A method of normalizing ice cream products

Abstract

Disclosed is a method of normalizing ice cream products comprising providing a first ice cream item, automatically measuring one or more ice cream item properties of said first ice cream item. Adjusting one or more ice cream item properties of a subsequently provided second ice cream item on the basis of the measurement of said one or more ice cream item properties of said first ice cream item. Further disclosed is a system for using the method and a normalized sequence of ice cream products.

Description

A METHOD OF NORMALIZING ICE CREAM PRODUCTSField of the invention

[0001] The present invention relates to a method and a system for normalizing of ice cream products along a production line.Background of the invention

[0002] In the production industry of ice cream products, it is critical to optimize the quality of the ice cream products to be able to deliver ice cream products with the correct amount of coating or the right amount of weight. It is also critically to optimize the yield of the ice cream products produced in production line to avoid too much waste of ice cream during the production and prevent breakdowns in the production line. Traditionally a lot of ice cream products are being discarded because of not being conveyed correctly along the production line. Another problem would be that the ice cream products would also not be suitable for sale due to an incorrect weight compared to the saying on the packaging. Thus, an adjustment of the production line of ice cream products which allows for effective production of ice cream products are highly desirable.Summary of the invention

[0003] The inventors have identified the above-mentioned problems and challenges related to producing ice cream products, and subsequently made the below-described invention which may increase the quality and yield of ice cream products.

[0004] The invention relates to a method of normalizing ice cream products including the steps of: providing a first ice cream item, automatically measuring one or more ice cream item properties of said first ice cream item,adjusting one or more ice cream item properties of a subsequently provided second ice cream item on the basis of the measurement of said one or more ice cream item properties of said first ice cream item.

[0005] Thereby is provided an advantageous method of normalizing ice cream products. The present method is advantageous for a number of reasons which will be described here below.

[0006] The term ice cream item may be understood as an ice cream item anywhere along the way of the production line until the end of the production line. The ice cream item is to be understood as the same ice cream item along the production line where the ice cream item may be refined and enhanced along the production line until an ice cream product is made. The first ice cream item may be defined as an ice cream item, e.g., when a cone is placed on the transportation surface, when a mass of ice cream is shaped and divided from a ice cream former, when a coating has been added, when a wrapping is added or anywhere along the production line. The production line for producing ice cream item may comprise a freezer, a mixer, an ice cream former, a hardening tunnel, a coating station, a wrapping stations, a packaging station or any other processing units related to making ice cream products located along the production line.

[0007] The term ice cream item may be a container for a mass of ice cream, such as e.g., a cone, an ice boat, a biscuit, a cookie or anything other edible for receiving ice cream. The ice cream item may be defined as when the first part of the ice cream product is being placed on a transportation surface. This may be when e.g., a cone or a biscuit is placed in e.g., a hole or on a tray of a transportation surface before being filled with ice cream. The first part of the ice cream item may also be when a mass of ice cream is being shaped and individual divided and positioned on a transportation surface or in a non-edible cup. The term ice cream item may be used until the final ice cream product is made, which may typically be when an ice cream product may be at the end of the production line or ready for sale.

[0008] The term ice cream item could be understood as a mass of ice cream manufactured prior to the ice cream former. The ice cream item type could be any of the following: ice cream, lemonade ice, water ice, popsicle, ice cream-sandwich, ice cream-cone, a lolly, gelato, frozen yogurt, granita, sorbet, kulfi, dondurma or any combination thereof. The ice cream item type could be in the size of a popsicle stick, a sandwich, a cone, an ice cream boat or an ice cream cake. The ice cream item type could further comprise other edible parts like caramel, chocolate, fruit juice, edible decoration, jam or any combination thereof. The ice cream item type could further be a vegan produced ice cream item. The ice cream could also be several different flavors of ice cream item and / or colours.

[0009] Furthermore, the ice cream item could comprise a stick, a container, a cone, or any other relevant part for holding the ice cream item when eaten. The parts related for holding the ice cream item when eaten could be of an edible material like e.g., a waffle or cookie. The part related for holding the ice cream items could also be a nonedible like a stick or a cup of plastic or wood.

[0010] The ice cream item type could be an ice cream item type without any holding means which is only wrapped in paper or a box. The ice cream item types without any means for holding the ice cream item could be like a sandwich, a boat, a bar, or bites which would typically be eating by hand. The ice cream item type without any means for holding the ice cream item could also be in the size of a cake which would typically be eaten by flatware.

[0011] The term forming an ice cream item may also be understood as the process where e.g., a cone, an ice boat, a biscuit, a cookie or anything other edible for receiving ice cream is being placed at e.g., a transportation surface. The providing of an ice cream item may therefore also be understood as e.g., a cone or a cookie before ice cream may be added to the ice cream item. The adjusting of the one or more ice cream item properties of a second ice cream item based on measured one or more ice cream items properties of a first ice cream item may therefore be one or more ice cream item properties of e.g., a container for a mass of ice cream, such as an ice boat, cone or a cookie.

[0012] The production of the ice cream items may be understood as having a mass of ice cream inside a freezer, where the mass of ice cream is being guided to an ice cream former with an ice cream former outlet. The mass of ice cream could be one mass of ice cream or a mix of flavours and / or colours. In the ice cream former the mass of ice cream is being shaped and individually divided through the ice cream former outlet. The dividing may be by cutting the mass of ice cream and thereby an ice cream item is formed. When forming the ice cream item, the ice cream item may also be placed on a transportation surface, e.g., a conveyor. The ice cream item may also be placed in a container both edible and non-edible before being conveyed along the production line. The ice cream item may be conveyed along an ice cream process line where the ice cream item may be e.g., cooled in a hardening tunnel, covered in chocolate, wrapped in paper, a biscuit may be added or anything other related for processing ice cream items. At the end of the process line the ice cream item is fully manufactured and the ice cream item would therefore be labelled as an ice cream product.

[0013] The term ice cream item properties may be understood as the weight of an ice cream item. The weight of an ice cream item may change along the production line according to the type of ice cream product being made. The change in weight of the ice cream item may be due to coating, mass of ice cream in an ice cream item container, a stick being inserted or any other processing step where the weight of the ice cream item may be adjusted. The weight of the ice cream item may also change because of the cold environment, the humidity, frost or other things related to the surroundings along the production line. The weight of ice cream products may typically be measured in the size of gram or kilogram.

[0014] An example of a adjusting the weight of an ice cream item may be to change the temperature of the freezer. The mass and volume of ice cream is compressible and depending on both the temperature and the pressure. When a mass of ice cream is being guided from a freezer to an ice cream former outlet the flow of the ice cream may change according to the pressure used for guiding the mass of ice cream. The flow may further change according to the temperature of the ice cream, where the temperatureof the ice cream may be affected by e.g., the temperature of the pipes guiding the ice cream. The flow of ice cream from the freezer to the ice cream former may further be advantageous to control and adjust to control the amount (weight or volume) being used for each ice cream item, when the ice cream item is being shaped and divided in the ice cream former.

[0015] It is advantageous to control and regulate the weight of upcoming ice cream items to keep the ice cream items weight within a predetermined margin. The more precis the weight of the ice cream items is controlled, the smaller the margin of the weight may be. It may further be advantageous to have a more precis weight to ensure that the ice cream items do not weigh too much due to cost of using too much ice cream or coating. It is also advantageous that the ice cream items do not weigh too little which may cause a thicker layer of chocolate to ensure the right weight of the ice cream product corresponding to the weight labelled on the wrapping foil.

[0016] The term ice cream item properties may also be understood as the dimensions of an ice cream item, whether it may be the height, the length, the width or the volume of the ice cream item. It is advantageous to control and normalize the dimensions of an ice cream item to ensure e.g., a minimum of waste, coating and over cooling along the processing of the ice cream products.

[0017] The dimensions of the ice cream item may also be local dimensions or portions / parts of the ice cream item. The local dimensions may be both height, width or length of a part of the ice cream item, e.g., a height of one type of ice cream in an ice cream item comprising two or more ice cream types. The dimensions of the local part of the ice cream item may also be measured according to a coating of the ice cream item or additional edible / non-edible parts on / in the ice cream item. The local dimensions may also be a way of describing the visual-characteristics.

[0018] It is advantageous to control and adjust the dimensions of the ice cream items to avoid oversized ice cream items which may lead to more coating e.g., a greater volume of expensive chocolate is used to coat the entire ice cream item. The ice cream item may be too large for the wrapping foil to correctly close around the ice creamitem or even enclose the ice cream item at all. The oversized ice cream item may also be impossible to pack in a package where e.g., 3, 6 or 12 ice cream items are being placed in one package.

[0019] It is advantageous to make upstream adjustments of ice cream item properties for ice cream items and a mass of ice cream. The adjustment of the ice cream properties may be impossible at the location of the measuring of the one or more ice cream item properties or downstream that location. The impossible adjustments of the ice cream properties may e.g., be when a swirl of caramel is added to the mass of ice cream in the ice cream former and the caramel is stuck in the position it has been swirled into the mass of ice cream. The impossible adjustments may also be for mixing two or more ice cream types into each other to form and shape e.g., the visual characteristics in the ice cream former, where the plurality of ice cream types would be stuck for the rest of the processing of the ice cream product.

[0020] When the ice cream items are being undersized according to the dimension e.g., height, length and width, the ice cream products may not comply with the declaration on e.g., the wrapping foil or the package for the ice cream items. Undersized ice cream items may also lead to space available in a package. When too much space is left in the package for ice cream items it may lead to ice cream items being shaken and damaged or the wrapping foil cold be punctured.

[0021] An example of a adjusting the dimensions or volume of an ice cream item may be to adjust the temperature of the freezer or the flow of ice cream from the freezer to the ice cream former. The adjustment of flow would either push more or less ice cream to the ice cream former, where the ice cream is shaped and divided with the same speed but more / less ice cream is being pushed through and therefore and adjustment of the volume has been made.

[0022] The term ice cream item properties may also be understood as the temperature of an ice cream item. An example of a adjusting the temperature of an ice cream item may be to change the temperature in the freezer or mixer before the ice cream former.

[0023] The term ice cream item properties may also be understood as the amount of air in an ice cream item. The process of controlling the amount of air is overrun, where a mass of ice cream may be mixed with more air to make the ice cream fluffier. When the amount of air in the ice cream is changed an upstream correction in the freezer may typically be required in order to keep the same flow of ice cream to the ice cream former. Changing the amount of air in the ice cream will lead to a change in the density of the ice cream and thereby a need for adjusting the flow of the ice cream to the ice cream former, because the same flow is required to make ice cream items of the same size.

[0024] An additional parameter for the flow of ice cream from the freezer to the ice cream former is how old the batch or mix of ice cream is.

[0025] The term ice cream item properties may also be understood as the visualcharacteristics in an ice cream item. The visual-characteristics may be colours, coating-pattern, decorations or anything related to the visual expression of the ice cream item. The different decorations or coating could also be measured as visualcharacteristics where the distribution of e.g., coating may be measured for the ice cream item.

[0026] The visual -characteristics may also be understood as the characteristics on the surface for the ice cream item, where the surface could vary from a smooth surface to a more rough surface. The surface of the ice cream item could indicate an upstream adjustment is required to get a higher quality of the ice cream product. The surface could further change from even to uneven in the visual-characteristics, where a degree of tilting the surface also could be understood as the visual-characteristics. The ice cream item may be divided by a cutter placed just outside of the ice cream former outlet and wherein the cutter may divide or cut the mass of ice cream into parallelograms when seen from a sideview. The visual -characteristics may also be understood as the gradient of the two sides of parallelogram that is being divided by the cutter. The visual characteristics may also depend on the cutter whether the cutter makes a clean or more fluffy / rough cut when dividing the ice cream items. The cutter may also drag the ice cream item to much when the ice cream item is being cut whichmay lead to the ice cream item falling on the side or not directly on the transportation surface. The incorrect fall of the ice cream item may indicate that the ice cream item property (here temperature) has to be adjusted earlier in the production e.g., in the freezer. The visual-characteristics may be normalized by adjusting the temperature, ice cream flow, viscosity, overrun (amount of air in ice cream), density, ice cream item type, pressure or any other parameter relevant to the process of producing ice cream products. The visual-characteristics may also be normalized by adjusting a coating pattern, a coating layer or any form, shape or pieces of decorations in / on the ice cream item. The visual characteristics may also be depending on the age of the mix of ice cream before being shaped and divided into ice cream items.

[0027] The visual-characteristics may further be understood as voids in the ice cream item. The voids may be located on the inside or on the surface of the ice cream item. The voids may lead to difficulties in e.g., an even distribution of coating or simply a lower quality in the visual expression of an ice cream item which may look like a face or animal. An uneven distribution of coating may lead to pin holes where ice cream could be running out through the pin holes and lower the quality of the ice cream product. Another example of an uneven distribution of coating could also be nuts in a chocolate coating, where an even distribution of nuts is desired according to the visual characteristics. The nuts may therefore have to be even distributed with nuts on all of the sides of the ice cream item and on the top or with all the nuts in a predetermined pattern.

[0028] Examples of visual -characteristics may vary from a mouth and eyes on a typically popsicle or a chewing gum placed as a nose on an ice cream with a head to full size ice cream cake decorated with flowers of marzipan and whipped cream.

[0029] Another example of visual-characteristics may for instance be when making the cut at the ice cream former, there can be threads of ice cream at the edges of the ice cream item. These threads can cause problems in a coating process, for instance there could come a thinner coating here, and there might leak out ice cream. When measuring the threads an upstream adjustment could for example be done by adjusting the heating on the cutter wire in the ice cream former.

