Method and system for improving fill valve and pressure disturbances in food packaging systems

Abstract

Methods and apparatus, including computer program products, are described for filling food products into packages (112) in a food packing machine (100), the food packing machine (100) comprising a plurality of subsystems. One or more local variable values ​​(116) are received, representing measurements by the food packing machine (100) of one or more physical parameters of a local filling subsystem (300). One or more remote variable values ​​(204) are received, representing measurements by the food packing machine (100) of one or more physical parameters of the one or more remote subsystems. One or more control parameter values ​​are determined for the local filling subsystem (300) of the food packing machine (100) by processing the remote variable values ​​(204) and the local variable values ​​(116) using a reinforcement learning model (206) and a local control model (210). The one or more control parameters of the local filling subsystem (300) are adjusted according to the determined control parameter values. The filling of the packages (112) with food by the food packing machine (100) is controlled according to one or more adjusted control parameters.

Description

[Technical Field]

[0001] The present invention relates to food packaging systems, and more particularly to improving fill valve and pressure disturbances that can occur in food packaging systems. [Background technology]

[0002] Automation control systems are currently used in a variety of manufacturing and processing sites and are continually becoming more complex. A common approach to managing this complexity is to divide the system into subsystems and develop appropriate control mechanisms for each subsystem. However, this approach does not always yield an optimal solution for the system as a whole.

[0003] As systems become more complex and the number of influencing factors increases, capturing these influencing factors from various sources becomes increasingly difficult. This complexity is further compounded when the relationships between influencing factors, control variables, and the system itself are nonlinear and difficult to model.

[0004] There are two main perspectives regarding abstraction levels in industrial control: low-level control and high-level control. Low-level control refers to the management of individual automation components (e.g., actuators, servo motors, heaters, and many other devices). High-level control can increase the level of abstraction from the subsystem level to the system level, and even to the orchestration of an entire plant with multiple systems and subsystems that need to work together.

[0005] As an example, food processing and packaging equipment typically includes several subsystems, such as a filling system, a sterilization system, a package folding system, etc. Each subsystem includes many different elements (e.g., pneumatic actuators, servo motors, DC motors, AC motors, sensors, other actuators, etc.). These individual elements are typically controlled by low-level local control systems that utilize traditional control techniques, such as proportional integral derivative (PID) controllers, to control target variables. Feedback loops are used to keep the controller error low relative to the target operating point of the element, system, or subsystem.

[0006] However, PID controllers must be tuned for their application and are typically optimized for a specific operating range and dynamics. They are also poorly suited to adapting to unexpected events or operating conditions outside of their traditional operating range. When these conditions change (e.g., a different operating environment, changes in automation elements, changes in the manufacturing process, etc.), the PID controller parameters must be adjusted and recalibrated. This can be a time-consuming and complex process, requiring significant manual input from experienced personnel, especially when numerous elements and / or subsystems are involved, as is typical with food processing and packaging equipment.

[0007] A filling machine is an example of a composite system that packages liquid, semi-liquid, or pourable foods, such as fruit juice, UHT (ultra-high temperature processed) milk, wine, and tomato sauce, into composite packages made of multilayer composite packaging materials for distribution and sale. A typical example is the parallelepiped pourable food package known as "Tetra Brik Aseptic®," which is made by sealing and folding laminated strips of packaging material. This packaging material has a multilayer structure, with a carton or paper substrate layer covered on both sides with a heat-sealable plastic material such as polyethylene. For long-term, aseptic packaging, the packaging material also includes a layer of oxygen barrier material, e.g., aluminum foil, which overlaps the heat-sealable plastic layer and is then covered with another layer of heat-sealable plastic to form the inner surface of the package that ultimately contacts the food.

[0008] The filler starts with a web of multi-layer composite packaging material (wound from a reel). The web is fed through the filler, which creates a longitudinal seal to form a tube. Liquid food is fed through a pipe into the tube, and the bottom end of the tube is fed into a folding device, which creates a transverse seal and folds the tube along fold lines, also known as lines of weakness, and cuts it to form a composite package filled with the liquid food.

