WO2017192765A1 - Dispositif de préparation d'aliments permettant de préparer des aliments par reconnaissance et manipulation - Google Patents

Dispositif de préparation d'aliments permettant de préparer des aliments par reconnaissance et manipulation Download PDF

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Publication number
WO2017192765A1
WO2017192765A1 PCT/US2017/030911 US2017030911W WO2017192765A1 WO 2017192765 A1 WO2017192765 A1 WO 2017192765A1 US 2017030911 W US2017030911 W US 2017030911W WO 2017192765 A1 WO2017192765 A1 WO 2017192765A1
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WO
WIPO (PCT)
Prior art keywords
food
receptacle
tray
preparation device
manipulator
Prior art date
Application number
PCT/US2017/030911
Other languages
English (en)
Inventor
Timothy Chen
Haidee CHEN
Original Assignee
Serenete Corporation
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
Application filed by Serenete Corporation filed Critical Serenete Corporation
Priority to EP17793282.9A priority Critical patent/EP3451883A4/fr
Priority to CN201780036383.XA priority patent/CN109310245A/zh
Publication of WO2017192765A1 publication Critical patent/WO2017192765A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J44/00—Multi-purpose machines for preparing food with several driving units
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J27/00—Cooking-vessels
    • A47J27/14—Cooking-vessels for use in hotels, restaurants, or canteens
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/60—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to nutrition control, e.g. diets

Definitions

  • the disclosed embodiments relate generally to a food preparation device, and more specifically, to a modularized food preparation device and tray structure for use thereof.
  • prepackaged foods are typically laden with preservatives to keep it in a dry state without refrigeration.
  • these dishes also contain high amounts of sodium and other unnatural chemicals.
  • FIG. 1A illustrates a front view of a food preparation device, according to an embodiment.
  • FIG. I B illustrates a side view of the food preparation device.
  • FIG. 1C illustrates a cross-section of the food preparation device along lines A-A of FIG. I B, according to a top-down orientation, u nder an embodiment.
  • FIG. I D illustrates a cross-section of the food preparation device along lines B-B of FIG . 1A, according to a top-down orientation, under an embodiment.
  • FIG. I E illustrates the food extraction mechanism of FIG. 1A th rough
  • FIG. I D in more detail, according to an em bodiment.
  • FIG. I F illustrates a cross-section of the food preparation device along lines A-A of FIG. I B, according to an up-down orientation, under an embodiment.
  • FIG. 1G illustrates a cross-section of the food preparation device along lines B-B of FIG . 1A, according to the up-down orientation, under an embodiment.
  • FIG. 1 H illustrates an example of a food container for use with one or more examples.
  • FIG. I I illustrates a manipulator for food preparation device, according to an embodiment.
  • FIG. 1J and 1 L illustrate variations to a design of a man ipu lator, according to one or more embodiments.
  • FIG. 1 M illustrates a side view of receptacle without man ipu lator, according to an aspect.
  • FIG. I N illustrates a heating su rface of the receptacle, according to an embodiment.
  • FIG. 10 illustrates an example receptacle 140 that can include a liner.
  • FIG. 2 illustrates a hardware diagram of a food preparation device, according to one or more embodiments.
  • FIG. 3 illustrates a system for controlling and utilizing a food preparation system in conjunction with recipes of desired food items, according to one or more embodiments.
  • FIG. 4 illustrates a control system for a food preparation device, according to one or more embodiments.
  • FIG. 5 illustrates a method for operating a food preparation device, according to one or more embodiments.
  • FIG 6 illustrates a method for utilizing a food preparation device and pre-packaged food containers to implement a recipe, according to one or more embodiments.
  • FIG. 7 illustrates a modular or augmented manipulator, according to one or more examples.
  • FIG. 8A-8C illustrate variations to a modularized food preparation device, according to some embodiments.
  • FIG. 9A and FIG. 9B illustrate alternative variations of a tray assembly, for use with one or more food preparation systems, such as described with other examples.
  • FIG. 9C illustrates a tray assembly with a stacked configuration placed in operation within a food preparation device, according to one or more examples.
  • FIG. 10A through FIG. 10E illustrate alternative tray designs, in accordance with various embodiments.
  • FIG. 11A illustrates a tray retention structure 1110 to enable individual trays to be securely received and retained for operational use, according to one or more examples.
  • FIG. 11B illustrates a steamer tray.
  • FIG. 12A and FIG. 12B illustrate alternative tray retention structures, according to variations.
  • FIG. 13 illustrates an example food preparation device that can include one or more feedback sensors.
  • FIG. 14 illustrates an example method for operating a food preparation device utilizing sensor data of a vision and light field camera array.
  • FIG. 15A illustrates an example container with a shrink wrap ingredient pod.
  • FIG. 15B illustrates an example food item extraction implementation of a container with a collapsible packaging.
  • FIG. 15C illustrates an example rotating component for retaining one or more suitably shaped containers .
  • FIG. 15D illustrates an example food item extraction implementation of a rotating component.
  • Embodiments described herein include a food preparation device or system which utilizes pre-packaged food containers to prepare a food item for consumption.
  • the food preparation device can utilize multiple food containers in combining different ingredients (condiments, liquid, solid, and gas) into a meal or dish .
  • the food preparation device can cook (or heat/cool), mix, manipulate and transform ingredients provided from food containers into a final consumable state.
  • a food preparation device can include primary and accessory components.
  • the primary and/or accessory can include primary and/or accessory components.
  • the food preparation device can include compartments which are modularized, including a compartment for storage of food, liquids, waste (“storage compartment”) and/or a compartment for cooking, heating, and manipulation ("cooking
  • the food preparation device can implement recipes that identify ingredients from food containers (alternatively referred to as "trays").
  • the food preparation device can download recipes from a network site, receive recipes from a user operating a computing device, or have a remotely located user conduct live telecooking through the internet by manual or automated means.
  • the processes performed by the food preparation device can be determined based at least in part on the recipe in use.
  • the food preparation device can use prepackaged food containers and programmatically controlled mechanisms to automate many of the steps that would otherwise be needed to prepare a meal or dish .
  • an embodiment enables a user to cook a meal in accordance with a recipe by (i) downloading a recipe onto the device, and (ii) inserting food containers that correspond with specific associated ingredients for the recipe.
  • Subsequent processes for introducing ingredients to a cooking dish, heating, flipping, cutting, injecting, pressing, and stirring can be performed programmatically and/or substantially automatically (e.g., performed with little or no user action, such as the user pushing a button to perform a task/multiple tasks such as pouring or heating).
  • a food preparation device includes a housing, an extraction mechanism, a receptacle, an ingredient-manipulator arm, a heating/cooling mechanism, and a processing resource.
  • the housing includes an opening 115 that is dimensioned to receive a food container ("tray") of a pre-determined dimension.
  • the extraction mechanism is provided with the opening 115 to extract a food item from each of the one or more containers.
  • the preparation receptacle receives the food item extracted from each of the one or more containers.
  • the heating/cooling mechanism heats/cools the receptacle when the food items are received.
  • the processing resource identifies a recipe, and determines a set of food containers that include food items specified in the recipe.
  • a "recipe" is implemented as a set of instructions, implemented as sequence of steps, each of which controls one of the following attributes : (i) ingredient(s) to add (by name, ingredient code, and/or tray address); (ii) liquids to add (by liquid wheel number); (iii) cooking temperature; (iv) arm speed, direction, and strength of
  • a food preparation device can implement a recipe by initiating performance of step, adjusting the attributes, and continuing the step until the time elapses or the stopping criteria is achieved; the device then moves on to the next step.
  • the recipe may dictate when the device should stop cooking.
  • a food preparation device is able to download or otherwise receive a premium recipe from a network service.
  • publishers of premium recipes can charge users for utilizing a recipe in connection with operations performed by a food preparation device.
  • the network service can compile sensor data from one or more of the food preparation devices 100, and then use the information to determine statistical based models. From the statistical models, the network service can provide heuristic intelligence to a food preparation device 100. The heuristic determinations can guide or instruct the processor 178 in controlling, among other aspects, the motion or movement of the manipulator (e.g., manipulator 138), the location of the specific food items, the temperature of the receptacle, and/or other features.
  • the manipulator e.g., manipulator 138
  • the processing resource can also verify that the set of food containers are correctly positioned in order at the opening 115 of the housing.
  • the processing resource can also control the extraction mechanism in extracting food items specified in the recipe from each container in the set of food containers. Additionally, the processing resource can control heating/cooling mechanism in heating/cooling the preparation receptacle with the specified food items from the recipe.
  • One or more embodiments described herein can provide for methods, techniques and actions performed by a computing device are performed programmatically, or as a computer-implemented method.
  • Programmatically means through the use of code, or computer-executable instructions.
  • a programmatically performed step may or may not be automatic.
  • a programmatic module or component may include a program, a subroutine, a portion of a program, or software or a hardware component capable of performing one or more stated tasks or functions.
  • a module or component can exist on a hardware component independently of other modules or components.
  • a module or component can be a shared element or process of other modules, programs or machines.
  • a programmatic module can also be initiated or executed remotely via the internet (telecooking).
  • one or more embodiments described herein may be implemented through instructions that are executable by one or more processors. These instructions may be carried on a computer-readable medium.
  • FIG. 1A and FIG. IB illustrate a food preparation device, according to some embodiments. More specifically, a food preparation device 100 is able to perform, and thus automate many of the steps needed to prepare a food item, such as a meal, a dish, or cooked food item .
  • the device 100 can cook, mix and manipulate/transform ingredients.
  • the device 100 enables users to prepare meals or dishes with minimal user interaction .
  • the device 100 provides convenience to users, and further enables those individuals who are unable to cook (e.g., elderly, handicapped) to prepare meals with consideration for ingredients and recipes.
  • the system 100 can be implemented to prepare a meal or dish using pre-packaged food containers.
  • the food containers can retain food items, which can form the ingredients of a prepared meal or dish.
  • the food items retained in the food containers can be raw, partially cooked, or cooked.
  • the device 100 enables individuals to use multiple pre-packaged food containers in order to cook and transform ingredients provided through the food containers.
  • FIG. 1A and FIG. I B represent an exterior front and side view of device 100 respectively, according to an embodiment.
  • the device 100 includes a housing 110 having a base 112 and a top segment 114.
  • a bottom plate 130 can extend from the base 112.
  • a food receptacle 140 can be positioned on the bottom plate 130.
  • a food preparation device can include a manipulating member or arm (sometimes called a "manipulator 138" or “arm”) to manipulate the food in the receptacle, manipulate the food in the storage compartment, and/or manipulate other functions of the device in lieu of a human manipulator.
  • the manipulator 138 can extend from the top segment 114 into the receptacle.
  • both primary and accessory components can be modularized, or made from interchangeable or replaceable
  • manipulator for purpose of altering functionality, use or operation.
  • receptacle for purpose of altering functionality, use or operation.
  • tray assembly for purpose of altering functionality, use or operation.
  • spacing of a food preparation device can be modularized.
  • the receptacle 140 can have anyone of a variety of form factors, such as form factors to resemble a skillet pan or receptacle.
  • the receptacle can include a flat or curved bottom with rounded sides, designed to both keep food securely in the receptacle as well as provide "warm zones" along the sides (i.e. indirect heating) for zoned cooking.
  • the receptacle may be designed to fit snugly against the edges of the cooking compartment to minimize spillage from depositing ingredients or stirring by the arm.
  • the receptacle 140 can be secured to the device by magnets, physical clamps, or by a threaded base that is screwed into the main device.
  • the device may support automatic latching and unlatching (or screwing/unscrewing, or automatically energizing the magnetic clamps).
  • the receptacle 140 can also support manual latching and unlatching, screwing or unscrewing, or a passive magnet onto which the user must place the receptacle.
  • the receptacle 140 can be modularized, and/or made attachable and removable so that the user can select the type of cooking surface to use.
  • the receptacle 140 can be easily detachable and removable for dispensing and cleaning.
  • physical latches can rotationally lock the receptacle 140 in place at, for example, a midpoint of the receptacle's height.
