Patent ID: 12251048

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

Numerous embodiments are described in the present application, and are presented for illustrative purposes only. The described embodiments are not, and are not intended to be, limiting in any sense. The presently disclosed invention(s) are widely applicable to numerous embodiments, as is readily apparent from the disclosure. One of ordinary skill in the art will recognize that the disclosed invention(s) may be practiced with various modifications and alterations, such as structural and logical modifications. Although particular features of the disclosed invention(s) may be described with reference to one or more particular embodiments and/or drawings, it should be understood that such features are not limited to usage in the one or more particular embodiments or drawings with reference to which they are described, unless expressly specified otherwise.

With all this in mind, the present invention is directed to a system100for automatically preparing food according to a selected recipe and a method for operating the same.

Now referring toFIGS.1and2, the system100is configured for automatically preparing food according to a selected recipe and is adapted to be installed in a variety of environments or locations such as a household kitchen, a restaurant kitchen, a cafeteria and the like. In the illustrated embodiment ofFIG.1, the system100is positioned in the vicinity of a fridge110and a freezer120.

The system100comprises a food processing unit200. In fact, it will be appreciated that the food processing unit200is used for performing a set of food preparation tasks. More precisely, the food processing unit200comprises at least one multifunctional cooking device adapted for performing a first food preparation task selected from a group consisting of mixing, stirring and chopping and a second food preparation task comprising heating. It will be appreciated that using a multifunctional cooking device is of great advantage since it enables the performing of various food preparation tasks in an integrated and robust manner. The food processing unit200is operatively connected to a control system500(not shown) for automatically preparing food according to the selected recipe. It will be appreciated that the food processing unit200may be operatively connected to the control system500using at least one of a Universal Serial Bus (USB) connection, a Wireless Local Area Network (WLAN) connection, a network cable and a Bluetooth™ connection. The skilled addressee will appreciate that various alternative embodiments may be possible.

In one embodiment, the food processing unit200is located in a furniture unit202and may further comprise at least one cooking device, at least one sous-vide cooker and a food container opening mechanism or the like, as it will be explained in more detail below.

In accordance with one embodiment, the multifunctional cooking device is a Thermomix® manufactured by the company Vorwerk & Co. Alternatively, other multifunctional devices may be considered.

The system100further comprises a plurality of food containers (not shown), stored in the vicinity thereof, wherein each food container is configured to store a given ingredient.

In one embodiment, the plurality of food containers are stored in a plurality of storage compartments of the furniture unit202.

In one embodiment, the plurality of storage compartments each comprises a plurality of drawers adapted to receive the plurality of food containers.

In an alternative embodiment, the plurality of food container are stored in the fridge110and/or in the freezer120.

In one embodiment, the plurality of food containers are adapted to contain the same ingredient.

In an alternative embodiment, the plurality of food containers may be adapted to contain different ingredients.

In one embodiment, each food container comprises a graphic element which is an embodiment of an identification means.

In one embodiment, the graphic element comprises a standardized icon or a symbol. Alternatively, the identifications means may comprise a text. The identifications means are adapted to be identified using an identification camera in collaboration with a computer vision software for processing signals generated thereby, as it will be explained in more details below. The identification means are configured to store information relating to the ingredient stored in the food container, such as the type of ingredient, the quantity of the given ingredient, the date of expiry of the ingredient according to the purchase date, etc.

In an alternative embodiment, the food containers may comprise different identification means such as Stock Keeping Unit (SKU) barcodes (hereinafter SKU barcodes), RFID tags, a Quick Response (QR) code or the like. In this embodiment, an SKU barcode or RFID tag is associated with each food container and is configured to store information relating to the ingredient stored in the food container, such as the type of ingredient, the quantity of the given ingredient, the date of expiry of the ingredient according to the purchase date, etc.

In one embodiment, the food container is comprised of one sous-vide bag.

The system100further comprises an identification unit300for identifying a selected given food container. The identification unit300is operatively connected to the control system500for automatically identifying the identification means of the selected food containers for providing the suitable food container of a selected recipe to the food processing unit200.

In one embodiment, the identification unit300is adapted to identify the identification means of the food containers, such as the standardized icon, simple text, SKU barcodes, QR codes or RFID tags. The identified information of a given food container is then sent to the control system500for processing, as it will be explained below.

In another embodiment, the identification unit300comprises a lookup table operatively connected to the control system500. Such lookup table comprises for each food container an indication of a respective content and a respective physical location.

In one embodiment, the identification unit300identifies food containers located in the plurality of drawers of the furniture unit202, the fridge110and/or the freezer120.

In one embodiment, the identification unit300is removably located on top of the furniture unit202for enabling the identification of the plurality of food containers stored in the vicinity of the system100.

In an alternative embodiment, the identification unit300may be located elsewhere, while still enabling the identification of the plurality of food containers.

The system100further comprises a collecting element400for collecting a selected given food container of either the plurality of food containers located in the vicinity of the collecting element400or from another plurality of food containers located in a fridge110and/or freezer120located in the vicinity of the collecting element400.

In one embodiment, the collecting element400grabs the food containers or the sous-vide bags located in the plurality of drawers of the storage compartments of the furniture unit202, in the fridge110or in the freezer120.

In one embodiment, the collecting element400comprises a grabbing member600, shown inFIG.2, for grabbing a selected given food container identified by the identification unit300. The collecting element400is moveable along a vertical axis and is operatively connected to and operated by the control system500, as it will be explained below.

It should be understood that the collecting element400may be moveable along a slightly inclined axis while still grabbing and displacing given food containers for preparing the selected recipe. Moreover and as further illustrated below, it will be appreciated that in one embodiment, the grabbing member600is adapted to avoid a direct interaction with food, which is of great advantage for various reasons. A first reason is that avoiding a direct interaction with food ensures food safety. Another reason is that the food waste is much smaller than if the grabbing member600were able to perform a direct interaction with food. Another reason is that the cleaning is much easier if there is no direct interaction of the grabbing member600with the food, as no food has to be removed from the grabbing member600in such case.

The system100further comprises the control system500, operatively connected to the food processing unit200, to the identification unit300and to the collecting element400. The control system500is adapted to manage the food processing unit200and the collecting element400to thereby prepare a meal according to a selected recipe. Moreover, the control system500is connected to the identification unit300for identifying the food containers to be grabbed by the collecting element400and dispensed in the food processing unit200.

In one embodiment, the control system500is wired to the food processing unit200, the identification unit300and to the collecting element400by conventional network wires.

