CN114747930B

CN114747930B - Improved automated food preparation equipment

Info

Publication number: CN114747930B
Application number: CN202210366024.3A
Authority: CN
Inventors: D·C·塞卡尔; K·凯瑟拉森; B·理查德森; S·巴特; L·拉拉
Original assignee: Cooking Robot Co
Current assignee: Cooking Robot Co
Priority date: 2017-04-04
Filing date: 2018-04-04
Publication date: 2024-11-15
Anticipated expiration: 2038-04-04
Also published as: FI3589169T3; JP7223361B2; CN114747930A; CN110913728B; CN110913728A; JP2020512911A; MX2019010528A

Abstract

The present invention relates to a method for operating an automatic food preparation device having a motor, an actuator arm and a device. The device may be a paddle having flexible fins. The method rotates the paddles with a pin mechanism to dispense ingredients placed in the tank, automatically controls the motor based on weight sensor readings, and positions the actuator arm with a position sensor. The same motor dispenses ingredients from multiple cans. The method may have multiple paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional paddle rotation or bi-directional 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 ingredients remaining in the tank. The paddle may be swung until the target weight is reached.

Description

Improved automatic food making apparatus

The present application is a divisional application of the application patent application with the application date 2018, 4 months and 4 days, the application number "201880028412.2" (international application number PCT/US 2018/026065) and the application name "improved automatic food making device".

Cross reference to related applications

The present application is continued and claimed in the section of U.S. provisional patent application No.62/481,217 filed on 4 th 2017, the present application is continued in the section of U.S. non-provisional patent application No.15/449,548 filed on 3 rd 2017, the present application claims to the benefit of U.S. provisional patent application No.62/304,277 filed on 6 th 2016, the present application is continued in the section of U.S. non-provisional patent application No.14/847,959 filed on 8 th 2015, the present application claims to the benefit of U.S. provisional patent application No.62/047,785 filed on 9 th 2014, U.S. provisional patent application No.62/056,368 filed on 26 th 2014, U.S. provisional patent application No.62/094,595 filed on 12 th 2014, U.S. provisional patent application No.62/150,303 filed on 21 th 2015, U.S. provisional patent application No.62/185,524 filed on 26 th 2015, and U.S. provisional patent application No.62/201,201 filed on 2014. The contents of the above application are incorporated herein by reference.

Technical Field

The present application relates to the general field of electronic auxiliary devices, systems, methods and techniques for performing food preparation processes in a home or business.

Background

Many innovations have been made over the years to aid the cooking process. Food processors are now available for chopping vegetables and meat. Electromagnetic cooktops allow for faster cooking processes. Microwave ovens allow for efficient reheating. However, despite these innovations, many people spend an hour or even longer each day cooking food for themselves and for the home. Cooking also requires an important learning curve before one can cook in a savoury way. Also, commercial food enterprises such as restaurants currently have to allocate a large amount of their costs to manual cooking labor. Reducing the "human time" required for cooking and the manner in which the learning curve associated with cooking is reduced can be very useful. Also, for business, direct and indirect economic benefits are obtained by transferring some of the labor time costs to machines, equipment, robots, etc.

U.S. patent application publication nos. 2013/012683 to Hegedis, davenport and Hoare clearly describe a cooking appliance in which a heating element works with a user interface and a temperature sensor and provides cues to the user during cooking. However, this requires user input to provide all ingredients required for cooking and requires the user to stand near the stove for a longer period of time in response to the prompts provided by the cooking apparatus. Because there is no automatically available mixing function, the user also needs to stand near the stove for a longer period of time.

U.S. patent application publication No.2011/0108546 to Cho and Chen clearly 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 ingredients required for cooking and to stand near the stove to periodically mix the food items.

Foodini are prototypes of Natural Machines and to-be-released products, which obviously 3D print food items by heating the food pastes and by dispensing them onto a table. However, this requires that the food be made pasty prior to dispensing the food, which can be cumbersome and expensive.

Everycook is a prototype manufactured in europe that clearly promises to cut and mix food items and cook them with a recipe. However, the user still needs to wait near Everycook the cooking appliance and often pour additional food items.

SERENETI KITCHEN is a prototype manufactured in the united states, which obviously wants to automate the cooking process, but does not make any chopping of ingredients, but rather uses pre-chopped food. It also does not place measured amounts of ingredients into the cooking vessel.

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

Drawings

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

Fig. 1 shows an embodiment of the invention, which may comprise a turntable (carousel) on top of a cooking pot;

FIG. 2 illustrates the turntable mechanism shown in FIG. 1;

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

FIG. 4 illustrates an embodiment of the present invention in which a container having a rotary dispenser knob is used in conjunction with the turntable mechanism of FIG. 1;

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

FIG. 6A shows an embodiment of the present invention, which is an apparatus for shredding ingredients;

FIG. 6B illustrates an embodiment of the present invention, which is an apparatus for dicing ingredients;

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

FIG. 8 illustrates an embodiment of the present invention that may dispense solid ingredients;

FIG. 9 illustrates an embodiment of the present invention wherein food items are prevented from adhering to the sides of an ingredient container by reducing the contact surface area between the ingredient container and the food items;

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

FIG. 11 illustrates an embodiment of the present invention in which a mechanism for dispensing food is depicted;

FIGS. 12A and 12B illustrate an embodiment of the present invention for dispensing a 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 items;

FIG. 15 illustrates an embodiment of the invention showing a system for placing salad bowls or pizza bases or cooking pans and heaters or tortillas (for making mexico tortillas) and generally for placing bases that are further processed;

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

FIG. 17 illustrates an embodiment of the present invention showing how modular ingredient containers may be attached to one another;

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

FIG. 19 shows an embodiment of the invention, a bearing for a ingredient container;

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

FIG. 21 illustrates a problem with the proposed dispensing system in which the vertical knob can collide with the actuator for dispensing;

FIG. 22 shows an embodiment of the invention showing how a knob may be straightened by means of a "knob straightener mechanism";

23A-23B illustrate embodiments of the invention showing how a touch screen user interface may be used to control a robot;

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

FIG. 25 shows an embodiment of the invention showing how the container may be used by closing the aperture for the ingredients to fall off for providing thermal insulation;

26A-26C illustrate an embodiment of the invention showing a mechanism for opening and closing a hole for ingredients to fall off;

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

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

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

FIG. 30 illustrates an embodiment of the present invention showing a paddle-based assignment algorithm;

FIG. 31 illustrates an embodiment of the present invention showing a threshold-based speed algorithm;

FIG. 32 illustrates an embodiment of the present invention showing a threshold-based weight measurement 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 an ingredient blocking recovery reverse direction algorithm;

FIG. 37 illustrates an embodiment of the present invention showing an ingredient jam recovery dial shake algorithm;

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

FIG. 39 illustrates an embodiment of the present invention showing a rocking motion allocation algorithm;

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

FIG. 41 illustrates an embodiment of the present invention showing a switch direction algorithm between salad;

FIG. 42 illustrates an embodiment of the present invention showing a quantized weight distribution algorithm;

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

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

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

46A-46D illustrate embodiments of the present invention showing a liquid dispensing mechanism;

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

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

49A-49D illustrate an embodiment of the invention showing an apparatus that snaps a pin mechanism and a paddle onto a can;

fig. 50 illustrates an embodiment of the present invention depicting a rocking motion distribution algorithm with weight feedback.