  • the receptacle 140 and/or food preparation device 100 include physical magnetic guides to ensure the receptacle is properly secured into place.
  • the food preparation device 100 can employ sensors in the latch, sensors beneath the receptacle, and/or a magnetic sensor that detects if the receptacle is placed, to ensure that the receptacle is properly secure, or alert the user if it is not.
  • the food preparation device 100 can employ sensors in the rotating portion of the latch to detect if the latch is or is not lowered.
  • the receptacle 140 can also vary in height as a mechanism to control heat and cooking function (e.g., warming).
  • the base 112 is dimensioned to retain pre-packaged food containers.
  • the pre-packaged food containers can be
  • the top segment 114 can provide a mechanism to extract and dispose food items from the prepackaged containers into the receptacle 140.
  • the top segment 114 provides a mechanism to lower the pre-packaged containers into the interior of the base 112.
  • the device 100 can specify or use opened food containers.
  • the device 100 can be provided with instructions for the user on how to open or use food containers 10 before use.
  • the bottom plate 130 can include a heater 132.
  • the heater 132 can heat the receptacle and its contents to a temperature that is suitable for cooking.
  • the heater 132 can heat the cooking surface 144 (see FIG. II) of the receptacle 140 to a temperature that in a range between, for example, 200-450 °F. Such temperatures can be sufficient to cook all types of food.
  • the bottom plate 130 can heat the receptacle 140 to warming temperatures under 200 °F.
  • the heater 132 can have multiple coils that can individually control specific temperatures in different areas of the bottom plate 130.
  • the temperatures of the left side of the bottom plate 130 can be controlled at 400 degrees Fahrenheit by the associated heating coils, while the right side can be controlled at 200 degrees Fahrenheit by its associated coils.
  • the bottom plate 130 can also include a cooler (not shown).
  • the cooler can serve to chill foods, either as part of the food preparation step or post preparation (e.g., preservation).
  • the manipulator 138 can be motorized to swivel, spin or otherwise move within the receptacle 140.
  • An embodiment provides for the manipulator 138 to include a base segment 135, a joint 137, an extension
  • Examples described herein include multiple configurations in which food preparation device 100 receives food containers, extracts food items from the containers, distributes the food items into the receptacle 140, and further manipulates, heats and cooks the food items within receptacle.
  • FIG. 1C, ID and IE illustrate a bottom-up orientation in which a food receptacle is received via a bottom opening 115 and directed upwards to a point above the receptacle 140, at which point food extraction takes place and food items are extracted from the containers and dispersed into the receptacle 140.
  • FIG. 1C illustrates a cross-section of device 100 along lines A-A of FIG. I B.
  • the base 112 includes the opening 115.
  • multiple food containers 10 are retained.
  • the containers 10 can be provided and combined according to a recipe to prepare a food item, such as a meal or dish. Accordingly, the containers 10 can correspond to ingredients of a meal or dish .
  • the containers 10 are aligned vertically. In variations, the food containers 10 can be aligned horizontally. Still further, the containers 10 can be aligned circuitously.
  • the device 100 includes mechanisms for individually introducing the food containers 10 into the receptacle 140 one at a time or more than one at a time. As shown with, for example, FIG. 9A through FIG. 11A, food containers 10 can be housed in a cartridge or carousel for consumption by the food preparation device 100.
  • a movement mechanism moves the containers 10 upward to a point in the top segment 114 where food items within the container can be extracted and disposed into the receptacle 140.
  • the movement mechanism corresponds to a conveyer system, including a pair of opposing conveyers 142 that lift the individual containers 10 from the bottom, upwards towards the top segment 114, where extraction of the food item takes place.
  • Each conveyer 142 can include a track member 145, with support structures 147 to support individual containers, while the support structures 147 are moved upward or downward by the conveyers 142.
  • the plate structures 147 can move upward or downward with motion provided by the track member 145.
  • the track member 145 can be equipped with a motor 149 in order to permit movement of the plate structure 147.
  • FIG. ID illustrates a cross-section of device 100 along lines B-B of FIG. 1A.
  • the base 112 is shown to house multiple food containers 10.
  • the top segment 114 retains the container 10 that is being extracted.
  • the food container 10 is pushed upward into the top segment 114.
  • the conveyers 142 push the containers 10 upward to engage an extraction mechanism.
  • the extraction mechanism can include a container interface 176, which interfaces with a surface of the food container 10 to open the container.
  • the container interface 176 can include a sharp or pointed structure that punctures the top surface of the container 10.
  • the conveyer 142, or an additional motion mechanism can push the container 10 against the container interface 176 to cause the top surface of the container to partially open (e.g., puncture).
  • the top segment 114 includes an outlet 174 that receives food items extracted from the food container 10, and dispenses the food items into the receptacle 140. Additionally, in one implementation, the top segment 114 can include components for providing a food extraction mechanism.
  • the food extraction mechanism includes a vacuum pump 166 and an injector 165. The vacuum pump 166 generates a vacuum through the outlet 174, so that food items are sucked from the container 10. The vacuum pump 166 can be extended into the container 10 through the container interface 176.
  • the injector 165 can pressurize and/or heat liquid or air.
  • a conduit 179 can extend from the injector 165 to the container interface 176 in order to introduce the air/liquid into the container 10, and cause the food items to push out into the outlet 174.
  • a reservoir 171 can be provided in order to receive liquids such as water, for extraction, mixing or introduction into the receptacle 140.
  • a manipulator 138 can extend from the top segment 114 of the housing 110.
  • the manipulator 138 is coupled to a motor 169 so that it is motorized to swivel, stir or move to mix food items dispensed in the receptacle 140.
  • the manipulator 138 can include the joint 137, so that the extension 139 can pivot relative to the base segment 135.
  • FIG. ID also illustrates a processor 178 for controlling mechanisms of the device 100.
  • the processor 178 can implement a system such as described with FIG. 3 or FIG. 4. Additionally, in some embodiments, the processor 178 can implement a process such as described with FIG. 5 or with FIG. 6.
  • the container 10 can be stacked together and removed using a door 173.
  • the door 173 can be positioned in a rear or side fagade of the housing 110.
  • the door 173 can be hinged to open outward.
  • the ejection of the used container 10 is automatic, and in response to the food item being dispensed from the container 10.
  • an ejection mechanism 175, such as a motorized and/or spring-biased push rod, can be used to force the container 10 out of the housing via the door 173.
  • the container 10 can be manually removed by a user.
  • an alert can be sounded or displayed to indicate when the user should remove the container 10 from the housing 110.
  • FIG. IE illustrates the food extraction mechanism of FIG. 1A through FIG. I D in more detail, according to an embodiment.
  • a food extraction mechanism 180 includes (i) conduit 170 which provides air/liquid injection, which forces one of air or liquid into the container 10, and/or (ii) vacuum interface 183, which generates the vacuum to draw food items out through the outlet 174.
  • the injector 165 can heat or pressurize air/liquid through the conduit 170 and into the container 10, and the vacuum pump 166 can generate the vacuum to draw the food items from the container 10.
  • food preparation device 100 can include alternative configurations for the manner in which the food containers is positioned, moved and acted upon to distribute food items.
  • food preparation device 100 can include alternative configurations for the manner in which the food containers is positioned, moved and acted upon to distribute food items.
  • FIG. IF and FIG. 1G illustrate a top-down orientation, as a variation to an implementation of FIG. 1C and FIG. ID.
  • the opening 115 can be provided with the top segment 114.
  • the opening 115 can be provided as a top lid of the top segment 114.
  • the conveyers 142 can operate to lower the individual containers from the top segment 114 downward to an extraction point that is in the middle or bottom end of the base 112.
  • container interface 176 can be implemented with container interface 176 engaged to unseal an edge or periphery.
  • the container interface 176 can engage a vertical edge of the container 10, and the container 10 can be structured so that is unsealable from the corresponding edge.
  • food container 10 can be pre-opened from one side.
  • a mechanism such as the container interface 176 can operate to eliminate one side of the food container while it is inside base 112.
  • the vacuum pump 166 can be positioned to draw food items out of the container 10 from the unsealed edge of the container 10.
  • a lift 190 can be provided as a base for the container 10 that is at the extraction point.
  • the lift 190 can include, for example, an upper member 193 that can pivot upward from a horizontal base segment 195. This can cause the container 10 to tip forward.
  • the tilting facilitates the extraction of food items from the container 10 at the extraction point.
  • the container 10 at extraction point may need additional clearance with respect to an adjacent container. The additional clearance can enable the lift 190 to tilt the container 10 by some measure or degree forward.
  • the container 10 at the extraction point can also traverse outward over the receptacle 140.
  • the upper member 193 can slide outward over the receptacle 140, and further enable tilting and/or vacuum extraction .
  • the container 10 at the extraction point can be extended partially outward from the base 112 so that it is partially above the receptacle 140.
  • the lift 190 can slide or otherwise move the container 10 at the extraction point outward over the receptacle.
  • another structure such as an ejection mechanism can push the container 10 outward.
  • examples such as shown by FIG. IF and FIG. 1G illustrate alternative implementations for orienting containers, and implementing extraction of food items from such containers. While examples of FIG. 1C-1G illustrate variations in arranging in extracting containers in a top-down and bottom up orientation, other configurations can also be employed in accordance with embodiments described herein. For example, food items from the container 10 at the extraction point can be scooped out of the container by the jointed food manipulator and placed into the receptacle 140.
  • the top segment 114 or base 112 can be provided with a scooper to scoop the food items from the containers 10.
  • the top segment 114 or base 112 can include a tray that can flip 90 degrees or more in order to dump the food item out.
  • the jointed food manipulator 138 can serve as the scooper and scoop or push the food items from the containers 10.
  • FIG. 1H illustrates an example of a food container 10 for use with one or more examples.
  • the food container 10 can retain
  • the food item of an individual container 10 can correspond to an
  • container 10 includes a package 8 having a top surface 12, a bottom base 14 and sidewalls 15.
  • the package 8 can include dimensions of length (L), height (H) or width (not shown). The dimensions of the package 8 can be selected so that the package 8 can fit into the opening 115 of the housing 110 of device 100 (see FIG. I D).
  • the container 10 may also have a perforated area for insertion of an edge or other tool provided through the container interface 176.
  • the package 8 includes a machine code identifier 18 provided on a sidewall 15.
  • the machine code identifier 18 can provide one or more of the following : (i) an identifier of the container 10, (ii)
  • identification about the contents of the food container 10 (iii) information about how the contents of the food container 10 are to be used (e.g., heat to certain temperature, etc.), (iv) date of expiration of the ingredients in the food container 10, (v) amount of ingredient in food container 10, and/or (vi) place where ingredients are sourced from and/or purchased from.
  • the package 8 is equipped with a radio-frequency identifier (RFID) tag.
  • RFID radio-frequency identifier
  • a compatible RFID reader (not shown) on the device 100 can detect information (e.g. container identifier, food item contained) about the food container 10.
  • FIG. II illustrates the manipulator 138 for food preparation device 100, according to an embodiment.
  • manipulator 138 includes base segment 135, the joint 137, and one or more end segments 133.
  • the end segment 133 can be detachable, so that different kinds of end segments 133 can be attached and incorporated into the manipulator 138.
  • the manipulator 138 is attached to the top segment 114 by a motor 149 and a connection mechanism 177.
  • the base segment 135 can rotate horizontally, for example, in a 360 degree motion in conjunction with the connection mechanism 177.
  • the jointed food manipulator 138 can have multiple end segments 133, which can pivot about multiple joints 137 to provide a greater degree of motion within the receptacle 140.
  • the joints 137 can each have an associated motor 149, which allows for locking actions of the joints 137 at specific angles to strengthen the ability of the jointed food manipulator 138 to manipulate the ingredients (e.g. cutting, scooping, flipping, and pressing).
  • the joints 137 and extensions may also consist of a spring 101 to prevent over exertion of force against the receptacle.
  • the end segment 133 can be in the form of a spatula, knife, or spoon, and selected by the user for a particular use.
