GB2547286A

GB2547286A - Production system for individual freshly cooked meals

Info

Publication number: GB2547286A
Application number: GB1603624.6A
Authority: GB
Inventors: Naslenas Virgil
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-03-02
Filing date: 2016-03-02
Publication date: 2017-08-16
Anticipated expiration: 2036-03-02
Also published as: GB2547286B; GB201603624D0

Abstract

A food preparation system 1 comprises a plurality of ingredient delivery stations 310 to deliver ingredients to a cooking vessel receiving area 301. A cooking vessel 200 is transferred from the cooking vessel receiving area 310 to a further ingredient delivery station 311 and then to one of a plurality of heating stations 101. The vessel 200 is then transferred to a service position 75 where the cooked ingredients are transferred to a serving vessel. The cooking vessel 200 is transferred between the ingredient delivery station 310, the heating station 101, the user station 76, and the service position 75 by automated transfer means (20, 30, 50, Fig. 1). The system may also have an automated cooking vessel washing station (80, 90, Fig. 1). The automated transfer means may be a robotic arm (20, Fig. 1). An automatic controller may operate the system 1 by receiving recipe data from a memory. The system is particularly suitable for the simultaneous production of individually specified dishes.

Description

PRODUCTION SYSTEM FOR INDIVIDUAL· FRESHLY COOKED MEALS Field of the Invention

The present invention relates to commercial scale food production systems. In particular, the invention relates to a semi-automated system for the production of individually customised dishes, produced according to a customer's individual requirements.

Background to the Invention

In any form of catering operation, operators of a catering system consistently need to balance customer requirements with cost and practicality of operation. Commercial pressures continue to mount, in that cost of manual labour increases, the number of skilled chefs available in the labour market reduces and consumers become increasingly demanding in terms of the level of cost, quality, traceability of ingredients, specific dietary requirements to deal with allergies or cultural preferences, or for other reasons.

The benefits of eating fresh, unrefined, plant-based food, while consuming appropriate amounts of the least damaging types of fat and unprocessed salt are well documented. It is well known that fresh vegetables, when cooked from raw and eaten with minimal delay thereafter, will retain the greatest amount of nutrients and fiber. The same can apply for pulses, seeds, rice etc. Increasingly, consumers are exploring and embracing more natural, organic, vegetarian or vegan food for various reasons. Consumers increasingly wish to see or understand the origins of, and the processes behind, the food which they are eating, to better appreciate their food and the ingredients from which it is made. Sustainability of the food chain is also of importance to consumers and so they are increasingly interested in the sustainability of both production processes at the raw ingredient stage, but also the methods and systems employed in the creation of a dish from raw ingredients. With the quickening pace of modern life, consumers appear to increasingly appreciate greater involvement of technology in acquiring their food, particularly where that saves valuable time, and allows a more discerning consumer base to choose increasingly customized dishes made according to bespoke recipes chosen by the consumer.

Perhaps with the exception of more expensive, high end restaurants or markets and in skilled personal or domestic cooking, the most common way of serving hot food in a mass market catering industry is by batch cooking ingredients, chilling, refrigerating (for a maximum of 72 hours under current European laws) and reheating prior to serving. Batch cooking and keeping batch cooked food hot in waiting for a consumer is also a common practice.

It is possible to produce dishes with acceptable appearance and taste in these ways. Less evident can be the effects of these production techniques on nutritional value of the food. Difficulties arise in that only rough nutritional values can be known when cooking in these ways. Further, nutrients can be degraded and can lose their most beneficial nutritional effects during these long and drawn out processes of cooking, optional chilling, and hot storing, a long time after the ingredients were originally cooked.

