct the device to move to a fallback canister with the same ingredients, if available [3830]. If not available, a signal is sent to the appropriate technician to immediately replenish the concrete container. The fallback container algorithm may complete at end [3899].

  A wobbling motion dispensing algorithm and software program may be placed in the food preparation machine, which may inadvertently drop the ingredients when the machine is set to zero, causing the dispenser to oscillate back and forth, It may be directed to keep the back side as clean as possible. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 39, an illustrative embodiment of the swing motion dispensing algorithm and software program is shown in the overview flow chart. For example, start [3900] may activate the algorithm during canister / container zeroing [3910]. If a drop of material is detected during zeroing [3920], the dispenser for the container may be oscillated back and forth to sweep the back of the dispenser [3930]. The swing motion dispense algorithm may be completed at end [3999].

  Bi-directional motion algorithms and software programs may be placed in the food production machinery and some ingredients may tend to jam inside the container / cylinder if dispensed in only one direction. , The machine may be instructed to rotate the dispenser in one direction for several cycles and then return in the other direction for some cycles. More than two directional changes may be employed to reduce clogging. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 40, an illustrative example of a bidirectional motion algorithm during operation is shown, in which the motion of the dispenser paddle is [4010] clockwise for several dispenses, and then a further It may be rotated [4020] counterclockwise for a single dispense. The precise number of dispenses will depend on engineering judgment and decision making and the specific type of food ingredient.

  Algorithms and software programs to switch directions between salads may be placed in the food production machinery, and some ingredients tend to jam inside the container / cylinder if dispensed in only one direction. As possible, the machine may be instructed to rotate the dispenser in the opposite direction each time the ingredients are selected to be deposited. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 41, an exemplary embodiment of an algorithm and software program to switch between salads is shown, in which movement of the dispenser paddle [4110] clockwise to make one or more salads, It may then be rotated [4120] counterclockwise to make the next salad, or more than one salad. The precise number of salads made between each rotation change will depend on engineering judgment and decision making.

  A one-way algorithm and software program may be placed in the food preparation machine and, as a default dispenser movement, the machine is instructed to rotate the dispenser in a single direction until the target weight is reached. Good. The algorithm may control the appropriate mechanical subunits and / or components. The algorithm may be a default dispensing algorithm in which the dispenser is rotated in one direction (clockwise or counterclockwise) until the target weight is reached.

  Quantized gravimetric dosing algorithms and software programs may be located in the food production machinery and when dosing medium to large amounts of ingredients, the total time to dosing is before checking the dosing weight. Can be made shorter by moving the dispenser by a large angle. The dispenser may be rotated a specific distance (learned or predetermined for each specific food ingredient) before checking the weight. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 42, an exemplary embodiment of a quantised gravimetric dispensing algorithm and software program is shown in the overview flowchart. For example, start [4200] may activate the algorithm and rotate the paddle x degrees [4210]. If the target weight is reached [4220], the algorithm may complete at end [4299]. If the target weight is not achieved [4220], the paddle may be rotated a new amount of rotation.

  The multi-ingredient dosing algorithm and software program may be located in a food preparation machine. The time to make a salad can be shortened by depositing the two ingredients at about the same time. Since the device / machine has two concentric rings of ingredients, the machine may dispense two ingredients simultaneously. This is accomplished by sending multiple ingredient commands at once, stored in a buffer, and if ingredients are on the inner and outer rings of the same compartment, they may both be dispensed simultaneously. . The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 43, an illustrative example of multiple ingredient dispensing is shown. An outer canister 4310 and an inner canister 4320 may be positioned and both may be dispensed into a product bowl below (not shown), thus the two food ingredients are dispensed at about the same time. It therefore allows to save product (salad) manufacturing time.

  Algorithms and software programs that map ingredient locations to minimize time may be located in the food production machinery. The time it takes to switch ingredients increases the amount of time it takes to make a salad. The equipment / machine uses the historical data on the ingredients used in a selected time period to instruct the loader to arrange the ingredients in an order that minimizes the time it takes to make an average salad. May be. For example, the time period can be 1 day, 1 week, 3 weeks, 6 weeks, 2 months, and can be tracked by the day of the week (optimum Monday and Friday canister / container arrangements may differ) or by a local calendar. You may. The algorithm may control the appropriate mechanical subunits and / or components.