  • the manipulator 138 can position itself so that it can automatically attach and/or detach each end segment 133 through a twisting and locking motion. These attachments can be incorporated via slots that are readily accessible in base 112.
  • the manipulator 138 can be attached to motor 149, and further be provided with a connection mechanism 177 that enables movement of the base segment 135 in multiple degrees of freedom.
  • the combination of the connection mechanism 177 and the motor 149 can enable the base segment 135 to (i) translate in two lateral directions (X, Y) with respect to the receptacle 140, (ii) rotate about the connection mechanism 177, and/or (iii) adjust depth (Z) with respect to the receptacle 138.
  • the end segment 133 can pivot about the joint 137 to provide additional freedom of movement.
  • the manipulator 138 may also fold itself and retract to the top segment 114 while idle.
  • the specific type, intensity and degree of movement can be controlled by the processor 178 of the device 100.
  • the user can interface with the processor 178 in order to specify a setting for the action that the manipulator 138 is to perform.
  • the processor 178 can implement recipe operations, and the setting of the manipulator 138 can be programmatically determined from the recipe.
  • the manipulator 138 is shown to include a set of internal electromechanical connectors which can extend electrical connectivity from the base 135 to the joint 137 and end piece as needed, in order to enable mechanical and electrical connection with the food preparation device 100.
  • An electro-mechanical member 1035 can include mechanical features such as base segment 135 and joint 137.
  • One or more connectors 1037 can be positioned between the manipulator 138 and the base segment 135 of the food preparation device 100, in order to provide for transmission of power and control signals from the food preparation device 100 to the manipulator 138 and its end pieces.
  • the one or more connectors 1037 can include, for example, electro-mechanical connections, such as provided by a set of electrical contacts.
  • the manipulator 138 can include a section 1039 that is shrouded in plastic and/or metal, with an outer ring 1041 that can move over the connection and screw or lock the manipulator 138 into place.
  • an outer ring 1041 that can move over the connection and screw or lock the manipulator 138 into place.
  • pressure can force the connector pieces together to ensure a secure physical and electrical bond.
  • the resulting bond also provides the manipulator 138 with a stable base to allow force to be transferred to the manipulator instead of back into the base.
  • a threaded connection 1043 is included with the outer ring 1041.
  • a seal is created which is waterproof and foodproof is created for a manipulator.
  • the manipulator forms a secure physical and electrical bond which does not pass water and/or food.
  • FIG. 1M illustrates a side view of receptacle 140 without manipulator 138, according to an aspect.
  • the receptacle 140 can include sidewalls 148 and the bottom cooking surface 144, which rests on bottom segment 130 and heater 132.
  • the receptacle 140 includes a steamer, having a reservoir 146 that heats and steams a cooking chamber 151.
  • the sidewalls 148 can extend partially or completely to the top segment 114.
  • the interior of the receptacle 140 can be segmented to include one or more barriers 155.
  • the barrier 155 can be partial and separate cooking surfaces on the bottom of the receptacle.
  • the barrier 155 can separate the interior of the receptacle 140 so as to provide different cooking environments (e.g., steamer and skillet).
  • the base 112 and/or receptacle 140 can include a lid (not shown) to enable pressurized cooking.
  • FIG. IN illustrates heating surface 144 of the receptacle 140, according to an embodiment.
  • FIG. I K illustrates an area of coverage for manipulator 138, when operating within receptacle 140.
  • the end segment 133 can operate to cover a substantial portion of the area of the receptacle 140.
  • the manipulator 138 can provide a thorough mixing, stirring, cutting, slicing, basting, or swirling motion (as determined by setting or selection) that engages food item in both center and corner regions of the receptacle 140.
  • the heating surface 144 can be segmented to provide barriers for the preparation of combined food items. For example, some dishes can incorporate two items which require different cooking temperature or manipulation processes. Furthermore, the barriers can maintain separation of the food items as part of the preparation process. For example, raw meat can be separated from other foods that are being cooked at low temperatures.
  • the structure of the receptacle 140 can vary depending on design and implementation .
  • the receptacle 140 can be provided with additional sidewall structures to enclose the container during the cooking process (e.g., prevent spillage when the food manipulator 138 operates).
  • a lid can optionally be provided to enable pressurized cooking.
  • the heater 132 can be replaced with a cooler or chiller.
  • the bottom plate 130 can be replaced by a component that cools the temperature rather than heats the temperature.
  • the receptacle itself can include additional structures that enable refrigeration or cooling.
  • FIG. 10 illustrates an example receptacle 140 that can include a liner.
  • receptacle 140 can include a liner 194 that can conduct heat from receptacle 140.
  • the food can include a liner 194 that can conduct heat from receptacle 140.
  • the preparation device 100 can prepare food in liner 194.
  • the liner 194 can be disposable (e.g., single user) or reusable.
  • the liner 194 can be removed, cleaned and reused. That way, the receptacle 140 can be kept clean and lessen the need to clean receptacle 140 for each food preparation session.
  • the liner 194 can be disposed after one use, or after a given period of time (e.g., day of use).
  • the liner 194 can be made from heat-conductive malleable material, to conform to the shape of the receptacle 140 with, for example, movement of the manipulator or by human hands.
  • the liner 194 may include a cap that secures the liner at the top of the receptacle 140.
  • the liner may be formed from any metallic material that is durable and can enable heat transfer from receptacle 140 (e.g., aluminum or a metallic alloy).
  • the liner 194 can have one or more flange that stems from the upper edge of the liner 194 to keep the liner 194 from collapsing into the receptacle 140. In other examples, the liner 194 can have one or more flange that stems from the upper edge of the liner 194 to keep the liner 194 from collapsing into the receptacle 140.
  • the liner 194 can include one or more snaps to enable the liner 194 to attach itself securely to the receptacle 140.
  • the one or more flanges can include a
  • the liner 194 and the receptacle 140 can include threads (e.g., the liner 194 has an external thread, while the receptacle 140 wall has an internal thread, or vice versa) to secure the liner 194 into the receptacle 140 (e.g., the liner 194 can twist into the receptacle 140).
  • the receptacle 140 can have a pot configuration (e.g., a receptacle with high walls).
  • the receptacle 140 can include a heat resistant outer covering to enable a user to touch the receptacle 140 when the receptacle 140 is hot.
  • the receptacle 140 can include divots to allow for secure attachment of the silicone covering onto the outside of receptacle 140.
  • the heat-resistant outer covering may be formed from silicone, polyurethane, or composite material.
  • FIG. 2 illustrates a hardware diagram of a food preparation device, according to one or more embodiments.
  • a food preparation device 200 can optionally be implemented using, for example, structures and features such as shown with examples of FIG. 1A through FIG. I B, and variations provided with FIG. 1C-FIG. I E or FIG. 1F-FIG. 1G.
  • the food preparation device 200 includes a processor 210, a display 220, a set of input mechanisms 230, one or more wireless interfaces 202 (local), 204 (network), and memory resources 250.
  • the device 200 can include a food extraction mechanism 270, a heater 280, and a manipulator 290.
  • the device 200 includes a camera 222, such as a webcam, which communicates with the processor 210.
  • the camera 222 can enable telecooking functionality, and or communicate images of the state of the food preparation device 100 to a remote user.
  • the display 220 can be implemented as, for example, a liquid crystal display ("LCD"), touch screen on the food preparation device 200.
  • the processor 210 can communicate with the display 220 in order to provide feedback to the user, as well as to prompt the user for input.
  • the feedback can include, for example, information that specifies what the processor 210 understands the user input to be, and/or specific information about the state of the device or its functions.
  • the processor 210 can output display content 221 through the display 220.
  • the display content 221 can identify what food item is being prepared, and/or a state of the food item including, for example, an amount of time remaining for the food item to be cooked, or steps that are yet to be performed before the food item can be prepared.
  • the display output of the processor 210 can be communicated to another computer, such as a user tablet or laptop, via one of the network interfaces 202, 204.
  • the input mechanisms 230 can include, for example, a button, button set, or a touch screen or touch surface functionality. Additionally, various alternative forms of input mechanisms can be included with implementations described herein, including input mechanisms that provide a keyboard, voice input, or form of tactile/manual input (e.g. provide for more or less salt, how well-done meat should be).
  • the processor 210 can communicate with a network site or service using one or more wireless communication interfaces 202, 204.
  • the wireless communication interface 202, 204 can enable communications under one or more of 802.11 (s), 802.11(b), 802.11 (g) or 802.11 (n)
  • Wi-Fi wireless fidelity
  • the wireless communication interface 202 can enable a local wireless link, such as through a Bluetooth protocol to other devices (e.g., mobile devices operated by a user).
  • the processor 210 can control operation of components that comprise or correspond to the food extraction mechanism 270, the heater 280, and/or the manipulator 290.
  • the processor 210 can select the particular extraction component used to extract the food item from the food container 10.
  • the processor 210 can select whether the vacuum pump 166 is used to draw the food item out of the container 10, whether the injector 165 is used to push the food item out, or whether a combination of the vacuum or injector are used.
  • the processor 210 can control an amount of food that is extracted from the container 10. The type of extraction used can be selected based on, for example, the contents of the food container 10 being extracted.
  • the heater 280 can be implemented as part of, for example, bottom plate 130.
  • the heater 280 can be provided as an inductive or electrical heating surface that can heat the receptacle 140 to a suitable temperature to cook food such as meats or vegetables (e.g., 250- 450 F).
  • the processor 210 can control the temperature and duration in which the heater 280 is provided. In a variation, the processor 210 can control multiple heaters independently, so as to create different temperature environments within the receptacle.
  • the processor 210 can receive temperature input 281 from sensors 284 provided within the receptacle 140 (FIG. 1A-1 B and FIG. 1C). In this way, the temperature sensors can provide feedback to the processor 210, and the processor 210 can use the feedback to regulate the heater 280.
  • the processor 210 can also control the manipulator 290.
  • the manipulator 290 can be implemented using the
  • the control parameters that can be used for the manipulator 290 include one or more of (i) type of mixing (e.g., stirring, heavy mixing, swirling), (ii) degree of mixing (e.g., quick, slow, strong etc.), (iii) duration of mixing, (iv) time pattern for mixing (e.g., stir and pause, repeat), and/or (v) end segment 133 that is used during each time interval.
  • type of mixing e.g., stirring, heavy mixing, swirling
  • degree of mixing e.g., quick, slow, strong etc.
  • duration of mixing e.g., duration of mixing
  • time pattern for mixing e.g., stir and pause, repeat
  • end segment 133 that is used during each time interval.
  • the processor 210 can receive input from one or more of multiple sources. For example, the processor 210 can download a recipe from a network site using the network interface 202, receive the recipe from the user using the wireless device interface 204 (e.g., user uses mobile device and local network to wirelessly transmits the recipe to the food preparation device 200), or to an associated user device (e.g., laptop, via one of the interfaces). As described with examples of FIG. 3 through FIG. 6, the input can correspond to recipe input.
  • the processor 210 can parse or otherwise analyze the recipe in order to determine information, including (i) which containers 10 of food items are needed to implement the recipe, (ii) specific times after commencement when each container 10 is added, (iii) temperature settings of the receptacle, which can be used to control the heater 280, and/or (iv) mixing settings, which can be used to control the manipulator 290.
  • the processor 210 can store recipes in the memory resources 250. Additionally, the memory resources 250 can store instructions and data ("recipe data 251") for correlating recipe information to parameters for using and controlling the device 200. In an embodiment, the memory resources 250 can store instructions for parsing recipes for food items and/or settings (e.g . , temperatu re settings) ("recipe analysis 253"), and/or for correlating food items (e.g . , butter, olive oil, chicken breast, rice etc. ) to food containers 10 that su pply specified food items or their equivalents (“container correlation 255"). By way of example, the memory resources 250 can store data that correlates "cut ch icken breast" to a container that includes
  • the processor 210 can use the data stored in the memory to identify what food containers 10 are needed for a particular recipe, and further to determine the settings of the heater 280 and/or manipulator 290 based on the specifications of the recipe.
  • FIG. 3 illustrates a system for controlling and utilizing a food preparation system in conjunction with recipes of desired food items, according to one or more embodiments.
