CN114747930A - Improved automated food preparation equipment - Google Patents

Abstract

The present invention relates to a method for operating an automatic food preparation apparatus having a motor, an actuator arm and an apparatus. The device may be a paddle portion having flexible fins. The method rotates the paddle portion via a pin mechanism to dispense ingredients placed in the tank, automatically controls the motor based on the weight sensor readings, and positions the actuator arm via a position sensor. The same motor dispenses ingredients from multiple tanks. The method may have multiple paddle rotation and weight measurement steps until the target weight is reached. The plurality of paddle portion rotating steps may be one-way paddle portion rotation or two-way paddle portion rotation. The paddle portion may be rotated according to one or more paddle portion rotation algorithms, error recovery algorithms, or different algorithms based on the amount of ingredient remaining in the tank. The paddle portion may be rocked until the target weight is reached.

Description

Improved automated food preparation equipment

This application is a divisional application for an invention patent application with an application date of April 4, 2018, an application number of "201880028412.2" (the international application number is PCT/US2018/026065), and the invention name of "improved automated food preparation equipment" .

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of, and claims the benefit of, US Provisional Patent Application No. 62/481,217, filed April 4, 2017, which is US Non-Provisional Patent Application No. 15/449,548, filed March 3, 2017 Continuing in part, this application claims the benefit of U.S. Provisional Patent Application No. 62/304,277, filed on March 6, 2016, which is the subject of U.S. Non-Provisional Patent Application No. 14/847,959, filed on September 8, 2015 Continuing in part, this application claims US Provisional Patent Application No. 62/047,785, filed September 9, 2014, US Provisional Patent Application No. 62/056,368, filed September 26, 2014, and December 19, 2014 US Provisional Patent Application No. 62/094,595, US Provisional Patent Application No. 62/150,303, filed April 21, 2015, US Provisional Patent Application No. 62/185,524, June 26, 2015, and August 2015 The benefit of U.S. Provisional Patent Application No. 62/201,105, filed May 4. The contents of the aforementioned applications are incorporated herein by reference.

technical field

This application relates to the general field of electronic aids, systems, methods, and techniques for carrying out the food preparation process in a home or business.

Background technique

Over the years, many innovations have emerged to aid the cooking process. A food processor can now be used to chop vegetables and meat. Induction cooktops allow for a faster cooking process. Microwave ovens allow for efficient reheating. Yet despite these innovations, many of us spend an hour or more a day cooking food for ourselves and our families. Cooking also requires a significant learning curve before one can cook in a delicious way. Likewise, commercial food businesses such as restaurants must currently allocate a significant portion of their costs to manual cooking labor. A way to reduce the "labor time" required for cooking as well as reduce the learning curve associated with cooking can be very useful. Likewise, for business, there are direct and indirect economic benefits from shifting some of the labor time cost to machines, equipment, robots, etc.

US Patent Application Publication No. 2013/0112683 to Hegedis, Davenport and Hoare apparently describes a cooking apparatus in which a heating element works with a user interface and temperature sensor and provides prompts to the user during cooking. However, this requires user input to provide all the ingredients needed for cooking, and requires the user to stand near the stove for an extended period of time in response to prompts provided by the cooking device. The user is also required to stand near the stove for extended periods of time because there is no automatically available mixing function.

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

Foodini is a prototype and upcoming product from Natural Machines, which apparently 3D prints food items by heating food paste and by dispensing them onto a table. However, this requires mashing the food before dispensing, which can be cumbersome and expensive.

Everycook is a European-made prototype that apparently promises to cut and mix food items and cook them with the help of recipes. However, the user still needs to stay near the Everycook cooking device and often dumps additional food items.

Sereneti Kitchen is an American-made prototype that apparently wants to automate the cooking process, but instead of doing any chopping of ingredients, it utilizes pre-chopped food. It also does not put measured amounts of ingredients into the cooking vessel.

What is needed are apparatus and methods that allow food preparation with minimal human intervention.

Description of drawings

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

Figure 1 shows an embodiment of the invention which may include a carousel on top of a cooking pot;

Fig. 2 shows the turntable mechanism shown in Fig. 1;

Figure 3 shows an embodiment of the invention in which two turntables are placed on top of the cooking pot, one for containing ingredients and one for chopping the ingredients;

Figure 4 shows an embodiment of the present invention in which a container with a rotary dispenser knob is used in conjunction with the dial mechanism of Figure 1;

Figure 5 shows an embodiment of the present invention, an actuation mechanism for an ingredient dispenser container;

Figure 6A shows an embodiment of the present invention, which is an apparatus for chopping ingredients;

Figure 6B shows an embodiment of the present invention, which is an apparatus for dicing ingredients;

Figure 7 shows an embodiment of the present invention using a series of linkages to move the agitator to various positions;

Figure 8 shows an embodiment of the present invention that can dispense solid ingredients;

Figure 9 shows an embodiment of the present invention wherein food is prevented from adhering to the sides of the ingredient container by reducing the contact surface area between the ingredient container and the food;

Figures 10A and 10B illustrate embodiments of the present invention in which mechanisms for dispensing and sensing are described;

Figure 11 shows an embodiment of the present invention in which a mechanism for dispensing food is described;

12A and 12B illustrate an embodiment of the present invention for dispensing liquid;

Figure 13 shows an embodiment of the present invention showing a mass sensor system;

Figure 14 illustrates an embodiment of the present invention showing a system capable of processing various types of food;

Figure 15 shows an embodiment of the present invention, which is shown for placing a salad bowl or pizza base or cooking pot and a heater or tortilla (for making burritos) and generally for placing a base that is further processed material system;

Figure 16 shows an embodiment of the present invention showing a modular ingredient container and showing how it is attached to the turntable;

Figure 17 shows an embodiment of the present invention showing how modular ingredient containers may be attached to each other;

Figure 18 shows an embodiment of the present invention, a paddle for dispensing ingredients;

Figure 19 shows an embodiment of the present invention, a bearing for an ingredient container;

Figures 20A-20C illustrate an embodiment of the present invention showing how a magnet and Hall sensor may be configured for dispensing material from an ingredient container;

Figure 21 illustrates a problem with the proposed dispensing system where the vertical knob can collide with the actuator for dispensing;

Figure 22 shows an embodiment of the invention showing how a knob can be straightened by means of a "knob straightener mechanism";

Figures 23A-23B illustrate an embodiment of the invention showing how a touch screen user interface can be used to control a robot;

Figures 24A-24B illustrate an embodiment of the present invention showing how thermal insulation is provided between the chamber holding the ingredients and the rest of the apparatus;

Figure 25 shows an embodiment of the present invention showing how a container may be used by closing the hole through which the ingredients are dropped for providing thermal insulation;

Figures 26A-26C illustrate an embodiment of the present invention showing a mechanism for opening and closing the hole for the ingredient to drop;

Figure 27 illustrates an embodiment of the present invention showing a method of dispensing ingredients;

Figure 28 illustrates an embodiment of the present invention showing a method of dispensing a liquid ingredient;

Figure 29 illustrates an embodiment of the present invention showing an ingredient cut based distribution algorithm;

Figure 30 illustrates an embodiment of the present invention showing a paddle-based allocation algorithm;

Figure 31 illustrates an embodiment of the present invention showing a threshold based velocity algorithm;

Figure 32 illustrates an embodiment of the present invention showing a threshold-based weight measurement frequency algorithm;

Figure 33 illustrates an embodiment of the present invention showing an ingredient level based dispensing algorithm;

Figure 34 shows an embodiment of the present invention showing a liquid drawdown algorithm;

Figure 35 illustrates an embodiment of the present invention showing a distributor collision recovery algorithm;

Figure 36 illustrates an embodiment of the present invention showing an ingredient jam recovery reverse direction algorithm;