Detailed Description

Embodiments of the present invention will now be described with reference to at least the above figures. Those of ordinary skill in the art will appreciate that the present description and drawings illustrate rather than limit the invention and that, in general, the drawings are not drawn to scale for clarity of presentation. Those skilled in the art will also recognize that there are many more embodiments that 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 appended claims.

Fig. 1 depicts an embodiment of the present invention, which may be a robotic cooking device or a food preparation machine/device. The robotic cooking device may include an outer container 100, an inner container 102, a turntable 104, a shaft 106, a pan 108, a stirrer 110, a robot 112, an X-rail 114, a Y-rail 116, a motor 118, a plate 120, and a heater 122. The 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 a container at various portions of the present patent application. The ingredient dispenser container outer container 100 and inner container 102 may be mounted to a turntable 104, which turntable 104 may be attached to a rotating shaft 106. The shaft 106 may be rotated with the aid of a motor. Several mechanisms may be used to rotate containers placed in a circular configuration, which may be placed on a circular plate/platform. In fig. 1, two circular rows of ingredient dispensers are shown, with outer container 100 on the outer circular row and inner container 102 on the inner circular row. A plurality of circular rows may be designed and utilized and may range from at least 1 to 10. The turntable 104 may be placed on top of a pan 108 where cooking may occur. The pan 108 may be referred to herein as a pan, a cooking pan, a digester, or a cooking vessel. The carousel 104 may include openings (not shown) including substantially circular and other shapes for dispensing food from the ingredient containers outer container 100 and inner container 102, as well as other containers. The circular openings may be configured such that when 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 may include a stirrer 110, which stirrer 110 may be moved in X-and Y-dimensions (relative to the pan 108) using a robotic mechanism, which may include circular axes or rails, such as X-rail 114 and Y-rail 116. Stirrer 110 may 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, the agitator 110 may be attached to a polar robotic mechanism. Because polar mechanisms are easier to seal, polar mechanisms can provide improved resistance to reliability problems associated with cooking grease. The cooking pan 108 and heater 122 may be moved using the robot 112 via moving the plate 120 up and down. The robot shown in fig. 1 may be constructed using a number of different mechanisms, such as chains, belts, screws, 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 increase efficiency by placing the components above the turntable 104 in a thermally insulating environment. A robotic arm or other actuation mechanism may be used to open and close an opening in the turntable that may allow food to be dispensed into the pans 108. The plate 120 may include a mass sensor that measures the weight of the food in the pan. This may provide information about the status of a certain dispensing step, i.e. how much food has been dispensed from ingredient dispensers such as the outer container 100 and the inner container 102 into the pan 108. The mass sensor may also optionally provide information about the status of the cooking process by measuring how much weight reduction has occurred during the cooking process. It will be clear to a person skilled in the art that several variations of these embodiments are possible. For example, the induction heater 122 need not be present, and a person may use a robotic cooking device to dispense food for making salad and other types of food. A sensor (not shown) may be present for estimating whether ingredients in a container, such as the inner container 102, are spoiled. 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 containers is placed may be modulated, for example, 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 turntable 204 may include a shaft 206. The placement of the outer vessel 200 and the inner vessel 202 on the turntable 204 may be designed such that their bottom openings may be positioned substantially directly over one or more openings (not shown) in the thermally insulated turntable environment of fig. 1. Alternatively, a chute configuration (not shown) may be employed wherein the container is not substantially directly above the one or more openings. Gravity feed and motorized movement of food ingredients from the container through one or more openings to the pan (or other receptacle) may be utilized.

Fig. 3 shows an embodiment of the invention in which two turntables, an upper turntable 300 and a lower turntable 302, may be placed above a cooking pot (not shown). The upper turntable 300 may be connected to a container having ingredients, for example, an outer ingredient container 304 and an inner ingredient container 306. The lower turntable 302 may be connected to a shredder, such as shredder 308. Some shredders may include blades that cut the ingredients into pieces, some shredders may include blades that cut the ingredients into filaments, and some shredders may have other functions. The robotic cooking device may control which ingredient containers are placed above which shredders by rotating the respective turntables, upper turntable 300 and lower turntable 302, so that a certain ingredient or combination of ingredients may be shredded. 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 pulleys, upper turntable pulley 310, upper motor pulley 314, and lower motor pulley 316. Direct drive and other gear mechanisms may also be used to rotate the upper turntable 300 and the lower turntable 302.

Fig. 4 illustrates an embodiment of the present invention wherein the container shown in fig. 4 may be used in conjunction with the turntable mechanism of fig. 1 to dispense controlled amounts of ingredients. View 400 shows a side view of a container that may be used in turntable 104, while second view 402 shows an exploded view of a container that may be used in turntable 104. The container may include an object, such as a cylinder 404, for holding ingredients. The cylinder 404 may have a square or rectangular cross-sectional shape, the diameter may be increased or decreased in the vertical direction, and the choice of material composition and surface friction coefficient/roughness depends on design and engineering considerations such as food ingredients type, moisture content, container cleaning/sterilization limitations, and the like. A shape such as container side 406 may be added to facilitate insertion into the carousel mechanism by inserting the shape into a slot on the carousel. Such as handle 408, may be shaped to dispense a controlled amount of the ingredient. The exploded second view 402 shows more details of the ingredient dispensing mechanism. When knob 410 is rotated, shaft 414 may rotate paddle 412. The rotational movement may allow for dispensing a controlled amount of the ingredient. The paddle 412 may be constructed in part of a flexible material such as silicone. A mass sensor (not shown) may be used in conjunction with the mechanism to determine the amount of ingredient dispensed. Additionally, measurement of the rotational angle (θ) traversed by knob 410 may provide an estimate/measurement of the amount of ingredient dispensed.

Fig. 5 depicts an embodiment of the present invention showing an apparatus for actuating knob 410 of container cylinder 404 of fig. 4 herein. There may be a knob 402 (or some other protrusion) of the dispenser container, and it 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 may be used to grip and in turn securely hold the protrusion 502. The motor 510 may then be used to rotate the gripper by rotating the gripper body 508. If some food items are caught 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 operated by an acceleration/deceleration forward/reverse algorithm (e.g., generating vibrations) to clear the stuck food item. For example, several other mechanisms can utilize a robotic arm or single/four jaw gripper arm to hold the protrusion 502 and rotate the protrusion 502.

