Method for upstream correction of ice cream products along production line

Abstract

A method for positioning ice cream products is disclosed, comprising providing a first ice cream product and positioning it at a measurement location along a production line for producing ice cream products. A position of a first ice cream product is measured at a measurement location along a production line for producing ice cream products, and the first ice cream product is transported along the production line away from the measurement location. A second ice cream product is then provided and positioned at a measured position along the production line for producing the ice cream product, wherein the positioning of the second ice cream product is based on the measured position of the first ice cream product. A system for using the method is also disclosed.

Description

Technical Field

[0001] This invention relates to a method and system for upstream correction of ice cream products along a production line. Background Technology

[0002] In the ice cream manufacturing industry, optimizing the quality of ice cream products is crucial to delivering ice cream with the correct amount of coating or the correct weight. It is also essential to optimize the output of ice cream produced on the production line to avoid excessive waste during production and prevent line malfunctions. Traditionally, many ice cream products are discarded due to improper conveying along the production line. Another problem is that ice cream products are also unsuitable for sale because their weight is incorrect compared to the claims on the packaging. Therefore, it is highly necessary to adjust the ice cream production line to allow for efficient production. Summary of the Invention

[0003] The inventors have recognized the aforementioned problems and challenges associated with the production of ice cream products and subsequently made the invention described below, which can improve the quality and yield of ice cream products.

[0004] This invention relates to a method for positioning ice cream products, comprising:

[0005] The first ice cream product is provided and positioned at a measured location along the production line used to produce the ice cream product.

[0006] The position of the first ice cream product is measured at the measuring location along the production line used to produce ice cream products.

[0007] The first ice cream product is conveyed along the production line away from the measuring position, and then...

[0008] A second ice cream product is provided and positioned at the measured location along the production line used to produce ice cream products, wherein the positioning of the second ice cream product is based on the measured location of the first ice cream product.

[0009] In a preferred embodiment, the step of positioning a second ice cream product upstream of the measuring position along the production line for producing ice cream products, wherein the positioning of the second ice cream product is based on the measured position of the first ice cream product.

[0010] This provides an advantageous method for positioning ice cream products. This method is advantageous for several reasons, as will be described below.

[0011] The term "ice cream former" should be understood as a device for guiding ice cream toppings from a freezer to a former outlet, where the ice cream is directed out of the former outlet. Additional machines and devices, such as topping feeders, may be present between the freezer and the ice cream former outlet, where nuts or other edible ingredients may be added to the ice cream during the process. The ice cream former shapes and divides the ice cream toppings into ice cream products. An ice cream former can be an ice cream extruder with a continuous flow of ice cream, where the ice cream toppings are cut outside the ice cream former outlet to produce ice cream products. An ice cream former can be an ice cream filler, where the flow of the ice cream toppings is separated by valves before the ice cream former outlet, and the ice cream products are made before leaving the ice cream former outlet. The ice cream toppings can be multiple ice creams based on both color and flavor, which can be mixed, shaped, and individually divided into ice cream products. The ice cream toppings can be a single flavor or a mixture of multiple flavors and / or colors. The ice cream can also have chocolate, caramel, fruit, or other additional toppings or sauces, which can be in or on the outside of the ice cream product. An ice cream former typically includes a long tube for guiding ice cream topping from a freezer to the ice cream former outlet. There may be more than one freezer from which ice cream topping is guided to the ice cream former. More than one freezer is used when manufacturing ice cream products with more than one type of ice cream. Containers containing, for example, the sauce may also be guided to the ice cream former when ice cream products are being made with a sauce. Combinations of multiple freezers and / or multiple containers containing sauce to be added together to the ice cream former may also exist. It can be any combination of ice cream topping and sauce that can be mixed in the ice cream former. The ice cream former is typically positioned above a conveyor or transport surface when it shapes the ice cream topping and separates it into individual ice cream products. When the ice cream product is in the form of ice cream bar shapes, the ice cream former may also move along the conveyor. The ice cream former outlet may also be horizontal or have an angle relative to the horizontal plane. The ice cream former can also be used to fit sticks into ice cream toppings before they are split or into ice cream products that have already been split by, for example, a valve or cutter.

[0012] An ice cream former outlet can be a nozzle, which can vary depending on the type of ice cream product to be formed through the nozzle or manufactured in the production of the ice cream product. When more than one type of ice cream is used, the ice cream former outlet may include more than one nozzle. One of the nozzles in the ice cream former outlet may also be used for a sauce. When the ice cream product is made of more than one color, such as when it is made of more than one type of ice cream, made of a sauce combined with ice cream, or any combination of sauce and ice cream type, the ice cream former outlet typically includes more than one nozzle. Multiple nozzles can also be rotated about an axis to, for example, vortex the ice cream clump in the ice cream container. The term "ice cream former outlet" should be understood as part of the ice cream former, in which the ice cream clump is formed before leaving the ice cream former. When the ice cream former is a filler, the ice cream clump may be separated before the ice cream former outlet, or when a cutter is used to separate the ice cream clump, the ice cream clump may be separated after the ice cream former outlet. The ice cream former outlet is shaped according to the specific shape of the ice cream product to be made (e.g., an oval ice cream product).

[0013] The term "forming ice cream products" can be understood as the process of ice cream clumps flowing from a freezer to an ice cream forming unit, where, when a divider is used, the ice cream clumps at the ice cream forming unit are shaped and divided into ice cream products at the ice cream forming unit outlet. The ice cream clumps can be separated both inside and outside the ice cream forming unit outlet, and can be separated using a valve or cutter. Depending on the specific type of ice cream product to be formed, the ice cream forming unit outlet can include any shape or form. Ice cream products can also be formed by a nozzle outlet, where a valve determines the amount of ice cream in the ice cream product rather than dividing it. The forming process typically begins by shaping the ice cream clumps and then dividing them into ice cream products.

[0014] The term "ice cream product" can be understood as any ice cream product along the production line until its end. An ice cream product will be understood as the same ice cream product along the production line, where it can be refined and improved until the final ice cream product is made. For example, the first ice cream product can be defined as when the cone is placed on the transport surface, when the ice cream topping is shaped and separated from the ice cream former, when the coating has been added, when the packaging is added, or anywhere along the production line.

[0015] The term "ice cream product" can refer to a container for ice cream topping, such as a cone, ice boat, waffle, cookie, or any other edible object used to receive ice cream. An ice cream product can be defined as the first portion of an ice cream product placed on a transport surface. This can be, for example, when a cone or waffle is placed in a hole in a transport surface or on a tray before being filled with ice cream. The first portion of an ice cream product can also be when the ice cream topping is shaped and individually divided and positioned on a transport surface or an inedible upper portion. The term "ice cream product" can be used until the final ice cream product is made, which can typically be when the ice cream product is at the end of the production line or ready for sale.

[0016] The term "forming an ice cream product" can also be understood as a process in which, for example, a cone, ice boat, waffle, cookie, or any other edible material for receiving ice cream is placed on, for example, a transport surface. Therefore, the positioning of an ice cream product can also be understood as the positioning of, for example, a cone or waffle, before ice cream can be added to the ice cream product. Thus, the positioning of a second ice cream product based on a first ice cream product can be, for example, the positioning of a container (such as an ice boat, ice cone, or cookie) for the ice cream topping.

[0017] The term "feeding and positioning" should be understood as the sum of actions performed prior to measuring the position of the ice cream product. Feeding and positioning the ice cream product can be understood as providing the ice cream product from a first measuring position on a transport surface to a second measuring position on a transport surface downstream of the production line. Feeding and positioning can also be understood as providing the ice cream product from the ice cream former to the transport surface or from the gripper to the packaging foil position. Feeding and positioning can also be understood as conveying the ice cream product along the transport surface from the first measuring position to the second measuring position, wherein the ice cream product is provided and positioned to a specific measuring position along the transport surface. The feeding and positioning of the ice cream product can occur anywhere along the production line.

[0018] The term "measurement position" should be understood as the position of an ice cream product measured at a location along the production line used to manufacture ice cream products. Measurements can be taken after the ice cream product has been placed on a transport surface, before entering a hardening tunnel, in a hardening tunnel, after leaving a hardening tunnel, at a coating location, on packaging foil, or anywhere along the production line used to manufacture ice cream products. Measurement of the position of an ice cream product can be performed as an absolute measurement. Measurement of the position of an ice cream product can be based on the position of the transport surface (e.g., the edge of the transport surface). Measurement of the position of an ice cream product can be based on the position of one or more ice cream products placed on a transport surface, where one or more ice cream products may come from the same manufacturing channel or any other manufacturing channel. When producing the same type of ice cream product, the manufacturing channel may have ice cream from different freezers. When producing the same type of ice cream product, the positioning of the ice cream product on the manufacturing channel can be used to adjust the position of the ice cream product upstream on the same manufacturing and / or additional manufacturing channels. Upstream adjustment of the position of the ice cream product on an additional manufacturing channel can also be to adjust the position of ice cream products of different types. Position measurement can also be based on a chain or pull system that transports the transport surface, such as a freezing plate of ice cream products locked by a chain.

[0019] Measuring the position of an ice cream product should be understood as its location in three-dimensional space according to the x, y, and z dimensions. Measuring the position of an ice cream product should also be understood as its position relative to rolling about a first axis (e.g., x), pitching about a second axis (e.g., y), and deflecting about a third axis (e.g., z). Rolling, pitching, and deflecting can be referred to as rotation of the ice cream product in any direction.

[0020] Therefore, the term "transport surface" can refer to any surface on which ice cream products are positioned, whether it is the conveyor itself, such as a conveyor belt, or it can refer to the surface of a "loose" carrier, such as a plate, tray, foil, or bowl. A conveyor can be understood as a conveyor on which ice cream products can be positioned. A conveyor can be a belt or band for conveying ice cream products. A conveyor can also include rollers with spaces between each roller. A conveyor can also include plates, trays, foil, or bowls placed on and conveyed by the conveyor, wherein the plates, trays, foil, or bowls can form a surface on which ice cream products are conveyed. A carrier can include, for example, plates, trays, etc., on which ice cream products are carried, and then the transport surface is considered the surface of the carrier carrying the ice cream products. The transport surface can be driven by a chain or pulling system to, for example, convey plates, trays, or bowls. The transport surface can be the foil before it is separated and welded to fit an ice cream product. The foil can continue to move while the ice cream product is positioned in the foil and when the foil is later welded and cut in the process. The packaging foil can also be in indexing movement, in which ice cream products are positioned and then conveyed a certain distance before being welded and cut, wherein welding and cutting are also carried out while the transport surface may not move.

[0021] The term "ice cream product" can be understood as a mass of ice cream ingredients manufactured before an ice cream former. Ice cream product types can be any of the following: ice cream, lemonade ice, sorbet, ice gel, ice cream sandwich, ice cream cone, popsicle, gelato, frozen yogurt, granita, sorbet, Indian ice cream, Turkish ice cream, or any combination thereof. Ice cream product types can be the size of popsicles, sandwiches, cones, ice cream boats, or ice cream cakes. Ice cream product types can also include other edible parts such as caramel, chocolate, fruit juice, edible toppings, jam, or any combination thereof. Ice cream product types can also be vegan ice cream products. Ice cream can also consist of several different flavors and / or colors.

[0022] In addition, ice cream products may include sticks, containers, cones, or any other related parts used to hold the ice cream product while it is being consumed. Parts related to holding the ice cream product while it is being consumed may be edible materials, such as waffles or cookies. Parts related to holding the ice cream product may also be inedible, such as plastic or wooden sticks or cups.

[0023] Ice cream products can be of any type without any holding device, simply packaged in paper or a box. Ice cream products without any holding device can be like sandwiches, boats, bars, or bite-sized foods typically eaten by hand. Ice cream products without any holding device can also be cake-sized items typically eaten with flat cutlery.

[0024] The term "ice cream cutter" should be understood as a device that separately separates ice cream products from the ice cream topping and allows them to enter or leave the ice cream forming apparatus. It can typically be a thread that passes through the ice cream topping, thus forming the ice cream product. An ice cream cutter can also be a blade. When ice cream is filled into, for example, a cone or boat, an ice cream cutter can also be a valve.

