EP3941208A1

EP3941208A1 - Intelligent food preparation robot and method for use

Info

Publication number: EP3941208A1
Application number: EP19920332.4A
Authority: EP
Inventors: Colton Anderson; Brian DE VITIS; Kyu Han; Emmett Lalish; Nicholaus Clarendon WRIGHT; Derek David SOIKE; Kort Edward REINECKE; Sage Paladeni VAN TILBURG; Nicholas Alan Halverson SPADA; Andrea Margaret WILLSON; Cole Clark ROGERS; Shiyu XIA; Clayton Wood; Garett Ochs
Original assignee: Vivid Robotics Inc
Current assignee: Picnic Works Inc
Priority date: 2019-03-21
Filing date: 2019-08-30
Publication date: 2022-01-26
Also published as: EP3941208A4; WO2020190322A1

Abstract

The present invention relates to apparatus and methods for assembling food products. More particularly, the invention relates to apparatus and methods for associating foodstuff and liquid with a base. Foodstuff may include food items such as meats, vegetables, cheeses, amongst others. Liquids include those food items that have a low viscosities (e.g. sauces, dressings, oils), high viscosities (e.g. peanut butter, frosting), and anything in between. A base can be anything on which foodstuff or liquid may be associated (e.g. bread, cake, cookies, pizza dough, a bowl in which to place foodstuff). Another feature of the apparatus is the ability to collect and monitor integral information for intelligent recalibration, improvement, and estimation of apparatus performance and other measures related to foodstuff, liquid, and assembled food.

Description

INTELLIGENT FOOD PREPARATION ROBOT AND METHOD FOR USE

CROSS-REFERENCES TO RELATED APPLICATIONS This application takes priority from US Application 16/360,379, filed on March 21, 2019, US Application 16/360,478, filed on March 21, 2019, and US Patent Application 15/826,120, filed on November 29, 2017; each of the aforementioned applications are hereby incorporated by reference.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR

DEVELOPMENT

Not Applicable

INCORPORATION-BY-REFERENCE OF MATERIAL SUBMITTED ON A COMPACT

DISC

Not Applicable

BACKGROUND

The present invention relates to an apparatus and methods for assembling and monitoring food products. More particularly, the invention relates to an apparatus and methods for associating foodstuff and liquid with a base and monitoring and continuously collecting integral information for intelligent recalibration, improvement, and estimation of apparatus performance and other measures related to foodstuff, liquid, and assembled food.

Foodstuff may include food items such as meats, vegetables, cheeses, amongst others. Liquids include those food items that have low viscosities (e.g. sauces, dressings, oils), high viscosities (e.g. peanut butter, frosting), and anything between. A base can be anything on which foodstuff or liquid may be associated (e.g. bread, cake, cookies, pizza dough, a bowl in which to place foodstuff).

In a commercial kitchen, the process of associating foodstuff to a base is labor intensive and expensive. Consider, for example, assembling a pizza. Pizza dough must be prepped and formed into the correct size base and a specified amount of sauce and bulk ingredients ( e.g . mushrooms, olive, pepperoni, green peppers, amongst others) must be applied to the base.

Applying a specified amount of sauce and bulk ingredients is important for a few reasons. First, a specified amount of sauce and bulk ingredients allows diners to have a consistent experience. If for a cheese pizza, for example, a three to one cheese to sauce ratio provides the best dining experience, then each time that pizza is ordered the three to one ratio should be used. Second, the amount of sauce and bulk ingredients delivered to a base will determine the profit margin for a pizza. If too much sauce and bulk ingredients are delivered to a base, profit margins will be lower or lost. If too little sauce and bulk ingredients are delivered to a base, customers may be lost. In both of these scenarios, tolerance for error is low.

There is a need for a fully automated, easy to operate, apparatus which consistently associates foodstuff and liquid with a base. Such an apparatus may be an operator-assisted, vending machine; diner operated, or stand-alone vending machine, which may be used on campuses, cafeterias, commissaries, etc.; a kitchen operated machine which can be operated by a cook, for example; amongst others.

BRIEF DESCRIPTION OF INVENTION

A general object of the invention is to provide an automated, self-contained apparatus that associates foodstuff with a base.

Another object of the invention is to provide improved dispensing assemblies for associating selected quantities of at least one foodstuff and/or liquid from a plurality of foodstuffs and/or liquids to at least one base. Another object of the invention is to provide a liquid dispensing apparatus that effectively distributes liquid over a base.

Another object of the invention is to provide a foodstuff dispensing apparatus that effectively distributes foodstuff onto a base.

Another object of the invention is to provide an apparatus in which foodstuff and/or liquid may be preselected by a user and cooked an amount which is dependent upon the selected foodstuff and/or base.

Another object of the invention is to collect and monitor integral information for intelligent recalibration, improvement, and estimation of apparatus performance and other measures related to foodstuff, liquid, and assembled food.

DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Other features and advantages of the present invention will become apparent in the following detailed descriptions of the preferred embodiment with reference to the accompanying drawing.

