Abstract:
An automated kitchen system having multiple cooking and/or mixing pots and having containers and dispensers for multiple ingredients. A customer or other person or system selects or creates a meal or other food product and the ingredients for the meal or other product are transferred from dispensers to the cooking and/or mixing pots which simultaneously cook and/or mix the ingredients. After cooking, the meal or other product is served and the cooking pot is cleaned and sanitized and oriented to receive the ingredients for the next meal or other product.

Description:
RELATED CASES 
       [0001]    This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/157,961 filed on May 7, 2015 and U.S. Provisional Patent Application No. 62/217,644 filed Sep. 11, 2015 and incorporates said provisional applications by reference into this document as if fully set out at this point. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention relates to automated kiosks and other automated kitchen apparatuses and systems for preparing meals, entrees, and other food products. 
       BACKGROUND OF THE INVENTION 
       [0003]    On any given day, about one quarter of the US population eats some form of take out or fast food. While this may be a convenient and cost effective alternative to making home cooked meals, fast food and take-out meals are often unhealthy and consist of lower quality ingredients. Fast food restaurants spend significantly more on employee costs and rent than they do on food and beverage costs. These operating costs prevent restaurants from being able to sell high-quality meals at affordable prices. 
         [0004]    Fast food and take out restaurants compromise on food quality in order to offer competitive prices. On average, low cost, limited service restaurants spend just 28% of total income on food and beverage costs, compared to 27% on labor and 10% on rent. At many fast food restaurants, the face value of most meals far exceeds the ingredient costs required to produce the meals. In an industry that is so competitive on price, restaurants are forced to use cheaper processed ingredients and cannot dedicate resources towards food and meal development. Poor quality fast food has been shown to be a major contributor to obesity in the U.S. 
         [0005]    Consequently, a need exists for an alternative to fast food restaurants which provides healthier meals at competitive prices 
       SUMMARY OF THE INVENTION 
       [0006]    The present invention provides a meal preparation system and apparatus which satisfy the needs and alleviate the problems discussed above. The invention provides a fast food restaurant/kitchen concept or kiosk with drastically reduced overhead costs. This is possible by automating the entire meal production system, therefore eliminating the need for onsite employees and reducing the space required for the restaurant. The inventive apparatus is loaded with high quality raw ingredients, such as meats, vegetables and sauces, and will process, mix, cook and dispense made-to-order gourmet quality meals upon request. 
         [0007]    The inventive apparatus can be configured to autonomously cook and serve up to 300 meals or more per day with no human involvement. The automated restaurant will preferably be restocked and serviced by employees once every 24 hours. By way of example, the inventive apparatus and system are well suited for preparing meals such as stir fry, pasta dishes and rice dishes that consist of small-part ingredients that need to be simultaneously mixed and heated. 
         [0008]    The inventive apparatus is preferably open-facing so that customers can see their meals being cooked from fresh ingredients and served. Customers can customize their meals with different sauces or ingredients. The menu system will preferably allow customers to select proteins, vegetables and starches to create their own meals. Customers have the option of ordering their meals via a mobile app, or by using a touchscreen or other user interface on the kitchen apparatus itself Payment can be made via credit card or debit card. 
         [0009]    Alternatively, the inventive apparatus and system can be used in industrial applications for the automated production of ready-to-eat food products or entrees in bulk. 
         [0010]    In one aspect, there is provided an automated system for preparing meals preferably comprising: (a) a plurality of ingredient holding and dispensing assemblies, each of the ingredient holding and dispensing assemblies comprising a container for holding a supply of a different ingredient and a corresponding dispenser beneath the container for dispensing a predetermined amount of the ingredient from a discharge of the ingredient holding and dispensing assembly and (b) a plurality of preparation assemblies. Each of the preparation assemblies preferably comprises a preparation pot which is mounted for rotating the pot about a rotational axis, the preparation pot also being mounted for pivoting the pot about a secondary axis between a receiving orientation of the pot for receiving the ingredients dispensed by a plurality of the ingredient holding and dispensing assemblies, a preparation orientation for mixing or both cooking and mixing the ingredients while the pot is rotated about the rotational axis, and a dispensing orientation for dispensing the ingredients from the pot. 