[0009] The amount of food delivered to the tube and subsequently cut into individual packages is regulated by a fill valve. Fill valves, when controlled by traditional control techniques such as PID controllers, can be susceptible to events and changing operating conditions. Furthermore, the pressure of the food in the line leading to the fill valve (also referred to herein as "product pressure") is an unmeasurable noise factor that adversely affects the control performance of the fill valve. Fill valve PID controllers are slow to respond to pressure changes, which can result in filling problems (e.g., overfilling). Furthermore, PID gains must be manually adjusted by a technician for each expected package volume and type of food being filled into the package.

[0010] Therefore, there is a need for improved techniques for controlling fill valves and ameliorating pressure disturbances that take into account a variety of events occurring within the packaging machine, and sometimes even outside the packaging machine itself. Summary of the Invention [Problem to be solved by the invention]

[0011] The present invention aims to at least partially overcome one or more limitations of the prior art. In particular, it aims to provide a method and system that allows for improved control of the fill valves of a food packing machine in response to various events occurring inside or outside the filler by considering parameter values ​​measured not only by the local fill valve subsystem but also by other remote subsystems within the food packing machine or external to the food packing machine. As a result, proper filling of packages (i.e., the correct amount, neither underfilled nor overfilled) can be achieved, allowing for both a faster setup process when initially installing the food packing machine and better handling of unexpected events, ultimately resulting in fewer packages having to be discarded. [Means for solving the problem]

[0012] In one aspect of the present invention, this is achieved by a method for filling packages with food in a food packing machine having multiple subsystems, the method comprising: receiving one or more local variable values ​​indicative of measurements by the food packaging machine of one or more physical parameters for the local filling subsystem; receiving one or more remote variable values ​​indicative of measurements by the food packaging machine of one or more physical parameters for one or more remote subsystems; determining one or more control parameter values ​​for a local filling subsystem of a food packaging machine by processing the remote variable values ​​and the local variable values ​​using a reinforcement learning model and a local control model; ·adjusting one or more control parameters of the local filling subsystem according to the determined control parameter values; Controlling the filling of food into packages by a food packaging machine according to one or more adjusted control parameters.

[0013] By utilizing both local variables and inputs from remote subsystems, filling valves can be controlled more precisely, resulting in more resilient behavior when unexpected pressure changes occur in the line containing the food being filled into the packages. The result is less wasted packaging (and food), leading to more efficient and environmentally friendly operation of the food packaging machine. Better control of the package formation process also reduces time to market for new products and structures, as less manual testing is required. This benefit is further enhanced because control strategies can be trained in a simulation environment, eliminating the need to manually configure the food packaging machine from scratch.

[0014] In one embodiment, the reinforcement learning model is a deep reinforcement learning model that includes a neural network. Deep reinforcement learning is particularly useful when evolving control policies for subsystems that must consider a large number of variables whose internal relationships and effects on the subsystem may be unknown, and offers a more sophisticated approach to determining one or more control parameter values ​​for a local filling subsystem of a food packing machine than is possible using traditional reinforcement learning that does not include a neural network.

[0015] In one embodiment, the method includes receiving one or more remote variable values ​​indicative of measurements of one or more physical parameters for one or a system external to the packaging machine, thereby enabling the packaging machine to take into account events that may occur outside the packaging machine itself when determining and adjusting control parameters for filling the packages.

[0016] In one embodiment, the local filling subsystem is connected by a line to a central repository containing the food product and is configured to dispense a specific amount of the food product into each package, and the remote variable value represents the pressure of the food product in the line, thereby allowing multiple packaging machines to connect to the same central repository of food products and allowing the filling subsystem of each packaging machine to respond to pressure changes that may occur in its own line due to events occurring in or related to the other packaging machines.

