Food container systems for meal production

Abstract

A meal container holder for a meal production system may include a shell configured to receive and support a meal container, a chassis configured to be operably coupled to a track so that the shell moves along the track with a first degree of freedom, and actuators operably coupled to the chassis and the shell, configured to move the shell with a second degree of freedom different from the first degree of freedom.

Description

Technical Field

[0001] (Related Application) This application claims priority under 35 U.S.C. § 119 to U.S. Provisional Patent Application No. 63 / 499,537, filed May 2, 2023, the content of which is hereby incorporated by reference in its entirety for all purposes.

[0002] (Field of the Invention) The disclosed embodiments relate to food production systems and related methods of use, and more particularly to food container systems for food production systems and related methods of use.

Background Art

[0003] The handling and cooking of food has conventionally been done by humans. In some cases, robotic systems have attempted to emulate the manner of human cooking, but such systems have been slower than human cooking or have had other drawbacks.

Summary of the Invention

[0004] In some aspects, the technology described herein relates to a food container holder for a food production system, comprising a shell configured to receive and support a food container, a chassis operably coupled to a track such that the shell moves along the track in a first degree of freedom, and an actuator operably coupled to the chassis and the shell and configured to move the shell in a second degree of freedom different from the first degree of freedom.

[0005] In some embodiments, the technology described herein relates to a meal production system comprising: a plurality of meal container holders, each of which comprises a shell configured to receive and support a meal container, and an actuator operably coupled to the shell, configured to move the shell with a first degree of freedom; and a track supporting the plurality of meal container holders, configured to move the plurality of meal container holders along the track with a second degree of freedom different from the first degree of freedom.

[0006] In some embodiments, the techniques described herein relate to a method for operating a meal production system, comprising: moving a shell configured to receive and support a meal container along a track in a first direction with a first degree of freedom to align the shell with a meal ingredient dispenser; and moving the shell using an actuator with a second degree of freedom different from the first degree of freedom while the shell is aligned with the meal ingredient dispenser.

[0007] This disclosure is not limited in this respect, so it should be understood that the concepts described above, and any additional concepts described below, may be comprised of any suitable combination. Furthermore, other advantages and novel features of this disclosure will become apparent from the following detailed description of various non-limiting embodiments when considered in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0008] The attached drawings are not intended to be drawn to a fixed scale. In the drawings, each of the identical or nearly identical components illustrated in various figures may be represented by similar numbers. For clarity, not all components may be labeled in all drawings. In the drawings, [Figure 1] This is a schematic side view of one embodiment of a food production system. [Figure 2A] This is a schematic side view of one embodiment of a food container. [Figure 2B] Figure 2A is a schematic diagram of the top view of the food container. [Figure 3] This is a schematic top view of another embodiment of the food container. [Figure 4] This is a first side schematic view of an embodiment of a meal container holder for a meal production system. [Figure 5] Figure 4 is a second schematic side view of the food container holder. [Figure 6A] This is a schematic top view of the meal container holder in Figure 4 in the first state of an embodiment of the meal production process. [Figure 6B] This is a schematic top view of the meal container holder in Figure 4 in the second state of the embodiment of the meal production process. [Figure 6C] This is a schematic top view of the meal container holder in Figure 4, in the third state of the embodiment of the meal production process. [Figure 6D] This is a schematic top view of the meal container holder in Figure 4, in the fourth state of the embodiment of the meal production process. [Figure 6E] This is a schematic top view of the meal container holder in Figure 4 in the fifth state of the embodiment of the meal production process. [Figure 6F] This is a schematic top view of the meal container holder in Figure 4 in the sixth state of the embodiment of the meal production process. [Figure 7] This is a flowchart illustrating an embodiment of a method for operating a food production system. [Figure 8] This is a first side schematic diagram of an embodiment of a charger for a food production system. [Figure 9] Figure 8 is a schematic side view of the charger. [Figure 10A] Figure 8 is a schematic side view of the food container holder in the first state of the embodiment of the charger and food production process. [Figure 10B] Figure 8 is a schematic side view of the food container holder in the second state of the embodiment of the charger and food production process. [Figure 11] This is a flowchart illustrating an embodiment of a method for operating a food production system. [Figure 12A] This is a schematic top view of an embodiment of a food container holder in the first state of an embodiment of a food production process. [Figure 12B] This is a schematic top view of the meal container holder in Figure 12A in the second state of the embodiment of the meal production process. [Modes for carrying out the invention]

[0009] Takeaway or fast food from quick-service restaurants is a major part of many food and beverage consumption worldwide. Quick-service restaurants may spend a significant portion of their revenue on labor costs. These operating costs can prevent restaurants from selling affordable, quick, and convenient meals and can negatively impact their operating profits. A significant portion of an employee's food service time may involve placing food components into food containers (e.g., plates or bowls) for final delivery to the consumer.

[0010] In consideration of the above, the inventors recognized the advantages of an automated meal production system that enables the automated preparation of meal orders, including custom meal orders. The inventors recognized the advantages of automating plating, including arranging one or more meal components in specific areas of a meal container, for reasons of aesthetics, customizability, and / or flavoring. In particular, the inventors understood the advantages of a meal container holder that provides the meal container with at least two degrees of freedom. Embodiments of such automated meal production systems described herein relate to an automated system for positioning each portion of food that may constitute a meal or part of a larger meal.

[0011] In some embodiments, the meal container holder may include a chassis and a shell supported by the chassis. The chassis may be configured to move along a track by a meal production system and therefore may be operably coupled to the track. The shell may be configured to support a meal container such as a bowl, plate, or tray. In some embodiments, the shell may include one or more flat or other feature portions configured to engage with corresponding flat or other feature portions on the meal container so that torque can be transmitted between the meal container and the shell. In such configurations, the relative orientation of the meal container within the shell can be ensured at the time the meal container is received by the shell. In some embodiments, the meal container holder may include an actuator positioned on the chassis, configured to move the shell with a second degree of freedom distinct from a first degree of freedom. For example, in some embodiments, the actuator may be configured to rotate the shell (e.g., with a rotational degree of freedom). As another example, in some embodiments, the actuator may be configured to move the shell in a direction perpendicular to the direction of motion of the track (e.g., with a translational degree of freedom). In some embodiments, the shell may be cantilevered from the chassis so that the chassis is not positioned beneath the shell. Such a configuration can help avoid contamination of the chassis in the event of food spillage. In some embodiments, the actuator may be located within the chassis, and a transmission may be used to transmit force from the actuator to the shell in order to move the shell in a second degree of freedom. According to exemplary embodiments herein, a configuration in which the food container can be moved in two degrees of freedom may allow various food components to be placed in desired positions within the food container. One or more food components may be distributed targetly within the food container area by moving the food container in two degrees of freedom without moving the food component dispenser.

[0012] In addition to the above, the inventors recognize that conventional holders on the track system are not powered in the sense that power and / or data signals do not pass from the track to the holder. In many cases, the inventors recognize that it is difficult to transfer power and / or data to a moving holder on the track system. Brushes, contact shoes, pantographs, or other configurations for transferring power to a holder on the track can be complex and / or unreliable in some situations. Accordingly, the inventors recognized the benefits of a food container holder for a track system having an on-board power source that can be selectively recharged by the food production system. Thus, the food container holder can have on-board actuators, sensors, and / or controllers that are powered by the on-board power source without requiring power and / or signal transfer through complex wiring between the food production system and the food production holder. The inventors also recognize the benefit of the food container holder being able to communicate wirelessly with other components of the food production system so as to coordinate the movement of various components of the food production system (e.g., the dispensing of components for forming a meal within the food container).

[0013] In some embodiments, the meal container holder includes a chassis configured to move along a track. The chassis may include a power source, such as a capacitor or battery. The meal container may include one or more components, such as actuators, sensors, processors, transceivers, or other components configured to consume electrical energy. The power source can supply power to components on the chassis, so that the components do not receive power from outside the chassis. The chassis may also include at least one contact surface configured to receive a charger surface from a charger. The at least one contact surface may be connected to the power source (e.g., via a charge controller) and may receive electrical energy from at least one charger surface used to charge the power source. Thus, at least one charger surface and at least one contact surface are configured to make an electrical connection. In some embodiments, at least one charger surface of the charger may be configured to move between an engaged position and an unengaged position. For example, in some embodiments, the charger may include an actuator configured to move at least one charger surface between an engaged position and an unengaged position. In some embodiments, the actuator may be configured to move at least one charger surface in a direction perpendicular to the track (e.g., in the translational direction). In some embodiments, at least one charger surface can move linearly between an engaged position and an unengaged position. In some embodiments, the charger may be positioned on the track at the charging position. When the food container holder reaches the charging position, the food container holder may stop. When stopped at the charging position, at least one charger surface can move from the unengaged position to the engaged position to contact at least one contact surface on the chassis. In this way, the charger can be used to charge a power supply mounted on the chassis.