Figure 37 illustrates an embodiment of the present invention showing an ingredient jam recovery carousel shaking algorithm;

Figure 38 illustrates an embodiment of the present invention showing a fallback container algorithm;

Figure 39 shows an embodiment of the present invention showing a rocking motion distribution algorithm;

Figure 40 illustrates an embodiment of the present invention showing a bidirectional motion algorithm;

Figure 41 shows an embodiment of the present invention showing a switching direction algorithm between salads;

Figure 42 illustrates an embodiment of the present invention showing a quantified weight distribution algorithm;

Figure 43 illustrates an embodiment of the present invention showing a multi-ingredient dispensing algorithm;

Figure 44 illustrates an embodiment of the present invention showing a predictive zeroing mechanism undershoot algorithm;

Figure 45 illustrates an embodiment of the present invention showing a predictive allocation undershoot algorithm;

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

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

Figures 48A-48C illustrate an embodiment of the present invention showing a shuffler for dispensing ingredients that does not operate perfectly under a gravity feed mechanism;

Figures 49A-49D illustrate an embodiment of the invention showing a device that snaps the pin mechanism and paddle to the tank;

Figure 50 shows an embodiment of the present invention describing a rocking motion distribution algorithm with weight feedback.

Detailed ways

Embodiments of the present invention will now be described with reference to at least the above drawings. Those of ordinary skill in the art will understand that the description and drawings illustrate rather than limit the invention and that, in general, for clarity of presentation, the drawings are not drawn to scale. Those skilled in the art will also recognize that many more embodiments are possible by applying the inventive principles contained herein and that such embodiments will fall within the scope of the invention, which is not limited except by the Except as limited by the appended claims.

Figure 1 depicts an embodiment of the present invention, which may be a robotic cooking apparatus or a food preparation machine/apparatus. The robotic cooking apparatus may include outer container 100 , inner container 102 , turntable 104 , shaft 106 , pan 108 , stirrer 110 , robot 112 , X rails 114 , Y rails 116 , motors 118 , plates 120 , and heaters 122 . Food may be stored in ingredient dispenser containers such as outer container 100 and inner container 102 . The terms "tube" and "tank" may also be used to refer to containers at various parts of this patent application. The ingredient dispenser container outer container 100 and inner container 102 may be mounted on a turntable 104 which may be attached to a rotating shaft 106 . The shaft 106 can be rotated with the help of a motor. Several mechanisms can be used to rotate containers placed in a circular configuration, which can be placed on a circular plate/platform. In Figure 1, two circular rows of ingredient dispensers are shown, with the outer container 100 on the outer circular row and the inner container 102 on the inner circular row. Multiple circular rows may be designed and utilized, and may range from at least 1 to 10 circular rows. Turntable 104 may be placed on top of pan 108 where cooking will occur. Pan 108 may be referred to herein as a pot, cooking pot, retort or cooking vessel. The turntable 104 may include openings (not shown) including substantially circular and other shapes for dispensing food from the ingredient container outer container 100 and inner container 102 and other containers. The circular openings may be configured such that as food falls through the circular openings, they fall into the pan 108 . A heater such as induction heater 122 may be used to cook dishes. The heater can include a stirrer 110 that can be moved in an X dimension and a Y dimension (relative to the pan 108 ) using a robotic mechanism that can include a circular axis or rails, eg, X rails 114 and Y Rails 116 . The agitator 110 can also be designed to move in the Z dimension and at various angles/combinations of X, Y and Z. A motor 118 may be used for rotating the agitator 110 . Several variations of these embodiments are possible. For example, agitator 110 may be attached to a polar-type robotic mechanism. Polar-type mechanisms can provide improved resistance to reliability issues associated with cooking grease because they are easier to seal. Cooking pan 108 and heater 122 may be moved using robotic arm 112 by moving plate 120 up and down. The manipulator shown in Figure 1 can be constructed using a number of different mechanisms, such as chains, belts, leadscrews, ball screws, and many other materials. A refrigeration system, Peltier cooling system, or other cooling device may be utilized to cool the area above the turntable 104, and efficiency may be improved by placing components above the turntable 104 in a thermally insulated environment. A robotic arm or other actuation mechanism may be used to open and close openings in the turntable that may allow food to be dispensed into the pan 108 . Plate 120 may include a mass sensor that measures the weight of the food in the pan. This may provide information on the status of a certain dispensing step, ie, how much food has been dispensed into pan 108 from ingredient dispensers such as outer container 100 and inner container 102 . The mass sensor may also optionally provide information about the state of the cooking process by measuring how much weight loss occurs during the cooking process. It will be apparent to those skilled in the art that several variations of these embodiments may be possible. For example, the induction heater 122 need not be present, and a person can use the robotic cooking apparatus to dispense food for making salads and other types of food. There may be sensors (not shown) for estimating whether ingredients in a container, such as inner container 102, have gone bad. The carousel 104 may include more than two rows of containers or only one row of containers. For example, the temperature of the environment in which the turntable with the container is placed may be modulated, eg using a refrigeration system or a heating system.

FIG. 2 shows a close-up view of the design of the turntable shown in FIG. 1 . The outer container 200 and the inner container 202 may be placed on a turntable 204 , which may include a shaft 206 . The placement of outer container 200 and inner container 202 on carousel 204 can be designed such that their bottom openings can be positioned substantially directly over one or more openings (not shown) in the thermally insulated carousel environment of FIG. 1 . Alternatively, a chute configuration (not shown) may be employed in which the container is not substantially directly over the opening or openings. Gravity feeding and motorized movement of the food ingredients from the container through one or more openings to the pan (or other receptacle) may be utilized.

Figure 3 shows an embodiment of the invention in which two turntables, an upper turntable 300 and a lower turntable 302, may be placed over a cooking pot (not shown). The upper carousel 300 may be connected to containers with ingredients, eg, an outer ingredient container 304 and an inner ingredient container 306 . Lower carousel 302 may be connected to a chopper, such as chopper 308 . Some choppers may include blades that slice ingredients, some choppers may include blades that dice ingredients, some choppers may include blades that shred ingredients, and some choppers The machine can have other functions. The robotic cooking apparatus can control which ingredient container is placed over which chopper by rotating the respective carousels, upper carousel 300 and lower carousel 302, so that a certain ingredient or combination of ingredients can be chopped. There may be several mechanisms to rotate the turntables, upper turntable 300 and lower turntable 302 . For example, belts such as upper belt 312 and lower belt 318 may be used in conjunction with the pulleys, ie, upper turntable pulley 310 , upper motor pulley 314 , and lower motor pulley 316 . Direct drives and other gearing mechanisms may also be used to rotate the upper and lower turntables 300 and 302 .

Figure 4 illustrates an embodiment of the present invention wherein the container shown in Figure 4 may be used in conjunction with the carousel mechanism of Figure 1 to dispense controlled amounts of ingredients. View 400 shows a side view of a container that can be used in carousel 104 , while second view 402 shows an exploded view of a container that can be used in carousel 104 . The container may include an object such as a cylinder 404 for containing ingredients. The cylinder 404 may have a square or rectangular cross-sectional shape, the diameter may increase or decrease vertically, and the choice of material composition and surface friction/roughness depends on, for example, food ingredient type, moisture content, container cleaning Design and engineering considerations for sterilization restrictions, etc. Shapes such as container side 406 can be added to facilitate insertion into the carousel mechanism by inserting the shapes into slots on the carousel. Shapes such as handle 408 can be used to dispense controlled amounts of ingredients. The exploded second view 402 shows more details of the ingredient dispensing mechanism. When the knob 410 is rotated, the shaft 414 can rotate the paddle 412 . Rotational motion may allow controlled amounts of ingredients to be dispensed. Paddle 412 may be constructed in part from a flexible material such as silicone. A mass sensor (not shown) can be used in conjunction with the mechanism to determine the amount of ingredient dispensed. Additionally, measurement of the angle of rotation (θ) traversed by knob 410 can provide an estimate/measure of the amount of ingredient dispensed.

