CN110913728B

CN110913728B - Improved automated food preparation apparatus

Info

Publication number: CN110913728B
Application number: CN201880028412.2A
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: 2022-04-12
Anticipated expiration: 2038-04-04
Also published as: CN110913728A; JP2020512911A; MX2019010528A; CN114747930A; JP7223361B2

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 canisters. 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 apparatus

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of and claims the benefit of U.S. provisional patent application No.62/481,217 filed on 4/2017, a continuation of part of U.S. non-provisional patent application No.15/449,548 filed on 3/2017, a claim of U.S. provisional patent application No.62/304,277 filed on 6/2016, a continuation of part of U.S. non-provisional patent application No.14/847,959 filed on 8/9/2015, this application claims rights to U.S. provisional patent application No.62/047,785 filed 9/2014, U.S. provisional patent application No.62/056,368 filed 26/9/2014, U.S. provisional patent application No.62/094,595 filed 19/12/2014, U.S. provisional patent application No.62/150,303 filed 21/4/2015, U.S. provisional patent application No.62/185,524 filed 26/6/2015, and U.S. provisional patent application No.62/201,105 filed 4/8/2015. The contents of the above application are incorporated herein by reference.

Technical Field

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

Background

Over the years, many innovations have emerged to aid in the cooking process. Food processors are now available for chopping vegetables and meat. Induction cooktops allow for faster cooking processes. Microwave ovens allow efficient reheating. However, despite these innovations, many people spend an hour or more cooking food for themselves and families every day. Cooking also requires an important learning curve before one can cook in a palatable manner. Also, commercial food establishments such as restaurants must now allocate their substantial costs to manual cooking labor. Ways to reduce the "man hours" required for cooking and to reduce the learning curve associated with cooking 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 No.2013/0112683 to Hegedis, Davenport and Hoare expressly describes a cooking device in which a heating element works with a user interface and temperature sensor and provides an alert 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 range for a longer period of time in response to prompts provided by the cooking apparatus. Since there is no automatic mixing function available, the user also needs to stand near the range for a longer period of time.

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

Foodini is a prototype of Natural machinery and a product to be released that apparently 3D prints food items by heating food pastes and by dispensing them onto a table. However, this requires that the food be made pasty before it is dispensed, which can be cumbersome and expensive.

Everycook is a prototype manufactured in europe that apparently promises to cut and mix food items and cook them with recipes. However, the user still needs to stay near the Everycook cooking device and often pour additional food items.

Sereneti Kitchen is a prototype manufactured in the united states that apparently wants to automate the cooking process, but does not perform any chopping of ingredients, but instead utilizes 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 include 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 rotating discs are placed on top of the cooking pot, one for containing ingredients and one for chopping the 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 dial mechanism of FIG. 1;

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

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

FIG. 6B shows an embodiment of the invention, which is an apparatus for dicing an ingredient;

FIG. 7 illustrates an embodiment of the present invention that uses a series of linkages to move the agitator to various positions;

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

FIG. 9 shows an embodiment of the invention in which 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;

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

FIG. 11 shows 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 liquids;

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;

FIG. 15 illustrates an embodiment of the invention showing a system for placing a salad bowl or pizza base or cooking pot and a heater or tortilla (for making Mexican tortillas) and generally for placing the base to be further processed;

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

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

FIG. 18 shows an embodiment of the invention, a paddle portion for dispensing an ingredient;

FIG. 19 shows an embodiment of the invention, a bearing for a dosing reservoir;

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

figure 21 illustrates a problem with the proposed dispensing system, where the vertical knob may 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 an embodiment of the invention showing how a touch screen user interface may be used to control a robot;

figures 24A to 24B illustrate an embodiment 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 a container can be used by closing the hole for the ingredients to fall through for providing thermal insulation;

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

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

FIG. 28 illustrates an embodiment of the 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 dispensing 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 withdrawal algorithm;

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

FIG. 36 illustrates an embodiment of the present invention showing the reverse direction algorithm for burden plugging recovery;

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

FIG. 38 illustrates an embodiment of the present 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 two-way motion algorithm;

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

FIG. 42 illustrates an embodiment of the present invention showing a quantified 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 zero mechanism undershoot algorithm;

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

fig. 46A to 46D illustrate an embodiment of the invention showing a liquid dispensing mechanism;

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

FIGS. 48A-48C illustrate an embodiment of the present invention showing a shuffler (shuffler) for dispensing an ingredient 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 paddle onto a can;

