EP3941208A1 - Robot de préparation d'aliment intelligent et procédé d'utilisation - Google Patents

Robot de préparation d'aliment intelligent et procédé d'utilisation

Info

Publication number
EP3941208A1
EP3941208A1 EP19920332.4A EP19920332A EP3941208A1 EP 3941208 A1 EP3941208 A1 EP 3941208A1 EP 19920332 A EP19920332 A EP 19920332A EP 3941208 A1 EP3941208 A1 EP 3941208A1
Authority
EP
European Patent Office
Prior art keywords
electro
foodstuff
modules
module
machine control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19920332.4A
Other languages
German (de)
English (en)
Other versions
EP3941208A4 (fr
Inventor
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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Picnic Works Inc
Original Assignee
Vivid Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/360,478 external-priority patent/US10792533B2/en
Priority claimed from US16/360,379 external-priority patent/US10735090B2/en
Application filed by Vivid Robotics Inc filed Critical Vivid Robotics Inc
Publication of EP3941208A1 publication Critical patent/EP3941208A1/fr
Publication of EP3941208A4 publication Critical patent/EP3941208A4/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G05B19/056—Programming the PLC
    • A—HUMAN NECESSITIES
    • A21—BAKING; EDIBLE DOUGHS
    • A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C15/00—Apparatus for handling baked articles
    • A21C15/002—Apparatus for spreading granular material on, or sweeping or coating the surface of baked articles
    • A—HUMAN NECESSITIES
    • A21—BAKING; EDIBLE DOUGHS
    • A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C9/00—Other apparatus for handling dough or dough pieces
    • A21C9/04—Apparatus for spreading granular material on, or sweeping or coating the surfaces of, pieces or sheets of dough
    • A—HUMAN NECESSITIES
    • A21—BAKING; EDIBLE DOUGHS
    • A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
    • A21C9/00—Other apparatus for handling dough or dough pieces
    • A21C9/08—Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45111—Meal, food assistance