         [0011]    In another aspect, the preparation pots are preferably cooking pots wherein each of the preparation assemblies further comprises a heating element positioned adjacent to the cooking pot when the cooking pot is in the preparation orientation, for heating the cooking pot. The heating element is preferably positioned beneath the cooking pot when the cooking pot is in the preparation orientation. 
         [0012]    In another aspect, the ingredient holding and dispensing assemblies of the automated system can be movable with respect to the preparation assemblies so that the discharge of each of the ingredient holding and dispensing assemblies can be positioned above the preparation pot of each of the preparation assemblies for directly dispensing the ingredient held by the ingredient holding and dispensing assembly into the preparation pot in said predetermined amount. 
         [0013]    In another aspect, the preparation assemblies can be movable with respect to the ingredient holding and dispensing assemblies so that the preparation pot of each of the preparation assemblies can be positioned beneath the discharge of each of the ingredient holding and dispensing assemblies for dispensing the ingredient held by the ingredient holding and dispensing assembly directly into the preparation pot in said predetermined amount. 
         [0014]    In another aspect, the preparation assemblies and the ingredient holding and dispensing assemblies can be installed at fixed locations and the automated system can comprise a transfer assembly comprising one or more transfer containers mounted for automated movement from any of the ingredient holding and dispensing assemblies to any of the preparation assemblies and for automated movement from any of the preparation assemblies to any of the ingredient holding and dispensing assemblies. Each of the transfer containers can also be movable between a receiving position for receiving the ingredients from the holding and dispensing assemblies and a delivery position for delivering the ingredients into the preparation pots of the preparation assemblies. 
         [0015]    In another aspect, when a transfer assembly is used as just described, the transfer assembly can further comprise: (a) a slide rail mounted in a housing of the automated system and (b) a carrier for the one or more transfer containers, the carrier being slideably mounted on the slide rail. The one or more transfer containers will preferably be pivotably retained by the carrier for pivoting movement between the receiving position for receiving the ingredients from the holding and dispensing assemblies and the delivery position for delivering the ingredients into the preparation pots of the preparation assemblies. 
         [0016]    In another aspect, the preparation pot of each of the preparation assemblies can include a mixing fin in an interior cavity of the pot, the mixing fin extending longitudinally along an interior side wall of the interior cavity. The interior mixing fin will preferably project inwardly from the interior side wall into the cavity a distance in the range of from 1 to 6 cm. It is also preferred that the leading contacting surface of the mixing fin be angled away from the direction of rotation of the preparation pot. The leading contacting surface of the mixing fin can be curved, straight, or any other desired shape. 
         [0017]    In another aspect, the dispenser for at least one of the ingredient holding and dispensing assemblies can comprise: (a) a reciprocatable tray for dispensing the ingredient held by the ingredient holding and dispensing assembly, the reciprocatable tray having an upper opening for receiving the ingredient and (b) a trimming blade which cuts away any excess amount of the ingredient which projects from the upper opening of the reciprocatable tray. 
         [0018]    In another aspect, the automated system can further comprise a program code which is embodied on a computer readable storage component and is readable by a processing unit of the automated system to operate the automated system according to a programmed procedure to prepare a meal, an entrée, or other food product in response to an order received by the processing unit from a customer, from an operator of a food production facility, or from a central operation control system or computer in a food production facility. In another aspect, the order can be received by the processing unit from a customer via a mobile app. 
         [0019]    In another aspect, the inventive apparatus and system can prepare meals, entrees, or other food products in accordance with a process wherein: raw ingredients move along a circular, semi-circular or linear path for delivering various portions of the ingredients to different preparation assemblies; the preparation assemblies mix or both mix and cook the meals, entrees, or other food products; the meals, entrees, or other food products are dispensed; after dispensing each meal, entrée or other food product, the preparation pot of the preparation assembly is cleaned and sanitized (preferably using high-pressure water and a cleaning agent); and the preparation assembly is then ready to receive ingredients for the next meal, entree, or other food product. The apparatus is preferably equipped with a variety of sensors, such as temperature and weight sensors for cooking in order to use feedback control to ensure that meals, entrees and other food products are cooked safely and consistently. Manual cleaning, maintenance, and refilling of the apparatus is only required once per day. 
         [0020]    In another aspect, the inventive apparatus and system can alternatively operate in accordance with the inventive process such that the ingredient holding and dispensing assemblies remain in fixed position and the preparation assemblies are moved along a circular, semi-circular or linear path for receiving the ingredients from the dispensers. 