[0017] In one embodiment, adjusting one or more control parameters of the filling subsystem includes adjusting one or more of the timing of opening a fill valve through which the food product is added to the package and the degree to which the fill valve is opened when the food product is dispensed into the package. That is, by more precisely controlling the time and degree to which the fill valve is opened based on information received from various subsystems and external systems, the amount of food product filled into each package can be adjusted.

[0018] In one embodiment, the neural network is a convolutional neural network, a recurrent neural network, a long short-term memory neural network, or a fully connected neural network, all of which are different types of conventional neural networks that are well known to those skilled in the art and therefore may be more easily integrated into existing food packing machine setups.

[0019] In one embodiment, the one or more local variable values ​​include fill valve dynamics, which reflect the transient behavior of the fill valve opening and closing, and a fill valve control signal, which reflects the degree of openness of the fill valve, and the one or more remote variables include product type, the number of lines connected to a central product repository, the operational status of the lines connected to the central product repository, and the pressure fluctuations of the food product at the input of the filling subsystem. These are all common parameters measured in traditional packaging and production systems. Using these parameters to better control the local filling subsystem, as achieved by the data-driven approach of various embodiments described herein, significantly improves the operation of the filling subsystem and, in turn, the overall operation of the packaging machine.

[0020] Other aspects of the invention include systems and computer programs for forming individual packages on a food packing machine. The features and advantages of these aspects of the invention are substantially the same as those for the method described above.

[0021] Further objects, features, aspects and advantages of the present invention will become apparent from the following detailed description and drawings.

[0022] Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: FIG. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a schematic diagram showing a part of a food packaging machine according to an embodiment. [Figure 2] FIG. 2 is a configuration diagram of a controller in the food packaging machine according to one embodiment. [Figure 3] FIG. 1 shows a schematic diagram of a filling subsystem according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] As described above, a goal of various embodiments of the present invention is to provide improved control techniques for devices and systems related to food processing and packaging, particularly with respect to filling food products into packages. Filling a package with the correct amount of food is important not only from a "customer expectation" perspective, but also from a functionality perspective; overfilling or underfilling a package can result in significant downtime for the packaging machine while the problem is corrected and can also result in wasted packages, which is undesirable from a food waste and environmental perspective. By applying the general concepts of reinforcement learning and / or deep reinforcement learning techniques to the control of the filling system of a food packaging machine, a greater range of factors can be considered compared to existing systems, and the filling of food can be adjusted very precisely, avoiding overfilling or underfilling and allowing the food packaging machine to be used more efficiently and with fewer wasted food packages.

[0025] Reinforcement learning and deep reinforcement learning are both examples of machine learning techniques. In general, reinforcement learning (RL) is characterized by dynamic learning using positive or negative rewards. A system's performance is evaluated against a desired goal. If the goal is reached, a positive reward is given, and if the goal is not reached, a negative reward is given. As positive and negative rewards accumulate over time, the RL model evolves the system's control policy with the goal of maximizing the outcome. Deep reinforcement learning (DRL) is an enhancement of RL, characterized by the combined use of RL and neural networks to evolve the system's control policy.

[0026] In the context of food processing and packaging, RL (i.e., agent-environment interaction) can be used to evolve control policies for food processing and / or packaging machines. DRL (i.e., RL combined with neural networks) is particularly effective when evolving control policies for subsystems, such as the filling subsystem, that must consider a large number of variables whose internal relationships and influences on the subsystem are unknown. Furthermore, it is noteworthy that RL and DRL techniques can also be used to improve existing local control techniques, allowing this data-driven approach to "fill in the gaps" of traditional control techniques. Thus, DRL algorithms can directly (or through other control layers, e.g., by adjusting gains so that traditional PID controllers can operate more efficiently compared to traditional control techniques) control the actuators (e.g., servo motors, pneumatic actuators, or other actuators) that control how individual packages are formed in a food packaging system.