[0030] The term normalizing may be understood as standardization or making an exact copy or replica of another ice cream item within a certain margin or tolerance of an ice cream item property. An example of normalizing ice cream items may be a sequence of 10 ice cream items all being within 1g, 2g, 5g, 10g or 20g of a 400g ice crem item, which would state the ice cream items as being normalized. The margin of the normalization may change according to different ice cream item types and different places along the production line. The normalizing of the ice cream item could be according to any of the ice cream item properties e.g., weight, dimensions, amount of air in ice cream, visual-characteristics or any other ice cream item relevant parameter for determining the quality of the ice cream item. The normalizing could also change according to the demand from the customer. The customer may want a top-quality ice cream product where a smaller margin for the normalization is required to ensure the top quality ice cream product or the customer may want a discount ice cream product where a higher tolerance is tolerated for the ice cream product.

[0031] The term providing is to be understood as a sum of actions and adjustments done before measuring one or more ice cream item properties of an ice cream item. Providing the ice cream item may be understood as providing an ice cream item from a first measuring location on the transportation surface to a second measuring location on the transportation surface downstream the production line. The providing may be understood as providing an ice cream item from an ice cream former to a transportation surface or from a gripping device to a wrapping foil location. The providing may also be understood as conveying from a first measuring location to a second measuring location along the transportation surface, where the ice cream item is being provided along the transportation surface to specific measuring locations. The providing for ice cream items may be anywhere along the production line.

[0032] It is advantageous to have a process for normalizing ice cream items on a conveyor or transportation surface in order to have a higher quality and a greater output of ice cream products. The normalizing of ice cream products may also lead to smaller margins and / or tolerances in order to e.g., minimize waste of ice cream, to reduce thecooling along the production line or coat with less coating material whether it being chocolate, nuts or any other edible coating material.

[0033] The measuring of ice cream item properties may be done after the ice cream items has been placed on the transportations surface, before entering a hardening tunnel, in the hardening tunnel, after leaving a hardening tunnel, at the coating location, at the wrapping foil, or any location along the process line for manufacturing ice cream products.

[0034] It is advantageous to adjust the ice cream item upstream according to any location along the production line of ice cream items. The adjustment of ice cream items upstream may be advantageous to avoid ice cream items being too big for being enclosed in a wrapping foil or too small so additional coating must be applied. When the ice cream items properties is not within a pre-desirable margin it could have the consequence that the ice cream items may e.g., slide of the transportation surface in the hardening tunnel or the ice cream items may not be gripped for coating later in the processing. By having the ice cream items in the within a pre-desirable margin the outcome of number of ice cream products will increase and / or the quality of the ice cream product will increase. A measuring location may be understood as a location anywhere along the production line. The measuring location may simply be referred to as a location.

[0035] It is also advantageous to have upstream corrections of ice cream items in order to not make the same error more than once. The upstream correction is more efficient than having a station for correcting ice cream items e.g., coating with additional edible material on an ice cream item to reach the desired weight or visualcharacteristics of the ice cream product. The ice cream items may end up sticking to the conveyor or transportation surface, which makes downstream corrections impossible and therefore upstream corrections are preferable and advantageous.

[0036] In a preferred embodiment, the adjusting establishes a normalizing of said second ice cream item.

[0037] In a preferred embodiment, the adjusting establishes a normalizing of a sequence of ice cream items.

[0038] The term a sequence of ice cream items may be understood as a plurality of ice cream item, which as an example may be 10 or 20 ice cream items. The normalization or standardization of the sequence of ice cream items is advantageous to reduce waste and optimize the production of ice cream products.

[0039] In a preferred embodiment, the adjusting establishes a normalizing of said sequence of ice cream items at a specific location of the production line.

[0040] It is advantageous to have a sequence of ice cream item normalized at a specific location, e.g., prior to the coating, in order to coat with the exact amount of coating needed. If ice cream items were to heavy or big a larger amount of coating would be needed to cover the entire ice cream item. On the other hand if the ice cream item were too small or light additional coating may also be needed to reach the desired weight of the entire ice cream product at the end.

[0041] In a preferred embodiment, the adjusting establishes a normalizing of one or more ice cream item properties of ice cream items.

[0042] It is advantageous to normalize one specific ice cream item property e.g., volume to control the process for producing ice cream products in a more sufficient way.

[0043] In a preferred embodiment, the one or more ice cream item properties is a weight of said ice cream item.

[0044] It is advantageous to measure and adjust the weight of ice cream items for normalizing ice cream items and ice cream products. The weight adjusting of weight of the ice cream item may be adjusted according to the freezer, ice cream former, hardening tunnel, coating location or any other place along the production line.

[0045] In a preferred embodiment, the one or more ice cream item properties is a volume of said ice cream item.

[0046] In a preferred embodiment, the one or more ice cream item properties is a height of said ice cream item.

[0047] In a preferred embodiment, the one or more ice cream item properties is either a width or length of said ice cream item.

[0048] In a preferred embodiment, the one or more ice cream item properties is a distance of a portion of said ice cream item

[0049] The term a portion of said ice cream item should be understood as a part of an ice cream item or a local detail of said ice cream item. The local detail could be a mouth of an ice cream item which is formed as a face, where the mouth may be of another ice cream item type or a coating material. The portion of an ice cream item may also be a height, width or length between two specific spots on said ice cream item. The portion between two spots may be between two different types of ice cream, a length of a coating, from one type of coating to another type of coating, from one coating to ice cream or any other combination between two spots on an ice cream item. The measuring of a portion or local part of said ice cream item may also define visualcharacteristics for certain types of ice cream items.

[0050] It is advantageous to have the dimensions of the ice cream item as the ice cream item property in order to normalize and control the size of the ice cream items along the production line. The ice cream item may be processed with a height above a certain height or tolerance making it difficult or even impossible to close the wrapping foil around the ice cream item later in the processing of the ice cream item. The same reasoning may be applied for the other dimensions of the ice cream item or the entire volume as the ice cream item is being processed.

[0051] In a preferred embodiment, the one or more ice cream item properties is a temperature of said ice cream item.

[0052] It is advantageous to control and adjust the temperature of said ice cream item especially when inserting a stick in the ice cream item. The stick may in water ice drop to the bottom if the temperature of the ice cream item is too high and if the temperatureof the ice cream item is too cold the ice cream item would be frozen and the stick may not be insertable in the ice cream item. It is therefore advantageous to control the temperature according to the stick of the ice cream item. Worst case is that the ice cream item has to be discarded, but on a minor scale the quality of the ice cream item depends on the position of the stick in the ice cream item. Therefore, the control and adjustment of temperature in the ice cream item is important. Additionally the ice cream could run out of the casting form if not frozen enough and the quality would also be damaged.

[0053] In a preferred embodiment, the one or more ice cream items properties is a local temperature of said ice cream item.

[0054] The term local temperature may be understood as a part or portion of the ice cream item having another temperature compared to the rest of the ice cream item. The local part with another temperature may be e.g., a caramel ripple (typically approximately 10 degrees Celsius) being added to the mass of ice cream (typically below 0 degrees of Celsius). In the example is important to control the temperature of both the caramel and the ice cream to get the correct swirl structure of caramel in the ice cream item. If the caramel is too hot the caramel would melt through the ice cream and if the caramel is too cold the caramel would be placed on the outside of the ice cream. The local part with another temperature in the ice cream item may also be a different type of ice cream (water ice / ice cream), different flavor, different color, an insert like a gummi bear or piece of chocolate, different types of coating or any other relevant part that could be in an ice cream item. When two masses of ice cream are being formed and shaped into an ice cream item it is advantageous to have the same temperature of the masses of ice cream in order to get a better visual -characteristics with sharp lines and avoid the two masses of ice cream to blend together.

[0055] In a preferred embodiment, the one or more ice cream item properties is visual-characteristics of said ice cream item.

[0056] The visual-characteristics may be measured by a camera, infrared-sensor, weight, optics, or any other sensor for sensing if the visual-characteristics is within acertain tolerance or above / below a margin to normalize the ice cream products. The measured visual -characteristics may be analyzed according to image recognition, pattern registration, color-scheme or any other thing relevant to visual-characteristics. The analyzing of the visual-characteristics may be done manually by operator or automatically by Al. The visual-characteristics may be colors on the ice cream item, patterns in the ice cream item, coating or other decorative material on / in the ice cream item or any other visual-characteristics of the ice cream items which are being made along the production line. The coating and the decorative material of the ice cream item may be edible or plastic.

[0057] The visual-characteristics may in an example also be measured as the number of caramel swirls in an ice cream item after the caramel and the ice cream have been mixed together. The number of swirls is depending on the temperature of the caramel and the temperature of the ice cream, where the right number of caramel swirls would make a higher quality ice cream product.

[0058] In a preferred embodiment, the adjusting is a weight adjustment.

[0059] In a preferred embodiment, the adjusting is a weight adjustment of an uncoated ice cream item.

[0060] In a preferred embodiment, the adjusting is a volume adjustment.

[0061] In a preferred embodiment, the adjusting is a volume adjustment of an uncoated ice cream item.

[0062] In a preferred embodiment, the adjusting is within a predetermined weight or volume.

[0063] In a preferred embodiment, the adjusting is within a predetermined percentage of the ice cream product.

[0064] In a preferred embodiment, the adjusting is within a tolerance, wherein said tolerance is based on ice cream item type.

[0065] It is advantageous to base the tolerance or margin for the adjustment of the ice cream properties on the basis of the different types of ice cream item. The tolerance of a weight adjustment may be e.g., larger for a ice cream cake compared to a normal ice cream on a stick.

[0066] In a preferred embodiment, the adjusting is done prior to said second ice cream items is formed in an ice cream former.

[0067] It is advantageous to adjust the ice cream item prior to being formed by e.g., adjusting the temperature of the freezer to get a better flow of ice cream to the ice cream former.

[0068] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by an adjustment of a temperature of a freezer.

[0069] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by an adjustment of an ice cream volume flow from a freezer.

[0070] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by an adjustment of an ice cream air content of a freezer.

[0071] It is advantageous to control and adjust the amount of air inside the ice cream items to control the quality of the ice cream products. The process of adding air in the ice cream is overrun and may affect the flow of the ice cream from the freezer to the ice cream former.

[0072] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by an adjustment of a hardening tunnel setting.

[0073] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by adjusting an ice cream former.

[0074] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtain by adjusting an ice cream former of a production line and wherein the ice cream former is automatically operating upstream the production line, andwherein upstream is defined relative to the location of said automatically measuring of one or more ice cream item properties in said production line.

[0075] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by a cutter adjusting.

[0076] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained by a coating adjusting.

[0077] The term ice cream former is to be understood as a device for bringing a mass of ice cream from a freezer to an ice cream former outlet, where the ice cream is guided out of the ice cream former outlet. Between the freezer and the ice cream former outlet there may be additional machines and devices e.g., an ingredients feeder where nuts or other edible things may be added to the ice cream in the process. The ice cream former is both shaping and dividing the mass of ice cream into ice cream items. The ice cream former may be an ice cream extruder with a continuously flow of ice cream, where the mass of ice cream is being cutted outside of the ice cream former outlet to create the ice cream item. The ice cream former may be an ice cream filler where the flow of the mass of ice cream is being divided by a valve before the ice cream former outlet and the ice cream item is made before leaving the ice cream former outlet. The mass of ice cream may be multiple ice cream according to both colours and flavours which may be mixed, shaped and individual divided into ice cream items. The mass of ice cream may be a single flavour or a multiple mix of different flavours and / or colours. The mass of ice cream may also be with chocolate, caramel, fruit or other additional toppings or sauces, where the toppings or sauces may both be in the ice cream items or on the outside of the ice cream items. The ice cream former may typically comprise a long pipe for guiding the mass of ice cream from the freezer to the ice cream former outlet. There may be more than one freezer from which masses of ice cream is guided to the ice cream former. More than one freezer is used when an ice cream product with more than one type of ice cream is being made. A container with e.g., sauces may also be guided to the ice cream former, when the ice cream product is being made with sauces. There could also be a combination of multiple freezers and / or multiple containers with sauces to be added together in the ice creamformer. It could be any combination of masses of ice cream and sauces that may be mixed in the ice cream former. The ice cream former may typically be placed above a conveyor or transportation surface when the ice cream former is shaping and individual dividing the mass of ice cream to ice cream items. The ice cream former may also move along the conveyor when ice cream items is an ice cream item bar type. The ice cream former outlet may also be horizontal or with an angle according to the horizontal plane. The ice cream former may also be used to fit a stick into either the mass of ice cream before being divided or an ice cream item which has been divided by e.g., a valve or cutter.

[0078] In a preferred embodiment, the adjusting of one or more ice cream item properties is obtained at a location along a transportation surface.