  Predictive zero mechanism undershoot algorithms and software programs may be located in the food production machinery. When the machine is set to zero, the ingredients can be inadvertently dropped. The device / machine may determine the average amount of weight being deposited during the zeroing step and reduce the target weight accordingly. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 44, an illustrative embodiment of the predictive zero mechanism undershoot algorithm and software program is shown in the overview flowchart. For example, start [4400] may activate the algorithm and dispense [4410] from the canister may be performed. The algorithm may then determine if sufficient weight of food ingredient has been dispensed so that the target weight will be reached when the canister is set to zero [4420] (zero Due to liquefaction, the dispenser may drop additional food material from the canister). If applicable, the predictive zero mechanism undershoot algorithm may complete at end [4499].

  The predictive dispense undershoot algorithm and software program may be located in the food preparation machine. The current method of feedback uses a scale to measure the weight, and once the weight measurement exceeds the target weight, the algorithm is stopped. This means that substantially all of the final weight will tip to highs. The device / machine determines the average amount of weight being deposited per revolution and may stop if the weight will exceed the target in response to the next revolution. The algorithm may control the appropriate mechanical subunits and / or components. As illustrated in FIG. 45, an illustrative embodiment of the predictive dispense undershoot algorithm and software program is shown in the overview flow chart. For example, start [4500] may activate the algorithm and dispense [4510] from the canister may be performed. The algorithm may then determine if a sufficient weight of food ingredient has been dispensed so that the target weight will be reached when the dispense is stopped [4520] (of the dispenser). Additional food material may fall from the canister due to the next rotation). If so, the predictive dispense undershoot algorithm may complete at end [4599].

  Ingredient-specific undershoot algorithms and software programs may be located in the food production machinery. The current method of feedback uses a scale to measure the weight, and once the weight measurement exceeds the target weight, the algorithm is stopped. This means that substantially all of the final weight will tip to highs. Each ingredient is believed to have a different amount of overshoot error for it. Machines / devices and programs will quantify it and undershoot by that amount. The amount of typical undershoot for all raw materials will be measured and there will be an undershoot value in the G code. Therefore, code G1 W50 U10 will stop at 40 g, as it would be expected that overshoot would make a difference. The algorithm may control the appropriate mechanical subunits and / or components. The algorithm operates in a manner similar to the predictive dispense undershoot of Figure 45, but would be ingredient-specific.

  Predictive dispensing undershoot algorithms and software programs that use aggregated historical data may be located in the food production machinery. Weight sensor measurements are time consuming and can slow down dispensing. Machines / devices and programs may use historical data to approach completion before dialing the final target. The algorithm may control the appropriate mechanical subunits and / or components.

  Delayed weighing algorithms and software programs may be located in the food production machinery. The ingredients can be in the air when the bowl is weighed. The machine / device and program may wait for an increment of time before taking a measurement. This will slow down the overall process. The algorithm may control the appropriate mechanical subunits and / or components.

  Autoscale calibration algorithms and software programs may be located in the food production machinery. Weight sensor measurements are important for achieving accurate salad orders. The scale may not be calibrated correctly and may not give an accurate reading. The machine / apparatus and program may, for example, use a known bowl weight to calibrate and calibrate the weight sensor with a known weight. The algorithm may control the appropriate mechanical subunits and / or components.

  46A-D illustrate an embodiment of the present invention in which the canister 4601 may be used to dispense liquids such as dressings, water, milk, smoothies, or any other ingredient compatible with the present mechanism. . The liquid may be placed in bottle 4605, which in turn may be placed in position using support 4606, as shown in FIG. 46C. Tubing 4607 may be used to transport liquid into the peristaltic pump device 4602. Peristaltic pump mechanism 4602 may be operated with a motor using the devices and methods previously described in this patent application. This actuation may occur using a pin 4604 (shown in Figure 46B) and a shaft that enters the peristaltic pump mechanism. The tubing may enter the peristaltic pump mechanism and the liquid may be picked using rollers 4608, as shown in FIG. 46D. Weight sensor readings may be taken after different dispense movements and feedback may be provided to the dispense motor. The dispense motor may be shared among multiple liquid dispenser canisters, which may benefit the weight, size, and / or cost of the food preparation device. It will be clear to the person skilled in the art that some variants of the proposed embodiment may be possible. Some peristaltic pump designs may be possible. Several liquid dispenser design variations may be possible.