[0014] In some embodiments, the meal production system may include a track that includes a plurality of meal container holders, and the track moves the meal container holders along the track. The meal container holders may be movable in a first degree of freedom in two track directions along the track, namely forward and backward. The meal containers may be disposed on the meal container holders so as to move correspondingly along the track. The meal production system may also include at least one meal component dispenser positioned above the track. To facilitate the dispensing of meal components from the at least one meal component dispenser, the system may position the meal container at a position where the assigned area of the meal container is aligned with the meal component dispenser. With the meal container in the correct position, the at least one meal component dispenser may then be controlled to dispense the meal component associated with the meal component dispenser into the aligned area of the meal container. In some cases, the meal container holder may move the meal container in a second degree of freedom, whereby the meal components may be dispensed into multiple areas of the meal container or different areas may be targeted by the meal production system. In this way, the meal components can be assigned to one or more physical or virtual areas of the meal container and dispensed into those assigned areas to form a completed meal. By enabling the positioning of meal components within the meal container, the meal may be more customizable, have improved aesthetics, and / or have an improved flavor compared to conventional meal production systems.

[0015] In some embodiments, the meal production system may include a track having a plurality of meal container holders, the track moving the meal container holders along the track. The meal production system may also include at least one meal component dispenser positioned above the track, the at least one meal component dispenser configured to distribute meal components into a meal container positioned on one of the meal container holders. In some embodiments, the meal container holder may be configured to rotate the meal container while the meal container is aligned with at least one meal component dispenser. As a result, once the meal components are distributed, the rotational motion can evenly distribute the meal components throughout the meal container. Thus, the meal components can not be significantly piled up, but rather evenly distributed across one or more areas of the meal container. In some embodiments, the meal production system may be configured to stop the meal container at a position aligned with at least one meal component dispenser. Once stopped, the meal components can be distributed into the meal container. After the meal components have been distributed, the meal container holder may rotate the meal container to distribute the meal components throughout the meal container. Naturally, this disclosure is not limited in that way, so the food container holder may rotate the food container before, during, or after dispensing the food components.

[0016] According to exemplary embodiments described herein, one or more food component dispensers can be used to dispense food components into a meal container. A food component dispenser may be configured to dispense solid, semi-solid, or liquid food components. In addition, a food component dispenser may be configured to dispense hot, cold, or room-temperature components. A food component dispenser may dispense raw and / or cooked components. For example, a food component dispenser may dispense raw or pre-cooked proteins, vegetables, grains, fruits, or toppings. A food component dispenser according to an exemplary embodiment described herein may be configured to dispense a predetermined volume or weight of food components in response to a special order from a user. That is, the user may select, based on a recipe or custom input, the food components, the quantity of the food components, and a specific area of ​​the meal container into which the food components are dispensed. For example, the user may request a meal containing three food components, each of which is configured to be dispensed from the corresponding food component dispenser in a selected or predetermined volume. In some embodiments, the food component dispenser may include at least two gates configured to separate a portion of the volume of the food component from the bulk volume of the food component, allowing that portion to fall into the food container. In some embodiments, the food component dispenser may be formed as a hopper including a rotating paddle wheel or auger configured to release the component that falls into the food container by gravity. In other embodiments, the food component dispenser may be a liquid food component dispenser that uses a pump to distribute a liquid food component (e.g., a sauce) into the food container. Of course, the disclosure is not so limited, and any suitable dispenser may be used to distribute one or more food components into a food container positioned on a track.

[0017] According to exemplary embodiments described herein, a track can be used to transport one or more food container holders along a route. Specifically, the track may be configured to move the food container holders directly beneath a plurality of food component dispensers, each capable of containing food components that can be distributed into a food container positioned above one of the food container holders. When multiple food container holders are used, the track may be configured to move at least some of the food container holders independently. That is, a first food container holder may be moved forward, moved backward, or stopped independently of a second food container holder. In some embodiments, the track may be configured as a magnetic conveyor that enables two or more food container holders to be moved independently in this manner. In other embodiments, the track may be formed as a conveyor belt or similar track configured to move multiple food container holders simultaneously. Of course, the disclosure is not so limited, and any suitable track and food container holders may be used in a food production system.

[0018] According to exemplary embodiments described herein, a meal production system may be configured to assemble a meal in a meal container. That is, a meal production system of exemplary embodiments herein may be configured to distribute one or more meal components into a meal container. In some embodiments, the meal container may be configured as a bowl. The bowl may be virtually divided into one or more regions, and certain regions may be assigned to receive meal components. In other embodiments, the meal container may be configured as a plate. The plate may also be virtually divided into one or more regions, one or more of which may be assigned to receive certain meal components. In some embodiments, the meal container may include one or more physically divided regions. For example, a meal container (e.g., a tray) may include one or more walls that divide two or more food receiving regions. Similar to virtual regions, physically divided regions may also be assigned to receive specific meal components in response to a meal order submitted to the meal production system. Of course, the disclosure is not so limited, and any suitable meal container having one or more virtually or physically defined meal component receiving regions may be utilized.

[0019] In some embodiments, the meal production system may be configured to receive orders from one or more users, and subsequently, the meal production system may prepare the ordered meals. The meal production system may receive input from one or more users in one or more input devices. Typical input devices may be tablets, POS devices, mobile devices (e.g., smartphones), personal computers (e.g., desktops, laptops, etc.), or any other suitable input devices. One or more input devices may be located near the meal production system (e.g., in the same building or room) or at a distance. One or more input devices may communicate wirelessly or wired with a controller of the meal production system that can control one or more components of the meal production system. In one or more input devices, a user may be able to select one or more meal components to form a meal. In some embodiments, a user may select individual meal components and custom quantities of those components. In some embodiments, a user may select from a plurality of predetermined recipes that specify predetermined quantities of meal components. In some embodiments, a user may select from a plurality of predetermined recipes and further customize those recipes by selecting to increase the quantity of components (e.g., select extra protein) or add (e.g., toppings, sides, etc.). According to the exemplary embodiments described herein, each meal component may be assigned to one or more areas of a meal container. Some recipes may include predetermined assigned areas. However, in some embodiments, the assigned areas of meal components may be customized or selected by the user. For example, the user may select that one or more meal components be located "off-center" and placed in an area different from the predetermined area to which those meal components are normally assigned. Thus, in response to a specific order received by one or more user input devices, the meal production system may assign one or more meal components to one or more areas of a meal container.Therefore, when a meal is assembled by the meal production system, the assigned meal components can be piled up in the corresponding assigned areas. In some embodiments, the user may be a customer, but the disclosure is not limited in that sense, so in other embodiments, the user may be an employee (e.g., a chef, cashier, waiter, etc.) or any other suitable user. In some embodiments, a first user (e.g., a customer) may place an order, and a second user (e.g., an employee) may modify the order.

[0020] According to the exemplary embodiments described herein, a meal production system may be operated by a controller. The controller may include one or more processors configured to execute computer-readable instructions stored in volatile or non-volatile memory. The controller may communicate with one or more actuators associated with various elements of the meal production system (e.g., trucks, meal component dispensers, etc.) to control the movement of various elements. The controller may receive information from one or more sensors that provide feedback on various elements of the meal production system. For example, the controller may receive positional information regarding a meal container holder. In this way, the controller can implement proportional control, integral control, differential control, or a combination thereof (e.g., PID control). Of course, other feedback control schemes are conceivable, and this disclosure is not limited in this respect. Feedback information can be provided to the controller using any suitable sensor in any desired quantity. Accelerometers, rotary encoders, potentiometers, optical sensors, and cameras may be used in conjunction with desired processing techniques (e.g., machine vision). The controller may also communicate with other controllers, computers, or processors on a local area network, wide area network, or the internet using a suitable wireless or wired communication protocol. In some embodiments, the controller may execute computer-readable instructions based at least partially on user input. For example, the controller may receive a recipe or custom order that includes a set of actions to be performed by a meal production system. The controller may execute instructions based at least partially on the recipe or custom order to prepare the meal.

[0021] According to the exemplary embodiments described herein, various elements of a meal production system may be movable by one or more actuators. That is, various elements may include one or more actuators providing one or more corresponding degrees of freedom. Actuators controlling elements such as meal dispensers and meal container holders may include any suitable electromechanical, pneumatic, or hydraulic actuators. For example, actuators for use with the exemplary embodiments described herein may include DC motors, stepping motors, brushless motors, servos, stepping motors with lead screws, linear actuators, rigid chain actuators, pneumatic linear actuators, hydraulic linear actuators, and the like. As stated above, the actuators of the exemplary embodiments described herein may be connected by a controller or otherwise controlled.

[0022] As used herein, “distribute” means to place solid, semi-solid, or liquid food components into a food container. In some embodiments, “distribute” may also be referred to as “dropping” or “arrange.”

[0023] Certain non-limiting embodiments are described in further detail with reference to the figures. It should be understood that the various systems, components, features, and methods described in relation to these embodiments may be used individually and / or in any desired combination, as this disclosure is not limited to the specific embodiments described herein.