         [0021]    In another aspect, the inventive apparatus and system can alternatively operate in accordance with the inventive process such that (a) the preparation assemblies remain in fixed position, (b) the ingredient holding and dispensing assemblies also remain in fixed position, and (c) the ingredients are transferred from the holding and dispensing assemblies to the preparation pots of the preparation assemblies using a moveable transfer assembly. 
         [0022]    Further aspects, features, and advantages of the present invention will be apparent to those of ordinary skill in the art upon examining the accompanying drawings and upon reading the following detailed description of the preferred embodiments. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0023]      FIG. 1  is a schematic side view of an embodiment  2  of the inventive automated kitchen apparatus provided by the present invention. 
           [0024]      FIG. 2  is a schematic top view of the inventive kitchen apparatus  2 . 
           [0025]      FIG. 3  is a perspective view of the inventive kitchen apparatus  2 . 
           [0026]      FIG. 4  is a schematic partial side view of the inventive kitchen apparatus  2 . 
           [0027]      FIG. 5  is a schematic top view of the inventive kitchen apparatus  2 . 
           [0028]      FIG. 6  is a schematic partial side view of the inventive kitchen apparatus  2 . 
           [0029]      FIG. 7  is a perspective view of an embodiment  10  of an ingredient holding and dispensing module assembly provide by the present invention. 
           [0030]      FIG. 8  is an elevational side view of the ingredient holding and dispensing module assembly  10 . 
           [0031]      FIG. 9  is a perspective view of an embodiment  14  of a preparation module assembly used in the inventive kitchen. 
           [0032]      FIG. 10  is a sequential illustration of the preparation assembly  14  in its loading, cooking, serving, and cleaning orientations. 
           [0033]      FIG. 11  is a perspective view of an alternative embodiment  100  of the preparation module assembly. 
           [0034]      FIG. 12  is a perspective view of an alternative embodiment  200  of the inventive kitchen. 
           [0035]      FIG. 13  is a perspective view of a linear array of ingredient holding and dispensing module assemblies  204  used in the inventive kitchen apparatus  200 . 
           [0036]      FIG. 14  is a perspective view of a lower dispenser portion of a holding and dispensing assembly  204 . 
           [0037]      FIG. 15  is a perspective view of the inventive kitchen apparatus  200 . 
           [0038]      FIG. 16  is a perspective view of a linear sliding transfer assembly  206  used in the inventive kitchen apparatus  200 . 
           [0039]      FIG. 17  is a perspective view of a transfer cup assembly  228  used in the sliding transfer assembly  206 . 
           [0040]      FIG. 18  schematically illustrates an alternative embodiment  300  of the inventive kitchen apparatus. 
           [0041]      FIG. 19  schematically illustrates an alternative embodiment  400  of the inventive kitchen apparatus. 
           [0042]      FIG. 20  schematically illustrates an alternative embodiment  500  of the inventive kitchen apparatus. 
           [0043]      FIG. 21  schematically illustrates an alternative embodiment  600  of the inventive kitchen apparatus. 
           [0044]      FIG. 22  schematically illustrates an alternative embodiment  700  of the inventive kitchen apparatus. 
           [0045]      FIG. 23  illustrates a programmed control architecture for automating and controlling the inventive kitchen  2 . 
           [0046]      FIG. 24  is an elevational front view of a liquid dispensing module  45 . 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0047]    An embodiment  2  of the inventive automated kitchen apparatus is illustrated in  FIGS. 1-6 . The inventive kitchen apparatus  2  preferably comprises an upper section  4  and a lower section  6  which is positioned below the upper section  4 . The upper section  4  preferably comprises (a) circular upper section support base  8  and (b) a plurality of ingredient holding and dispensing module assemblies  10  which are arranged on the upper section support base  8  in a circular array. The lower section  6  preferably comprises (a) a circular lower section support base  12  and (b) a plurality of preparation module assemblies  14  which are arranged in a circular array on the lower section support base  12 . 
         [0048]    The upper dispensing modules  10  house the various raw ingredients such as meats, vegetables, carbohydrates, fruit, sauces, etc. used in preparing the meals. 