Fig. 6A shows an embodiment of the invention, which is an apparatus for chopping ingredients in a turntable mechanism, which may be shown in fig. 1. The exemplary ingredient receptacle 600 may be placed in a turntable 602. The shredding sliders 604 may be placed into the receptacles 606 at the base of the ingredient containers such that they may slide back and forth in the receptacles 606. The shredding blade 608 may shred the ingredients in the container as the shredding slider 604 moves in a certain direction. An actuator mechanism (not shown in the figures) may be used to push and pull the shredding slider 604.

Fig. 6B depicts an embodiment of the present invention, which is an apparatus for dicing ingredients in a turntable mechanism, which may be shown in fig. 1. Exemplary ingredient receptacle 620 may be placed in turntable 622. The shredding sliders 628 may be placed into the receptacles 630 at the base of the ingredient containers such that they may slide back and forth in the receptacles 630. A dicing grid, such as 624, may be placed at the base of the ingredient dispenser. The ingredients may be pushed down the ingredient container using a plunger mechanism, such as the plunger described. The action of ingredients being pushed down the ingredient dispenser into the dicing grid, in combination with the movement of the chopping slider 628, may cause the ingredients to be diced and dispensed. The shredding slider 628 may also include shredding blades 626 to provide dual use functionality.

Fig. 7 illustrates an embodiment of the invention that allows the components to move in a plane based on the movement of the plurality of links, i.e., the first link 706 and the second link 708. Motor the first link motor 700 and the second link motor 702 may be used to rotate the links, i.e., the first link 706 and the second link 708, and thereby move the whisk 710 to various points in the cooking vessel 714. The agitator motor 704 may be used to provide other motions of the agitator 710, e.g., clockwise and counterclockwise rotation, a particular agitator blade orientation combined with linkage motion and orientation (e.g., to provide a scraping action on the surface of the cooking vessel 714), and so forth. The cooking container 714 may be located atop a heater 716. With this type of robotic system for handling the agitators 710, the wires and motors may be turned off and thereby protected from environmental factors such as dirt and grease. This type of linkage-based system may be used to move or provide motion to objects and mechanisms other than agitators, such as fragrance dispensers, liquid dispensers, and other objects. Several variations of this link-based system would be possible. For example, a system may have more than two links, the motor may be placed at alternative locations, the Z motion, and combinations of X, Y and Z motions, and many other options may be possible.

Fig. 8 shows an embodiment of the invention, a solids distribution apparatus. The paddle 806 (similar to the paddle 412 of fig. 4 herein) may be present within a food-holding tube 802 (similar to at least the ingredient containers of fig. 1-4, 6A, and 6B herein). The tube 802 may be attached to the turntable using a 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 dispense food in conjunction with gravity. The term "pin" may also be used to describe a knob at various portions of this patent application. To reduce the adherence 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 the related description section herein. At various points of this patent application, the terms "tube" and "tank" may be used interchangeably.

Fig. 9 illustrates an embodiment of the present invention that may help reduce the adhesion of food to the sides of the container 802 shown in fig. 8. This may be achieved by having a non-circular side wall 912 on the inside of the container such that the contact surface area between the food item and the inner wall is reduced. The outer wall 910 may be circular. Several variations of these embodiments are 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 adhesion. The pattern may be tuned or "matched" to the type and shape of the food ingredients. For example, the vertical wave pattern may be one half or one quarter cycle of the average size ("wave") of the food item.

Fig. 10A and 10B illustrate an embodiment of the present invention, a mechanism for rotating knob 808 shown in fig. 8. In fig. 10A, a motor 1002 may be used to rotate a shaft 1008, which shaft 1008 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 fig. 10B may be used to determine the rest position of the knob 808 after the dispense operation is complete.

Fig. 11 illustrates an embodiment of the present invention, a mechanism for dispensing food items, which may include an ingredient container 1100, an ingredient container knob 1102, a dispensing knob 1104, and a motor 1106. A motor 1106 may be used to rotate the dispense knob 1104. As the dispense knob 1104 is rotated, the ingredient container knob 1102 may also be rotated. This in turn may dispense food ingredients from ingredient receptacle 1100. The term "pin" may be used in place of the term "knob" at various portions herein.

Fig. 12A and 12B illustrate an embodiment of the present invention, a liquid dispensing system that may include a pin 1202, a dose container 1204, a spacer 1206, a cam mechanism 1208, a shaft 1210, a dose container knob 1212, a pin 1214, a head 1216, and a nozzle 1218. When the ingredient container knob 1212 may be rotated, the cam mechanism 1208 may be pushed upward against the spacer 1206. As the cam mechanism 1208 is pushed upward, the nozzle 1218 can dispense ingredients from the container 1204 using a pump mechanism. When dispensing action is not required, a one-way valve may be added to the end of nozzle 1218 to reduce dripping of liquid.

Fig. 13 illustrates an embodiment of the invention, a mass sensor solution, which 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 food falls into the mass measurement system 1304 through a top opening into the salad bowl 1306. The motor for dispensing the ingredients may be turned to the OFF position based on whether the desired weight of the ingredients has been dispensed. The mass sensor system shown in fig. 13 is isolated from the food area where the salad bowl or cooking vessel or induction heater may be placed. According to an embodiment of the invention, the bowl 1306 may be placed such that its isolation is isolated from the wires of the associated load cell 1302.

Fig. 14 is a diagram of an embodiment of the present invention showing a food system 1499, which is part of a robotic cooking device that can assist in making pizzas, cooking food, making mexico rolls, making salad, and making several other types of food. The food system 1499 may include a plate 1402, a second link motor 1404, a first link motor 1406, a compartment 1408, an ingredient receptacle 1410, a turntable 1412, and a dispenser motor 1414. Ingredients may be placed in an ingredient container 1410 (one shown for clarity) and may be dispensed using movement of a turntable 1412 and dispensing mechanism using a dispenser motor, such as dispenser motor 1414. The dispensing mechanism may be shared among multiple containers to reduce the cost and weight of the food preparation machine.

In the case of pizza making, a pizza base may be placed on the plate 1402. The plate 1402 may be moved using a multi-bar linkage, which in turn may be moved based on the movement of the motors, i.e., the second bar linkage motor 1404, the first bar linkage motor 1406, and additional motors placed in the compartments 1408. Ingredients may be dropped onto the pizza base using the techniques described herein in fig. 1-13. The pizza base can be moved using the motion of the plate 1402 to dispense ingredients over the pizza area.

In the case of making mexico tortillas, a tortilla may be placed on the plate 1402 and ingredients may be dispensed on top of the tortilla.

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

In the case of a rice cooker, for example, a hybrid and many indian, chinese and thai dishes, an induction heater and a flat bottom pan may be placed on top of the plate 1402 and ingredients may be dispensed into the pan. Additional manipulators may be used to agitate the foodstuff. 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 herein in fig. 7, or using some other technique.