[0024] Figure 1 is a schematic side view of one embodiment of a meal production system 100, which includes a plurality of solid meal component dispensers 110 and a liquid meal component dispenser 150. As shown in Figure 1, the meal production system includes a superstructure 102 configured to support each of the meal component dispensers 110, 150, and a track 140. According to the embodiment of Figure 1, each of the solid meal component dispensers 110 includes a housing 112 which includes an internal volume 113 configured to accommodate solid meal components. In particular, the three meal component dispensers each include a first meal component 300A, a second meal component 300B, and a third meal component 300C. Each of the housings 112 includes an outlet 114 through which meal components are distributed. The solid meal component dispenser also includes a first gate 120 located adjacent to the outlet 114 and a second gate 122 located within the internal volume 113 above the first gate 120. That is, the first gate 120 is positioned between the second gate 122 and the outlet 114. Each pair of the first and second gates defines a partial volume 130 between them. The partial volume is sized and molded to receive a predetermined volume of food components in order to form a portion of food components that can be distributed onto the food container 200. According to the embodiment of Figure 1, the first gate 120 and the second gate 122 may be configured to move between an open position in which food components can move freely toward the outlet 114 and a closed position in which the gates prevent the food components from moving toward the outlet. That is, the first and second gates may be configured to selectively divide the internal volume 113 of each food component dispenser 110.

[0025] In the embodiment shown in Figure 1, the liquid food component dispenser 150 is configured to dispense a liquid such as a sauce. As shown in Figure 1, three liquid food component dispensers are configured to dispense a fourth food component 300D and a fifth food component 300E, respectively. Each liquid food component dispenser includes a nozzle 152. The nozzle may include a valve (e.g., a solenoid valve) configured to control the flow of the liquid food component contained in the liquid food component dispenser. For example, the valve may be configured to move between a closed position in which the liquid cannot flow out of the liquid food component dispenser 150 and an open position in which the liquid can flow out of the liquid food component dispenser. In some embodiments, the liquid contained in the liquid food component dispenser may be driven from the corresponding nozzle by gravity. In other embodiments, a pump may be used to help drive the fluid out of the outlet. Of course, the disclosure is not so limited, and any preferred dispensing configuration may be utilized for the liquid food component dispenser.

[0026] As shown in Figure 1, the meal production system includes a track 140 supporting one or more meal container holders 400 on the track. Each meal container holder 400 includes a shell 402 configured to support a meal container 200 and move the meal container along the track 140 in the direction indicated by the dashed arrow. In some embodiments, the meal container holder 400 may be controlled independently of any other meal container holders positioned on the track. In such embodiments, the track 140 may be configured as a magnetic conveyor. The disclosure is not limited in this way, so that in other embodiments, the meal container holder 400 may move in coordination with other meal container holders. As shown in Figure 1, the meal container holder 400 includes a shell 402 configured to support a meal container 200 configured as a bowl. As the meal container holder moves the meal container along the track 140, the meal container may be configured to receive one or more meal component portions from a solid meal component dispenser 110 or a liquid meal component dispenser 150. For example, as shown in Figure 1, the meal container is receiving a first meal component portion 302. According to the embodiment of Figure 1, when the food container 200 is in a position to align with one or more food component dispensers 110, the first gates of one or more food component dispensers can be opened to distribute the food component portions onto the food container through the outlet 114. In some embodiments, the food container holder 400 may stop or slow down the food container 200 at a position associated with one or more of the food component dispensers, allowing the food component portions to be distributed onto the food container, in some cases into specific areas of the food container.

[0027] According to the embodiment of Figure 1, the meal production system 100 is controlled by a controller 142 which may include one or more processors configured to execute computer-readable instructions stored in volatile or non-volatile memory. As shown in Figure 1, the controller 142 is connected to each of the solid meal component dispensers 110 and the liquid meal component dispensers 150. The controller can coordinate the distribution of meal components from each dispenser. For example, the controller may instruct one of the solid meal component dispensers 110 to move a first gate from a closed position to an open position to distribute meal components from the first meal component dispenser. As another example, the controller may instruct one of the liquid meal component dispensers 150 to open a nozzle 152 to distribute liquid meal components. The controller 142 is also connected to a track 140 and is configured to control the position, velocity, and acceleration of one or more meal container holders 400. The controller can coordinate the movement of multiple meal containers to avoid collisions between meal containers and / or meal container holders. In some embodiments, the controller may adjust the movement of the food container holder 400 based at least in part on an order received from a user who can enter the order on one or more user input devices.

[0028] According to the embodiment of Figure 1, the food container holder 400 is cantilevered from the track 140. In this way, the components of the track 140 are not in the distribution path of the food component dispenser, and even if food components are accidentally dispensed outside the food container, the food components will not come into contact with the track. This contact is an event that could potentially clog or damage the track. Of course, the disclosure is not limited in this way, and any preferred track configuration, including a track positioned beneath the food container, may be utilized.

[0029] The meal production system shown in Figure 1 includes three solid meal component dispensers and two liquid meal component dispensers, but it should be noted that any suitable number of meal component dispensers may be used with the meal production system. That is, the meal production system may include any number of solid or semi-solid meal component dispensers that can dispense cold, hot, or room temperature components into meal containers. Similarly, the meal production system may include any number of liquid meal component dispensers that dispense cold, hot, or room temperature liquid components into meal containers.

[0030] Figure 2A is a schematic side view of one embodiment of the meal container 200, and Figure 2B is a schematic top view thereof. According to the embodiments of Figures 2A to 2B, the meal container is configured as a bowl. The meal container includes a rim 202 which, in some embodiments, can be used by a meal container holder to hold the meal container within a meal production system. The meal container also includes a base 204 which, in some embodiments, can be used by a meal container holder to hold the meal container within a meal production system. In some embodiments, such as those shown in Figures 2A to 2B, the meal container may be a hexagonal bowl such that the bowl includes six flat sections 206. The flat sections may be configured to engage with the corresponding flat sections of the meal container holder so that torque can be transmitted between the meal container and the meal container holder. Thus, in some embodiments, such as those described herein, the meal container holder can rotate the meal container. In some embodiments, the flat sections 206 can ensure that the meal container is received and held in the meal container holder in a known orientation. In some embodiments, the food container holder and the food container may be keyed together so that the food container holder receives the food container in a single orientation. Such embodiments may be desirable when the food container is not rotationally symmetric, for example, when the food container has a region defined by a physical boundary. In other embodiments, such as those shown in Figures 2A-2B, the food container may have rotational symmetry (e.g., sixth-order rotational symmetry in the case of a hexagon), and as a result, the food container may be received by the food container holder in any orientation of rotation and may be aligned with the flat portion 206. Although a hexagonal food container is shown in Figures 2A-2B, other shapes may be used, including circular, square, D-shaped, pentagonal, octagonal, and other shapes. In some embodiments, the food container may not have a flat portion, and torque may be transmitted between the food container and the food container holder by friction. In such embodiments, the food container may be circular or otherwise round.

[0031] As shown in Figures 2A and 2B, a meal container may include multiple virtual boundaries that divide the meal container into multiple regions. In a particular embodiment of Figures 2A and 2B, the meal container 200 is divided into 12 distinct regions, each of which may be assigned to receive a specific meal component according to a particular recipe or custom order. As shown in Figures 2A and 2B, the regions are defined by boundaries AA, BB, CC, and DD, which form virtual walls of the internal volume 203 of the meal container 200. As shown in Figure 2B, boundaries AA, BB, and CC may be planes that bisect the internal volume 203 through the center of the meal container. That is, each of boundaries AA, BB, and CC separates the internal volume 203 into two regions. In some embodiments, the planes may be angularly spaced apart from each other to create regions that are sectors of the internal volume 203. For example, boundaries AA and BB are perpendicular to each other so that the internal volume is divided by their planes into four sectors (e.g., a quadrant). Boundary CC may form an angle of approximately 60 degrees from boundary BB and 30 degrees from boundary AA. Thus, boundary CC further divides the internal volume 203 into additional sectors having different angular sizes. In some embodiments, all sectors may have equal sizes. In some embodiments, the food container may have an internal volume divided into 2, 4, 6, 8, 10, or any other number of regions formed as sectors of equal or different angular sizes. In some embodiments, the regions of the food container may be arranged in at least one column and at least one row in a two-dimensional plane. In some embodiments, the column may correspond to a first degree of freedom (e.g., the food container may be moved in the first degree of freedom so that the column is aligned with a food component dispenser). In some embodiments, the column may correspond to a second degree of freedom (e.g., the food container may be moved in the second degree of freedom so that the column is aligned with a food component dispenser).

[0032] In some embodiments, as shown in Figure 2B, the boundary may be non-planar. For example, boundary DD is circular, dividing the internal volume 203 of the food container 200 into a circular region and an annular region. Such a configuration may be desirable when the food container is rotatable by a food container holder. In such embodiments, the inventors understand that it may be desirable to place food components in the center of the food container or within the outer ring of the food container. In such cases, a boundary like DD can be used to create an additional region within the internal volume 203 of the food container.

[0033] The meal container 200 in Figures 2A and 2B includes four boundaries AA, BB, CC, and DD, but it should be noted that the meal container may have any suitable number of boundaries. The disclosure is not so limited, and the boundaries may form any suitable number of regions, including but not limited to two, three, four, five, six, seven, and eight regions. Furthermore, the regions may be of similar size or different sizes, as appropriate for a given recipe or custom order.