  • a system 300 such as described with FIG . 3 can be implemented using a hardware system such as provided with an example of FIG. 2. Fu rthermore, system 300 can be implemented on the food preparation device such as shown and described with examples of FIG. 1A th rough FIG. II .
  • system 300 includes a user interface 310, a network interface 320, one or more device interfaces 330 and a preparation module 350.
  • the user interface 310 can include functional components that enable the user to provide in put through the display 220 and/or in put mechan isms 230.
  • the user interface 210 can be generated and outputted by the processor 210 to an associated display device connected via, for example, a particu lar network interface 202, 204.
  • the user interface 310 can include functionality in wh ich the user is prom pted to enter information, including recipe input 302, through for example, the display 220 (FIG. 2).
  • the preparation module 350 can receive recipe input 302 from either of the user interface 310 (e.g ., the user can man ually enter a recipe), network interface 320 (e.g . , system 300 can be triggered to download a recipe from a network site or service) and/or the device interface 330 (e.g . , system 300 can commu nicate with the user device to receive some or all of the recipe).
  • preparation module 350 can have access to a recipe collection that is locally stored, such as for example, on the memory resources 250 (see FIG. 2).
  • the recipe input 302 can correspond to the user entering, through the user interface 310, a selection of a pre-stored recipe.
  • the recipe input 302 can include input that the user enters to alter an existing recipe (e.g., a recipe that is pre-stored, or a recipe deadest downloaded from a network site).
  • the recipe input 302 can include the substitution or replacement of the recipe item (e.g., olive oil from butter).
  • the preparation module 350 can include logic to parse a recipe (as provided or specified with recipe input 302) for ingredients.
  • the preparation module 350 can cross-reference a list of ingredients, including identifiers 331 for specific ingredients, with food containers 10 that include the same ingredients or their equivalents.
  • the preparation module 350 uses a container data store 335 in referencing the ingredient identifier 331 for a food container identifier 352.
  • the preparation module 350 can determine, for a given recipe 357, preparation parameters 359 that are recommended or needed by the recipe 357.
  • the preparation parameters can further be determined in the context of determined food containers 10.
  • recipe items may be referenced against predetermined preparation parameters for such items, and the preparation parameters can be provided in the context of the food containers 10.
  • the recipe data store 355 can specify that to cook raw chicken, a corresponding raw chicken food container needs to be heated at 370° for a specified duration.
  • the recipe may call for a cooked chicken
  • the identified food container 10 may correspond to a partially cooked chicken, or alternatively to a fully cooked chicken that is to be warmed.
  • the recipe data store 355 can identify alternative cooking parameters 359 (temperature, heating) for the particular food container 10 (e.g., one with cooked chicken) that is to substitute for the recipe item. Furthermore, the recipe data store 355 can specify a sequence in which the food item of the identified food containers 10 are introduced into the cooking receptacle (e.g., see receptacle 140) of the food preparation device. [0122] The preparation module 350 can also determine the sequence or order in which food containers 10 are introduced into the receptacle 140 (see FIG. 1A and FIG. I B). For example, with reference to the food preparation device 100 of FIG. 1A and FIG.
  • the opening of the base 112 (whether provided in top-down orientation, bottom-up orientation or other) can receive food containers 10 determined for a particular recipe in a particular order that dictates the sequence in which the food item of that container 10 is introduced into the receptacle 140.
  • the preparation module 350 can communicate the sequencing or order of the individual food containers 10 to a user who places the food containers 10 in the opening 115.
  • the user interface 310 can be used to display an order for the placement of food containers 10 into the opening 115 of the housing 110.
  • the order or sequencing of the food items can also be altered from that specified by the recipe based on the variations provided by the determined food containers 10 for those food items.
  • the recipe data store 355 can specify that a food container 10 containing fully cooked chicken (as a determined substitute) is to be introduced into the cooking receptacle after all of the other food items of the recipe.
  • the preparation module 350 can include logic to verify that the user has properly inserted food containers 10 for a given recipe. The verification can include determining that the user has inserted containers 10 in the correct order. For example, in one implementation, logic corresponding to container reader 336 can be utilized with a camera or optical recognition component to read machine code or other identifier as provided on individual food containers 10 that are to be used for the given recipe. In a variation, the system 300 includes an RFID detector that detects and identifies an identifier/code of each food container 10. In still another variation, the preparation module 350 can have the user manually specify identifiers for individual food containers 10 of the recipe as a user places the containers 10 into the opening 115 of the housing 110. The preparation module 350 can verify, or check that the proper food containers 10 are being inserted into the opening 115 of the housing 110. Additionally, the preparation module 350 can verify that the ordering of the food containers 10 is correct given the requirements of the recipe and/or the food containers 10 being utilized.
  • the preparation module 350 can generate output for the user interface 310.
  • the output 361 can specify what food containers 10 the user will need to implement a specific recipe.
  • the output 361 can also specify the order or sequence of the food containers 10, so as to prompt the user to position the food containers 10 in the correct order within the opening 115 of the base 112.
  • the preparation module 350 can also generate control parameters 365 for the use of the components needed to cook the food in the containers 10.
  • control parameters include the temperature that the heater 280 is to rise to, as well as a duration for which that temperature is to be maintained. Examples contemplate that one recipe can utilize multiple temperatures, so that the cooking temperature (as maintained in the receptacle 140) may fluctuate by intent during the cooking process, and further different durations of heating may apply for different temperatures.
  • control parameters 365 can specify temperature, timing, and other parameters, such as the need for water or other liquids.
  • the control parameters can be specific to components that include food extraction mechanism 270 (see FIG. 2), the heater 280 (see FIG. 2) and/or the manipulator 290 (see FIG. 2).
  • the control parameters 365 e.g.,
  • temperature, duration of heating can also be determined from the rest of the recipe 357, such as provided by the recipe data store 355.
  • FIG. 4 illustrates a control system for food preparation device, according to one or more embodiments.
  • a system 400 such as described with an example of FIG. 4 can be implemented using a hardware system such as provided with FIG. 2. Furthermore, system 400 can be implemented on the food preparation device such as shown and described with FIG. 1A and FIG. I B.
  • a controller 410 can be implemented on the processor 210 in there is a controlled component that correspond to one or more of (i) food extraction mechanism 270 (see FIG. 2), (ii) heater 280(see FIG. 2), and/or (iii) manipulator 290 (see FIG. 2).
  • the system 400 can include logic for each of food extraction 420, heater 430, and
  • the food extraction logic 420 can include, for example, firmware, integrated circuits and/or programming (e.g. provided on the processor 210) to control operations of components that perform extraction (e.g., injector 165, vacuum pump 166 of FIG. 1).
  • control parameters 365 can be provided to the controller 410 from, for example, the preparation module 350.
  • the control parameters 365 can specify parameters for extracting, heating and/or food items of the food container 10.
  • the controller 410 can signal extraction control 411 for the food extraction logic 420, which in turn controls the mechanical output of the food extraction mechanism 270 (e.g., injector 165, vacuum pump 166 of FIG. 1).
  • the extraction control 411 can select which extraction mechanism is used (e.g. vacuum, injection, or tilting food container 10 at a specific angle). In variations, the extraction control 411 can also specify the magnitude of the extraction (e.g., extra vacuum for solid food), or other parameters (e.g., heat injection liquid).
  • the extraction control 411 can specify an amount of food item to be extracted.
  • the determination of the amount that is to be extracted can be based on, for example, the recipe.
  • the food container 10 can retain two ounces of chopped tomatoes, and the recipe in use may call for one ounce of chopped tomatoes to be used.
  • the extraction control 411 can specify that half of the food items are to be extracted. The user can then refrigerate or maintain the other half of the food container 10 for subsequent use.
  • the heater logic 430 can include, for example, firmware, integrated circuits and/or software (e.g., which can be provided on the processor 210) to control the operations of the heater 280.
  • the heater 280 can be implemented through the bottom plate 130, which engages and heats the receptacle 140.
  • the controller 410 can signal temperature control 413 to the heater logic 430.
  • the heater logic 430 can manage the output of the heater 280.
  • the heater logic 430 can increase/decrease current through a resistive element in order to increase or decrease the temperature of the heater 280.
  • the temperature control 413 can distinguish between different heating elements of the heater 280, so as to create different temperature environments.
  • the manipulator control logic 440 include, for example, firmware, integrated circuits and/or software (e.g., which can be provided on the processor 210) to control the operations of the manipulator 290.
  • the manipulator 290 can be implemented by a member that extends from the top segment into the receptacle 140.
  • the controller 410 can signal the manipulator control logic 440, a manipulator control 419 that specifies one or more of (i) type of mixing (e.g., stirring, heavy mixing, swirling), (ii) degree of mixing (e.g., quick, slow, strong etc.), (iii) duration of mixing, and/or (iv) time pattern for mixing (e.g., stir and pause, repeat).
  • type of mixing e.g., stirring, heavy mixing, swirling
  • degree of mixing e.g., quick, slow, strong etc.
  • duration of mixing e.g., and/or
  • time pattern for mixing e.g., stir and pause, repeat
  • FIG. 3 or FIG. 4 are recited in the context of a device such as shown with examples of FIG. 1A through FIG. 1 L
  • a distributed system can be implemented with a conventional stove top.
  • a computer-implemented controller can operate on a motorized manipulator that is moved about a track on a stove top (or oven).
  • a manipulator can be mounted above or to the side of a cooking surface (e.g., stove-top), and the manipulator can be controlled to change the manipulator's position using a motor controlled by the controller.
  • the manipulator can lock into place above one burner, then move into place over another burner and maintain multiple cooking receptacles at one time.
  • a user can upload recipes to the controller, which can operate similar to programming or logic described with examples of FIG. 3 or FIG. 4.
  • the controller can in turn process the recipe and determine actions or
  • the controller can also provide information prompts or messages to a user to guide the user into preparing the meal.
  • the controller can, for example, move between cooking surfaces and burners, using time intervals that are determined by the recipe.
  • Actions such as stirring or blending can be programmatically implemented and repeated as needed. Still other actions such as waiting for cooling, or stirring until a certain consistency is reached, can also be performed.
  • the combination of the controller, track system, and motorized manipulator can in this way provide a guided and assisted meal preparation experience for the user.
  • FIG. 5 illustrates a method for operating a food preparation device, according to one or more embodiments.
  • the food preparation device 200 identifies a recipe for a food item that is to be prepared (510).
  • the device 200 utilizes the network interface 202 to access a network site and retrieve one or more recipes.
  • a user may control the device 200 and specify a network resource where a desired recipe is provided.
  • the user can operate a separate computing device that can communicate with the food preparation device 200.
  • the user can operate the computing device to signal a recipe to the food preparation device 200 via the wireless communication port 202.
  • the user can specify a recipe stored in the memory resources 250 of the device, or provide recipe information 251 corresponding to a recipe or portion thereof through the input mechanisms 230.
  • the processor 210 can determine a set of food containers 10 that include food items specified in the recipe (520). For example, with reference to FIG. 2 and FIG. 3, the processor 210 can implement a preparation module 350 which parses recipes for food items, and correlates the food items to food containers based on a correlative data store (e.g., container data store 335 of FIG. 3).
  • a correlative data store e.g., container data store 335 of FIG. 3
  • the processor 210 can determine a sequencing or order for the food containers 10 (530).
  • the sequence or order can determine the order in which the food containers 10 are placed in the housing 110 of the food preparation device.
  • the order or sequencing can determine the order in which food containers 10 are placed in the opening 115 of the housing 110.
  • the device 200 includes resources for verifying the placement of food containers 10 within the opening 115 of the housing 110 (540). Additionally, the resources can verify the order or sequence of containers 10 provided in the housing 110. In one
  • the device 200 can include a machine reader that detects a code on each food container 10. With further reference food preparation device 100, machine reader can verify the inclusion, and optionally the ordering of the food containers 10 in the opening 115 of the housing.
  • the device 200 can begin food preparation (550). According to some embodiments,
  • the device 200 starts the heater 280.