Figure 5 depicts an embodiment of the present invention showing an apparatus for actuating the knob 410 of the container cylinder 404 of Figure 4 herein. There may be knob 402 (or some other protrusion) of the dispenser container, and this may be indicated as protrusion 502 . To rotate the protrusion 502, a gripper mechanism may be used. The two arms of the gripper upper arm 504 and lower arm 506 can be used to grip and then hold the protrusion 502 securely. The motor 510 can then be used to rotate the gripper by rotating the gripper body 508 . Should certain food items be snapped into 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 operated by an acceleration/deceleration forward/backward algorithm (eg, generating vibration) to clear stuck food items. For example, several other mechanisms can utilize a robot or a single/four-jaw gripper arm to hold and rotate the protrusion 502 .

FIG. 6A shows an embodiment of the present invention which is an apparatus for chopping ingredients in a turntable mechanism, which may be illustrated in FIG. 1 . Exemplary ingredient containers 600 may be placed in a carousel 602 . The chopper sliders 604 can be placed into the sockets 606 at the base of the ingredient container so that they can slide back and forth in the sockets 606 . When the shredding slider 604 is moved in a certain direction, the shredding blade 608 can shred the ingredients in the container. The shredding slider 604 may be pushed and pulled using an actuator mechanism (not shown in the figures).

FIG. 6B depicts an embodiment of the present invention, which is an apparatus for dicing ingredients in a carousel mechanism, which may be illustrated in FIG. 1 . Exemplary ingredient containers 620 may be placed in a carousel 622 . The chopper sliders 628 can be placed into the sockets 630 at the base of the ingredient container so that they can slide back and forth in the sockets 630 . A dicing grid such as 624 may be placed at the base of the ingredient dispenser. The ingredient may be pushed down the ingredient container using a plunger mechanism, such as the plunger described. The action of the ingredients being pushed down the ingredient dispenser into the dicing grid, in combination with the motion of the shredding slider 628, may cause the ingredients to be diced and dispensed. The shredding slider 628 may also include a shredding blade 626 to provide dual-use functionality.

FIG. 7 illustrates an embodiment of the present invention that allows components to move in a plane based on the movement of a plurality of links, a first link 706 and a second link 708 . Motors First link motor 700 and second link motor 702 may be used to rotate the links, first link 706 and second link 708 , and thereby move agitator 710 to various points in cooking vessel 714 . The agitator motor 704 may be used to provide other motion of the agitator 710, eg, clockwise and counterclockwise rotation, specific agitator blade orientations in combination with linkage motion and orientation (eg, to provide scraping on the surface of the cooking vessel 714). rubbing effect), etc. Cooking vessel 714 may be located on top of heater 716 . With this type of robotic system for handling agitator 710, the wires and motors can be turned off and thus protected from environmental factors such as dirt and grease. Linkage-based systems of this type may be used to move or provide motion to objects and mechanisms other than agitators, such as spice dispensers, liquid dispensers, and other objects. There will be several variations of this linkage based system. For example, a system could have more than two linkages, motors could be placed in alternate locations, Z motions and combinations of X, Y, and Z motions, and many other options would be possible.

Figure 8 shows an embodiment of the present invention, a solids dispensing apparatus. A paddle 806 (similar to paddle 412 of Figure 4 herein) may be present within a food holding tube 802 (which is similar to at least the ingredient containers of Figures 1-4, 6A and 6B herein). Tube 802 may be attached to the turntable using collar 804 . Knob 808 (similar to knob 410 of FIG. 4 herein) may be rotated with the aid of a motor to rotate paddle 806 and combine gravity to dispense food. In various parts of this patent application, the term "pin" may also be used to describe the knob. In order to reduce the sticking of food in the food holding tube 802, the knob 808 may be rotated in more than one direction during the dispensing process, as previously described in at least FIG. 4 and in the relevant description section herein. At various points in this patent application, the terms "tube" and "canister" may be used interchangeably.

FIG. 9 illustrates an embodiment of the present invention that may help reduce the sticking of food on the sides of the container 802 shown in FIG. 8 . This can be accomplished by having a non-circular side wall 912 on the inside of the container so that the surface area of contact between the food item and the inside wall is reduced. The outer wall 910 may be circular. Several variations of these embodiments will be possible. For example, one embodiment may have non-circular inner and outer walls, and one embodiment may use a wavy pattern or other pattern on the inner wall to reduce sticking. The pattern can be tuned or "matched" to the type and shape of the food ingredient. For example, the vertical wave pattern may be one half or one quarter period of the average size ("wave") of the food item.

FIGS. 10A and 10B illustrate an embodiment of the present invention, a mechanism for rotating the knob 808 shown in FIG. 8 . In FIG. 10A , a motor 1002 may be used to rotate a shaft 1008 , which may in turn rotate a dispensing mechanism 1006 . A magnet may be used as part of the dispensing mechanism 1006 . The Hall sensor 1010 shown in Figure 10B can 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 food, which may include an ingredient container 1100 , an ingredient container knob 1102 , a dispensing knob 1104 and a motor 1106 . Motor 1106 may be used to rotate dispense knob 1104 . When the dispensing knob 1104 is rotated, the knob 1102 of the ingredient container can also be rotated. This, in turn, can dispense food ingredients from ingredient container 1100 . In various parts of this document, the term "pin" may be used in place of the term "knob."

12A and 12B illustrate an embodiment of the present invention, a liquid dispensing system that may include a pin 1202, an ingredient container 1204, a spacer 1206, a cam mechanism 1208, a shaft 1210, an ingredient container knob 1212, a pin 1214, a head 1216 and nozzle 1218. When the ingredient container knob 1212 can be rotated, the cam mechanism 1208 can be pushed up on the spacer 1206. When the cam mechanism 1208 is pushed upward, the nozzle 1218 may dispense ingredient from the container 1204 using the pump mechanism. A one-way valve can be added to the end of nozzle 1218 to reduce dripping of liquid when dispensing action 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 . Load cell 1302 may be used and attached to mass measurement system 1304 . As the food falls into the mass measurement system 1304 through the top opening into the salad bowl 1306, the weight can be measured. Based on whether the desired weight of ingredient has been dispensed, the motor for dispensing the ingredient may be turned to the OFF position. The mass sensor system shown in Figure 13 is isolated from the food area where salad bowls or cooking vessels or induction heaters can be placed. According to embodiments of the present invention, bowl 1306 may be positioned such that it is isolated from the wires associated with load cell 1302 .

Figure 14 is an illustration of an embodiment of the present invention showing a food system 1499 that is part of a robotic cooking apparatus capable of assisting in making pizza, cooking food, making burritos, making salads, and several others type of food. Food system 1499 may include plate 1402 , second link motor 1404 , first link motor 1406 , compartment 1408 , ingredient container 1410 , turntable 1412 and dispenser motor 1414 . Ingredients may be placed in ingredient containers 1410 (one shown for clarity) and may be dispensed using movement of turntable 1412 and a dispensing mechanism using a dispenser motor, eg, dispenser motor 1414 . The dispensing mechanism can be shared among multiple containers to reduce the cost and weight of the food making machine.

In the case of making pizza, a pizza base may be placed on plate 1402. The plate 1402 can be moved using a multi-link mechanism, which in turn can be moved based on the motion of the motors, namely the second link motor 1404 , the first link motor 1406 , and an additional motor placed in the compartment 1408 . The toppings can be dropped onto the pizza base using the techniques described in Figures 1-13 herein. The pizza base can be moved using the motion of the plate 1402 to distribute the ingredients over the pizza area.