[0034] According to the embodiments shown in Figures 2A and 2B, the virtual boundaries AA, BB, CC, and DD of the meal container 200 can be optionally assigned, at least partially, based on a specific meal recipe or custom order. For example, if the order requests a mixed bowl or salad in which all meal components are mixed together, the virtual boundaries may not be assigned to the meal container. As another example, if the user requests meal components to be located away from the center, the virtual boundaries that create the area of ​​those meal components can be assigned to the meal container. Thus, any number of virtual boundaries can be dynamically assigned to a given meal container 200 by the controller in accordance with user input or a given recipe. In this way, even if the meal container itself is not modified, the meal production system according to the exemplary embodiments described herein can prepare a number of served meals having meal components in separate areas of the meal container.

[0035] Figure 3 is a schematic top view of another embodiment of the meal container 250. As shown in Figure 3, the meal container 250 is similar to those in Figures 2A-2B insofar as it is configured as a bowl including a rim 252 and a base 254 which can be used by a meal container holder to hold the meal container. However, in contrast to the embodiments in Figures 2A-2B, the meal container 250 of Figure 3 includes a physical wall 256 positioned within the internal volume 253 of the meal container. The physical wall 256 defines the boundary of the area to the left of boundary AA with respect to the page. Thus, if the area of ​​the meal container 250 is defined only by the physical wall 256, a second area is located to the right of boundary AA with respect to the page. Thus, the physical wall 256 may define two areas configured to receive one or more meal components. As shown in Figure 3, the meal container 250 may include additional virtual boundaries that define additional areas or otherwise subdivide existing physical or virtual areas. For example, boundary BB can divide each of the left and right regions defined by wall 256 into two regions that may be assignable to specific meal components, resulting in a total of four regions. Thus, as shown in Figure 3, the meal container can be divided into four assignable regions via a combination of physical and virtual boundaries. Of course, any number of appropriate virtual and physical boundaries can be used to define any number of appropriate regions of the meal container for a particular meal. Furthermore, in some embodiments, the virtual or physical boundaries do not have to extend entirely across the width or length of the meal container, and the disclosure is not so limited in this respect.

[0036] Figure 4 is a first side schematic view of an embodiment of a meal container holder 400 of a meal production system, and Figure 5 is a second side schematic view thereof. The meal container holders of Figures 4 and 5 may be configured to support meal containers (see, for example, Figures 2A and 3) on a track of a meal production system. As shown in Figure 4, the meal container holder includes a shell 402 configured to receive and support a meal container. In the embodiments of Figures 4 and 5, the shell 402 is configured to support the base and lip of the meal container. The disclosure is not so limited, so in other embodiments, the shell may support only the base, only the lip, or any part of the meal container. As shown in Figure 4, the shell 402 includes a cutout 404. The cutout 404 may be optional and may be used to allow a user to more easily remove a meal container from the meal container holder. In some embodiments, such as those shown in Figures 4 and 5, the shell 402 is supported by a chassis 410 by a cantilever arm 412. Therefore, as shown in Figure 5, the shell 402 is spaced apart from the chassis 410, which may reduce the likelihood of the chassis encountering spills of food components. The disclosure is not so limited, and in other embodiments, the shell may be positioned directly above the chassis 410.

[0037] According to embodiments of Figures 4-5, the food container holder is configured to move the food container with two degrees of freedom such that a region within the food container in a two-dimensional plane can be a target for dispensing food components. The chassis 410 of the food container holder is configured to move along a track with a first degree of freedom. The shell 402 is configured to move with the chassis with a first degree of freedom. Furthermore, the food container holder 400 includes an actuator 414 positioned on the chassis and operably coupled to the shell, the actuator being able to move the shell 402 with a second degree of freedom. In the embodiments of Figures 4-5, the actuator 414 is configured to rotate the shell 402 such that the second degree of freedom is rotational freedom. By moving the chassis 410 along the track and rotating the shell 402, any region of the food container can be a target for dispensing food components from a static food component dispenser. Examples of this function are further illustrated with reference to Figures 6A-6F.

[0038] In some embodiments, the actuator 414 may be a motor such as a DC motor, a brushless motor, or a stepping motor. In the embodiments of Figures 4-5, the actuator 414 may be configured as a servo. In some embodiments, the actuator may be configured to be controlled by feedback control (e.g., proportional, integral, derivative, or any combination thereof) to enable precise and accurate movement of the shell 402 in a second degree of freedom. As shown in Figure 5, the actuator 414 may include an output shaft 415 coupled to a transmission 430. The transmission may be located within a cantilever arm 412. In some embodiments, the transmission may include a first gear 428, a second gear 432, and a belt 431. The transmission 430 may transmit the rotational motion of the output shaft 415 of the actuator 414 to a shell coupler 406 attached to the shell 402 via the output shaft 434 of the transmission 430. The output shaft 415 may be aligned with a first axis, and the output shaft 434 may be aligned with a second axis parallel to the first axis. Thus, rotation of the output shaft 415 can rotate the shell 402 around the second axis. The use of a transmission as shown in Figure 5 can simplify the wiring and maintenance of the actuator 414. The disclosure is not so limited, and in other embodiments, the actuator may be located within a cantilever arm 412. For example, in some embodiments, the actuator 414 may be directly coupled to the shell 402 or the shell coupler 406.

[0039] In some embodiments, as shown in Figure 4, the meal container holder 400 may be controlled independently of the track. That is, both the meal container holder and the track may work together as part of a meal production system, but the meal container holder does not need to receive power or data from the track. As shown in Figure 4, the meal container holder may include an actuator 414 and a controller 416 (e.g., a processor) configured to control other components of the meal container holder. The meal container holder may also include a power supply 418, which may be configured as a battery or a capacitor, and which supplies power to various components of the meal container holder, such as the controller 416 and the actuator 414. The meal container holder may also include a wireless transceiver 420, which may enable the controller 416 to receive and / or transmit commands or information to other controllers in the meal production system. For example, the meal container holder 400 may receive commands from the meal production system via the transceiver and rotate the shell 402 at various locations along the track to prepare meals, which the meal production system does in conjunction with. In some embodiments, the meal container holder may also include one or more sensors 422 configured to be used to control the actuator 414 and / or to collect information that can be transmitted to a meal production system. For example, the sensors may include a potentiometer or rotary encoder configured to collect information about the direction of rotation of the shell 402 so that the direction of rotation of the shell 402 can be determined by the controller 416 and / or the meal production system. The disclosure is not limited thereto, and other sensors, including accelerometers, temperature sensors, or others, may be used to collect information about the meal container holder 400 or the meal container.

[0040] According to embodiments shown in Figures 4-5, the meal container holder 400 includes a power supply 418 located on a chassis 410. The power supply 418 may be solely for powering various components on the meal container holder. That is, the meal container holder may not be electrically connected to a track or another component of the meal production system during normal operation. Such embodiments may simplify the track system for the meal production system and further avoid the use of brushes or other movable electrical connectors that can wear out and be affected by food spills. Since the power supply 418 is mounted on the meal container holder, the power supply may be configured to be selectively recharged by the meal production system. In some embodiments, such as those shown in Figures 4-5, the chassis 410 may include a first contact surface 424A and a second contact surface 424B (e.g., at least two contact surfaces). The first and second contact surfaces may be configured to receive corresponding charger surfaces that can form an electrical connection and allow the power supply 418 to be recharged. In some embodiments, the power supply 418 may be recharged at a dedicated charging location on the track. Exemplary embodiments of the charger are further described with reference to Figures 8 to 10B. In some embodiments, the power supply for the food container holder may be charged every track cycle or less frequently, depending on the power capacity of the food container holder. In some embodiments, the food container holder may be charged while the food production system is not in operation. For example, the food container holder may be charged overnight and used throughout the day. In some embodiments, such as shown in Figure 5, a charge cover 426 may be positioned above the first contact surface 424A and the second contact surface 424B to prevent falling food from contaminating the contact surface. In some embodiments, the inclined wall 427 of the cover may facilitate the falling of any food particles away from the contact surface. In some embodiments, the cover 426 may not be utilized.

[0041] Although the meal container holder 400 in Figures 4-5 is configured to be electrically independent from the track system, it should be noted that in some embodiments, the meal container holder may be electrically connected to the track system to provide data and / or power connections directly from the meal production system to various components of the meal container holder. In such embodiments, the meal container holder may provide two degrees of freedom to the shell 402, but several components such as the power supply 418, transceiver 420, and controller 416 may be optionally omitted.