  • the processor 210 can also initiate a timer for the heater.
  • the processor 210 can trigger the food extraction mechanism to extract food items from the food container and to disperse the food items into the receptacle 140 (see FIG. 1A through FIG. I D).
  • the processor 210 performs steps to introduce food items into the receptacle 140.
  • the processor 210 initiates operations to detect a condition for adding a food item into the receptacle 140 (560).
  • the condition can include timing parameters (562).
  • the timing parameter can include a duration after heating occurs at a particular temperature, or alternatively, a sequencing condition (e.g., was another food item introduced into the receptacle as a precondition).
  • the condition can include a temperature condition (564).
  • the temperature condition can identify whether the receptacle or heater 132 is at a pre-determined temperature before the food item is introduced (e.g., heat receptacle 140 to 335 F before introducing raw chicken).
  • the processor 210 can trigger the food item to be extracted from the corresponding food container 10 and dispensed into the receptacle 140 (570).
  • the processor 210 can control the manipulator 290 into mixing the receptacle of the food preparation device (580).
  • the manipulating can specify a type of
  • a second ingredient can be provided by a food container 10 that is ordered to follow a first food container 10 that includes the first food item introduced in the receptacle 140.
  • the condition for introducing the second food container 10 can include (i) a timing parameter, corresponding to the pre-condition that the first food container 10 is dispensed; (ii) a heating/cooling condition, corresponding to the temperature of the receptacle 140 being raised to a particular temperature; and (iii) a timing parameter, corresponding to a duration of time during which the receptacle (140) (and food item from first container 10) is heated to the particular temperature.
  • the heater 280 can be controlled by the processor 210 to achieve a particular temperature for cooking/warming contents of the receptacle 140 (590).
  • the processor 210 can control the heater 280 into raising or lowering the temperature of the receptacle after introduction of a particular food item, or after passage of time.
  • the cooking process can include using multiple temperatures, which adjust or change after introduction of food items and/or passage of time.
  • FIG 6 illustrates a method for utilizing a food preparation device and pre-packaged food containers to implement a recipe, according to one or more embodiments.
  • a method such as describe with an example of FIG. 6 can be implemented using a device such as described with FIG. 2, and further a system such as described with FIG. 3. Accordingly, reference may be made to elements of FIG. 2 and FIG. 3 for purpose of illustrating suitable components or elements for performing a step or sub-step being described.
  • information about a collection of pre-packaged food containers 10 is stored with memory resources 250 of the food preparation device (610).
  • the information can be stored remotely and provided as, for example, a service in conjunction with use of a food preparation device.
  • the information about the collection of prepackaged containers 10 can include information about individual food items contained in each container 10 of the plurality of pre-packaged containers 10.
  • the ingredients of a selected recipe can be determined (620).
  • the processor 210 implements logic (e.g., using instructions stored in memory resources 250) to determine the ingredients of a particular recipe.
  • the logic can be provided remotely to the food preparation device 200, and the results determined from implementing the logic can be communicated to the food preparation device 200.
  • the processor 210 determines a set of containers 10 from the collection of pre-packaged containers (630).
  • the set of containers 10 are selected as for providing the ingredients for a prepared food item of the recipe.
  • the set of food items can be determined based at least in part on comparing the food items of the set of containers 10 with ingredients specified in the recipe.
  • the processor 210 can perform a verification to confirm that each container 10 in the set of containers 10 is received in a food preparation device (640).
  • the processor 210 can control a machine reader to detect a machine-readable code on the individual food containers 10 in the set of food containers 10.
  • the processor 210 can prompt the user to enter or otherwise specify information confirming that each container 10 in the set has been provided with food preparation device 100.
  • the processor 210 can control one or more aspects of heating or mixing the food items provided from the set of containers based on the recipe (650). For example, the processor 210 can determine the control parameters 365, which control heating, manipulating (and optionally food extraction). [0151] ADDITIONAL USAGES
  • the combination of the camera 222, processor 210 and network interface 202, 204 can enable a remote food preparation use ("telecooking").
  • a remotely located user can conduct live telecooking, during which the remotely located user controls the operation of the food preparation device 100.
  • the remotely located user can conduct live cooking sessions which stream directly to the local machine.
  • a remote user can upload a recipe and also adjusts the recipe as is necessary or desired.
  • the operation of the food preparation device 100 can optionally be triggered remotely. For example, a mother can telecook and proctor her college-aged child on how to cook stir-fried tomato and eggs.
  • the remote user e.g., mother
  • the remote user can proctor the local user (e.g., her child) during the cooking process using a laptop or tablet device.
  • Functions such as timing, recipe selection, prompts regarding the addition of ingredients, and/or temperature settings can be provided from the remote user.
  • the food preparation device 100 can also provide prompts, generated through recipe processing or remote user input, to instruct the local operator to perform certain actions.
  • FIG. 7 illustrates a modular or augmented manipulator, according to one or more examples.
  • a manipulator 738 can be implemented for a food preparation mechanism such as described with any of the examples provided above.
  • the manipulator 738 can also include multiple segments 712, 714, 716, including a base segment 712 and an end device 716.
  • the manipulator 738 can be modularized, in that the individual segments 712, 714, 716 can be attachable, exchangeable and/or replaceable.
  • One or more of the segments 712, 714, 716 can be connected or attached using the same or similar connectors as described with example(s) of FIG. 1J-1 L.
  • the manipulator 738 can include, as segments 712, 714, 716, a rigid lever, a servo or other motorized joint, an end effector or base connection .
  • the manipulator 738 includes a removable water resistant or water proof casing.
  • the manipulator 738 can be provided with end components, accessory attachments or other segments which operate torches, gases, hot irons, liquids, dry foods, spices, and seasonings.
  • the segments of the manipulator 738 can be shaped (e.g., modeled) to have
  • the manipulator 738 can be configured to extend and retract as part of the manipulator's movement. Such a motion allows for the manipulator 738 to reach into corners while without forceful motion against the bottom of the cooking surface.
  • the manipulator 738 can include a tension and spring sensor 720 that measures the amount of force being applied to the manipulator 738 from the surface, which can be used in a recipe to indicate hard or soft scraping, stirring, or other manipulation .
  • the sensor 720 can be used to define a safety alarm or quality measurement that can be used in recipes, or when learning custom movements (i.e. learning how firmly or softly to scrape the receptacle).
  • the sensor 720 can be provided at any point of manipulator 738, to detect forces on the vertical axis.
  • the manipulator 738 can include a probe thermometer 724 that can read the temperature of the food (either by stopping and pressing on the food or by submerging in the cooking liquid).
  • the thermometer 724 can, for example, be implemented as a resistive temperature detector or other similar technology, utilizing an extension of the arm as a probe.
  • the temperature can be used as a mechanism for (i) establishing stopping criteria in a recipe step, or (ii) when defining quality measurements or quality alarms for the food preparation device 100/
  • FIG. 8A-8C illustrate variations to a modularized food preparation device, according to some embodiments.
  • a food preparation device 800 can be constructed and operated in accordance with any of the examples described above.
  • the food preparation device 800 is shown to include a compartment 810 which can be provided within a housing 812 of the food preparation device 100.
  • the housing 812 can include a tray structure and/or combination of trays to retain one or multiple food cartridges.
  • the compartment 810 can
  • the compartment 810 can be removed and replaced from the housing 812 in place of a different compartment 820.
  • the compartments 810, 820 can vary by form factor (shape, size) and purpose.
  • the compartments can be provided for purpose of retaining trays of food cartridges, to provide cooling or refrigeration, to provide a warming chamber, or to maintain waste disposal.
  • the compartments 810, 820 can be selected to match dimension, movement and type of food tray.
  • the compartments 810, 820 can be open, with a corresponding tray engaged with the food preparation device 100.
  • compartments 810, 820 can be packed against one another in a modular fashion .
  • the compartments 810, 820 can service different purposes (e.g., food tray, cooling, heating, waste disposal, spice rack, etc.) or the same purpose.
  • the compartments 810, 810 can share or form a joined interior 832 which can house a single large tray, or multiple trays which can be interconnected by a conveyer or cartridge movement system.
  • a tray assembly includes a mechanism to retain trays (or food containers), to supply the trays to the food preparation device 100, and optionally to receive empty trays after the contents of the trays have been dispersed into the food preparation system 200. Numerous configurations and variations can be included with a tray assembly, as described with some examples provided below.
  • FIG. 9A and FIG. 9B illustrate alternative variations of a tray assembly, for use with one or more food preparation systems, such as described with other examples.
  • FIG. 9A illustrates a tray assembly 900 comprising a cartridge 910 which retains trays 902 (shown in phantom) in a cylindrical orientation.
  • the tray assembly 900 can include channels 908 to hold the trays with the cartridge 910.
  • the cartridge 910 can rotate about a center carousel to line up individual trays for engagement and consumption by the food preparation system 200.
  • the food preparation system 200 can, for example, receive and implement a recipe which specifies specific trays based on food contents.
  • the trays 902 can be loaded into the carousel cartridge 910 by the user in advance of using the food preparation system 200. The user can, for example, slide trays to slots defined by channels 908 of the carousel cartridge 910.
  • the carousel cartridge 900 is shown in a horizontal configuration.
  • the carousel cartridge 910 can include addressed slots 904.
  • the user can be guided or instructed to place trays 902 into specific slots based on the addressed positions.
  • the carousel cartridge 910 is positioned vertically to receive trays 902 from a vertical direction.
  • the user can load the carousel cartridge 910.
  • the action can optionally generate an indicator light.
  • the carousel cartridge 910 can be pulled out of the food preparation system 900.
  • Each food tray 904 which the user intends to use for a given recipe can be pushed down into a desired position. Once all of the trays are positioned within the carousel cartridge 910, the carousel cartridge can be aligned so that a selected tray 902 can be received in a corresponding opening of the food preparation system 900.
  • the alignment may rely on a tab on the carousel cartridge 910 to fit into a slot on the device, to ensure correct positioning and addressing of the carousel.
  • the door of the carousel cartridge 910 can be closed, causing the indicator light change to change state, and further enabling/triggering operation of the food preparation system 900.
  • FIG. 9A and FIG. 9B illustrate that the cartridge 910 can include a carousel structure or configuration
  • additional variations may include features for stacking the trays 902 in a directional (e.g., vertical) alignment.
  • vertical stacking of trays can reduce the needed footprint for the compartment of the food preparation device 100, while enabling easier manual insertion of trays.
  • the stacking configuration can promote or facilitate waste collection from the individual trays.
  • FIG. 9C illustrates a tray assembly with a stacked configuration placed in operation within a food preparation device, according to one or more examples.
  • the food preparation device 100 includes a tray assembly 900 having a center carousel 911 which moves or rotates the stacked trays so that the trays revolve around a vertical loop (similar to cars on a Ferris wheel at a carnival).
  • the rotation of the trays 902 enable the individual trays to be positioned for engagement and consumption with the food preparation device 100.
  • the stacked trays are kept upright as they revolve around the vertical loop.
  • FIG. 10A through FIG. 10E illustrate alternative tray designs, in accordance with various embodiments.
  • a tray 1000 is a specifically designed container to hold food for consumption by the food preparation device 100.
  • Each tray 1000 can be specifically designed for the food preparation system 200, which can, as described elsewhere, vary in shape, modular design, size and function.
  • the trays can be stacked or arranged in multiples using a cartridge such as described with examples of FIG. 9A through FIG. 9C.
  • each tray 1000 can be circular, rectangular, square, triangular, cylindrical, or other shape, and may contain at least one flat or curved edge that may be removed manually or automatically by the machine.
  • a tray 1000 can have clips, holes, grooves, or magnets on the side or bottom to engage with a grabber 1120 (See FIG. 11A) or another exterior attachment that can position the individual tray 1000 over the cooking receptacle.
  • trays 1000 may contain multiple compartments of different ingredients.
  • individual trays 1000 can also contain extending edges near the top of the opening where the tray can be cut open to balance itself on at least 2 to barriers below the edge to keep itself level.