         [0049]    Each of the preparation module assemblies  14  includes a preparation pot  15 . As viewed from above in  FIG. 2 , the circular array of preparation module assemblies  14  is positioned radially outward on the lower section support base  12  such that all or at least a portion of the preparation pot  15  of each cooking module assembly  14  is positioned radially beyond the outer perimeter  16  of the upper section support base  8 . This allows the raw ingredients contained in the upper dispensing modules  10  to be dropped or otherwise dispensed downwardly from the dispensing modules  10  into the lower pots  15 . 
         [0050]    In order to allow the ingredient dispensing modules  10  to be repositioned for selectively dispensing the ingredients contained therein into any of the preparation pots  15 , the upper section support base  8  operates as a turntable which can be rotated relative to the lower section  6 . A rotation assembly for the upper section support base  8  is illustrated in  FIGS. 4-5  wherein: the upper section support base  8  is mounted on the upper vertical end of a rotatable support shaft  18 ; a drive pulley  20  is positioned on the support shaft  18 ; and the drive pulley  20  is linked to a drive motor  22  by a timing belt  24 . An incremental encoder (not shown) located on the shaft of the drive motor  22  tracks the position of the upper section support base  8 . Position control for the upper section support base will preferably be implemented in the software for the system&#39;s main microcontroller  26  discussed below. 
         [0051]    Alternatively, it will be understood that the support shaft  18  can be directly driven for rotating the upper section support base  8 , or can be indirectly driven in an alternative manner. In addition, it will be understood that even further alternatives can be implemented wherein, for example: (a) the lower section support base  12  can be mounted and driven for rotation with respect to the upper section  4 ; (b) the upper section  4  and the lower section  6  can each be stationary with an ingredient transfer assembly rotatably mounted therebetween; (c) the upper section support base  8  and the lower section  6  can each be stationary with the dispensing modules  10  mounted for rotation on the upper section support base  8 ; or (d) the upper section  4  and the lower section support base  12  can each be stationary with the preparation module assemblies  14  mounted for rotation on the lower section support base  12 . 
         [0052]    Each upper dispensing module assembly  10  can hold a meat, vegetable, carbohydrate, fruit, or other ingredient, or a mixture thereof, and is operable to for dispensing the ingredient into the preparation pots  5 . Each dispensing module  10  preferably includes a clear container  28  for visibly holding the ingredient. Similar to a cereal dispenser, the container  28  preferably comprises: an open or openable top  30 ; a back wall  31  having a lower portion  32  that slopes downwardly in a forward direction to funnel the ingredient into a forward bottom discharge opening  34  of the container  28 ; and an interior plate  36  attached to a front wall  38  of the container  28 . The interior plate  36  slopes downwardly and rearwardly toward the sloped lower portion  32  of the back wall  31  and further assists in promoting the downward flow by gravity of the ingredient into the bottom discharge  34  of the container  28 . 
         [0053]    Each dispenser module  10  preferably also comprises: a dispensing tray  40  which is slideably positioned beneath the bottom discharge opening  34  of the container  28  for receiving and dispensing a controlled amount of the ingredient. A linear actuator  42  comprising a DC motor  44  which drives a lead screw  46  which is connected to the tray  40 . The linear actuator is operable for pulling the tray  40  rearward for loading the tray  40  with the ingredient and pushing the tray  40  forward for dispensing the ingredient from the tray  40  into a preparation pot  15 . In order to prevent jamming, as the linear actuator  42  pushes the tray  40  forward for dispensing the ingredient, a horizontal spinning blade  48  cuts oversized pieces of the ingredient projecting from the top of the tray  40 . The horizontal blade  48  is driven by a small DC motor  47  mounted on the exterior of the front wall  38  of the container  28 . 
         [0054]    An alternative dispensing module  45  for dispensing oils, sauces, creams or other liquid or flowable semi-liquid ingredients into the preparation pots  15  is shown in  FIG. 24 . The alternative liquid dispensing module  45  comprises: a clear container  47  in which a bag  49  containing the liquid or semi-liquid ingredient is placed; a flow spout  51  to which the bag  49  is connected and which projects through the front wall  53  of the container  47 ; a movable base plate  55 , inside the container  47  and beneath the bag  49 , which can be selectively raised and lowered; and an electric or other actuator having a piston or operating shaft  57  which acts against the bottom of the movable base plate  55  to move the base plate  55  upward in set increments to thereby squeeze the bag  49  sufficiently to cause the desired amount of the liquid or semi-liquid ingredient to flow out of the spout  51 . The upward displacement of the base plate  55  is controlled at a rate which causes all of the flow of the ingredient from the spout  51  to fall into the preparation pot  15 . 