FIG. 50 illustrates an embodiment of the present invention describing 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 understand that the description and drawings are illustrative of the invention rather than limiting, and that in general the drawings are not to scale for clarity of presentation. 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 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 apparatus 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 "can" 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 can be used to rotate containers placed in a circular configuration, which can be placed on a circular plate/platform. In fig. 1, two circular rows of ingredient dispensers are shown, with outer containers 100 on the outer circular row and inner containers 102 on the inner circular row. Multiple 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 pot, a cooking pan, a digester, or a cooking vessel. The turntable 104 may include openings (not shown) that include substantially circular and other shapes for dispensing food from the ingredient container outer container 100 and inner container 102, among other containers. The circular openings can 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 an X-dimension and a Y-dimension (relative to the pan 108) using a robotic mechanism, which may include a circular shaft or rail, e.g., an X rail 114 and a Y rail 116. The agitator 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 coordinate type robot mechanism. Since polar mechanisms are easier to seal, polar mechanisms may provide improved resistance to reliability issues related to 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 improve efficiency by placing the components above the turntable 104 in a thermally insulated environment. A robotic arm or other actuating mechanism may be used to open and close an opening in the carousel that may allow food to be dispensed into the pan 108. The plate 120 may include a mass sensor that measures the weight of food in the pan. This may provide information about the status of a certain dispensing step, i.e. how much food has been dispensed into the pan 108 from an ingredient dispenser such as the outer container 100 and the inner container 102. The mass sensor may also optionally provide information about the status of the cooking process by measuring how much weight reduction occurred during the cooking process. It will be clear to those skilled in the art that several variations of these embodiments are possible. For example, the presence of the induction heater 122 is not required, and one can use the robotic cooking apparatus to dispense food for making salad and other types of food. There may be a sensor (not shown) for estimating whether the ingredient in a container, such as inner container 102, is 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 carousel with 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 container 200 and the inner container 202 on the turntable 204 may be designed such that their bottom openings may be positioned substantially directly above one or more openings (not shown) in the thermally insulated turntable environment of fig. 1. Alternatively, a chute configuration (not shown) may be employed in which the container is not substantially directly above the one or more openings. Gravity feed as well as 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). Upper carousel 300 may be connected to containers having ingredients, for example, outer ingredient container 304 and inner ingredient container 306. The lower turntable 302 may be connected to a shredder, such as shredder 308. Some shredders may include blades that slice the ingredient, some shredders may include blades that dice the ingredient, some shredders may include blades that cut the ingredient into filaments, and some shredders may have other functions. The robotic cooking device may control which ingredient containers are placed above which shredder by rotating the various carousels, upper carousel 300 and lower carousel 302, so that a certain ingredient or combination of ingredients may be shredded. There may be several mechanisms to rotate the dials, i.e., upper dial 300 and lower dial 302. For example, belts such as upper belt 312 and lower belt 318 may be used in conjunction with pulleys, i.e., upper turntable pulley 310, upper motor pulley 314, and lower motor pulley 316. Direct drive and other gear drive mechanisms may also be used to rotate the upper and

lower discs

300, 302.

Fig. 4 illustrates an embodiment of the invention in which the container shown in fig. 4 may be used in conjunction with the dial mechanism of fig. 1 to dispense a controlled amount of an ingredient. View 400 shows a side view of a container that may be used in the carousel 104, while a second view 402 shows an exploded view of a container that may be used in the carousel 104. The container may include an object, such as a cylinder 404, for containing the ingredient. The cylinder 404 may have a square or rectangular cross-sectional shape, the diameter may increase or decrease in the vertical direction, and the material composition and surface friction coefficient/roughness is selected depending on design and engineering considerations such as food ingredient type, moisture content, container cleaning/sterilization limitations, and the like. Shapes such as the container side 406 may be added to make insertion into the carousel mechanism easier by inserting the shapes into slots on the carousel. Such as handle 408, may be shaped to dispense a controlled amount of the ingredient. The second exploded view 402 shows more details of the ingredient dispensing mechanism. When the knob 410 is rotated, the shaft 414 may rotate the paddle portion 412. The rotational movement may allow dispensing of a controlled amount of the ingredient. The paddle portion 412 may be partially constructed 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 the knob 410 may provide an estimate/measurement of the amount of ingredient dispensed.

Fig. 5 depicts an embodiment of the present invention showing a device for actuating the knob 410 of the container cylinder 404 of fig. 4 herein. There may be a knob 402 (or some other protrusion) of the dispenser receptacle, and this may be indicated as protrusion 502. To rotate the protrusion 502, a gripper mechanism may be used. Both 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 can then be used to rotate the gripper by rotating the gripper body 508. In case 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 portion 412) may also be operated by an acceleration/deceleration forward/backward algorithm (e.g., generating vibrations) to clear a stuck food item. For example, several other mechanisms can utilize a robotic arm or a single/four-jaw gripper arm to hold the projections 502 and rotate the projections 502.

Fig. 6A shows an embodiment of the invention, which is an apparatus for chopping ingredients in a carousel mechanism, which may be illustrated with fig. 1. The exemplary ingredient container 600 may be placed in a carousel 602. The chopping sliders 604 may be placed into the sockets 606 at the base of the ingredient container so that they may slide back and forth in the sockets 606. When the shredding slider 604 is moved in a certain direction, the shredding blade 608 may shred the ingredients in the container. 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 invention, which is an apparatus for dicing an ingredient in a carousel mechanism, which may be illustrated with fig. 1. The exemplary ingredient container 620 may be placed in a turntable 622. The chopping sliders 628 may be placed into the sockets 630 at the base of the ingredient container so that they may slide back and forth in the sockets 630. Dicing grids 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 described plunger. The action of the ingredient being pushed down the ingredient dispenser into the dicing grid, in combination with the movement of the chopping slider 628, may cause the ingredient to be diced and dispensed. The chopping slider 628 may also include a chopping blade 626 to provide a dual use function.

Fig. 7 illustrates an embodiment of the invention that allows for movement of components in a plane based on movement of multiple links, namely first link 706 and second link 708. Motors first link motor 700 and second link motor 702 may be used to rotate the links, i.e., first link 706 and second link 708, and thereby move stirrer 710 to various points in 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 vessel 714 may be located atop the heater 716. With this type of robotic system for handling the agitator 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 motors may be placed at alternative locations, the Z motion and a combination of X, Y and Z motions, and many other options would be possible.