  • Each tray 1000 can also be designed to be smaller at the bottom to fit on, for example, a platform of a cartridge, such as a tray wheel or vertical tray platform.
  • the individual trays 1000 can be weighted at the bottom in order to secure the trays on the platform.
  • Each tray 1000 can be designed to stay upright at all times, and each tray may be sealed until it's time to use the ingredients. Trays that are sealed may be utilize with a tray grabbing mechanism (e.g., see FIG. 11A) to open them before use.
  • trays 1000 While dimensional and shape variations of trays 1000 may require different cartridge structures, variations also provide that cartridges can support trays of varying size.
  • the trays 1000 can also be formed from varying kinds of disposable or reusable materials, such as, for example, plastic, paper, bio plastic, Styrofoam, or other food-safe disposable material.
  • the tray 1000 includes raised bumps, ridges or surface features 1010 to prevent food items and liquids from sticking to the underlying tray surface.
  • the tray 1000 includes a "soak pad" or other material designed to soak up moisture and reduce adhesion of the food to the tray surface.
  • a pad may be formed to a ridged or bumped tray and/or contain ridges or bumps themselves. The pad may be adhered or attached to the tray to prevent depositing into the receptacle.
  • the pad may be made of a disposable or dish-washable material.
  • the tray 1000 can include a removable cover (now shown) to enable food to be sealed until use.
  • the cover may be removed by cutting
  • a tray 1050 includes a side or cross- section of a tray depicts tray lip structure 1030 which can engage tracks (see FIG. 11A) of cartridges or other tray retention structures.
  • the outer perimeter of the tray 1000 can include wheels 1032 or other friction-reducing mechanisms to facilitate movement of the individual tray on the tracks of the cartridge.
  • FIG. 11A illustrates a tray retention structure 1110 to enable individual trays to be securely received and retained for operational use, according to one or more examples.
  • the tray retention structure 1110 is aligned in a vertical orientation, so that trays are vertically stacked in shelf formation .
  • the food preparation device 100 (or cartridge) can include a locking structure as shown with an example of FIG. 11A.
  • a tray retention structure 1110 e.g., which can be an integrated portion of the food preparation device 100 and/or cartridge
  • Each receiving structure 1115 can be defined by characteristics of dimension, as well as latching mechanism, platform (or base, other than tracks, if present) and other features.
  • the receiving structures 1115 can optionally retain trays of varying types (e.g., paper or plastic) or dimensions (e.g., square or rectangular).
  • the cooperation between the tracks 1114 and the trays 1102 secure the trays until it is time to dispense the contents.
  • the tray retention structure 1110 includes a forward feeding stack which can be configured so that trays are loaded in from the top (Z) in sequential order, and the lowest tray is dispensed from the front (Y) for consumption by the food preparation device.
  • a tray-grabbing apparatus 1120 (“grabber 1120") can operate from within a housing of the food preparation device 100.
  • the grabber 1120 can intake full trays 1102 and output empty trays 1102.
  • the grabber 1120 implements a pushing mechanism to push an empty tray 1102 through the initial stack and into a waste area 1105, which in turn causes the next tray to fall into place.
  • the grabber 1120 can optionally move in the vertical direction in order to grab individual trays.
  • the tray retention structure 1110 can employ a latch mechanism or feature to secure trays for the carousel.
  • a set of hooks latch onto a corresponding set of loops which are built into the tray 1102. With the hook and loop coupling, the tray 1102 is held onto the carousel until the grabber 1120 accesses the tray 1102.
  • the grabber 1120 can intake a tray 1102 by engaging a perimeter lip structure of the tray 1102 from the front side, lifting the tray slightly, and then pulling it into the cooking container.
  • the grabber 1120 can alternatively replace a given tray 1102 in the same way: first by lifting up, push into the tray storage compartment, and then lower onto the hooks.
  • a ratcheting mechanism (not shown) can be provided with a tray retention structure (or carousel variation) to yield and release a tray 1102 in response to an insertion force in a given direction .
  • a ratcheting mechanism can yield when a tray 1102 is pushed down on the carousel or stack, and not yield to upward pressure from the tray 1102.
  • the grabber 1120 can release the tray 1102 by pushing the tray 1102 into the ratchet, and thereby releasing the ratchet mechanism. The grabber 1120 can then pull the now freed tray from the carousel or stack.
  • a food preparation device or system can access or utilize an arrangement of cubicles, called a tray grid, as an addition or variation to a carousel or stack.
  • the food preparation device 100 can employ the grabber 1120, which can be mounted on a 2-dimensional gantry mechanism to access individual cubicles. Prior to operation, cubicles can be mapped to containers or trays which contain specific food items.
  • the grabber 1120 can be implemented as a robotic component that receives input, navigates to the correct cubicle, and pulls out a specifically selected tray at a particular location. The input received by the grabber 1120 can specify the food item or the cubicle. The grabber 1120 can dump the contents into the tray, and then place the empty tray back in the original cubicle.
  • the user can load trays directly into the cubicles (from the side, back or top of the device).
  • a box of trays can be placed into the storage compartment without removing the individual trays (i.e. a cartridge of trays).
  • the contents of the trays may be unknown, or the computing resources of the food preparation device 100 may lose track of the trays.
  • the food preparation device 100 includes sensors (weight, vision, barcode, RFID, etc.) to check and verify that the ingredients of a sealed tray or correct. This check may be based on information provided on or with the tray (e.g., barcode or QR code
  • the food preparation device can utilize the sensor information to check that the ingredients are the ones called for in a given recipe, that the trays 1102 are loaded correctly (and not overloaded), that the quantity of food items provided by the trays 1102 are sufficient for the tray 1102, that the cut is correct for the recipe, and/or that the ingredients will fall freely from the tray (e.g. contents are not jammed in the tray).
  • checks fail, a variety of operations can be performed, for varying levels of concern . In one
  • the user when the check fails, the user may be alerted by an audible or visual notification .
  • the user can override check and verification alarms and proceed through the cooking process.
  • a tray 1102 can contain some passive indicator of quality, based on the time since the tray was packed or sealed, as well as the storage temperature of the tray 1102 and the context or manner in which the tray was packed. In this way, each tray 1102 can be provided with specific information and/or instructions regarding temperature and time storage requirements/limitations for the particular tray. Some examples for tracking and conveying information about the trays 1102 is provided below.
  • disposable prepackaged trays 1102 may contain a visual indicator that changes color based on temperature (“spoilage indicator"). If a tray is ever stored for an unsafe period of time at an unsafe temperature, the color of the indicator may change to provide visual record of this unsafe storage.
  • the colors and meanings may include the following (i) Green as an indicator that the ingredients are fresh and ready to use; (ii) Yellow as an indicator that the ingredients may have been stored at an unsafe temperature for some period of time; and/or (iii) red as an indicator the ingredients have likely spoiled and should not be used.
  • the scale used to determine these colors may vary based on the ingredients (e.g. meat spoils much easier than pasta and grains).
  • the disposable/prepackaged trays can contain a visual indicator that changes based on the time from when the tray 1102 was packaged ("expiration indicator").
  • This indicator may resemble a bar of ink. It may use ink or markings that deteriorate or dissolve over time.
  • the indicator using this technology would contain enough ink such that when it is gone, the product is past its expiration date.
  • such an ink-based indicator would provide reliable information about food safety without use of electronics.
  • reusable trays contain slots or fixtures that can hold reusable indicators.
  • Indicators may be sold as separate replaceable placards, stamps, stickers, or medallions. Because of the variable nature of the indicators, users may be able to buy expiration indicators in units of 1 day (e.g. a 5 day indicator, 7 day indicator, 30 day indicator, etc.). Users may be able to buy spoilage indicators based on the optimum target temperature, or the type of food (e.g. beef, chicken, vegetables) being monitored. Additionally, in some variations, the food preparation device 100 can monitor the ingredients being loaded into the trays for spoilage or expiration .
  • the monitoring can be done by detecting, for example, indicators, codes or other information about when trays 1102 were sealed or last used.
  • the device may be configured to only accept unspoiled, unexpired ingredients, or accept some range of spoilage or expiration (e.g. can accept up to yellow spoilage, or up to 5 days after the expiration date). These ranges may be settable (adjustable) for types of ingredients (e.g. meat must be green, vegetables can be yellow, rice can be red).
  • This configuration may be set by the administrator of the device (i.e. an administrator may never allow spoiled food, for liability purposes) or may be set based on a user's personalization preferences (i.e. a user may be comfortable with questionable vegetables).
  • the personalization may contain safeguards to not allow the user to create unsafe foods.
  • an alphanumeric sequence code can be associated with an ingredient, and the presence of the code in connection with a given tray can signify the ingredient as present in, for example, a sealed tray 1102.
  • the code can specify the ingredient, as well as secondary information such as the cut or chop of the ingredient, or special attributes about the ingredient (low salt, no sugar added, organic, strain or cultivar, place of origin, place of processing/packaging, etc.). This code may be specified when creating recipes (for automatic ingredient picking), Cooking on the Fly, or during collaboration .
  • the code can also be associated with electronically generated or stored recipe data structures.
  • the presence of the code can signal data and/or instructions to cause the food preparation device 100 to use the particular tray 1102 when, for example, implementing a recipe.
  • the food preparation device can also verify that the ingredients are loaded into the system, and/or that the food item of the tray 1102 is the right type (cut, organic/not, etc.) of that ingredient.
  • the food preparation system 200 can implement a platform to support tray identification .
  • the tray identification can be implemented by, for example, a processing resource associated with the food preparation device 100.
  • the identification can specify, for example, a) the type of ingredient in that tray and b) if the tray is disposable.
  • a tray 1102 can be identifiable by an ingredient code that corresponds to the ingredient contained in that tray.
  • a tray 1102 can be labeled with a barcode or electronic tag that can be read by the device to pull a tray from the pantry or to validate that the tray is right for the given recipe.
  • a tray 1102 can be identifiable as disposable in order to select instructions for the food preparation device 100.
  • the instructions can specify whether to, for example, cut or pry the lid.
  • the device can employ a small magnetic sensor in the carousel or stack, and reusable trays may contain a small magnet in the bottom of the tray. When the device senses that a magnet is placed against the magnetic sensor, it will treat the tray as a reusable tray and inhibit cutting the tray lid.
  • the prepackaged trays can contain the identifiable marking as an embedded tag or printed barcode.
  • Reusable trays can contain a slot or compartment for the user to insert a printed barcode, label, or other marking.
  • Reusable trays can also include a system of depressible dots (buttons, depressions) that can be used to indicate the contents of the tray. These dots can be depressed in by the user, and then pressed out for reuse when the tray 1102 is cleaned and serviced. The device will read the depressions, similar to how a barcode or electronic tag may be interpreted.
  • the raised dots may additionally or alternatively indicate the position and/or orientation of the tray. For example, a device may read or interpret the dots to obtain information for the position and/or orientation of the tray.
  • tray addressing system can be employed. According to the tray addressing system, each tray location in a cartridge, cubicle (or cubicle array) can be identified by the tray cutout, and positioned within the tray cutout. Tray cutouts may be lettered starting with A (e.g. A, B, and C) and positions may be numbered starting from the bottom (e.g. 1, 2, and 3). Tray addresses may be included in a recipe (e.g. place spaghetti in Al and sauce in Bl and cheese in B2). Tray addresses may also be remapped within the computer interface software of the food preparation device 100 in order to enable multiple meals or alternate configurations.
  • A e.g. A, B, and C
  • Tray addresses may be included in a recipe (e.g. place spaghetti in Al and sauce in Bl and cheese in B2). Tray addresses may also be remapped within the computer interface software of the food preparation device 100 in order to enable multiple meals or alternate configurations.
  • modularized or auxiliary components of a food preparation system 200 can use an identification and/or addressing mechanism to enable trays 1102 to be inventories and retrieved when needed.
  • the trays 1102 can be stored within, for example, a pantry module which maintains a refrigerated or chilled environment.
  • the pantry can be used for warming.
  • a pantry module can include a cartridge, or cubicle which supports addressing and tray identification .
  • the pantry can be combined with the cartridge to accept cooked ingredients from the cooking surface for cooling.