[0025] The production of ice cream products can be understood as having ice cream clumps inside a freezer, which are then guided to an ice cream forming unit with an outlet. The ice cream clumps can be a single mass of ice cream or a mixture of multiple flavors and / or colors. In the ice cream forming unit, the ice cream clumps are shaped and separated individually through the outlet. The ice cream clumps can be divided by cutting, thus forming ice cream products. While forming ice cream products, they can also be placed on a transport surface, such as a conveyor. Ice cream products can be conveyed along the ice cream production line, where they can, for example, be cooled, coated in chocolate, wrapped in paper, and may be topped with waffles or any other related items used for handling the ice cream products. At the end of the production line, the ice cream products are fully formed and will therefore be labeled as ice cream products.

[0026] It is advantageous to have a process for properly forming and positioning ice cream products on a conveyor or transport surface, so as to have a greater ice cream product output.

[0027] Advantageously, ice cream products can be adjusted upstream, depending on their location along the ice cream production line. Adjusting ice cream products upstream can help prevent them from being placed outside their designated positions on the transport surface. When ice cream products may not be in the correct position, it can result in the ice cream products slipping on the transport surface, for example, in a hardened tunnel, or failing to be gripped for later coating during processing. By positioning ice cream products correctly, the quantity of ice cream produced will increase. Ice cream products can also be correctly positioned within the packaging foil so that the packaging foil station encloses the packaging foil around the ice cream products. The measurement location can be understood as any location along the production line. The measurement location can be simply referred to as the position.

[0028] Another advantage is that upstream correction of ice cream products prevents the same positional error from occurring repeatedly. Upstream correction is more effective than having stations for correcting, for example, misaligned ice cream products along the production line, in order to hold ice cream products, for example, those picked up by gripping tools for coating. Upstream correction also prevents ice cream products from adhering to the conveyor before entering the hardening tunnel, which would make downstream correction impossible.

[0029] Upstream alignment of the ice cream product's position can also help indicate whether production might drift in one direction. Drift could mean that the ice cream product might drift slightly closer to the edge of the transport surface at its current location along the production line. Alignment can be adjusted at a specific measurement location, or the position can be adjusted prior to that location, for example, by moving or rotating the ice cream former in a specific direction.

[0030] Adjusting the position of the upstream ice cream product to keep the ice cream production line running is advantageous. Production can continue while positioning the next ice cream product based on the first one, ensuring it is correctly positioned on the transport surface.

[0031] Measuring the position of ice cream products at specific locations and correcting the positioning before those locations to keep production running is advantageous. It prevents unexpected stops or malfunctions of the production line, and allows for greater output of ice cream products.

[0032] Measurements at different locations can also be useful for detecting faults or defects upstream on the production line. These measurements can then indicate whether ice cream products are not in the correct position at a particular location. Defects can be considered before reaching that specific point, allowing the ice cream products to be transported further in the correct location.

[0033] Advantageously, adjusting the upstream position of ice cream products in the production line can lead to higher quality ice cream products and higher production output. The benefits of upstream adjustments can begin by preventing poor quality ice cream products, thus avoiding breakdowns in both short and long periods of the production line. For example, by adjusting the upstream position of the ice cream product, such as when placing it in an AHS tongue for chocolate coating, the quality of the ice cream product can be improved. Positioning within the AHS tongue can optimize the coating of the ice cream product, coating the entire ice cream mass rather than just the stick. Positioning the ice cream product within the packaging foil can result in greater ice cream production output, for example, when the cutter is not cutting into the ice cream or the stick within the ice cream, or when the packaging foil can be cut.

[0034] Another advantage is adjusting the positioning of ice cream products upstream, as downstream adjustments may be impossible. Positioning ice cream products can be adjusted upstream, for example, to prevent them from freezing to the transport surface and to prevent them from cracking or breaking as they are lifted away from the transport surface. Ice cream products may also fail to be lifted from the transport surface, and upstream adjustments can be made to subsequent ice cream products to ensure they can be lifted from the transport surface.

[0035] In a preferred embodiment, the step of positioning the second ice cream product based on the position of the first ice cream product on the transport surface is performed by adjusting the position of the ice cream forming device.

[0036] The term "adjusting the position of the ice cream former" can be understood as shifting or rotating the ice cream former in the lateral direction. For the ice cream former, the lateral direction can be along the conveyor, perpendicular to the conveyor, or any combination thereof. The term "adjusting the position of the ice cream former" can also be understood as rotating or turning the ice cream former about any one of the three axes of freedom (e.g., yaw, pitch, or roll). The ice cream can rotate about a vertical axis or any one of the two horizontal axes. The term "adjusting the position of the ice cream former" can also be understood as changing the distance between the ice cream former and the transport surface.

[0037] The positioning of ice cream products on a transport surface can be understood as their absolute position along the ice cream production line. Alternatively, the positioning can be understood as relative positioning according to the stages of the ice cream forming apparatus, such as the shape of a valve or cutter, and as individually dividing the ice cream products. Relative positioning can maintain the same position of ice cream products relative to each other while simultaneously moving them, for example, by moving them a certain distance along the transport surface according to the stages.

[0038] In a preferred embodiment, the step of measuring the position of the first ice cream product on the transport surface is performed automatically.

[0039] In a preferred embodiment, the adjustment of the position of the ice cream product is performed automatically.

[0040] Automatic measurement and adjustment of the position of ice cream products on transport surfaces is advantageous because ice cream production can continue even as adjustments are affected. Automatic adjustment is advantageous because upstream adjustments can be made from locations that workers might not see along the production line. Positioning errors can occur at entirely different locations within the production line. Ice cream products that may be incorrectly positioned in the packaging foil might be invisible to workers standing next to the ice cream former. Workers might not be aware that the ice cream product is incorrectly positioned and therefore cannot make adjustments. Automatic adjustment is also advantageous in terms of how upstream adjustments affect, for example, the positioning of ice cream products in the packaging foil. Upstream adjustments can, for example, be made 40-60 minutes earlier in the ice cream production process. Positioning adjustments can, for example, be made on the other side of a hardened tunnel, where workers cannot see or know what is happening during ice cream production.

[0041] Automated adjustment can also help reduce the number of workers needed to manufacture ice cream products along the production line. Automated adjustment of the ice cream product's position can also be advantageous because workers along the production line don't need to be like technicians in the ice cream production field. Workers along the production line can position ice cream products or adjust production line parameters based on information about the ice cream products moving down the line. Ice cream products moving down the line may be outside the worker's line of sight, so automated adjustment helps workers when the positioning of ice cream products is outside their knowledge.

[0042] In a preferred embodiment, the position of the ice cream former is automatically adjusted.

[0043] In a preferred embodiment, the adjustment of the position of the ice cream former is performed manually.

[0044] In a preferred embodiment, the position of the ice cream former is manually adjusted based on the automatic measurement of the position of the first ice cream product.

[0045] Advantageously, the position of the ice cream former is adjusted based on position measurements, positioning the ice cream products in the correct location. Automatic adjustment of the ice cream former helps maintain the correct position of the next ice cream product without requiring manual replacement. Automatic adjustment can also be achieved through, for example, stage changes in the cutter or valve, causing all ice cream products to shift along the transport surface in the conveying direction.

[0046] In a preferred embodiment, when the ice cream product is not in the proper position, the step of measuring the position of the first ice cream product triggers an alarm.

[0047] Having an alarm that indicates whether an ice cream product might be out of place so that the next ice cream product needs to be adjusted is advantageous. The alarm can also indicate a possible hardware malfunction in the production line that might have caused the ice cream product to be out of place.

[0048] An alarm can also be triggered when, for example, a chain-driven long conveyor causes the chain to extend or stretch, allowing the chain to move the position of the transport surface, thereby removing the ice cream product from its location. The chain can typically be 500m long and may be difficult to adjust for positioning. Positioning adjustments can usually be made more locally, based on, for example, the edge of a tray, compared to global adjustments to the conveyor or chain.

[0049] In a preferred embodiment, an alarm is triggered when a manual upstream adjustment is required.

[0050] This adjustment can be made on specific hardware before it reaches its position on the production line, or at a specific location along the production line used for ice cream products. Manual adjustment is advantageous when, for example, a nozzle, valve, or cutter may break at the ice cream former outlet and must be replaced with a new one. Wear on the chain driving a long conveyor can cause the chain to elongate, thus potentially altering the timing for positioning ice cream products.

[0051] In a preferred embodiment, a visual interface indicates whether adjustments are needed.

[0052] In a preferred embodiment, the visual interface indicates how adjustments should be made.

[0053] In a preferred embodiment, the visual interface indicates how much adjustment is needed.

[0054] Advantageously, it features a visual interface to determine whether adjustments are needed, how they must be made, and how much adjustment is required. Adjustments can be made based on location outside the line of sight or at a position downstream of the production line. This adjustment is used to correctly position upstream ice cream products on transport surfaces, and can be the ice cream product itself or any kind of hardware along the ice cream product production line.

[0055] The term "visual interface" can be understood as a tablet computer, computer, or any kind of monitoring device used to monitor the production of ice cream products. A visual interface can be configured to inform whether an ice cream product is misplaced and whether any adjustments must be made to reposition the upstream ice cream product.

[0056] The term "visual interface" can also be understood as a visual line, such as a laser or scanner used on a horizontal plane, which can display and indicate the optimal position at a particular location. The optimal position can be defined based on measurements of the position of ice cream products directly at that location and / or the position of ice cream products downstream of that location. The visual line can be static or dynamic, where it can be adjusted based on measurements of the position of downstream ice cream products.

[0057] Repositioning of ice cream products and hardware is advantageous when positioning upstream ice cream products to optimize the quantity of ice cream products produced. Hardware repositioning can be understood as adjusting the position of, for example, the ice cream former by shifting and / or rotating it to properly position the ice cream products. It can also refer to any other type of hardware along the production line used for ice cream products, such as components in hardening tunnels, coating devices, clamping devices at coating locations, packaging machines, or any other devices or machines that may affect the position of the ice cream products.

[0058] In a preferred embodiment, the positioning of the second ice cream product is adjusted by automatically repositioning the relevant hardware based on automatic measurement.

[0059] The relevant hardware may be a machine for positioning trays, a tray for placing ice cream containers, an ice cream former, a hardened tunnel, a transport surface, hardware for topping or sauce dosage, hardware for placing lids, a stick inserter, or any other hardware for producing ice cream products.

[0060] It is advantageous to reposition the hardware based on measurements in order to keep ice cream products correctly placed on the transport surface along the production line.

[0061] In a preferred embodiment, the control circuit of the ice cream former is automatically adjusted by repositioning the relevant hardware based on automatic measurement, thereby adjusting the positioning of the second ice cream product.

[0062] Automatic repositioning of the ice cream former is advantageous when the ice cream product begins to leave its position. Repositioning of the ice cream former can also occur if the nozzle has been changed to shape the ice cream product into another type.

[0063] In a preferred embodiment, the ice cream divider is placed next to the ice cream forming outlet of the ice cream forming machine.

[0064] Advantageously, the ice cream divider is placed near the outlet of the ice cream former to individually divide ice cream products. The ice cream divider can be placed inside the outlet of the ice cream former or only outside the outlet. The ice cream divider can be a cutter in the form of a blade, thread, knife, or any type of tool used for dividing ice cream. The ice cream divider can be a valve, wherein the valve is capable of dividing the ice cream clump by closing the valve, thereby stopping the ice cream flow and allowing only the divided ice cream products to pass through. When, for example, the ice cream product can be an ice cream bar, the ice cream divider can also be placed near the outlet of the ice cream former in a generally horizontal direction.

[0065] In a preferred embodiment, the adjustment of the ice cream forming device outlet and the ice cream divider is performed simultaneously and / or synchronously.

[0066] Advantageously, the ice cream forming unit outlet and / or ice cream divider are synchronized to maintain the ice cream product in the correct position for cutting. Synchronization of the ice cream forming unit outlet and the ice cream divider facilitates the control and adjustment of the ice cream product's position based on stages along the transport surface. These stages can be understood as based on the position of the ice cream or its relative position on the transport surface relative to the next ice cream in the upstream and downstream directions. The stages may shift slightly due to downstream ice cream products that may drift in a certain direction.