FIG. 8 illustrates an embodiment of the present invention, a solids dispensing apparatus. A paddle portion 806 (similar to paddle portion 412 of fig. 4 herein) may be present within food containment tube 802 (which is similar to at least the ingredient container of fig. 1-4, 6A, and 6B herein). The tube 802 may be attached to the carousel using a collar 804. Knob 808 (similar to knob 410 of fig. 4 herein) may be rotated with the assistance 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 the present patent application. To reduce sticking of food in the food containing 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 in 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 sticking of food on the sides of the container 802 shown in fig. 8. This may be achieved by having a non-circular sidewall 912 on the inside of the container such that the contact surface area between the food items 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 sticking. The pattern may 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 items.

Fig. 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 shaft 1008 may in turn rotate the 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 dispensing operation is completed.

Fig. 11 illustrates an embodiment of the present invention, a mechanism to dispense food, 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 dispensing knob 1104. When the dispensing knob 1104 is rotated, the knob 1102 of the ingredient container may also be rotated. This in turn may dispense food ingredients from ingredient container 1100. At various portions herein, the term "pin" may be used in place of the term "knob".

Fig. 12A and 12B illustrate an embodiment of the 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 a nozzle 1218. When the ingredient container knob 1212 can be rotated, the cam mechanism 1208 can be pushed upward against the spacer 1206. When the cam mechanism 1208 is pushed upward, the nozzle 1218 can dispense the ingredient from the container 1204 using the pump mechanism. When dispensing action is not required, a one-way valve may be added to the end of the nozzle 1218 to reduce dripping of liquid.

Fig. 13 illustrates an embodiment of the present 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 a mass measurement system 1304. When food falls into the mass measurement system 1304 through a top opening into the salad bowl 1306, the weight may be measured. 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 can be placed. According to embodiments of the present 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 an illustration of an embodiment of the invention showing a food system 1499, the food system 1499 being part of a robotic cooking apparatus that can assist in making pizzas, cooking foods, making mexican tortillas, making salads, and making several other types of foods. The food system 1499 may include a plate 1402, a second link motor 1404, a first link motor 1406, a compartment 1408, an ingredient container 1410, a turntable 1412, and a dispenser motor 1414. The ingredients may be placed in ingredient containers 1410 (one shown for clarity) and may be dispensed using movement of a turntable 1412 and dispensing mechanism that uses 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 making a pizza, a pizza base may be placed on plate 1402. The plate 1402 may be moved using a multi-link mechanism, which in turn may be moved based on the movement of the motors, i.e., the second link motor 1404, the first link motor 1406, and additional motors placed in the compartment 1408. The ingredients may be dropped onto the pizza base using the techniques described in fig. 1-13 herein. The pizza base can be moved using the movement of the plate 1402 to dispense the ingredients on the pizza area.

In the case of making a mexican tortilla, 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 pot of rice, for example, braising and many indian, chinese and thailand dishes, induction heaters and pans may be placed on top of the plate 1402 and ingredients may be dispensed into the pans. Additional robotic arms may be used to stir the food. The robot arm may be designed as a cartesian robotic system with a stirrer at the end, or may be designed using techniques similar to those described in fig. 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. Plate 1502 may be moved using the movement of links, i.e., third link 1506, second link 1510, and first link 1512. Motors the third and

second link motors

1504 and 1508 may rotate to move the links, i.e., the third and

second links

1506 and 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 and dispense ingredients thereon in the X-plane, Y-plane, Z-plane. For example, the plate 1502 is placed on a 3D motion stage.

Fig. 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) may be made up of two or more portions (e.g., upper portion 1623 and lower portion 1624) that may be attached to one another using a latch mechanism 1644. The use of modular ingredient containers is an innovation that offers several advantages: (1) if one wants to increase the food capacity of the device, one more modular ingredient container part can be added to provide additional capacity, (2) the larger size ingredient container fits more easily into a dishwasher or sink for cleaning purposes when split 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 a pin mechanism, wherein a pin, such as pin 1630, may be inserted into a slot, such as left slot 1619 and right slot 1626. Modular ingredient containers may also be attached to carousel 1625 using a clip mechanism, where clip 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 clip 1622. There could be several alternative mechanisms to attach the ingredient container to the turntable. For example, magnets, e.g., a combination of permanent magnets and electromagnets, may be used. A pin such as split pin 1632 may be used to ensure that the shaft used in the canister does not slip out.

Fig. 17 is an illustration of an embodiment of the invention showing how different parts of an ingredient container may be attached to each other. Protuberances such as first protuberance 1712, second protuberance 1713, third protuberance 1710, and fourth protuberance 1714 may be added to the ingredient container portions, upper portion 1717 and lower portion 1716, that may need to be attached to one another. Adapters may be added which may be comprised of parts such as flap 1715, resilient flap 1711 and stem 1720. The resilient flap 1711 may allow for a good fit despite manufacturing tolerances of the various parts. The resilient flap 1711 may 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 other materials. Stem 1720, flap 1715 and other parts of the adaptor may be constructed of non-flexible materials so that the various 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 the open or closed position. Fig. 17 includes illustrations of a locked position 1718 and an unlocked position 1719. At various portions of the present patent application, the term "latch" may be used instead of the term "adapter".

Fig. 18 is an illustration of an embodiment of the invention showing how the paddle portion may be designed for use in an ingredient container. The paddle portion may be constructed, for example, of 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 comprise primarily 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, 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 portion to provide various mechanical properties required for dispensing the ingredients. According to an embodiment of the invention, the outer portions, i.e., the first extension 1830 and the second extension 1831, may be overmolded on top of the core 1834. The core 1834 may be inserted into the hole 1832 to allow for more convenient overmolding.