Further, it can be increasingly difficult to safely control whether allergenic ingredients are present, or whether certain ingredients, E-numbers, or quantities of those have been used in a particular dish. Consumers increasingly want to know detailed information around nutritional content, while cultural or religious requirements may result in an increasing need to understand the ingredients or origins of ingredients in a dish. Increasingly, legislation in the catering industry requires not only packaged manufactured food to show information on allergens contained in the food, but also even outlets selling unpackaged or freshly prepared food must provide allergy information for their products. This means that tight controls on what ingredients are or are not present in a freshly made dish must be put in place by catering outlets. The requirement to 'provide allergy information means that major catering companies have to date had to introduce systems which use a written record of all ingredients used in all dishes produced on site, and the producers must strictly adhere to the set written recipes in the predefined recipe pool. This procedure is very time consuming and it also depends entirely on the human chefs following the written recipes. Regulatory professionals such as Health and Safety or Environmental Health Officers will require all of these details to be written out and recorded clearly. However, human error, or even intentional departure from a written recipe to provide a perceived improvement to a dish, can reduce the effectiveness of these controls based upon written procedures.

Further, catering is almost inevitably an industry where peaks and troughs in demand can result in variations in time pressure on staff, which can cause variations in the ability of staff to produce dishes to a consistent level of quality. Automation systems exist, for the mass production of ready meals, and also attempts have been made to reproduce chefs' movements and actions in robotic systems. However, complex robotic systems reproducing human actions can be very expensive to develop, purchase and implement, and it can still be difficult for a robotic chef to fully reproduce certain actions which a professional chef can carry out as a matter of course. Further, checking of taste and smell of a dish is a skill which comes naturally for a professional chef, but is difficult and expensive to implement in automated systems. There is therefore a need for improvement over prior known systems and methods.

Summary of the Invention

The inventor of the present invention has recognised the benefits of automation of certain practices in a professional kitchen, but also that in today's economic and technological environment, it can still be advantageous for a professional chef to carry out certain steps in the food production process. By appropriate combination of automation systems and manual intervention, high quality, personalised food can be produced, with a human touch, while addressing the need to automate certain steps in the food production process to improve both consistency and traceability of use of ingredients, safety for the operators involved, and overall economic efficiency of the production system.

The system of the present invention provides a machine assisted food production system which places the control of recipes used, ingredients used and nutritional information under the control of an automated system, to ensure safety of the end customer and to remove human error, or deliberate variations, in choice of ingredients or portioning. Simultaneously, the human operators or professional chefs incorporated in the system are allowed to focus on quality and presentation and refinement of the overall dish and the customer experience. Technology is implemented to carry out the more repetitive tasks such as heavy lifting and information processing, while human interaction can play a part in the more subtle steps of flavouring or seasoning and presentation.

The system allows customers to order tailor-made dishes according to their specification, safe in the knowledge that the content of their meal is controlled by an automated system, while the presentation and cooking of the meal is managed and executed by a suitably qualified human operator.

The potential for cross-contamination is reduced by the single use of the cooking equipment and utensils for each dish made, and preferably by use of the fully automated washing cycle after each use. The resulting reduction in scope for human error in deviation from agreed recipes is key and is also in line with the developments laws on consistent use of fixed recipes in commercial catering environments.

The invention combines efficiencies required for high volume catering, with complete control for the customer over nutrition, energy and ingredient content of their meal. Further, efficiency in use of ingredients is improved, since only the required quantities for each dish are used for cooking, resulting in less wastage of energy, by cooking unused ingredients, along with reduced wastage of the ingredients themselves.

According to the invention there is provided a food preparation and cooking system configured for the simultaneous production of a plurality of individually specified dishes, the system preferably comprising one or more of: a plurality of ingredient delivery stations, each configured to deliver at least one portion of one or more ingredients to a cooking vessel receiving area; a plurality of heating stations, comprising a heat source and a cooking vessel receiving area for receiving and heating the cooking vessel; at least one user station comprising a cooking vessel receiving area and one or more ingredient storage and provisioning devices; and at least one service position, for receiving cooked ingredients and transferring them to a serving vessel, and comprising one or more ingredient storage and provisioning devices; and automated cooking vessel transfer means, configured to transferring a cooking vessel from at least a first ingredient delivery station, to at least one user station, to at least one heating station to cook one or more ingredients in the cooking vessel, and to remove the cooking vessel from the heating station to move it to the service position.

At least one of the ingredient portioning stations may comprise weighing means and dispensing means. The dispensing means may comprise a door.

The system may further comprise an automated cooking vessel washing station, wherein the automated cooking vessel transfer means is preferably configured to transfer one or more cooking vessels between the automated cooking vessel washing station and one or more of the ingredient portioning stations and/or one or more of the heating stations and/or the service position.