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

Fig. 16 is a diagram of an embodiment of the present invention depicting a modular ingredient container and showing how it may be attached to a turntable. The modular ingredient container 1642 (and the enlarged view 1640) may be constructed of two or more portions (e.g., an upper portion 1623 and a lower portion 1624) that may be attached to one another using a latch mechanism 1644. The use of a modular ingredient container is an innovation that provides several advantages: (1) If it is desired to increase the food capacity of the device, a further modular ingredient container portion may be added to provide additional capacity, (2) a larger size ingredient container may be easier to fit into a dishwasher or sink for cleaning purposes when divided into two smaller ingredient containers. The modular ingredient containers may be attached to the carousel 1625 using a variety of 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. The modular ingredient containers may also be attached to the turntable 1625 using a clip mechanism, wherein the clip 1628 may be used to attach to a portion of an ingredient container, such as location 1620. There are examples in which a portion of the ingredient container is attached to clip 1622. There can be several alternative mechanisms to attach the ingredient container to the turntable. For example, a magnet, e.g., a combination of a permanent magnet and an electromagnet, may be used. Pins such as cotter pin 1632 may be used to ensure that the shaft used in the canister does not slip out.

Fig. 17 is a diagram of an embodiment of the invention showing how different parts of the ingredient container may be attached to each other. Projections such as first projection 1712, second projection 1713, third projection 1710, and fourth projection 1714 can be added to the ingredient container portions, i.e., upper portion 1717 and lower portion 1716, which would need to be attached to each other. An adapter may be added, which may be made up of parts such as tabs 1715, elastic tabs 1711, and backbone 1720. Elastic tab 1711 may allow for a good fit despite manufacturing tolerances of the various parts. Elastic tab 1711 may be constructed of a flexible material that can be deformed to allow a good fit. Examples of flexible materials may include silicone rubber, polyurethane, and many other materials. The main portion 1720, tab 1715, and other parts of the adapter may be constructed of non-flexible materials such that parts of the ingredient container are safely 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 adapter into an open or closed position. Fig. 17 includes an illustration of a locked position 1718 and an unlocked position 1719. At various portions of this patent application, the term "latch" may be used in place of the term "adapter".

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

Fig. 19 is a diagram of an embodiment of the invention showing how bearings may be used to provide long-term reliability to the container. As the shaft 1933 is inserted into the receptacle 1936 and rotated over a longer period of time to dispense the ingredients, the plastic used in the receptacle 1936 may degrade and/or wear. By inserting the bearings, i.e., outer bearing 1940 and inner bearing 1938, into the ingredient receptacle 1936, reliability challenges can be reduced. Various types of bearings and materials for the bearings are possible and friction, degradation or wear may be reduced.

Fig. 20A-20C illustrate embodiments of the present invention in which a plurality of hall sensors and magnets may be placed within a dispenser motor assembly to more accurately dispense ingredients. Fig. 20A shows a dispense 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 one 2010 and sensor two 2012, can 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 located directly above the sensor during the rotational movement of the actuator arm 2014, the sensor may indicate the magnet and give feedback to the control PCB on the position of the actuator arm. Various types of sensors are possible, not just hall sensors. The magnets may have 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 in the motor to indicate its position.

Fig. 21 illustrates a problem that arises when using the pin dispenser rod actuator system 2106. The pin 2102 and the actuator arm 2104 may be aligned in the same direction and may strike during turntable movement. This need to be avoided for proper system operation. Fig. 22 illustrates an embodiment of the present invention, a system for aligning pin 2204 so that it does not collide with the actuator arm shown in fig. 21. Pin straightener 2202 may be placed in a device. As the turntable rotates, the pins 2204 may automatically align in a horizontal direction due to the engagement of the pins 2204 with the pin straightener 2202.

Fig. 23A-23B illustrate embodiments of the invention in which a touch screen may be used to control the operation of a food preparation/robotic cooking device having one or more of the features illustrated in fig. 1-22 and 24-28. A touch screen 2308 may be placed within the door 2306 as shown in fig. 23B. Fig. 23A indicates the back side of door 2304 and view 2302 indicates an exemplary turntable system with exemplary cans loaded thereon. The customer may use the touch screen 2308 to indicate their food selection and the device shown in fig. 23A-23B may prepare food.

Food preparation devices as shown in the present patent application frequently need to be refrigerated to store food for extended periods of time without spoilage. Fig. 24A to 24B show an embodiment of the present invention, which is a system for thermally insulating a food storage compartment of an apparatus. The system may be comprised of an insulation pot 2404 for insulation purposes. One position of the insulated pot 2404 may be shown in fig. 24A, wherein the insulating layer 2406 does not contact the food opening 2402, i.e., the food opening is not sealed. Another position of the insulated pot 2404 may be shown in fig. 24B, where the insulating layer 2406 may contact the food opening 2402, seal the food opening, and prevent a significant amount of heat from entering the chamber. The insulating layer 2406 may include a good insulator, such as silicone or some other insulating material. The insulating layer 2406 may also include a material having a certain flexibility such that the material mates with the food opening 2402. When the device is not used for making food, the turntable can move the pot meant for insulation (insulation pot 2404) directly over the food opening 2402 and keep the food storage compartment insulated. It will be clear to a person skilled in the art that several variations of this embodiment are possible. For example, the shape of the can, insulating layer and food opening may be different from that shown. The insulating pot may contain some insulating material in addition to insulating layer 2406.

Fig. 25 shows different parts of the insulation can described in fig. 24A to 24B. For example, the canister may be composed of two parts, an upper part 2502 and a lower part 2504. The insulating layer 2506 may be connected to a mechanism within the insulating can using pieces 2508. Fig. 26A to 26C show simplified diagrams of internal mechanisms within the insulation can. It will be clear to a person skilled in the art that the mechanism shown in fig. 26A to 26C is exemplary and that several variations are possible. The insulating layer 2606 may be connected to a platform 2604 that moves within the can. The pin 2610 may be rotated by a dispensing actuator similar to those described earlier in this patent application. The pin may use a shaft to actuate a mechanism comprised of cam 2614. Fig. 26B may illustrate one position of the mechanism, wherein a portion 2616 of the cam 2614 may be in contact with the wall 2618. The wheel 2612 may allow the cam 2614 to make smooth movement. The platform 2604 is not shown in fig. 26B-26C to better illustrate the operation of the mechanism. Fig. 26C may show another position of the mechanism, where cam 2620 may be in another stable position. One of the key factors of the present invention shown in fig. 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 "down" and "open" relative to the food opening 2402 when the cam position pulls the insulating layer 2606 "up" so that the insulating pot 2404 can freely rotate on the turntable. Thus, the insulated canister may be operated by the same motor/cam system as the normal food dispensing operation.