[0027] To further illustrate these principles, various embodiments of the present invention will now be described in more detail, using the control of a filling subsystem in a food packaging machine as an example, with reference to the accompanying drawings, in which some, but not all, embodiments of the present invention are shown. The present invention may be embodied in many different forms and should not be construed as limited to the embodiments described herein. For example, while various embodiments of the present invention will be described with reference to a roll-fed carton packaging machine, other embodiments of the present invention may be applied in situations where individual packages of any shape or form or made of any material are already formed, such as PET bottles, glass bottles, or metal cans, to name a few. While such containers may be formed using a different process, by a different machine, or in a different production facility than those described below, the same general principles apply to filling these containers with food products, and therefore the same control methods for the filling subsystems of machines designed to fill these different types of containers will also be applicable in these settings.

[0028] As previously mentioned, the filling subsystem is a critical part of a food packaging machine and its operation must be carefully controlled to ensure that the correct amount of food is filled into the packages and that no over- or under-filling occurs.

[0029] FIG. 1 generally illustrates a food packer 100. In the illustrated example, the food packer 100 is a roll-fed carton packer. The general principle of such machines is that a web 102 is formed from a roll of packaging material. The food packer 100 may include a roll receiver (not shown) for receiving the roll of packaging material. Although not shown, if necessary to meet food safety regulations, the web 102 may be sterilized using a hydrogen peroxide bath, a low-voltage electron beam (LVEB) device, or any other device capable of reducing unwanted microorganisms.

[0030] After sterilization, the web 102 can be formed into a tube 104 using a tube former. By way of a non-limiting example, the tube former can be a longitudinal sealing device. Once the tube is formed, food, such as milk, can be delivered into the tube 104 from a product filling device through a product pipe 106 that is at least partially disposed within the tube 104. Food, in this context, refers to anything that can be ingested, eaten, and / or drunk by humans or animals, or absorbed by plants, and includes, but is not limited to, liquid, semi-liquid, viscous, dry, powdered, and solid food and beverage products, and water. For the avoidance of doubt, food also includes ingredients for preparing food. Examples of food include milk, water, juice, etc.

[0031] To form a package 112 from the product-filled tube 104, a sealing subsystem 110, referred to as a "jaw system," can be used to form a transverse seal at the bottom end of the tube. Generally, the sealing subsystem 110 has two primary functions: to perform the transverse seal, i.e., to weld two opposing sides of the tube 104 together so that the product in the bottom of the tube 104 located below the sealing subsystem 110 is separated from the product in the tube 104 located above the sealing subsystem 110, and to trim the bottom of the tube 104 to form the package 112. Alternatively, instead of providing the transverse seal and the bottom trimming in the same apparatus as shown, the bottom trimming step may be performed in a subsequent step by a separate apparatus or by the consumer if the package is intended to be sold in a multipack.

[0032] Additionally, the controller also receives inputs from one or more remote subsystems of the food packer 100 and one or more remote systems external to the food packer 100, all of which may experience events that affect the operation of the filling subsystem. For example, a production plant may include multiple packaging machines 100, each of which may be connected by lines to a central food repository 301, such as a tank containing the liquid that is filled into individual packages 112 by the packaging machines 100. If a problem occurs with one of the packaging machines 100, this may change the pressure in the lines to the other packaging machines 100. The filling subsystems of these other packaging machines 100 must react to such changes to avoid overfilling or underfilling their respective packages 112. Similarly, the density and / or viscosity of the product may affect the behavior of the packer's fill valve. For example, the fill valve may need to be opened more or may remain open for a longer period of time when filling packages 112 with a viscous or semi-solid liquid (e.g., beans or crushed tomatoes) compared to a smooth liquid (e.g., water or apple juice). In yet another example, the filling of the packages 112 may be affected by the ambient temperature within the production plant (e.g., some liquids flow more smoothly at higher temperatures), or the physical configuration of the production plant (e.g., whether the tank containing the food is at a lower or higher level than the packaging machine, so that gravity becomes an issue to consider). As one skilled in the art will recognize, there are a large number of local and remote factors that potentially affect the filling of food into the packages 112 and need to be considered to achieve improved control of the filling subsystem. Also, there may be multiple food repositories 301 connected to the packaging machine 100.