In an alternative embodiment, the control system500may be operatively connected to the food processing unit200, to the identification unit300and to the collecting element400by conventional short-range wireless means such as Wi-Fi or Bluetooth®.

More precisely, referring toFIGS.3and4, the food processing unit200is configured to perform a set of food preparation tasks such as mixing and cooking by following the steps of a selected recipe. The food processing unit200is located in a furniture unit202between a lower storage compartment204and an upper storage compartment206adapted to store the food containers.

In one embodiment illustrated inFIG.4, the food processing unit200comprises two cooking devices208aand208b, a sous-vide cooker210and a food container opening mechanism212disposed on a horizontal wall214. The food processing unit200is adapted to prepare meals according to a selected recipe or according to the available ingredients of the food containers located in the vicinity of the system100, as it will be explained further. It will be appreciated that the sous-vide cooker210is an embodiment of a water cooker. A water cooker may be used to perform one of a regular cooking task and a sous-vide food preparation task.

In one embodiment, at least one cooking device of the cooking devices208aand208bis a multifunctional cooking device.

In one embodiment, the food container opening mechanism212comprises a cavity213having a complementary shape of a food container. As it will be discussed in further detail below, the cavity213is adapted to receive and maintain a food container while the grabbing member600rotates and removes its lid before dispensing the ingredients thereof in the cooking devices208aand/or208b.

In one embodiment, the cooking devices208aand208bmay comprise load cells216located thereunder. The load cells216are adapted to precisely weigh the ingredients as they are poured in the cooking devices208aand208b. The load cells216may be remotely connected to the control system500and enable the system100to precisely follow the recipe's instruction concerning the dosage of ingredients and according to the number of meals to be prepared.

In an alternative embodiment, other devices may be used for measuring the quantity of ingredients dispensed from the food containers in the cooking devices208aand/or208b. For instance, according to the shape of the food container, the control system500may calculate how to angle the food container to dispense a certain quantity of ingredients. Furthermore, the food processing unit200may comprise vision capabilities to estimate the dispensed quantity of ingredients from the food containers into the cooking devices208aand/or208b.

It will be understood by a person skilled in the art, that the food processing unit200may comprise more than two cooking devices208aand208b. Moreover appliances such as a steam cooker, a fryer, a pressure cooker, etc., may also be provided in the food processing unit200.

In one embodiment, the sous-vide cooker210comprises a temperature controlled water basin adapted to receive vacuum-sealed ingredients such as the sous-vide bags previously mentioned, as a skilled addressee will appreciate.

In one embodiment, shown inFIG.3, the furniture unit202has a rectangular box shape and comprises upper and lower storage compartments206and204, respectively, between its lateral walls218a,218band218c.

In one embodiment, each storage compartment comprises a plurality of drawers adapted to house the plurality of food containers. For instance, the lower storage compartment204comprises drawers220a,220band220c. It will be appreciated, by the skilled addressee, that the drawers220a,220band220care operatively engaged in rails for sliding in and out of the lower storage compartment204.

The upper storage compartment206is located above the food processing unit200and is provided with a plurality of drawers for housing a plurality of food containers. The drawers may also be engaged in rails for sliding in and out of the upper storage compartment206.

In one embodiment, the upper and lower storage compartments206and204, respectively, may comprise a different number of drawers for storing a different number of food containers. Furthermore, each drawer may be divided into a plurality of sections (not shown), each section adapted to receive a given food container. In this embodiment, each drawer of the upper and lower storage compartments206and204may comprise a grid structure to better accommodate the position of each food container stored therein.

In one embodiment, each of the upper and the lower storage compartments206and204, respectively, comprises a hinged door222and224to provide access to the plurality of drawers and therefore to the plurality of food containers housed therein.

In an alternative embodiment, the doors222and224may be sliding doors.

In an alternative embodiment, the upper and the lower storage compartments206and204do not comprise doors.

In another embodiment, the food processing unit200may be located elsewhere in the vicinity of the system100, such as on a counter. In this configuration, the food containers may be stored in another furniture unit such as in food cabinets or on shelves located in the vicinity of the system100.

Referring now toFIGS.5to7, the identification unit300is adapted to identify the food containers located in the vicinity of the system100.

In one embodiment, the identification unit300comprises an identification camera302coupled to a computer vision software for identifying food containers. The identification camera302is connected to a support304and is configured to identify the graphic element such as the standardized icons306or text located on each food container. A computer vision software in collaboration with the control system500is configured to process the signals generated by the identification of the food container.

In an alternative embodiment, the camera302is configured to scan the SKU barcodes308, the QR codes or the RFID tags associated with each food container and identify a selected food container to provide the control system500with information such as the type of ingredient stored in the food container, the quantity of the given ingredient, the date of expiry of the ingredient according to the purchase date, etc.

In one embodiment, the standardized icons306are icons of ingredients.

In one embodiment, the simple text may be a word or group of words defining the ingredients located in the food container.

A person skilled in the art will appreciate that other identification means may be contemplated, without departing from the scope of the invention.

In one embodiment, the information provided to the control system500by the identification unit300is stored and enables the collecting element400to grab the suitable food container according to the selected recipe, as it will be further explained below.

In the illustrative embodiment ofFIG.5, the support304is secured onto top wall226of the furniture unit202by conventional securing means, although other locations may be contemplated. In this embodiment, the support304extends away from the furniture unit202for enabling the identification camera302to identify a selected food container stored in drawers of the upper or lower storage compartments206and204, as the drawers are pulled out.

In one embodiment, the identification camera302has an obround shape and faces vertically down towards the upper and lower storage compartments206and204, as shown inFIG.7. The identification camera302is adapted to laterally scan from one side of a drawer to the other side thereof the identification means of the plurality of food containers located therein when a drawer is pulled out.

In one embodiment, the identification unit300is able to identify food containers located in the fridge110and/or the freezer120.

In an alternative embodiment, the identification camera302is an SKU barcode scanner or RFID scanner.

In one embodiment, as a food container is removed or placed in a drawer of the furniture unit, in the fridge110or in the freezer120, the identification camera302establishes a record of the actual up-to-date inventory. The identified information of the identification camera302is then transmitted to the control system500which processes the information, as will be explained below.

In an alternative embodiment, the identification unit300may comprise a plurality of identification cameras similar to identification camera302to better accommodate an increased number of food containers.

Referring now toFIGS.5and7to12, the collecting element400is configured to collect a selected given food container of either the plurality of food containers located in a vicinity of the collecting element400or from another plurality of food containers located in a fridge110and/or freezer120located in a vicinity of the collecting element400.