Fig. 1A is a block diagram of an embodiment of apparatus for a self-contained system to associate foodstuff and/or liquid with a base;

Fig. IB is a block diagram of an embodiment of apparatus for a self-contained system to associate foodstuff and/or liquid with a base;

Fig. 2 is a front view of an embodiment of the liquid distribution station;

Fig. 3 is a perspective view of an embodiment of the liquid distribution station;

Fig 4 is a top view of an embodiment of the liquid distribution station;

Fig. 5 is a bottom view of an embodiment of the liquid distribution station; Fig. 6 is a perspective view of an embodiment of the foodstuff distribution station;

Fig. 7 is a top view of an embodiment of the foodstuff distribution station;

Fig. 8 is a perspective view of an embodiment of the cheese grater and distribution station;

Fig. 9 is a perspective view of an embodiment of the meat slicer and distribution station;

Fig. 10 is a front view of an embodiment of the granular foodstuff distribution station;

Fig. 11 is a front view of an embodiment of the granular foodstuff distribution station;

Fig. 12 is a perspective view of an embodiment of the granular foodstuff container;

Fig. 13 is an exploded view of an embodiment of the granular foodstuff container;

Fig. 14 is a side view of an embodiment of the handler;

Fig. 15 shows a vehicle in which the apparatus for a self-contained system to associate foodstuff and/or liquid with a base is located.

Fig. 16 is an embodiment of an order processing system.

Fig. 17 is a flow chart showing an example of a machine control system.

Fig. 18 is a flow chart with another example of a machine control system.

DETAILED DESCRIPTION OF THE INVENTION

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, the use of similar or the same symbols in different drawings typically indicates similar or identical items, unless context dictates otherwise.

The illustrative embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here. One skilled in the art will recognize that the herein described components (e.g., operations), devices, objects, and the discussion accompanying them are used as examples for the sake of conceptual clarity and that various configuration modifications are contemplated. Consequently, as used herein, the specific exemplars set forth and the accompanying discussion are intended to be representative of their more general classes. In general, use of any specific exemplar is intended to be representative of its class, and the non-inclusion of specific components (e.g., operations), devices, and objects should not be taken as limiting.

The present application uses formal outline headings for clarity of presentation. However, it is to be understood that the outline headings are for presentation purposes, and that different types of subject matter may be discussed throughout the application (e.g., device(s)/stmcture(s) may be described under process(es)/operations heading(s) and/or process(es)/operations may be discussed under structure(s)/process(es) headings; and/or descriptions of single topics may span two or more topic headings). Hence, the use of the formal outline headings is not intended to be in any way limiting. Given by way of overview, illustrative embodiments include apparatus for a self-contained automatic system to associate of foodstuff and/or liquid with a base

(“apparatus”) (100) and methods.

In one example, the base may be bread and the liquid may include a condiment, and the foodstuff maybe deli meat. In another example, the base may be a cookie and the liquid may be frosting. In another example, the base may be a bowl and the foodstuff may be greens for a salad and the liquid may be a salad dressing. Exemplary embodiments discussed below describe the assembly of pizza.

In the following specifications, reference will be made to conveyor belt systems.

Generally, as used herein, a conveyor belt system comprises at least two pulleys, with an endless loop of carrying medium— the conveyor belt— that is rotated by pulleys. One or both pulleys are powered moving the belt and the material on the belt in a defined direction. The powered pulley is called the drive pulley while the unpowered pulley is called the idler pulley. Generally, the powered pulley is motor driven. The motor may be an electric motor, air motor, hydraulic motor, amongst others.

Referring to Fig. 1A, in an embodiment, the apparatus (100) comprises a main conveyor belt system (20) having at least one main conveyor belt (21) and at least one distribution station chosen from the set consisting of a liquid distribution station (200) and a non-liquid (or foodstuff) distribution station (300). Although two distribution stations (200, 300) are shown, it will be obvious that the apparatus (100) may have any number of distribution stations in any combination. In embodiments, bases (10) are sequentially loaded onto the main conveyer belt (21). The bases (10) are conveyed through at least one distribution station (200, 300) in which foodstuff and/or liquid is associated with the bases (10).

In an embodiment, the main conveyer belt system (20) comprises a single conveyor passing beneath each distribution station (200, 300). In another embodiment, the main conveyor belt system (20) may comprise several interconnected conveyor sections.

Referring to Figs. 2 through 5, in an embodiment, the liquid distribution station (200) comprises at least one set of liquid distribution tracks (210) and at least one conduit (220) that provides liquid to at least one liquid distribution nozzle (230). In an embodiment, the conduit (220) is in fluid communication with a container (not shown) that holds the liquid to be associated with a base. In an embodiment, a pumping mechanism (222) moves fluid from the container through the conduit (220) into the liquid distribution nozzle (230). In an embodiment, the pumping mechanism (222) is a peristaltic pump. The liquid distribution nozzle (230) is operably connected to the liquid distribution tracks (210) so as to allow movement of the liquid distribution nozzle (230) along the liquid

distribution tracks (210). The liquid distribution nozzle (230) is operably connected to a motorized pulley system (240) which enables the movement of the liquid distribution nozzle (230) along the liquid distribution tracks (210).

According to an embodiment, the liquid distribution nozzle (230) is supported by a frame (235). The frame (235) is operably mated to the liquid distribution tracks (210). According to an embodiment, the frame (235) is operably connected to the motorized pulley system (240) which enables movement of the liquid distribution nozzle (230) along the distribution tracks (210).