[0033] These events and external factors can be represented by a set of variables whose values ​​represent various conditions in different subsystems of the food packer 100 or the conditions of various systems external to the food packer 100. This is shown schematically in Figure 2, which shows how input variables 116 from local sensors in the filling subsystem are input to the controller 114 along with input variables 204 from other subsystems of the food packer.

[0034] FIG. 3 shows a schematic diagram of a filling subsystem 300 according to one embodiment of the present invention. As shown in FIG. 3, a line 302 is connected to a food repository 301, from which food is transferred through the line to containers (which may be tubes formed by a web or individual containers). As previously mentioned, a fill valve 304 can be opened to various degrees and for various periods of time to dispense a quantity of food into the containers through a line 306. The fill valve 304 is controlled by a controller 114. In the embodiment of the filling subsystem 300 shown in FIG. 3, there are two sensors 116a and 116b. The first sensor 116a is located in the line 302 before the valve 304 and measures the pressure in the line 302. The second sensor 116b measures the amount of food transferred to the food package 112, for example, by measuring the food level. It should be noted that these are just two examples of process variables that can be measured by sensors 116a and 116b; in other embodiments, other parameters can be measured depending on the particular configuration. The measurements by sensors 116a and 116b are hereinafter referred to as local filling subsystem input variables 116.

[0035] In one embodiment, some example variables representing physical parameters from the local filling subsystem include: Filling valve dynamics, which reflects the transient phenomenon when the filling valve is opened and closed (the short pressure drop or pressure rise that occurs when the valve is opened and closed, followed by a rapid stabilization). Fill valve control signal reflecting the fill valve opening.

[0036] In one embodiment, some examples of variables from other subsystems of the packaging machine or from systems external to the packaging machine include: · Type of food (and / or viscosity of product). The number of lines connected to the central food repository 301 (e.g., a higher number of lines generally results in a higher number of events, which may affect how the fill valves are controlled compared to a lower number of lines, i.e., a lower number of events). The operational state of the lines connected to the central food repository 301 (e.g., the lines to each filling machine may be operating in a particular state, such as prep, production, cleaning, stopped, etc., or have food moving through the line at different speeds depending on what the food packing machine 100 is doing at any given time). Pressure fluctuations of the food at the input of the filling subsystem.

[0037] These are just a few examples of possible influences from other subsystems or external systems and should not be considered an exhaustive list, but they represent influences that cannot be considered in conventional filling valve control systems because it is difficult or impossible to determine how the various possible combinations of these factors will affect the operation of the filling valve subsystem.

[0038] According to various embodiments described herein, the controller 114 uses a local control model 210 to process the local filling subsystem input variables 116, and in combination with a reinforcement learning model 206, process input variables from other subsystems and any input variables from external systems to determine how all measured variables affect the operation of the filling subsystem as a whole. The local control model 210 may be an algorithm implemented by a PID controller. The reinforcement learning model 206 may be a deep reinforcement learning model including one or more neural networks, as described above. In some embodiments, the local subsystem input variables 116 may be processed by the reinforcement learning model 206. In some embodiments, the reinforcement learning model 206 may be used to understand how different combinations of local and remote variables should affect the filling subsystem and use this insight to improve the local control model 210. Based on the results of this processing and determination, the controller 114 generates a set of output control signals 208 for the local filling subsystem to control the fill valve to fill the package 112 with the correct amount of food. Typically, for a fill valve, the controlled parameters include one parameter specifying how far the fill valve should open (e.g., from 0% fully closed to 100% fully open) and a time that specifies how long the fill valve should remain open to the desired degree, although this of course depends on the type of fill valve used and is a design choice of the system engineer.