Definitions

  • 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).
  • 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.
  • 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.
  • 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 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.
  • 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.
  • Appatus (“apparatus”) (100) and methods.
  • the base may be bread and the liquid may include a condiment, and the foodstuff maybe deli meat.
  • the base may be a cookie and the liquid may be frosting.
  • 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.
  • 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.
  • the powered pulley is motor driven.
  • the motor may be an electric motor, air motor, hydraulic motor, amongst others.
  • 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.
  • 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).
  • 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.
  • 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).
  • the conduit (220) is in fluid communication with a container (not shown) that holds the liquid to be associated with a base.
  • a pumping mechanism (222) moves fluid from the container through the conduit (220) into the liquid distribution nozzle (230).
  • 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
  • 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).
  • the liquid distribution nozzle (230) is supported by a frame (235).
  • the frame (235) is operably mated to the liquid distribution tracks (210).
  • 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).
  • 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).
  • 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).
  • 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).
  • the movement of the liquid distribution nozzle (230) is controlled by a computer numerical control or other software that provides a similar function.
  • 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).
  • non-liquid foodstuff (“foodstuff’) (23) may be associated with a base (10) using a foodstuff distribution station (300).
  • 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).
  • the foodstuff conveyer belt system (310) is a single conveyor.
  • 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.
  • the foodstuff conveyor belt (311) is locked so it is no longer rotating around its pulleys.
  • the speed of the foodstuff conveyor belt (311) is modulated.
  • 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.
  • the carriage (320) 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).
  • the carriage (320) may have a plurality of first locations (313) and a plurality of second locations (312).
  • 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).
  • the shredder (330) is operably attached to the near end (331) of the foodstuff distribution station (300) with a commonly known fastening system.
  • 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.
  • 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.
  • the shredder (330) may be cooled by an external or internal heat exchange system.
  • 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).
  • 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.
  • 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).
  • the slicer (340) is operably attached to the near end (331) of the foodstuff distribution station (300) with a commonly known fastening system.
  • 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.
  • the slicer (340) may slice foodstuff (23) to various thicknesses.
  • 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.
  • the slicer (340) may be cooled by an external or internal heat exchange system.
  • a conduit (341) may be located near or operably attached to the slicer (340) allowing delivery of foodstuff (22) to the slicer (340).
  • 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.
  • 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).
  • the foodstuff container (350) is operably attached to the near end (331) of the foodstuff distribution station (300) with a commonly known fastening system.
  • 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).
  • 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).
  • the near end (357) of the barrel (352) defines a cutaway to form a set of beater bars or fins (358, 359).
  • 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).
  • the foodstuff (23) delivered from the container (350) to the foodstuff conveyor belt (311) may be onions, peppers, olives, amongst others.
  • 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.
  • the self-contained apparatus to associate foodstuff and/or liquid with a base (100) further comprises a base handler (50).
  • the base (10) is removed from a storage location (40) and placed onto the main conveyor belt system (20) by the base handler (50).
  • 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.
  • 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).
  • 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).
  • 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).
  • 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).
  • the conveyor belt (60) conveys the base (10) to the main conveyor belt system (20).
  • 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.
  • 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).
  • cheese is grated, sliced, cut, or otherwise sectioned before the cheese is associated with the pizza dough (10).
  • 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).
  • the meat distribution station (700) slices, cuts, or otherwise sections meat before the meat is deposited onto the pizza dough (10).
  • 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).
  • the pizza dough (10) with associated foodstuff and sauce is then conveyed to an oven or other heat source for cooking.
  • the apparatus (100) is operably associated with a vehicle (70).
  • 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).
  • the base (10) and the associated foodstuff and/or liquid are cooked in the vehicle (70) before delivery.
  • an order processing system (2000) determines the type of foodstuff to be associated with the base (10).
  • 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.
  • 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.
  • Machine 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
  • 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.”
  • 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
  • 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
  • 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
  • the machine control system (1000) may also send messages to the server system (950), including a request for
  • 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
  • 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).
  • 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.
  • a module may perform the actions of another module.
  • 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.
  • 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.
  • the module utilized as a node is determined by the server system (950).
  • the machine control system (1000) may utilize more nodes in a hierarchy of modules than during other operations.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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
  • 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.
  • 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).
  • 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.
  • 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.
  • the liquid distribution station (200) may communicate with the server system (950) that no further actions may occur until the sauce is refilled.
  • 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.
  • the first and second cheese distribution stations (600a, b) both dispense cheese
  • the first cheese distribution station (600a) may comprise a shredding component
  • the second cheese distribution station (600b) may comprise a grating component.
  • 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.
  • module- specific instructions (930) may tell the liquid distribution station (20a) that it will be dispensing tomato sauce.
  • 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.
  • the added distribution station may be incorporated into the apparatus (100).
  • 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).
  • 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
  • the machine learning component (945) configures a machine learning algorithm (940) based on information stored in the control memory structure (980).
  • the machine learning algorithm (940) predicts the number of ingredients (sauce, cheese, meat, vegetables, etc.) that will be needed over range of time.
  • 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.
  • 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.
  • 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.
  • 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.
  • input features may include dates, times of day, weather, etc.
  • 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.

Abstract

La présente invention concerne un appareil et des procédés pour assembler des produits alimentaires. Plus particulièrement, l'invention concerne un appareil et des procédés pour associer un aliment et un liquide à une base. L'aliment peut comprendre des aliments tels que des viandes, des légumes, des fromages, entre autres. Les liquides comprennent ces aliments qui ont une faible viscosité (par exemple des sauces, des assaisonnements, des huiles) et une viscosité élevée (par exemple le beurre d'arachide, le glaçage), entre autres. Une base peut être un élément quelconque auquel l'aliment ou le liquide peut être associé (par exemple du pain, un gâteau, des biscuits, une pâte à pizza, un bol dans lequel on place un aliment). Une autre caractéristique de l'appareil est la capacité à collecter et surveiller des informations intégrées en vue d'un ré-étalonnage intelligent, d'une amélioration et d'une estimation de performance d'appareil et d'autres mesures associées à un aliment, un liquide et un aliment assemblé.
EP19920332.4A 2019-03-21 2019-08-30 Robot de préparation d'aliment intelligent et procédé d'utilisation Pending EP3941208A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/360,478 US10792533B2 (en) 2018-03-26 2019-03-21 Weight bench tilt locking mechanism system and apparatus
US16/360,379 US10735090B2 (en) 2016-09-21 2019-03-21 Protection switching method and node
PCT/US2019/049180 WO2020190322A1 (fr) 2019-03-21 2019-08-30 Robot de préparation d'aliment intelligent et procédé d'utilisation