[0042] Figures 6A to 6F show schematic side views of a meal production system, including the meal container holder 400 shown in Figures 4 and 5, over the entire meal production process according to one embodiment. The meal container holder 400 supports a meal container 200 having a rim 202 and an internal volume 203. As shown in Figure 6A, the internal volume 203 of the meal container 200 is divided into four regions: a first region A, a second region B, a third region C, and a fourth region D. In the illustrated embodiment, each region is bounded by a virtual boundary plane indicated by a dashed line. As shown in Figure 6A, the meal container holder 400 includes a chassis 410 supporting a cantilever arm 412. The shell, positioned on the cantilever arm, receives and supports the meal container 200. As shown in Figure 6A, the track 140 moves the food container holder chassis 410, and correspondingly the food container 200, so that both the first region A and the fourth region D are aligned with the first food component dispenser 110A (shown by dashed lines for clarity). Specifically, in the example in Figure 6A, a virtual boundary perpendicular to the track 140 is aligned with the center of the first food component dispenser 110A. As previously stated, the track 140, the food container holder 400, and the first food component dispenser 110A may be controlled by one or more controllers, in particular by one or more processors that execute computer-readable instructions stored in volatile or non-volatile memory. In some embodiments, the motion of the chassis 410 on the track 140 (e.g., in a first degree of freedom) may be controlled by the track controller, and the rotation of the food container (e.g., in a second degree of freedom) may be controlled by the controller of the food container holder 400.

[0043] Figure 6B is a schematic top view of the meal container holder 400 and the meal production system in a second state of an embodiment of the meal production process. As shown in Figure 6B, the first meal component portion 302A is dispensed from the first meal component dispenser 110A. The first meal component portion 302A shown in Figure 6B may be a single meal component portion (e.g., from a partial volume) or a part of a meal component portion. As shown in Figure 6B, in some embodiments, the chassis 410 may be stopped on the track 140 when the meal container 200 is aligned with a meal component dispenser assigned to dispense food into the meal container for a particular meal order. While the chassis 410 is stopped in a first degree of freedom (e.g., along the track), the meal container holder 400 may move the meal container in a second degree of freedom to target specific areas of the meal container (e.g., areas A, B, C, and D). In the embodiment of Figure 6B, the meal container holder is configured to rotate the meal container 200. In some embodiments, the food container may rotate about an axis aligned with the geometric center of the food container. In some embodiments, the axis of rotation may be perpendicular to the track and aligned in the vertical direction (for example, parallel to the direction of local gravity).

[0044] In some embodiments, the food container 200 may be moved (e.g., rotated) in a second degree of freedom to align one or more regions of the food container with a food component dispenser (e.g., a first food component dispenser 110A). The food container may then be stopped and the food components may be distributed within the target region. In some embodiments, such as those shown in Figure 6B, the food container may move in a second degree of freedom while the food container 200 is moving in the second degree of freedom. For example, as indicated by the arrows in Figure 6B, once the first food component portion 302A is distributed into the food container, the food container may be rotated in a first direction in a second degree of freedom. Such arrangement may allow the food components to be diffused across multiple regions of the food container 200. For example, in Figure 6B, the first food component portion 302A may be the starting point for distribution from the first food component dispenser 110A. In Figure 6B, the first meal component portion 302A can be placed in two regions, namely the first region A and the fourth region D. In Figure 6C, during the same distribution operation, the meal container 200 can be continuously rotated as the first meal component portion 302A is distributed. Thus, as shown in Figure 6C, the first meal component portion 302A is also distributed to the third region C, and then to the second region B. In some embodiments, the meal container holder 400 can rotate the meal container 200 a full turn (e.g., 360 degrees) to distribute the meal components into all regions of the meal container (each region being a quadrant). In some embodiments, the meal container holder 400 can rotate the meal container 200 a half turn (e.g., 180 degrees) to distribute the meal components into two regions of the meal container (each region being a quadrant). In some embodiments, the food container holder 400 can rotate the food container 200 three-quarter turns (e.g., 270 degrees) to distribute the food components into three regions (each region being a quarter circle) of the food container. The disclosure is not limited thereto, and any rotation may be performed during or before the food component dispenser distributes the food components, depending on the food container and the specific region for the food order.

[0045] In the examples of Figures 6B and 6C, the food container 200 was rotated in a first direction (e.g., clockwise with respect to the page), but it should be noted that in other embodiments, the food container may be rotated in a second direction (e.g., counterclockwise with respect to the page). In some embodiments, the food container holder may move the food container in the first or second direction with a second degree of freedom, depending on the speed at which the target area of ​​the food container 200 can be aligned with the food component dispenser. For example, given the state in Figure 6A, if the target area of ​​the first food component portion is area B, the food container holder may rotate the food container 200 in a second direction (e.g., counterclockwise) so that area B can be aligned with the first food component dispenser 110A more quickly than with rotation in the first direction. In contrast, if the target region of the food component portion is region C, the food container holder may rotate the food container 200 in a first direction (e.g., clockwise) so that region C aligns more quickly with the first food component dispenser 110A compared to rotation in a second direction. The controller of the food container holder 400 may instruct the actuator of the food container holder to rotate the food container in a direction having a smaller rotation angle required to align the target region with the food component dispenser. In some embodiments, the food container holder 400 may rotate the food container in a single direction in terms of rotational degrees of freedom.

[0046] Figure 6D is a schematic top view of the meal container holder 400 and the meal production system in a fourth state of the embodiment of the meal production process. In the state of Figure 6D, the first meal component dispenser 110A has finished dispensing the first meal component portion 302A. As the meal container 200 rotates as described above, the first meal component portion 302A is positioned in the first region A, the second region B, the third region C, and the fourth region D. As described above, while the first meal component portion 302A is being dispensed, the meal container 200 rotates in the second direction to complete a full rotation. After the first meal component portion 302A has been dispensed, the chassis 410 moves along the track 140 with a first degree of freedom to align the meal container 200 with the second meal component dispenser 110B, which is shown by dashed lines for clarity. Specifically, as shown in Figure 6D, the first region A of the food container 200 is aligned with the second food component dispenser 110B. In Figure 6D, the second food component dispenser 110B has distributed the second food component portion 302A into the first region A.

[0047] In some embodiments, the chassis 410 of the food container holder 400 may stop on the track 140 once the target area of ​​the food container can be aligned with the food component dispenser (e.g., the second food component dispenser 110B). In the transition between Figure 6C and Figure 6D, the food container can be in the correct orientation with respect to the second degree of freedom, and therefore the food container 200 does not need to be moved in the second degree of freedom to align its target area with the food component dispenser. In the orientation shown in Figure 6D, the first area A and the second area D can be aligned with the second food component dispenser 110B by moving along the track in the first degree of freedom without rotating the food container 200. Thus, in some cases, only the movement of the chassis 410 on the track 140 may be used to align the target area of ​​the food container 200 with the food component dispenser. For example, as shown in Figure 6E, after the second meal component dispenser 110B distributes the second meal component portion 302B into the first region A, the chassis 410 moved along the track 140 with a first degree of freedom to align the fourth region D with the third meal component dispenser 110C (shown by dashed lines for clarity). The meal container 200 was not moved with a second degree of freedom by the meal container holder 400 to allow the fourth region D to be aligned with the third meal component dispenser 110C. As shown in Figure 6E, the third meal component portion 302C is distributed into the fourth region D.

[0048] Figure 6F is a schematic top view of the meal production system in a sixth state of the embodiment of the meal container holder 400 and meal production process of Figure 4. From the state shown in Figure 6E, the chassis 410 moves along the track to align the meal container 200 with the fourth meal component dispenser 110D (shown by dashed lines for clarity). Specifically, as shown in Figure 6F, the meal container holder 400 is configured to align the second region B and the third region C with the fourth meal component dispenser 110D so that the fourth meal component portion 302D can be distributed into those regions. In some embodiments, the chassis 410 may move along the track from the state shown in Figure 6E until the first region A is aligned with the fourth meal component dispenser 110D. Once the first region A is aligned with the fourth meal component dispenser 110D, the chassis 410 can stop. When stopped, the food container holder 400 may rotate the food container 200 in a second direction (for example, counterclockwise with respect to the page) with a second degree of freedom. In some embodiments, while the food container 200 is rotating, the fourth food component dispenser 110D may distribute the fourth food component portion 302D into the second region B and the third region C, respectively, when the second region B and the third region C are aligned with the fourth food component dispenser 110D. In some embodiments, the food container holder 400 may stop the food container when the second region B and the third region C are aligned with the fourth food component dispenser 110D. For example, the food container holder 400 may perform a first rotation of the food container in a second direction to align the second region B with the fourth food component dispenser 110D and then stop to allow the fourth food component portion 302D to be distributed into the second region B. In this example, the food container holder 400 may then perform a second rotation of the food container in a second direction to align the third region C with the fourth food component dispenser 110D, and stop to allow the fourth food component portion 302D to be distributed into the third region C.The disclosure is not limited in this respect, and in an appropriate manner, the portion of the meal component can be distributed to one or more regions of the meal container using continuous rotation of the meal container during distribution or sequential rotation between distribution cycles.

[0049] In some embodiments, as described with reference to Figures 6A to 6F, the chassis 410 may move to a suitable position on the track 140 in a first degree of freedom before the food container holder 400 moves the food container 200 in a second degree of freedom. In other embodiments, the food container holder may move the food container simultaneously in both the first and second degrees of freedom. For example, when the food container holder moves a food container from a first food component dispenser 110A to a second food component dispenser 110B, and the target area requires the food container to move in both degrees of freedom, the food container holder may move the food container in both degrees of freedom to reduce the time required to align the area of ​​the food container with the food component dispenser, thereby improving the food production system throughput. In other embodiments, the food container may be moved in a second degree of freedom (e.g., rotation) prior to the movement of the chassis in a first degree of freedom (e.g., parallel movement along the track).