[0079] The term transportation surface may thus refer to whatever surface the ice cream items are positioned on, be it the conveyor as such; e.g. a conveyor belt or it may refer the surface of “loose” carriers such as plates, trays, wrapper foils or bowls. A conveyor may be understood as a conveyor where the ice cream items may be positioned on. The conveyor may be a band or belt for conveying the ice cream items. The conveyor may also comprise rollers with space between each roller. The conveyor may also include plates, trays, wrapping foil or bowls which are placed on a conveyer and conveyed, where the plates, trays, wrapping foil or bowls may form the surface upon which the ice cream items are conveyed. Carriers may e.g. include plates, trays, etc. upon which ice cream items are carried and the transportation surface is then regarded as the surface of the carriers carrying the ice cream items. The transportation surface may be driven by a chain or a pull system to e.g., convey plates, trays or bowls. The transportation surface may be the wrapping foil before the wrapping foil is divided and welded to fit for the one ice cream item. The wrapping foil may be in constant movement while the ice cream items are being positioned in the wrapping foil and when the wrapping foil is being welded and cut later in the process. The wrapping foil may also be in an indexing movement, where ice cream items are being positioned and then conveyed a distance before being welded and cutted, where the welding and cutting is also done while the transportation surface may not be moving.

[0080] In a preferred embodiment, the first ice cream item is an ice cream product.

[0081] It is advantageous to measure the ice cream item properties of the ice cream product to normalize the ice cream product. The adjustments made on the ice cream items is advantageous to get ice cream products which are like each other and especially to the declaration on e.g., the wrapping foil.

[0082] In a preferred embodiment, the measuring of one or more ice cream item properties is done at a location along the production line.

[0083] In a preferred embodiment, the measuring of said one or more ice cream item properties is at a location prior to coating an ice cream item.

[0084] It is advantageous to control the ice cream item properties before coating the ice cream item because no more ice cream may be added to the ice cream item. The normalization of an ice cream item prior to coating would have the same e.g., volume or weight of ice cream in the ice cream product at the end of the production line. Therefor an optimized coating process where only the precis amount of coating is used.

[0085] In a preferred embodiment, the adjusting of one or more ice cream item properties is done upstream said production line to said location of measuring of one or more ice cream item properties.

[0086] In a preferred embodiment, the measuring of one or more ice cream item properties is done at the location of an ice cream former.

[0087] In a preferred embodiment, the adjusting of one or more ice cream item properties is done at a location of an ice cream former.

[0088] The measuring and adjusting of one or more ice cream item properties may be done at a plurality of location along the production line including the coating location, hardening tunnel, wrapping location, ice cream former, along the transportation surface or anywhere along the production line. The measuring and adjusting may be done prior to the above mentioned locations, at the above mentioned locations or after the above mentioned locations.

[0089] In a preferred embodiment, the adjusting is based on measuring one or more properties of said first ice cream item in an additional manufacturing lane.

[0090] In a preferred embodiment, the step of measuring said one or more ice cream item properties is measured in one or more additional manufacturing lanes and adjusting said ice cream item properties of said second ice cream item is based on said ice cream item properties in said one or more additional manufacturing lanes.

[0091] In a preferred embodiment, the step of adjusting is done at said ice cream former or prior to said ice cream former based on a measuring of said first ice cream item in an additional manufacturing lane.

[0092] It is advantageous to measure the ice cream item properties in one manufacturing lane and adjust ice cream item properties in additional lanes according to the ice cream item properties in the first lane to spare equipment for measuring. The equipment for measuring may be damaged due to the freezing environment and therefore it may be impossible to measure the ice cream item properties for all lanes in the production line. The freezer, mixer and ice cream former may also base any adjustments of the settings from measurements of ice cream item properties in an additional lane.

[0093] In a preferred embodiment, the method comprises a second step of automatically measuring said one or more ice cream item properties of said first ice cream item.

[0094] In a preferred embodiment, the adjusting of one or more ice cream item properties of said second ice cream item is also based on said second measurement of said one or more ice cream properties.

[0095] In a preferred embodiment, the second measurement of said one or more ice cream item properties is of the same type of ice cream item properties as said first measurement of said ice cream item properties.

[0096] In a preferred embodiment, the second measurement of said one or more ice cream item properties is of a different type of ice cream item properties as said first measurement of ice cream item properties.

[0097] In a preferred embodiment, a third ice cream item is subsequently provided to said second ice cream item, wherein said third ice cream item is provided on the basis of the measurement s) of one or more ice cream item properties of said first ice cream item and / or one or more ice cream item properties of said second ice cream item.

[0098] It is advantageous to base the adjusting of upstream ice cream items on the measurements of more than one ice cream item. When the adjustment is based on more than one ice cream item it may optimize the ice cream item properties by have a smaller tolerance. This could prevent ice cream items from e.g., getting to big in volume, drifting along the transportation surface or sticking to the transportation surface. It may also be advantageous to base the adjustment on more than one ice cream item when normalizing upstream ice cream items.

[0099] When measuring ice cream item properties of a plurality ice cream items the adjustment may be more accurate due to a more precis variation of the ice cream item property measurements. The more data measured will lead to a statistically more accurate adjustment with a smaller spread and variation. The measuring of a plurality of ice cream properties may facilitate in a more robust normalizing of the production of ice cream products.

[0100] In a preferred embodiment, the step of measuring one or more ice cream item properties is measured for a sequence of ice cream items.

[0101] In a preferred embodiment, the adjusting of one or more ice cream item properties of said second ice cream item is based on said measuring of said one or more ice cream properties from said sequence of ice cream items.

[0102] In a preferred embodiment, the step of measuring one or more ice cream item properties is measured by measuring the first ice cream item when the first ice cream item is offloaded said conveyor.

[0103] In a preferred embodiment, the step of measuring one or more ice cream item properties is measured by measuring the first ice cream item when the first ice cream item is located on the transportation surface of said conveyor.

[0104] It is advantageous to measure the ice cream item properties of the ice cream item by moving the ice cream item from the production line to a measuring location at a certain distance away from the conveyor. The measuring of the ice cream item properties may be done in properly while the production line may be kept running for producing ice cream products.

[0105] In a preferred embodiment, the step of adjusting is an adjustment of a plurality of subsequently provided ice cream items on the basis of the measurement of said one or more ice cream item properties of said first ice cream item.

[0106] In a preferred embodiment, the adjusting of said one or more ice cream item properties of said second ice cream item is done automatically.

[0107] The automatically adjusting of said one or more ice cream items may be controlled by a controller or control-unit by using measuring data from downstream ice cream items or previously processed ice cream items. The controller or controlunit may also use a predefined algorithm in a combination with Al to control the automatically adjustment of the ice cream items.

[0108] In a preferred embodiment, the adjusting of said one or more ice cream item properties of said second ice cream item is done automatically by said ice cream former.

[0109] It is advantageous to adjust the ice cream former based on measurements of ice cream properties to normalize the ice cream items. The ice cream item temperature may be adjusted in the freezer or the flow of ice cream from the freezer to the ice cream former may be adjusted. The adjustment of flow would either push more or less icecream to the ice cream former, where the ice cream is shaped and divided with the same speed but more / less ice cream is being pushed through and therefore and adjustment of the volume has been made.

[0110] In a preferred embodiment, the step of measuring one or more ice cream item properties triggers an alarm when a manual upstream adjustment is to be made.

[0111] In a preferred embodiment, a visual interface is indicating if an adjustment is to be made.

[0112] In a preferred embodiment, a visual interface is indicating how an adjustment is to be made.

[0113] In a preferred embodiment, a visual interface is indicating how much adjusting is to be made.

[0114] The term a visual interface may be understood as a tablet, computer or any kind of monitoring device for monitoring the production of ice cream products. The visual interface may be configured for showing if the ice cream item properties of the ice cream items has exceeded the tolerance or margin and if any adjustments must be made to adjust the ice cream item properties for upstream ice cream items.

[0115] The term a visual interface may also be understood as a visual line, e.g., a laser and a scanner for the ice cream items, which could show and indicate the optimal ice cream item properties at a specific location. The optimal ice cream properties at the location may both be defined according to measurements of the ice cream item properties of ice cream items directly at the location and / or measurements of the ice cream item properties of ice cream items downstream the location. The visual line may be either static or dynamic, where the visual line may be adjusted according to measurements of the ice cream item properties of ice cream items downstream. The visual line may typically used for measuring any dimension of the ice cream item whether the dimension being for the whole ice cream items or any local part or portion of the ice cream item.

[0116] In a preferred embodiment, the adjusting of said one or more ice cream item properties of said second ice cream item is done by automatic adjustments of relevant ice cream processing unit based on automatic measurements.

[0117] In a preferred embodiment, the adjusting of said one or more ice cream item properties of said second ice cream item is done by automatic adjusting of a controller by readjusting of relevant ice cream processing unit based on automatic measurements.

[0118] It is advantageous to have an alarm indicating if an ice cream item properties may be out of the margin to know if the next ice cream item must be adjusted. The alarm may also indicate that any piece of hardware prior in the production line may be malfunctioning which provided the ice cream items with ice cream item properties out of the margin for properties. The alarm may work as a semiautomatic solution where the alarm is triggered automatically when an adjustment is to be made and the adjustment is done manually.

[0119] The alarm may also be triggered when e.g., the chain driving the long conveyor causing the chain to be elongated or stretched and thereby the chain may shift the position of transportation surface. The ice cream item properties may shift along with the position of the transportation surface e.g., the visual-characteristics may be shifted from a central point to an off-central point and thereby lower the quality of the ice cream product. The chain may typically be 500m and it may be difficult to adjust the ice cream item properties according to the chain. The adjustment of ice cream item properties may typically be done according to e.g., ice cream former adjustment compared to a global adjustment of the conveyor or chain. The alarm may also be triggered when e.g., trays with cones for ice cream is getting out of position due to the stretching of the chain which may lead to a minor phase-shift for the cone related to the ice cream former. In the worst-case scenario, the ice cream would miss the cone of the ice cream item and the ice cream item may be discarded and the number of produced ice cream products may decrease. The ice cream could also be shifted or placed incorrectly in the cone of the ice cream item which may lead to a decrease in the quality of the ice cream item based on the visual-characteristics. In both cases thealarm would be triggered to indicate that an adjustment of either the ice cream former or conveyor may be made.

[0120] The adjustment may be on a specific ice cream processing unites or hardware prior to a location on the production line or at a specific location along the production line for ice cream products. The manual adjustment is advantageous when e.g., a nozzle, valve or cutter may be broken at the ice cream former outlet and must be replaced with a new one. Wear and tear on the chain driving the long conveyor may cause the chain to be elongated and hence the timing of positioning the ice cream item may change.

[0121] Relevant ice cream processing units or hardware may be machines for positioning trays, trays for placing ice cream containers, ice cream former, hardening tunnel, transportation surface, hardware for dosage of topping or sauces, hardware for placing a lid, stick inserter, freezer, mixer or any other hardware for production ice cream products.

[0122] In a preferred embodiment, the measured one or more ice cream item properties of said first ice cream item are automatically applied for at least partly adjustment of said one or more ice cream item properties of said second ice cream item by means of artificial intelligence, the adjustment being established by means of supervised machine learning.

[0123] In a preferred embodiment, the measured one or more ice cream item properties of said first ice cream item are automatically applied for at least partly adjustment of said one or more ice cream item properties of said second ice cream item by means of artificial intelligence, the adjustment being established by means of nonsupervised machine learning.

[0124] In a preferred embodiment, the measured data and said measured adjustable parameters are applied as training data for a machine learning model of said artificial intelligence.

[0125] In a preferred embodiment, the measured data, such as measured ice cream item properties and / or measured location data and / or said measured adjustable parameters, such as measured adjustable ice cream former parameters are applied as training data for a machine learning model of said artificial intelligence.

[0126] In a preferred embodiment, the measured data and said measured adjustable parameters are applied as training data for a machine learning model in combination with data defining ice cream item type of said artificial intelligence.

[0127] In a preferred embodiment, the measured data, such as measured ice cream item properties and / or measured locations and / or said measured adjustable parameters, such as measured adjustable ice cream former parameters are applied as training data for a machine learning model in combination with data defining ice cream item type of said artificial intelligence.

[0128] Another aspect of the invention relates to an ice cream production line comprising; one or more ice cream processing units, a measuring location comprising a sensor configured for measuring one or more ice cream item properties, where said ice crem processing unit is controlled by a controller for automatically measuring said one or more ice cream item properties, upstream said measuring location an ice cream processing unit, where the ice cream processing unit is adjustable based on one or more measurements measured at the measuring location by said sensor.

[0129] The controller may be distributed to multiple locations along the production line, where the controllers would be seen as one controller for the production line. The controller may be centrally located or decentralized with respect to measuring locations of the production line or to the production line itself. The controller is communicatively coupled with the different processing units and sensors along the production line for ice cream products.

[0130] The term ice cream processing unit may be understood as any unit along the production line of ice cream products, where the ice cream items are being processed or adjusted in the making of ice cream products. Examples of processing units may be an ice cream former, hardening tunnel, wrapping foil station, coating device or any other unit for processing the ice cream items.

[0131] In a preferred embodiment, the controller automatically secures the adjustment of said ice cream processing unit on the basis of one or more measurements from said measuring location.

[0132] In a preferred embodiment, the ice cream production line is controlled according to the method disclosed in any of the above mentioned paragraphs.

[0133] Another aspect of the invention relates to a normalized sequence of ice cream products wherein said one or more ice cream item properties of said ice cream product sequence are within a tolerance of + / - 10 percent, such as + / - 8% percent, such as + / - 5% percent, such as + / - 4% percent, such as + / - 3% percent, such as + / - 2% percent, such as + / - 1% percent, such as + / - 0.5% percent.

[0134] A normalized ice cream products sequence may be understood as a sequence of ice cream products where the ice cream products all is within a predetermined threshold, tolerance, or margin. The normalized ice cream product may be according to the entire ice cream products or according to any of the ice cream properties e.g., weight, volume, amount of air in the ice cream product, temperature, visualcharacteristics or any other property relevant to the ice cream product.