[0067] Adjusting the ice cream former outlet can be understood as cleaning ice cream residue or frosting from the outlet. When ice cream products are formed, shaped, and dispensed in the ice cream former, some ice cream may remain inside, which can affect the positioning of the ice cream products. Measuring the position of the ice cream products can indicate that the position of the next ice cream product must be adjusted, which can be done by cleaning the ice cream former or removing the residue from the previous ice cream.

[0068] Adjusting the ice cream former outlet can be understood as adjusting the outlet temperature. The ice cream former temperature can affect the friction between the ice cream former and the ice cream topping, which may affect the positioning of the ice cream product. Advantageously, the ice cream former temperature can be controlled based on the positioning of the ice cream product in order to adjust the positioning of the next ice cream product.

[0069] The speed of the transport surface can also be adjusted at the ice cream former exit position, where this adjustment can be based on the positioning of the ice cream product at, for example, the end of the production line where it can be packaged into a box. Workers packaging the ice cream product into boxes may face challenges in adhering to the speed of the transport surface, thus reducing the overall speed of the production line (including the position at the ice cream former exit). The speed of the transport surface may also be too slow, and the speed may be increased to adjust the positioning of the ice cream product upstream.

[0070] The temperature of the ice cream at the outlet of the ice cream former can be adjusted based on the positioning of the ice cream product at the outlet location or anywhere downstream of the outlet location. Adjusting the ice cream temperature is advantageous for achieving better quality and higher ice cream production yield when the ice cream product is positioned on a transport surface. Furthermore, the aging time of the mixture used for the ice cream product can be adjusted based on the positioning of the first ice cream product.

[0071] To achieve better quality and higher ice cream production volume, controlling short-term and long-term process tolerances is beneficial. Adjustments to upstream ice cream products based on the position of the first ice cream product can be a deliberate process involving multiple adjustments, but not necessarily all adjustments. All adjustments can be automatically compensated for by automatically adjusting the positioning of the ice cream products.

[0072] In a preferred embodiment, the adjustment of the ice cream forming device outlet and the stick inserter is performed simultaneously / synchronously.

[0073] It is advantageous to adjust the ice cream former outlet relative to the stick inserter to correctly place the stick into the ice cream product. The position measured on the ice cream product may have drifted, and the ice cream former outlet may need to be adjusted to correctly place the next ice cream product. When adjusting the ice cream former outlet, it is advantageous to do so simultaneously and synchronously with the stick inserter to produce the best ice cream product at the end of the production line.

[0074] In a preferred embodiment, the method includes the step of dividing the ice cream product after it has been formed in the ice cream former.

[0075] The advantage is that the ice cream product is shaped, and then the ice cream topping is separated into individual ice cream products. The positioning of the ice cream product is not affected by the shaping process, thus optimizing the positioning of the ice cream product.

[0076] In a preferred embodiment, the method includes the step of cutting the ice cream product after it has come into contact with the transport surface.

[0077] It is advantageous to cut the ice cream product after it has come into contact with the transport surface to place it in the correct position on the transport surface. When forming longer ice cream products, it may also be advantageous to simultaneously position, shape, and cut them through contact to control their position.

[0078] In a preferred embodiment, the position of the second ice cream product is measured and the third ice cream product is located based on the positions of the first and second ice cream products.

[0079] It is advantageous to base the position of an upstream ice cream product on the position of more than one ice cream product. When the position is based on more than one ice cream product, it can be optimized based on, for example, the drift of the upstream ice cream product.

[0080] In a preferred embodiment, the positions of multiple ice cream products are measured and additional ice cream products are located based on the positions of the multiple ice cream products.

[0081] In a preferred embodiment, the position of the first ice cream product is measured based on adjacent ice cream products.

[0082] Adjacent ice cream products can be ice cream products from the same manufacturing channel of ice cream products. Adjacent ice cream products can also be ice cream products placed on the same transport surface and in an additional manufacturing channel of ice cream products.

[0083] In a preferred embodiment, the positioning of the second ice cream product is based on the measured position of the first ice cream product in the additional manufacturing channel.

[0084] In a preferred embodiment, measurements of the plurality of ice cream products are taken in one or more additional manufacturing channels, and the second ice cream product is positioned based on its location in the one or more additional manufacturing channels.

[0085] In a preferred embodiment, the ice cream former is adjusted based on measurements of the first ice cream product in an additional manufacturing channel.

[0086] In a preferred embodiment, the ice cream divider is adjusted based on measurements from an additional manufacturing channel.

[0087] Advantageously, it measures the ice cream product in one manufacturing channel and supplies and positions the ice cream product in an additional channel to a backup device for measurement based on the ice cream product in the first channel. The measuring equipment may be damaged due to the freezing environment, therefore it is advantageous to measure only the position of the ice cream product in one manufacturing channel. The ice cream divider can also carry out, for example, a stage for dividing ice cream products from the measured ice cream quality from the ice cream product in the additional channel.

[0088] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed in a horizontal plane.

[0089] The term "horizontal plane" can be understood as an absolute horizontal plane according to Cartesian coordinates. The term "horizontal plane" can also be defined relative to the transport surface on which the ice cream product is placed. The horizontal plane can then be defined using the viewpoint of the transport surface compared to the absolute horizontal plane.

[0090] Measuring the position of ice cream products in the horizontal plane is beneficial to ensure the correct positioning of upstream ice cream products.

[0091] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed based on rotation.

[0092] Advantageously, the position is measured based on rotation to adjust the positioning of the next ice cream product upstream. The first ice cream product can rotate about an axis, which facilitates the adjustment of the next ice cream product to ensure, for example, that a gripping device can grip the ice cream product at that position along the production line.

[0093] In a preferred embodiment, the method includes the step of measuring the amount of ice cream in a predetermined area to determine the location of the first ice cream product.

[0094] In a preferred embodiment, the step of measuring the position of the first ice cream product is used to determine other parameters from the ice cream product production line.

[0095] Other parameters along the production line may include the temperature inside or outside the hardening tunnel. Other parameters may also include the conveyor speed or the stage of the transport surface (e.g., the edge of the tray). Other parameters may also include the temperature or weight of the ice cream product at different locations along the production line, such as before / after the hardening tunnel, before / after dipping in chocolate, before / after wrapping in foil, or at any other location along the ice cream product production line. The height of the tray or transport surface may be a parameter determined based on the location of the ice cream product. The height may vary, for example, due to a curved transport surface or tray, or the transport surface may include frosting or ice cream residue that will affect the height.

[0096] It is advantageous to derive performance parameters by measuring the position of ice cream products along the production line. Derived performance parameters may include surface temperature, temperature at different measurement locations, air humidity, pressure, volume of frost / residue, or any other relevant performance parameters of the ice cream production line.

[0097] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed while the first ice cream product is in contact with the transport surface.

[0098] Advantageously, the position of the ice cream product is measured while it is in contact with the transport surface, allowing for faster correction of the position of the next ice cream product.

[0099] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed before the first ice cream product comes into contact with the transport surface.

[0100] Advantageously, the position of the ice cream product is measured while it is in contact with the transport surface, allowing for faster correction of the position of the next ice cream product.

[0101] In a preferred embodiment, the step of measuring the location of the first ice cream product is performed upstream of the hardened tunnel.

[0102] In a preferred embodiment, the step of measuring the location of the first ice cream product is performed downstream of the hardened tunnel.

[0103] In a preferred embodiment, the stepping operation for measuring the position of the first ice cream product is performed within a hardened tunnel.

[0104] In a preferred embodiment, the step of measuring the location of the first ice cream product is performed upstream and downstream of the hardened tunnel.

[0105] Hardened tunnels should be understood as freezing tunnels in frozen ice cream products. Hardened tunnels can also be used to prepare ice cream products for coating processes.

[0106] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed at the AHS tongue position.

[0107] An AHS tongue should be understood as a gripping device that holds an ice cream product within the ice cream product during processes such as dipping or coating, for example, holding it within an ice cream stick. AHS tongues are arranged along slats, with typically 24 tongues aligned to grip 24 ice cream products simultaneously. Positioning within the AHS tongue is important for the quality of the ice cream product; for example, when an ice cream product is coated with chocolate or dry matter, this position can define the amount of chocolate or dry matter used in the ice cream product. An ice cream product improperly positioned within the AHS tongue may not coat the entire ice cream product, or may coat most of the ice cream stick. The AHS tongue can further position the ice cream product within the packaging foil, where proper positioning within the AHS tongue of the ice cream product is advantageous. An AHS tongue can be a gripping device or suction head for sticks, cones, boats, biscuits, or any other related component used to hold the ice cream product or the ice cream product itself.

[0108] In a preferred embodiment, the position of the first ice cream product is measured based on its position within the packaging foil.

[0109] It is advantageous to adjust the positioning of the ice cream product within the packaging foil to ensure it is correctly positioned and to prevent it from being positioned near, for example, welds within the packaging foil. When the ice cream product is correctly positioned within the packaging foil, the amount of packaging foil used for a particular ice cream product can be optimized, and thus the total amount of packaging foil can be minimized. Correct positioning of the ice cream product within the packaging foil is also advantageous when the packaging foil is welded to seal the ice cream product without damaging it.

[0110] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed before the end of the production line.

[0111] Measuring the position of ice cream items within the packaging machine to adjust the position of the next ice cream item and thus achieve higher production yields is advantageous. Adjusting the position of the next ice cream item can also contribute to higher quality ice cream products, for example, by preventing ice cream sticks from being damaged.

[0112] The end of the production line (EOL) can be understood as part of the production line where ice cream products become ready-to-be-sold ice cream items. These ready-to-be-sold items can be individual ice cream products or boxes containing multiple ice cream products, with the box itself being the ice cream product.

[0113] In a preferred embodiment, the step of measuring the position of the first ice cream product is performed at more than one different measuring position along the conveyor.

[0114] In a preferred embodiment, the formation and placement of the second ice cream product are based on the plurality of measurements from the plurality of measuring locations along the conveyor.

[0115] In a preferred embodiment, when the position of the first ice cream product is measured at a measurement location along the conveyor, the step of measuring the position of the first ice cream product is performed by more than one sensor.

[0116] Advantageously, during this process, the position of ice cream products is measured at different locations along the ice cream production line to track their location. The positioning of ice cream products may be affected differently at different locations, and the positioning of ice cream products may vary depending on the location.

[0117] In a preferred embodiment, the position of the first ice cream product is measured before the ice cream forming device.

[0118] It is advantageous to measure the position of the ice cream product before the ice cream former, because for upstream ice cream products (e.g., ice cream containers), the ice cream container (e.g., cookie or cone) may need to be adjusted.

[0119] In a preferred embodiment, the measured position of the first ice cream product is automatically applied to adjust the positioning of the second ice cream product at least partially through artificial intelligence, the adjustment being established through supervised machine learning.

[0120] In a preferred embodiment, the measured position of the first ice cream product is automatically applied to adjust the positioning of the second ice cream product at least partially using artificial intelligence, the adjustment being established through unsupervised machine learning.

[0121] In a preferred embodiment, the measured data and the measured adjustable parameters are used as training data for the machine learning model of the artificial intelligence.

[0122] In a preferred embodiment, measured data such as the measured location and / or the measured location data, and / or the measured adjustable parameters such as the measured adjustable ice cream former parameters, are applied as training data for the machine learning model of the artificial intelligence.

[0123] In a preferred embodiment, the measured data and the measured adjustable parameters are combined with data on the definition of ice cream product types by the artificial intelligence and applied as training data for the machine learning model.

[0124] In a preferred embodiment, measured data such as the measured location and / or the measured position data, and / or the measured adjustable parameters such as the measured adjustable ice cream former parameters, are combined with data on the definition of ice cream product types by the artificial intelligence and applied as training data for the machine learning model.

[0125] In a preferred embodiment, the position of the first extruded ice cream product is measured visually or by a camera.

[0126] In a preferred embodiment, the position of the first extruded ice cream product is measured by infrared radiation.

[0127] Infrared measurement is advantageous when taking measurements in dark environments or in situations where visual measurement of the location of ice cream products may be difficult.

[0128] In a preferred embodiment, the position of the first extruded ice cream product is measured by ultrasound.

[0129] When measuring in a dark environment, or in situations where it may be difficult to visually measure the position of ice cream products, it is advantageous to use ultrasound to measure the position of ice cream products.

[0130] In a preferred embodiment, the position of the first extruded ice cream article is measured by MR (magnetic resonance).