In the case of making a burrito, the tortilla can be placed on the plate 1402 and the ingredients can be dispensed on top of the tortilla.

In the case of making a salad, a salad bowl can be placed on plate 1402 and ingredients can be dispensed on top of the salad bowl.

In the case of one-pot meals, such as chowder and many Indian, Chinese, and Thai dishes, induction heaters and pans can be placed on top of plate 1402, and the ingredients can be dispensed into the pans. Additional robotic arms can be used to stir food. The manipulator may be designed as a Cartesian robotic system with agitators at the ends, or may be designed using techniques similar to those described in Figure 7 herein, or using some other technique.

FIG. 15 is an illustration of an embodiment of the present invention showing a closer view of the mechanism for moving the plate 1402 of FIG. 14 . The plate 1502 can be moved using the movement of the links, namely the third link 1506 , the second link 1510 and the first link 1512 . Motors Third link motor 1504 and second link motor 1508 can be rotated to move the links, third link 1506 and second link 1510, and thereby plate 1502 in a horizontal plane. The first link 1512 can be moved up and down via a motor placed within the compartment 1514 . Several other mechanisms may provide motion to plate 1502 in the X, Y, Z planes and dispense ingredients thereto. For example, plate 1502 is placed on a 3D motion table.

Figure 16 is an illustration of an embodiment of the present invention depicting a modular ingredient container and showing how it may be attached to a turntable. Modular ingredient container 1642 (and enlarged view 1640 ) can be constructed of two or more parts (eg, upper part 1623 and lower part 1624 ) that can be attached to each other using latch mechanism 1644 . catch. The use of modular ingredient containers is an innovation that offers several advantages: (1) if one wants to increase the food capacity of the appliance, one more modular ingredient container section can be added to provide additional capacity, (2) more A large sized ingredient container is easier to fit into a dishwasher or sink for cleaning purposes when divided into two smaller ingredient containers. Modular ingredient containers can be attached to the carousel 1625 using various mechanisms. These mechanisms may include pin mechanisms in which pins such as pin 1630 may be inserted into slots such as left slot 1619 and right slot 1626. Modular ingredient containers may also be attached to turntable 1625 using a clip mechanism, where clips 1628 may be used to attach to a portion of an ingredient container such as location 1620. There are examples where a portion of the ingredient container is attached to the clip 1622. There could be several alternative mechanisms for attaching the ingredient container to the turntable. For example, magnets may be used, eg, a combination of permanent magnets and electromagnets. A pin such as cotter pin 1632 can be used to ensure that the shaft used in the tank does not slip out.

Figure 17 is an illustration of an embodiment of the present invention showing how different parts of an ingredient 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 be added to the parts of the ingredient container that would need to be attached to each other, namely the upper part 1717 and the lower part 1716. Adapters may be added, which may be constructed from parts such as fins 1715 , elastic fins 1711 , and stem 1720 . The resilient tabs 1711 may allow for a good fit despite the manufacturing tolerances of the various parts. The elastic flaps 1711 can be constructed of a flexible material that can deform to allow a good fit. Examples of flexible materials may include silicone rubber, polyurethane, and many others. The stem 1720, flaps 1715, and other parts of the adaptor may be constructed of inflexible materials, allowing the various parts of the ingredient container to be securely closed without material leakage. Examples of materials for this application can include polycarbonate, PVC, and many others. The ingredient container can be opened or closed by moving the adapter into an open or closed position. FIG. 17 includes illustrations of a locked position 1718 and an unlocked position 1719 . In various parts of this patent application, the term "latch" may be used in place of the term "seat".

Figure 18 is an illustration of an embodiment of the present invention showing how a paddle may be designed for use in an ingredient container. The paddles may, for example, be constructed of similar or a variety of different materials for the core 1834 and outer portions, ie, the first extension 1830 and the second extension 1831 . According to embodiments of the present invention, the core 1834 may comprise primarily a non-flexible plastic, eg, polycarbonate, PVC, or other suitable non-flexible plastic. The outer portions, first extension 1830 and second extension 1831, may be of a flexible material, eg, silicone rubber, polyurethane, or some such material. According to one embodiment of the present invention, the outer portion first extension 1830 may be thicker than the outer portion second extension 1831 . This can provide the most efficient combination of stiffness and flexibility for dispensing a particular ingredient. Alternatively, the entire outer portion may have only one thickness for the entire outer portion. It will be apparent to those skilled in the art that there can be several different thicknesses for the non-flexible plastic at different outer portions of the paddle to provide the various mechanical properties required to dispense the ingredients. According to an embodiment of the invention, the outer portions, namely the first extension 1830 and the second extension 1831 , may be overmolded on top of the core 1834 . The core 1834 can be inserted into the hole 1832 to allow for more convenient overmolding.

Figure 19 is an illustration of an embodiment of the present invention showing how a bearing may be used to provide long term reliability to a container. The plastic used in the container 1936 can degrade and/or wear when the shaft 1933 is inserted into the container 1936 and rotated over an extended period of time to dispense the ingredients. By inserting the bearings, ie, outer bearing 1940 and inner bearing 1938, into ingredient container 1936, reliability challenges can be reduced. There will be various types of bearings and materials used for bearings that can reduce friction, degradation or wear.

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

FIG. 21 illustrates a problem that arises when the pin dispenser rod actuator system 2106 is used. The pins 2102 and the actuator arms 2104 can be aligned in the same direction and can collide during movement of the turntable. This needs to be avoided for proper system operation. FIG. 22 shows an embodiment of the present invention, a system for aligning the pin 2204 so that it does not collide with the actuator arm shown in FIG. 21 . A pin straightener 2202 may be placed in the device. As the turntable rotates, the pins 2204 can automatically align in the horizontal direction since they engage the pin straighteners 2202.

Figures 23A-23B illustrate an embodiment of the invention in which a touch screen may be used to control the operation of a food preparation/robotic cooking apparatus having one or more of the features shown in Figures 1-22 and 24-28 . A touch screen 2308 can be placed within the door 2306, as shown in Figure 23B. FIG. 23A indicates the back of door 2304, and view 2302 indicates an exemplary carousel system with an exemplary canister loaded thereon. The customer can use the touch screen 2308 to indicate their food selection, and the apparatus shown in Figures 23A-23B can prepare the food.

Food preparation devices as shown in this patent application frequently need to be refrigerated to store food for extended periods of time without spoiling. 24A-24B illustrate an embodiment of the present invention, which is a system for thermally insulating a food storage compartment of an apparatus. The system may consist of insulating tanks 2404 for insulating purposes. A position of the insulated tank 2404 can 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 position of the insulated tank 2404 may be shown in FIG. 24B, where the insulating layer 2406 may contact the food opening 2402, seal the food opening, and prevent substantial heat from entering the chamber. The insulating layer 2406 may comprise a good insulator, eg, silicone or some other insulating material. The insulating layer 2406 may also include a material having some flexibility such that the material fits snugly with the food opening 2402. When the apparatus is not being used to prepare food, the turntable can move the canister meant for insulation (insulating canister 2404) directly over the food opening 2402 and keep the food storage compartment insulated. It will be apparent to those skilled in the art that several variations of this embodiment are possible. For example, the shape of the can, insulation, and food opening may vary from that shown. In addition to insulating layer 2406, the insulating can may also contain some insulating material.