         [0055]    Each preparation module assembly  14  preferably comprises (a) two vertical support legs  52  and  54  having lower ends  56  and  58  which are mounted on the lower section support base  12  of the inventive kitchen  2  and (b) a support frame  60  for the preparation pot  15  which is mounted between the vertical support legs  52  and  54 . A drive shaft  62  extends from the rearward end of the preparation pot  15  and is rotationally mounted in the support frame  60  so that the preparation pot  15  can be turned about a rotational (primary) axis  64  when the pot  15  is being used for mixing, or for both cooking and mixing, and when the pot  15  is being cleaned. In addition, the support frame  60  is gimbaled or otherwise rotationally mounted between the support legs  52  and  54  so that the support frame  60  and the preparation pot  15  can be rotated about a secondary axis  65 . The secondary axis  65  for the pot support frame  60  is perpendicular to the rotational primary axis  64  of the pot  15 . 
         [0056]    The preparation module assembly  14  also preferably comprises: (1) a DC motor  66  which is mounted in the support from  60  and is linked to the drive shaft  62  of the preparation pot  15  by gears  68  and  70  or by a belt and pulley arrangement for turning the pot  15  about the primary axis  64  and (2) a burner  72  secured by the support frame  60  outside of the substantially cylindrical side wall  74  of the of the pot  15  such that the burner  72  will preferably be positioned substantially beneath the pot  15  when the pot is used for cooking. 
         [0057]    It will be understood, however, that (a) the burner  72  can be positioned at any other desired position or orientation adjacent to the pot  15  when the pot  15  is in its cooking position, (b) the preparation module assembly  14  can be operated with the burner turned off when used for mixing a salad or other non-cooked meal or entree, and (c) some or all of the preparation module assemblies can be constructed without burners  72  for mixing salads or other non-cooked products. 
         [0058]    Consequently, the preparation module assembly  14  comprises a preparation pot  15  that spins around its primary axis  64 , and gimbals between a desired set of orientations to achieve required tasks. The cooking pot  15  is preferably gimbaled to these desired orientations by a stepper motor  76  which is secured to the stationary support leg  54  and is operably linked to the cooking pot support frame  60  by a drive gear arrangement  78  or by a belt and pulley. 
         [0059]    The four rotational positions of the cooking module assembly  14  for a full mixing and/or cooking and cleaning cycle are illustrated in  FIG. 10 . In its initial loading orientation  80 , the rotational primary axis of  64  of the preparation pot  15  is preferably pointing vertically upwards, or can be at any other desired loading orientation, so that raw ingredients can be dropped into or otherwise placed in the cavity  67  of the pot  15 . After the pot  15  has been loaded with all of the ingredients needed for the particular meal selected, the pot  15  gimbals to a cooking and/or mixing orientation  82 , preferably facing the consumer, which is preferably in a range of from about 60° to 90° from vertical. When the pot  15  is moved to the cooking and/or mixing orientation  82 , the pot  15  begins to spin about its primary axis  64  and, when cooking, the burner  72  is automatically ignited. To assist in retaining the ingredients in the cooking pot  15  when the pot  15  is moved to the cooking and/or mixing orientation  82 , the forward end  84  of the pot  15  tapers inwardly so that the diameter of the forward opening  86  of the pot  15  is less than the inside diameter of the remainder of the cavity  67  of the pot  15 . 
         [0060]    In addition, the pot  15  preferably includes a mixing fin  90  which extends longitudinally through the interior of the pot  15  along the interior side wall  92 . As the ingredients are tumbled in the pot  15  when mixing or both cooking and mixing, the ingredients are contacted, disrupted and mixed by the longitudinal fin  90 . The longitudinal mixing fin  90  projects radially inward from interior side wall  92  into the cavity  67  of the pot  15  a distance which is preferably in the range of from about 1 cm to about 6 cm. 
         [0061]    When the cooking and/or mixing operation is complete, the pot  15  gimbals to a serving orientation  94  which is preferably from about 120° to about 180°, more preferably about 160° from vertical so that the food will fall onto a plate or into a bowl, carton or other receptacle for eating. At this point, if it is necessary to mix or both cook and mix more ingredients to complete the meal, the pot  15  is returned to its initial loading orientation  80  and the loading, cooking and serving steps can be repeated. If the meal is complete, the pot  15  gimbals to a cleaning orientation  96  which is preferably in the range of from about 180° to about 300°, more preferably about 270° from vertical, where the interior of the pot  15  is sprayed with an aqueous cleaning solution and rinsed while spinning. 