[0131] Magnetic resonance imaging (MRI) is advantageous when measuring the position of ice cream products in dark environments or in situations where visual measurement of the position may be difficult.

[0132] In a preferred embodiment, the position of the first ice cream product is measured by microwave.

[0133] Microwaves are advantageous for measuring the position of ice cream products when taking measurements in dark environments or in situations where visual measurement of the position of ice cream products may be difficult.

[0134] Microwave measurement of the position of ice cream products is advantageous due to the possibility of changing the microwave wavelength. The wavelength can be changed depending on the environment or the location where the ice cream product can be measured.

[0135] In a preferred embodiment, the position of the first ice cream product is measured using a fiber optic sensor.

[0136] Due to their small size, fiber optic sensors are advantageous for measuring the position of ice cream products on a production line. The use of fiber optic sensors can also be advantageous because many sensors can be multiplexed along the length of the fiber. Furthermore, fiber optics are generally robust to environmental influences, both as a transmitter coupled to, for example, one or more controllers, and when a sensor is coupled to “read” the light input at one location (e.g., at a relevant location along the production line) and then the fiber optic is used to transmit the relevant light input for interpretation at another location (e.g., at the location of one or more controllers). Therefore, the use of fiber optics can be used to connect more vulnerable circuitry (e.g., controllers) located in more temperate and humidity-controlled environments to locations where the environment is not so controlled (e.g., regarding temperature and humidity).

[0137] In a preferred embodiment, the position of the first ice cream product is measured using a capacitive sensor.

[0138] In a preferred embodiment, the position of the first ice cream product is measured using a potential measurement position sensor.

[0139] Advantageously, the position of the ice cream product is measured using a camera or visually to detect the position of the ice cream product as an absolute value, or compared to, for example, the edge of a tray, the edge of a transport surface, or the chain or motor encoder.

[0140] In a preferred embodiment, the position of the first ice cream product is measured by electromagnetic radiation.

[0141] Electromagnetic radiation can be any type of spectrum, such as radio (radar), microwave, or infrared. Radiation can be useful for measuring the location of ice cream items in cold environments, such as production lines used to manufacture ice cream products.

[0142] In a preferred embodiment, the position of the first ice cream product is measured by a sensing sensor.

[0143] Using inductive sensors to measure the position of ice cream products along the production line to adjust, for example, the timing of the ice cream former.

[0144] For example, when the position of a tray, a cavity on a tray, etc., needs to be measured in a robust manner, inductive sensors can be advantageously applied because they may be relatively insensitive to frost, which is likely to occur, in most of the initial processing steps of an ice cream production line.

[0145] In a preferred embodiment, the method includes the step of measuring the temperature of the transport surface at the measurement location of the first ice cream product.

[0146] In a preferred embodiment, the method includes the step of measuring the temperature of the first ice cream product.

[0147] In a preferred embodiment, the measurement of the temperature of the first ice cream product and the measurement of the position of the first ice cream product are performed simultaneously.

[0148] In a preferred embodiment, the positioning of the second ice cream product is based on the measured position of the first ice cream product and the temperature of the first ice cream product.

[0149] Measuring the temperature of the transport surface and / or the ice cream product is advantageous for optimizing the positioning of the next ice cream product. Temperature can be measured and controlled or adjusted to ensure that the ice cream product is better suited to maintain its position along the production line. The ice cream product can be varied based on the temperature and how well it maintains its position along the production line. The amount of frost can be measured along with the temperature, as it can affect the positioning of the ice cream product. Frost on the transport surface can affect the positioning of the ice cream product because it may slip on the transport surface.

[0150] In a preferred embodiment, the method includes the step of measuring the weight of the first ice cream product while measuring the location of the first ice cream product.

[0151] In a preferred embodiment, the method includes the step of measuring the density of the first ice cream product while measuring the location of the first ice cream product.

[0152] In a preferred embodiment, the method includes the step of measuring the size of the first ice cream product while measuring the position of the first ice cream product.

[0153] In a preferred embodiment, the method includes measuring one or more of the following parameters of the first extruded ice cream product while measuring the location of the first extruded ice cream product: weight, density, volume, temperature, or any combination thereof.

[0154] In a preferred embodiment, the step of positioning the second ice cream product is further based on the temperature, weight, volume, density, or any combination thereof of the first ice cream product.

[0155] It is advantageous to measure more parameters than just location in order to control or adjust the position of the next ice cream product on the production line. The location of an ice cream product can depend on temperature, size, weight, density, pressure, or any other physical parameter to determine and adjust the position of upstream ice cream products. The location of an ice cream product can depend on more than one parameter, therefore it is advantageous to measure and adjust based on other parameters to optimize the quantity of ice cream products in the production line.

[0156] Measuring the temperature at the outlet of the ice cream former is also advantageous because it affects the positioning of the ice cream product as it is supplied. The friction between the ice cream former outlet and the ice cream is affected by the temperature at the outlet; therefore, measuring this temperature to adjust the positioning of the ice cream product may be beneficial.

[0157] Another aspect of the present invention relates to an ice cream production line, comprising:

[0158] Ice cream forming apparatus used to form ice cream products

[0159] A conveyor for conveying ice cream products, the conveyor including a transport surface.

[0160] Sensors are used to sense position-related data of the ice cream product at the measurement location, in order to measure the position of the ice cream product on the transport surface.

[0161] The positioning of the ice cream forming device relative to the ice cream product on the transport surface is adjustable.

[0162] A controller, communicatively coupled to the sensor, is configured to automatically evaluate the measured position of the ice cream product.

[0163] The results of the automatic evaluation are automatically transmitted to the user interface and / or controls of the ice cream maker.

[0164] The placement of ice cream products can be adjusted automatically based on automatic evaluation from the controller.

[0165] Therefore, this adjustment of the position of the ice cream product can include how the ice cream product is formed by shaping and dividing it into trays on a conveyor, both of which relate to the geometric positioning of the relevant ice cream former relative to the transport surface of the conveyor, the items carried by the conveyor (e.g., trays), etc. Thus, relative geometric adjustments can be performed, for example, by means of actuators controlled by a corresponding controller based on inputs received from sensors.

[0166] Other automatic adjustments could be the timing (or stage) of an ice cream cutter that separates and delivers individual ice cream products from the ice cream material fed through the extruder. Timing can be controlled to ensure the desired positioning of the ice cream product relative to the longitudinal direction of the conveyor / the direction of movement of the transport surface, for example, in the form of an ice cream product. In other words, if it is necessary to correct the position of the ice cream product in the longitudinal direction on, for example, a tray, this can be done, for example, by automatically adjusting one or more cuts performed by the ice cream cutter, where delayed cutting / or multiple delayed cuttings will result in one or more slightly thicker ice products, and then the cutting frequency is fixed again to the cutting frequency setpoint. This slight automatic delay and then re-fixing of the cutting frequency will have the effect of automatically providing a slight offset in the opposite direction of the transport surface of the conveyor, while if a slight offset in the direction of the transport surface is desired, the opposite effect can be obtained, of course, by increasing the cutting frequency of one or more cuts.

[0167] For example, if the result of the automatic evaluation is that the ice cream product is slightly angled relative to the longitudinal direction of the transport surface, this automatic adjustment can also be performed, and can be achieved by automatically rotating the cutting device in the Z direction.

[0168] Other types of adjustments may include automatically adjusting the freezing temperature of the freezer supplied to the ice cream former (such as an extruder).

[0169] The exemplary adjustments described above can be performed, for example, based on input from sensors located near the position of the ice cream product positioned on the transport surface of the conveyor. However, the position of the ice cream product can also be measured at many other locations along the ice cream production line, and other parameters / devices besides the ice cream extruder / cutter can be adjusted.

[0170] One of several examples may include a measurement location at the output of a hardening tunnel, where the freezing temperature of the hardening tunnel can be adjusted to slightly compensate for measurement misalignment of the ice cream product or, for example, the tray relative to the conveyor. It should also be noted that such measurement misalignment can be compared with other sensor data obtained from other measurement locations, and the resulting automatic adjustment can be an adjustment of multiple parameters along one or more devices on the ice cream production line. Another of several examples may include a measurement location at the packaging foil, where the positioning of a first ice cream product is measured, and a second ice cream product can be adjusted in positioning based on the position of the first ice cream product.

[0171] In a preferred embodiment, the ice cream production line uses the method disclosed in any of the preceding paragraphs.

[0172] In a preferred embodiment, the ice cream production line includes one or more sensors.

[0173] In a preferred embodiment, the ice cream production line includes a user interface. Attached Figure Description

[0174] Various embodiments of the present invention will now be described with reference to the accompanying drawings, wherein:

[0175] Figures 1a to 1b Show the location of ice cream products.

[0176] Figure 2 Showing an ice cream production line,

[0177] Figures 3a to 3b The production line shown includes an ice cream former, sensors, and controllers.

[0178] Figure 4 Showing the manufacturing channels and sensors,

[0179] Figure 5 Showing ice cream filler,

[0180] Figure 6 The packaging foil is shown.

[0181] Figure 7 The image shows a production line where ice cream products are manufactured before the hardened tunnel.

[0182] Figures 8 to 10 Showing the AI ​​system,

[0183] Figures 11a to 11b A block diagram illustrating a process for manufacturing an ice cream product according to an embodiment of the present invention is shown, and wherein...

[0184] Figures 12a to 12b A freezer / ice cream former according to one embodiment of the present invention is shown. Detailed Implementation

[0185] Figure 1a The principle of manual upstream adjustment UMA for positioning of ice cream product ICI is shown, which is achieved by automatically measuring the position of the first ice cream product FICI at the first measurement position LOC.

[0186] therefore, Figure 1a The measurement location (LOC) of the production line PL is shown. The production line may include additional measurement locations (not shown).

[0187] At the measurement location (LOC), the position of the first ice cream product (FICI) is measured using one or more sensors. At least one sensor is communicatively coupled to an associated controller configured to evaluate whether the positioning of the first ice cream product is as desired. This evaluation can be performed automatically by the associated controller (CCS) in various ways using different types of algorithms and settings, and the results can be transmitted to the operator via a user interface (UI), such as warning signs, displays, visual and / or audio guidance, to facilitate adjustments to the production line upstream of the measurement location. This allows for adjustments to the ice cream product's positioning upstream of the measurement location, assisted by manual adjustments. Thus, for example, the operator may be warned that upstream positioning adjustments are necessary, or in some embodiments, the operator may automatically receive more specific instructions on how to adjust the production line. In another embodiment, the UI may simply continuously output the deviation of the ice cream product, allowing the operator to determine when, whether, and to what extent upstream adjustments are needed. The conveying direction (COND) is indicated by arrows.

[0188] Figure 1b The principle of automatic upstream adjustment of the positioning of the ice cream product ICI is shown, which is achieved by automatically measuring the position of the first ice cream product at a first measuring position.

[0189] therefore, Figure 1b Two measurement locations (LOCs) for the production line PL are shown. The production line may include additional measurement locations (not shown).

[0190] At the measurement location (LOC), the position of the first ice cream product (FICI) is measured using one or more sensors. At least one sensor is communicatively coupled to an associated controller (CCS) configured to evaluate whether the positioning of the first ice cream product is as desired. This evaluation can be performed automatically by the associated controller in various ways using different types of algorithms and settings, and the results can be transmitted to the controller, which can adjust the production line upstream of the measurement location to facilitate automatic adjustment of the ice cream product's positioning upstream of the measurement location. In another embodiment, the controller can simply continuously receive the measured position of the ice cream product at the measurement location (LOC) to continuously adjust the position of the upstream ice cream product in the production line during a cycle of the measured position, and can adjust the ice cream product position based on deviations in the measured ice cream product position, allowing the controller to determine when, whether, and to what extent upstream adjustment is needed. The position of the ice cream product can be measured at multiple measurement locations, such as two measurement locations (LOCs), but not limited to two locations, and the adjustment of the upstream ice cream product positioning can be based on one or more measured ice cream product positions.

[0191] The controller CCS is communicatively coupled to the ice cream processing unit ICPU for upstream adjustments to ice cream product characteristics. The ice cream processing unit ICPU can be any type of unit used for processing ice cream, such as a freezer, ice cream former, or mixer.