Figure 25 shows different parts of the insulating can described in Figures 24A-24B. For example, the tank may be composed of two parts, an upper part 2502 and a lower part 2504. Insulating layer 2506 may be connected to a mechanism within the insulating can using piece 2508. Figures 26A-26C show simplified views of the internal mechanisms within the insulating tank. It will be apparent to those skilled in the art that the mechanisms shown in Figures 26A-26C are exemplary and that there may be several variations. The insulating layer 2606 may be connected to the platform 2604 that moves within the tank. The pin 2610 may be rotated by a dispense actuator similar to those described earlier in this patent application. The pin can use the shaft to actuate the mechanism formed by the cam 2614. FIG. 26B may show a position of the mechanism in which portion 2616 of cam 2614 may be in contact with wall 2618. Wheel 2612 may allow for smooth movement of cam 2614. Platform 2604 is not shown in Figures 26B-26C to better illustrate the working of the mechanism. Figure 26C may show another position of the mechanism, where the cam 2620 may be in another stable position. One of the key elements of the invention shown in Figures 26A-26C is the fact that the cam 2614 can be in two stable positions. This provides a stable open and closed position of the insulating layer 2606, "closed" relative to the food opening 2402 when actuated "downward", and "open" relative to when the cam position pushes the insulating layer 2606" The food opening 2402 when pulled "up" allows the insulating can 2404 to rotate freely on the turntable. Thus, the insulated tank can be operated by the same motor/cam system as normal food dispensing operation.

Figure 27 shows an embodiment of the present invention in which ingredients adhering to the walls of the ingredient container/tank can be reduced through the use of fittings 2704 in the tank. These accessories can be actuated by movement of the paddle 2710. Fittings 2704 may be attached to the top of can 2708 or the side of can 2709. These fittings may have multiple parts, eg, one partial fitting bottom 2707 contacts the paddle and another partial fitting top 2704 contacts the top of the tank 2708. As the paddle rotates, the paddle can move the fitting back and forth by contacting the fitting bottom 2707 and causing motion within the can, which can allow ingredients adhering to the sides of the can to not stick. Snapshot one 2700 shows the fitting 2704 not in contact with the paddle 2710, snapshot two 2701 shows the fitting 2704 in contact with the paddle 2710 on one side, snapshot three 2702 shows the fitting in contact with the paddle 2710 on the other side 2704. Several variations of this embodiment would be possible. For example, the shape of the accessory can be different, ie it can be in the shape of a curtain. Fittings can be attached to the sides of the tank instead of the center as shown in Figure 27. Accessories can include hinges. Several other variations would be possible.

Figure 28 illustrates an embodiment of the present invention showing an apparatus for dispensing liquids. The liquid to be dispensed may be stored in a bottle located within tank 2806, and flexible tubing 2800 may be drawn therefrom. The flexible tubing can be compressed by rollers such as 2802 and 2804 to control the distribution of the liquid. A one-way valve can be added to the end of the tube 2810 to reduce dripping of liquid in undesired locations. Rollers 2802 and 2804 can be moved using rotation of shaft 2812, which in turn can be rotated using a shared dispensing device that can be connected to pins 2812 located on tank 2806.

Additional methods, algorithms and software

Devices of the automated food making machine (eg, the device of FIG. 14 herein) and sub-devices (eg, the pin straightener 2202 of FIG. 22 herein) may be controlled by a computer system, where in a computer/microprocessor system The various algorithms and software instantiated may form a method of operation and control of a machine or sub-device. The following are inventive embodiments of the methods, algorithms and software of the present invention. Of course, some of these functions may be controlled by a computer/microprocessor that is not within the food preparation machine, such as at the company, at home or from/operated by the manufacturer Centralized control system.

Algorithms and software programs can 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 read scale is used for a particular overall machine model.

For example, algorithms and software programs can have the following steps:

step describe command & value step 1 Set container to #6 M6 C6 Step 2 Set the target weight to 50g W50 Step 3 Set motion algorithm (angle, speed) G1 A180 S500 Step 4 Set off-target % to 50% U50 Step 5 Set motion algorithm (angle, speed) G2 A90 S100 Step 6 Set off-target % to 90% U90

The above example can be written as the following three lines of code:

1 M6 C6 2 W50 G1 A180 S500 U50 3 G2 A90 S100 U90

Ingredient cuts based dispensing algorithms and software programs can be set up in the food preparation machine equipment and can select and control different cuts (e.g. iceberg lettuce, romaine lettuce, carrots, beets, cheese, etc.) for various ingredients (e.g. , slicing, dicing, chopping, etc.), which would require the use of different sub-algorithms to control the appropriate machine sub-units and/or components. As shown in Figure 29, an illustrative example of an ingredient cut based dispensing algorithm and software program is shown in an overview flow diagram. For example, start 2900 may start the algorithm and the first question asked may be that the ingredients are diced [2910]. For example, a customer may order diced cucumbers for salad, so the machine can be directed to the cucumber container and use the dicing algorithm 1 [2930] to actuate the dicing equipment below the cucumber container. If an ingredient is to be sliced [2912], then a distribution algorithm 2 [2932] can be used to move and operate the slicing and distribution mechanism for that ingredient (eg, slice cucumbers from a cucumber container). If an ingredient is to be shredded [2914], dispensing algorithm 3 [2934] can be utilized to move and operate the shredding and dispensing mechanism for that ingredient. If the ingredient is to be chopped in some other form [2916], then Dispense Algorithm 4 [2936] can be used to move and operate the shredding and dispensing mechanism for that ingredient. If the ingredient is to be processed in some other way ("NO" in [2916]), then Allocation Algorithm 5 [2938] can be used to get the appropriate mechanism movement and operation for that ingredient. All dispensing algorithms can end with End [2999] when the appropriate amount of ingredients is dispensed.

Paddle-based dispensing algorithms and software programs can be set up in the food preparation machine equipment and can select and control different Paddles (eg, 2 fins, 4 fins, 6 fins, flexible, rigid, fit/flex, etc.), which would require different algorithms to control the appropriate machine subunits and/or components. As shown in Figure 30, an illustrative example of a paddle-based allocation algorithm and software routine is shown in an overview flow chart. For example, start [3000] may start the algorithm, and the first question asked may be that the ingredients are diced [3010]. For example, a customer can order diced cucumbers for salad, so the machine can be directed to the cucumber container and use the dicing algorithm (see Figure 29). Then, the dispensing paddle type 1 [3030] can be actuated to precisely dispense the diced food. If the ingredients are to be sliced [3012], the dispensing paddle type 2 [3032] can accurately dispense the sliced food. If an ingredient is shredded [3014], a dispensing paddle type 3 [3034] can be used to precisely dispense the shredded food for that ingredient. If an ingredient is to be chopped in some other form [3016], a dispensing paddle type 4 [3036] can be used to precisely dispense the chopped food for that ingredient. If the ingredient is to be processed otherwise ("NO" in [3016]), then dispensing paddle type 5 [3038] can be used to precisely dispense the food for that ingredient. All dispense paddle type algorithms may end with END [3099] when the appropriate amount of processed ingredient is dispensed.

Threshold based speed algorithms and software routines can be set in the food making machine equipment and different dispensing rates/speeds can be selected and controlled based on another input (e.g. faster food before reaching 80% of target weight allocating speed, then completing at a slower speed, etc.). The input can be, for example, the weight of the food dispensed, and the sampling rate for that weight can be adjusted in some way (eg, inversely proportional to a percentage of the target weight, etc.), and can be targeted for various toppings (eg, rolls lettuce, spinach, carrots, nuts, raisins, seeds, croutons, etc.) are different (speed control and weight sampling rate), which would require different algorithms to control the appropriate machine sub-units and/or components. As shown in FIG. 31, an illustrative example of a threshold-based velocity algorithm and software routine is shown in program form and an overview flowchart. For example, Start [3100] may start the algorithm and a default speed S1 [3110] at which the dispensing motor rotates may be set to dispense food, while target weight monitoring may be performed. This can be achieved by differential weights of the bowls or other measures. 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 end with end [3199]. Depending on engineering selection, ingredient type and processing (slicing, chopping, etc.), more than two distribution motor speeds may be utilized. It will be apparent to those skilled in the art that in some cases speed S2 may be set higher than Sl, where a higher speed may give a slower, more tightly controlled distribution.