[0050] In some embodiments, as described with reference to Figures 6A to 6F, a meal may be assembled by distributing meal component portions from one or more meal component dispensers. In some embodiments, a series of meal component dispensers may sequentially distribute the meal component portions. In some embodiments, the meal production system may include multiple meal component dispensers, and one meal component dispenser or a subset of meal component dispensers may distribute meal component portions as part of the meal production process. For example, the meal production system may include various meal components, and not all meal components may be distributed to form a meal. Such a configuration may enable a single meal production system to prepare various different meals having different meal components.

[0051] Figure 7 is a flowchart of an embodiment of how a meal production system is operated. In block 500, the shell is moved with a first degree of freedom to align it with a first meal component dispenser. In some embodiments, the first degree of freedom may be provided by a track. The shell may be a component of a meal container holder, operably coupled to an actuator positioned on the meal container holder. The shell may support a meal container that receives meal components from one or more meal component dispensers. In block 502, the actuator may be actuated to move the shell with a second degree of freedom distinct from the first degree of freedom. The actuator may be configured to move the shell relative to the chassis of the meal container holder. For example, the second degree of freedom may be a rotational degree of freedom, and the actuator may rotate the shell. As another example, the second degree of freedom may be a translational degree of freedom, and the actuator may move the shell perpendicular to the track. Moving the shell in the first and second degrees of freedom may allow one or more regions of the food container to be aligned with the food component dispenser. In some embodiments, the regions may be located in a two-dimensional plane, and the movement of the shell in the first and second degrees of freedom may allow the shell to be moved parallel to the two-dimensional plane so that the target region can be aligned with the food component dispenser. In an optional block 504, the first food component may be dispensed from the first food component dispenser into the food container located in the shell.

[0052] In the embodiment of Figure 7, the method further includes moving the shell in a first degree of freedom in block 506 to align the shell with a second food component dispenser. As previously stated, moving in a first degree of freedom may include moving the food container holder along a track. In block 508, the actuator is operated to move the shell in a second degree of freedom. In an optional block 510, the second food component may be dispensed from the second food component dispenser into a food container placed in the shell.

[0053] Figure 8 is a second side schematic view of an embodiment of the charger 600 of the meal production system. The charger in Figure 8 may be configured to charge a power supply mounted on a meal container holder (see, for example, Figures 4-5). As previously stated, the inventors understand the advantages of meal container holders having an onboard power supply so that the meal container holder can operate independently on the track without power or data connections via wiring. In some embodiments, the inventors understand that it may be desirable to charge the meal container holder for each cycle of circling the track circuit. For example, if the power supply for a metal container holder is a capacitor, such an arrangement can ensure that the meal container holder has sufficient power to complete the track circuit. Furthermore, the inventors understand the advantages of a charger system that can operate autonomously without user interaction for charging the meal container holder. The exemplary chargers in Figures 8-9 may be configured to charge the meal container holder at a designated charging location on the track.

[0054] As shown in Figures 8-9, the charger includes a charger chassis 610 which may be configured to be mounted as part of a meal production system adjacent to a truck. The chassis supports a charger actuator 612. In the embodiments of Figures 8-9, the charger may be a linear actuator. The disclosure is not so limited, so in other embodiments, the actuator 612 may be a pneumatic actuator or another preferred actuator. In the embodiments of Figures 8-9, the charger actuator 612 has two output shafts 614. The disclosure is not so limited, so in other embodiments, the actuator of the charger may include a single output shaft or any number of output shafts. As shown in Figures 8-9, the charger includes a first charger surface 616A and a second charger surface 616B (e.g., at least two charger surfaces). The first and second charger surfaces may be configured to move and contact corresponding contact surfaces of a meal container holder (see, for example, Figures 4-5). The actuator 612 is configured to move the first charger surface 616A and the second charger surface 616B between an engaged position and an unengaged position, thereby engaging or unengaging the contact surface on the food container holder, respectively. Such exemplary processes are further described with reference to Figures 10A and 10B. In some embodiments, the charger surfaces 616A and 616B may be flat and configured to contact the corresponding contact surface flush with it to form an electrical connection. In other embodiments, the charger surfaces may be spring-loaded or have any preferred shape to facilitate consistent and repeatable electrical contact between the charger and the food container holder. For example, the charger surfaces may be spring-loaded so that a consistent contact force is applied between the charger surface and the corresponding contact surface on the food container holder.

[0055] Figure 10A is a schematic side view of the charger and meal container holder of Figure 8 in a first state of an embodiment of the meal production process, and Figure 10B is a schematic side view of the charger and meal container holder in a second state of the meal production process. Figures 10A to 10B show the stages of the charging process of the meal container holder 400. As shown in Figures 10A to 10B, the meal container holder 400 includes a chassis 410 positioned on a track 140. The chassis includes a power supply 418 and at least one contact surface 424 (e.g., at least two contact surfaces). The meal container holder also includes a shell 402 supported on a cantilever arm 412. As described with reference to other embodiments herein, actuators of the meal container holder may move the shell 402 with degrees of freedom different from those provided by the track 140. The actuators may be powered by the power supply 418, which in some embodiments may be a capacitor. In other embodiments, the power supply 418 may be a battery.

[0056] In the embodiments shown in Figures 10A and 10B, the charger may include a chassis 610, an actuator 612, and at least one charger surface 616 (e.g., at least two charger surfaces). At least one charger surface 616 may be coupled to the output shaft 614 of the actuator 612. The actuator may be configured to move at least one charger surface 616 between an engaged position and an unengaged position to bring at least one charger surface 616 into contact with or not into contact with at least one contact surface 424. At least one charger surface 616 may be electrically connected to a power source (e.g., a building power source) so that electrical energy can be transmitted through at least one charger surface to charge the power supply 418 of the food container holder 400.

[0057] According to embodiments of Figures 10A to 10B, the charger 600 is positioned adjacent to the track 140 at the charging position. In some embodiments, a single charger 600 may be used for the meal production system and is configured to charge the power supplies 418 of a plurality of meal container holders 400. In other embodiments, a plurality of chargers may be used at a plurality of charging positions so that a plurality of meal container holders can be charged simultaneously. In some embodiments, the track 140 may be a circuit such that each meal container holder 400 traverses the charging positions according to the track circuit. At the charging position, at least one charger surface 616 is aligned with at least one contact surface 424 with respect to the direction of movement of the at least one charger surface. That is, when in the charging position, at least one charger surface 616 may be moved by the actuator 612 to contract with or not contract with at least one contact surface 424. As shown in Figure 10A, at least one charger surface 616 is in the disengaged position and is not in contact with at least one contact surface 424. In Figure 10B, the actuator 612 moves at least one charger surface 616 to an engaged position such that at least one charger surface contacts at least one contact surface 424. In the state shown in Figure 10B, the charger 600 can transmit electrical energy to the power supply 418 via at least one charger surface 616 and at least one contact surface 424, as well as one or more optional components such as a charge controller. In some embodiments, as shown in Figures 10A to 10B, the charger 600 may be configured to move at least one charger surface 616 in a direction perpendicular to the direction in which the food container holder 400 moves along the track 140.

[0058] In the embodiments shown in Figures 10A and 10B, the charger includes an actuator configured to move at least one charger surface 616 between an engaged position and an unengaged position, but in other embodiments, the charger may not have a moving component. For example, the charger may include at least one charger surface configured to move so as to contact at least one contact surface when the chassis 410 moves to the charging position. For example, the at least one charger surface may be configured to slidably engage with at least one contact surface 424 as the chassis 410 moves along the track 140 without the at least one charger surface being actively moved by the charger actuator. In some such embodiments, the at least one charger surface may be elastic or otherwise biased to the engaged position, and therefore the at least one charger surface may be moved by the food container holder when the food container holder moves to the charging position.

[0059] In the embodiments shown in Figures 10A to 10B, the charger is configured to engage with at least one contact surface 424 located on the side of the chassis 410 facing the direction in which the cantilever arm 412 extends, but other configurations may be used. For example, at least one contact surface 424 may be located on the opposite side of the chassis, facing away from the direction in which the cantilever arm extends. In addition, the disclosure is not so limited, so in the embodiments shown in Figures 10A to 10B, at least one contact surface 424 may be located on the chassis 410 of the food container holder 400, and at least one contact surface 424 may be located on another part of the food container holder.

[0060] Figure 11 is a flowchart of an embodiment of how a meal production system operates. In block 520, the chassis of the meal container holder is moved along a track. The chassis supports a shell configured to receive meal containers. In block 522, the chassis may be stopped to align the contact surface of the chassis with the charger surface of the charger. In block 524, the charger surface may be moved from a disengaged position where the charger surface does not contact the contact surface to an engaged position so that the charger surface contacts the contact surface. In block 526, energy (e.g., electrical energy) may be transmitted through the charger surface and the contact surface to a power source located on the chassis. In block 528, the charger surface is moved from an engaged position to a disengaged position so that the charger surface does not contact the contact surface. In block 530, the chassis may be moved along a track. In some embodiments, the chassis may continue to move along the track in the same direction as in block 520.