  • the manipulator 138 can scoop and place food into an empty tray, and tray gets loaded into the carousel or stack through the tray to cooking opening.
  • a carousel or wheel rotates the tray to the appropriate opening and moves the entire tray and contents through the opening into the refrigerated pantry.
  • the grabber 1120 can slide along the affixed rails in the cooking compartment, in order to grab a specified tray 1102.
  • the grabber 1120 can remove a tray 1202 from a cartridge 1210, and then pulls the tray 1202 into a cooking compartment of a food preparation device 100.
  • the food preparation device 100 can cut or pry the container open . Additionally, the food preparation device 100 can rotate the respective tray 1102, 1202 to deposit the contents into the center of the cooking surface. In variations, the food preparation device 100 can employ motorized mechanisms to jerk or shake the respective tray 1102, 1202 once the lid is cut or unsealed to facilitate the contents being dispersed into the receptacle of the food preparation system 200. The food preparation device 100 can also employ jerking or shaking to loosen the food from the tray. The grabber 1220 can insert the now empty tray back into the cartridge at the position from which it was grabbed.
  • the grabber 1120, 1220 can cut or lift the lid on the tray 1102, 1202, in order to access the contents.
  • the apparatus may use the cutter/lifter as a scraper to remove food from the tray.
  • the grabber 1120, 1220 can position covers over unused tray slots, to prevent cross contamination and improve aesthetic.
  • FIG. 11B illustrates a steamer tray 1132.
  • the steamer tray 1132 can include a perforated container 1122 and a non-perforated container 1124 which are concentrically aligned or coupled, such that the perforated 1122 container is smaller in cross-dimension than the non-perforated container 1124.
  • the perforated container 1122 and the non- perforated container 1124 can be affixed to one another by their respective rims (e.g., rim 1128 and rim 1130), while the perforated container is inside the non-perforated container.
  • an area 1126 of space between the non-perforated container 1124 and the perforated container 1123 may be filled with water (or ice).
  • a grabber e.g., 1120 of FIG. 11 A
  • a heating surface e.g., heating surface 114
  • water in the area 1126 can be brought to steam, and the steam may be applied to any food items within the steamer tray 1132.
  • the steamer tray 1132 can be positioned above the heating surface such that the steamer tray 1132 does not make contact with the heating surface and still can have the water be heated.
  • the grabber can retrieve the steamer tray from the tray retention structure 1110 and position the steamer tray 1132 above the heating surface such that the steamer tray 1132 does not make contact with the heating surface.
  • the water of the steamer tray 1132 can still be heated when the heating surface is emitting heat.
  • the steamer tray 1132 can be an open system. For example, there can be one or more openings where the perforated container and the non-perforated container are affixed (e.g., between areas rim 1128 and rim 1130). In such a configuration, the steam can be released from the one or more openings.
  • the steamer tray 1132 can be a closed system. For example, there can be no openings where the perforated container and the non-perforated container are affixed (e.g., between areas rim 1128 and rim 1130). In such a configuration, the steam can circulate throughout the steamer tray 1132.
  • the steamer tray 1132 can be frozen, to freeze the water and prevent the water from spilling into the perforated container or out of the one or more openings of an open system steamer tray 1132.
  • the steamer tray 1132 can include a heat sensitive film cover over the perforated container to prevent the water from spilling into the perforated container.
  • the steamer tray 1132 can be utilized independent from a food preparation device (e.g., food preparation device 100).
  • the steamer tray 1132 can be utilized in a microwave or a stove top (e.g., induction, electric or gas).
  • an alternative tray retention structure 1210 includes a wheel structure 1240 as a cartridge from which trays 1202 can be retained and retrieved.
  • the cartridge can support each tray 1202 with a platform 1205.
  • Each platform 1205 can rotate on its own axis to stay level as the wheel rotates, so that the trays 1202 stay upright at various possible positions on the wheel-shaped cartridge.
  • the trays 1202 may also point toward a specific marker, such as the center or side of the rotating platform, and rotate away from the cooking compartment opening before it disposes ingredients at an angle over the receptacle.
  • the grabber 1220 can extend to grab onto a selected tray 1202 as the wheel- shaped cartridge 1240 rotates.
  • the grabber 1220 can push the individual trays 1202 onto, for example, a blade/lifter mechanism to cut or lift the top (if present) off of the tray, before dispensing the contents.
  • the grabber 1220 can push the tray out into the cooking compartment, and tilt to dispense the contents into the cooking receptacle.
  • the grabber 1220 can be mounted on rails, belts or other guides to guide itself with the tray onto the correct spot in the cooking receptacle. Once deployed, the grabber 1220 can retract with the now empty tray into the center, side, or bottom of a storage
  • the tray grabber 1220 can be mounted on a track, chain, belt, ratchet, or other mechanism (the "track"), similar to tray tracks.
  • the track may run vertically, horizontally, or in a loop like motion around the tray stacks, and may run around the top, bottom or sides of tray stacks (to move trays around the compartment).
  • the grabber 1120, 1220 can be implemented using one or more of clamps, clips, holes, grooves, magnets, or undermounts which lock temporarily onto the tray, and can be locked an unlocked by mechanical forces exerted from the grabber 1220.
  • FIG. 13 illustrates an example food preparation device that can include one or more types of feedback sensors.
  • the feedback sensors can be used to monitor the receptacle 140 and to provide input data to processor 178 of the food preparation device 100.
  • the data can be utilized by the processor 178 to adjust food preparation, implement cooking procedures automatically (e.g., without user intervention), and/or notify the user of the food preparation device 100.
  • Examples of feedback sensor can include infrared (IR) sensors 1302 and/or vision and light-field camera arrays 1304.
  • the food preparation device 100 may also include one or more pressure sensors 1306.
  • IR sensors 1302 can sense the temperature of the entire area of the receptacle 140.
  • the IR sensors 1302, either individually or in combination with vision and light-field camera arrays 1304, can also sense the temperature of each individual food item in receptacle 140.
  • Such temperature data can be utilized by the processor 178 to determine the cooking state (e.g., raw, fully cooked, etc.) of a food item
  • the processor 178 may use the vision and light field camera arrays 1304 to determine a variety of different types of information about the ingredients and/or the cooking state of the individual ingredients. For example, the processor 178 may use the 1304 to recognize shapes and colors of food items that are being cooked in receptacle 140. For example, the vision and light-field camera arrays 1304 can be used by the processor 178 detect the color of a food item and transmit such data to the processor 178. The processor 178 can determine, on the color spectrum of the images, the cooked state of a food item (e.g., specific ingredient like chicken, combined chunk of ingredients like chicken in tomato sauce). In some implementations, the vision and light-field camera arrays 1304 can be positioned on the food preparation device 100 such that the processor 178 can obtain a view of receptacle 140.
  • the vision and light-field camera arrays 1304 can be positioned on the food preparation device 100 such that the processor 178 can obtain a view of receptacle 140.
  • the pressure sensors 1306 can be located under the receptacle 140 to sense the amount of pressure being placed on the receptacle 140.
  • the pressure data can be transmitted to the processor 178.
  • the processor 178 can utilize such pressure data to determine the state of the food items on the receptacle 140.
  • the pressure data can indicate how well piece of meat is by the processor 178 controlling a manipulator (e.g., manipulator 138) to press down on a single piece of meat.
  • the resulting pressure data can be utilized by the processor 178 to determine how well done the meat is).
  • the pressure data can indicate if a food item is stuck on the receptacle 140.
  • the processor 178 can then control a manipulator (e.g., manipulator 138) can move a food item that is determined to be stuck by the processor 178. Additionally, the processor 178 can determine the amount of force the manipulator is to apply on the food item that is determined to be stuck on the receptacle 140.
  • a manipulator e.g., manipulator 138
  • the processor 178 can determine the amount of force the manipulator is to apply on the food item that is determined to be stuck on the receptacle 140.
  • the processor 178 can exchange
  • the network service can compile sensor data from one or more of the food preparation devices 100, and then use the information to determine statistical based models. From the statistical models, the network service can provide heuristic intelligence to a food preparation device 100.
  • the processor 178 can retrieve the heuristics from the network service or the food preparation device 100 can store the heuristics.
  • determinations can guide or instruct the processor 178 in controlling, among other aspects, the motion or movement of the manipulator (e.g., manipulator 138), the location of the specific food items, the temperature of the receptacle, and/or other features.
  • the manipulator can be controlled as to its movement, based on the determinations of the processor 178 made regarding the cooked state of the food items.
  • the manipulator may push food items to the side or to a specific location on the receptacle (e.g., receptacle 140), flip food items, spread food items, and perform other tasks.
  • the processor 178 can control the type of movement of the manipulator (e.g., flipping, cutting, injecting, pressing, stirring, etc.) based on the sensor data of the food preparation device 100 and/or the heuristics provided by the network service.
  • the network service can derive statistics that are specific to ingredients or combination of ingredients, and the statistics can describe number states of cooked or preparation. For example, the statistical determinations can a time remaining until a food item is cooked, or until a food item needs to be manipulated (e.g., flipped, moved to the side of the receptacle for cooler surface, etc.). More generally, the statistical models can maintain, for ingredients or combinations thereof, cooking times, cooking temperatures, manipulations, and sensory data for various stages of the cooking process. Such statistics can be retrieved by the processor during a current cooking process, to help make decisions for the current cooking process.
  • processor 178 can utilize sensor data of a current food preparation process and/or the statistics/heuristics of similar cooking conditions provided by the network service. In other words,
  • processor 178 can utilize sensor data (e.g., sensor data from vision and light-field camera array 1304) of the food preparation device 100 and heuristics provided by the network service to determine/recognize the one or more food items in the receptacle. For example, the processor 178 can recognize a specific food item on the receptacle based on the sensor data and heuristics. In other examples, the processor 178 can recognize the combination of two or more food items mixed together by the manipulator on the receptacle based on the sensor data and the heuristics.
  • sensor data e.g., sensor data from vision and light-field camera array 1304
  • the processor 178 can recognize a specific food item on the receptacle based on the sensor data and heuristics.
  • the processor 178 can recognize the combination of two or more food items mixed together by the manipulator on the receptacle based on the sensor data and the heuristics.
  • the processor 178 can utilize sensor data indicating temperature (e.g., from IR sensor 1302), color (e.g., from vision and light-field camera array 1304), and texture (e.g., from pressure sensor 1306) to intelligently discern the current stage of cooking.
  • the processor 178 can determine when to stop cooking, temperature and motion manipulations to produce optimally cooked food, based on the determined current stage of cooking.
  • the processor 178 can utilize sensor data to differentiate between food items in the receptacle 140 that have been non- uniformly cooked. Additionally the processor 178 can selectively manipulate the non-uniformly cooked food items with manipulator 138 to produce overall uniformly cooked food.
  • Sensor data can also indicate feedback on raw ingredient quality in terms of size, temperature, color, and potentially tampering. Such feedback will be used for food preparation/handling process corrections.
  • sensor data from a vision and light field camera array 1304 and/or a pressure sensor 1306 can indicate the size of raw ingredients.
  • the processor 178 can determine whether the food item is the correct size as indicated by the recipe, based on the sensor data from the vision and light field camera array 1304 and/or the pressure sensor 1306. In other examples, the processor 178 can track one food item or multiple food items on the receptacle based on the sensor data from a vision and light field camera array 1304.
  • sensor data from an IR sensor 1302 can indicate the temperature of the raw ingredient. Based on the sensor data from the IR sensor 1302, the processor 178 can determine whether the temperature of the raw ingredient would be at temperature that promotes growth of bacteria or other harmful organisms. Additionally, sensor data from a vision and light field camera array 1304 can indicate actual presence of bacterium or other harmful organisms. Based on the sensor data from the vision and light field camera array 1304, the processor 178 can determine whether the raw ingredient the raw ingredient is safe for food preparation . The processor 178 can notify a user if the processor 178 determines the raw ingredient is not safe for food preparation or consumption.
  • sensor data from an IR sensor 1302 and/or a vision and light field camera array 1304 can indicate whether certain ingredients can be heated beyond a certain temperature.