Threshold-based weight measurement frequency algorithms and software routines can be provided in the food making machine equipment, and the dispensing rate/speed can be selected and controlled based on the dispensed food weight sampling (eg, increasing the weight sampling rate more frequently around the target weight) ,and many more). The sampling rate for this weight can be adjusted in some way (eg, inversely proportional to the percentage of the target weight, and so on), and can be targeted for various toppings (eg, iceberg lettuce, spinach, carrots, nuts, raisins, seeds, croutons, etc.) are different (speed control and weight sampling rate), which would require different algorithms to control the appropriate machine subunits and/or components. If the target weight is reached, the algorithm can stop dispensing. As shown in FIG. 32, an illustrative example of a threshold-based weight measurement frequency algorithm and software routine is shown in an overview flowchart. For example, start [3200] may start the algorithm and a default weight sampling setting W1 [3210] of the dispensed food product may be set to dispense food while monitoring of the target weight may be performed. This can be achieved by differential weights of the bowls or other measures. If a first threshold (which may depend on ingredient type) is reached [3220], weight sampling may be increased or otherwise more accurate to W2 [3230], and weight monitoring will continue. If the target weight is reached, the threshold-based weight measurement routine may end with end [3199]. And can end with end[3299]. Otherwise, proceed to dispense with the more accurate W2 weight sensing scheme.

Ingredient level based dispensing algorithms and software programs can be provided in the food making machine equipment and the dispensing rate/speed can be selected and controlled based on the level of food dispensed in the food ingredient container (eg, when the level in the ingredient container is 25% etc., it may be necessary to increase the speed of the flapper to dispense the same amount of food ingredients at the same time). Rates or adjustments can be used for various ingredients (eg, iceberg lettuce, spinach, carrots, nuts, raisins, seeds, croutons, etc.), which would require different algorithms to control the appropriate machine sub-units and/or components. As shown in FIG. 33, an illustrative example of an ingredient level based dispensing algorithm and software routine is shown in an overview flow chart. For example, start [3300] can start the algorithm, and the default dispense algorithm 1 [3310] can be activated and the food level in a particular tank/container monitored (usually by weight dispensed and kept tracked in software; however , can also be monitored by sensors such as optical sensors or proximity sensors. If the first threshold of the tank is depleted, eg, 33% [3320], a second dispensing algorithm can be used to maintain accurate and precise food product dispensing, For example, Dispense Algorithm 2 [3330]. If the tank is now depleted to another threshold, eg, 66% [3340], then a third algorithm may be controlling the dispense, eg, Dispense Algorithm 3 [3350]. The ingredient level based The allocation algorithm can end with end [3399].

Liquid drawdown algorithms and software programs can be provided in the food preparation machine equipment and can select and control the dispensing of liquids (eg, salad dressing, etc.). Liquid can sometimes drip from the dispenser after dispensing has ceased. Reversing the flow in the liquid dispenser can reduce unwanted dripping. The algorithm can control the appropriate machine subunits and/or components. As shown in Figure 34, an illustrative example of a liquid drawdown algorithm and software routine is shown in an overview flow chart. For example, START [3400] may start the algorithm, and default liquid dispensing algorithm 1 [3410] may be activated to dispense the desired liquid and perform a default drawback, which may include, for example, the time of reverse rotation depending on the type of dispensing mechanism Increment or number of times, etc. If dripping is detected, for example, by weight gain between salads made or other measures such as visual reports by the customer [3420], the liquid drawdown can be increased for that particular liquid and dispensing machine combination [3430]. For example, the viscosity of salad dressing can vary from batch to batch or as the dispensing container approaches the end of its dispensing volume (liquid aging/evaporation) or temperature surges, and the like. The pullback changes can be sent to the dispensing algorithm so that adjustments can be made to maintain a consistent product delivery volume. The liquid retracement algorithm can be terminated with end [3499].

Dispenser collision recovery algorithms and software programs can be built into the food making machine equipment and can select and control dispensers that can become clogged due to misaligned or substandard food (e.g., nuts larger than expected in diameter, clumps of spinach, etc.). When a jam is detected, the algorithm can re-center the dispenser and switch the motion algorithm. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 35, an illustrative example of a distributor collision recovery algorithm and software routine is shown in an overview flowchart. For example, start [3500] may start the algorithm, and the default dispensing algorithm 1 [3510] may be activated to dispense food ingredients. If a blockage is detected in the food dispenser [3520], an unjamming dispensing algorithm 2 [3530] may be activated to attempt to unjamm the container and dispenser. For example, Dispensing Algorithm 2 may re-center the tank/container and switch the dispenser motion algorithm. It will be clear that there can be many other types of unblocking algorithms. The allocator collision recovery algorithm can end with end [3599].

Ingredient jam recovery reverse direction algorithms and software routines may be provided in the food making machine equipment and may cause one or more paddles to be activated when the amount of ingredient being dispensed is less than expected (or otherwise detects improper dispensing). Reverse the direction to break blockages (eg, nuts larger than expected in diameter, clumps of spinach, etc. Food can get stuck in the container, leaving voids where the paddle cannot reach). Reverse directions may also include fast forward and backward motion, fast backward and slow forward motion, and other combinations, including time, rotational acceleration, and velocity. This recovery algorithm can also be combined with the ingredient jam recovery dial shaking algorithm herein to clear ingredient jams. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 36, an illustrative example of an ingredient jam recovery reverse direction algorithm and software routine is shown in an overview flow diagram. For example, start [3600] may start the algorithm, and the default dispensing algorithm 1 [3610] may be activated to dispense food ingredients. If a blockage is detected in the food dispenser [3620], then Unclogging Dispense Algorithm 2 [3630] may be activated to attempt to unclog the container and dispenser. For example, Allocation Algorithm 2 may reverse the direction of rotation, which may include various speed and acceleration changes. The batch jam recovery reverse direction algorithm can end with end [3699].

Ingredient Jam Recovery Roulette Shaking Algorithms and Software Programs can be built into the food making machine equipment and can rock the roulette back and forth to break when the amount of ingredients being dispensed is less than expected (or otherwise detects improper dispensing) Blockages (eg, larger-than-expected diameter nuts, clumps of spinach, etc. Food can get stuck in the container, leaving voids where the paddle cannot reach). Shaking can also include fast forward and backward motion, fast backward and slow forward motion, and other combinations, including time, linear/rotational acceleration, and velocity. This recovery algorithm can also be combined with the ingredient jam recovery wheel shaking algorithm herein to clear ingredient jams. Perform zeroing of container positions to avoid future errors. The algorithm can control the appropriate machine subunits and/or components. As shown in Figure 37, an illustrative example of an ingredient jam recovery wheel shaking algorithm and software routine is shown in an overview flow chart. For example, start [3700] may start the algorithm, and the default dispensing algorithm 1 [3710] may be activated to dispense food ingredients. If a blockage is detected in the food dispenser [3720], then Unclog Dispense Algorithm 2 [3730] may be activated to attempt to unblock the container and dispenser. For example, distribution algorithm 2 may shake a turntable, which may include various speed and acceleration changes, eg, back and forth motion. The ingredient jam recovery roulette shaking algorithm can end with end [3799].