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

Fig. 20A-20C illustrate an embodiment of the invention in which multiple hall sensors and magnets may be placed within a dispenser motor assembly to more accurately dispense ingredients. Fig. 20A shows a dispensing actuator arm 2004, a motor shaft 2006 that rotates the actuator arm 2004, a plate 2008, and a motor cover 2002. Two hall sensors, sensor one 2010 and sensor two 2012, may be used to detect the position of the actuator arm 2014 based on the position of the magnets, top magnet 2016 and bottom magnet 2018. When the magnet is 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 be of various shapes, sizes and types. More than two hall sensors may be used. A single hall sensor architecture may also be used. Alternatively, an encoder may be used in the motor to indicate its position.

Figure 21 illustrates a problem that arises when using a pin dispenser lever actuator system 2106. The pin 2102 and the actuator arm 2104 can be aligned in the same direction and can be bumped during movement of the turntable. This need to be avoided for proper system operation. FIG. 22 illustrates an embodiment of the present invention, a system for aligning a pin 2204 such that it does not collide with the actuator arm shown in FIG. 21. The pin straightener 2202 may be placed in the apparatus. As the carousel rotates, pin 2204 may automatically align in a horizontal direction due to the engagement of pin 2204 with pin aligner 2202.

Fig. 23A-23B illustrate embodiments of the present 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 shown in fig. 1-22 and 24-28. The touch screen 2308 can be placed within the door 2306 as shown in fig. 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 may indicate their food selection using the touch screen 2308, 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 deterioration. Fig. 24A-24B illustrate an embodiment of the present invention, which is a system for thermally insulating a food storage compartment of an appliance. The system may be comprised of an insulating can 2404 for insulating purposes. One location of the insulated tank 2404 can be shown in fig. 24A where the insulating layer 2406 does not contact the food opening 2402, i.e., the food opening is not sealed. Another location of the insulated tank 2404 can be shown in fig. 24B, where the insulating layer 2406 can 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 comprise a good insulator, such as silicone or some other insulating material. The insulating layer 2406 may also include a material having some flexibility such that the material mates with the food opening 2402. When the apparatus is not being used to make food, the turntable can move the can (insulated can 2404), meaning for insulation, directly over the food opening 2402 and keep the food storage compartment insulated. It will be clear to those skilled in the art that several variations of this embodiment will be possible. For example, the shapes of the can, insulation and food opening may be different from those illustrated. The insulating can may contain some insulating material in addition to the insulating layer 2406.

Fig. 25 shows different parts of the insulation can described in fig. 24A to 24B. For example, the tank may be comprised of two portions, an upper portion 2502 and a lower portion 2504. Insulating layer 2506 can be attached to a mechanism within the insulating can using piece 2508. Fig. 26A to 26C show simplified diagrams of the internal mechanism inside the insulating can. It will be clear to those 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 coupled to a platform 2604 that moves within the can. The pin 2610 may be rotated by dispensing actuators similar to those described earlier in this patent application. The pin may use a shaft to actuate the mechanism constituted by the cam 2614. Fig. 26B may illustrate a position of the mechanism in which the portion 2616 of the cam 2614 may be in contact with the wall 2618. The wheel 2612 may allow for smooth movement of the cam 2614. 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 elements of the present invention shown in fig. 26A-26C is the fact that the cam 2614 can be in two stable positions. This provides stable open and closed positions 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 can 2404 can rotate freely on the turntable. Thus, the insulating tank can be operated by the same motor/cam system as normal food dispensing operation.

Fig. 27 shows an embodiment of the invention where ingredients adhering to the walls of the ingredient container/can may be reduced by using a fitting 2704 inside the can. These fittings may be actuated by movement of the paddle portion 2710. Fitting 2704 may be attached to the top of canister 2708 or the side of canister 2709. These fittings may have multiple pieces, for example, one part fitting bottom 2707 contacting the paddle and another part fitting top 2704 contacting the top of the tank 2708. As the paddle portion rotates, the paddle portion may move the fitment back and forth by contacting fitment bottom 2707 and causing movement within the can, which may allow ingredients adhered to the sides of the can to not adhere. Snapshot one 2700 shows fitting 2704 not in contact with paddle 2710, snapshot two 2701 shows fitting 2704 in contact with paddle 2710 on one side, and snapshot three 2702 shows fitting 2704 in 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 fitting may be attached to the side of the tank rather than the center as shown in fig. 27. The accessory may include a hinge. Several other variations are possible.

Fig. 28 illustrates 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 the 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 may be moved using rotation of shaft 2812, which shaft 2812 may in turn be rotated using a shared dispensing device, which may be connected to pin 2812 located on tank 2806.

Additional methods, algorithms and software

The devices (e.g., the device of fig. 14 herein) and sub-devices (e.g., pin straightener 2202 of fig. 22 herein) of an automated food preparation machine may be controlled by a computer system, where various algorithms and software instantiated in the computer/microprocessor system may form a method of operation and control of the 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 not within the food preparation machine, such as a centralized control system operated/operated at/by the company, at the home, or from 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 reading scale is used for a particular overall machine model, the number of weight samples Q may have a maximum value greater than 50.