Publications (2)

Publication Number Publication Date
EP3941208A1 true EP3941208A1 (fr) 2022-01-26
EP3941208A4 EP3941208A4 (fr) 2022-12-21

Family

ID=72521318

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19920332.4A Pending EP3941208A4 (fr) 2019-03-21 2019-08-30 Robot de préparation d'aliment intelligent et procédé d'utilisation

Country Status (2)

Country Link
EP (1) EP3941208A4 (fr)
WO (1) WO2020190322A1 (fr)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8612050B2 (en) * 2008-07-29 2013-12-17 Palo Alto Research Center Incorporated Intelligent product feed system and method
MX358007B (es) * 2010-02-26 2018-08-02 Little Caesar Entpr Inc Sistema automatico de ensamble para pizza.
US20120185086A1 (en) * 2011-01-18 2012-07-19 K & G Enterprises, Llc automated pizza preparation apparatus
IN2013MU03173A (fr) * 2013-10-07 2015-01-16
EP3216569A1 (fr) * 2016-03-07 2017-09-13 Aldebaran Robotics Fabrication modulaire d'un robot
JP2019516358A (ja) * 2016-04-08 2019-06-20 ズーム，インコーポレイテッド オンデマンドロボット食品アセンブリ、および関連のシステム、装置並びに方法
US20180338504A1 (en) * 2017-05-25 2018-11-29 Ghanshyam Lavri Automated made to order food preparation device and system
US10437220B1 (en) * 2017-11-29 2019-10-08 Vivid Robotics, Inc. Distributed machine cooperation in assembly

Also Published As

Publication number Publication date
EP3941208A4 (fr) 2022-12-21
WO2020190322A1 (fr) 2020-09-24

Similar Documents

Publication Publication Date Title
US11685641B2 (en) Modular automated food preparation system
US20180338504A1 (en) Automated made to order food preparation device and system
US20170290345A1 (en) On-demand robotic food assembly and related systems, devices and methods
US7183518B2 (en) System of food storage preparation and delivery in finished cooked state
JP4388130B2 (ja) 種々雑多なトッピングがされた生地製品の製造機械、および生地製品の製造方法、ならびに生地製品
JP7158575B2 (ja) トッピングを分配するシステム及び方法
US20210094188A1 (en) Flexible automatic food processing and client orders execution machine
US20160104339A1 (en) System and method for making food items
US11252970B2 (en) Food preparation robot and method for use
WO2020190322A1 (fr) Robot de préparation d'aliment intelligent et procédé d'utilisation
US11202533B2 (en) Food preparation apparatus and method for use
US20210129369A1 (en) A Hinged Ingredient Slicing Apparatus
CN111818824B (zh) 餐包保存柜
US20220118627A1 (en) Apparatus to prepare food and method for use
US20220108250A1 (en) Modular system for food assembly
AU2020243463A1 (en) Food preparation robot and method for use
Ghanem Towards A new universal system for food waste management in hospitality industry: waste analysis and possible reduction opportunities (wapro)
CN111868708A (zh) 用于提供食品相关信息的系统和方法
US20230329310A1 (en) Apparatus for the association of liquid and foodstuff onto a base
US20230169816A1 (en) Apparatus and method for transportation of foodstuff
WO2022118017A1 (fr) Système de préparation de repas robotisé
WO2023234918A1 (fr) Appareil et procédé de préparation d'aliments
Stephen et al. AUTOMATED SANDWICH ASSEMBLY
WO2023017309A1 (fr) Système et procédé de préparation d'un sandwich

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20211020

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: PICNIC WORKS, INC.

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20221123

RIC1 Information provided on ipc code assigned before grant

Ipc: G05B 13/02 20060101ALI20221117BHEP

Ipc: G05B 19/05 20060101ALI20221117BHEP

Ipc: A21C 14/00 20060101ALI20221117BHEP

Ipc: A21C 9/00 20060101ALI20221117BHEP

Ipc: A21C 9/04 20060101AFI20221117BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230523