According to an embodiment, the liquid distribution tracks (210) are configured to lie approximately perpendicular to the main conveyor belt (21). According to an embodiment, the movement of the liquid distribution nozzle (230) is timed so that when the main conveyor belt (21) moves the base (10) underneath the liquid distribution station (200), the liquid distribution nozzle (230) moves from a first location (211) on the liquid distribution tracks (210) to a second location (212) on the liquid distribution tracks (210) to associate liquid with the base (10).

According to an embodiment, the liquid distribution nozzle (230) may have a plurality of first locations (211) and a plurality of second (212) locations on the liquid distribution tracks (210) as the base (10) is conveyed under the liquid distribution station (200).

According to an embodiment, the liquid distribution nozzle (230) moves from a first location (211) to a second location (212) on the liquid distribution tracks (210) to deposit liquid based upon the size or location of the base (10) or the type of liquid to be distributed over the base (10). According to an embodiment, the movement of the liquid distribution nozzle (230) is controlled by a computer numerical control or other software that provides a similar function. According to an embodiment, the liquid distribution nozzle (230) distributes liquid while moving in one direction along the liquid distribution tracks (210). That is, the liquid distribution nozzle (230) distributes liquid while moving from a first location (211) to a second location (212); or distributes liquid while moving from a second location (212) to a first location (211).

Referring to Figs. 6 and 7, non-liquid foodstuff (“foodstuff’) (23) may be associated with a base (10) using a foodstuff distribution station (300). According to an embodiment, the foodstuff distribution station (300) comprises a foodstuff conveyor belt system (310) having at least one foodstuff conveyor belt (311) and a carriage (320). The carriage (320) comprises a motorized pulley system (321) allowing it to move from a first location (313) to a second location (312). In one embodiment, the foodstuff conveyer belt system (310) is a single conveyor. In another embodiment, the foodstuff conveyor belt system (310) may comprise several interconnected conveyor sections.

The foodstuff conveyor belt (311) is operably attached to the carriage (320) so that when the carriage (320) moves from the first location (313) to the second location (312) the foodstuff conveyor belt (311) moves from the first location (313) to the second location (312) while continuing to rotate around its pulleys. According to one embodiment, when the carriage (320) moves from the second location (312) to the first location (313), the foodstuff conveyor belt (311) is locked so it is no longer rotating around its pulleys. In another embodiment, when the foodstuff conveyor belt (311) moves from the first location (313) to the second location (312) the speed of the foodstuff conveyor belt (311) is modulated. In another embodiment, when the foodstuff conveyor belt (311) moves from the second location (312) to the first location (313), the speed of the foodstuff conveyor belt (311) is modulated. In another embodiment, the speed of the foodstuff conveyor belt (311) is continually modulated. According to an embodiment, the foodstuff conveyor belt (311) is located approximately perpendicular to the main conveyor belt (21). According to an embodiment, the foodstuff conveyor belt (311) is timed to deliver foodstuff (23) to a base (10) as it passes under the foodstuff distribution station (300). According to an embodiment, the foodstuff conveyor belt (311) associates foodstuff (23) with the base (10) based upon the size or location of the base (10) or the type of foodstuff to be distributed over a base (10). According to an embodiment the movement of the foodstuff conveyor belt (311) is controlled by a computer numerical control or other software that provides a similar function.

According to an embodiment, when the carriage (320) moves from the first location (313) to the second location (312), foodstuff (23) is associated with the foodstuff conveyor belt (311). The carriage (320) is then moved from the second location (312) to the first location (313) and the foodstuff conveyor belt (311) is prevented from rotating; consequently, foodstuff (23) is associated with the base (10). According to an embodiment, the carriage (320) may have a plurality of first locations (313) and a plurality of second locations (312).

Referring to Figs. 6 through 8, according to one embodiment, the foodstuff distribution station (300) may be operably attached to a shredder (330). The foodstuff distribution station (300) has a near end (331) and a far end (332). According to an embodiment, the shredder (330) is operably attached to the near end (331) of the foodstuff distribution station (300) with a commonly known fastening system. According to one embodiment, the shredder (330) is operably attached to the near end (331) of the foodstuff distribution station (300) at an angle (338) between 10° and 90° relative to the foodstuff conveyor belt (311) which is approximately horizontal. Although a disk shredder is shown in drawings for exemplary purposes, the shredder (330) can be any apparatus that accepts foodstuff and associates foodstuff to the foodstuff conveyor belt (311) in a smaller portion by slicing, dicing, or otherwise altering the size of the foodstuff.

According to an embodiment, the shredder (330) may be cooled by an external or internal heat exchange system. According to an embodiment, a conduit (333) may be located near or operably attached to the shredder (330) or foodstuff distribution station (300) allowing delivery of foodstuff (23) to the shredder (330). According to an embodiment, the foodstuff (23) delivered to the shredder (330) is cheese. Referring to Fig. IB, for exemplary purposes, this is called the cheese distribution station (600) below.

Referring to Figs. 6, 7, and 9, according to one embodiment, the foodstuff distribution station (300) may be operably attached to a slicer (340). The foodstuff distribution station (300) may have a near end (331) and a far end (332). According to an embodiment, the slicer (340) is operably attached to the near end (331) of the foodstuff distribution station (300) with a commonly known fastening system. According to one embodiment, the slicer (340) is operably attached to the near end (331) of the foodstuff distribution station (300) at an angle (338) between 10° and 90° relative to the foodstuff conveyor belt (311) which is approximately horizontal. According to an embodiment, the slicer (340) may slice foodstuff (23) to various thicknesses. Although a slicer is shown in drawings for exemplary purposes, the slicer (340) can be any apparatus that accepts foodstuff and associates the foodstuff to the foodstuff conveyor belt (311) in a smaller portion by slicing, dicing, or otherwise cutting the foodstuff.