         [0062]    The interior cavity  67  of each preparation pot  15  will preferably be lined with Teflon or other non-stick cooking material. Also, as illustrated in  FIG. 11 , the contacting surface  93  (i.e., the leading surface in the direction of rotation  95  of the pot  15 ) of the longitudinal mixing fin  90  used in each pot  15  can be a straight surface as illustrated in  FIG. 9  or a curved surface as illustrated in  FIG. 11  which preferably extends from the interior surface  92  of the cavity  67  at an angle which is angled away from the direction of rotation  95  of the pot  15 . As illustrated in  FIG. 11 , the lateral cross-section of each mixing fin  90  extending from the interior wall  92  of the cavity  67  of the pot  15  toward the center of the pot  15  will preferably have an inverted V shape wherein the sides of the inverted V can be straight or curved. 
         [0063]    An alternative embodiment  100  of the preparation module assembly is illustrated in  FIG. 11 . In the alternative cooking module assembly  100 , the gas burner  72  described above is replaced with a safer and more efficient induction stove  102 . In this embodiment, the cooking pot  15  is preferably formed of stainless steel so that, by creating a rapidly changing magnetic field using the table top induction element  102  positioned beneath or otherwise adjacent to the side wall of the stainless steel pot  15 , eddy currents are induced in the metal, cause the cooking pot  15  to heat up quickly. 
         [0064]    Each preparation module assembly  14 ,  100  preferably also includes temperature and weight sensors in order to implement feedback control. For sensing temperature, the preparation module assembly  14 ,  100  preferably includes an infrared temperature sensor, located behind the pot  15  when the pot  15  is in its cooking orientation  82 . For sensing the weight of the ingredients, load cells can be used, for example, as will be discussed below. 
         [0065]    By monitoring the temperature of the pot  15  and the weight of the ingredients in the pot  15 , the optimal cook time can be calculated and calibrated for different ingredients by the kitchen control program. This will ensure that all meals are cooked thoroughly without being overcooked. The control program is preferably implemented in software on the system&#39;s main microcontroller  26 . 
         [0066]    For cleaning the preparation pots  15  when the pots  15  are rotated to the cleaning orientation  96 , the inventive kitchen apparatus  2  preferably includes an electric pump  106  that pressurizes heated soapy water to a pressure suitable for spray cleaning, preferably about 100 psi. A series of PVC pipes  108  and actuated valves  110  and spray nozzles  112  will control the flow of the fluid and spray the interior cavities  67  of the pots  15  when required. 
         [0067]    The overall control architecture  115  for automating and controlling the inventive kitchen apparatus  2  is illustrated in  FIG. 23 . The system&#39;s main microcontroller  26  will preferably be a PSoC 5LP microcontroller, manufactured by Cypress Semiconductor. The main advantage of this package is that it has programmable digital logic, which allows for extremely fast electronics prototyping. It also has the hardware capabilities required to control several actuators and read from multiple sensors at a fast rate. 
         [0068]    All of the actuators used in the system  26  will preferably be brushed electric motors, which will simplify the electronic systems. The motor controllers will preferably be hobbyist level motor controllers. Communication between the microcontroller  26  and the motor controllers will preferably be via a PWM signal. The sensors and the encoders will preferably communicate with the microcontroller  26  via analog signals. The closed loop control for the rotating upper section  4  of apparatus  2  and the cooking mechanism will preferably both be implemented in software as simple PID controllers. All of the electronic components will preferably be powered using a DC power source that plugs into a wall socket, with the exception of the pump  106  which will preferably be powered directly from a wall socket. The microcontroller  26  will communicate the desired pressure to the pump  106 , which will then be maintained by the pump&#39;s internal computer. 