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

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

dispensing algorithms and software programs based on ingredient cutting may be provided in the food preparation machine arrangement and different cuts (e.g., slivering, dicing, shredding, etc.) may be selected and controlled for various ingredients (e.g., cabbage lettuce, long leaf lettuce, carrots, beets, cheese, etc.), which may require the use of different sub-algorithms to control the appropriate machine sub-units and/or components. As shown in fig. 29, an illustrative example of a dispensing algorithm and software program based on ingredient cutting is shown in a summary flow chart. For example, start 2900 may start the algorithm, and the first question asked may be that the ingredient is cut into cubes [2910 ]. For example, the customer may subscribe to diced cucumbers for salad, whereupon the machine may be directed to a cucumber container and use the dicing sub-algorithm 1[2930] to actuate the dicing apparatus below the cucumber container. If the ingredient is to be cut into slices [2912], a dispensing algorithm 2[2932] can be used to move and operate the slicing and dispensing mechanism for the ingredient (e.g., to slice cucumber from a cucumber container). If the ingredient is to be shredded [2914], the dispensing algorithm 3[2934] may be utilized to move and operate the shredding and dispensing mechanism for the ingredient. If the ingredient is to be shredded [2916] in some other form, 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 ([2916] no), the dispensing algorithm 5[2938] can be used to move and operate the appropriate mechanism for that ingredient. All dispensing algorithms may end with an end 2999 when the appropriate amount of ingredient is dispensed.

Paddle-based dispensing algorithms and software programs may be provided in the food preparation machine equipment and different paddles (e.g., 2 fin, 4 fin, 6 fin, flexible, rigid, assembled/flexible, etc.) may be selected and controlled for various ingredients (e.g., cabbage lettuce, spinach, carrots, nuts, raisins, seeds, breadcubes, 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 a summary flow chart. For example, start [3000] may start the algorithm, and the first question asked may be that the ingredient is cut into cubes [3010 ]. For example, the customer may subscribe to diced cucumbers for salad, so the machine may be directed to a cucumber container and use the dicing sub-algorithm (see fig. 29). The dispensing paddle portion type 1[3030] may then be actuated to accurately dispense diced food. If the ingredient is to be cut into pieces [3012], the dispensing paddle type 2[3032] can accurately dispense the food that has been cut into pieces. If the ingredient is shredded [3014], a dispensing paddle type 3[3034] may be used to accurately dispense shredded food for the ingredient. If the ingredient [3016] is to be shredded in some other form, the dispensing paddle type 4[3036] may be used to accurately dispense shredded food for that ingredient. If the ingredient is to be processed in another way ("no" in [ 3016), then the dispensing paddle type 5[3038] can be used to accurately dispense the food for the ingredient. All dispensing paddle type algorithms can end with end 3099 when the appropriate amount of processed ingredient is dispensed.

A threshold-based speed algorithm and software program may be provided in the food preparation machine device and a different dispensing rate/speed may be selected and controlled based on another input (e.g., a faster food dispensing speed followed by a slower speed, etc. before 80% of the target weight is reached). The input may be, for example, the weight of the food dispensed, and the sampling rate of that weight may be adjusted in some way (e.g., inversely proportional to the percentage of the target weight, and so on), and may be different (speed control and weight sampling rate) for various ingredients (e.g., iceberg lettuce, spinach, carrots, nuts, raisins, seeds, breadcrumbs, etc.), which may require different algorithms to control the appropriate machine subunits and/or components. An illustrative example of a threshold-based speed algorithm and software routine is shown in program form and overview flowchart as shown in FIG. 31. 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 the target weight may be performed. This may be achieved by differential weight of the bowls or other means. If a 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 terminate with an end [3199 ]. Depending on the engineering choice, type of ingredients and processing (slicing, shredding, etc.), more than two dispensing 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 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 the dispensing rate/speed may be selected and controlled based on the dispensed food weight samples (e.g., increasing the weight sample rate more frequently near a target weight, etc.). The sampling rate of the weight may be adjusted in some way (e.g., inversely proportional to the percentage of the target weight, and so on) and may be different (speed control and weight sampling rate) for various ingredients (e.g., cabbage lettuce, spinach, carrots, nuts, raisins, seeds, breadcrumbs, etc.), 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 the overview flow chart. For example, start 3200 may start the algorithm and a default weight sample setting W1 3210 for 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 bowls or other means. If a first threshold (which may depend on the ingredient type) is reached [3220], weight sampling may be added or otherwise sampled to W2[3230] in a more accurate manner and monitoring of the weight will continue. If the target weight is reached, the threshold-based weight measurement routine may terminate with an end [3199 ]. And may terminate with end 3299. Otherwise, dispensing continues with a more accurate W2 weight sensing scheme.

An ingredient level based dispensing algorithm and software program may be provided in the food preparation machine apparatus and the dispensing rate/speed may be selected and controlled according to the level of food being dispensed in the food ingredient container (e.g., when the level in the ingredient container is 25% or the like, it may be necessary to increase the rotational speed of the flapper to simultaneously dispense the same amount of food ingredient). The rate or adjustment may be for various ingredients (e.g., iceberg lettuce, spinach, carrots, nuts, raisins, seeds, breadcrumbs, 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 the summary flow chart. For example, start [3300] may start the algorithm, and default dispense algorithm 1[3310] may be activated, and the food level in a particular tank/container monitored (typically by the weight dispensed and keeping track in the software; however, may also be monitored by sensors such as optical or proximity sensors; if a first threshold of the tank is exhausted, e.g., 33% [3320], a second dispense algorithm may be used to maintain accurate and precise food product dispense, e.g., dispense algorithm 2[3330 ]. if the tank is now exhausted to another threshold, e.g., 66% [3340], a third algorithm may be controlling the dispense, e.g., dispense algorithm 3[3350 ]. the dispense algorithm based on ingredient levels may terminate at end [3399 ].