According to an embodiment, the slicer (340) may be cooled by an external or internal heat exchange system. According to an embodiment, a conduit (341) may be located near or operably attached to the slicer (340) allowing delivery of foodstuff (22) to the slicer (340).

According to an embodiment, the foodstuff (23) delivered to the slicer (340) is pepperoni or other meat. Referring to Fig. IB, for exemplary purposes, this is called the meat distribution station (700) below.

Referring to Figs. 6, 7, 8, 12, and 13, according to one embodiment, the foodstuff distribution station (300) may be operably attached to at least one foodstuff container (350). The foodstuff distribution station (300) may have a near end (331) and a far end (332). According to an embodiment, the foodstuff container (350) is operably attached to the near end (331) of the foodstuff distribution station (300) with a commonly known fastening system. According to an embodiment, the foodstuff container (350) is located at the near end (331) of the foodstuff distribution station (300) allowing foodstuff (23) from the foodstuff container (350) to associate with the foodstuff conveyor belt (311).

According to an embodiment, the foodstuff container (350) comprises a foodstuff conduit (351), a barrel (352), and a motor (353). The foodstuff conduit (351) has a top portion (354) and a bottom portion (355). The bottom portion (355) of the foodstuff conduit (351) defines female end (355a) and female end (355b).

The barrel (352) has a near end (357) and a far end (356). The near end (357) of the barrel (352) operably mates with the female end (355a) of the foodstuff conduit (351). The motor (353) operably mates with the female end (335b) of foodstuff conduit (351) so as to rotate barrel (352).

According to an embodiment, the near end (357) of the barrel (352) defines a cutaway to form a set of beater bars or fins (358, 359). In some embodiments, the barrel (352) may be replaced by an egg-beater or whisk. Foodstuff (23) passes from the foodstuff conduit (351) through the barrel (352) onto the foodstuff conveyor belt (311). The fins (358, 359) prevent clumping of foodstuff (23) by separating the foodstuff (23) as it is associated with the foodstuff conveyor belt (311).

According to an embodiment, the foodstuff (23) delivered from the container (350) to the foodstuff conveyor belt (311) may be onions, peppers, olives, amongst others. According to an embodiment, a plurality of containers (350) may be operably associated with the foodstuff conveyor belt (311). Referring to Fig. IB, for exemplary purposes, this is called the granular foodstuff distribution station (800) below.

Referring to Figs. 1A and 14, in an embodiment, the self-contained apparatus to associate foodstuff and/or liquid with a base (100) further comprises a base handler (50). In an embodiment, the base (10) is removed from a storage location (40) and placed onto the main conveyor belt system (20) by the base handler (50).

In an embodiment, the base handler (50) comprises a panel (51) which is operably connected to a motorized pulley system (58) that allows the panel (51) to move along the x-, y- and z-axis. In an embodiment, the panel (51) is operably attached to a frame (52) which provides tracks (53) on which the panel (51) may move; whereby the frame (52) supports the panel (51). The panel (51) moves along the frame (52) in the x-, y-, or z-axis, utilizing the motorized pulley system (58).

Accordingly, the panel (51) moves along the z-axis, supported by the frame (52), to a position along the storage location (40) that holds the base (10); panel (51) then moves along the x-axis, outside of frame (52), to receive the base (10); panel (51) and base (10) move in the x- axis back into frame (52); next, the panel (51) moves along the z-axis within the frame (52) to a transfer height; and, finally, the panel (51) moves along the x-axis, inside the frame, to deliver the base (10) to the main conveyor belt system (20). In another embodiment, the panel (51) may move along the y-axis so as to receive a base (10) at an additional column or set of storage locations adjacent to the original storage location (40).

In another embodiment, the base handler (50) further comprises a conveyor belt (60). Accordingly, a base (10) is received from its storage location, as described above, then the panel (51) may move along the z-axis to associate the base (10) with the conveyor belt (60).

According to an embodiment, the conveyor belt (60) conveys the base (10) to the main conveyor belt system (20).

In an exemplary sequence of events, a base (10) is conveyed to at least one: liquid distribution station (200) where at least one layer of liquid is associated with the base (10); foodstuff distribution station (300) where foodstuff is associated with the base (10); or a combination thereof.

Referring to Fig. IB, in an exemplary sequence of events, a base (10), pizza dough, is conveyed to a liquid distribution station (200) where at least one layer of pizza sauce is applied to the pizza dough (10). The pizza dough (10) may be raw, baked, or parbaked. The pizza dough may be formed as any shape or unformed. The pizza dough (10) then passes through the cheese distribution station (600) which deposits cheese onto the pizza dough (10). In a preferred embodiment, at the cheese distribution station (600) cheese is grated, sliced, cut, or otherwise sectioned before the cheese is associated with the pizza dough (10). However, if the cheese is pre- shredded, sliced, or otherwise cut, the cheese may be delivered to the pizza dough (10) at the granular foodstuff distribution station (800) below.

