Autonomous food station
A novel food station comprises a plurality of cubbies, each sized to enclose a food portion container (FPC). Each cubby includes a cubby door and a door actuation mechanism that can open and close the cubby door independently from that of other cubbies. A heating system that can controllably heat the FPC within at least a first cubby, and a cooling system can perform cooling within at least a second cubby. The food station includes an internal transport system with an end effector that temporarily couples to the FPC, and controllably moves the FPC in a common transport space within the food station. The food station includes a control system that controls the heating, the cubby doors, and the movement of the internal transport system. Each cubby door, when closed, closes off the corresponding cubby interior space sufficiently to enable independent temperature control within the cubby interior space.
1 . A food station comprising:
a plurality of cubbies, each cubby sized to enclose a food portion container in a cubby interior space, each cubby including a cubby door and a door actuation mechanism that can open and close the cubby door independently from that of other cubbies,
a heating system that can controllably heat the food portion container within at least a first one of the plurality of cubbies;
a cooling system that can perform cooling within at least a second one of the plurality of cubbies;
an internal transport system including an end effector that temporarily couples to the food portion container and controllably moves the food portion container in a common transport space within the food station; and
a control system that controls the heating, controls the opening and closing of the cubby door of each of the plurality of cubbies, and controls the movement of the internal transport system, the control system including a memory that stores information used by the control system;
wherein the cubby door, when closed, closes off the corresponding cubby interior space sufficiently to enable the control system to control a temperature within that cubby to be substantially different from that of the common transport space within the food station.
2 . The food station of claim 1 wherein the cooling system can also perform cooling within the first one of the plurality of cubbies.
3 . The food station of claim 1 wherein the heating system can also perform heating within the second one of the plurality of cubbies.
4 . The food station of claim 1 wherein the heating system performs heating within the first one of the plurality of cubbies independently from heating within others of the plurality of cubbies.
5 . The food station of claim 1 further comprising a collection hatch that has an external shutter that can be actuated by the control system to selectively control the external accessibility of the collection hatch.
6 . The food station of claim 5 wherein the collection hatch includes an internal shutter that can be actuated by the control system to selectively deny access from the collection hatch to the common transport space within the food station while the external shutter is open.
7 . The food station of claim 1 further comprising a label scanner, and the stored information includes information read by the label scanner from a label on the food portion container.
8 . The food station of claim 7 wherein the internal transport system controllably moves the food portion container carrier through the common transport space within the food station to an internal identification site that includes the label scanner.
9 . The food station of claim 1 further comprising communication electronics capable of receiving information via the internet, and the stored information includes information received via the internet.
10 . The food station of claim 1 wherein internal transport system includes controllable mechanical actuators that translate the end effector in three orthogonal directions, each forming an axis of a Cartesian coordinate system.
11 . The food station of claim 1 wherein the end effector comprises two support arms that are sized and spaced to partially envelop, between the two support arms, an outer surface of the food portion container.
12 . The food station of claim 11 wherein the end effector further comprises an actuation mechanism to enable the control system to actuate the two support arms relative to each other to radially clamp on the outer surface of the food portion container.
13 . The food station of claim 1 wherein the end effector comprises a distal key that is sized and shaped to engage and couple with a handle of the food portion container and thereby support the food portion container.
14 . The food station of claim 1 wherein the end effector comprises a support tray, a hook, and a linear actuator attached to the hook, and the hook is sized to engage with a handle of the food portion container so that the linear actuator can pull the food portion container on to the support tray.
15 . The food station of claim 1 wherein the end effector comprises a conveyor belt and a conveyor belt driving mechanism that is controlled by the control system.
16 . The food station of claim 15 wherein a floor of the selected cubby includes a recess sized to accept partial insertion by the conveyor belt of the end effector, and the cubby door, when closed, covers the front of the recess.
17 . The food station of claim 16 wherein the cubby door includes a downward projection to cover the front of the recess.
18 . The food station of claim 1 wherein the door actuation mechanism includes a motor and a pinion gear driven by the motor, and the cubby door includes a rack gear engaged with the pinion gear.
19 . The food station of claim 18 wherein the door actuation mechanism and the rack gear are disposed outside of the cubby interior space.
20 . The food station of claim 1 wherein the plurality of cubbies are arranged in a rectilinear array, and the cubby door is configured as a sliding door that slides along a plane that is canted with respect the rectilinear array sufficiently for the sliding door to clear the adjacent cubby when opened.