In one embodiment, the collecting element400collects the selected given food containers located in the plurality of drawers of the upper and lower storage compartments206and204of the furniture unit202and transports them to the food processing unit200.

In one embodiment, each of the fridge110and/or the freezer120may comprise a linear actuator adapted to open the door thereof for enabling the collecting element400to grab a given food container.

In one embodiment, the collecting element400is adapted to be vertically moved up and down along a vertical axis, as shown by the vertical arrow inFIG.7.

In an alternative embodiment, the collecting element400may be moved up and down along a slightly inclined axis.

More precisely, a moving mechanism402, best shown inFIG.5, is adapted to convey, either upwardly or downwardly the collecting element400along a set of vertical rails404aand404b. The moving mechanism402comprises a driver pulley406, an idler pulley408and a timing belt410, the timing belt410removably connected to the collecting element400.

In one embodiment, the driver pulley406is actuated by a stepper motor412(hereinafter motor412) for moving the timing belt410and therefore the collecting element400. The idler pulley408is connected to a counter weight414, seeFIG.7, attached to the timing belt410to relieve the torque requirement from the motor412.

In one embodiment, the motor412is a NEMA® 23 CNC stepper motor and is actuated by the control system500. Furthermore, as a skilled addressee will appreciate, the motor412may comprise a planetary gearbox having a specified gear ratio for conveying the timing belt410at a specific speed.

Alternatively, a skilled addressee will appreciate that other motors may be contemplated for different practical reasons such as rotational speed of the shaft or the torque available.

In one embodiment, the idler pulley408comprises an encoder416for detecting the position of the timing belt410as it travels up and down. The encoder416is configured to send a feedback signal to the control system500to provide the position of the collecting element400thereto.

In an alternative embodiment, the moving mechanism402may comprise an encoder (not shown) configured to read the position of the collecting element400on the vertical axis.

In one embodiment, as the idler pulley408is rotated, the counter weight414is moved upwardly or downwardly along vertical rail404c, in the opposite direction of the collecting element400. The counter weight414is configured to counterbalance the weight exerted by the collecting element400on the motor412in order to minimize the torque requirement by the motor.

In the embodiment shown inFIG.7, the moving mechanism402is located on the lateral wall218cof the furniture unit202.

In another embodiment, the moving mechanism may be located on either lateral walls218aor218bof the furniture unit202or elsewhere while still providing a vertical movement of the collecting element400.

In another embodiment, the collecting element400may be moved up and down by any other suitable moving mechanism such as a rack-and-pinion mechanism or the like.

The collecting element400is adapted to collect a selected given food container from either the vicinity thereof, the plurality of drawers of the furniture unit202, the fridge110and/or the freezer120by way of a grabbing member600.

In one embodiment, shown inFIG.8, the collecting element400comprises a proximal member418a, an intermediate member418band a distal member418c, wherein the intermediate and distal members418band418care adapted to be pivoted.

More precisely, as best shown inFIGS.8and9, the proximal member418ahas a rectangular box shape and is connected to the moving mechanism402by four linear bearing420a,420b,420cand420d. The bearings420a,420b,420cand420denable a smooth vertical movement of the collecting element400on rails404aand404b. The proximal member418afurther comprises a pair of L-plates422aand422bfor attaching to the timing belt410and for providing structural strength to the proximal member418a.

In one embodiment, the proximal member418afurther comprises a first joint424adapted to connect to the intermediate member418b. The first joint424comprises a first encoder430, a first stepper motor426to rotate the intermediate member418bby way of a shaft428and a gear box431. During actuation of the first stepper motor426, the first encoder430is adapted to send feedback data and up-to-date information on the rotation of the shaft428to the control system500. That data provides information such as the rotating speed, the rotating angle of the shaft428and the position of the intermediate member418b. This enables the control system500to manage the displacement of the collecting element400for grabbing a selected food container.

The collecting element400further comprises the intermediate member418bconnected to the proximal member418aat the first joint424and to the distal member418cat a second joint432. The intermediate member418bis adapted to be rotated by the first joint424as previously explained to position the collecting element400to grab a selected food container.

Similarly to the first joint424, the second joint432comprises a shaft434, a second stepper motor436and a second encoder438. The second joint432is adapted to rotate the distal member418crelative to the intermediate member418b.

As for the first joint424, the second stepper motor436is adapted to rotate the shaft434and therefore the distal member418c. The second encoder438is adapted to send feedback data and up-to-date information on the rotation of the shaft434to the control system500. That data therefore provide the control system500with the position of the distal member418c, the rotating speed and the rotating angle of the shaft434. This enables the control system500to manage the displacement of the distal member418cfor grabbing a selected food container.

Although stepper motors426and436have been disclosed for the first joint424and the second joint432, a skilled addressee will appreciate that other motors may be contemplated for different practical reasons such as rotational speed of the shaft or the torque available, without departing from the scope of the invention. For instance, the stepper motors426and436may be replaced by servo motors or gear motors.

In one embodiment, the first and second stepper motors424and436as well as the first and second encoders430and438are wired to the control system500.

In an alternative embodiment, the first and second stepper motors424and436as well as the first and second encoders430and438may be wirelessly operated by the control system500using a short-range wireless communication protocol such as Wi-Fi or Bluetooth®. In this case, the steppers motors424and426are wired to a microcontroller and a driver to wirelessly communicate with the control system500.

In an alternative embodiment, the first and second stepper motors424and436as well as the first and second encoders430and438may comprise batteries for supplying electrical power thereto.

As shown inFIG.8, the collecting element400further comprises the distal member418c. The distal member418cis adapted to be rotated by the second joint432relative to the intermediate member418b. The distal member418cis connected to the second joint432and to the grabbing member600which is adapted to grab a selected given food container.

In an alternative embodiment, the collecting element400may comprise a Cartesian coordinate arm (not shown) having a plurality of linear connections, each actuated by a linear actuator. In this embodiment, the collecting element400may be moved up and down by a first linear actuator along a vertical or slightly vertical axis. The collecting element400is then adapted to grab a given food container thanks to the plurality of linear actuators accommodating the different grabbing distances in a horizontal plane perpendicular to the vertical axis.

Referring now toFIGS.10to12, the grabbing member600comprises a pair of load cells602a,602bconfigured to measure the weight of a selected food container grabbed by the collecting element400.