The pizza dough (10) then proceeds to the meat distribution station (700) where meat is associated with the pizza dough (10). In a preferred embodiment, the meat distribution station (700) slices, cuts, or otherwise sections meat before the meat is deposited onto the pizza dough (10). Subsequently, the pizza dough (10) passes through the granular foodstuff distribution station (800). Foodstuffs like olives, green peppers, onions, artichoke hearts, cheese, amongst others, are associated with the pizza dough (10). In an embodiment, the pizza dough (10) with associated foodstuff and sauce is then conveyed to an oven or other heat source for cooking.

Referring to Fig. 15, according to an embodiment, the apparatus (100) is operably associated with a vehicle (70). According to an embodiment, the associated foodstuff and/or liquid is delivered to a consumer just as the apparatus (100) has completed associating foodstuff and/or liquid with a base (10). According to an embodiment, the base (10) and the associated foodstuff and/or liquid are cooked in the vehicle (70) before delivery.

Referring to Fig. 16, in an embodiment, an order processing system (2000) determines the type of foodstuff to be associated with the base (10). In an embodiment, the order processing system (2000) comprises a server system (950), a point of sale system (2001), a machine learning component (945), a control memory structure (980), and a machine control system (1000) comprising one or more modules.

To reduce potential confusion, the following glossary provides general definitions of several frequently used terms within these specifications and claims with a view toward aiding in the comprehension of such terms. The definitions that follow should be regarded as providing accurate, but not exhaustive, meanings of the terms.

"Core instructions" refers to instructions common to each module in a machine control system operating to perform a system objective input.

"Configuration instructions" refers to instructions utilized to perform a response to an input, such as a message, sensor input, etc. The configuration instructions comprise the core instructions and the module- specific instructions. When the core instructions and the module- specific instructions are combined with a message, such as a command, an action may be performed.

“Electro-mechanical” refers to a physical response made to electrical stimuli (electrical stimuli including wireless stimuli converted to electrical signals). The physical response may be mechanical, thermal, optical, or other transducer effect to the electrical stimuli.

“Material” refers to an object or objects being acted upon by a module under the influence of a system objective.

“Module” refers to a machine actor.

"Module-specific instructions" refers to instructions that may or may not be common to all modules in a group of modules. These instructions may be utilized to, for example, operate an actuator or other component in response to receiving a message.

"Node" refers to a module in the hierarchy of modules that controls the

operation of one or more modules. A node may control or be controlled by another node.

"Operating information" refers to data arrays regarding operation of components of a module. Operation information may be stored in a lookup table.

"Request" refers to a message sent to a server system (950) for instructions.

"System objective" refers to an electronic signal input utilized by modules to produce an output. One or more system objectives may form a new“combined system objective.”

In an embodiment, the server system (950) receives orders from the point of sale system (2001). The server system (950) may include one or more servers. The server system (950) transforms an order into a system objective and sends the system objective to the

machine control system (1000). A system objective refers to an electronic signal input utilized by modules to produce an output. The server system (950) may also send configuration instructions (900), including core instructions (920) and module- specific instructions (930), to the machine control system (1000). Core instructions (920) may process module states, messages, errors, etc. Module- specific instructions (930) enable a module to perform specific actions related to its components. The server system (950) may provide a secure handshake with the machine control system (1000) with defined incoming and outgoing messages

utilizing websocket protocols. As the machine control system (1000) may comprise one or more modules, the server system (950) may select a module to which to send the system objective.

The machine control system (1000) may receive the system objective and the

configuration instructions (900) from the server system (950). The machine control system (1000) may also send messages to the server system (950), including a request for

configuration instructions (900), error control signals, system objective completion signals, material replacement signals, module operation sequence, number of communications, etc. The machine control system (1000) utilizes the system objective and the configuration instructions (900) to transform the system objective and materials into the output. The system objective determines an end state for a machine group of the machine control system (1000) to achieve based on their initial configuration and ability to utilize sensors, actuators, and other

components to achieve different configurations (i.e., operating space).

Each module of the machine control system (1000) may comprise components including motor controllers, power receiver/supplies, logic stored in a non-transitory computer-readable storage medium, sensors, actuators, transducers, communication receivers, communication transmitters, antennas, amplifiers, etc. Each module may store core instructions (920) and module- specific instructions (930). Each module may exhibit spatial awareness of other modules utilizing sensors. For example, a soft potentiometer may be utilized that sends a message to another module in response to being activated. Modules may send or receive communications with each other and the server system (950). For example, a module may have module- specific instructions (930) to send operating characteristics, such as length of time to complete an action to the server system (950), which may be receiving such communications from more than one module to determine the efficiency of operations. Modules may utilize messages to communicate with each other and the server system (950). Each module may communicate utilizing websocket protocols with a secure handshake and defined incoming and outgoing messages. The interface protocols may use metadata of a module to communicate. Some modules may communicate uni-directionally (e.g., some sensors), whereas other modules may communicate bi-directionally. A module may also act to alter or amplify a message. A module may also communicate periodically. A module may communicate with another module pneumatically. Modules may be utilized with similar components capable of performing similar actions. Therefore, sometimes, one module may perform the actions of another module. In response to performing some actions, a module may create and store a lookup table regarding that process, which may be sent to the server system (950). Each module may operate to minimize power consumption by its components. For example, a module that shreds cheese in a food assembling apparatus may determine the energy consumed by a motor to shred the cheese for various amounts of cheese, creating a lookup table. The module may then send a message to the server system (950) to refill the cheese to maintain the amount of cheese in an operating band that minimizes power consumption.