A liquid withdrawal algorithm and software program may be provided in the food preparation machine apparatus and may select and control the dispensing of liquid (e.g., salad dressing, etc.). Liquid may sometimes drip from the dispenser after dispensing has stopped. Reversing the flow in the liquid dispenser can 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 withdrawal algorithm and software program is shown in a summary flow chart. For example, start [3400] may start the algorithm, and a 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 reverse rotation, etc., depending on the type of dispensing machine. If dripping is detected, for example by weight gain between the manufactured salads or other measures such as visual reporting by the customer 3420, liquid withdrawal may be increased 3430 for that particular liquid and dispensing mechanism combination. For example, the viscosity of the salad dressing may vary from batch to batch or as the dispensing container approaches the end of its dispensing volume (liquid aging/evaporation) or temperature spikes etc. The withdrawal change can be sent to a dispensing algorithm so that adjustments can be made to maintain a consistent product delivery volume. The fluid withdrawal algorithm may terminate with an end 3499.

The dispenser crash recovery algorithm and software program can be located in the food preparation machine equipment and can select and control dispensers that can become clogged (e.g., larger in diameter than the intended nuts, chunks of spinach, etc.) due to 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 crash recovery algorithm and software program is shown in a summary flow chart. For example, start [3500] may start the algorithm, and a default dispensing algorithm 1[3510] may be activated to dispense the food ingredients. If a jam is detected in the food dispenser [3520], a un-jamming dispensing algorithm 2[3530] may be activated to attempt to unblock the container and dispenser. For example, the dispense algorithm 2 may re-center the canister/container and switch the dispenser motion algorithm. It will be clear that many other types of unclogging algorithms are possible. The dispenser crash recovery algorithm may terminate with an end 3599.

An ingredient jam recovery reverse direction algorithm and software program may be provided in the food preparation machine apparatus and may reverse the direction of one or more paddles to break a jam (e.g., nuts, spinach briquettes, etc. having a diameter greater than expected; food may be stuck in a container, leaving a void where the paddle cannot reach) when the amount of ingredient being dispensed is less than the expected amount (or otherwise detects improper dispensing). The counter-reverse direction may also include fast forward and backward motion, fast backward and slow forward motion, and other combinations, including time, rotational acceleration and speed. The recovery algorithm may also be combined with the ingredient block recovery dial shaking algorithm herein to clear the ingredient block. The algorithm may control the appropriate machine subunits and/or components. As shown in fig. 36, an illustrative example of a burden plugging recovery reversal algorithm and software program is shown in the summary flow chart. For example, start [3600] may start the algorithm, and default dispensing algorithm 1[3610] may be activated to dispense food ingredients. If a jam is detected in the food dispenser [3620], a de-jam dispense algorithm 2[3630] may be activated to attempt to de-jam 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 counter-directional algorithm for ingredient block recovery may end with an end [3699 ].

An ingredient jam recovery wheel 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 a jam (e.g., nuts, chunks of spinach, etc. having a diameter larger than expected; food may get stuck in the container, leaving a void where the paddle portion cannot reach) 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 motion, rapid backward and slow forward motion, and other combinations, including time, linear/rotational acceleration and velocity. The recovery algorithm may also be combined with the ingredient block recovery wheel shaking algorithm herein to clear the ingredient block. 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 wheel shaking algorithm and software program is shown in the summary flow chart. For example, start [3700] may start the algorithm, and default dispensing algorithm 1[3710] may be activated to dispense the food ingredients. If a jam is detected in the food dispenser [3720], a de-jam dispense algorithm 2[3730] may be activated to attempt to de-jam the container and dispenser. For example, the dispensing algorithm 2 may shake the dial, which may include variations in various speeds and accelerations, e.g., back and forth movements. The ingredient jam recovery wheel shaking algorithm may terminate at end [3799 ].

A fallback container algorithm and software program may be provided in the food preparation machine device and may utilize the second container by switching the container for the ingredient to the fallback dispenser for the ingredient when the ingredient is exhausted. A message may be sent to the appropriate person or device 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 run out of ingredient [3820] as dispensing [3810] occurs from the canister. Such detection may be performed in various ways, e.g. by calculation, weight measurement, sensors, etc. The algorithm may then direct the device to move to a fallback tank with the same ingredients (if available) [3830 ]. If not, a signal is sent to the appropriate machine administrator to refill the particular container immediately. The fallback container algorithm may terminate with an end [3899 ].

A rocking motion dispensing algorithm and software program may be provided in the food preparation machine apparatus and may inadvertently drop ingredients when the machine is zeroed and may be directed to vibrate the dispenser back and forth to keep the back side as clean 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 a summary flow chart. For example, start [3900] may activate algorithm [3910] during tank/container zeroing. If ingredient drop is detected during zeroing [3920], the dispenser for the container can be swung back and forth [3930] to clear the back of the dispenser. The rocking motion allocation algorithm may terminate with an end of 3999.