Fig. 27 shows an embodiment of the invention wherein ingredients adhering to the walls of an ingredient container/can may be reduced by using a fitment 2704 in the can. These fittings may be actuated by movement of the paddles 2710. Fitment 2704 may be attached to the top of can 2708 or to the side of can 2709. These fittings may have multiple pieces, for example, one partial fitting bottom 2707 contacting the paddle and another partial fitting top 2704 contacting the top of the can 2708. As the paddle rotates, the paddle may move the fitment back and forth by contacting the fitment bottom 2707 and causing movement within the can, which may allow ingredients that are adhered to the sides of the can to not adhere. Snapshot one 2700 shows fitting 2704 without contact with paddle 2710, snapshot two 2701 shows fitting 2704 with contact with paddle 2710 on one side, and snapshot three 2702 shows fitting 2704 with contact with paddle 2710 on the other side. Several variations of this embodiment are possible. For example, the shape of the fitting may be different, i.e. it may be the shape of a curtain. The fitment may be attached to the side of the can instead of the center as shown in fig. 27. The fitting may comprise a hinge. Several other variations are possible.

Fig. 28 shows an embodiment of the invention showing an apparatus for dispensing a liquid. The liquid to be dispensed may be stored in a bottle located within the tank 2806 and the flexible tube 2800 may be drawn therefrom. 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 in undesired locations. Rollers 2802 and 2804 can be moved using rotation of shaft 2812, which shaft 2812 in turn can be rotated using a shared dispensing device that can be connected to pin 2812 located on can 2806.

Additional methods, algorithms and software

The equipment (e.g., the equipment of fig. 14 herein) and sub-equipment (e.g., the pin straightener 2202 of fig. 22 herein) of an automated food preparation machine may be controlled by a computer system, wherein various algorithms and software instantiated in the computer/microprocessor system may form a method of operation and control of the machine or sub-equipment. 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 a centralized control system operated at the company, at the home, or from/by the manufacturer.

The 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, if a faster read ratio is used for a particular overall machine model, the number of weight samples Q may have a maximum value greater than 50.

For example, the algorithm and software program may have the steps of:

Step (a)	Description of the invention	Command & value
			Step 1	Setting the container to #6	M6 C6
Step 2	Set the target weight to 50g	W50
			Step 3	Setting motion algorithm (angle, speed)	G1 A180 S500
Step 4	The off-target% was set to 50%	U50
			Step 5	Setting motion algorithm (angle, speed)	G2 A90 S100
Step 6	The off-target% was set to 90%	U90

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

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

Dispensing algorithms and software programs based on ingredient cutting may be provided in food preparation machine equipment and different cuts (e.g., dicing, shredding, etc.) may be selected and controlled for each ingredient (e.g., lettuce, carrot, beet, cheese, etc.), which may require the use of different sub-algorithms to control the appropriate machine subunits and/or components. As shown in fig. 29, an illustrative example of an ingredient cut based dispensing algorithm and software program is shown in an overview flowchart. For example, start 2900 may start the algorithm and the first question asked may be that the ingredient is diced 2910. For example, a customer may subscribe to diced cucumber for salad, so the machine may be directed to the cucumber container and dicing algorithm 1[2930] used to actuate the dicing device underneath the cucumber container. If the ingredient is to be sliced into slices 2912, then the dispensing algorithm 2 2932 can be used to move and operate the slicing and dispensing mechanism for the ingredient (e.g., slice cucumber from a cucumber container). If the ingredient is to be cut into filaments 2914, the dispensing algorithm 3 2934 may be utilized to move and operate the cutting and dispensing mechanism for that ingredient. If the ingredient is to be shredded in some other form 2916, the dispensing algorithm 4 2936 may 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 the dispensing algorithm 5[2938] may be used to move and operate the appropriate mechanism for that ingredient. All dispensing algorithms may terminate at end 2999 when the proper amount of ingredient is dispensed.

The paddle-based dispensing algorithm and software program may be provided in the food preparation machine apparatus and different paddles (e.g., 2-fin (fin), 4-fin, 6-fin, flexible, rigid, fitting/flexible, etc.) may be selected and controlled for various ingredients (e.g., lettuce, spinach, carrot, nut, raisins, seeds, diced bread, etc.), which may require different algorithms to control the appropriate machine subunits and/or components. As shown in fig. 30, an illustrative example of a paddle-based dispensing algorithm and software program is shown in an overview flowchart. For example, start [3000] may start the algorithm and the first question asked may be that the ingredient is diced [3010]. For example, a customer may subscribe to diced cucumber for salad, so the machine may be directed to a cucumber container and use a dicing algorithm (see fig. 29). The dispensing paddle type 1[3030] may then be actuated to accurately dispense the diced food. If the ingredients are to be cut into slices [3012], then the dispensing paddle type 2[3032] can accurately dispense the sliced food. If the ingredient is cut into shreds [3014], a dispensing paddle type 3[3034] may be used to accurately dispense shredded food for the ingredient. If an ingredient [3016] is to be shredded in some other form, then a dispensing paddle type 4[3036] may be used to accurately dispense shredded food for the ingredient. If the ingredient is to be otherwise processed ("no" in 3016), then dispensing paddle type 5[3038] may be used to accurately dispense food for the ingredient. All of the dispensing paddle type algorithms may terminate at end 3099 when the proper amount of processed ingredients is dispensed.

A threshold-based speed algorithm and software program may be provided in the food preparation machine device and different dispensing rates/speeds may be selected and controlled based on another input (e.g., faster food dispensing speed before 80% of the target weight is reached, then completed at a slower speed, etc.). The input may be, for example, the weight of the food dispensed, and the sampling rate of that weight may be adjusted in some manner (e.g., inversely proportional to the percentage of the target weight, and so on), and may be different for various ingredients (e.g., lettuce, spinach, carrots, nuts, raisins, seeds, diced bread, etc.) (speed control and weight sampling rate), which may require different algorithms to control the appropriate machine subunits and/or components. As shown in fig. 31, an illustrative example of a threshold-based speed algorithm and software program is shown in program form and in an overview flowchart. For example, start [3100] may start the algorithm and a default speed of dispense motor rotation S1[3110] may be set to dispense food while monitoring of target weight may be performed. This may be achieved by differential weight of the bowl or other means. If a first threshold is reached (which may depend on the type of ingredient) [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 terminate at end 3199. More than two dispense motor speeds may be utilized depending on engineering choice, type of ingredients and processing (slicing, shredding, etc.). It will be apparent to those skilled in the art that in some cases, the speed S2 may be set higher than S1, where a higher speed may give a slower, more tightly controlled dispense.