A fallback container algorithm and software program can be provided in the food making machine equipment, and when an ingredient is used up, a second container can be utilized by switching the container for that ingredient to the fallback dispenser for that ingredient. A message can be sent to the appropriate person or device to notify them of the empty container. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 38, an illustrative example of a fallback container algorithm and software program is shown in an overview flow diagram. For example, start [3800] may start the algorithm, and as dispensing occurs from the tank [3810], it is detected that the tank has run out of ingredients [3820]. This detection can be done in various ways, eg, by calculation, weight measurement, sensors, and the like. The algorithm can then direct the movement of the device to a fallback tank with the same ingredients (if available) [3830]. If unavailable, a signal is sent to the appropriate machine administrator to refill a specific container immediately. The fallback container algorithm may terminate with end [3899].

A rocking motion dispensing algorithm and software program can be set in the food making machine equipment and when the machine is zeroed, the machine can inadvertently drop ingredients and can be directed to vibrate the dispenser back and forth to keep the back as much as possible clean. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 39, an illustrative example of a rocking motion distribution algorithm and software routine is shown in an overview flow chart. For example, start [3900] may activate the algorithm [3910] during tank/container zeroing. If an ingredient drop is detected [3920] during zeroing, the dispenser for that container can be swung back and forth [3930] to clear the back of the dispenser. The rocking motion assignment algorithm can end with end [3999].

Bi-directional motion algorithms and software programs can be provided in the food making machine equipment and the machine can be directed to cause the dispenser to move along the Rotate for multiple cycles in one direction, then return for multiple cycles in the other direction. More than two directional changes can be employed to relieve blockage. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 40, an exemplary embodiment of an inactive bi-directional motion algorithm is shown, wherein the motion of the dispenser paddle may rotate clockwise [4010] for several dispenses, and then counterclockwise [4020] for another few allocation. The exact amount dispensed will depend on engineering judgment and decision and the specific type of food ingredient.

Algorithms and software programs to switch directions between salads can be set up in the food making machine equipment, and since certain ingredients tend to jam in the container/drum when dispensed in only one direction, each selection to deposit The machine can be directed to rotate the dispenser in the opposite direction during dosing. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 41, an illustrative example of an algorithm and software program for switching directions between salads is shown, wherein the movement of the dispenser paddle can be rotated clockwise [4110] for making one or more salads, and Then turn [4120] counter-clockwise for the next salad or salads. The precise amount of salad made between each rotational direction change will depend on engineering judgment and decision.

A one-way algorithm and software program can be set in the food making machine device, and as a default dispenser motion, the machine can be directed to rotate the dispenser in a single direction until a target weight is reached. The algorithm can control the appropriate machine subunits and/or components. The algorithm can be the default dispensing algorithm, where the dispenser rotates in one direction (clockwise or counterclockwise) until the target weight is reached.

Quantified weight distribution algorithms and software programs can be set up in the food making machine equipment, and when dispensing media to a large number of ingredients, the total time for dispensing can be determined by moving the dispenser through a larger angle before checking the dispensed weight. shorten. The dispenser can be rotated a certain distance (known or predetermined for each particular food ingredient) before the weight is checked. The algorithm can control the appropriate machine subunits and/or components. As shown in Figure 42, an illustrative example of a quantified weight distribution algorithm and software program is shown in an overview flow chart. For example, start [4200] may activate the algorithm and rotate the paddle by x degrees [4210]. If the target weight [4220] is reached, the algorithm may terminate with end [4299]. If the target weight [4220] is not reached, the paddle can be rotated by a new amount of rotation.

Multi-ingredient dispensing algorithms and software programs can be provided in the food preparation machine equipment. The time to make a salad can be reduced by depositing 2 ingredients almost simultaneously. The device/machine has two concentric rings of ingredients so the machine can dispense 2 ingredients simultaneously. This can be achieved by sending multiple ingredient commands (stored in a buffer) at once, and if ingredients exist on the inner and outer rings of the same segment, both are dispensed simultaneously. The algorithm can control the appropriate machine subunits and/or components. As shown in Figure 43, an illustrative example of multi-ingredient dispensing is shown. An outer pot 4310 and an inner pot 4320 can be positioned, both of which can be dispensed into an underlying product bowl (not shown), allowing the two food ingredients to be dispensed nearly simultaneously, saving product (salad) preparation time.

A time-minimized mapping ingredient location algorithm and software program can be provided in the food preparation machine equipment. The time it takes to switch ingredients increases the amount of time it takes to make a salad. The apparatus/machine can tell the loader to arrange the ingredients in an order that minimizes the time it takes to make an average salad by using historical data about the ingredients used over certain selected time periods. For example, time periods can be one day, one week, 3 weeks, 6 weeks, two months; and can also be tracked by day of the week (eg, best Monday and Friday tank/container arrangements will vary) or by local 's calendar. The algorithm can control the appropriate machine subunits and/or components.

Predictive zeroing mechanism undershoot algorithms and software programs can be provided in the food preparation machine equipment. The machine can inadvertently drop ingredients when the machine is zeroed. The apparatus/machine can determine the average amount of weight being deposited during the zeroing step and reduce the target weight accordingly. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 44, an illustrative example of a predictive zeroing mechanism undershoot algorithm and software routine is shown in an overview flow diagram. For example, start [4400] can activate the algorithm and can perform dispensing from tank [4410]. The algorithm can determine if sufficient weight of food ingredients has been dispensed so that when the can is zeroed, the target weight will be reached [4420] (since zeroing the dispenser will drop additional food ingredients from the can). If so, the predictive zeroing mechanism undershoot algorithm may end with end [4499].

Predictive dispensing undershoot algorithms and software programs can be built into the food preparation machine equipment. Current feedback methods use scales to measure weight, and the algorithm stops once the weight measurement exceeds the target weight. This means that basically all final weights will be on the high side. The device/machine may determine the average amount of weight being deposited per revolution and stop the algorithm if the weight will exceed the target on the next revolution. The algorithm can control the appropriate machine subunits and/or components. As shown in FIG. 45, an illustrative example of a predictive allocation undershoot algorithm and software routine is shown in an overview flow diagram. For example, start [4500] can activate the algorithm and can perform dispensing from tank [4510]. The algorithm can determine if sufficient weight of food ingredients has been dispensed so that when dispensing stops, the target weight will be reached [4520] (due to the next rotation of the dispenser dropping additional food ingredients from the can). If so, the predictive allocation undershoot algorithm may terminate with end [4599].

Ingredient specific undershoot algorithms and software programs can be provided in the food preparation machine equipment. Current feedback methods use scales to measure weight, and the algorithm stops once the weight measurement exceeds the target weight. This means that basically all final weights will be on the high side. Each ingredient seems to have a different amount of overshoot error. The machine/equipment and procedure will quantify it and undershoot by that amount. The amount of typical undershoot for each ingredient will be measured and the undershoot value will be displayed in the display. Thus, code G1 W50 U10 will stop at 40g because it will expect the overshoot to make up the difference. The algorithm can control the appropriate machine subunits and/or components. The algorithm works in a similar manner to the predictive dispense undershoot algorithm in Figure 45, but is ingredient dependent.

A predictive distribution undershoot algorithm and software program using comprehensive historical data is provided in the food preparation machine equipment. Weight sensor measurements can take time and slow down dispensing. The machines/equipment and procedures can use historical data to near completion before dialing in the final goal. The algorithm can control the appropriate machine subunits and/or components.

Delayed weight measurement algorithms and software programs can be built into the food preparation machine equipment. When the bowl is weighed, the ingredients can be scattered in the air. The machines/equipment and procedures wait for a period of time before taking measurements. This will slow down the whole process. The algorithm can control the appropriate machine subunits and/or components.