[0192] Figure 2 The system illustrates the principle of an optional layout for a production line with an ice cream hardening tunnel HT, applied according to embodiments within the scope of the invention. The illustrated production line PL includes a transport surface TSU extending from four freezers F and four ice cream forming units ICF through the hardening tunnel HT to a gripping unit GRA, where ice cream products can be coated and further proceed to a packaging foil station (not shown). Each ice cream forming unit ICF forms a manufacturing channel (not shown) for the ice cream products; therefore, the production line PL shown includes four manufacturing channels (not shown), but is not limited to four. The transport surface can be moved in the directions indicated by associated arrows via an automatically adjustable drive system (not shown) under the control of a cooling control system CCS. Multiple measurement positions LOC are set along the transport surface to measure the position of the ice cream products and communicatively transmit the measured positions to the cooling control system CCS. The measurement positions LOC along the production line PL are not limited to these locations but can be set at any location along the production line.

[0193] One or more of the various measurement locations (LOCs) can establish relevant measurements, and the measurement data can then be used as the basis for upstream calibration. In other words, the controller of the production line that controls the adjustment of the ice cream product's position can be fed measurement data from one or more measurement locations and thus configured to adjust the ice cream positioning based on the data from one or more measurement locations.

[0194] Furthermore, data from a measurement location can be fed not only to that location, such as an ice cream former, but also to controllers associated with other adjustment locations in the process (i.e., the equipment to be controlled).

[0195] The cooling control system (CCS) can also be called a controller or control system.

[0196] In addition, the ice cream hardening tunnel HT includes an adjustable cooling device (not shown), which is also controlled by a cooling control system CCS, which controls the cooling temperature and optionally also adjustably controls the airflow within the hardening tunnel HT.

[0197] It should be noted that the cooling control system CCS can be a single arrangement or multiple controllers operating together. The illustrated cooling control system CCS is communicatively coupled to a user interface (UI), through which the operator can modify the position of the ice cream product ICI along the production line PL based on the position of the ice cream product, or any equipment associated with positioning the ice cream product ICI at the ice cream production line. Therefore, it should be noted that many existing production lines for ice cream products can be controlled according to the present invention using only an addon that measures the position of the ice cream product upstream along the production line, thereby enabling the operator or control system to adjust the position of the ice cream product in a timely manner by modifying production line parameters.

[0198] Upstream in the US, hardened tunnel HT ice cream products can be positioned on the transport surface TSU via ice cream product formers, here in the form of four separate stations connected to the mixer MIX, freezer F, typically a feeder between the freezer and the ice cream former, ice cream former, stick inserter, and / or cutter, thus facilitating the continuous and automated placement of ice cream products (not shown) on the transport surface TSU before transport along the production line. When producing ice cream products with one type of ice cream, one freezer can be connected to four ice cream formers (not shown). Two or more freezers can also be connected to one ice cream former (not shown) for making ice cream products that include two or more different types of ice cream, for example, when making ice cream products with vanilla and strawberry ice cream.

[0199] The mixer (MIX) mixes the ingredients related to the recipe of the ice cream product to be produced, and the freezer (F) provides the desired extrusion temperature to the ice cream former (ICF) applied by the ice cream positioning system (IIP) of the ice cream product positioning system (ICI).

[0200] Inside the ice cream hardening tunnel HT, the transport surface TSU extends through the hardening tunnel HT to facilitate cooling of the ice cream product ICI from the temperature of the ice cream product upstream of the tunnel to the temperature of the ice cream product when the ice cream product leaves the ice cream hardening tunnel HT downstream of the tunnel HT, which is lower.

[0201] The length of the transport surface TSU, the cooling applied by the cooling system (not shown) (including optional internal ventilation), the movement of cold air within the hardened tunnel HT, the speed of the transport surface TSU, etc., will determine the cooling obtained from a temperature (e.g., -5 degrees Celsius to, for example, -18 degrees Celsius), which is measured as the core temperature.

[0202] Some of these parameters are called adjustable tunneling parameters, and these adjustable tunneling parameters can be adjusted manually and / or automatically.

[0203] Figure 2 The downstream output of a hardened tunnel controlled within the scope of this invention is shown. The ice cream hardening tunnel HT has an outlet through which the transport surface TSU extends toward the ice cream product transfer system via an optional ice cream looser LOS. In this embodiment, the transport surface TSU is implemented to transport ice cream products ICI on a conveyor plate or tray. The transport surface moves in the direction of the arrow during operation. If the transport surface TSU is referenced, it will be referenced relative to the surface of the conveyor plate or tray, if such a plate is applied. If the conveyor directly transports ice cream products ICI on the conveyor element, the transport surface TSU will be understood as the surface on which the ice cream products are transported. Therefore, other embodiments of the conveyor are of course applicable within the scope of this invention, wherein the “loose” plate or tray is positioned or not positioned on top of the conveyor below, but easily removable plates / trays / etc. are advantageous because they can be easily positioned and removed on the conveyor and are easy to clean in the operating environment. Furthermore, if, for example, the removal plate / tray is specifically designed / formed to carry or hold a specific type of ice cream product (e.g., if the ice cream product is carried in a “pocket”), it is easier to make specification changes. The illustrated implementation includes a core temperature measurement system (CMS), which is placed directly outside the hardened tunnel (HT).

[0204] Figure 3a A first embodiment of the present invention is shown.

[0205] Part of the production line PL used for ice cream products Figure 3a The diagram illustrates a three-stage ice cream product ICI. The three-stage ice cream product ICI is placed on a transport surface TSU, which is shown as a tray in this embodiment. It should be noted that the transport surface TSU can be any type of surface used for conveying the ice cream product ICI along the production line PL. In this embodiment of the invention, the transport surface TSU is conveyed by a conveyor; however, in another embodiment of the invention, the transport surface TSU can be the conveyor itself.

[0206] In an earlier stage of the production line PL, the first two ice cream products ICI are formed and separated by an ice cream forming machine (not shown). The third ice cream product ICI is formed and separated into an ice cream forming machine ICFI placed above the transport surface TSU, as shown. Figure 3a As shown. The ice cream former ICF shown in the figure is an ice cream extruder, but in another embodiment of the invention, it can be an ice cream valve with nozzles for forming ice cream products. The ice cream former ICF includes an ice cream former outlet (not shown) and an ice cream former inlet ICFI. The ice cream former inlet ICFI is connected to a freezer (not shown), and ice cream clumps enter the ice cream former ICF through the ice cream former inlet ICFI. The ice cream clumps can be shaped and segmented by the ice cream former ICF and processed to a transport surface TSU through the ice cream former outlet (not shown). The ice cream former ICF can be any kind of device in which ice cream clumps are shaped and segmented into ice cream products ICI. The ice cream former ICF includes a stick inserter STI and is connected to the freezer (not shown) through the ice cream former inlet ICFI. The freezer (not shown) supplies ice cream clumps to the ice cream former to shape and separate the ice cream products. The ice cream clumps are shaped inside the ice cream former and separated by a cutter (not shown). The cutter (not shown) is positioned below the ice cream former and below the ice cream former outlet (not shown) outside the ice cream former ICF. The ice cream mix exits the ice cream former ICF through the ice cream former outlet (not shown), where a cutter (not shown) divides the ice cream mix into ice cream products ICI. The ice cream former ICF supplies and positions the ice cream products ICI along the production line PL to the third channel. In another embodiment, a valve (not shown) is used to divide the ice cream mix, and the valve is typically located inside the ice cream former ICF.

[0207] Figure 3aThe transport surface TSU is also shown for providing and positioning the ice cream product ICI along the production line PL. The transport surface TSU can provide and position the ice cream product ICI to a specific measurement location LOC along the production line. The measurement location LOC is depicted here as the same location as the sensor SENS, where the ice cream product ICI is measured. The measurement location LOC can be any location along the production line PL and is not limited to the transport surface TSU, as the location can be in a clamping device (not shown), a packaging foil (not shown), or any other location along the production line PL.

[0208] Production line PL includes Figure 3a The two sensors (SENS) shown are used to measure the position of the ice cream product ICI. This position can be measured as an absolute position or a relative position to, for example, the edge of the transport surface TSU or an encoder on the drive system, adjacent ice cream products ICI in the same manufacturing channel MAL, adjacent ice cream products in an additional manufacturing channel AMAL, or a predetermined area of ​​the transport surface TSU. Figure 3a Both sensors shown can measure the position of the ice cream product ICI. One sensor can measure the position of the ice cream product ICI in a plane based on the transport surface TSU, while the other sensor can measure the rotation, angle, or any other type of positioning of the ice cream product ICI. The production line PL is not limited to two sensors, but can have any number of sensors along the production line PL for measuring the position of the ice cream product ICI. The sensors are not limited to the specific type used to measure the position of the ice cream product.

[0209] The production line PL also includes a controller CCS, which includes buttons and a visual interface (UI) positioned on top of the controller CCS. In another embodiment of the invention, the visual interface UI may be a screen or monitor for displaying the production line status. The visual interface UI can also be understood as a user interface (UI). The visual interface UI can be used to indicate the processing of the ice cream product ICI and whether the positioning of the ice cream product ICI is correct or needs adjustment. If the ice cream product ICI is well positioned at the sensor SENS, the visual interface UI can display a green light. If the positioning of the ice cream product ICI needs adjustment, the visual interface UI can display a yellow or red light to indicate the correct position of the ice cream product ICI at the sensor SENS and / or the measurement location LOC. The ice cream former ICF can be adjusted automatically by the controller CCS, or it can be adjusted by a worker using the controller CCS to adjust the ice cream former ICF. The visual interface UI can indicate whether the positioning of the ice cream product ICI needs adjustment based on measurements from multiple location LOCs downstream of the production line PL.

[0210] Figure 3b It shows the relationship with Figure 3a The same ice cream forming device (ICF) is shown, positioned above a transport surface (TSU) with two additional manufacturing channels (AMALs). The ICF provides and positions ice cream products (ICIs) on the TSU and forms manufacturing channels (MALs). One ice cream product ICI channel is referred to as the manufacturing channel (MAL), while the other two channels are referred to as the additional manufacturing channels (AMALs). When referring to the manufacturing channel and / or the additional manufacturing channels, the manufacturing channel (MAL) from which the measurement of a specific ice cream product ICI is being performed is referenced. The manufacturing channel (MAL) is viewed from the position of the ice cream product ICI being measured. Three ice cream product positions can be measured simultaneously, with reference channels based on the ice cream product ICI.

[0211] Figure 4 It shows the relationship with Figure 3a This is part of the same ice cream production line. The production line PL includes a transport surface TSU, in which ice cream products (ICIs) are transported through three manufacturing channels. The transport surface TSU conveys the ice cream products (ICIs) into a hardened tunnel HT. The transport surface TSU is configured to provide and position the ice cream products (ICIs) to different measurement locations (LOCs) along the production line PL. The production line PL also includes two sensor SENSs for measuring the position of the ice cream products (ICIs). The positions of the two sensor SENSs are shown as the same as the two measurement locations (LOCs) in the figure, but the measurement locations (LOCs) can be anywhere along the production line PL. Figure 4 The diagram also shows transport surfaces (TSUs) consisting of multiple pallets placed on a chain (not shown), but transport surfaces (TSUs) are not limited to pallets. The transport direction (COND) is indicated by the arrows in the diagram.

[0212] Figure 5A portion of a production line PL is shown, featuring an ice cream filler fill and a transport surface unit (TSU) configured to hold an ice cream product ICI, such as a conical ICI. The ice cream filler fill is shown as having eight tubes from which ice cream topping (not shown) is conveyed to the transport surface TSU via ice cream former outlets (ICFOs), where the transport surface is shown as having eight pocket openings for the ice cream product ICI. Depending on the production line PL, the ice cream filler fill and transport surface TSU are not limited to eight tubes / ice cream former outlet ICFOs and pockets, but can have any number of tubes / ice cream former outlet ICFOs and pockets. The number of tubes / ice cream former outlet ICFOs and pockets typically corresponds to the number of manufacturing channels (MALs) in the production line PL. One of the tubes of the ice cream filler fill is illustrated as having an ice cream former outlet ICFO, which is placed inside the ice cream product ICI (illustrated here as an ice cream cone ICI). The ice cream former outlet ICFO can also be used for, for example, cookies, boats, or any other ice cream product ICI, where ice cream topping is added. The position of the ice cream product ICI can be measured at measurement position LOC, which is located at the same position as the ice cream filler FILL. The position of the ice cream product ICI can also be measured upstream and downstream at measurement position LOC, placed on either side of the ice cream filler ICI, along the conveying direction COND. The conveying direction COND is indicated by the arrows in the diagram.