[0061] Figure 12A is a schematic top view of an embodiment of a meal container holder in a first state of an embodiment of a meal production process, and Figure 12B depicts the meal container holder in a second state of an embodiment of a meal production process. The meal container holders of Figures 12A to 12B are configured to move the meal container 200 with a first and second degree of freedom to allow the target area of ​​the meal container to be aligned with a meal component dispenser, such as a liquid meal component dispenser 150 (shown by dashed lines for clarity). Thus, meal components may be distributed into the internal volume 203 of the meal container 200 in one or more target areas. In the embodiments of Figures 12A to 12B, the first degree of freedom is provided by movement along a track 140. Specifically, the chassis 410 of the meal container holder 400 is configured to move along the track 140. Furthermore, the meal container holder includes actuators configured to move a shell (see, for example, Figure 4) that supports the meal container 200. In the embodiments shown in Figures 12A and 12B, the second degree of freedom may be a translational degree of freedom. For example, the actuator may be a linear actuator configured to move the food container 200 linearly relative to the chassis 410. In some embodiments, the food container holder 400 in Figures 12A and 12B may move the food container 200 in a direction perpendicular to the track 140. Thus, in some embodiments, the first and second degrees of freedom may be perpendicular translational degrees of freedom. In other embodiments, the second degree of freedom may be lateral to the first degree of freedom, but not perpendicular.

[0062] According to embodiments of Figures 12A to 12B, the second degree of freedom of translation can enable the distribution of food components into a target region of the food container. For example, the food container 200 includes a first region A, a second region B, a third region C, and a fourth region D. As described with reference to other exemplary embodiments of this specification, movement of the food container 200 can enable the distribution of food components into its target region by enabling a particular region to be aligned with the food component dispenser in a two-dimensional plane. In some embodiments, movement in the second degree of freedom during the distribution of food components can enable the distribution of food components into multiple regions or in a desired pattern or effect. Distributing food components in a desired pattern may be desirable for some food components, such as liquid food components. For example, it may be desirable to distribute a sauce across multiple food components to facilitate the uniform distribution of the sauce within the internal volume 203 of the food container 200. In some embodiments, the food container 200 may be moved simultaneously in the first and second degrees of freedom to provide a desired pattern of food components within the food container.

[0063] As shown in Figure 12A, the first meal component portion 302A is distributed over the entire area of ​​the meal container 200. The chassis 410 of the meal container holder 400 may move along the track 140 to align the meal container 200 with the liquid meal component dispenser 150. As shown in Figure 12B, in the illustrated example, the meal container 200 may move continuously in the first and second degrees of freedom while the second meal component portion 302B (in this case, the liquid meal component) is being distributed into the meal container 200. For the meal in Figure 12B, the meal production system is configured to distribute the second meal component portion 302B in a wave pattern. Thus, as the chassis 410 moves along the chassis in the first direction (e.g., to the right relative to the page), the actuators of the meal container holder may move the meal container 200 in the second and third directions in the second degree of freedom, as indicated by arrows perpendicular to the longitudinal axis of the track 140. The food container can oscillate between two positions in a second degree of freedom. As a result, a sinusoidal pattern may be formed within the food container 200 during the continuous distribution of the second food component portion 302B. Other patterns, including but not limited to square waves, sawtooth waves, circles, and straight lines, may also be provided by moving the food container 200 in the first and / or second degrees of freedom while the food component dispenser distributes the food components.

[0064] In the embodiments of Figures 12A to 12B, the second degree of freedom is translational, allowing for the distribution of a pattern into the food container. However, it should be noted that a rotational degree of freedom, as described with reference to Figures 6A to 6F, may also be used to distribute food components in a pattern within the food container 200. For example, the food container may rotate with rotational degrees of freedom in two directions while the food components are distributed to form a sinusoidal pattern as shown in Figure 12B. For example, the food container may oscillate between a first rotational position and a second rotational position while moving along a track. A food container holder providing a first translational degree of freedom (e.g., along a track) and a second rotational degree of freedom may allow for the distribution of one or more patterns within the food container, including, but not limited to, sinusoidal waves, square waves, sawtooth waves, circles, and straight lines.

[0065] In some embodiments, the food container holder may provide three degrees of freedom. For example, the first degree of freedom may be provided by a track, the second degree of freedom may be rotational freedom, and the third degree of freedom may be translational freedom in a transverse direction (e.g., perpendicular) to the first degree of freedom. The second and third degrees of freedom may be redundant to allow movement in a two-dimensional plane, but in some cases they may allow the food container to be positioned more quickly to align the area of ​​the food container with the food component dispenser. In addition, such arrangement may allow more complex patterns to be provided with the food components to be distributed, since simultaneous movement in all three degrees of freedom may be provided.

[0066] The embodiments of the technology described herein can be implemented in any of a number of ways. For example, embodiments may be implemented using hardware, software, or a combination thereof. If implemented in software, the software code can run on any suitable processor or set of processors, whether provided within a single computer or distributed across multiple computers. Such processors may be implemented as integrated circuits, with one or more processors within an integrated circuit component, including commercially available integrated circuit components known in the art as CPU chips, GPU chips, microprocessors, microcontrollers, or coprocessors. Alternatively, the processor may be implemented in a custom circuit such as an ASIC, or a semi-custom circuit derived from a programmable logic device configuration. As a further alternative, the processor may be part of a larger circuit or semiconductor device, whether commercially available, semi-custom, or custom. As a specific example, some commercially available microprocessors have multiple cores such that one or a subset of their cores can constitute a processor. However, the processor may be implemented using any suitable format of circuit.

[0067] Furthermore, it should be understood that computers can be embodied in one of several forms, such as rack-mount computers, desktop computers, laptop computers, or tablet computers. In addition, computers can be embedded in devices that are not generally considered computers but possess sufficient processing power, including personal digital assistants (PDAs), smartphones, or any other suitable portable or fixed electronic devices.

[0068] Furthermore, a computer may have one or more input and output devices. Among many of these devices, it may be used to present a user interface. Examples of output devices that may be used to provide a user interface include printers or displays for visual representation of output, and speakers or other sound-generating devices for audible presentation of output. Examples of input devices that may be used for a user interface include keyboards and pointing devices such as mice, touchpads, and digitized tablets. Another example is that a computer may receive input information by speech recognition or in other audible forms.

[0069] Such computers may be interconnected by one or more networks of any suitable form, such as a corporate network or the Internet, or a local area network or a wide area network. Such networks may be based on any suitable technology and may operate according to any suitable protocol, and may include wireless networks, wired networks, or fiber optic networks.

[0070] Furthermore, the various methods or processes outlined herein may be coded as software executable on one or more processors employing any one of various operating systems or platforms. In addition, such software may be written using any of several suitable programming languages ​​and / or programming or scripting tools, and may be compiled as executable machine language code or intermediate code that runs on a framework or virtual machine.

[0071] In this regard, embodiments described herein may be embodied as computer-readable storage media (or multiple computer-readable media) (e.g., computer memory, one or more floppy disks, compact discs (CDs), optical discs, digital video discs (DVDs), magnetic tape, flash memory, circuit configurations in field-programmable gate arrays or other semiconductor devices, or other tangible computer storage media) encoded with one or more programs, which, when executed on one or more computers or other processors, perform methods for implementing the various embodiments described above. As is evident from the above examples, computer-readable storage media can retain information for a sufficient amount of time to provide computer-executable instructions in a non-temporary form. Since one or more such computer-readable storage media may be portable, one or more programs stored therein may be loaded into one or more different computers or other processors to implement the various aspects of the present disclosure as described above. As used herein, the term “computer-readable storage media” includes only non-temporary computer-readable media that can be considered to be products (i.e., manufactured goods) or machines. Alternatively or in addition, the Disclosure may be embodied in a computer-readable medium other than a computer-readable storage medium, such as a propagated signal.

[0072] The terms “program” or “software” are used herein in a general sense to refer to any type of computer code or computer executable instruction set that may be employed to program a computer or other processor to implement the various aspects of the Disclosure described above. In addition, it should be understood that, according to one aspect of this embodiment, one or more computer programs that perform the methods of the Disclosure, when executed, do not need to reside in a single computer or processor, but can be modularly distributed across several different computers or processors to implement the various aspects of the Disclosure.

[0073] Computer executable instructions, such as program modules, which are executed by one or more computers or other devices, can take many forms. Typically, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. The functionality of program modules can usually be combined or distributed as needed in various embodiments.

[0074] Furthermore, data structures can be stored in a computer-readable medium in any suitable form. For the sake of simplicity in illustration, data structures may be shown as having fields that relate through locations within the data structure. Such relationships can also be achieved by allocating storage for the fields at locations within the computer-readable medium that communicate the relationships between the fields. However, any suitable mechanism may be used to establish relationships between information in the fields of a data structure, such as through the use of pointers, tags, or other mechanisms that establish relationships between data elements.