In an alternative embodiment, the load cells602aand602bmay be located on any one of the proximal member418a, intermediate member418bor distal member418c.

In one embodiment, the load cells602a,602bare strain gauge load cells adapted to create an electrical signal proportional to the weight deformation being measured. Alternatively, the load cells602a,602bmay be piezoelectric load cells. It will be therefore appreciated that at least one of the collecting element400and the food processing unit200comprises at least one load cell for measuring a corresponding weight of an ingredient. Alternatively, the at least one load cell may be provided in a dedicated weighing station.

The grabbing member600further comprises a pair of servo motors604aand604badapted to precisely control the angular position, speed and acceleration of a pair of shafts606aand606bcoupling the servo motors604aand604bto a multi-level gear box608comprising a differential mechanism. In this embodiment, the servo motors604aand604bassociated with the multi-level gear box608are adapted to rotate a gripper assembly612in a position for grabbing or releasing a selected food container, as it will be explained below.

In one embodiment, the servo motors604aand604bare connected to the control system500.

In one embodiment, the pair of shafts606aand606bare rotated upon actuation by the control system500of their respective servo motors604aand604bfor a precise control of their angular position, velocity and acceleration.

In one embodiment, the shafts606aand606bare rotated around a first rotation axis A for rotating a selected food container during dispensing of ingredients in the food processing unit200.

The grabbing member600further comprises a shaft610linking the multilevel gear box608to the gripper assembly612.

In one embodiment, the shaft610is configured to be rotated by the multilevel gear box608along a second rotation axis B, perpendicular to the first rotation axis A, for tilting the grabbed food container during dispensing of ingredients in the food processing unit200.

In an alternative embodiment, although a multi-level gear box has been contemplated for rotating the gripper assembly612along the first and second rotation axis A and B, other configurations are possible without departing from the scope of the invention. For instance, a first linear actuator may be used to rotate the gripper assembly612along the first rotation axis A and a second linear actuator may be used to rotate the gripper assembly612along the second rotation axis B for rotating a selected food container during dispensing of ingredients in the food processing unit200.

In one embodiment, the first and second linear actuators may be hydraulic or pneumatic actuators.

Referring now toFIG.11, the gripper assembly612comprises a rail614adapted to receive a pair of grippers616a,616b, a pair of endless screws618a,618bengaged with grippers616a,616b, respectively, and a servo motor620adapted to rotate the pair of endless screws618a,618bfor displacing the grippers616aand616balong the rail614.

In one embodiment, the endless screws618aand618bare configured to transform a rotational movement induced by a servo motor620into a linear movement of the grippers616aand616b, along arrow L.

In an alternative embodiment, hydraulic or pneumatic actuators may be contemplated for providing a linear movement of the grippers616aand616balong arrow L.

In one embodiment, the threads of the endless screws618aand618bare in opposite directions for allowing the grippers616aand616bto either come closer or move away from each other as the servo motor620is actuated by the control system500.

In one embodiment, the servo motor620is secured onto a bracket622which is fixedly attached to the rail614. In this configuration, the servo motor620is aligned with the endless screws618aand618b.

The pair of grippers616aand616bare positioned facing each other along rail614. Each gripper616aand616bcomprises a first end624a,624bfitted in the rail614and a contacting surface626a,626bfor contacting a selected food container as it is grabbed.

Each gripper616aand616bfurther comprises a food quality detector628aand628bconfigured to detect if the ingredient contained in the food container is expired.

The gripper616bfurther comprises a vibrating motor630adapted to shake the grabbing member600in order to enable the pouring of the ingredient from the food container in the cooking devices208aand208bof the food processing unit200.

In one embodiment, the vibrating motor is an eccentric rotating mass vibration motor (ERM).

In an alternative embodiment, the vibrating motor is a linear resonant actuator (LRA).

The pair of grippers616aand616bare adapted to be longitudinally displaced relative to each other, along the longitudinal axis of the rail614and describe the form of a clamp adapted to grab the selected food containers. As the servo motor620is actuated by the control system500to bring the grippers616aand616bcloser, in a squeezing motion, the endless screws618aand618bare rotated in a first direction wherein grippers616aand616bare linearly moved towards the center of the rail614in a symmetrical fashion.

When the grabbing member600releases a selected food container, the pair of grippers616aand616bare separated from each other upon actuation of the servo motor620by the control system500. In this case, the servo motor620rotates the pair of endless screws618aand618bin a second direction, opposite to the first direction, and the grippers616aand616bare linearly moved away from each other in a symmetrical fashion.

In one embodiment, the servo motors604a,604band620as well as the vibrating motor630, the food quality detectors628a,628band the load cells602aand602bare wirelessly connected to the control system500.

In one embodiment shown inFIG.12, the grabbing member600comprises a suction assembly650adapted to grip flat surfaces such as sous-vide bags.

The suction assembly650has the shape of a suction cup and is connected to the multi-level gear box608at one end and to a tube (not shown) coupled to a vacuum unit (not shown) at a second end. In use, as flat surfaces such as sous-vide bags tend to be hard to grab by the grippers616aand616b, the suction assembly650, in collaboration with the vacuum unit, enables the grabbing member600to grip a flat surface by providing a vacuum pressure. Therefore, as a selected sous-vide bag is identified by the identification unit300, the control system500actuates the vacuum unit which in turns actuates the suction assembly650for grabbing the flat surface. As the suction assembly650tightly grips the sous-vide bag, the moving mechanism402displaces the collecting element400to the food processing unit200for delivering the sous-vide bag in the sous-vide cooker210.

In an alternative embodiment, the grabbing member600may comprises other grabbing means such as a magnet for grabbing food containers, provided the food containers comprise a magnetized element.

In an alternative embodiment, the collecting element400may comprise a different number of members for accommodating the environment where the system100is installed. For example, differences in layouts may occur between a household kitchen and a restaurant kitchen and the collecting element400may therefore have an increased number of members in order to accommodate the spatial layout of a restaurant kitchen. In this configuration, each joint connecting consecutive members comprises a stepper motor, a shaft and an encoder for rotating the connected member, as previously explained. Moreover, a person skilled in the art will appreciate that other mechanical connections such as spherical connections between consecutive members may be considered.

In one embodiment, at least one of the proximal member418a, the intermediate member418band the distal member418cmembers418a,418band418cof the collecting element400is longitudinally extendable and is able to accommodate a plurality of distances in order to grab selected food containers in the vicinity thereof

In an alternative embodiment, linear actuators such as hydraulic or pneumatic actuators may be contemplated for rotating the consecutive connected members of the collecting element400.