[0135] The normalizing of the ice cream product may also be according to a portion or local part of the ice cream product, which may e.g., be the coating or decorations of the ice cream product. The part of the ice cream product may be normalized at different locations along the production line e.g., the volume of the ice cream product may be normalized at a location prior to coating and the volume of the ice cream in the ice cream item is not adjusted further in the process to becoming an ice cream product.

[0136] The above stated percentages examples may refer to the relevant ice cream item properties such as weight, dimensions (e.g., volume), temperature, amount or air in the ice cream product, visual-characteristics or any other relevant ice cream item property or measure thereof.

[0137] An example of normalizing ice cream products may be a sequence of ice cream products with a thickness of 1cm each wherein all ice cream products is within a tolerance of + / - 1mm, + / - 0.8mm or + / - 0.5mm from the thickness of 1cm.

[0138] In a preferred embodiment, the normalized ice cream product sequence according to the method disclosed in any of the above mentioned paragraphs.The drawings

[0139] Various embodiments of the invention will in the following be described with reference to the drawings where:Fig. la-lb Ice cream item properties,Fig. 2 Ice cream production line,Fig. 3a-3b Production line comprising ice cream former, sensor and controller,Fig. 4 Manufacturing lanes and sensors,Fig. 5 Ice cream filler,Fig. 6 Wrapping foil,Fig. 7 Production line with ice cream items made before hardening tunnel,Fig. 8-10 Al-system.Fig. 11 Freezer / Ice cream formerFig. 12 Method stepsFig. 13a-e SensorsFig. 14a-b Illustrates a block diagram of the process of making ice cream products according to an embodiment of the invention.Detailed description

[0140] Fig. la illustrates the principle of a manual upstream adjustment UMA of the ice cream item properties ICIP facilitated by an automatic measuring of one or more ice cream item properties ICIP of a first ice cream item FICI at a first measuring location LOC.

[0141] Fig. la thus illustrates a measuring location LOC of a production line PL. The production line may include further measuring location (not shown).

[0142] At the measuring location LOC, one or more ice cream item properties ICIP of a first ice cream item FICI is measured by means of one or more sensors. The at least one sensor SENS is communicatively coupled to an associated controller CCS configured for evaluation of whether one or more ice cream item properties ICIP of the first ice cream item FICI is as desired. This may be automatically evaluated in numerous different ways by different types of algorithms or / and settings by the associated controller CCS. The result of the evaluation may be communicated to an operator via a user interface UI, e.g. including warning signs, displays, visual and / or audio guidance, etc, thereby facilitating an operator may adjust the production line upstream to the measuring location, thereby facilitating that one or more ice cream item properties ICIP of the ice cream items ICI may be adjusted upstream to the measuring location by assisted manual adjustment. An operator may thus e.g. be warned that the one or more ice cream item properties ICIP has to be adjusted upstream or the operator may in some embodiments also automatically receive more specific guidance as to how the production line may be adjusted. In further embodiments, the user interface UI may simply just continuously output deviation of one or more ice cream item properties ICIP, thereby leaving it to the discretion of the operator to decide when and if adjustment is needed upstream and to what degree. The conveying direction COND is indicated by an arrow. The figure further illustrates an operator OPE which manually makes the adjusting of the ice cream items based on the automatically measuring of one or more ice cream properties. The operator OPE may adjust the ice cream processing unit which e.g., may be a freezer or an ice cream former to adjust the ice cream item properties of the upstream ice cream items at theproduction line PL. The operator OPE may get a notification or alarm from the controller when adjustments of the one or more ice cream item properties is to be adjusted.

[0143] Fig. lb illustrates the principle of an automatic upstream adjustment of one or more ice cream item properties ICIP facilitated by an automatic measuring of one or more ice cream item properties ICIP at first a measuring location.

[0144] Fig. lb thus illustrates two measuring locations LOC of a production line PL. The production line may include further measuring location (not shown).

[0145] At the measuring location LOC, the one or more ice cream item properties ICIP of a first ice cream item FICI is measured by means of one or more sensors. The at least one sensor is communicatively coupled to an associated controller CCS configured for evaluation of whether the one or more ice cream item properties ICIP of the first ice cream item FICI is as desired. This may be automatically evaluated in numerous different ways by different types of algorithms and / or settings by the associated controller CCS, and the result of the evaluation may be communicated to a controller, where the controller may adjust the production line PL upstream to the measuring location LOC, thereby facilitating that the one or more ice cream item properties ICIP of the ice cream items ICI may be adjusted upstream to the measuring location LOC by an automatic adjustment. In further embodiments, the controller CCS may simply just continuously receive measured ice cream item properties ICIP of ice cream items at the measuring location LOC to continuously adjust the one or more ice cream item properties of upstream ice cream items ICI in the production line PL in a loop-cycle where one or more ice cream item properties ICIP is measured and maybe an adjustment to the one or more ice cream item properties ICIP of the ice cream item ICI is made. The deviation of one or more ice cream item properties ICIP measured is therefore the basis for the controller to decide when and if adjustment is needed upstream and to what degree. The one or more ice cream item properties ICIP of ice cream items ICI may be measured at multiple measuring locations as illustrated with two measuring location LOC, but not limited to two locations, and the adjustment ofthe upstream ice cream item properties ICIP may be based on one or more of the measured ice cream items properties ICIP from one or more measuring locations LOC.

[0146] The adjustment of the one or more ice cream item properties ICIP upstream may be related to weight, dimensions, temperature, amount of air in the ice cream, visual characteristics or any other parameter related to the ice cream item ICI. The adjustment of ice cream item properties ICIP may be adjusted according to a specific ice cream item property where only one ice cream property is adjusted based on the measuring of one or more ice cream item properties. The adjustment of ice cream item properties may also be adjusted according to multiple ice cream item properties based on the measuring of one or more ice cream item properties.

[0147] The controller CCS is communicatively coupled with an ice cream processing unit ICPU to make the upstream adjustments of the ice cream item properties. The ice cream processing unit ICPU may be any kind of units for processing ice cream e.g., freezer, ice cream former or mixer.

[0148] Fig. 2 system illustrates the principles of an optional layout of a production line for ice cream products having an ice cream hardening tunnel HT applied according to an embodiment within the scope of the invention. An illustrated production line PL comprising a transportation surface TSU extending from four freezers F and four ice cream formers ICF through the hardening tunnel HT to gripping arrangement GRA where the ice cream items can be coated and further to a wrapping foil station (not shown). Each ice cream former ICF makes a manufacturing lane (not shown) of ice cream items and therefore production line PL is illustrated in the figure comprises four manufacturing lanes of ice cream items (not shown) but may not by limited to four manufacturing lanes. The transportation surface being movable in a direction indicated by associated arrows by an automatic adjustable drive system (not shown) under the control of a cooling control system CCS. Along the transportation surface a plurality of measuring locations LOC is provided for measuring the one or more ice cream item properties of ice cream items and communicatively send the measured one or more ice cream item properties to the cooling control system CCS, where the cooling control system CCS also is to be understood as a controller for the production line PL. Themeasuring locations LOC along the production line PL are not limited to these locations but may be placed at any location along the production line PL.

[0149] One or more of the individual measuring location LOC may establish the relevant measurements and then the measured data may be applied as a basis for an upstream adjustment. In other words, a controller CCS of the production line controlling the adjustment of ice cream item properties may be fed with measurement data from one or more measuring locations and thereby be configured for the adjustment of ice cream item properties based on data from one or more measuring locations.

[0150] Moreover, data from one measuring location may be fed to not only one location, e.g. an ice cream former, but also to controllers relevant for other adjustment locations (i.e. devices to be controlled) of the process. The cooling control system CCS may also be referred to as a controller or control system.

[0151] Moreover, the ice cream hardening tunnel HT includes an adjustable cooling arrangement (not shown) also controlled by the cooling control system CCS controlling cooling temperature and optionally also adjustably controlling air flow within the hardening tunnel HT.

[0152] It should be noted that the cooling control system CCS may be a singular arrangement or a number of co-functioning controllers. The illustrated cooling control system CCS is communicatively coupled with an user interface UI by means of which an operator has access to modify properties of ice cream items ICI along the production line PL or any devices related to ice cream item properties of ice cream items ICI at the production line for ice cream products on the basis of the properties of ice cream items. It is thus noted that many state of the art production line for ice cream products may be controlled according to the invention only with an addon measuring properties of the ice cream item along the production line, upstream, thereby making it possible for an operator, or the control system, making timely adjustment of the ice cream item properties by modifying the production line parameters.

[0153] Upstream the hardening tunnel HT ice cream items may be positioned on the transportation surface TSU by an ice cream item former ICF, here in the form of four individual stations connected to a mixer MIX, a freezers F, an ingredients feeder typically between a freezer and ice cream former, ice cream formers, stick inserters and / or a cutter / valve, thereby facilitating a continuous and automatic placement of ice cream items (not shown) on the transportation surface TSU prior to being transported along the production line. One freezer may be connected to four ice cream formers (not shown) when producing an ice cream product with one type of ice cream. Two or more freezers may also be connected to one ice cream former (not shown) for making an ice cream product comprising two or more different types of ice cream, e.g., when making an ice cream product with vanilla and strawberry ice cream.

[0154] The mixer MIX mixes ingredients relevant for the recipe of the ice cream items to be produced and the freezers F provides the desired extruding temperature for the applied ice cream formers ICF of the ice cream item ICI. The desired weight or dimensions for the ice cream prior to the ice cream former ICF from the freezer is applied according to e.g., keeping the desired flow of ice cream to the ice cream former in order to keep the correct volume or weight for the ice cream items leaving the ice cream former ICF.

[0155] Inside the ice cream hardening tunnel HT the transportation surface TSU extends through the hardening tunnel HT so as to facilitate a cooling of the ice cream items ICI from a temperature the ice creams items may have upstream the tunnel, to a temperature of the ice cream items which is lower when the ice cream items leaves the ice cream hardening tunnel HT downstream the hardening tunnel HT.

[0156] The length of the transportation surface TSU, the cooling applied by the cooling system (not shown) including optional internal ventilation, movement of cool air within the hardening tunnel HT, the speed of the transportation surface TSU, etc will determine the resulting cooling from one temperature, e.g. minus 5 degrees Celsius to e.g. minus 18 degrees Celsius, measured as core temperature.

[0157] Some of these parameters are referred to as adjustable tunnel parameter, and these adjustable tunnel parameters may be adjusted manually and / or automatically.

[0158] Fig. 2 illustrates an output of a hardening tunnel controlled within the scope of the invention. An ice cream hardening tunnel HT has an exit of the hardening tunnel HT through which a transportation surface TSU extends towards an ice cream item transferring system via an optional ice cream loosener LOS. In the present embodiments, the transportation surface TSU is implemented to transport ice cream items ICI on conveyor plates or trays. The transportations surface is moving in the direction of the arrows during operation. If a reference to a transportation surface TSU is made, the reference will be made with respect to a / the surface of the conveyor plates or trays if such plates are applied. If, the conveyor transports the ice cream items ICI directly on the conveyor elements, a transportation surface TSU is to be understood as the surface upon which the ice cream items are conveyed. Other implementations of the conveyor may thus of course be applicable within the scope of the invention, with or without “loose” plates or trays positioned on the top of the underlying conveyor, although easy removal plates / trays / etc are advantageous as these may easily be positioned and removed on the conveyor and easy to clean in a run-time environment. Furthermore, it will be easier to make format changes, if for instance the removal plates / trays / are specifically designed / formed to carry or keep specific ice cream item types (e.g. if ice cream items are carried in “pockets”). The illustrated embodiment includes a sensor for measuring ice cream item properties, where the sensor is a core temperature measuring system CMS, here placed just outside the hardening tunnel HT.

[0159] Fig. 3a illustrates a first embodiment of the invention.

[0160] A part of a production line PL for ice cream products is shown in fig 3a with three lanes of ice cream items ICI. The three lanes of ice cream items ICI are placed on a transportation surface TSU, where the transportation surface TSU in this embodiment is illustrated as trays. It should be noted that transportation surface TSU may be any kind of surface for conveying ice cream items ICI along a production line PL. The transportation surface TSU is being conveyed by a conveyor in thisembodiment of the invention, but the transportation surface TSU may in another embodiment of the invention be the conveyor itself.

[0161] The first two lanes of ice cream items ICI are being shaped and divided by ice cream formers (not shown) at an earlier stage of the production line PL. The third lane of ice cream items ICI are being shaped and divided in an ice cream former ICF placed above a transportation surface TSU as shown in fig. 3a. The ice cream former ICF illustrated in the figure is an ice cream extruder but in another embodiment of the invention it may be an ice cream valve with a nozzle for forming ice cream items. The ice cream former ICF comprises 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 the mass of ice cream enters the ice cream former ICF through the ice cream former inlet ICFI. The mass of ice cream may be shaped and divided through the ice cream former ICF and processed through the ice cream former outlet (not shown) to the transportation surface TSU. The ice cream former ICF may be any kind of device where a mass of ice cream is being shaped and divided into ice cream items ICI. The ice cream former ICF comprises a stick inserter STI and is connected to a freezer (not shown) by an ice cream former inlet ICFI. The freezer (not shown) provides a mass of ice cream to the ice cream former in order to shape and divide the ice cream items. The freezer is used to get the correct temperature of the ice cream and the right amount of air before being pushed through a pipe (not shown) to the ice cream former inlet ICFI. The mass of ice cream is being shaped inside the ice cream former and divided by a cutter (not shown). The cutter (not shown) is placed below the ice cream former and below the ice cream former outlet (not shown) outside of the ice cream former ICF. The mass of ice cream leaves the ice cream former ICF by the ice cream former outlet (not shown), where the cutter (not shown) divides the mass of ice cream into ice cream items ICI. The ice cream former ICF provides and positions ice cream items ICI to the third lane along the production line PL. In another embodiment a valve (not shown) is used to divide the mass of ice cream, where the valve is typically placed inside the ice cream former ICF. The cutter may for example be heated or angled when used for adjusting one or more ice cream item properties e.g., the visualcharacteristics.