A threshold-based weight measurement frequency algorithm and software program may be provided in the food preparation machine device and may select and control the dispensing rate/speed based on the dispensed food weight samples (e.g., increasing the weight sample rate more frequently around the target weight, etc.). The sampling rate of this weight may be adjusted in some manner (e.g., inversely proportional to the percentage of the target weight, and so on) and may be different for various ingredients (e.g., lettuce, spinach, carrots, nuts, raisins, seeds, diced bread, etc.) (speed control and weight sampling rate), which may require different algorithms to control the appropriate machine subunits and/or components. If the target weight is reached, the algorithm may stop dispensing. As shown in fig. 32, an illustrative example of a threshold-based weight measurement frequency algorithm and software program is shown in an overview flowchart. For example, start [3200] may start the algorithm and a default weight sample setting, W1[3210], of the dispensed food product may be set to dispense food, while monitoring of the target weight may be performed. This may be achieved by differential weight of the bowl or other means. If a first threshold is reached (which may depend on the type of ingredient) 3220, weight sampling may be increased or otherwise more accurately sampled to W2 3230 and weight will continue to be monitored. If the target weight is reached, the threshold-based weight measurement routine may terminate at end 3199. And may terminate with end 3299. Otherwise, dispensing continues with a more accurate W2 weight sensing scheme.

Dispensing algorithms and software programs based on ingredient levels may be provided in the food preparation machine apparatus and the dispensing rate/speed may be selected and controlled in accordance with the level of food dispensed in the food ingredient container (e.g., when the level in the ingredient container is 25% etc., it may be necessary to increase the baffle speed to dispense the same amount of food ingredient at the same time). The rate or adjustment may be used for various ingredients (e.g., lettuce, spinach, carrots, nuts, raisins, seeds, diced bread, etc.) at various container levels (e.g., 100%,75%,50%,33%,10%, 5%), which may require different algorithms to control the appropriate machine subunits and/or components. As shown in fig. 33, an illustrative example of an ingredient level based dispensing algorithm and software program is shown in an overview flowchart. For example, the algorithm may be started [3300] and a default dispensing algorithm 1[3310] may be activated and the food level in a particular can/container monitored (typically by the weight of the dispense and kept track in software; however, it may also be monitored by a sensor such as an optical sensor or proximity sensor.) if a first threshold of the can is exhausted, e.g., 33% [3320], a second dispensing algorithm may be used to maintain accurate and precise dispensing of the food product, e.g., dispensing algorithm 2[3330]. If the can is now exhausted to another threshold, e.g., 66% [3340], a third algorithm may be controlling the dispensing, e.g., dispensing algorithm 3[3350]. Dispensing algorithm based on ingredient level may end [3399 ].

Liquid withdrawal algorithms and software programs may be provided in the food preparation machine apparatus and may select and control the dispensing of liquid (e.g., salad dressing, etc.). The liquid may sometimes drip from the dispenser after the dispensing has ceased. Reversing the flow in the liquid dispenser may reduce unwanted dripping. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 34, an illustrative example of a liquid pullback algorithm and software program is shown in an overview flowchart. 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 retraction, which may include, for example, time increments or times of counter-rotation, etc., depending on the type of dispensing machine. If dripping is detected, for example by an increase in weight between the made salad or other measures such as visual reporting by the customer 3420, the liquid withdrawal may be increased for this particular liquid and dispensing mechanical combination 3430. For example, the viscosity of salad dressing may vary from batch to batch or as the dispensing container approaches the end of its dispensing volume (liquid ages/evaporates) or temperature increases dramatically, etc. The pullback change may be sent to a dispensing algorithm so that adjustments may be made to maintain a consistent product delivery volume. The fluid withdrawal algorithm may terminate at end 3499.

The dispenser crash recovery algorithm and software program may be provided in the food preparation machine apparatus and may select and control dispensers that may become clogged (e.g., larger than expected nuts, nuggets, spinach, etc.) with misaligned or unacceptable food. When a jam is detected, the algorithm may re-center the dispenser and switch the motion algorithm. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 35, an illustrative example of a dispenser collision recovery algorithm and software program is shown in an overview flowchart. For example, start [3500] may start the algorithm and default dispensing algorithm 1[3510] may be activated to dispense food ingredients. If a clog [3520] is detected in the food dispenser, the unblocking (unjamming) dispensing algorithm 2[3530] may be activated to attempt to unblock the container and dispenser. For example, the dispensing algorithm 2 may re-center the canister/container and switch the dispenser motion algorithm. It will be clear that many other types of dredging algorithms are possible. The dispenser collision recovery algorithm may terminate at end 3599.

An ingredient jam recovery counter-direction algorithm and software program may be provided in the food preparation machine apparatus and may counter the direction of one or more paddles to break the jam (e.g., nuts, nuggets, spinach, etc. having a diameter greater than that expected) when the amount of ingredient being dispensed is less than the expected amount (or otherwise detecting improper dispensing). Reverse direction may also include rapid forward and backward movement, rapid backward and slow forward movement, and other combinations including time, rotational acceleration and speed. The recovery algorithm may also be combined with the ingredient jam recovery dial shake algorithm herein to clear the ingredient jam. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 36, an illustrative example of an ingredient blockage recovery reverse direction algorithm and software program is shown in an overview flowchart. For example, start [3600] may start the algorithm and default dispensing algorithm 1[3610] may be activated to dispense the food ingredients. If a clog is detected in the food dispenser [3620], a unblocking dispensing algorithm 2[3630] may be activated in an attempt to unblock the container and dispenser. For example, the allocation algorithm 2 may reverse the direction of rotation, which may include various speed and acceleration changes. The ingredient jam recovery reverse direction algorithm may terminate at end 3699.

Ingredient blockage recovery wheel a shaking algorithm and software program may be provided in the food preparation machine apparatus and the wheel may be shaken back and forth to break the blockage (e.g., larger diameter than expected nuts, nugget spinach, etc.) when the amount of ingredient being dispensed is less than the expected amount (or otherwise detects improper dispensing). Shaking may also include rapid forward and backward movements, rapid backward and slow forward movements, and other combinations including time, linear/rotational acceleration and speed. The recovery algorithm may also be combined with the ingredient jam recovery roulette rocking algorithm herein to clear the ingredient jam. Zeroing of the container position is performed to avoid future errors. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 37, an illustrative example of an ingredient jam recovery roulette shake algorithm and software program is shown in an overview flowchart. For example, start [3700] may start the algorithm and default dispensing algorithm 1[3710] may be activated to dispense the food ingredients. If a clog 3720 is detected in the food dispenser, the unblocking dispensing algorithm 2 3730 may be activated to attempt to unblock the container and dispenser. For example, the dispensing algorithm 2 may shake a turntable, which may include various changes in speed and acceleration, e.g., a back and forth motion. The ingredient jam recovery wheel shake algorithm may terminate at end 3799.