[0213] Figure 6 The diagram shows an assembly on production line PL, where ice cream product ICI is wrapped in packaging foil WRF. The ice cream product ICI is supplied and positioned onto the packaging foil WRF by a clamping device (not shown) or an AHS tongue (not shown). The diagram shows eight manufacturing lanes MAL, where the ice cream product ICI is supplied and positioned in individually wrapped foil WRFs. The position of the ice cream product ICI within the packaging foil WRF is measured by sensors SENS, where the position used to measure the position of the ice cream product ICI is the measurement position LOC. The packaging foil WRF is shaped around the ice cream product ICI to enclose it. The conveying direction COND is indicated by the arrows in the diagram.

[0214] Figure 7The illustration of “Pre-made Ice Cream Products Before the Hardening Tunnel” illustrates an embodiment of the invention, wherein the production line PL includes a hardening tunnel HT. The production line PL includes a transport surface TSU, shown upstream of the ice cream former ICF, and continues along the production line PL through the hardening tunnel HT to the workbench WT. The production line PL is shown as a top view, where the ice cream products are typically almost complete ice cream products before entering the hardening tunnel HT. At the end of the production line PL is a packaging station PACK, where individual ice cream products can be packaged for another type of ice cream product, such as a box containing multiple individual ice cream products. The different devices and measurement locations along the production line PL are not limited to the embodiment shown in the invention, but can be placed in various ways to obtain better quality ice cream products or higher throughput.

[0215] It should be emphasized that control based on the measured position of the ice cream product can be performed analytically, for example, based on the desired position of the ice cream product upstream. However, other control algorithms can also be applied within the scope of this invention, particularly by responding to the development of the ice cream product, for example, by means of P control, PID control loop, I control loop, etc.

[0216] Favorable controls can also be applied through artificial intelligence, for example, by using supervised or unsupervised machine learning, where control is based on the position of ice cream products measured as input.

[0217] Artificial intelligence can also be applied to proactively provide alerts or guidance to operators in order to facilitate improved processing of upstream positioning of ice cream products based on the location of the first ice cream product.

[0218] Various advantageous control methods have been described, including, for example, control based on PID control loops. However, artificial intelligence-based control can also be applied. Note that various types of machine learning control can be applied. For example, machine learning control can be applied to approximate a nonlinear mapping from measured sensor data (sensor signals) to control signals or actuation commands. In this case, various types of neural network models can be applied, for example. Control can also be treated as a regression problem, where machine learning control can provide control over adjustable production line parameters based on minimizing a cost function (e.g., the measured control performance). Furthermore, control can advantageously be based on reinforcement learning. Advantageously, reinforcement learning enables the optimization of control performance over time based on feedback from measured data and rewards. Furthermore, reinforcement learning is highly adaptable to changes in system conditions, which is advantageous. In summary, non-limiting examples of algorithms that can be used for control include neural networks, genetic algorithm-based control, genetic programming control, reinforcement learning, regression trees, linear regression, and nonlinear regression models, etc.

[0219] Advantageously, machine learning models may be able to adapt to conditions to achieve optimal control, while other classic non-machine learning-based control methods require preset parameters, which may not be well-suited to, for example, changing conditions.

[0220] In an advantageous embodiment of the invention, control is based on a recurrent neural network model. This is advantageous because the recurrent neural network model can learn the dependencies between time steps of the data. Therefore, the model is able to apply control not only based on current knowledge of the measured data, but also based on the sequential dependencies between adjustable production line parameters and actual measured data. This can provide more accurate and robust control.

[0221] Figure 8 A schematic example of a control system CSY is shown, which may be part of the controller of an ice cream production line or part of one of several controllers in an ice cream production line, such as... Figure 2 The cooling control system described herein. According to an embodiment of the invention, the control system CCS is based on machine learning. The system includes a machine learning control model MLCM configured to output adjustable production line parameters, such as those disclosed in any of the figures and texts included in this application. Sensors SENS may be configured to measure measurement data MD (which here specifically includes the position of ice cream products) and a comparator unit CU. The comparator unit CU is configured to compare one or more received setpoints SP with the measurement data MD (e.g., the position of ice cream products received from the sensor SENS). The setpoint SP may, for example, be the desired position of the ice cream products. The comparator unit CU compares the setpoint with the received measurement data MD to provide the machine learning control algorithm with a measurement of the error between the two. The setpoint may, for example, be the position of the ice cream products, and the error may, for example, be any measure of difference, including ratios, etc.

[0222] A machine learning control model (MLCM) is configured to determine adjustable production line parameters and provide these parameters to control the adjustable production line parameters of its associated cooling control system (CCS, not shown). The cooling control system (CCS, not shown) receives the adjustable production line parameters from the MLCM and controls the production line accordingly. The effect of the adjusted production line parameters is measured by one or more sensors that measure measurement data, which may be, for example, the position of an ice cream product. The measurement data MD (which may include several other types of measurements performed along the production line, relative to the production line, or relative to other ice cream manufacturing channels) is received by a comparator unit (CU), which compares the measurement data MD with a setpoint to calculate the error between the two. In this example, the error is the difference between the measurement data and the setpoint, where the setpoint is the position value of the ice cream product, and the measurement data is also the position value of the ice cream product. This difference is received by the machine learning control model (MLCM), which can then adjust the adjustable production line parameters to minimize the error between the measurement data MD and the setpoint.

[0223] Optionally, more than one setpoint can be applied. Thus, the machine learning control model can provide control based on more than one setpoint. Setpoints can include, for example, the position of the ice cream product at various measurement locations along the production line, the core temperature of the ice cream product, its adhesiveness, the transport surface speed, the tunnel temperature, the humidity in the tunnel, the wind speed, and the transport surface temperature.

[0224] In an alternative exemplary embodiment of the invention, the machine learning control model MLCM is a Long Short-Term Memory network. This type of neural network is able to access and utilize long-term dependencies in the sequential data provided to the model. This can advantageously improve the accuracy of the model, for example, by providing control that causes the measured data MD to be very close to the desired setpoint. In particular, compared to models that cannot utilize long-term dependencies.

[0225] The machine learning control model of this embodiment, including an exemplary long short-term memory network model, can be a supervised model, and therefore, the model is trained on training data. The training data can, for example, include a historical dataset comprising measurement data (MD) and corresponding adjustable production line parameter signals. Advantageously, this enables the model to learn the relationship between the adjustable production line parameters and the measurement data. Optionally, the training data may also include one or more setpoints.

[0226] In another alternative exemplary embodiment of the invention, the machine learning control model can be a reinforcement learning model. In this case, for example, the model is rewarded when an action taken by the model results in the model minimizing the error between the measured data and the setpoint; for example, corresponding to a given reward or a given cumulative reward for the model optimizing the action taken by the reinforcement learning model. In other words, the model receives information (adjustable tunneling parameters) about the system state affected by the actions it determines. Information about the system state can be given, for example, through measurements (e.g., sensor measurements) (e.g., torque-based adhesion measurements). The reward system provides feedback to the agent regarding rewards. Rewards are based on the results of actions determined by the model, and guiding rewards can be understood as providing guidance to improve the model's decision-making strategy, for example, determining adjustable tunneling parameters to optimize the reward. Over time, the reinforcement learning model learns which actions optimize the reward, thereby learning the optimal control strategy.

[0227] Machine learning-based control models are advantageous, for example, because the model can learn system behavior based on data, and therefore can be optimized over time by retraining the model as more and more data is collected. The model is also adaptive, as it can be adapted by training it on different training data. Therefore, the model can be suitable for, for example, providing control over the production of various types of ice cream, and for various production line locations characterized by differences in external operating parameters or conditions, such as different environmental conditions that may affect production.

[0228] Different types of machine learning models can be used for machine learning control models, including, for example, various types of reinforcement learning models, including deep reinforcement learning and Q-learning. Other models that can be used as machine learning control models include one or more of the following reinforcement learning control models: Deep Deterministic Policy Gradient (DDPG) algorithm, Proximal Policy Optimization (PPO), Actor Commenting Algorithm including Flexible Actor Commentator (SAC), and Deep Q-Network (DQN). We note that, according to embodiments of the present invention, genetic programming can also be utilized.

[0229] According to an embodiment of the invention, the Deep Deterministic Policy Gradient (DDPG) algorithm is a model-free, off-policy reinforcement learning method that can be advantageously implemented as a machine learning control model. The DDPG agent is a participant-judge reinforcement learning agent that searches for the optimal policy that maximizes the expected cumulative long-term reward while learning the Q-function and the policy. The algorithm uses off-policy data and the Bellman equation to learn the Q-function and uses the Q-function to learn the policy.

[0230] According to embodiments of the present invention, Proximity Policy Optimization (PPO) can be used as a machine learning control model. PPO can be classified as a policy gradient method for training a policy network of an agent. The policy network is the function used by the agent to make decisions. To train a correct policy network, PPO takes small policy updates (step sizes) so that the agent can reliably reach the optimal solution. Steps that are too large may lead the policy in the wrong direction, thus offering little possibility of recovery; steps that are too small reduce overall efficiency. Therefore, PPO implements a pruning function that restricts the agent's policy updates from being too large or too small. Advantageously, PPO achieves a balance between performance and understanding.

[0231] According to embodiments of the present invention, the Deep Q-Network (DQN) algorithm is a model-free, policy-free reinforcement learning method that can be advantageously implemented as a machine learning control model. The Deep Q-Network agent is a value-based reinforcement learning agent, which trains the evaluator to estimate the expected discount to accumulate long-term rewards when following the optimal policy. DQN can be considered a variant of Q-learning characterized by objective evaluation and experience buffering. DQN can be considered a relatively simple and efficient model. Furthermore, DQN can mitigate data correlation. Essentially and advantageously, DQN combines the principles of deep neural networks with Q-learning, enabling the agent to learn the optimal policy in the complex control of a freezer. DQN can utilize experience replay, which advantageously helps to decorrelate sequential experiences by storing sequential experiences in a replay memory buffer. This memory buffer is randomly sampled during network updates to break temporal dependencies and stabilize learning.

[0232] The Flexible Actor Commentator (SAC) is an algorithm that optimizes stochastic policies in a way that deviates from the policy, bridging the gap between stochastic policy optimization and DDPG-style methods. While the SAC algorithm may be best suited for continuous action spaces, it can be implemented as a machine learning control model according to an embodiment of the present invention.

[0233] For example, a machine learning control model based on reinforcement learning may take a long time to train or, consequently, many iterations, potentially leading to a large amount of product (such as ice cream products) being wasted, because the reinforcement learning model is trained by testing different parameters (such as adjustable production line parameters) and learning from the corresponding feedback (rewards) given in response to these actions, such as changes in measurement data caused by determined adjustable production line parameters, as described elsewhere in this disclosure.

[0234] Optionally, the reinforcement learning control model can be trained using reward shaping and / or imitation learning. Advantageously, in imitation learning, an ice cream-making expert is determining adjustable production line parameters to achieve a given desired quality, for example, given desired measurement data, including, for example, location. Furthermore, the expert is evaluating the quality of the produced product (measurement data, including, for example, location, etc.), as described elsewhere in this disclosure, given the determined adjustable production line parameters, and providing feedback on whether the quality (location, etc.) matches the desired quality (measurement data, including, for example, location), etc. The expert can adjust the production line parameters during production and continue to evaluate the quality, including measurement data, such as location, while adjusting the parameters. The reinforcement learning control model is then able to learn parameters from the expert that maximize the reward. Advantageously, imitation learning can significantly minimize the number of training iterations required before the reinforcement learning control model becomes capable of performing at the desired product quality level, provided that measurement data, including, for example, location, is provided. Optionally, the reinforcement learning control model can be trained further without imitation learning to improve the performance of the reinforcement learning model.

[0235] Note that the concept of mimicking adjustable production line parameters determined by human experts can be achieved using various types of machine learning, including different types of supervised learning, and thus not just reinforcement learning. However, while training reinforcement learning can sometimes be time-consuming, reinforcement learning control models often outperform traditional supervised and unsupervised learning algorithms.