[0162] The fig. 3a also illustrates the transportation surface TSU providing and positioning ice cream items ICI along the production line PL. The transportation surface TSU may provide and position ice cream items ICI to specific measuring locations LOC along the production line. The measuring locations LOC is depictured here as the same locations as the sensors SENS, where the one or more ice cream item properties ICIP is measured. The measuring locations LOC may be any location along the production line PL and is not limited to the transportation surface TSU, as the location could be in a gripping device (not shown), wrapping foil (not shown) or any other location along the production line PL. The sensor SENS placed below the transportation surface TSU is used for measuring the weight of ice cream items ICI where in the illustrated embodiment actually measures the tray including the 18 ice cream items placed on the tray (transportation surface - 13 ice cream item shown). Three additional weight sensors (not shown) could be placed below the transportations surface TSU and accordingly prior to the ice cream former ICF where one of the sensor may be placed before the first ice cream former (not shown), one sensor between the first and second ice cream former (not shown) and the last sensor between the second ice cream former (not shown) and the ice cream former ICF. The four sensors is used for measuring the weight of transportation surface (tray) without ice cream item, the weight of the transportation surface (tray) with the first lane of ice cream item, the weight of the transportation surface (tray) with the first and second lane of ice cream item, and the weight of the transportation surface (tray) with all three lanes of ice cream item. When measuring the lanes individually the controller CCS may be able to adjust the specific freezer where an adjustment is needed in order to normalize the ice cream item properties, e.g., weight. A freezer may be connected with multiple ice cream formers at a production line where a difference in flow from the freezer to the different ice cream formers may occur due to different length from freezer to ice cream former or a difference in a local temperature in the area of the tube / pipe from the freezer to the ice cream former. Each freezer may also be individually coupled to one specific ice cream former. The specific lane may also be indicated by an alarm by the user interface to alarm an operator if any actions is required at the specific freezerr to normalize the ice cream item properties e.g., weight or ice cream products along the production line.

[0163] The production line PL comprises two sensors SENS above the transportation surface TSU illustrated in fig. 3a is measuring the ice cream item properties of the ice cream items ICI. The ice cream item properties may be measured as an absolute property, where e.g., a temperature, volume or weight could be measured. The ice cream item properties may also be measured as a relative property where e.g. the height of the ice cream item is measured relative to the height of the plate or the length of the stick relative to the ice cream. When measuring the weight of the ice cream item it may be done relative according to weighing ice cream items and trays combined and getting a relative weight of the ice cream item. The measuring of the weight of the ice cream item may also be done as a random sample measuring where an ice cream item is picked from a transportation surface and placed on a weight. . The two sensors SENS illustrated in fig. 3a above the transportation surface TSU may both measure the same ice cream item properties, or the two sensor SENS could measure different types of ice cream item properties. The two sensor SENS may also measure the same ice cream item property where the measuring of the ice cream item properties is done in two different ways, e.g., the first sensor could measure the visual-characteristics by a camera to measure the colors of an ice cream item and where the second sensor measures visual-characteristics by measuring a length of a portion of the ice cream item such as a mouth on a face-ice cream item. The production line PL is not limited to three sensors but may have any number of sensors along the production line PL for measuring the ice cream item properties ICIP. The sensors are not limited to a specific type of ice cream item properties.

[0164] The production line PL further comprises a controller CCS which comprises buttons and a visual interface UI placed on top of the controller CCS. The visual interface UI may in another embodiment of the invention be a screen or monitor for showing the status of the production line. The visual interface UI may also be understood as a user interface UI. The visual interface UI may be used to indicate the processing of the ice cream items ICI and if the ice cream item properties ICIP of the ice cream item ICI is correct or need to be adjusted. The visual interface UI could be showing a green light if the ice cream item properties ICIP at the location of the sensor SENS is good. The visual interface UI could be showing a yellow or red light ifadjustments are to be made for the ice cream item properties ICIP in order to normalize the ice cream items ICI or ice cream item properties ICIP at the sensor SENS and / or measuring location LOC. The adjustment may be made prior to the ice cream former ICF, e.g., the freezer (not shown) or ingredients feeder (not shown), by the controller CCS automatically or the adjustment may be done by a worker by adjusting the freezer or ingredients feeder prior to the ice cream former ICF with the controller CCS. The adjustments of the one or more ice cream item properties may be adjusted by adjusting e.g., the ingredients feeder where the temperature of ingredients or the flow of ingredients may be adjusted based on measurements of one or more ice cream properties e.g., weight or volume of the ice cream item after the ice cream former. The measured weight or volume which the adjustment may be based on could be due to an incorrect flow from freezer and ingredients feeder to the ice cream former and therefore the adjustment may be done to the freezer or the ingredients feeder. The temperature of the ingredients may affect the ice cream and eventually affect the quality of the ice cream product. The visual interface UI may indicate if adjustment is to be made on the ice cream item properties of ice cream items ICI based on measurements from a plurality of locations LOC downstream the production line PL.

[0165] Fig. 3b illustrates the same ice cream former ICF as shown in fig. 3a placed above a transportation surface TSU with two additional manufacturing lanes AMAL and the ice cream former ICF providing and positioning ice cream items ICI on the transportation surface TSU and making the manufacturing lane MAL. One lane of ice cream items ICI is referred to as a manufacturing lane MAL and the other two lanes are referred to as additional manufacturing lanes AMAL. When referring to the manufacturing lane and / or additional manufacturing lanes the referring is made to the manufacturing lane MAL where the measuring of a specific ice cream item ICI is being made. The manufacturing lane MAL is from the perspective of the ice cream item ICI where the ice cream item properties ICIP is measured. Three ice cream item properties ICIP could be measured at the same time for an ice cream item ICI in a manufacturing lane where the three ice cream item properties may be the same or different. One or more ice cream item properties could be measured at the same time for multiple ice cream items in different manufacturing lanes / additional manufacturing lanes. Themeasurements may be sent to the controller CCS where the user interface UI could indicate if an upstream adjustment is to be made or the controller CCS may automatically adjust any upstream processing unit(s) to adjust the ice cream item properties.

[0166] Fig. 4 illustrates a part of the same production line for ice cream products as in fig. 3a. The production line PL comprises a transportation surface TSU where three manufacturing lanes of ice cream items ICI are being conveyed. The transportation surface TSU are conveying the ice cream items ICI into a hardening tunnel HT. The transportation surface TSU is configured for providing the ice cream items ICI along the production line PL to different measuring locations LOC. The production line PL further comprises two sensors SENS for measuring the ice cream item properties ICIP. The location of the two sensor SENS is illustrated as the same place as two measuring locations LOC in the figure, but the measuring locations LOC may be anywhere along production line PL. Fig. 4 further illustrates that the transportation surface TSU is a plurality of trays placed on a chain (not shown) but the transportation surface TSU is not limited to trays. The conveying direction COND is indicated by an arrow in the figure.

[0167] Fig. 5 illustrates a part of the production line PL with an ice cream filler FILL (a variant of an ice cream former) and a transportation surface TSU configured for holding ice cream items ICI, e.g., a cone ICI. The ice cream filler FILL is illustrated with 8 tubes TUB from which a mass of ice cream (not shown) is being conveyed through the ice cream former outlet ICFO to the transportation surface TSU, where the transportation surface is illustrated with 8 pockets holes for ice cream items ICI. The ice cream filler FILL and the transportation surface TSU are not limited to 8 tubes / ice cream former outlets ICFO and pockets, but may have any number of tubes / ice cream former outlets ICFO and pockets according to production line PL. The number of tubes / ice cream former outlets ICFO and pockets will typically correspond to the number of manufacturing lanes MAL in the production line PL. One of the tubes TUB of the ice cream filler FILL is illustrated with an ice cream former outlet ICFO which is placed inside an ice cream item ICI, here illustrated as an ice cream cone ICI. Theice cream former outlet ICFO may also be used for e.g., biscuits, boats, or any other ice cream item ICI, where a mass of ice cream is to be added. The ice cream item properties ICIP may be measured at a measuring location LOC, where the measuring location LOC is located at the same place as the ice cream filler FILL. The ice cream item properties ICIP may also be measured both upstream and downstream at measuring location LOC placed on either side of the ice cream filler FILL in a conveying direction COND. The conveying direction COND is indicated by an arrow in the figure.

[0168] Fig. 6 illustrates the device on the production line PL where the ice cream items ICI are being wrapped in a wrapping foil WRF. The ice cream items ICI are being provided by a gripping device (not shown) or an AHS tongue (not shown) to the wrapping foil WRF. The figure illustrates 8 manufacturing lanes MAL, where the ice cream items ICI are being provided in individually wrapping foils WRF. The one or more ice cream item properties ICIP of the ice cream item in the wrapping foil WRF is measured by a sensor SENS, where the location for measuring the one or more ice cream item properties ICIP is a measuring location LOC. The wrapping foil WRF is being shaped around the ice cream item ICI to enclose the ice cream item ICI. The conveying direction COND is indicated by an arrow in the figure.

[0169] Fig. 7 illustrates premade ice cream items before hardening tunnel as an embodiment of the invention where a production line PL comprising a hardening tunnel HT. The production line PL comprises a transportation surface TSU where the transportation surface TSU is illustrated from upstream the ice cream formers ICF and continues along the production line PL through the hardening tunnel HT to a work table WT. The production line PL is illustrated as seen from above, where the ice cream item typically is almost a complete ice cream product ICP before entering the hardening tunnel HT. A packaging station PACK is illustrated at the end of the production line PL, where individually ice cream products may be packed for another type of ice cream product, e.g., a box with multiple of individually ice cream products. The different devices and measuring locations along the production line PL may notbe limited to the illustrated embodiment of the invention but may be placed in numerous ways to get a better quality of the ice cream products or a higher yield.

[0170] It should be stressed that the control based on measured ice cream item properties may be performed analytically, e.g. based on desired ice cream item properties upstream, but other control algorithms may also be applied within the scope of the invention, in particular by reacting to development of ice cream item e.g. by means of P control, PID control loops, I control loops, etc.

[0171] An advantageous control may also be applied by means of artificial intelligence, e.g. by use of supervised or non-supervised machine learning, where the control is based on measured ice cream item properties as an input.

[0172] Artificial intelligence may also be applied for actively providing an alarm or issuing guidance to an operator in order to facilitate an improved handling of the upstream properties of ice cream items based on one or more first ice cream item properties.

[0173] Various advantageous ways of control have been described, including, e.g., control based on PID control loops. However, control based on artificial intelligence may also be applied. Notice that various types of machine learning control may be applied. E.g., machine learning control may 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 may, e.g., be applied. The control may also be handled as a regression problem, wherein machine learning control may provide control of the adjustable production line parameters based on minimization of a cost function, e.g., a measured control performance. Furthermore, the control may advantageously be implemented based on reinforcement learning. Advantageously, reinforcement learning may enable the performance of the control to be optimized over time based on feedback from the measured data and rewards. Moreover, reinforcement learning may be highly adaptable to changes in the conditions of a system, which is advantageous. Altogether, non-limiting examples of algorithms that may be employed for control includes neural network, geneticalgorithm based control, genetic programming control, reinforcement learning, regression trees, linear regression and non-linear regression models etc.

[0174] Advantageously, the machine learning models may be able to adapt to conditions to achieve optimal control, while other classical non-machine learning based control methods require preset parameters, and so these may be less adaptable to, e.g., changing conditions.

[0175] In an advantageous embodiment of the invention, control is based on a recurrent neural network model. This is advantageous in that the recurrent neural network model may learn dependencies between time steps of data. Hence, the model is able to apply control not only based on current knowledge of measured data, but based on sequential dependencies between adjustable production line parameters and actual measured data. This may provide more accurate and robust control.

[0176] Fig. 8 illustrates a schematical example of a control system CSY which may be part of an ice cream production line controller or a part of one of several controllers of an ice cream production line, such as a cooling control system described in fig. 2. The control system CCS is based on machine learning according to an embodiment of the invention. The system comprises a machine learning control model MLCM configured to output adjustable production line parameters, e.g., as disclosed in any of the figures and text included in this application. The sensor(s) SENS may be configured to measure measuring data MD (notably here including the ice cream item properties of ice cream items), and is communicatively coupled with a comparator unit CU. The comparator unit CU is configured to compare one or more received set point(s) SP, with measuring data MD e.g., the ice cream item properties of ice cream items received from the sensor(s) SENS. The set point SP may e.g., be a desired ice cream item property. The comparator unit CU compares the set point(s) with the received measuring data MD to provide a measure of error between the two, to the machine learning control algorithm. The setpoint(s) may, e.g., be one or more ice cream item properties, and the error may, e.g., be any measure of difference, including ratio etc.