The retraction container algorithm and software program may be provided in the food preparation machine apparatus and may utilize the second container by switching the container for the ingredient to the retraction dispenser for the ingredient when the ingredient is exhausted. A message may be sent to the appropriate personnel or devices to notify them of the empty container. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 38, an illustrative example of a rollback container algorithm and software program is shown in an overview flowchart. For example, start 3800 may start the algorithm and detect that the canister has been depleted of ingredients 3820 as dispensing 3810 occurs from the canister. Such detection may be performed in various ways, for example, by calculation, weight measurement, sensors, etc. The algorithm may then direct the device to move to a rollback canister (if available) with the same ingredients [3830]. If not, a signal is sent to the appropriate machine manager to immediately refill the particular container. The rollback container algorithm may terminate with an end 3899.

The rocking motion dispensing algorithm and software program may be provided in the food preparation machine apparatus and when the machine is zeroed, the machine may inadvertently drop ingredients and may be directed to vibrate the dispenser back and forth to keep the back clean as much as possible. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 39, an illustrative example of a rocking motion allocation algorithm and software program is shown in an overview flowchart. For example, the start [3900] may activate the algorithm [3910] during tank/container zeroing. If a drop of ingredients is detected during zeroing [3920], the dispenser for the container may be swung back and forth [3930] to clear the back of the dispenser. The rocking motion allocation algorithm may terminate with an end 3999.

The bi-directional motion algorithm and software program may be provided in the food preparation machine apparatus and since certain ingredients would tend to clog in the container/cylinder if dispensed in only one direction, the machine may be directed to rotate the dispenser in one direction for multiple cycles and then back in the other direction for multiple cycles. More than two directional changes may be employed to mitigate clogging. The algorithm may 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 in which the motion of the dispenser paddle may be rotated clockwise [4010] several dispenses, and then counter-clockwise [4020] another several dispenses. The exact amount dispensed will depend on engineering judgment and decision, and the particular type of food ingredients.

The algorithm and software program for switching direction between the salads may be provided in the food preparation machine apparatus and since certain ingredients will tend to clog in the container/cylinder if dispensed in only one direction, the machine may be directed to rotate the dispenser in the opposite direction each time an ingredient to be deposited is selected. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 41, an illustrative example of an algorithm and software program to switch direction between the salads is shown, where the motion of the dispenser paddle may be rotated clockwise [4110] for making one or more servings of salads and then rotated counter-clockwise [4120] for making the next servings or servings of salads. The exact number of salads made between each rotation direction change will depend on engineering judgment and decision.

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

The quantized weight distribution algorithm and software program may be provided in a food preparation machine device and when distributing media to a large number of ingredients, the total time for distribution may be shortened by moving the dispenser through a larger angle before checking the distributed weight. The dispenser may be rotated a specific distance (known or predetermined for each specific food ingredient) before checking the weight. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 42, an illustrative example of a quantized weight distribution algorithm and software program is shown in an 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 terminate with an end 4299. If the target weight is not reached 4220, the paddle may be rotated a new amount of rotation.

The multi-ingredient dispensing algorithm and software program may be provided in a food preparation machine apparatus. The time to make the salad can be reduced by depositing 2 ingredients at approximately the same time. The apparatus/machine has two concentric rings of ingredients so that the machine can dispense 2 ingredients simultaneously. This can be achieved by sending multiple ingredients commands (stored in the buffer) at once, and if ingredients are present on the same segmented inner and outer rings, then both are dispensed at the same time. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 43, an illustrative example of multi-ingredient dispensing is shown. The outer pot 4310 and the inner pot 4320 can be positioned, both of which can be dispensed into an underlying product bowl (not shown), allowing two food ingredients to be dispensed almost simultaneously, thereby saving product (salad) making time.

A time minimized map ingredient location algorithm and software program may be provided in the food preparation machine apparatus. The time taken to switch ingredients increases the amount of time taken to make a salad. The apparatus/machine may tell the loader to arrange ingredients in a sequence that minimizes the time it takes to make an average salad by using historical data about ingredients used during certain selected time periods. For example, the time period may be one day, one week, 3 weeks, 6 weeks, two months; and may also track by day of the week (e.g., the optimal Monday and Friday tank/container arrangements may be different) or based on a local calendar. The algorithm may control the appropriate machine subunits and/or components.

The predictive return-to-zero mechanism undershoot algorithm and software program may be provided in the food preparation machine apparatus. When the machine is zeroed, the machine may inadvertently drop the ingredients. The apparatus/machine may determine an average amount of weight being deposited during the zeroing step and reduce the target weight accordingly. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 44, an illustrative example of a predictive return-to-zero mechanism undershoot algorithm and software program is shown in an overview flowchart. For example, the start 4400 may activate an algorithm and may perform an allocation from the canister 4410. The algorithm may determine whether a sufficient weight of food ingredients has been dispensed so that when the tank is zeroed, the target weight 4420 will be reached (additional food ingredients will fall from the tank due to zeroing the dispenser). If so, the predictive return-to-zero mechanism undershoot algorithm may terminate at end 4499.

The predictive dispensing undershoot algorithm and software program may be provided in a food preparation machine apparatus. Current feedback methods use a scale to measure weight, and once the weight measurement exceeds a target weight, the algorithm stops. This means that substantially all of the final weight will be high. The apparatus/machine may determine an average amount of weight being deposited per revolution and if the weight will exceed the target on the next revolution, the algorithm stops. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 45, an illustrative example of a predictive allocation undershoot algorithm and software program is shown in an overview flowchart. For example, start [4500] may activate an algorithm and may perform an allocation from canister [4510 ]. The algorithm may determine whether a sufficient weight of food ingredients has been dispensed so that when dispensing is stopped, the target weight will be reached 4520 (since the next rotation of the dispenser will drop additional food ingredients from the canister). If so, the predictive allocation undershoot algorithm may terminate at end 4599.

The ingredient specific undershoot algorithm and software program may be provided in the food preparation machine apparatus. Current feedback methods use a scale to measure weight, and once the weight measurement exceeds a target weight, the algorithm stops. This means that substantially all of the final weight will be high. Each formulation appears to have a different amount of overshoot error. The machine/device and program 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 in the display. Thus, the code g1w50u10 will stop at 40G, as it will expect that the overshoot will make up the difference. The algorithm may control the appropriate machine subunits and/or components. The algorithm works in a similar manner to the predictive dispensing undershoot algorithm in fig. 45, but depends on the ingredients.

A predictive dispensing undershoot algorithm and software program using integrated historical data is provided in a food preparation machine apparatus. Weight sensor measurements can take time and slow dispensing. The machine/device and program may use the history data to approximate completion before dialing into the final destination. The algorithm may control the appropriate machine subunits and/or components.

The delay weight measurement algorithm and software program may be provided in the food preparation machine apparatus. The ingredients may be spread in the air as the bowl is weighed. The machine/device and program may wait for a period of time before taking measurements. This will slow down the whole process. The algorithm may control the appropriate machine subunits and/or components.