[0236] Reinforcement learning models can be trained and operated on a variety of data related to, for example, production lines and the products produced, including, for example, measurement data, and including, for example, external operating parameters, such as parameters related to environmental conditions. Data types that can be used to train machine learning control models, including, for example, external operating parameters, have been described elsewhere, and we note that these data can also be applied to train other machine learning models according to the invention, including reinforcement learning models such as those described above.

[0237] Optionally, training the machine learning control model according to the invention may include using a model of the production line and specific stations or machines on the production line, as well as the ice produced therefrom and its location, as a starting point, and using it as the first best guess of the system. For example, an analytical model or an empirically determined model. Preferably, the machine learning model can be trained first to replicate or approximate the AI ​​model to become a copy of the mathematical model of the system, and then the machine learning control model that has already approximated the model can be trained based on the training data. This can advantageously minimize the iterations required to train the machine learning control model from the initial guess.

[0238] In an alternative embodiment of the invention, control may be based on a genetic algorithm. The genetic algorithm method can be further advantageously combined with machine learning control methods, including those already described in this disclosure. Advantageously, the genetic algorithm may employ an interactive process to adapt a solution to the control problem, which involves probabilistically selecting the best-fit solution through a set of genetic operators.

[0239] Figure 9 A schematic example of a cooling control system (CCS) that can be implemented to perform automatic control based on a machine learning control model (not shown) is shown. The cooling control system can be implemented using various types of machine learning models, including, for example, those related to... Figure 8 The described model. This particular example illustrates training a machine learning control model using a controller based on measured data and measured adjustable control parameters. Note that other types of hardware can be used to train the machine learning control model of this invention. For example, utilizing one or more processors (PUs), memory units (MUTs), including GPUs, CPUs, etc., as... Figure 10 As shown. Further note that various types of hyperparameter optimization techniques can be optionally used to optimize machine learning control models.

[0240] The controller receives the measured data (MD) and the measured adjustable parameters. The measured data and the corresponding measured adjustable production line parameters are used as training data, where the measured data is the input data and the measured adjustable production line parameters are the output, sometimes also called the target. The measured adjustable production line parameters can be obtained by one or more experienced personnel manually controlling the adjustable production line parameters. For example, one or more experienced personnel adjust the adjustable production line parameters to achieve a specific setpoint, such as a specific position on an ice cream product, and this data can then be stored for use in training the data along with the measured data. This allows a machine learning control model to model the relationship between the measured data and the measured adjustable production line parameters. By using this type of training data to train the machine learning control model, the machine learning control model can mimic the control provided by one or more experienced personnel. This training data can be used to train various machine learning models, including artificial neural networks, recurrent neural networks, probabilistic machine learning models, and so on.

[0241] Optionally, the setpoint and / or the error between the setpoint and the measurement data can also be used as training data.

[0242] It should be understood that regardless of the training data used, the architecture of a model can vary when a neural network-type algorithm is used as a machine learning control model; for example, the depth, the number of nodes per layer, and the type of nodes used in each layer. It should also be noted that training can be performed using a variety of numbers of epochs. Furthermore, many types of performance testing methods and measures can be used to evaluate the performance of the machine learning control model.

[0243] It should be noted that the above examples of control algorithms, whether or not they are based on artificial intelligence, are advantageously and preferably relevant to specific types of ice cream products.

[0244] Figure 11a A block diagram of the process along a production line for producing ice cream products is shown. The production line PL comprises multiple workstations located along the line PL. First, different ice cream ingredients are fed into a mixer (technically optional), where the ingredients (a mixture of ice cream compounds) are mixed. The material from the mixer MIX is then transferred to a freezer SF, where it is processed into an ice cream composition. The mixture is added to the freezer SF, and air is added at the same end of the freezer. The air can also be understood as ice cream ingredients typically supplied to the freezer through a separate dedicated inlet. In the step in the freezer SF, the input ice cream ingredients (mixture and air) are processed while being cooled and partially frozen, thereby causing partial crystallization and / or replacement of the ice cream composition. The ice cream composition is cooled to a temperature below zero degrees Celsius by the freezer SF to obtain the desired ice cream quality with an ice cream foam structure of suitable size and shape. Air is continuously supplied to the freezer SF at its input end. Inside the freezer, the ice cream composition is subjected to shearing, for example, by a stirring device in a freezing bottle, to make the ice cream composition softer and less cold for consumption.

[0245] In the next step of the method, the ice cream composition is guided to an ice cream former (ICF), where it is shaped and divided into ice cream products. The ice cream former (ICF) can be an ice cream cutter, where the flow of ice cream composition is guided to an outlet shaped into the desired ice cream product. When the ice cream product type is ice cream on a stick, a stick inserter is typically placed at the end of the outlet of the ice cream former (ICF). At the end of the ice cream cutter, a wire is placed to divide the ice cream composition into ice cream products and allow them to fall onto a conveyor. The ice cream former (ICF) can also be an ice cream filler, where valves divide the flow of ice cream composition. After the ice cream composition is separated by the valves, a piston can be used to push the ice cream into ice cream containers, such as waffle, cookie, or inedible containers.

[0246] Ice cream products are conveyed from the ice cream former (ICF) to the hardening tunnel (HT), where they are cooled. The type of hardening tunnel varies depending on the type of ice cream being manufactured and is produced on each production line. An example of a hardening tunnel is shown below. Figure 2 As shown, ice cream products are conveyed on a transport surface. This type of hardening tunnel HT typically includes air ventilation, evaporators, heat exchangers, and other components (not shown) related to uniformly controlling the temperature within the hardening tunnel HT. Other types of hardening tunnels may include conveyors comprising castings. Hardening tunnels with castings can be circular and rotate around a center in a nearly horizontal plane. Ice cream products are shaped and divided into castings on a conveyor belt, then conveyed in a rotary motion. Coolant is applied to the underside of the castings to harden the ice cream products in the castings. Another type of hardening tunnel with castings can also be used. Casting templates are conveyed in a linear direction, and the casting templates are connected as slits in the belt. Slits with castings are filled with ice cream products at one end and conveyed in a linear direction with the castings on top. After releasing the ice cream products from the castings, the castings form a 180-degree turn at the end of the belt and are conveyed back to the ice cream forming unit. At the ice cream forming unit, the castings can be refilled with ice cream products. Depending on the specific production of the ice cream product, the number of castings perpendicular to the conveying direction can vary, for example, from 2 to 12 or even more. For two hardening tunnels with a cast form, cooling fluid can be applied from below to cool the ice cream product by spraying coolant on top and allowing the cooling fluid to flow downwards along the outside of the cast form, as in a so-called cascade system. More often, the system is a bath in which cold liquid enters from below and slightly heated fluid flows over the outside of the cast form. All three types of hardening tunnels are used to harden and cool ice cream products after the ice cream former. Ice cream products can be conveyed through the hardening tunnel HT for minutes or even hours to ensure a uniform freezing temperature. Adhesion can be established between the ice cream product and the surface on which it is being conveyed through the hardening tunnel HT. Adhesion may also develop through the hardening tunnel due to the cooling conditions. In some production lines PL, the hardening tunnel is optional, and the ice cream product is cooled in the freezer before the ice cream former. Making the freezer sufficiently cold is often a very expensive process, and handling the ice cream composition through the ice cream former is further complicated due to the harder ice cream composition.

[0247] The next step along the ice cream production line is the packing station, where ice cream products are typically packaged in foil. Ice cream products can be placed in longitudinal sheets of foil that are welded together to typically seal one product. The foil is then cut and separated, thus packaging and sealing an ice cream product within the foil. Packing station packs can also be packs where ice cream products are directly packaged in cardboard or cartons without any foil. Packing station packs can also include auxiliary packing station packs where individually foil-sealed ice cream products are packaged into boxes. Ice cream products can be packaged into boxes or containers by hand or robot.

[0248] Along the entire production line PL, one or more sensors (not shown) can be placed at different locations to measure different stations (ice cream forming unit, hardening tunnel, freezer, mixer, coating station, packaging station, ingredient feeder, etc.) and / or ice cream characteristics, ice cream composition properties and / or parameters, and different properties. The sensors can also be wired or wirelessly connected to one or more controllers (not shown) to transmit observed or measured properties, parameters, and / or characteristics to one or more controllers. One or more controllers can also be connected to different stations along the production line PL to adjust different workstations based on measurements and / or observations. The location of one or more sensor SENS can be used by the controllers for any upstream adjustments to ice cream ingredients, ice cream products, or any parameters related to upstream workstations.

[0249] One or more sensors can be weight sensors, vision sensors, cameras, flow sensors, pressure sensors, temperature sensors, distance sensors, or any other sensors used to observe the characteristics, parameters, or properties of any kind of ice cream. Sensors can also be used to measure parameters of any workstation.

[0250] By along Figures 11a to 11b The different steps of the production line PL shown depict the preparation of ice cream composition ICO from ingredient ICN in mixer MIX and ice cream composition ICO in freezer SF. Ice cream composition ICO is shaped and separated into ice cream products ICI at ice cream former ICF. Ice cream products ICI are processed through production line PL, where they are refined in hardening tunnels and packaging stations. At the end of production line PL, ice cream products ready for sale are manufactured. This can be a single ice cream product in foil, typically purchased in small shops. Alternatively, the ice cream product can be a box containing multiple foil-wrapped ice cream products available in supermarkets.

[0251] Figure 11b It shows the relationship with Figure 11aThe same embodiment is shown, wherein one or more optional components are added to the ice cream production line PL. An optional ingredient feeder INF can be placed before the ice cream former ICF to mix the ice cream composition from the freezer SF with small pieces of chocolate, berries, cake, caramel, or any other edible substance.

[0252] Figure 11b The diagram also illustrates the placement of one or more optional coating stations (COAs) along the production line (PL) after the ice cream product has left the hardening tunnel (HT). A coating station (COA) can typically be a station that immerses the ice cream product in a warm chocolate bath. The ice cream product is then lifted, with the coated chocolate dripping off, but a new layer is added to it. The ice cream product may also be coated with other edible materials or different types of chocolate. After the initial dip coating, an additional coating may be provided in the form of another layer of chocolate or small pieces of solid chocolate, berries, or any other edible solid.

[0253] Additional optional workstations (not shown) along the production line PL can be any of the following: smart cutter, coating inspection station, serialization, packaging inspection station, manual station, cleaning station, or any other workstation related to the production of ice cream products.

[0254] Figure 12a An embodiment of the invention is shown, wherein an ice cream topping is guided from a freezer F to an ice cream forming unit ICF. A separate conduit leads to the ice cream forming unit ICF, where caramel is pushed towards the ice cream topping. The caramel swirls into the ice cream topping before it finally forms at the ice cream forming unit outlet ICF. The ice cream is divided into ice cream products by a cutter CUT positioned directly below the ice cream forming unit outlet ICF. Ice cream items ICI are formed by shaping and dividing the ice cream topping in the ice cream forming unit ICF. When the ice cream product ICI contacts the transport surface TSU, one or more ice cream product characteristics of the ice cream product ICI are measured by sensors SENS. The sensors SENS are communicatively coupled to a controller (not shown), which can indicate whether one or more ice cream product characteristics of the ice cream need to be adjusted. Adjustments can be made automatically or by an operator.

[0255] Figure 12bAn embodiment of the invention is illustrated, wherein three freezers F cool three different types of ice cream. The three different types of ice cream can be classified according to color, flavor, density, or any other relevant ice cream type. The three different types of ice cream are guided to an ice cream former ICF, where the ice cream is shaped into corresponding forms for ice cream products being processed. The three types of ice cream can be formed like a traffic cone, for example, with different types of ice cream for buttons, middle sections, and tops. The ice cream can also be formed into a happy face with different types of ice cream for faces, mouths, and eyes. Once the ice cream has been formed, the ice cream clump is guided toward the ice cream former outlet ICFO, where a cutter CUT is placed outside the ice cream former outlet ICFO. The cutter CUT is used to divide the ice cream clump into ice cream products ICI. The ice cream products ICI may fall onto a transport surface TSU, where sensors SENS are provided to measure one or more ice cream product characteristics ICIP. The sensors SENS are communicatively coupled to a controller (not shown), which is configured to notify the operator whether any adjustments are needed to adjust one or more ice cream product characteristics. The controller can also be configured to automatically adjust one or more ice cream product attributes by adjusting any kind of processing unit along the production line (e.g., freezer, ice cream former, hardening tunnel, mixer, or any other related processing unit along the production line).