[0177] The machine learning control model MLCM is configured to determine adjustable production line parameters and provide these to control adjustable production line parameters for a cooling control system CCS associated there to (not shown). The cooling control system CCS (not shown) receives the adjustable production line parameter from the machine learning control model MLCM and control the production line accordingly. The effect of the adjustment of the adjusted production line parameters is measured by one or more sensors that measures measurement data, which may, e.g., be one or more ice cream item properties of an ice cream item. The measurement data MD (which may include several other types of measurements performed along the production line, in relation to the production line or in relation to other ice cream manufacturing lanes) is received by the comparator unit CU, which compares the measured data MD with the setpoint to calculate an error between the two. In this example, the error is a difference between the measured data and the setpoint, and the set point is an ice cream item property value, while the measured data is also an ice cream item property value. The difference is received by the machine learning control model MLCM, which may then adjust the adjustable production line parameters to minimize the error between the measured data MD and the setpoint.

[0178] Optionally, more than one setpoint may be applied. Thereby, the machine learning control model may provide control according to more than one setpoint. The setpoint may include, e.g., ice cream item properties at various measurement locations along the production line, core temperature of ice cream items, adhesion, transportation surface speed, tunnel temperature, humidity in the tunnel, wind speed, transportation surface temperature, ice cream former speed for dividing ice cream items etc.

[0179] In an optional exemplified embodiment of the invention, the machine learning control model MLCM is a long short-term memory network. This type of neural network is capable of accessing and utilizing long-term dependencies in the sequential data provided to the model. This may advantageously improve the accuracy of the model, e.g., provide control that results in the measured data MD being very close tothe desired setpoint. Especially, when compared to models not capable of exploiting long-term dependencies.

[0180] The machine learning control model, including the exemplified long shortterm memory network model, of the present embodiment may be a supervised model, and hence, the model is trained on training data. The training data may e.g., comprise sets of historical data comprising measured data MD and corresponding adjustable production line parameter signals. Advantageously, this may enable the model to learn relations between the adjustable production line parameters and the measured data. Optionally, one or more setpoint(s) may also be included in the training data.

[0181] In another optional exemplified embodiment of the invention, the machine learning control model may be a reinforcement learning mode. In this case the model is given a reward, e.g., when the action taken by a model (the determined adjustable production line parameter(s)) results in the model optimizing a reward, and / or minimizes an error between the measured data and the setpoint. E.g., corresponding to the model optimizing the rewards given or the accumulated rewards given based on the action taken by the reinforcement learning model. In other words, the model receives information of the state of the system that the model affects with the action it determines (the adjustable production line parameters). Information of the state of the system may be given, e.g., by measurements, e.g., sensor measurements, e.g. measurements of measuring data (described elsewhere in this disclosure). A reward system provides feedback to the agent in terms of the rewards. The reward is based on the outcomes of the models determined actions and guides the rewards can be understood as providing guiding to improve the decision-making strategy of the model, e.g., determining the adjustable production line parameters that optimizes the reward. Over time, the reinforcement learning model learns which actions that optimizes the rewards and thereby learns the best control strategy.

[0182] Machine learning based control models are advantageous, e.g., because the models may learn the system behavior based on data, and hence, the models may be optimized over time by retraining the models as more and more data are collected. The models are also adaptive because the models may be adapted by training the modelbased on different training data. Hence the model may be adapted to, e.g., provide control in production of various types of ice cream and adapted to various production line locations that may be characterized by differing in external operating parameters or conditions such as different ambience conditions, which may affect the production.

[0183] Different types of machine learning models may be utilized for the machine learning control model, including e.g., various types of reinforcement learning models, including deep reinforcement learning, and Q-leaming, etc. Further models that may be utilized as the machine learning control model includes one or more of the following reinforcement learning control models: deep deterministic policy gradient (DDPG) algorithm, Proximal Policy Optimization (PPO), actor critic algorithms including soft actor critic (SAC), deep Q-network (DQN). We note that also genetic programming may be utilized according to an embodiment of the invention.

[0184] The deep deterministic policy gradient (DDPG) algorithm is a model -free, off-policy reinforcement learning method, which may advantageously be implemented as a machine learning control model, according to an embodiment of the invention. A DDPG agent is an actor-critic reinforcement learning agent that searches for an optimal policy that maximizes the expected cumulative long-term reward. Concurrently learns a Q-function and a 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.

[0185] Proximal policy optimization (PPO) may be utilized as a machine learning control model according to an embodiment of the invention. The PPO may be classified as a policy gradient method for training an agent’s policy network. The policy network is the function that the agent uses to make decisions. To train the right policy network, PPO takes a small policy update (step size), so that the agent may reliably reach the optimal solution. A too-big step may direct policy in the false direction, thus having little possibility of recovery; a too-small step lowers overall efficiency. Consequently, PPO implements a clip function that constrains the policy update of an agent from being too large or too small. Advantageously, PPO strikes a balance between performance and comprehension.

[0186] The Deep Q-network (DQN) algorithm is a model -free, off-policy reinforcement learning method, which may advantageously be implemented as a machine learning control model, according to an embodiment of the invention. Deep q-network agent is a value-based reinforcement learning agent that trains a critic to estimate the expected discounted cumulative long-term reward when following the optimal policy. DQN may be considered a variant of Q-learning that features a target critic and an experience buffer. DQN may be considered a relatively simple and effective model. Moreover, DQN may mitigate data correlation. In essence and advantageously, DQN combines principles of deep neural networks with Q-learning, enabling agents to learn optimal policies in the complex control of the freezer. DQN may utilize experience replay, which may advantageously help in decorrelating the sequential experiences by storing them in a replay memory buffer. This memory buffer is randomly sampled during the network update to break the temporal dependencies and stabilize learning.

[0187] Soft Actor Critic (SAC) is an algorithm that optimizes a stochastic policy in an off-policy way, forming a bridge between stochastic policy optimization and DDPG-style approaches. While the SAC algorithm may be best suited for continuous action spaces, it may be implemented as a machine learning control model according to an embodiment of the invention.

[0188] A machine learning control model, e.g., based on reinforcement learning may take long time to train or correspondingly take many iterations, in turn, potentially resulting in lots of products, such as ice cream product being wasted, as the reinforcement learning model trains by testing different parameters such as the adjustable production line parameter(s), and learning from the corresponding feedback (rewards) given in response to these actions, e.g. the changes in measuring data resulting from the determined adjustable production line parameters, as described elsewhere in this disclosure.

[0189] Optionally, reward shaping and / or imitation learning may be utilized to train the reinforcement learning control model. Advantageously, in imitation learning, an expert in ice cream making is determining the adjustable production line parametersto achieve a given desired quality, e.g., given desired measuring data including, e.g., ice creme item properties, and furthermore, the expert is evaluating the quality (measuring data including, e.g. ice cream item properties etc.) of the produced product, as described elsewhere in this disclosure, given the determined adjustable production line parameters, and giving feedback as to whether the quality matches the desired quality (measuring data including, e.g., ice cream item properties) etc. The expert may during production adjust the production line parameters and when adjusting the parameters continuing to evaluate the quality including measures data, incl. e.g., the ice cream item properties etc. The reinforcement learning control model is then capable of learning from the expert, which parameters that maximizes the reward. Advantageously, imitation learning may vastly minimize the amount of training iterations it takes before the reinforcement learning control model becomes capable of performing at a level that provides the desired product quality incl. measuring data, including, e.g., ice cream item properties. Optionally, the training of the reinforcement learning control model may be continued without the imitation learning, to improve the performance of the reinforcement learning model.

[0190] Notice that the concept of imitating the adjustable production line parameters determined by a human expert may be implemented using various types of machine learning, including different types of supervised learning and thereby not only reinforcement learning. However, while reinforcement learning may sometimes be time consuming to train, reinforcement learning control models may typically outperform traditional supervised learning algorithms and unsupervised algorithms.

[0191] The reinforcement learning models may be trained and operated on various data related to, e.g., the production line and produced product, including, e.g., measuring data, ice cream item properties, and e.g., including external operational parameters such as, e.g., including parameters related to ambience conditions. The type of data, including, e.g., external operational parameters, that may be used to train machine learning control models, have already been described elsewhere, and we note that these data may also be applied to train other machine learning models accordingto the invention, including reinforcement learning models such as those described above.

[0192] Optionally, the training of machine learning control models according to the invention may include using a model of the production line and specific stations or machines of the production line and of the ice it produces and the position of the ice etc., as a starting point and use that as a first best guess of the system. E.g., an analytical model or an empirically determined model. Optimally, the machine learning model may first be trained to copy or approximate an Al model to become a copy of the mathematical model of the system and then the machine learning control model having approximated the model may be trained based on training data. This may advantageously minimize the iterations required to train the machine learning control model from this initial guess.In an optional embodiment of the invention, the control may be based on a genetic algorithm. A genetic algorithm approach may further advantageously be combined with machine learning control approaches, including those already described in this disclosure. Advantageously, genetic algorithms may be said to breed the solution to the control problem using an interactive process involving probabilistic selection of the fittest solutions by means of a set of genetic operators.

[0193] Fig. 9 illustrates a schematical example of a cooling control system CCS that may be implemented to perform automatic control based on a machine learning control model (not illustrated). The cooling control system may be implemented to use various types of machine learning models, including, e.g., the model(s) described in relation to fig. 8. This particular example illustrates the use of the controller for training a machine learning control model based on measured data and measured adjustable control parameters. Notice that machine learning control models of the invention may be trained using other types of hardware. E.g., utilizing one or more processors PU, memory unit MUT, including GPUs, CPUs etc as illustrated in fig. 10. Further notice that the machine learning control model may optionally be optimized using various types of hyper parameter optimization techniques and parts of the hardware and associated may also cloud-based.

[0194] The controller receives measured data MD and measured adjustable parameters. The data pairs of measured data and corresponding measured adjustable production line parameters are used as training data, where the measured data is input data while the measured adjustable production line parameters are the output, also sometimes referred to as the target. The measured adjustable production line parameters may be obtained from manual control of the adjustable production line parameters by one or more experienced person(s). E.g., one or more experienced person(s) adjust the adjustable production line parameters to achieve a specific setpoint such as, e.g. a specific ice cream item property of an ice cream item and these data may then be stored to be utilized for training data alongside the measured data. This may enable the machine learning control model to model the relation between measured data and the measured adjustable production line parameters. By training the machine learning control model utilizing this type of training data, the machine learning control model may enable the machine learning model to mimic the control provided by the one or more experienced person(s). These training data may be utilized for training various kinds of machine learning models, including artificial neural networks, recurrent neural networks, probability based machine learning models, etc.

[0195] Optionally, setpoint and / or error between the setpoint and measured data may also be utilized for training data.

[0196] It should be appreciated that irrespective of which training data is utilized, when a neural network type algorithm is utilized as machine learning control model, the model may vary in architecture, e.g., in depth, in number of nodes per layer, in types of nodes used in the layers etc. Also notice that training may be performed using various numbers of epoch. Furthermore, the performance of the machine learning control models may be evaluated using many types of performance test methods and measures.

[0197] It should be noted that the above examples of control algorithms whether it is based on artificially intelligence or not are advantageously and preferably related to specific ice cream item types.

[0198] The artificial intelligence based devices and elements illustrated in fig. 8-10 may be applied in different aspects of the previous figures or embodiments, where the devices e.g., controller and sensors may be applied in any combination with the previous embodiments of the invention.

[0199] Figure I la illustrates an embodiment of the invention where a mass of ice cream is being lead from a freezer F to an ice cream former ICF. An additional pipe is leading towards the ice cream former ICF where caramel is being pushed towards the mass of ice cream. The caramel is being swirled into the mass of ice cream before the mass of ice cream with the caramel is finally formed at the ice cream former outlet ICFO. The ice cream is divided into ice cream items by a cutter CUT placed just below the ice cream former outlet ICFO. The ice cream item ICI is formed by shaping and dividing the mass of ice cream in the ice cream former ICF. One or more of the ice cream item properties of the ice cream item ICI is being measured by a sensor SENS when the ice cream item ICI gets in contact with the transportation surface TSU. The sensor SENS is communicatively coupled with a controller (not shown) wherein the controller may indicate if an adjustment of one or more ice cream item properties of the ice cream is required. The adjustment may be done automatically or by an operator.

[0200] Fig. 1 lb illustrates an embodiment of the invention where three freezers F are cooling three different types of ice cream. The three different types of ice cream could be according to color, flavors, density, or any other relevant ice cream type. The three different ice cream types is guided to the ice cream former ICF where the ice creams are being shaped into the respective form for an ice cream item being processed. The three types of ice cream may be formed like e.g., a traffic cone with different types of ice cream for the button, middle and top. The ice cream may also be formed as a happy face with different types of ice cream for face, mouth and eyes. When the ice cream has been formed the mass of ice cream is guided towards the ice cream former outlet ICFO where a cutter CUT is placed just outside of the ice cream former outlet ICFO. The cutter CUT is used to divide the mass of ice cream into ice cream items ICI. The ice cream items ICI may fall to a transportation surface TSU where a sensor SENS is placed to measure one or more ice cream item properties ICIP. The sensor SENS iscommunicatively coupled with a controller (not shown) wherein the controller is configured for notifying an operator if any adjustments is to be made to adjust the one or more ice cream item properties. The controller may also be configured for automatically adjusting the one or more ice cream item properties by adjusting any kind of processing units along the production line e.g., freezer, ice cream former, hardening tunnel, mixer or any other relevant processing unit along the production line.