The automatic scale calibration algorithm and software program may be provided in the food preparation machine appliance. Measurement of the weight sensor is important for delivering accurate and orderly salad. The dimensions may not be properly calibrated and may not provide an accurate reading. The machine/apparatus and program may calibrate the weight sensor with a known weight, for example, using a known bowl weight. The algorithm may control the appropriate machine subunits and/or components.

Fig. 46A-46D depict embodiments of the invention in which a tank 4601 may be used to dispense a liquid, such as, for example, flavoring, water, milk, smoothie, or any other ingredient compatible with the mechanism. The liquid may be placed within the bottle 4605, which bottle 4605 may then be placed in a certain position using the support 4606, as shown in fig. 46C. Tubing 4607 may be used to deliver liquid into peristaltic pump device 4602. Peristaltic pump mechanism 4602 may be actuated by a motor using the apparatus and methods described earlier in this patent application. This actuation may occur with pin 4604 (shown in fig. 46B) and a shaft into the peristaltic pump mechanism. The tubing may enter the peristaltic pump mechanism and the rollers 4608 may be used to pinch off the liquid as shown in fig. 46D. The weight sensor readings may be taken after different dispensing movements and feedback may be provided to the dispensing motor. The dispense motor may be shared among multiple liquid dispenser tanks, which may provide benefits to the weight, size, and/or cost of the food-making device. It will be clear to a person skilled in the art that several variants of the proposed embodiments are possible. There can be several peristaltic pump designs. There can be several variations in the design of the liquid dispenser.

Fig. 47A-47C depict embodiments of the invention in which the canister 4701 may include a tabbed paddle 4702. Fig. 47B illustrates a potential configuration of the tabbed paddle 4702 as shown in fig. 47A. The paddle portion may include a hard or rigid core or center 4703. It may also include flexible fins. The fins may include thicker portions 4705 and thinner portions 4704 for optimizing distribution. The fins may also include tabs such as 4706, which may increase friction between the paddle and the canister 4701. This may have the beneficial benefit of preventing movement of the paddles due to gravity or other forces, and thus may prevent misalignment of the pin 4708. Multiple tabs 4707 may 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 recommended for the paddle rotation for any dispensing algorithm. It will be clear to a person skilled in the art that several variants of the proposed embodiments are possible. Weight readings may be taken during dispensing and motor movement may be automatically controlled to control dispensing. The same motor may be used to rotate the paddles in different cans. The position sensor may be used to position the actuator arm as described in the embodiments shown in fig. 20A-20C.

Fig. 48A-48C depict an embodiment of the present invention in which tank 4801 may use a shuffler 4802 for dispensing ingredients that may not work perfectly with a gravity feed mechanism. Fig. 48B shows that as paddle 4804 rotates, shuffler end 4803 can come into contact with paddle 4804. Instead, this moves the shuffler and pushes the ingredients in the tank down. It will be obvious to a person skilled in the art that there may be several embodiments of the design for a shuffler. Fig. 48C shows an embodiment for a shuffler in which the structure 4805 allows the shuffler to be placed on the side of the tank and the shuffler end 4807 may have a coating material so that the paddle 4804 is not damaged by the shuffler hit. It will be apparent to those skilled in the art that there may be several devices and methods to use the paddle rotation to create motion at a higher position in the tank and dispense ingredients that may not work perfectly with a gravity feed mechanism.

Fig. 49A-49D depict an embodiment of the invention in which a pin mechanism snaps into the blade 4902 of the canister 4901. Fig. 49C may indicate a pin mechanism, which may be comprised of pins 4903/4905 and a shaft 4904, which shaft 4904 may have an end 4906. End 4906 may snap into structure 4907 in fig. 49D, which structure 4907 may be referred to as a retainer ring. By applying a push-in force, the end 4906 may snap into the retainer ring 4907. By applying a pulling force, the end 4906 may be pulled out of the retainer ring 4907. Fig. 49B shows a view of the pin end within the retainer ring (view 4908). It will be clear to a person skilled in the art that several variations of these embodiments are possible. Different materials may be used for the shaft and retainer ring. Different shapes for the shaft and retainer ring may also be used.

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

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

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

Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as "processing," "computing," "calculating," "determining," or the like, refer to the action and/or processes of a computer or computing system, or similar electronic computing device, that manipulate and/or transform data represented as physical, such as electronic, quantities within the computing system's registers and/or memories into other data similarly represented as physical quantities within the computing system's memories, registers or other such information storage, transmission or display devices.

In a similar manner, 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 the registers and/or memory. A "computing platform" may include one or more processors.

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

Embodiments of the present invention may be used to make several types of foods, namely salad, bowl, breakfast bowl, brazil bowl, fruit bowl, smoothie, cocktail, frozen yoghurt and many other types of foods.

Those of ordinary skill in the art will further appreciate that the present invention is not limited to what has been particularly shown and described hereinabove. Rather, the scope of the present invention includes both combinations and sub-combinations of the various features described hereinabove, as well as modifications and variations thereof which would occur to persons skilled in the art upon reading the foregoing description. Accordingly, the invention is limited only by the claims.

Claims

1. A method of operating an automatic food preparation device, the method comprising:

Rotating the actuator arm by means of a motor;

rotating a pin mechanism comprising a pin coupled to a shaft with the actuator arm;

Rotating a plurality of rollers circumferentially distributed around the pin mechanism by means of the pin mechanism to dispense ingredients placed in the bottle of the can; and

The motor is automatically controlled based on the weight sensor readings,

Wherein the same motor dispenses ingredients from a plurality of cans, an

Wherein the pin is located on the canister and coupled to the shaft, the shaft extending into the interior of the canister.

2. The method of claim 1, wherein the plurality of rollers form a peristaltic pumping device for dispensing the ingredients.

3. The method of claim 1, further comprising:

the bottle is held in a predetermined position by a support.

4. The method of claim 2, further comprising delivering the ingredients to the peristaltic pumping apparatus with tubing.

5. The method of claim 1, further comprising:

the weight sensor readings are monitored after different dispensing movements and feedback is provided to the motor.

6. The method of claim 1, further comprising:

dispensing the ingredients from the bottle through a flexible tube; and

The flexible tube is compressed with the plurality of rollers to control dispensing of the ingredients.

7. The method of claim 6, further comprising:

dripping of the ingredients is reduced by a one-way valve added to the end of the flexible tube.

8. The method of claim 1, wherein the plurality of rollers compress a tube through which ingredients are dispensed from the bottle.

9. The method of claim 1, further comprising reversing flow in the tank to reduce dripping.

10. The method of claim 1, further comprising:

dispensing a desired amount of the liquid ingredient;

activating a default fluid withdrawal step;

Detecting dripping from the canister; and

Activating a fluid withdrawal step that increases fluid withdrawal.

11. The method of claim 10, wherein detecting dripping from the canister comprises detecting an increase in weight between ingredient dispensations.

12. The method of claim 1, wherein the pin extends perpendicular to the axis.

13. The method of claim 1, wherein the ingredient is a liquid.