The two-way motion algorithm and software program may be provided in a food preparation machine apparatus and the machine may be directed to rotate the dispenser in one direction for a number of cycles and then back in the other direction for a number of cycles as some ingredients may tend to jam in the container/cylinder if dispensed in only one direction. More than two changes of direction may be used to alleviate the blockage. The algorithm may control the appropriate machine subunits and/or components. As shown in FIG. 40, an exemplary embodiment of an inactive two-way motion algorithm is shown, where the motion of the dispenser paddle may rotate [4010] clockwise for several dispenses and then rotate [4020] counter-clockwise for another several dispenses. The exact amount dispensed will depend on engineering judgment and decision making as well as the particular type of food ingredient.

Algorithms and software programs to switch direction between salads may be provided in the food preparation machine apparatus and since some ingredients may tend to jam in the container/drum if dispensed in only one direction, the machine may be directed to rotate the dispenser in the opposite direction each time an ingredient is selected to be deposited. 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 directions between salads is shown, where the motion of the dispenser paddle may rotate clockwise [4110] for making one or more salad, and then rotate counterclockwise [4120] for making the next salad or salad. The exact amount of salad made between each rotational direction change will depend on engineering judgment and decision making.

A one-way algorithm and software program may be provided in the food preparation machine apparatus 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 counterclockwise) until the target weight is reached.

A quantified weight distribution algorithm and software program may be provided in the food preparation machine apparatus and when distributing the medium to a large amount of ingredients, the total time for distribution may be shortened by moving the dispenser through a larger angle before checking the dispensed weight. The dispenser may be rotated a certain 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 quantified weight distribution algorithm and software program is shown in a summary flow chart. For example, start [4200] may activate the algorithm and rotate the paddle portion by x degrees [4210 ]. If the target weight [4220] is reached, the algorithm may end with an end [4299 ]. If the target weight is not reached [4220], the paddle portion may be rotated by 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 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 batching commands (stored in the buffer) at once and if the batching is present on both the inner and outer rings of the same segment, both are dispensed simultaneously. 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 jar 4310 and inner jar 4320 may be positioned, both of which may be dispensed into an underlying product bowl (not shown), allowing for the two food ingredients to be dispensed nearly simultaneously, saving product (salad) making time.

A mapping ingredient location algorithm and software program that minimizes time may be provided in the food preparation machine apparatus. The time taken to switch ingredients increases the amount of time it takes to make the salad. The apparatus/machine may 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 some selected period of time to tell the loader. For example, the time period may be one day, one week, 3 weeks, 6 weeks, two months; and may also be tracked by day of the week (e.g., the optimal monday and friday can have different tank/container arrangements) or according to a local calendar. The algorithm may control the appropriate machine subunits and/or components.

The predictive zero mechanism undershoot algorithm and software program may be provided in a 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 zero mechanism undershoot algorithm and software program is shown in a summary flowchart. For example, the start [4400] may activate the algorithm and may perform the dispense from the canister [4410 ]. The algorithm may determine whether a sufficient weight of food ingredient 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 zero mechanism undershoot algorithm may terminate at end 4499.

The predictive allocation 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 the average amount of weight being deposited per revolution and if that 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 a summary flow chart. For example, start [4500] may activate the algorithm and may perform the dispense from canister [4510 ]. The algorithm may determine whether a sufficient weight of food ingredient has been dispensed such that when dispensing is stopped, the target weight [4520] will be reached (additional food ingredient will fall from the canister due to the next rotation of the dispenser). If so, the prediction allocation undershoot algorithm may terminate with an end [4599 ].

The ingredient specific 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. Each ingredient appears to have a different amount of overshoot error. The machine/device and program will quantify it and undershoot by that amount. The typical undershoot amount for each ingredient will be measured and the value will be undershot in the display. Thus, the code G1W 50U 10 will stop at 40G, since it will be expected that the overshoot will make up for the difference. The algorithm may control the appropriate machine subunits and/or components. This algorithm works in a similar manner to the predictive dispensing undershoot algorithm in fig. 45, but depends on the ingredients.

A predictive allocation 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 down dispensing. The machine/device and program may use historical data to approach completion before dialing into the final destination. The algorithm may control the appropriate machine subunits and/or components.

The delayed weight measurement algorithm and the software program may be provided in the food preparation machine apparatus. When weighing the bowl, the ingredients may be sprinkled in the air. The machine/device and program will wait for a period of time before taking the measurement. 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 a food preparation machine device. The measurement of the weight sensor is important for delivering accurate and orderly salad. The scale 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 canister 4601 can be used to dispense a liquid, such as a sauce, water, milk, smoothie, or any other ingredient compatible with the mechanism. A liquid may be placed inside the bottle 4605, which bottle 4605 may then be placed in a certain position using the support 4606, as shown in fig. 46C. A conduit 4607 can be used to deliver liquid to the 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 may occur using a pin 4604 (shown in fig. 46B) and a shaft that enters the peristaltic pump mechanism. The tubing can enter a peristaltic pump mechanism and the liquid can be pinched off using rollers 4608, as shown in fig. 46D. Weight sensor readings may be taken after different dispensing motions and feedback may be provided to the dispensing motor. The dispensing motor may be shared among multiple liquid dispenser canisters, which may result in a benefit to the weight, size, and/or cost of the food preparation apparatus. It will be clear to a person skilled in the art that several variations of the proposed embodiments will be possible. Several peristaltic pump designs would be possible. Several liquid dispenser design variations would be possible.