With reference toFIG.13, the control system500is adapted to manage the preparation and the cooking of meals and is operatively connected to the food processing unit200, to the identification unit300and to the collecting element400.

More precisely, the control system500is configured to operatively control the different motors412,426,436, the servo motors604a,604band620as well as the vibrating motor630for operating the system100. The plurality of encoders416,430and438, located on the shafts of the plurality of motors, provide an up-to-date movement status of the collecting element400by sending feedback data to the control system500. Moreover, the control system500receives information from the identification unit300and from the load cells602aand602bfor providing an up-to-date inventory of the system100, as it will be explained below.

In one embodiment, the control system500is operated via a user interface (not shown) to enable a user to interact with the system100either when the user is in the vicinity of the system100or away from the system100. The user interface comprises a touchscreen, a voice recognition software and an application platform.

The touchscreen may be located either on the furniture unit202or in the vicinity of the system100. The user therefore provides inputs on the touchscreen to send instructions to the system100for the food preparation. Alternatively, the touchscreen may be located elsewhere and allows the user to provide the system100the instructions for the preparation of a recipe remotely.

The user interface may further enable a user to interact with the system100through a voice recognition software.

In one embodiment, a microphone may be implemented on the furniture unit202of the system100for allowing a user to provide instructions to the system100.

In one embodiment, the application platform enables the instructions provided by the user using the touchscreen or the microphone to be sent to the control system500.

In one embodiment, the application platform enables a user to remotely provide instructions to the control system500regarding the food preparation. The application platform may be executed on any portable device such as a smartphone, a tablet or a laptop. In this configuration, the user may provide instructions to the control system500. Furthermore, the voice recognition software may be implemented on the smartphone, the tablet or the computer for enabling a user to provide instructions to the system100wirelessly.

In an alternative embodiment, a keyboard may be provided either in the vicinity of the system100or remotely therefrom for enabling a user to provide instructions to the control system500concerning the food preparation. For instance, the keyboard may be provided on the furniture unit202.

In one embodiment, the control system500is wiredly connected to the user interface.

In an alternative embodiment, the control system500is wirelessly connected to the user interface using a short-range wireless communication protocol such as Wi-Fi or Bluetooth®, as a skilled addressee will appreciate.

In one embodiment, the control system500is connected to the Internet.

Now referring toFIG.14, there is shown an embodiment of a method700for automating the preparation of food according to the present invention.

According to processing step702, a user provides an indication of a food preparation.

The user interacts with the system100for providing information on a food preparation by using the touchscreen, the microphone or wirelessly by using a smartphone, a tablet or a laptop. The user provides a set of information to the control system500such as the type of food he wants to eat, at what time the meal should be ready and how many guests are going to be present. The user may provide food allergies and/or dietary restrictions.

In one embodiment, the user may provide keywords to the user interface according to a meal he wants to eat, such as the type of cuisine, taste preferences, dietary restrictions, etc.

According to processing step704, the control system500determines the availability of a user to provide the missing ingredients of a selected recipe if needed. It will be appreciated that the user may interact with the system100either through the touchscreen, the microphone or wirelessly by using a smartphone, a tablet or a laptop to inform on his availability to provide the missing ingredients if required.

In the case where the user is not available to provide the at least one missing ingredient, according to processing step706, the control system500displays at least one feasible recipe given the inventory900of the system100, from which the user makes a choice.

In an alternative embodiment, the user may enable the control system500to randomly select a recipe without the user's input. In this case, the control system500randomly selects a recipe from the feasible recipes given the inventory900of the system100.

In the case where the user is available to provide the missing ingredients, at processing step708, the user selects a recipe from a list of all recipes generated by the control system500.

In one embodiment, according to the keywords provided at processing step702of the method700, the control system500provides different choices of recipes such as Asian cuisine, Mexican cuisine, Italian cuisine, French cuisine, etc, according to a recipe database800(seeFIG.15).

In an alternative embodiment, the control system500provides meal recommendations based on previous meals.

In an alternative embodiment, the control system500establishes a meal plan based on the user's profile.

In an alternative embodiment, the control system500randomly selects a recipe without the user's input.

In one embodiment, the recipes generated by the control system500are displayed on the touchscreen of the system100.

In another embodiment, the recipes generated by the control system500are displayed on the smartphone, tablet or laptop of the user via the application platform.

According to processing step710, a test is performed to determine if all the ingredients required for the selected recipe to be prepared are available.

According to the selected recipe and the number of meals to be prepared, the control system500evaluates if the desired recipe is feasible considering the ingredients available. As it will be explained below, an inventory900is established once by the control system500for all the food containers and is then updated at each modification thereof.

In one embodiment, the inventory900is established as the food containers are initially stored in the furniture unit202, the fridge110and the freezer120.

In one embodiment, the inventory900is updated when the user provides the food containers of the missing ingredients in the vicinity of the system100and the collecting element400stores the food containers in the furniture unit202, the fridge110or the freezer120. The control system500actuates the identification camera302and the collecting element400to grab and transport the food containers to be identified under the identification camera302. The identification camera302identifies the identification means306located on the food containers and the load cells602aand602bof the grabbing member600determine the weight of the food containers for providing the control system500with the necessary information for the inventory900. The food containers are then stored in the furniture unit202, the fridge110or the freezer120.

In a second embodiment, the inventory900is updated as the ingredients of the food containers of a selected recipe are dispensed.

In a third embodiment, the inventory900is updated when the user manually refills the food containers of the missing ingredients in the furniture unit202, the fridge110or the freezer120.

In the case where the system100evaluates that at least one ingredient of the selected recipe is missing, at processing step712, the control system500provides the user a list of the at least one missing ingredient that needs to be provided for preparing the selected recipe.

In one embodiment, the control system500displays the at least one missing ingredient with its name, its quantity and its weight on the touchscreen or on the smartphone, the tablet or the laptop of the user.

According to processing step714, the control system500generates a task schedule1000.

Referring toFIG.17, an exemplary task schedule1000is shown and comprises at least one step for preparing and cooking the selected recipe at the desired time and for the desired number of people. The task schedule1000further specifies the time for completing the at least one step, the at least one ingredient required to prepare the recipe, the cooking devices needed, etc.