[0201] Fig. 12 illustrates an embodiment of the invention where a method of normalizing ice cream products. The method provides a first ice cream item in step SI. When a first ice cream item is provided the method comprises a step of measuring one or more ice cream item properties of the first ice cream item by a sensor. The measured one or more ice cream item properties may be sent to a controller in S2 to determine the upstream ice cream item properties of the upcoming ice cream items. The upstream one or more ice cream item properties may be the same or may be adjusted according to the measured ice cream item properties of the first ice cream item. In the next step S3 a second ice cream item is sub sequentially provided where the one or more ice cream item properties of the second ice cream item is based on the measured one or more ice cream item properties of the first ice cream item.

[0202] Fig. 13a illustrates a sensor SENS for measuring one or more relevant ice cream properties of the invention. The sensor illustrated in fig.13a is a camera / visionsensor placed above a transportation surface TSU where an ice cream item ICI is being conveyed in a conveying direction COND by a conveyor. The exemplary sensor SENS may be used for measuring visual-characteristics, dimensions, temperatures or any other relevant ice cream item properties. The sensor SENS is communicatively coupled with a controller CCS where the controller CCS is further communicatively coupled with a user interface UI and an ice cream processing unit ICPU located upstream to the sensor SENS. The controller may be configured to automatically adjust the ice cream processing unit ICPU in order to thereby adjust one or more the ice cream item properties of the ice cream item processed by the ice cream processing unit ICPU based on the measurements from the sensor SENS. The ice cream item being processedbased on the measurements from the sensor SENS located downstream to the ice cream processing unit ICPU. In other words a sensor measures one or more ice cream item properties of a first ice cream item and the ice cream processing unit is adjusted based on this measurement to adjust one or more ice cream item properties of a subsequent second ice cream item. The controller may also be configured to send a warning or status to the user interface UI to indicate to an operator if an adjustment is needed and / or to what degree an adjustment is required / recommended. The controller CCS may be connected to a cloud-based storing system (not shown) and / or the controller may be a controller as illustrated in fig. 10 or a controller in a controller system illustrated in fig. 8-9.

[0203] Fig. 13b illustrates another type of sensor compared to fig. 13a. The sensor is still placed above a transportation surface TSU where an ice cream item ICI is being conveyed in a conveying direction COND along the transportation surface TSU. The sensor is measuring one or more ice cream item properties of the ice cream item ICI while the ice cream item ICI is being conveyed. In the illustrated embodiment of the invention the sensor is a radar, laser or infrared sensor for measuring one or more ice cream properties e.g., the dimensions of the ice cream item. The sensor SENS is communicatively coupled with a controller CCS where the controller CCS is further communicatively coupled with a user interface UI and an ice cream processing unit ICPU located upstream to the sensor SENS. The controller may be configured to automatically adjust the ice cream processing unit ICPU in order to thereby adjust one or more the ice cream item properties of the ice cream item processed by the ice cream processing unit ICPU based on the measurements from the sensor SENS. The ice cream item being processed based on the measurements from the sensor SENS located downstream to the ice cream processing unit ICPU. In other words a sensor measures one or more ice cream item properties of a first ice cream item and the ice cream processing unit is adjusted based on this measurement to adjust one or more ice cream item properties of a subsequent second ice cream item. The controller may also be configured to send a warning or status to the user interface UI to indicate to an operator if an adjustment is needed and / or to what degree an adjustment is required / recommended. The controller CCS may be connected to a cloud-based storing system(not shown) and / or the controller may be a controller as illustrated in fig. 10 or a controller in a controller system illustrated in fig. 8-9.

[0204] Fig. 13c illustrates another type of sensor compared to fig 13a-b. The sensor is placed below or in a transportation surface wherein the sensor is configured for measuring the weight of ice cream item ICI as one or more ice cream item related properties. The transportation surface TSU is conveying ice cream items along the transportation surface TSU in a conveying direction COND. The weight may also be measured by a sensor using ultrasound placed next to transportation surface. The sensor SENS is communicatively coupled with a controller CCS where the controller CCS is further communicatively coupled with a user interface UI and an ice cream processing unit ICPU located upstream to the sensor SENS. The controller may be configured to automatically adjust the ice cream processing unit ICPU in order to thereby adjust one or more the ice cream item properties of the ice cream item processed by the ice cream processing unit ICPU based on the measurements from the sensor SENS. The ice cream item being processed based on the measurements from the sensor SENS located downstream to the ice cream processing unit ICPU. In other words a sensor measures one or more ice cream item properties of a first ice cream item and the ice cream processing unit is adjusted based on this measurement to adjust one or more ice cream item properties of a subsequent second ice cream item. The controller may also be configured to send a warning or status to the user interface UI to indicate to an operator if an adjustment is needed and / or to what degree an adjustment is required / recommended. The controller CCS may be connected to a cloud-based storing system (not shown) and / or the controller may be a controller as illustrated in fig. 10 or a controller in a controller system illustrated in fig. 8-9.

[0205] Fig. 13d illustrates an embodiment of the invention where a sensor SENS placed above a transportation surface TSU conveying an ice cream item ICI in a conveying direction COND. The sensor illustrated in the figure is a thermometer for measuring the temperature of the ice cream item ICI. The sensor SENS is communicatively coupled with a controller CCS where the controller CCS is further communicatively coupled with a user interface UI and an ice cream processing unitICPU located upstream to the sensor SENS. The controller may be configured to automatically adjust the ice cream processing unit ICPU in order to thereby adjust one or more the ice cream item properties of the ice cream item processed by the ice cream processing unit ICPU based on the measurements from the sensor SENS. The ice cream item being processed based on the measurements from the sensor SENS located downstream to the ice cream processing unit ICPU. In other words a sensor measures one or more ice cream item properties of a first ice cream item and the ice cream processing unit is adjusted based on this measurement to adjust one or more ice cream item properties of a subsequent second ice cream item. The controller may also be configured to send a warning or status to the user interface UI to indicate to an operator if an adjustment is needed and / or to what degree an adjustment is required / recommended. The controller CCS may be connected to a cloud-based storing system (not shown) and / or the controller may be a controller as illustrated in fig. 10 or a controller in a controller system illustrated in fig. 8-9.

[0206] Fig. 13e illustrates a sensor SENS e.g., a camera which measures visual characteristics or dimensions of an ice cream item ICI. The ice cream item ICI has been formed by an ice cream filler (not shown) by filling ice cream into an ice cream item ICI, here illustrated as a cone in the fig. 13e being filled with ice cream. The ice cream item ICI is being conveyed in a conveying direction COND along a transportation surface TSU. The sensor SENS is communicatively coupled with a controller CCS where the controller CCS is further communicatively coupled with a user interface UI and an ice cream processing unit ICPU located upstream to the sensor SENS. The controller may be configured to automatically adjust the ice cream processing unit ICPU in order to thereby adjust one or more the ice cream item properties of the ice cream item processed by the ice cream processing unit ICPU based on the measurements from the sensor SENS. The ice cream item being processed based on the measurements from the sensor SENS located downstream to the ice cream processing unit ICPU. In other words a sensor measures one or more ice cream item properties of a first ice cream item and the ice cream processing unit is adjusted based on this measurement to adjust one or more ice cream item properties of a subsequent second ice cream item. The controller may also be configured to send a warning orstatus to the user interface UI to indicate to an operator if an adjustment is needed and / or to what degree an adjustment is required / recommended. The controller CCS may be connected to a cloud-based storing system (not shown) and / or the controller may be a controller as illustrated in fig. 10 or a controller in a controller system illustrated in fig. 8-9.

[0207] Fig. 14a illustrates a block diagram of the process along the production line of producing ice cream products. The production line PL comprises a plurality of working stations according to the location along the production line PL. At first, different ice cream ingredients are fed to a mixer MIX (technically optional) where ingredients (a mixture of ice cream compounds) are being mixed. The substance from the mixer MIX is then transferred to a freezer SF where the substance is being processed into an ice cream composition. The mix is being added to the freezer SF and at the same end of the freezer air is added. Air may also be understood as an ice cream ingredient typically fed into the freezer through a separate dedicated inlet. In the step in the freezer SF the input ice cream ingredients (mixture and air) is processed while being cooled and partly frozen, and thereby crystallizing parts of the ice cream composition and / or changing the ice cream composition. The ice cream composition is cooled to a temperature below zero degrees Celsius through the freezer SF to get the desired ice cream quality with the right size and shape of the ice cream foam-structure. At the input end of the freezer SF air is continuously fed into the freezer SF. Within the freezer, the ice cream composition is subject to shear e.g. by a dasher in a freezing cylinder to make the ice cream composition more soft and less cold to eat.In the next step of the process the ice cream composition is guided to an ice cream former ICF where the ice cream composition is being shaped and divided into ice cream items. The ice cream former ICF may be an ice cream cutter, where a flow of the ice cream composition is being guided to an outlet shaped as the desired ice cream product. A stick inserter may typically be placed at the end of the outlet of the ice cream former ICF when the ice cream item type is an ice cream on a stick. At the end of the ice cream cutter a metal wire is placed to divide the ice cream composition into ice cream items and let the ice cream items drop to a conveyor. The ice cream formerICF may also be an ice cream filler, where a valve divides the stream of the ice cream composition. After the ice cream composition has been divided by the valve the ice cream may be push by a piston into an ice cream container like e.g., a waffle, biscuit or non-edible container.The ice cream items are being conveyed from the ice cream former ICF to a hardening tunnel HT where the ice cream items are cooled down through the hardening tunnel HT. The hardening tunnel may vary in type from each production line according to what type of ice cream item types are being made. An example of a typical hardening tunnel is illustrated in fig. 2 where ice cream items are being conveyed on a transportation surface. That type of hardening tunnel HT typically comprises air ventilation, vaporisers, heat exchanger and other things (not shown) related to controlling the temperature in a uniform way within the hardening tunnel HT. Other types of hardening tunnels may be hardening tunnels where the conveyor comprises a casting form. The hardening tunnels with conveyors with casting forms may be circular and rotating in an approximately horizontal plan around a centre. Ice cream items are shaped and divided into the casting forms of the conveyor and after that conveyed in a rotational motion. At the bottom side of the casting form a cooling liquid is applied to hardening the ice cream items in the casting forms. Another type of hardening tunnel with casting forms may also be used. The casting form are conveyed in a linear direction and the casting forms are connected as slits in a belt. The slits with the casting forms are filled with ice cream items in one end and conveyed in a linear direction with the casting form on top. After releasing the ice cream items from the casting forms the casting forms turns 180 degrees at the end of the belt and is being conveyed back to the ice cream former. At the ice cream former the casting forms may once again be filled with ice cream items. The number of casting forms perpendicular to the conveying direction may vary from e.g., 2-12 or even more according to the specific production of ice cream products. For both hardening tunnels with casting forms cooling fluid may be applied from below to cool the ice cream items by spraying it on the top and let the cooling fluid run down along the outside of the casting forms as in a so-called cascade system. More often, the system is a bath, where the cold liquid is coming in from below and the slightly heated fluid is flowing over the outsides ofthe casting forms. All three types of hardening tunnels is used for hardening and cooling ice cream items after the ice cream former. The ice cream items may be conveyed through the hardening tunnel HT in multiple minutes or even hours to ensure a uniform frozen temperature through the ice cream item. Through the hardening tunnel HT an adhesion between the ice cream items and the surface where the ice cream items are being conveyed on may be established. The adhesion may also evolve through the hardening tunnel due to the cooled conditions. In some production lines PL a hardening tunnel is optional and the ice cream items are cooled prior to the ice cream former in the freezer. This is typically a very expensive process to cool the freezer enough and further very complicated to process the ice cream composition through the ice cream former due to a stiffer ice cream composition.The next step along the production line of the ice cream product is a packing station PACK, where the ice cream items are being wrapped in typically a foil. The ice cream items may be placed in a longitudinal foil which are being welded together to enclose typically one ice cream item. Afterwards the foil is being cutted and divided so one ice cream item is packed and enclosed in a foil. The packing station PACK may also be a packing station PACK where ice cream items are being packed directly in boxes of cardboard or paper without any foil. The packing station PACK may also comprise a secondary packing station PACK where the individually foil-enclosed ice cream items are being packed into boxes. The ice cream items may be packed in the boxes or containers by hand or by a robot.Along the entire production line PL one or more sensor (not shown) may be placed at different locations to measure different properties, parameters and / or characteristics of the ice cream composition, ice cream characteristics and / or different stations (ice cream former, hardening tunnel, freezer, mixer, coating station, packing station, ingredients feeder, etc.). The sensor may further be connected to one or more controllers (not shown) with a wire or wireless to send the observed or measured properties, parameters and / or characteristics to the one or more controllers. The one and more controllers may further be connected to the different stations along the production line PL to adjust the different working stations based on measurements and / or observations. The location of the one or more sensors SENS may be used for any upstream adjustments of the ice cream composition, ice cream item or any parameters related to upstream working stations by the controller.The one or more sensors may be a weight sensor, vision, camera, flow sensor, pressure sensor, temperature sensor, distance sensor or any other sensor for observing any kind of ice cream characteristics, parameters or properties. The sensors may also be used to measure the parameters of any of the working stations.Through the different steps along the production line PL illustrated in fig. 14 an ice cream composition ICO is made in the freezer SF from ingredients ICN in the mixer MIX. The ice cream composition ICO is being shaped and divided into an ice cream item ICI at the ice cream former ICF. The ice cream item ICI are being processed through the production line PL where the hardening tunnel and packaging station refines the ice cream item. At the end of the production line PL a ice cream product is made which is ready for sale. This may be an individually ice cream product in a foil which typically is bought in small shop. The ice cream product may also be a box with multiple foiled ice cream products which may be bought in a super market.