[0256] List of reference numerals in the attached diagram:

[0257] ICI Ice Cream Products

[0258] FICI's first ice cream product,

[0259] SICI's second ice cream product,

[0260] TICI's third ice cream product,

[0261] NICI, a neighboring brand of ice cream products.

[0262] LOC location,

[0263] PL production line

[0264] ICP ice cream products,

[0265] ICF ice cream maker,

[0266] ICFO ice cream former outlet

[0267] ICFI ice cream maker inlet,

[0268] ICD Ice Cream Divider

[0269] TSU transport surface,

[0270] ALA Alert

[0271] UMA manual upstream adjustment,

[0272] VI (Visual Interface)

[0273] STI rod inserter,

[0274] MAL manufacturing channel,

[0275] AMAL additional manufacturing channel,

[0276] HT hardened tunnel,

[0277] WRF packaging foil,

[0278] SENS sensor,

[0279] FILL ice cream filler

[0280] COND indicates the direction of teleportation.

[0281] UI (User Interface)

[0282] GRA grip device,

[0283] WT workbench

[0284] CCS cooling control system

[0285] PACK Packaging Station.

Claims

1. A method for positioning ice cream products (ICI), comprising: The first ice cream product (FICI) is provided and positioned at the measurement location (LOC) along the production line (PL) for producing ice cream products (ICP). The position of the first ice cream product (FICI) is measured at the measurement location (LOC) along the production line (PL) used to produce ice cream products (ICP). The first ice cream product (FICI) is conveyed along the production line (PL) away from the measurement location (LOC), and then... A second ice cream product (SICI) is provided and positioned at the measured location (LOC) along the production line (PL) for producing ice cream products (ICP), wherein the positioning of the second ice cream product (SICI) is based on the measured location of the first ice cream product (FICI).

2. The method according to claim 1, wherein, The second ice cream product (SICI) is positioned upstream of the measurement location (LOC) along the production line (PL) for producing ice cream products (ICP), wherein the positioning of the second ice cream product (SICI) is based on the measured location of the first ice cream product (FICI).

3. The method according to any one of the preceding claims, wherein, The step of positioning the second ice cream product (SICI) based on the position of the first ice cream product (FICI) on the transport surface (TSU) is performed by adjusting the position of the ice cream former (ICF).

4. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) on the transport surface (TSU) is performed automatically.

5. The method according to any one of the preceding claims, wherein, The adjustment of the position of the ice cream product is performed automatically.

6. The method according to any one of the preceding claims, wherein, The adjustment of the position of the ice cream former (ICF) is performed automatically.

7. The method according to any one of the preceding claims, wherein, The adjustment of the position of the ice cream former (ICF) is done manually.

8. The method according to any one of the preceding claims, wherein, The adjustment of the position of the ice cream former (ICF) is performed manually based on the automatic measurement of the position of the first ice cream product (FICI).

9. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) triggers an alarm (ALA) when the ice cream product is not in the proper position.

10. The method according to any one of the preceding claims, wherein, The alarm (ALA) is triggered when a manual upstream adjustment (UMA) is required.

11. The method according to any one of the preceding claims, wherein, The visual interface (VI) indicates whether adjustments need to be made.

12. The method according to any one of the preceding claims, wherein, The visual interface (VI) indicates how to make adjustments.

13. The method according to any one of the preceding claims, wherein, The visual interface (VI) indicates how many adjustments need to be made.

14. The method according to any one of the preceding claims, wherein, The positioning of the second ice cream product (SICI) is adjusted by automatic repositioning based on relevant hardware that performs automatic measurements.

15. The method according to any one of the preceding claims, wherein, The control circuitry of the ice cream former (ICF) is automatically adjusted by repositioning related hardware based on automatic measurement, thereby adjusting the positioning of the second ice cream product (SICI).

16. The method according to any one of the preceding claims, wherein, The ice cream divider (ICD) is positioned next to the ice cream former outlet (ICFO) of the ice cream former (ICF).

17. The method according to any one of the preceding claims, wherein, The adjustment of the ice cream forming outlet (ICFO) and the ice cream divider (ICD) is performed simultaneously and / or synchronously.

18. The method according to any one of the preceding claims, wherein, Adjusting the ice cream former outlet (ICFO) and the stick inserter (STI) simultaneously and / or synchronously.

19. The method according to any one of the preceding claims, wherein, The method includes the step of dividing the ice cream product after it has been formed in the ice cream former (ICF).

20. The method according to any one of the preceding claims, wherein, The method includes the step of cutting the ice cream product after it comes into contact with the transport surface (TSU).

21. The method according to any one of the preceding claims, wherein, The position of the second ice cream product (SICI) is measured, and the third ice cream product (TICI) is located based on both the position of the first ice cream product (FICI) and the position of the second ice cream product (SICI).

22. The method according to any one of the preceding claims, wherein, The positions of multiple ice cream products are measured, and additional ice cream products are located based on the positions of the multiple ice cream products.

23. The method according to any one of the preceding claims, wherein, The position of the first ice cream product (FICI) is measured based on the adjacent ice cream product (NICI).

24. The method according to any one of the preceding claims, wherein, The positioning of the second ice cream product (SICI) is based on the measured position of the first ice cream product (FICI) in the additional manufacturing channel (AMAL).

25. The method according to any one of the preceding claims, wherein, The measurements of the plurality of ice cream products are taken in one or more additional manufacturing channels (AMAL), and the positioning of the second ice cream product (SICI) is based on its position in the one or more additional manufacturing channels (AMAL).

26. The method according to any one of the preceding claims, wherein, The ice cream former (ICF) is adjusted based on measurements of the first ice cream product (FICI) in the additional manufacturing channel (AMAL).

27. The method according to any one of the preceding claims, wherein, The adjustment of the ice cream divider (ICD) is based on measurements from the additional manufacturing channel (AMAL).

28. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed in a horizontal plane.

29. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed based on rotation.

30. The method according to any one of the preceding claims, wherein, The method includes the step of measuring the amount of ice cream in a predetermined area to determine the location of the first ice cream product (FICI).

31. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is used to determine other parameters of the production line (PL) from the ice cream product (ICP).

32. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed while the first ice cream product (FICI) is in contact with the transport surface (TSU).

33. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed before the first ice cream product (FICI) comes into contact with the transport surface (TSU).

34. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed upstream of the hardened tunnel (HT).

35. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed downstream of the hardened tunnel (HT).

36. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed inside the hardened tunnel (HT).

37. The method according to any one of the preceding claims, wherein, The step of measuring the location of the first ice cream product (FICI) is performed upstream and downstream of the hardened tunnel (HT).

38. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed at the AHS tongue position.

39. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is based on the position of the first ice cream product (FICI) at the position of the wrapping foil (WRF).

40. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed before the end of the production line (EOL).

41. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed at more than one different measurement position (LOC) along the conveyor.

42. The method according to any one of the preceding claims, wherein, The formation and placement of the second ice cream product (SICI) is based on multiple measurements from the plurality of measurement locations (LOCs) along the conveyor.

43. The method according to any one of the preceding claims, wherein, The step of measuring the position of the first ice cream product (FICI) is performed by more than one sensor (SENS) when measuring the position of the first ice cream product (FICI) at a measurement position (LOC) along the conveyor.

44. The method according to any one of the preceding claims, wherein, The position of the first ice cream product (FICI) is measured before the ice cream former (ICF).

45. The method according to any one of the preceding claims, wherein, The measured position of the first ice cream product is automatically applied to at least partially adjust the positioning of the second ice cream product using artificial intelligence, the adjustment being established through supervised machine learning.

46. ​​The method according to any one of the preceding claims, wherein, The measured position of the first ice cream product is automatically applied to adjust the positioning of the second ice cream product at least partially through artificial intelligence, the adjustment being established through unsupervised machine learning.

47. The method according to any one of the preceding claims, wherein, The measured data and the measured adjustable parameters are used as training data for the machine learning model of the artificial intelligence.

48. The method according to any one of the preceding claims, wherein, The measured data, such as the measured location and / or the measured position data, and / or the measured adjustable parameters, such as the measured adjustable ice cream former parameters, are used as training data for the machine learning model of the artificial intelligence.

49. The method according to any one of the preceding claims, wherein, The measurement data and the adjustable measurement parameters are used in combination with data defining the ice cream product type of the artificial intelligence as training data for the machine learning model.

50. The method according to any one of the preceding claims, wherein, Measurement data, such as the measured location and / or the measured position data, and / or the measured adjustable parameters, such as the measured adjustable ice cream former parameters, are combined with data defining the ice cream product type of the artificial intelligence and applied as training data for the machine learning model.

51. The method according to any one of the preceding claims, wherein, The position of the first extruded ice cream product is measured visually or by camera.

52. The method according to any one of the preceding claims, wherein, The position of the first extruded ice cream product is measured using infrared technology.

53. The method according to any one of the preceding claims, wherein, The measurement of the position of the first extruded ice cream product is performed using ultrasound.

54. The method according to any one of the preceding claims, wherein, The position of the first extruded ice cream product is measured by MR (magnetic resonance).

55. The method according to any one of the preceding claims, wherein, The measurement of the position of the first ice cream product is performed using microwaves.

56. The method according to any one of the preceding claims, wherein, The position of the first ice cream product (FICI) is measured using a fiber optic sensor.

57. The method according to any one of the preceding claims, wherein, The position of the first ice cream product (FICI) is measured using a capacitive sensor.

58. The method according to any one of the preceding claims, wherein, The position of the first ice cream product (FICI) is measured using a potential-measuring position sensor.

59. The method according to any one of the preceding claims, wherein, The measurement of the position of the first ice cream product (FICI) is performed by electromagnetic radiation.

60. The method according to any one of the preceding claims, wherein, The measurement of the position of the first ice cream product (FICI) is performed by a sensing sensor.

61. The method according to any one of the preceding claims, wherein, The method includes the step of measuring the temperature of the transport surface (TSU) at the measurement location of the first ice cream product (FICI).

62. The method according to any one of the preceding claims, wherein, The method includes the step of measuring the temperature of the first ice cream product (FICI).

63. The method according to any one of the preceding claims, wherein, The measurement of the temperature of the first ice cream product and the measurement of the position of the first ice cream product are performed simultaneously.

64. The method according to any one of the preceding claims, wherein, The positioning of the second ice cream product is based on the measured position of the first ice cream product and the temperature of the first ice cream product.

65. The method according to any one of the preceding claims, wherein, The method includes the step of measuring the weight of the first ice cream product while measuring the position of the first ice cream product.

66. The method according to any one of the preceding claims, wherein, The method includes the step of measuring the density of the first ice cream product while measuring the location of the first ice cream product.

67. The method according to any one of the preceding claims, wherein, The method includes the step of measuring the size of the first ice cream product while measuring the position of the first ice cream product.

68. The method according to any one of the preceding claims, wherein, The method includes the step of measuring one or more of the following parameters of the first ice cream product: weight, density, volume, temperature or any combination thereof, while measuring the position of the extruded first ice cream product.

69. The method according to any one of the preceding claims, wherein, The step of positioning the second ice cream product is also based on the temperature, weight, volume, density, or any combination thereof of the first ice cream product.

70. An ice cream production line, comprising: Ice cream forming apparatus used to form ice cream products A conveyor for conveying ice cream products, the conveyor including a transport surface. Sensors are used to sense position-related data of the ice cream product at a measurement location (LOC) on the transport surface to measure its position. The ice cream forming device can be adjusted relative to the positioning of the ice cream product on the transport surface. A controller, communicatively coupled to the sensor, is configured to automatically assess the position of the measured ice cream product. The results of the automatic evaluation are automatically transmitted to the controls and / or user interface of the ice cream former.

71. The ice cream production line according to claim 70, wherein the method of claims 1 to 69 is used.

72. The ice cream production line according to claims 70 to 71, wherein, The ice cream production line includes one or more sensors.

73. The ice cream production line according to claims 70 to 72, wherein, The ice cream production line includes a user interface.

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