Some modules may be utilized as nodes. Nodes may be capable of interfacing with more than one module (i.e., other than itself), may have bi-directional dataflow, and may be identified by an order, which may be determined by number of other nodes "below" in a hierarchy of nodes. Modules may be "above" or "below" another module in a hierarchy of modules. A module is "above" another module if the module is along the communication path between the other module and the highest order node or server system. A module is "below" another module if the other module is along the communication path to the highest order node or server system. While a specific module may be utilized as a node, that module may not, in some configurations or hierarchies of modules, be utilized as a node. A module may be selected or deselected to be a node based on weighted factors, including the system objectives, the other modules in the machine control system (1000), the operating space of each module, the communication channels required to perform a system objective, and the combined operating space. In some embodiments, the module utilized as a node is determined by the server system (950). During some operations of the machine control system (1000), such as calibration, the machine control system (1000) may utilize more nodes in a hierarchy of modules than during other operations. In some embodiments, the modules that are not nodes do not communicate with each other; communication occurs via common nodes. In other embodiments, some communication occurs between modules that are not nodes, but may be limited to specific message types.

Referring to Fig. 17, in an example, a machine control system (1000) comprises at least five modules (1001, 1002, 1003, 1004, 1005). The first module (1001) receives a system objective from the server system (950). The first module (1001) may also receive configuration instructions (900) to perform the system objective from the server system (950), or the configuration instructions (900) may be pre-programmed in the non-transitory computer-readable storage medium of the first module (1001). The first module (1001) may receive updates from the server system (950) for the configuration instructions (900). The first module (1001) may send a request for configuration instructions (900) to the server system (950). The first module (1001) sends the system objective to the second module (1002). The first module (1001) may select the second module (1002) among a plurality of modules. The first module (1001) may also communicate with other modules and nodes. For example, if the first module (1001) does not receive a message from the second module (1002) after a pre-determined period, the first module (1001) may send a message to another first order node, instructing that first order node to communicate with the second module (1002). The first module (1001) may also communicate with the third module (1003), the fourth module (1004), or the fifth module (1005), if they are capable of being a node to perform the configuration instructions (900), selecting that module to be a node. The first module (1001) may also perform actions associated with the execution of the system objective.

In this example, the second module (1002) is a first order node that sends and receives messages from the first module (1001), the third module (1003), the fourth module (1004), and the fifth module (1005). The second module (1002) may send error control signals, system objective completion signals, material replacement signals, module operation sequence, number of communications, etc. to the first module (1001). The second module (1002) may send commands (e.g., status requests and requests to perform an action), configuration instructions (900), and updates to the third module (1003), fourth module (1004), and fifth module (1005). The second module (1002) may receive the system objective from the first module (1001) and configuration instructions (900) to perform the system objective. The second module (1002) may send a message to the first module (1001) to provide the configuration instructions (900) for a system objective if the second module (1002) does not have those configuration instructions (900). The first module (1001) may then provide those configuration instructions (900), request those configuration instructions (900) from the server system (950), or send a message to another module to send the configuration instructions (900) to the second module (1002). The second module (1002) may alter the commands sent to the third module (1003), the fourth module (1004), and the fifth module (1005) based on other system objectives in progress and current operating space of those modules. The second module (1002) synchronizes the actions of each module (i. e., the third module (1003), the fourth module (1004), and the fifth module (1005)) utilizing message communications. The second module (1002) may also store configuration instructions (900) for specific modules, so if an additional module is added or replaced, the second module (1002) may send the configuration instructions (900) to the additional module. Upon detecting an additional module, the second module (1002) may determine the operating space of the additional module and send the associated configuration instructions (900). The configuration instructions (900) may be distributed among a plurality of modules. Each module that is part of a group of modules (i.e., the second module (1002), the third module (1003), the fourth module (1004), and the fifth module (1005)) may store all or a portion of the configuration instructions (900) for one of more system objectives, so an additional module may assemble the configuration instructions (900) from multiple sources. The portion of configuration instructions (900) stored on each module may depend on the number of modules, the likelihood of an additional module being added, and the failure rate of each module. Utilizing this system, a group of modules may replicate the machine control system (1000) if at least one module remains.

When a module is added to the machine control system (1000), the second module (1002) may send the configuration instructions (900) to the additional module. The sent configuration instructions (900) may be based on the components and operating space of the additional module. The additional module may also retrieve the module- specific instructions (930) from the other modules or may receive an update from the server system (950). The third module (1003), the fourth module (1004), and the fifth module (1005) may send messages to each other, including collaborative data or operating information, which may include configuration instructions (900) or recorded data pertaining to operating each module. This operating information may be distributed and stored before being sent to the server system (950). This may reduce the number of

communications with the server system (950).

Referring to Fig. 19, in an example, the apparatus (100) comprises a first liquid distribution station (200), a first and second cheese distribution station (600a, b), a meat distribution station (700), a first and second granular foodstuff distribution station (800a, b), and a main conveyor belt system (20). The apparatus (100) may operate as a machine control system (1000). Each distribution station and conveyor system may be modules in the machine control system (1000), as described above. One or more modules may be selected to be a node. For example, in one example, the main conveyor belt system (20) may be a first order node that communicates with the server system (950) and controls the actions of other modules in a hierarchy of modules to complete a system objective provided by the server system (950).