  • sensor data from an IR sensor 1302 and/or a vision and light field camera array 1304 of an oil being heated can indicate whether the smoke point of the oil has been reached.
  • the processor 178 can prevent oils being heated to the corresponding smoke point of the oil based on the sensor data from an IR sensor 1302 and/or a vision and light field camera array 1304.
  • sensor data from a vision and light field camera array 1304 can indicate whether the raw ingredient appears to be tampered.
  • the processor 178 can determine a raw ingredient or food item has been tampered based on the sensor data from the vision and light field camera array 1304. Additionally the processor 178 can notify a user if the processor 178 determines the raw ingredient or food item has been tampered with.
  • the processor 178 can determine from sensor data from a IR sensor 1302, vision and light field camera array 1304 and/or pressure sensor 1306, the changing conditions of food items during the food preparation process. Such determinations can be utilized by the processor 178 to determine a next set of instructions for the manipulator (manipulator 138). In some implementations, the next set of instructions can also be based on a recipe. In other implementations, the next set of instructions can include instructions to control the movement and type of movement of the manipulator. In some examples, the next set of instructions and sensor data can be provided to the network service to determine statistical based models for a particular cooking condition. Such statistical based models and derived heuristic intelligence can be provided to food preparation device 100 for the processor 178. As a result, the processor 178 can determine the best practices for cooking conditions similar to the cooking conditions
  • FIG. 14 illustrates an example method for operating a food preparation device utilizing sensor data of a vision and light field camera array.
  • the food preparation device 100 employs a vision and light field camera array 1304 to obtain images of the cooking surface 140 while the ingredients are being cooked (1400).
  • the food preparation device 100 follows a recipe when cooking.
  • the recipe can specify ingredients, time of cooking each ingredient, ideal temperature for cooking, including for individual ingredients or for the ingredients in aggregate, and specific steps or operations which may be performed by, for example, a manipulator 138 that extends to or near the cooking surface 140.
  • the processor 178 of the food preparation device 100 may perform image recognition on images, provided by a vision and light field camera array 1304 (1402).
  • the image input may be in the form of a series of still images, or as video.
  • the image recognition can identify food items, such as ingredients of the recipe.
  • the processor 178 identifies ingredients, or combination of ingredients on the cooking surface 140 when the ingredients are added to the cooking surface 140 at an initial point in time (e.g., before the cooking surface 140 is hot) (1404). In this way, the ingredients are detected by the processor 178 using image recognition before the ingredients exhibit characteristics of being cooked. As the cooking process takes place, the processor 178 can employ image tracking to follow the food item. The image tracking can monitor the position of an ingredient or food item using, for example, an attribute of shape and a position of the ingredient or food item at a previous instance. The tracking facilitates the processor 178 in monitoring multiple ingredients or food items at one time.
  • the processor 178 can implement image recognition to employ classifiers that are trained to detect specific types of ingredients which are initially identified through the recipe (1406).
  • the processor 178 may use the recipe as input to preselect a set of classifiers which are trained to detect specific ingredients.
  • the processor 178 can employ the classifiers on the image data received through the vision and light field camera array 1304 to detect the ingredients or food items by category or classification.
  • the category or classification can have various levels of granularity.
  • the classification of the ingredient or food items can specific to the ingredient level (e.g., chicken breast meat), or to the type of ingredient (e.g., poultry).
  • the processor 178 can detect the classified food ingredients even as the ingredients are moved about in different regions of the cooking surface 140, and/or combined with other food items (e.g., chicken sticks with rice).
  • the processor 178 may employ the image recognition (e.g., with classifiers) to initially detect ingredients (e.g., when raw), and to determine the ingredient by shape or other visual characteristic.
  • the processor 178 can track the position of the detected objects over the cooking surface 140.
  • the processor 178 can employ the classifier and/or image tracking to monitor individual ingredients and food items for changes in cooking attributes (1408).
  • the cooking attributes detected in the ingredients and food items may include, for example, color, shape and texture. These attributes can be detected and correlated to a cooking state (e.g., light brown is almost done).
  • the processor 178 can select to perform cooking operations on specific ingredients or food items (apart from other food items or ingredients) (1410).
  • the selection of cooking operations may be based on the cooking attributes of the corresponding ingredients (or combinations of ingredients) on the cooking surface 140 on which the cooking operations are to be performed.
  • the selection of cooking operations may also be based in part on temperature input received by the processor 178.
  • the processor 178 may also employ a temperature sensor to detect a temperature of the cooking surface, or a temperature gradient emitted from the cooking surface.
  • the processor 178 may also employ a temperature sensor that can detect surface temperature of food items.
  • processor 178 can select cooking operations for individual food items, where the food items may correspond to individual ingredients, or a combination of ingredients that conglomerate during the, cooking process.
  • the cooking operations can be specific to the detected ingredient or ingredient type, as well as to the cooking attribute detected for ingredient at a given moment.
  • cooking operations can include a frequency of stirring by the manipulator 138, a type of motion performed by the manipulator 138 on a specific ingredient or food item, vertical positioning of a food item or ingredient relative to other food items on the cooking surface based on surface temperature of the cooking surface, and/or lateral position of food items on the cooking surface 140.
  • a network service can provide heuristic intelligence, to the food preparation device 100.
  • the heuristic determinations can guide or instruct the processor 178 in controlling, among other aspects, the motion/movement or type of movement of the manipulator (e.g., manipulator 138), the location of the specific food items, the temperature of the receptacle, and/or other features.
  • the manipulator can be controlled as to its movement, based on the determinations of the processor 178 made regarding the cooked state of the food items.
  • the manipulator may push food items to the side, flip food items, spread food items, and perform other tasks.
  • the network service can provide statistics that are specific to ingredients or combination of ingredients and the statistics can describe number states of cooked or preparation to processor 178.
  • the statistical determinations can a time remaining until a food item is cooked, or until a food item needs to be manipulated (e.g., flipped, moved to the side of the receptacle for cooler surface, etc.).
  • the statistical models can maintain, for ingredients or combinations thereof, cooking times, cooking temperatures, manipulations, and sensory data for various stages of the cooking process.
  • such statistics can be retrieved by the processor 178 during a current cooking process, to help make decisions for the current cooking process.
  • the food preparation device 100 can utilize sensor data of a food preparation device of a current food preparation process and/or the statistics/heuristics of similar cooking conditions provided by the network service.
  • the processor 178 can utilize sensor data indicating temperature (e.g., from IR sensor 1302), color (e.g., from vision and light-field camera array 1304), and texture (e.g., from pressure sensor 1306) to intelligently discern the current stage of cooking.
  • the processor 178 can determine when to stop cooking, temperature and motion manipulations to produce optimally cooked food, based on the determined current stage of cooking.
  • the processor 178 can utilize sensor data to differentiate between food items in the receptacle 140 that have been non-uniformly cooked. Additionally the processor 178 can selectively manipulate the non-uniformly cooked food items with manipulator 138 to produce overall uniformly cooked food.
  • Sensor data can also indicate feedback on raw ingredient quality in terms of size,
  • FIG. 15A illustrates an example container with a shrink wrap ingredient pod.
  • the container 10 can include a packaging 8 that can be collapsible (e.g., a plastic packaging capable of shrink wrapping food or a collapsible funnel structure) and affixed to the container 10.
  • a packaging 8 can be collapsible (e.g., a plastic packaging capable of shrink wrapping food or a collapsible funnel structure) and affixed to the container 10.
  • one or more sides of the packaging 8 can be affixed to one or more side walls 15.
  • packaging 8 can include a break away seal 9 and container 10 can have an opening on the top surface 12.
  • FIG. 15B illustrates an example food item extraction implementation of a container with a collapsible packaging.
  • the injector 165 can penetrate the top surface 12 to inject a gas (e.g., air) into packaging 8.
  • the air injected into packaging 8 can create enough pressure in the packaging to break the seal 9 and release all the food items in the packaging 8.
  • the bottom base 14 can be a trap door or the container 8 cannot include a bottom base 14 at all, to allow the food items to be released from the container 10.
  • the food items can be released into the receptacle 140 when the container 10 is above the receptacle 140 (e.g., outlet 174).
  • the trap door can be affixed to container such that the hinge of the trap door is directly below the location of the break-away seal of the package 8.
  • a hinge configuration can allow food items from package 8 to pass through packaging 8 and out of container 10.
  • the injector 165 can draw in air from the package 8 after the seal 9 has been broken to retract the package 8.
  • the hinge can be motorized and controlled by processor 178 of the food preparation device 100. Additionally, the processor 178 of the food preparation device 100 can regulate or control the volumetric flowrate of food ingredients from package 8 by controlling the motorized hinge.
  • FIG. 15C illustrates an example rotating component for retaining one or more suitably shaped containers.
  • the containers 1506 can combine with the rotating component 1502 on food preparation device 100 to supply the ingredients, similar to containers 1506 described with other examples.
  • the rotating component can be circular, and the container 1506 may be circular, semi-circular or a rounded wedge.
  • the container 1506 can include a packaging 1508 that can be collapsible (e.g., a plastic packaging capable of shrink wrapping food or a collapsible funnel structure) and affixed to the container 1506.
  • one or more sides of the packaging 1508 can be affixed to one or more side walls 1512.
  • packaging 1508 can include a break away seal 1510 and container 1506 can have an opening on the top surface 1516.
  • FIG. 15D illustrates an example food item extraction implementation of a rotating componentl502.
  • food preparation device 100 can include a rotating component 1502.
  • the rotating component 1502 can include one or more motors 1504 to rotate the rotating component 1502.
  • the rotating component 1502 can rotate the rotating tray such that a container 1506 can positioned above receptacle 140.
  • the injector 165 can inject a gas into the packaging 1508 to release the food items in the packaging 1508 into the receptacle 140.
  • the injector 165 can penetrate the top surface 1516 to inject a gas (e.g., air) into packaging 1508.
  • a gas e.g., air
  • the air injected into packaging 1508 can create enough pressure in the packaging to break the seal 1510 and release all the food items in the packaging 1508.
  • the bottom base 1514 can be a trap door or the container 1508 cannot include a bottom base 1514 at all, to allow the food items to be released from the container 1506.
  • the trap door can be affixed to container 1508 such that the hinge of the trap door is directly below the location of the break-away seal of the packaging 1508. Additionally, a hinge configuration can allow food items from
  • the injector 165 can draw in air from the packaging 1508 after the seal 1510 has been broken to retract the packaging 1508.
  • the hinge can be motorized and controlled by a processor (e.g., processor 178) of the food preparation device 100. Additionally, the processor of the food preparation device 100 can regulate or control the volumetric flowrate of food ingredients from packaging 1508 by controlling the motorized hinge.

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Food-Manufacturing Devices (AREA)
  • General Preparation And Processing Of Foods (AREA)

Abstract

La présente invention concerne un dispositif de préparation d'aliments qui peut comprendre un réceptacle, un manipulateur, un ou plusieurs capteurs et un processeur. Le processeur peut reconnaître un ou plusieurs produits alimentaires préparés sur le réceptacle afin de détecter les attributs de chaque produit alimentaire desdits produits alimentaires, sur la base des données de capteur desdits capteurs. De plus, le processeur peut commander une opération de cuisson du manipulateur sur la base des attributs détectés.
PCT/US2017/030911 2016-05-03 2017-05-03 Dispositif de préparation d'aliments permettant de préparer des aliments par reconnaissance et manipulation WO2017192765A1 (fr)

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EP17793282.9A EP3451883A4 (fr) 2016-05-03 2017-05-03 Dispositif de préparation d'aliments permettant de préparer des aliments par reconnaissance et manipulation
CN201780036383.XA CN109310245A (zh) 2016-05-03 2017-05-03 通过识别和操纵来制备食物的食物制备装置

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US201662331373P 2016-05-03 2016-05-03
US62/331,373 2016-05-03
US201662420551P 2016-11-10 2016-11-10
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EP3451883A4 (fr) 2020-01-15
CN109310245A (zh) 2019-02-05

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