  47A-C illustrate embodiments of the present invention in which the canister 4701 may contain a tabbed paddle 4702. FIG. 47B shows the potential structure of the tabbed paddle 4702 shown in FIG. 47A. The paddle may contain a hard or rigid core or center 4703. It may also contain flexible fins. The fin may contain thicker portion 4705 and thinner portion 4704 for optimized dispensing. The fins may also contain tabs such as 4706 that may add friction between the paddle and the canister 4701. This may have the useful benefit of preventing the paddle from moving due to gravity or other forces, and thus prevent pin 4708 from being misaligned. Multiple tabs 4707 may be installed on the same paddle to create different amounts of friction between the paddle and the canister wall. Depending on the tab material, canister material, and tab size, some maximum speed may be recommended for paddle rotation of any dispense algorithm. It will be clear to the person skilled in the art that some variants of the proposed embodiment may be possible. Weight readings may be taken during dispense and motor movement may be automatically controlled to control dispense. The same motor may be used to rotate the paddles in different canisters. Position sensors may be used to identify the position of the actuator arm, as shown in the embodiments described in Figures 20A-C.

  48A-C illustrate an embodiment of the present invention in which a canister 4801 may use a shuffler 4802 for dispensing ingredients that may not be fully interlocked with the gravity feed mechanism. FIG. 48B shows that the shuffler end 4803 can contact the paddle 4804 as the paddle 4804 rotates. This, in turn, may cause the shuffler to move and push the ingredients in the canister to drop downwards. It will be apparent to those skilled in the art that some embodiments may be possible for shuffler designs. FIG. 48C shows that the shuffler end 4807 can have coating material so that the structure 4805 allows the shuffler to be installed on the side of the canister and the paddle 4804 is not damaged by the shuffler hitting it. 1 illustrates an embodiment. That several devices and methods exist to use paddle rotation to generate movements higher in the canister and to dispense ingredients that may not be perfectly aligned with the mechanism of gravity feed Will be clear to one of ordinary skill in the art.

  49A-D illustrate an embodiment of the invention in which a pin shaft mechanism snap fits into a paddle 4902 of a canister 4901. FIG. 49C may show a pin shaft mechanism that may consist of a pin 4903/4905 and a shaft 4904 that may have an end 4906. The end 4906 may snap fit into the structure 4907 of FIG. 49D, which may be referred to as a retention device ring. By applying a pushing force, the end 4906 may snap fit into the retainer ring 4907. By applying a withdrawal force, the end 4906 may be withdrawn from the retention device ring 4907. FIG. 49B shows a view of the inner pin end of the retention device ring (FIG. 4908). It will be apparent to those skilled in the art that several variations of these embodiments are possible. Different materials may be used for the shaft and restraint ring. Different shapes may also be used for the shaft and restraint ring.

  FIG. 50 illustrates an embodiment of the invention in which the swing motion dispense algorithm may be used in conjunction with weight feedback. After the start of algorithm 5000, the paddle is rotated in one direction by an angle "x", then rotated back to the center, then in another direction by an angle "x", then back to the center. May be rotated. The weighing may be done after that step. If the target weight is reached, the algorithm ends 5099. Otherwise, the rocking motion may be repeated repeatedly with the same angle "x" until the target weight is reached. Alternatively, the rocking motion may have increasing values of angle "x" until the target weight is reached. It will be apparent to those skilled in the art that the embodiment described in FIG. 50 can be combined with the embodiments described above in this patent application.

  References to “one embodiment,” “embodiment,” “exemplary embodiment,” “various embodiments,” etc. may refer to any particular feature, structure, or characteristic of an embodiment of the invention so described. May be included, but it may be shown that not all embodiments necessarily include a particular feature, structure, or characteristic.

  Moreover, repeated use of the phrase “in one embodiment” or “in an illustrative embodiment” does not necessarily refer to the same embodiment, but it may. The various embodiments described herein may be combined and / or the features of the embodiments may be combined to form new embodiments.

  Unless stated otherwise specifically, the terms "process," "calculate," "calculate," "determine," or equivalent throughout the specification, as will be apparent from the following discussion. A discussion utilizing terms such as data refers to data represented as a physical quantity, such as an electronic quantity in a register and / or memory of a computing system, memory, registers, or other such information of a computing system. Refers to the actions and / or processes of a computer or computing system, or similar electronic computing device that manipulates and / or translates into storage, transmission, or other data that is also represented as a physical quantity within a display device. I want you to understand.