         [0069]    An alternative embodiment  200  of the inventive automated kitchen apparatus is shown in  FIGS. 12-17 . In contrast to the rotating embodiment  2  described above, the inventive kitchen apparatus  200  is a linear embodiment which comprises: a kitchen housing  202 ; a plurality of preparation module assemblies  100 , as described above, mounted in a linear row across a forward lower portion of the housing  202 ; a plurality of ingredient holding and dispensing modules  204  mounted in a linear row across a rearward upper portion of the housing  202  (i.e., such that the dispensing modules  204  are preferably above and behind the preparation module assemblies  100 ); and a linear sliding transfer assembly  206  extending centrally across the housing  200  between the row of preparation module assemblies  100  and the row of dispensing modules  204 . 
         [0070]    The preparation module assemblies  100  used in the inventive kitchen apparatus  200  can alternatively be preparation module assemblies  14  of the type described above. The preparation module assemblies  100  or  14  operate in the same manner as describe above for kitchen  2  for receiving ingredients, mixing, cooking, and dispensing the meal or other food product, and cleaning. 
         [0071]    In  FIG. 15 , the automated kitchen  200  is shown wherein: the kitchen housing  202  also includes a lower cabinet  208 ; the upper portion  210  of the housing  202  is enclosed for refrigerating the ingredient holding and dispensing modules  204 ; and one or more ventilation hoods  205  is/are mounted above the preparation assemblies  100  for filtering and venting the vapors produced in the cooking process. 
         [0072]    The ingredient dispensing module assemblies  204  can be identical to dispensing modules  10  described above. Alternatively, as illustrated in  FIGS. 13 and 14 , each of the ingredient dispensing modules  204  will preferably comprise: (a) a clear plastic container  206  for holding an ingredient, the container  206  having a bottom delivery spout  208  of reduced size; (b) a substantially horizontally extending U-tube  210  mounted below the container  206 , the U-tube  210  having a diverging U-shaped cross-sectional shape, an open top  212  in which the bottom spout  208  of the container  206  is received, and an open forward (discharge) end  214 ; (c) an auger  216  positioned in the bottom of the U-tube  210 ; (d) a rearwardly extending, rotatably mounted drive shaft  218  for the auger  216  having a pulley  220  or a gear mounted on the rearward end thereof; and a stepper motor  222  mounted for engaging the auger drive shaft  218  by a belt or gear arrangement. The stepper motor  222  is operable for rotating the auger  216  by an amount to cause the auger  216  to discharge a set quantity of the ingredient from the open forward end  214  of the U-tube  210 . 
         [0073]    As shown in  FIGS. 16 and 17 , the linear sliding transfer assembly  206  used in the inventive kitchen  200  preferably comprises: a slide rail  224  which extends laterally across the kitchen housing  202 ; a sliding transfer cup carrier  226  which is mounted for side-to-side sliding movement on the slide rail  224 ; and one or more, preferably a plurality, of transfer cup assemblies  228  which are mounted on and carried by the sliding carrier  226 . The automated sliding movement of the sliding carrier  226  on the slide rail  224  is preferably accomplished using a timing belt and pulley driven by a stepper motor. 
         [0074]    Each of the transfer cup assemblies  228  preferably comprises: an attachment bracket  230  for attaching the transfer assembly  228  to the top of the sliding carrier  226 ; a stepper motor  232  mounted on the attachment bracket  230 ; a cup pivoting arm  234  which is secured to and extends radially from the drive shaft  236  of the stepper motor  232 ; a cup holder ring  238  secured or otherwise provided on the distal end pivoting arm  234 ; and an ingredient transfer cup  240  which is removably positioned in the cup holder ring  238 . A load cell is preferably also included in the pivot arm assembly  234  of the transfer cup assembly  228  in order to determine that actual weight amount of the ingredient placed in the transfer cup  240  so that the cooking time, temperature, other parameters, or a combination thereof for the meal or other food product can be automatically adjusted if necessary to ensure that the meal or other food product is neither under nor overcooked. 
         [0075]    In order to transfer the ingredients for a selected meal from the ingredient dispensing modules  204  to the cooking pot  15  of one of the cooking module assemblies  100 , the belt drive is actuated to slide the carrier  226  on the slide rail  224  so that one of the transfer cup assemblies  228  is positioned in front of and below a desired ingredient dispensing module  204 . Either before, after, or while being moved laterally to the desired ingredient dispenser  204 , the transfer cup assembly  228  in question will be automatically actuated to cause the stepper motor  232  thereof to pivot the cup pivoting arm  234  and the transfer cup  240  of the assembly  228  to a rearward horizontal receiving position  242  which is preferably about 90° from vertical. This places the transfer cup  240  in an upright receiving position beneath the ingredient discharge  214  of the ingredient dispensing module  204 . 