[0039] Examples of neural networks that can be used in embodiments using deep reinforcement learning models include, for example, convolutional neural networks (CNNs) trained using reinforcement learning and deep reinforcement learning, recurrent neural networks (RNNs) such as long short-term memory (LSTM) neural networks commonly used in the field of deep learning, or fully connected neural networks. LSTM networks are considered particularly useful because, unlike standard feedforward neural networks, LSTMs have feedback connections. This allows LSTMs to process entire sequences of data, not just single data points, which is particularly useful in the context of food packaging machines designed to produce large numbers of packages.

[0040] Traditional control techniques often require manual calibration for different operational settings, e.g., package size, food type, etc., which is a very time-consuming process. In contrast, this embodiment of the present invention allows for a training environment in which simulations can be run to see how different parameters vary, allowing the controller 114 to learn an optimal control policy given goals for the filling subsystem. This can save considerable man-hours when setting up a packaging machine, thereby reducing the time to market for new packages and products. In some embodiments, outputs from a reinforcement learning model can be used to adjust the gains of a traditional PID controller, allowing the PID controller to operate more efficiently compared to traditional control techniques that rely only on local variable values.

[0041] It should be noted that although subsystems are referred to above as filling systems, sterilization systems, package folding systems, etc., these may refer to parts of the above subsystems or individual elements.

[0042] Note that in some embodiments, the control models for the controller 140 may reside in the controller 140 itself, as shown in Figure 2. In other embodiments, they may reside in and operate from external hardware / software (e.g., an external computer or similar processing device) to further accelerate the necessary calculations, and the controller 140 within the food packing machine may be a simpler controller that simply performs functions determined by the external hardware / software.

[0043] The systems and methods disclosed herein can be implemented as software, firmware, hardware, or a combination thereof. In a hardware implementation, the division of tasks among functional units or components mentioned in the above description does not necessarily correspond to a division into physical units; conversely, one physical component may perform multiple functions, and one task may be performed jointly by multiple physical components.

[0044] Particular components, or all components, may be implemented as software executed by a digital signal processor or microprocessor, or as hardware or application-specific integrated circuits. Such software may be distributed on computer-readable media, including computer storage media (or non-transitory media) and communication media (or transitory media). As known to those skilled in the art, the term computer storage media includes both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, optical or magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by a computer.

[0045] The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowcharts or block diagrams may represent a module, segment, or portion of instructions, which includes one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions shown in the blocks may be executed out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may be executed in the reverse order, depending on the functionality involved. Each block of the block diagrams and / or flowchart diagrams, and combinations of blocks in the block diagrams and / or flowchart diagrams, may be implemented by a special-purpose hardware-based system that performs the specified functions or operations or executes a combination of special-purpose hardware and computer instructions.

[0046] From the foregoing description, while various embodiments of the present invention have been described and illustrated, the present invention is not limited thereto and may be embodied in other ways within the scope of the subject matter defined in the following claims.

Claims

1. 1. A method of filling food products into packages (112) in a food packer (100), the food packer (100) comprising a plurality of subsystems, the method comprising: receiving one or more local variable values ​​(116) indicative of measurements by the food packer (100) of one or more physical parameters for a local filling subsystem (300); receiving one or more remote variable values ​​(204) indicative of measurements by the food packer (100) of one or more physical parameters for one or more remote subsystems; determining one or more control parameter values ​​for the local filling subsystem (300) of the food packer (100) by processing the remote variable values ​​(204) and the local variable values ​​(116) using a reinforcement learning model (206) and a local control model (210); adjusting one or more control parameters of the local filling subsystem (300) according to the determined control parameter values; controlling the filling of the food product into the packages (112) by the food packing machine (100) in accordance with the adjusted one or more control parameters; receiving one or more remote variable values ​​indicative of measurements of one or more physical parameters for one or more systems external to the food packing machine; This includes: The local filling subsystem (300) is connected by a line (302) to a central repository (301) containing the food product and is configured to dispense a specific amount of food product into each package (112), and the remote variable value represents the pressure of the food product in the line (302).