  In a similar fashion, the term "processor" processes any electronic data from a register and / or memory and converts that electronic data into other electronic data that may be stored in the register and / or memory. It may refer to a device or part of a device. A “computing platform” may include one or more processors.

  Embodiments of the invention may include apparatus for performing the operations herein. The apparatus may comprise a general purpose device, which may be specially constructed for the desired purposes, or may be selectively activated or reconfigured by a program stored in the device.

  Embodiments of the present invention are used to make several types of food products: salads, bowls, breakfast bowls, acai bowls, fruit bowls, smoothies, cocktails, frozen yogurt, and many other types of foodstuffs. May be.

It will also be appreciated by those skilled in the art that the present invention is not limited to what has been particularly shown and described herein above. Rather, the scope of the present invention is recalled to such persons skilled in the art in response to a perusal of both the combinations and sub-combinations of the various features described herein above, and the foregoing description. Including possible modifications and variations. Therefore, the present invention is limited only by the claims.

Claims (20)

A method for operating an automatic food production device, comprising:
Rotating a paddle with a hard center and flexible fins using a motor with an actuator arm to dispense raw material placed in a canister,
Rotating the paddle using a pin shaft mechanism,
Automatically controlling the motor based on a weight sensor reading,
Identifying the position of the actuator arm using a position sensor;
The same motor dispenses raw materials from multiple canisters.   The method of claim 1, further comprising a plurality of one-way paddle rotation and weighing steps until a target weight is reached.   The method of claim 1, further comprising a plurality of bi-directional paddle rotation and weighing steps until a target weight is reached. Multiple paddle rotation and weighing steps to reach the target weight,
A step of straightening a pin following the plurality of paddle rotation and weighing steps.   Further comprising rotating the paddle according to a first paddle rotation algorithm until an initial target weight is reached, and subsequently rotating the paddle according to a second paddle rotation algorithm until a final target weight is reached. The method according to Item 1.   The method of claim 1, further comprising rotating the paddle according to an error recovery algorithm when a further paddle rotation using a first algorithm does not cause a significant change in the weight sensor reading.   The method of claim 1, further comprising rotating the paddle according to a different algorithm when different amounts of ingredients remain in the canister.   The method of claim 1, further comprising rocking the paddle and measuring the weight until a target weight is reached.   The method of claim 1, further comprising rocking the paddle at increasing angles until the target weight is reached and measuring the weight. A method for operating an automatic food production device, comprising:
Rotating the device for dispensing the raw material placed in the canister using a motor with an actuator arm;
Rotating the device using a pin shaft mechanism;
Automatically controlling the motor based on a weight sensor reading,
Identifying the position of the actuator arm using a position sensor;
The same motor dispenses raw materials from multiple canisters.   11. The method of claim 10, further comprising a plurality of device rotations and weighing steps until a target weight is reached.   11. The method of claim 10, further comprising a plurality of interactive device rotating and weighing steps until a target weight is reached. Multiple device rotation and weight measurement steps to reach the target weight,
11. The method of claim 10, further comprising the step of straightening pins following the plurality of device rotating and weighing steps.   Further comprising rotating the device according to a first paddle rotation algorithm until an initial target weight is reached, and subsequently rotating the device according to a second paddle rotation algorithm until a final target weight is reached. Item 11. The method according to Item 10.   11. The method of claim 10, further comprising rotating the device according to an error recovery algorithm when further device rotation using the first algorithm does not cause a significant change in the weight sensor reading.   11. The method of claim 10, further comprising rotating the device according to different algorithms when different amounts of ingredients remain in the canister.   11. The method of claim 10, further comprising rocking the device and measuring the weight until a target weight is reached.   11. The method of claim 10, further comprising rocking the device at increasing angles and measuring the weight until a target weight is reached. A method for operating an automatic food production device, comprising:
Rotating a device for dispensing a liquid placed in a bottle of a canister using a motor with an actuator arm;
Rotating the device using a pin shaft mechanism;
Automatically controlling the motor based on a weight sensor reading,
The same motor dispenses raw materials from multiple canisters.   20. The method of claim 19, further comprising a peristaltic pump device for dispensing the liquid.