[0075] A controller containing one or more processors may communicate with one or more actuators using any suitable communication protocol. For example, a controller may communicate with one or more actuators and / or sensors via serial, I2C, SPI, CAN, and / or any other suitable protocol. A controller may receive one or more inputs from one or more users. In some cases, one or more inputs may be associated with pre-stored computer-readable instructions stored in non-volatile memory. Thus, one or more inputs may instruct the controller to execute a set of one or more computer-readable instructions associated with the inputs. A controller may communicate with and control one or more actuators to execute computer-readable instructions.

[0076] Various aspects of this disclosure can be used individually, in combination, or in various configurations not specifically described in the embodiments described above, and are therefore not limited in their application to the details and configurations of the components described above or shown in the drawings. For example, an aspect described in one embodiment may be combined in any way with an aspect described in another embodiment.

[0077] Furthermore, the embodiments described herein can be embodied as a single method, and one such embodiment is provided. The operations performed as part of the method can be ordered in any preferred manner. Thus, while they are shown as a series of operations in the exemplary embodiments, embodiments can be constructed in which the operations are performed in a different order than those illustrated, which may include performing several operations simultaneously.

[0078] Furthermore, some actions are described as being performed by a “user.” It should be understood that the “user” does not necessarily have to be a single individual; in some embodiments, actions attributed to a “user” may be performed by a team of individuals and / or individuals in combination with computer-aided tools or other mechanisms.

[0079] Although this instruction has been described in conjunction with various embodiments and examples, it is not intended to be limited to such embodiments or examples. Rather, this instruction encompasses various alternatives, modifications, and equivalents, as will be understood by those skilled in the art. Accordingly, the foregoing description and drawings are merely examples.

Claims

1. A shell configured to receive and support a food container, A chassis configured to be operably coupled to the track such that the shell moves along the track with a first degree of freedom, The chassis and the shell are operably coupled actuators, A food container holder for a food production system, wherein the actuator is configured to move the shell with a second degree of freedom different from the first degree of freedom.

2. The food container holder according to claim 1, wherein the first degree of freedom is a translational degree of freedom, and the second degree of freedom is a rotational degree of freedom.

3. The food container holder according to claim 2, wherein the shell is configured to transmit torque to the food container received in the shell such that the movement of the shell in the second degree of freedom causes the food container received in the shell to rotate.

4. The food container holder according to claim 1, wherein the first degree of freedom is a translational degree of freedom, and the second degree of freedom is a translational degree of freedom in a direction perpendicular to the first degree of freedom.

5. The shell is further supported by a cantilever arm, The food container holder according to claim 1, wherein the chassis supports the cantilever arm.

6. The food container holder according to claim 5, wherein the actuator is located within the cantilever arm.

7. Equipped with an additional transmission, The actuator is located within the chassis, The transmission is located within the cantilever arm, The food container holder according to claim 5, wherein the transmission operably connects the actuator to the shell.

8. The actuator is a servo having an output shaft aligned with the first axis, The food container holder according to claim 7, wherein the second degree of freedom of the shell is rotation about a second axis parallel to the first axis.

9. The meal container holder according to claim 1, further comprising a power supply located on the chassis and configured to supply power to the actuator.

10. The food container holder according to claim 9, wherein the power source is a battery or a capacitor.

11. The chassis further comprises at least two contact surfaces arranged on the chassis, The meal container holder according to claim 10, wherein the at least two contact surfaces are configured to receive the corresponding charger surface of the meal production system for charging the battery or the capacitor.

12. The food container holder according to claim 1, further comprising a controller configured to coordinate the movement of the shell in the first and second degrees of freedom.

13. The controller further comprises a transceiver that communicates with the controller, The food container holder according to claim 12, wherein the transceiver is configured to communicate with another controller of the food production system.

14. Multiple food container holders, The system comprises a track that supports the plurality of food container holders, Each of the aforementioned food container holders is A shell configured to receive and support a food container, The system includes an actuator operably coupled to the shell and configured to move the shell with a first degree of freedom, A meal production system wherein the track is configured to move the plurality of meal container holders along the track with a second degree of freedom different from the first degree of freedom.

15. The meal production system according to claim 14, wherein the truck is configured to move each of the plurality of meal container holders independently with the first degree of freedom.

16. The meal production system according to claim 14, wherein the first degree of freedom is rotational freedom, and the second degree of freedom is translational freedom.

17. The meal production system according to claim 16, wherein the shell is configured to transmit torque to the meal container received within the shell such that the movement of the shell in the first degree of freedom causes the meal container received within the shell to rotate.

18. The meal production system according to claim 14, wherein the first degree of freedom is a translational degree of freedom, and the second degree of freedom is a translational degree of freedom in a direction perpendicular to the first degree of freedom.

19. Each of the aforementioned food container holders further comprises a chassis and a cantilever arm that supports the shell, The meal production system according to claim 14, wherein the chassis supports the cantilever arm.

20. Equipped with an additional transmission, The actuator is located within the chassis, The transmission is located within the cantilever arm, The meal production system according to claim 19, wherein the transmission operably couples the actuator to the shell.

21. The actuator is a servo having an output shaft aligned with the first axis, The meal production system according to claim 20, wherein the second degree of freedom of the shell is rotation about a second axis parallel to the first axis.

22. The meal production system according to claim 14, wherein each of the plurality of meal container holders further comprises a power source configured to supply power to the actuator.

23. The food production system according to claim 22, wherein the power source is a battery or a capacitor.

24. It further includes at least two charger surfaces, Each of the aforementioned food container holders further comprises at least two contact surfaces, The meal production system according to claim 23, wherein the at least two contact surfaces are configured to receive the at least two charger surfaces for charging the battery or the capacitor.

25. The charging actuator is further configured to move the at least two charger surfaces between an engaged position and an unengaged position, In the engagement position, the at least two charger surfaces are configured to contact the at least two contact surfaces. The meal production system according to claim 24, wherein in the disengaged position, the at least two charger surfaces are configured not to contact the at least two contact surfaces.

26. The meal production system according to claim 25, wherein the movement of the at least two charger surfaces between the engaged position and the disengaged position is in a direction perpendicular to the second degree of freedom.

27. The system further comprises at least one food component dispenser positioned above the aforementioned track, The shell includes a plurality of regions configured to be aligned with the at least one food component dispenser for receiving food components, The actuator is configured to move the shell with the first degree of freedom, The meal production system according to claim 14, wherein the track is configured to move the shell in the second degree of freedom to align one or more of the plurality of regions with the at least one meal component dispenser.

28. The first controller is further associated with the aforementioned track, Each of the aforementioned food container holders is equipped with a second controller, The first controller is configured to coordinate the movement of the plurality of food container holders along the track in the second degree of freedom, The meal production system according to claim 27, wherein the second controller is configured to coordinate the movement of each meal container holder in the first degree of freedom.

29. The meal production system according to claim 28, wherein the first controller is configured to control the distribution of meal components from the at least one meal component dispenser into one or more of the plurality of regions when one or more of the regions are aligned with the at least one meal component dispenser.

30. The meal production system according to claim 28, wherein each of the plurality of meal container holders is equipped with a transceiver that communicates with the first controller.

31. The meal production system according to claim 27, wherein the plurality of regions are arranged in at least one column corresponding to the first degree of freedom and at least one row perpendicular to the at least one column.

32. A method for operating a food production system, To align a shell configured to receive and support a food container with a food component dispenser, the shell is moved along a track in a first direction with a first degree of freedom, A method comprising moving the shell using an actuator in a second degree of freedom different from the first degree of freedom while the shell is aligned with the food component dispenser.

33. The method according to claim 32, wherein the first degree of freedom is a translational degree of freedom, and the second degree of freedom is a rotational degree of freedom.

34. The method according to claim 33, further comprising transmitting torque to the food container received in the shell such that the movement of the shell in the second degree of freedom causes the food container received in the shell to rotate.

35. The method according to claim 32, wherein the first degree of freedom is a translational degree of freedom, and the second degree of freedom is a translational degree of freedom in a direction perpendicular to the first degree of freedom.

36. Moving the shell in the first direction includes moving the chassis and the cantilever arm supporting the shell along the track, The method according to claim 32, wherein the chassis supports the cantilever arm.

37. The method according to claim 36, wherein the actuator is located within the cantilever arm.

38. Moving the shell in the second degree of freedom includes transmitting force from the actuator to the shell via the transmission. The actuator is located within the chassis, The method according to claim 36, wherein the transmission is located within the cantilever arm.

39. The actuator is a servo having an output shaft aligned with the first axis, The method according to claim 38, wherein the second degree of freedom of the shell is rotation about a second axis parallel to the first axis.

40. The method according to claim 36, further comprising supplying power to the actuator using a power supply located on the chassis.

41. The method according to claim 40, wherein the power source is a battery or a capacitor.

42. The method according to claim 41, further comprising a contact surface disposed on the chassis receiving a corresponding charger surface of the food production system for charging the battery or the capacitor.

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