         [0076]    The ingredient dispensing module  204  is then automatically activated to dispense (i.e., to drop) the preset amount of the ingredient in question into the transfer cup  240 . Subsequently, the belt drive is again actuated to slide the carrier  226  so that the loaded transfer cup assembly  228  is positioned above and behind the preparation pot  15  of a preparation module assembly  100  which has been automatically selected for cooking and/or mixing the meal. Either before, during, or after the arrival of the loaded transfer cup assembly  228 , the preparation module assembly  100  in question will be automatically actuated to pivot the pot  15  thereof to its upward loading orientation  80 . 
         [0077]    Thus, after the loaded transfer cup assembly  228  arrives and the pot  15  is placed in its upward loading orientation  80 , the loaded transfer cup assembly  228  will be automatically actuated to cause the stepper motor  232  thereof to pivot the cup pivoting arm  234  and the transfer cup  240  of the assembly  228  to a forward horizontal dumping position  244  which is preferably about 90° from vertical. This causes the ingredient contained in the transfer cup  240  to fall into the pot  15 . Moreover, to prevent the ingredient from falling out of the transfer cup  240  as the cup is pivoted 180° from its rearward receiving position  242  to its forward dumping position  244 , the speed of the pivoting movement will be sufficient to ensure that the ingredient is retained in the transfer cup  240  by centrifugal force. 
         [0078]    Another alternative embodiment  300  of the inventive automated kitchen is schematically illustrated in  FIG. 18 . The inventive kitchen  300  is substantially the same as kitchen  200  except that one or more dispenser modules  45  of the type described above for dispensing liquid or semi-liquid ingredients have been added to and/or have replaced one or more of the ingredient dispenser modules  204 . 
         [0079]    Another alternative embodiment  400  of the inventive automated kitchen is schematically illustrated in  FIG. 19 . The inventive kitchen  400  is substantially the same as kitchen  300  except that each of the dispenser modules  204  and  45  will have its own assigned transfer cup  402  and the linear sliding transfer assembly  404  of kitchen  400  will instead operate to slide to the desired transfer cup  402 , carry the loaded cup  402  to the correct preparation module  100 , transfer the ingredient in the cup  402  to the preparation pot  15  of the preparation module  100 , and then return the cup  402  to its corresponding dispenser  204  or  45 . 
         [0080]    Another alternative embodiment  500  of the inventive automated kitchen is schematically illustrated in  FIG. 20 . The inventive kitchen  500  is substantially the same as kitchen  200  except that one or more dispenser modules  45  for dispensing liquid or semi-liquid ingredients are instead added directly to the linear sliding transfer assembly  502  of kitchen  500  for sliding the dispenser modules  45  to the appropriate preparation modules  100  and then directly dispensing the liquid or semi-liquid ingredients from the dispensers  45  into the preparation pots  15 . 
         [0081]    Another alternative embodiment  600  of the inventive automated kitchen is schematically illustrated in  FIG. 21 . The inventive kitchen  500  is substantially the same as kitchen  500  except that one or more dispenser modules  204  is/are also mounted on the linear sliding transfer assembly  602  of kitchen  600 . 
         [0082]    Another alternative embodiment  700  of the inventive automated kitchen is schematically illustrated in  FIG. 22 . The inventive kitchen  700  is substantially the same as kitchen  300  except that the sliding transfer assembly  702  of the kitchen  700  uses a continuous track loop  704  around which the transfer cup carrier and cups  240  rotate. 
         [0083]    It will also be understood that the rotating kitchen  2  described above can be modified such that, similar to kitchen  200 , both the preparation module assemblies  14  and the dispensing modules  10  of the kitchen  2  remain in fixed position and a transfer assembly similar to the sliding transfer assembly  206  used in kitchen  200  slides or rotates in a continuous or non-continuous circular or semi-circular path between the dispensing modules  10  and the preparation modules  14  for transferring ingredients from the dispensing modules  10  to the preparation pots  15 . 
         [0084]    Thus, the present invention is well adapted to carry out the objects and attain the ends and advantages mentioned above as well as those inherent therein. While presently preferred embodiments have been described for purposes of this disclosure, numerous changes and modifications will be apparent to those in the art. Such changes and modifications are encompassed within this invention as defined by the claims.