Fig. 47A-47C depict embodiments of the invention in which the jar 4701 may include a tabbed paddle portion 4702. Fig. 47B illustrates a potential configuration of the tabbed paddle portion 4702 as shown in fig. 47A. The paddle portion may include a hard or rigid core or center 4703. It may also comprise 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, that may increase friction between the paddle portion and the can 4701. This may have the beneficial benefit of preventing the paddle portion from moving due to gravity or other forces, and may therefore prevent the pin 4708 from being misaligned. Multiple tabs 4707 may be placed on the same paddle portion to create different amounts of friction between the paddle portion and the tank wall. Depending on the material of the tabs, the material of the can, and the size of the tabs, a certain maximum speed is recommended for the paddle rotation of any dispensing algorithm. It will be clear to a person skilled in the art that several variations of the proposed embodiments will be 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 tanks. The position sensor may be used to position the position of the actuator arm, as described in the embodiment shown in fig. 20A-20C.

Fig. 48A-48C depict embodiments of the invention in which a 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 the paddle portion 4804 rotates, the shuffler end portion 4803 can come into contact with the paddle portion 4804. Instead, this moves the shuffler and pushes the ingredients in the tank down. It will be apparent to those skilled in the art that several embodiments will be possible for the design of the shuffling machine. Figure 48C illustrates one embodiment for a shuffle machine, where a structure 4805 allows the shuffle machine to be placed on the side of the tank, and a shuffle machine end 4807 may have a coating material so that the paddle portion 4804 is not damaged by being hit by the shuffle machine. It will be apparent to those skilled in the art that there may be several apparatuses and methods to use the rotation of the paddle portion to create motion at a higher location in the tank and dispense ingredients that may not work perfectly with gravity feed mechanisms.

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

FIG. 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 portion may be rotated in one direction by an angle "x" and then back to center, then rotated in the other direction by the angle "x" and then back to center. Weight measurements may be made after this step. 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 increasing 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 may be combined with 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 characteristic, but every embodiment may not necessarily have a particular feature, structure, or characteristic.

Moreover, repeated use of the phrases "in one embodiment" or "in an illustrative embodiment" does not necessarily refer to the same embodiment, although they may. Various embodiments described herein may be combined and/or features of 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 transform that 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 present 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 can be used to make several types of food, namely, salad, bowls, breakfast bowls, brazil berry bowls, fruit bowls, smoothies, cocktails, frozen yogurts, and many other types of food.

It will also be appreciated by persons skilled in the art 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 subcombinations of the various features described hereinabove, as well as modifications and variations thereof which would occur to a person of skill 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 apparatus, the method comprising:

rotating a paddle portion having a rigid center and flexible fins, by means of a motor having an actuator arm, to dispense an ingredient placed in a can,

the paddle portion is rotated by means of a pin mechanism,

automatically controlling the motor based on the weight sensor reading,

positioning the position of the actuator arm by means of a position sensor, an

Performing a plurality of paddle portion rotation and weight measurement steps until a target weight is reached,

wherein the same motor dispenses ingredients from a plurality of canisters.

2. The method of claim 1, further comprising:

a plurality of unidirectional paddle portion rotation and weight measurement steps until a target weight is reached.

3. The method of claim 1, further comprising:

a plurality of bi-directional paddle portion rotation and weight measurement steps until a target weight is reached.

4. The method of claim 1, further comprising:

straightening the pin after the plurality of paddle portion rotation and weight measurement steps.

5. The method of claim 1, further comprising:

the paddle portion is rotated according to a first paddle portion rotation algorithm until an initial target weight is reached, and then rotated according to a second paddle portion rotation algorithm until a final target weight is reached.

6. The method of claim 1, further comprising:

rotating the paddle portion according to an error recovery algorithm when further paddle portion rotation using the first algorithm does not result in a significant change in the weight sensor reading.

7. The method of claim 1, further comprising:

when different amounts of ingredients remain in the tank, the paddle portion is rotated according to different algorithms.

8. The method of claim 1, further comprising:

the paddle portion is rocked and the weight is measured until a target weight is reached.

9. The method of claim 1, further comprising:

the paddle portion is rocked at progressively larger angles and the weight is measured until a target weight is reached.

10. A method of operating an automatic food preparation apparatus, the method comprising:

the device for dispensing the ingredients put into the tank is rotated by means of a motor with an actuator arm,

the device is rotated by means of a pin mechanism,

automatically controlling the motor based on the weight sensor reading,

positioning the position of the actuator arm by means of a position sensor, an

Performing a plurality of device rotation and weight measurement steps until a target weight is reached,

wherein the same motor dispenses ingredients from a plurality of canisters.

11. The method of claim 10, further comprising:

multiple device rotation and weight measurement steps until the target weight is reached.

12. The method of claim 10, further comprising:

a plurality of bi-directional device rotation and weight measurement steps until a target weight is reached.

13. The method of claim 10, further comprising:

straightening the pin after the plurality of device rotation and weight measurement steps.

14. The method of claim 10, further comprising:

the apparatus is rotated according to a first rotation algorithm until an initial target weight is reached, and then rotated according to a second rotation algorithm until a final target weight is reached.

15. The method of claim 10, further comprising:

when further device rotation using the first algorithm does not result in a significant change in the weight sensor reading, the device is rotated according to an error recovery algorithm.

16. The method of claim 10, further comprising:

when different amounts of ingredients remain in the tank, the device is rotated according to different algorithms.

17. The method of claim 10, further comprising:

the apparatus was rocked and the weight was measured until the target weight was reached.

18. The method of claim 10, further comprising:

the apparatus is rocked at progressively larger angles and the weight is measured until the target weight is reached.