According to processing step716, the control system500executes the task schedule1000previously generated. The food preparation is therefore performed by the control system500actuating the food processing unit200, the collecting element400and the identification unit300. The collecting element400is displaced to grab, transport and dispense the ingredient from at least one food container in at least one of the cooking devices208aand208bor the sous-vide cooker210of the food processing unit200. The food processing unit200is actuated to cook the ingredients by following the task schedule1000regarding the time of cooking, stir speed, heating temperature, quantity of ingredients to be dispensed, etc.

According to optional processing step718, the control system500may send a notification to the user via the user interface to inform the user that the desired meal is cooked.

In one embodiment, the notification is provided via the touchscreen.

In an alternative embodiment, the notification is provided via the smartphone, the tablet or the laptop of the user.

Referring back at processing step702of the method700, the control system500is connected through the Internet to a recipe database800where a great number of recipes are listed. Furthermore, the control system500may suggest certain recipes to the user based on his keywords and on recommendations of a recipe community802linked to the recipe database800, as shown inFIG.15. For example, as the user enters keywords via the user interface, a list of recipes is generated from the recipe database800and the recipes are graded by other users via the recipe community802. Therefore, the user may decide whether or not a recipe has received good recommendations and whether or not he will try it. The recipe database800may also be updated by other users from the recipe community802by adding and/or modifying recipes.

In an alternative embodiment, the control system500may generate randomized meal schedules automatically based on the user's profile and his preferences.

Referring back at processing step710of method700, according to the inventory900of the system100, the control system500determines if all the ingredients for the selected recipe are available.

In the case that at least one ingredient is missing, information on the at least one missing ingredient is provided to the user, as shown at processing step712of method700.

Referring to902ofFIG.16, once the at least one missing ingredient is provided in the vicinity of the system100, the user decants part of the ingredients to at least one food container while leaving sous-vide bags or cans as is. The collecting element400is then actuated by the control system500to grab the at least one food container, sous-vide bag or can provided and place it in the upper and/or lower storage compartments206,204, or in the fridge110or freezer120.

The moving mechanism402is actuated by the control system500for moving the collecting element400vertically in registry with the at least one food container thanks to motor412being rotated for displacing the timing belt410until the collecting element400is in the vicinity thereof. The first and second joints424and432are rotated thanks to the stepper motors426,436and the encoders430,438provide up-to-date spatial information on the position and movements of the intermediate and distal members418b,418cfor conveying the grabbing member600proximate to the at least one food container. The grabbing member600is then actuated by the control system500for grabbing the food container. The servo motors604aand604bare actuated to position the gripper assembly612to enable the grabbing of the food container. The servo motor620is actuated to squeeze the grippers616aand616bonto the food container. The collecting element400is then operated to position the food container under the identification camera302for identifying the identification means306located thereon. The load cells602aand602bfurther provide an indication of the weight of the transported food container to the control system500. The inventory900of the system100is therefore updated.

Each food container transported by the collecting element400is then stored in the plurality of drawers of the upper and/or lower storage compartments206,204, in the fridge110or in the freezer120, depending if the ingredients need to be stored at cold temperatures. These steps are carried out as long as food containers are left unstored in the vicinity of the system100.

Referring to906ofFIG.16, where a user removes food containers from the furniture unit202, the fridge110and/or the freezer120, the identification camera302identifies the removed food containers and updates the inventory once the food containers are reinserted into the furniture unit202, the fridge110or the freezer120. If the user does not reinsert the removed food containers, the control system500updates the inventory regarding the missing food containers. If the user reinserts the food containers into the drawers of the furniture unit202or into the fridge110or the freezer120, the identification camera302identifies the identification means306of the food containers as they are stored back. The collecting element400is then actuated to grab each reinserted food container and the load cells602aand602bprovide, to the control system500, an updated weight of the ingredients remaining therein.

Referring back to processing step714of the method700, once all the required ingredients are available, the control system500generates a task schedule1000for preparing and cooking the desired meal. An exemplary task schedule1000is shown inFIG.17. The task schedule1000provides the times at which each step has to be carried out, specifies the appropriate dispensing quantities of the appropriate ingredients, specifies in what order the cooking devices need to be used, what function the cooking devices must carry out (e.g., blending, steaming, mixing, etc.), the cooking temperatures, etc.

In one embodiment, if a food container is located in the freezer120and must be defrosted, the task schedule1000takes into account the time necessary for defrosting the ingredient before it can be prepared and/or cooked.

Referring back to processing step716of the method700, as the task schedule1000is executed, the control system500follows each step thereof and actuates the collecting element400and the food processing unit200accordingly. As shown inFIG.18, the control system500obtains the current position of the at least one food container necessary for carrying out the selected recipe. The moving mechanism402is actuated to position the collecting element400in registry with the appropriate food container. The appropriate food container is grabbed and transported by the grabbing member600to the food processing unit200. The food container is then placed into the cavity213of the food container opening mechanism212. Once positioned and maintained therein, the grabbing member600removes the lid of the food container. The control system500subsequently actuates the servo motors604aand604bfor rotating shafts606a,606band610for tilting the food container for dispensing the ingredients.

As the ingredients are dispensed in the food processing unit200, the inventory900of the system100is updated. Information, such as the new weight of the ingredients remaining in the food containers is provided to the control system500by the load cells602aand602b, as shown at904ofFIG.16.

In one embodiment, the control system500actuates the servo motors604a,604bfor rotating the gripper assembly612and the servo motor620for squeezing the grippers616aand616bonto the food container so that the food container is tightly grabbed.

In one embodiment, the food containers need to be defrosted in order to be used in the selected recipe. The moving mechanism402in collaboration with the collecting element400grabs and transports the food containers out from the freezer120and into the fridge110to be defrosted.

In the case where sous-vide bags are used, the moving mechanism402collaborates with the collecting element400to position the suction assembly650over the sous-vide bag. As the vacuum is created, the sous-vide bag is tightly grabbed. The sous-vide bag is then transported to the food processing unit200. The collecting element400in collaboration with the grabbing member600positions the sous-vide bag over the sous-vide cooker210and the control system500switches off the vacuum pressure in the suction assembly650for dropping the sous-vide bag into the sous-vide cooker210.

In one embodiment, in the case of liquids, the shafts606a,606band610of the grabbing member600are slowly rotated.

In one embodiment, in the case of powder and herbs, the food container is rotated 180 degrees by the shaft610and shaken by vibrating motor630.

In one embodiment, in the case of solid items at room temperature such as pasta or rice, frozen items for cold dishes such frozen fruits for sorbets or frozen items for warms dishes such as vegetables for soup, the shaft610is rotated moderately and the food container is shaken by the vibrating motor630.