Automatic scale calibration algorithms and software programs can be provided in the food preparation machine equipment. Weight sensor measurements are important for delivering accurate and orderly salads. The scale will not be properly calibrated and will not provide accurate readings. The machine/equipment and program may calibrate the weight sensor with a known weight, eg, a known bowl weight. The algorithm can control the appropriate machine subunits and/or components.

Figures 46A-46D depict an embodiment of the present invention in which the tank 4601 may be used to dispense liquids such as sauces, water, milk, smoothies, or any other ingredient compatible with the mechanism. The liquid can be placed within a bottle 4605, which in turn can be placed in a position using a support 4606, as shown in Figure 46C. Conduit 4607 may be used to deliver liquid into peristaltic pump device 4602. The peristaltic pump mechanism 4602 may be actuated by a motor using the apparatus and methods described earlier in this patent application. This actuation can occur using pins 4604 (shown in Figure 46B) and shafts entering the peristaltic pump mechanism. The tubing can enter the peristaltic pump mechanism, and rollers 4608 can be used to pinch off the liquid, as shown in Figure 46D. Weight sensor readings can be taken after different dispensing movements and feedback can be provided to the dispensing motor. Dispense motors can be shared among multiple liquid dispenser tanks, which can have benefits in weight, size, and/or cost of the food preparation apparatus. It will be apparent to those skilled in the art that several variations of the presented embodiments are possible. There will be several peristaltic pump designs possible. Several liquid dispenser design variants would be possible.

Figures 47A-47C depict embodiments of the invention in which the tank 4701 may include a tabbed paddle 4702. Figure 47B shows a potential configuration of the tabbed paddle 4702 shown in Figure 47A. The paddle may include a hard or rigid core or center 4703. It can also include flexible fins. The fins may include thicker portions 4705 and thinner portions 4704 for optimal distribution. The fins may also include tabs, such as 4706, which may increase the friction between the paddle and the tank 4701. This may have the beneficial benefit of preventing movement of the paddle due to gravity or other forces, and thus may prevent misalignment of the pins 4708. Multiple tabs 4707 can be placed on the same paddle to create different amounts of friction between the paddle and the tank wall. Depending on the material of the tab, the material of the can and the size of the tab, a certain maximum speed is suggested for the paddle rotation of any distribution algorithm. It will be apparent to those skilled in the art that several variations of the presented embodiments are possible. Weight readings can be taken during dispensing and motor motion can be automatically controlled to control dispensing. The same motor can be used to rotate the paddles in different tanks. A position sensor can be used to locate the position of the actuator arm, as described in the embodiment shown in Figures 20A-20C.

Figures 48A-48C describe an embodiment of the present invention in which a tank 4801 can use a shuffler 4802 for dispensing ingredients that would not work perfectly with a gravity feed mechanism. 48B shows that as the paddle 4804 rotates, the shuffler end 4803 can come into contact with the paddle 4804. Instead, this moves the shuffler and pushes the ingredients in the tank, causing them to fall downward. It will be apparent to those skilled in the art that there may be several embodiments for the design of the shuffler. Figure 48C shows an embodiment for a shuffler where the structure 4805 allows the shuffler to be placed on the side of the tank, and the shuffler end 4807 can have a coating material so that the paddles 4804 are not shuffled Damaged by hit. It will be apparent to those skilled in the art that there may be several apparatuses and methods to use paddle rotation to create motion at higher positions in the tank and dispense ingredients that would not work perfectly with a gravity feed mechanism.

49A-49D depict an embodiment of the present invention wherein the pinning mechanism snaps into the paddle 4902 of the tank 4901. FIG. 49C may indicate a pin-shaft mechanism, which may consist of pins 4903/4905 and a shaft 4904, which may have ends 4906. Ends 4906 may snap into structures 4907 in Figure 49D, which may be referred to as retainer rings. End 4906 can snap into retainer ring 4907 by applying a push-in force. The end 4906 can be pulled out of the retainer ring 4907 by applying a pull-out force. Figure 49B shows a view of the pin end within the retainer ring (view 4908). It will be apparent to those skilled in the art that several variations of these embodiments are possible. Different materials can be used for the shaft and retainer ring. Different shapes can also be used for the shaft and retainer ring.

Figure 50 illustrates an embodiment of the present invention in which a rocking motion distribution algorithm may be used with weight feedback. After algorithm 5000 begins, the paddle may be rotated by an angle "x" in one direction, then rotated back to center, and then rotated by an angle "x" in the other direction, then rotated back to center. Weight measurements can be made after this step. If the target weight is reached, the algorithm ends 5099. Otherwise, the rocking motion can be repeated at the same angle "x" until the target weight is reached. Alternatively, the rocking motion may have increasing angular "x" values until the target weight is reached. It will be clear to those skilled in the art that the embodiment described in Figure 50 can be combined with the embodiments described earlier in this patent application.

References to "one embodiment," "an embodiment," "example embodiment," "various embodiments," etc. may indicate that one or more embodiments of the invention so described may include a particular feature, structure or characteristics, but not every embodiment necessarily has a particular feature, structure, or characteristic.

Furthermore, repeated uses of the phrases "in one embodiment" or "in an illustrative embodiment" are not necessarily referring to the same embodiment, although they may. The various embodiments described herein may be combined and/or the features of the embodiments may be combined to form new embodiments.

Unless specifically stated otherwise, as will be apparent from the following discussion, it should be understood that throughout this specification, discussions using terms such as "processing," "operation," "calculation," "determining," or similar words refer to The activities and/or processes of a computer or computing system or similar electronic computing device that manipulate and/or convert data represented as physical quantities (eg, electrons, quantities) within registers and/or memory of a computing system into other data , such other data are similarly represented as physical quantities within a memory, register, or other such information storage, transmission, or display device of the computing system.

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

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

Embodiments of the present invention can be used to make several types of foods, ie, salads, bowls, breakfast bowls, acai bowls, fruit bowls, smoothies, cocktails, frozen yogurt, and many other types of foods.

It will also be understood by those of ordinary skill in the art that the present invention is not limited to what has been expressly shown and described above. Rather, the scope of the invention includes both combinations and sub-combinations of the various features described above, as well as modifications and variations that will occur to those skilled in the art upon reading the above description. Accordingly, the present invention is limited only by the claims.

Claims (13)

1. A method of operating an automatic food preparation apparatus, the method comprising: The device for dispensing the liquid in the bottle of the can is rotated by means of a motor with an actuator arm to, The device is rotated by means of a pin mechanism, automatically control the motor based on weight sensor readings, Wherein, the same said motor dispenses ingredients from multiple tanks. 2. The method of claim 1, further comprising: A peristaltic pumping device for dispensing the liquid. 3. The method of claim 1, further comprising: The bottle is held in a predetermined position with a support. 4. The method of claim 1, further comprising tubing the liquid to a peristaltic pump. 5. The method of claim 1, wherein the device is a peristaltic pump, and wherein a pin mechanism actuates the peristaltic pump. 6. The method of claim 1, further comprising: The weight sensor readings are monitored after different dispensing movements and feedback is provided to the motor. 7. The method of claim 1, further comprising: Dispense the liquid from the bottle through a flexible tube; and The bottle is compressed with a roller to control the dispensing of the liquid. 8. The method of claim 7, further comprising: Liquid dripping is reduced by a one-way valve added to the end of the flexible tube. 9. The method of claim 7, further comprising moving the roller by rotation of the pin mechanism. 10. The method of claim 7, the apparatus comprising a roller for compressing a tube through which liquid is dispensed from the bottle. 11. The method of claim 1, further comprising reversing the flow in the tank to reduce dripping. 12. The method of claim 1, further comprising: dispense the required amount of liquid; detecting drips from the tank; and Activate the liquid withdrawal step. 13. The method of claim 12, wherein detecting drips from the canister comprises detecting weight gain between dispenses.

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