Referring to Fig. 19, in another example, the main conveyor belt system (20) may be a second order node and the first cheese distribution station (600a) may be a first order node in a hierarchy of modules. The main conveyor belt system (20) may communicate with the server system (950), while also controlling the actions of the first cheese distribution station (600a), which further controls the actions of the other distribution stations. For example, the liquid distribution station (200) may communicate with the first cheese distribution station (600a) notifying it that the liquid distribution station is out of a liquid. Consequently, the first cheese distribution station (600a) will message the other distribution stations to cease actions. In another example, the liquid distribution station (200) may communicate with the server system (950) that no further actions may occur until the sauce is refilled. In an example, the server system (950) communicates to an external device (not shown) with a notification that the liquid distribution station (200) needs to be refilled.

Each distribution station may vary in operating space based on the components utilized. For example, while the first and second cheese distribution stations (600a, b) both dispense cheese, the first cheese distribution station (600a) may comprise a shredding component, while the second cheese distribution station (600b) may comprise a grating component.

In an exemplary sequence of events, configuration instructions (900) inform the liquid distribution station (200), the first and second cheese distribution stations (600a, b), the meat distribution station (700a), and the first and second granular foodstuff distribution stations (800a, b) of their capabilities. For example, module- specific instructions (930) may tell the liquid distribution station (20a) that it will be dispensing tomato sauce. In another example, module- specific instructions (930) may inform the meat distribution station (700) that it will be distributing pepperoni. Each distribution station may be replaced by another distribution station. Upon being incorporated into the apparatus (100), the added distribution station may

communicate with a node in the machine control system (1000) to notify the machine control system (1000) of its location, components, and operating space. The newly added distribution station may then receive configuration instructions (900), if they are not already pre-programmed in its non-transitory computer-readable storage medium, from the server system, the node, or another module. Each distribution station may also auto-calibrate utilizing configuration instructions (900) to correlate machine movement to foodstuff disposition quantities and location, to confirm that the foodstuff is appropriately associated with the base (10). In an embodiment, the server system (950) may receive information from the machine control system (1000), which may include operating information, error control signals, system objective completion signals, material replacement signals, module operation sequence, number of communications, etc. The server system (950) sends information to and receives information from the control memory structure (980). The information may include system objectives, configuration instructions (900), the associated company or individual, the order selection, the order source, time of the order, time of the order completion, whether an error control signal was received, which modules operated, module operation sequence, etc. The server system (950) may send a message to the machine learning component (945) to configure the machine learning component (945) to operate on the information stored in the control memory structure (980).

The message may provide instructions to operate on a portion of the control memory structure

(980).

In an embodiment, the machine learning component (945) configures a machine learning algorithm (940) based on information stored in the control memory structure (980). In an embodiment, the machine learning algorithm (940) predicts the number of ingredients (sauce, cheese, meat, vegetables, etc.) that will be needed over range of time. In another embodiment, the machine learning algorithm (940) may additionally predict the number of man hours required to staff a particular date or time range. The machine learning algorithm (940) may also predict when modules will require maintenance. The machine learning algorithm (940) may also predict the popularity of new menu items.

The following description references terminology from the field of machine learning and may be known to one skilled in the art. For clarity, some relevant terminology from the field of machine learning will be reviewed. In its simplest form, machine learning techniques can classify objects into one of a plurality of sets. Within the context of food preparation, the quantity of ingredients required over a time period is relevant.

Machine learning approaches first tend to involve what is known in the art as a training phase. A training dataset is created by inputting orders into a computing device and generating a dataset by grouping the data, wherein each grouping corresponds to a unique input feature from a plurality of input features. An input feature may be any piece of information content of the order. Each grouping may be assigned a weighted relevance training score based upon the informational content of the order. These groupings are used to analyze the data and predict outcomes based on the input features.

In the context of food preparation, the training dataset is constructed with production needs such as foodstuff and man hour requirements. In a preferred embodiment, a training dataset comprises pizza orders. Each pizza order data point may include informational content, such as the type of pizza ordered, time it was ordered, geo-location of order, the weather on the date, man hours required, etc. The amount of ingredients used over a time period may also be extracted from the pizza orders. In an embodiment, the training dataset may also include informational content for happenings in a plurality of time frames, such as, holidays, weather history, sporting events, amongst others. The machine learning algorithm (940) analyzes this dataset to predict the production needs of the apparatus (100) based on input features. In an embodiment, input features may include dates, times of day, weather, etc.

As will be appreciated by one skilled in the art, aspects of the software may be embodied as a system, method, or computer product. Accordingly, aspects of the software may take the form of an entirely hardware embodiment, entirely software embodiment (including firmware, resident software, micro-code, etc.), or an embodiment combining software and hardware aspects. Further aspects of the software may take the form of a computer program embodied in one or more readable medium having computer-readable program code/instructions thereon. Program code embodied on computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. The computer code may be executed entirely on a user’s computer; partly on the user’s computer; as a standalone software package; a cloud service; partly on the user’s computer and partly on a remote computer; or entirely on a remote computer, remote or cloud-based server.