[0208] Fig. 14b illustrates the same embodiment as illustrated in fig. 14a with one or more optionally parts added to the production line PL of ice cream products. Before the ice cream former ICF an optional ingredients feeder INF may be placed to mix the ice cream composition from the freezer SF with small pieces of chocolate, berries, cake, caramel or any other edible things.Fig. 14b further illustrates that after the ice cream items have left the hardening tunnel HT one or more optional coating stations COA is placed along the production line PL. The coating station COA may typically be a station where the ice cream item is being dipped into a bath of warm chocolate. The ice cream items are then being lifted with the coated chocolate dripping off the ice cream items, but with a new layer added to the ice cream item. The ice cream item may also be coated with other edible things or different types of chocolate. After the first dip of coating an additional coating may beprovided in form of another layer of chocolate or solid small pieces of chocolate, berries or any other edible solid stuff.

[0209] Additional optional working stations along the production line PL which is not shown may be any of the following: Smart Cutter, Coating check station, serialization, packaging check station, a manual station, a cleaning station, or any other working station related to the production of ice cream products.

[0210]

[0211] The invention is not limited to the sensors mentioned and described above and illustrated in fig. l la-e but may also be a sensor configured for measuring conductivity, colors (by measuring e.g., wavelength), ultrasound or any other possible ice cream item properties. The sensor is further not limited to being placed above or below the transportation surface, but may also be placed next to, inclined, from the side of transportation surface or any other angle or location related to the transportation surface.List of references:ICI Ice cream item,FICI First ice cream item,SICI Second ice cream item,TICI Third ice cream item,NICI Neighboring ice cream item,LOC Location,PL Production line,ICIP Ice cream item properties,ICP Ice cream product,ICF Ice cream former,ICFO Ice cream former outlet,ICFI Ice cream former inlet,ICD Ice cream divider,TSU Transportation surface,ALA Alarm,UMA Manual upstream adjustment,VI Visual interface,STI Stick inserter,MAL Manufacturing Lane,AMAL Additional manufacturing lane,HT Hardening tunnel,WRF Wrapping foil,SENS Sensor,FILL Ice cream filler,COND Conveying direction,UI User interface,GRA Gripping arrangement,WT Working table,CCS Cooling Control system,PACK Packaging station,MLOC Measuring location,ICPU Ice cream processing unit,OPE Operator,TUB Tube.

Claims

Claims1. A method of normalizing ice cream products (ICP) including the steps of: providing a first ice cream item (FICI), automatically measuring one or more ice cream item properties (ICIP) of said first ice cream item (FICI), adjusting one or more ice cream item properties (ICIP) of a subsequently provided second ice cream item (SICI) on the basis of the measurement of said one or more ice cream item properties (ICIP) of said first ice cream item (FICI).

2. A method according to any of the preceding claims, wherein said adjusting establishes a normalizing of said second ice cream item (SICI).

3. A method according to any of the preceding claims, wherein said adjusting establishes a normalizing of a sequence of ice cream items.

4. A method according to any of the preceding claims, wherein said adjusting establishes a normalizing of said sequence of ice cream items at a specific location (LOC) of the production line (PL).

5. A method according to any of the preceding claims, wherein said adjusting establishes a normalizing of one or more ice cream item properties (ICIP) of ice cream items (ICI).

6. A method according to any of the preceding claims, wherein said one or more ice cream item properties (ICIP) is a weight of said ice cream item (ICI).

7. A method according to any of the preceding claims, wherein said one or more ice cream item properties (ICIP) is a volume of said ice cream item (ICI).

8. A method according to any of the preceding claims, wherein said one or more ice cream item properties (ICIP) is a height of said ice cream item (ICI).

9. A method according to any of the preceding claims, wherein said one or more ice cream item properties (ICIP) is either a width or length of said ice cream item (ICI).

10. A method according to any of the preceding claims, wherein said one or more ice cream item properties is a distance of a portion of said ice cream item (ICI).

11. A method according to any of the preceding claims, wherein said one or more ice cream item properties (ICIP) is a temperature of said ice cream item (ICI).

12. A method according to any of the preceding claims, wherein said one or more ice cream items properties (ICIP) is a local temperature of said ice cream item (ICI).

13. A method according to any of the preceding claims, wherein said one or more ice cream item properties (ICIP) is visual-characteristics of said ice cream item (ICI).

14. A method according to any of the preceding claims, wherein said adjusting is a weight adjustment.

15. A method according to any of the preceding claims, wherein said adjusting is a weight adjustment of an uncoated ice cream item (ICI).

16. A method according to any of the preceding claims, wherein said adjusting is a volume adjustment.

17. A method according to any of the preceding claims, wherein said adjusting is a volume adjustment of an uncoated ice cream item (ICI).

18. A method according to any of the preceding claims, wherein said adjusting is within a predetermined weight or volume.

19. A method according to any of the preceding claims, wherein said adjusting is within a predetermined percentage of the ice cream product.

20. A method according to any of the preceding claims, wherein said adjusting is within a tolerance, wherein said tolerance is based on ice cream item type.

21. A method according to any of the preceding claims, wherein said adjusting is done prior to said second ice cream items (SICI) is formed in an ice cream former (ICF).

22. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by an adjustment of a temperature of a freezer.

23. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by an adjustment of an ice cream volume flow from a freezer.

24. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by an adjustment of an ice cream air content of a freezer.

25. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by an adjustment of a hardening tunnel setting.

26. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by adjusting an ice cream former (ICF).

27. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtain by adjusting an ice cream former (ICF) of a production line (PL) and wherein the ice cream former (ICF) is automatically operating upstream the production line (PL), and wherein upstream is defined relative to the location of said automatically measuring of one or more ice cream item properties in said production line (PL).

28. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by a cutter adjusting.

29. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained by a coating adjusting.

30. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties is obtained at a location along a transportation surface (TSU).

31. A method according to any of the preceding claims, wherein said first ice cream item (ICI) is an ice cream product (ICP).

32. A method according to any of the preceding claims, wherein said measuring of one or more ice cream item properties (ICIP) is done at a location (LOC) along the production line (PL).

33. A method according to any of the preceding claims, wherein said measuring of said one or more ice cream item properties (ICIP) is at a location (LOC) prior to coating an ice cream item (ICI).

34. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties (ICIP) is done upstream said production line (PL) to said location (LOC) of measuring of one or more ice cream item properties (ICIP).

35. A method according to any of the preceding claims, wherein said measuring of one or more ice cream item properties (ICIP) is done at the location (LOC) of an ice cream former (ICF).

36. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties (ICIP) is done at a location (LOC) of an ice cream former (ICF).

37. A method according to any of the preceding claims, wherein said adjusting is based on measuring one or more properties (ICIP) of said first ice cream item (FICI) in an additional manufacturing lane (AMAL).

38. A method according to any of the preceding claims, wherein said step of measuring said one or more ice cream item properties (ICIP) is measured in one or more additional manufacturing lanes (AMAL) and adjusting said ice cream item propertiesof said second ice cream item (SICI) is based on said ice cream item properties (ICIP) in said one or more additional manufacturing lanes (AMAL).

39. A method according to any of the preceding claims, wherein said step of adjusting is done at said ice cream former (ICF) or prior to said ice cream former (ICF) based on a measuring of said first ice cream item (FICI) in an additional manufacturing lane (AMAL).

40. A method according to any of the preceding claims, wherein the method comprises a second step of automatically measuring said one or more ice cream item properties (ICIP) of said first ice cream item (FICI).

41. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties (ICIP) of said second ice cream item (SICI) is also based on said second measurement of said one or more ice cream properties (ICIP).

42. A method according to any of the preceding claims, wherein said second measurement of said one or more ice cream item properties (ICIP) is of the same type of ice cream item properties (ICIP) as said first measurement of said ice cream item properties (ICIP).

43. A method according to any of the preceding claims, wherein said second measurement of said one or more ice cream item properties (ICIP) is of a different type of ice cream item properties (ICIP) as said first measurement of ice cream item properties (ICIP).

44. A method according to any of the preceding claims, wherein a third ice cream item (TICI) is subsequently provided to said second ice cream item (SICI), wherein said third ice cream item (TICI) is provided on the basis of the measurement s) of one or more ice cream item properties (ICIP) of said first ice cream item (FICI) and / or one or more ice cream item properties (ICIP) of said second ice cream item (SICI).

45. A method according to any of the preceding claims, wherein said step of measuring one or more ice cream item properties (ICIP) is measured for a sequence of ice cream items (ICI).

46. A method according to any of the preceding claims, wherein said adjusting of one or more ice cream item properties (ICIP) of said second ice cream item (SICI) is based on said measuring of said one or more ice cream properties (ICIP) from said sequence of ice cream items.

47. A method according to any of the preceding claims, wherein said step of measuring one or more ice cream item properties (ICIP) is measured by measuring the first ice cream item (FICI) when the first ice cream item (FICI) is offloaded said conveyor.

48. A method according to any of the preceding claims, wherein said step of measuring one or more ice cream item properties (ICIP) is measured by measuring the first ice cream item (FICI) when the first ice cream item (FICI) is located on the transportation surface (TSU) of said conveyor.

49. A method according to any of the preceding claims, wherein said step of adjusting is an adjustment of a plurality of subsequently provided ice cream items (ICI) on the basis of the measurement of said one or more ice cream item properties (ICIP) of said first ice cream item (FICI).

50. A method according to any of the preceding claims, wherein said adjusting of said one or more ice cream item properties (ICIP) of said second ice cream item (SICI) is done automatically.

51. A method according to any of the preceding claims, wherein said adjusting of said one or more ice cream item properties (ICIP) of said second ice cream item (SICI) is done automatically by said ice cream former (ICF).

52. A method according to any of the preceding claims, wherein said step of measuring one or more ice cream item properties (ICIP) triggers an alarm when a manual upstream adjustment (UMA) is to be made.

53. A method according to any of the preceding claims, wherein a visual interface (VI) is indicating if an adjustment is to be made.

54. A method according to any of the preceding claims, wherein a visual interface (VI) is indicating how an adjustment is to be made.

55. A method according to any of the preceding claims, wherein a visual interface (VI) is indicating how much adjusting is to be made.

56. A method according to any of the preceding claims, wherein adjusting said one or more ice cream item properties (ICIP) of said second ice cream item (SICI) is done by automatic adjustments of relevant ice cream processing unit (ICPU) based on automatic measurements.

57. A method according to any of the preceding claims, wherein adjusting said one or more ice cream item properties (ICIP) of said second ice cream item (SICI) is done by automatic adjusting of a controller by readjusting of relevant ice cream processing unit (ICPU) based on automatic measurements.

58. A method according to any one of the preceding claims, wherein said measured one or more ice cream item properties of said first ice cream item are automatically applied for at least partly adjustment of said one or more ice cream item properties of said second ice cream item by means of artificial intelligence, the adjustment being established by means of supervised machine learning.

59. A method according to any one of the preceding claims, wherein said measured one or more ice cream item properties of said first ice cream item are automatically applied for at least partly adjustment of said one or more ice cream item properties of said second ice cream item by means of artificial intelligence, the adjustment being established by means of non-supervised machine learning.

60. A method according to any one of the preceding claims, wherein said measured data and said measured adjustable parameters are applied as training data for a machine learning model of said artificial intelligence.

61. A method according to any one of the preceding claims, wherein said measured data, such as measured ice cream item properties and / or measured location data and / or said measured adjustable parameters, such as measured adjustable ice cream formerparameters are applied as training data for a machine learning model of said artificial intelligence.

62. A method according to any one of the preceding claims, wherein said measured data and said measured adjustable parameters are applied as training data for a machine learning model in combination with data defining ice cream item type of said artificial intelligence.

63. A method according to any one of the preceding claims, wherein said measured data, such as measured ice cream item properties and / or measured locations and / or said measured adjustable parameters, such as measured adjustable ice cream former parameters are applied as training data for a machine learning model in combination with data defining ice cream item type of said artificial intelligence.

64. An ice cream production line (PL) comprising; one or more ice cream processing units (ICPU), a measuring location (MLOC) comprising a sensor (SENS) configured for measuring one or more ice cream item properties (ICIP), where said ice crem processing unit (ICPU) is controlled by a controller (CON) for automatically measuring said one or more ice cream item properties (ICIP), upstream said measuring location (MLOC) an ice cream processing unit (ICPU), where the ice cream processing unit (ICPU) is adjustable based on one or more measurements measured at the measuring location (MLOC) by said sensor (SENS).

65. An ice cream production line according to claim 64, wherein said controller automatically secures the adjustment of said ice cream processing unit on the basis of one or more measurements from said measuring location.

66. An ice cream production line according to claims 64-65, wherein the ice cream production line is controlled according to the method in any of the claims 1-63.

67. A normalized sequence of ice cream products wherein said one or more ice cream item properties of said ice cream product sequence are within a tolerance of + / - 10 percent, such as + / - 8 percent, such as + / - 5 percent, such as + / - 4 percent, such as + / - 3 percent, such as + / - 2 percent, such as + / - 1 percent, such as + / - 0.5 percent.

68. A normalized sequence of ice cream products according to claim 67, wherein said normalized ice cream product sequence according to the method in claim 1-63.

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