The previous steps are repeated until all the ingredients of the selected recipe are dispensed in the food processing unit200.

The control system500manages the cooking devices208aand208bby specifying for example the different cooking modes such as stirring or cooking, the different cooking temperatures, etc, by following the information provided in the task schedule1000.

It will be appreciated that the temperature of the water basin of the sous-vide cooker210adapted to receive vacuum-sealed ingredients, such as the sous-vide bags previously mentioned, is controlled by the control system500.

It should be understood by a person skilled in the art that the user interface allows for a plurality of users to be registered. In this configuration, the control system500can save the preferences of each user and therefore provide suggestions to the users according to their previous meals.

In an alternative, a person skilled in the art will appreciate that the system100may be contemplated for the preparation of beverages, without departing from the scope of the invention.

It will be appreciated that in another alternative embodiment, the collecting element400comprises a portion of a multiaxis robot. Now referring toFIG.19, there is shown such embodiment.

In one embodiment, the multiaxis robot comprises a six-axis robot. Still in this embodiment, the six-axis robot is Universal Robot UR5, disclosed at https://www(dot)universal-robots(dot)com/products/ur5-robot/.

It will further be appreciated that in another alternative embodiment, the collecting element400comprises a portion of a robot made of a combination of a robot of a given type with a robot of another type. For instance, it is possible to attach a three-axis arm to a Cartesian vertical and horizontal axis.

While this has not been disclosed previously, it will be appreciated that the system disclosed herein may be further provided with a device for detecting a human presence in close vicinity to a potentially harmful component of the system, such as for instance the collecting element400. The skilled addressee will appreciate that the device for detecting a human presence may be of great interest in order to avoid any incident caused by the operation of the system. The skilled addressee will further appreciate that the device for detecting a human presence may be provided according to various embodiments. In one embodiment, the device for detecting a human presence may use an infrared detector. In another embodiment, the device for detecting a human presence in close vicinity to the system may use a proximity sensor. In another alternative embodiment, safety light curtains, as well as laser scanners disclosed, for instance, at https://www(dot)bannerengineering(dot)com/sg/en/products/machine-safety(dot)html may be used.

It will also be appreciated that in one embodiment, the system100disclosed above may further comprise a camera, not shown, operatively connected to the control system500which provides corresponding positioning data associated with at least one of the food processing unit200, the plurality of food containers and the collecting element400. The skilled addressee will appreciate that this may be of great interest in order to monitor a displacement of one of the food processing unit200, the plurality of food containers and the collecting element400.

It will be appreciated that in one embodiment, the control system500is operatively connected to a point-of-sale system comprising at least one of a payment terminal, a touch screen, a QR code reader and a bar code scanner. In such embodiment, a user may operate the system100once a transaction has been performed at the point-of-sale system.

It will be appreciated that in one embodiment, the collecting element400is located inside a fenced area. It will also be appreciated that at least one part of the fenced area may comprise a transparent material suitable for enabling a user to observe a cooking process. It will also be appreciated that in one embodiment at least one part of the fenced area may comprise an aperture sized and shaped for allowing a human access to the food processing unit. This may be of great advantage to enable a limited yet secure human access to the fenced area. The skilled addressee will appreciate that various alternative embodiments may be possible.

It will be appreciated that the system disclosed herein is of great advantages for various reasons.

In fact, in addition to what has been disclosed above, another advantage of the system disclosed herein is that it does not comprise a robot which tries to mimic a human cooking behavior. For instance, it will be appreciated that trying to dispense salt precisely like a human using the fingertips of a robot or a spoon held by the hand of a robot is very challenging to impossible using current technology.

Another advantage of the system disclosed above is that, by advantageously using a multifunctional cooking device, the number of hardware components required to cook complex dishes is limited. Another advantage is that it enables the cooking of a large amount of recipes which either would not be possible with standard food preparation devices such as blender, cooker, etc., or would require a large number of hardware components which would be very cumbersome. For instance, transferring, using a robot, chopped onions, garlic or herbs from a chopping device to a cooking device could be very challenging.

The embodiments described above are intended to be exemplary only. The scope of the invention is therefore intended to be limited solely by the appended claims.

Clause 1. A system for automatically preparing meals according to a selected recipe, the system comprising:

a food processing unit for performing a set of food preparation tasks, wherein the food processing unit comprises at least one multifunctional cooking device adapted for performing a first food preparation task selected from a group consisting of mixing, stirring and chopping and a second food preparation task comprising heating;a plurality of food containers, each food container for storing a given ingredient;an identification unit for identifying the selected given food container;a collecting element for collecting a selected given food container of either the plurality of food containers located in a vicinity of the collecting element or from another plurality of food containers located in one of a fridge and a freezer located in a vicinity of the collecting element, the collecting element comprising a grabbing member for grabbing the selected given food container; further wherein the collecting element is moveable along a substantially vertical axis; anda control system operatively connected to the food processing unit, to the identification unit and to the collecting element, the control system adapted to manage the food processing unit and the collecting element to thereby prepare food according to a selected recipe.
Clause 2. The system as claimed in clause 1, wherein the food processing unit further comprises a water cooker adapted for performing one of a regular cooking task and a sous-vide food preparation task.
Clause 3. The system as claimed in clause 2, further comprising a food container opening mechanism.
Clause 4. The system as claimed in clause 1, wherein at least one food container is stored in a furniture unit.
Clause 5. The system as claimed in clause 4, wherein the furniture unit comprises at least one storage compartment for storing at least one corresponding food container.
Clause 6. The system as claimed in clause 5, wherein at least one storage compartment of the at least one storage compartment comprises at least one drawer for storing at least one food container.
Clause 7. The system as claimed in clause 1, wherein each of the plurality of food containers comprises a corresponding identification means.
Clause 8. The system as claimed in clause 7, wherein each identification means is selected from a group consisting of an SKU barcode, an RFID tag, a graphic element, a QR code and a text.
Clause 9. The system as claimed in clause 8, wherein the graphic element comprises at least one of an icon and a symbol.
Clause 10. The system as claimed in any one of clauses 1 to 9, wherein the identification unit comprises an identification camera for identifying the identification means of the at least one food container.
Clause 11. The system as claimed in any one of clauses 1 to 10, wherein the collecting element comprises at least one member displaceable in a horizontal plane.
Clause 12. The system as claimed in any one of clauses 4 to 6, wherein the collecting element comprises:a proximal member, displaceable along the substantially vertical axis;at least one intermediate member, rotatable in the horizontal plane and rotatably coupled to the proximal member; anda distal member, rotatable in the horizontal plane and rotatably coupled to the at least one intermediate member, the distal member comprising the grabbing member for grabbing a selected food container.
Clause 13. The system as claimed in any one of clauses 1 to 12, wherein the system further comprises at least one load cell for measuring a corresponding weight of an ingredient.
Clause 14. The system as claimed in any one of clauses 12 and 13, wherein the proximal member is coupled to the at least one intermediate member using a motor.
Clause 15. The system as claimed in any one of clauses 12 and 13, wherein the at least one intermediate member and the distal member are coupled using at least one motor.
Clause 16. The system as claimed in any one of clauses 14 and 15, wherein the motor coupling the proximal member to the at least one intermediate member and the motor coupling the at least one intermediate member to the distal member each comprises an encoder for providing spatial information of the at least one intermediate member and the distal member to the control system.
Clause 17. The system as claimed in clause 12, wherein the proximal member is moved along a wall of the furniture unit.
Clause 18. The system as claimed in any one of clauses 1 to 17, wherein the grabbing member is configured to be rotated in a position for grabbing or releasing a selected food container, the grabbing member being rotatable around a first axis of rotation and around a second axis of rotation, wherein the first axis of rotation is perpendicular to the second axis of rotation.
Clause 19. The system as claimed in any one of clauses 1 to 18, wherein the grabbing member comprises at least two grippers operated by movable means, each gripper comprising a contact surface for contacting a selected food container and wherein at least one gripper is movable for grabbing or releasing a selected food container.
Clause 20. The system as claimed in clause 19, wherein at least one gripper of the at least two grippers comprises a food quality detector.
Clause 21. The system as claimed in any one of clauses 19 and 20, wherein at least one gripper of the at least two grippers comprises a vibrating element for shaking a given food container for dispensing an ingredient.
Clause 22. The system as claimed in clause 21, wherein the vibrating element comprises a motor.
Clause 23. The system as claimed in clause 1, wherein the grabbing member comprises a suction assembly for creating a vacuum to thereby grab a mating surface.
Clause 24. The system as claimed in clause 1, wherein the control system is operated via a user interface.
Clause 25. The system as claimed in clause 24, wherein the user interface is selected from a group comprising at least one of a touchscreen, a voice recognition software, an application platform and a keyboard.
Clause 26. The system as claimed in any one of clauses 24 and 25, wherein the control system is operated by a user via a wireless connection.
Clause 27. A method for automatically preparing food according to a selected recipe, the method comprising:providing an indication of a food preparation, the food preparation requiring at least one ingredient;determining an availability of a user for providing the at least one missing ingredient;selecting a recipe;checking if the at least one required ingredient for preparing the selected recipe is available;if the at least one required ingredient is available:obtaining a task schedule for the food preparation; andexecuting the obtained task schedule using the system as claimed in any one of clauses 1 to 26 to thereby prepare the food.
Clause 28. The method as claimed in clause 27, wherein the indication of a food preparation to be prepared comprises an indication of a choice of food to be prepared, an indication of a desired time for completing the food preparation and an indication of a number of guest for which the food is prepared.
Clause 29. The method as claimed in any one of clauses 27 and 28, wherein the system randomly selects a recipe based on a profile of the user.
Clause 30. The method as claimed in clause 29, wherein the profile of the user comprises at least one recipe selected by the user.
Clause 31. The method as claimed in clause 27, wherein the checking to find out if at least one ingredient required for preparing the selected recipe is available is carried out using:the collecting element, displaceable for grabbing a selected food container located in the vicinity thereof;the grabbing member of the collecting element for grabbing the selected food container;at least one load cell of the collecting element for measuring the weight of the selected food container and for transmitting the measured weight to the control system;the identification unit for identifying an identification means of the grabbed food container and for transmitting the information of the grabbed food container to the control system; andthe control system for receiving the information provided by the at least one load cell and the identification unit and for evaluating the feasibility of the selected recipe.
Clause 32. The method as claimed in clause 31, wherein the information transmitted to the control system by the collecting element and the identification unit comprises a type of ingredient stored in a given food container, an expiry date of the ingredient and a weight of the given food container.
Clause 33. The method as claimed in clause 27, further wherein if the user is not available to provide the at least one missing ingredient, the method further comprises providing a list of at least one alternative recipe.
Clause 34. The method as claimed in clause 30, wherein the identification means of the food container is selected from a group comprising at least one of an SKU barcode, an RFID tag, a graphic element, a QR code and a text.
Clause 35. The method as claimed in any one of clauses 27 to 34, further comprising providing a notification to the user once the task schedule is executed.
Clause 36. The system as claimed in clause 1, wherein the collecting element comprises a portion of a multiaxis robot.
Clause 37. The system as claimed in clause 36, wherein the multiaxis robot comprises a six-axis robot.
Clause 38. The system as claimed in clause 1, wherein the collecting element comprises a Cartesian coordinate arm having a plurality of linear connections, each actuated by a linear actuator.
Clause 39. The system as claimed in any one of clauses 1 to 26, further comprising a device for detecting a human presence in close vicinity to the system.
Clause 40. The system as claimed in any one of clauses 1 to 26, wherein the grabbing member is adapted to avoid a direct interaction with food.
Clause 41. The system as claimed in any one of clauses 1 to 5, wherein the identification unit comprises a lookup table operatively connected to the control system and comprising for each food container an indication of a respective content and a respective physical location.
Clause 42. The system as claimed in any one of clauses 1 to 26 and 36 to 41, further comprising a camera operatively connected to the control system and providing corresponding positioning data associated with at least one of the food processing unit, the plurality of food containers and the collecting element.
Clause 43. The system as claimed in any one of clauses 1 to 26 and 36 to 42, wherein the food processing unit is operatively connected to the control system using at least one of a USB connection, a WLAN connection, a network cable and a Bluetooth connection.
Clause 44. The system as claimed in any one of clauses 1 to 26 and 36 to 43, wherein the control system is operatively connected to a point-of-sale system comprising at least one of a payment terminal, a touch screen, a QR code reader and a bar code scanner.
Clause 45. The system as claimed in any one of clauses 1 to 26 and 36 to 44, wherein the collecting element is located inside a fenced area.
Clause 46. The system as claimed in clause 45, wherein at least one part of the fenced area comprises a transparent material.
Clause 47. The system as claimed in any one of clauses 45 to 46, wherein at least one part of the fenced area comprises an aperture sized and shaped for allowing an access to the food processing unit.