2. The method of claim 1 , wherein the reinforcement learning model (206) is a deep reinforcement learning model including a neural network.

3. The method of claim 1, wherein a tube is formed from a web of multi-layer composite packaging material and the package (112) is formed from the tube.

4. The method described in claim 3, wherein the local filling subsystem (300) includes a first sensor (116a) positioned on the line (302), and the pressure of the food is measured by the first sensor (116a).

5. 5. The method of claim 1, wherein adjusting one or more control parameters of the local filling subsystem (300) comprises adjusting one or more of: a timing for opening a fill valve (304) through which the food passes as it is filled into the package (112); and a degree to which the fill valve (304) is opened when dispensing the food into the package (112).

6. 3. The method of claim 2, wherein the neural network is one of a convolutional neural network, a recurrent neural network, a long short-term memory neural network, and a fully connected neural network.

7. the one or more local variable values ​​include a fill valve dynamics reflecting a transient of opening and closing of a fill valve (304), and a fill valve control signal reflecting a degree of opening of the fill valve (304); the one or more remote variable values ​​include the type of food product, the number of lines connected to a central food repository (301), the operational status of the lines (302) connected to the central food repository (301), and the pressure fluctuation of the food product at the input of the local filling subsystem (300); The method according to any one of claims 1 to 6.

8. A system (300) for filling food products into packages (112) in a food packer (100), the food packer (100) comprising a plurality of subsystems, the system comprising: Memory and Processor and Equipped with The memory, when executed by the processor, receiving one or more local variable values ​​(116) indicative of measurements by the food packer (100) of one or more physical parameters for a local filling subsystem (300); receiving one or more remote variable values ​​(204) indicative of measurements by the food packer (100) of one or more physical parameters for one or more remote subsystems; determining one or more control parameter values ​​for the local filling subsystem (300) of the food packer (100) by processing the remote variable values ​​(204) and the local variable values ​​(116) using a reinforcement learning model (206) and a local control model (210); adjusting one or more control parameters of the local filling subsystem (300) according to the determined control parameter values; controlling the filling of the food product into the packages (112) by the food packing machine (100) in accordance with the adjusted one or more control parameters; receiving one or more remote variable values ​​indicative of measurements of one or more physical parameters for one or more systems external to the food packing machine; It further includes: The system includes instructions for causing the processor to execute a method in which the local filling subsystem (300) is connected by a line (302) to a central repository (301) containing the food product and is configured to dispense a specific amount of food product into each package (112), and the remote variable value represents the pressure of the food product in the line (302).

9. The system of claim 8 , wherein the reinforcement learning model (206) is a deep reinforcement learning model including a neural network.

10. The system described in claim 8, wherein a tube is formed from a web of multi-layer composite packaging material, and the package (112) is formed from the tube.

11. The system described in Claim 10, wherein the local filling subsystem (300) includes a first sensor (116a) positioned on the line (302), and the pressure of the food is measured by the first sensor.

12. 12. The system of claim 8, wherein adjusting one or more control parameters of the local filling subsystem (300) comprises adjusting one or more of: a timing for opening a fill valve (304) through which the food passes as it is filled into the package (112); and a degree to which the fill valve (304) is opened when dispensing the food into the package (112).

13. 10. The system of claim 9, wherein the neural network is one of a convolutional neural network, a recurrent neural network, a long short-term memory neural network, and a fully connected neural network.

14. the one or more local variable values ​​include a fill valve dynamics reflecting a transient of opening and closing of a fill valve (304), and a fill valve control signal reflecting a degree of opening of the fill valve (304); the one or more remote variable values ​​include the type of food product, the number of lines connected to a central food repository (301), the operational status of the lines (302) connected to the central food repository (301), and the pressure fluctuation of the food product at the input of the local filling subsystem (300); A system according to any one of claims 8 to 13.

15. A computer program product comprising a computer readable storage medium having instructions adapted to perform the method of any one of claims 1 to 7 when executed by a processor.

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