Claims

CLAIMS We claim as our invention:

1. An automatic system to associate foodstuff and/or liquid with a base, operating as a

machine control system comprising:

a plurality of electro-mechanical modules, each electro-mechanical module comprising one or more electro-mechanical components positioned to manipulate at least one taken from the set of: foodstuff, liquid or a base, in an operating space, each of the electro-mechanical modules comprising:

a non-transitory computer readable storage medium to store configuration instructions; and

the electro-mechanical components operated by the configuration instructions, the electro-mechanical components and the configuration instructions defining the operating space, wherein the configuration instructions comprise core instructions and module- specific instructions, wherein the core instructions are stored in the non-transitory computer-readable storage medium of each of the electro-mechanical modules, and the module- specific instructions are stored only in the non-transitory computer-readable storage medium of the electro-mechanical modules having the electro-mechanical components to which the module- specific instructions apply;

logic distributed among the electro-mechanical modules to utilize spatial awareness sensors to form an algorithm to orient the electro-mechanical modules into a hierarchy of modules in response to receiving a first system objective from a source external to the electro-mechanical modules in the hierarchy of modules, the system objective comprising a physical transformation of the foodstuff, liquid, and/or base, wherein orienting into the hierarchy of modules is based on optimizing communication channels and a number of messages to perform the system objective, and to cause the hierarchy of modules to operate to produce an output based on the system objective by repeating the steps of: determining a combined operating space from the operating space of each of the electro-mechanical modules in the hierarchy of modules; from the configuration instructions within each of the electro-mechanical modules, the combined operating space comprising a plurality of actions; selecting a particular action from the plurality of actions stored within each electro-mechanical module operating as a node;

sending a message to one or more of the electro-mechanical modules to perform the action; and performing the action by activating the electro-mechanical components per the configuration instructions. logic to cause the hierarchy of modules to operate in response to receipt of a second system objective from a source external to the electro-mechanical modules in the hierarchy of modules, after receipt of the first system objective, by generating a combined system objective from the first system objective and the second system objective, and by selecting the particular action based on the combined system objective; wherein at least one of the electro-mechanical modules is taken from the set of: a liquid distribution station, a foodstuff distribution station.

2. The machine control system of claim 1 further comprising at least one electro-mechanical module which is a main conveyor belt system.

3. The machine control system of claim 1 wherein at least one of the electro-mechanical modules is a liquid distribution station wherein, the liquid distribution station comprises at least one set of liquid distribution tracks, at least one conduit that provides liquid to at least one liquid distribution nozzle; whereby the liquid distribution nozzle is operably connected to the liquid distribution tracks so as to allow movement of the liquid distribution nozzle along the liquid distribution tracks; where the liquid distribution nozzle moves from at least one first location to at least one second location.

4. The machine control system of claim 1 wherein at least one of the electro-mechanical modules is a foodstuff distribution station, wherein the foodstuff distribution station comprises a foodstuff conveyor belt system having at least one foodstuff conveyor belt and a carriage; whereby the foodstuff conveyor belt is operably attached to the carriage so that when the carriage moves from a first location to a second location the foodstuff conveyor belt moves from the first location to the second location while continuing to rotate around its pulleys; and whereby, when the carriage moves from the second location to the first location, the foodstuff conveyor belt is locked so that it is no longer rotating around its pulleys.

5. The machine control system of claim 1; wherein the electro-mechanical modules utilize websocket protocols to communicate the message.

6. The machine control system of claim 1, wherein the module- specific instructions are distributed based on a number of the electro-mechanical modules, a likelihood of an additional module being added to the machine control system, or a failure rate of each of the electro-mechanical modules.

7. The machine control system of claim 1, wherein the machine control system is configured to communicate with a server system, the machine control system receiving the system objective from the server system.

8. The machine control system of claim 7, wherein one or more of the electro-mechanical modules send a request to the server system to send additional configuration instructions for an additional module in response to the additional module being detected by the machine control system, the additional configuration instructions distributed among the non-transitory computer-readable storage medium of the one or more electro-mechanical modules sending the request.

9. The machine control system of claim 8, wherein the electro-mechanical modules each receive the additional configuration instructions from the server system.

10. The machine control system of claim 7, wherein the electro-mechanical modules store operating information in the non-transitory computer-readable storage medium.

11. The machine control system of claim 9, wherein the operating information is

distributed to the electro-mechanical modules.

12. The machine control system of claim 11, wherein distributing the operating information is based on a number of the electro-mechanical modules, a likelihood of an additional module being added to the machine control system, or a failure rate of each of the electro-mechanical modules.

13. The machine control system of claim 1, wherein the electro-mechanical modules send the configuration instructions to an additional module in response to the additional module being detected by the machine control system, the configuration instructions distributed among the non-transitory computer-readable storage medium of the electro-mechanical modules.

14. The machine control system of claim 7, wherein the server system communicates with a machine learning component.

15. The machine learning component of claim 14 comprising:

a computer implemented method of for anticipating the production needs of the apparatus comprising the steps of:

inputting orders containing informational content;

generating datasets of informational content by grouping the orders into a plurality of groupings, wherein each grouping corresponds to a unique input feature;

for each grouping, assigning a training relevance score to the informational content;

outputting a list of anticipated production needs based on selecting a plurality of input features.

16. The method of claim 15 wherein the orders are pizza orders.

17. The method of claim 16, wherein the pizza orders comprise informational content taken at least one from the set of: foodstuff required, man hours required, location, date, and time.

18. The method of claim 17, where the data output is anticipated productive need for one or more input features.