The automated cooking vessel transfer means may comprise linear or translational transfer means for transferring a cooking vessel in a linear or translational fashion, preferably substantially parallel to a row of the ingredient portioning stations, to receive ingredients from one or more of the ingredient portioning stations. The automated cooking vessel transfer means may comprise a robotic arm. The robotic arm may be mounted to rotate about a rotational axis on a robotic arm base.

The linear or translational transfer means may be configured to transfer cooking vessels into and out of the reach of the robotic arm to reach one or more parts of the system disposed out of the reach of the robotic arm.

At least one of the ingredient portioning stations and/or at least one of the user stations may be disposed so as to be outside of the reach of the robotic arm.

The vessel heating stations may be arranged so as to be reachable by the robotic arm to place cooking vessels thereon.

The cooking vessel washing station may be disposed such that the robotic arm can place at least one cooking vessel into, and take at least one cooking vessel out of, the cooking vessel washing station.

The system may further comprise at least one solid ingredient dispensing station and at least one liquid ingredient dispensing station.

The liquid ingredient dispensing station may comprise a peristaltic pump and/or a syringe mechanism for dispensing more viscous fluids such as ghee and coconut oil.

The solid ingredient dispensing station may comprise a container, and a wheel comprising radially extending voids, located between radially extending wheel members, for transferring solid ingredients out of the container by rotation of the wheel.

The system may further comprise an automated fragile ingredient dispensing device, for tipping fragile ingredients into a cooking vessel, preferably by rotation of a container containing the ingredients.

The system may further comprise automated grinding means for grinding ingredients on demand to dispense them into a cooking vessel.

The system may comprise automated control means configured to automatically control one or more of: the ingredient portioning stations to deposit ingredients into a cooking vessel presented thereto by the cooking vessel transfer means; the heating stations to heat a cooking vessel placed thereon by the cooking vessel transfer means; the cooking vessel transfer means to transfer one or more cooking vessels between at least one of the ingredient portioning stations, and at least one of the heating station, the at least one serving station, and at least one cooking vessel washing station.

The automated control means may be further configured to control the automated cooking vessel washing station to wash cooking vessels placed therein by the cooking vessel transfer means.

The system may comprise a user data receiving means configured to receive recipe selection data from a user, the system configured to prepare a dish according to the recipe selection data received from the user.

The user data may be received from a customer data input device connected to the system.

The user data input device may be one or more of a mobile communications device, a user terminal located near and connected to the automated control means, or a remote terminal, such as a computer, connected to the system via remote data communications means, such as the internet.

The system may comprise an operator interface, the system configured to display instructions to an operator on the operator interface, the instructions relating to a dish being prepared by the system in a cooking vessel presented to the operator by the cooking vessel transfer means. A method of operating a system for the preparation of food dishes may be carried out in an automatic controller, and may comprise any or all of the steps of: receiving recipe data from a recipe data memory; operating the cooking vessel transfer means to present the cooking vessel to at least a first ingredient delivery station; operating the at least one ingredient delivery station to deliver at least one ingredient to the cooking vessel; operating the cooking vessel transfer means to transfer the cooking vessel to at least one heating station; heating the cooking vessel at the heating station; and operating the cooking vessel transfer means to transfer the cooking vessel to at least one user station.

The method may further comprise operating the cooking vessel transfer means to transfer the cooking vessel to at least one washing station. The method may further comprise operating the washing station to wash at least one cooking vessel. The method may further comprise agitating the cooking vessel on the heating station via automated cooking vessel agitation means.

The method may further comprise operating an automated cooking vessel transfer means to rotate a cooking vessel through substantially 180 degrees to open and/or close a hinged lid of the cooking vessel by action of gravity.

Rotating the cooking vessel may comprise rotating the vessel about an axis of a hinge of the lid by between around 90 to 180 degrees to open the lid for subsequent washing at a vessel washing station and/or to close the lid for storage of the vessel in an upright position.

Rotating the cooking vessel may comprise rotating the vessel about an axis of a hinge of the lid by between around 180 degrees to 360 degrees to open the lid and place the vessel with an opening facing upwards to receive ingredients for food preparation.

The method may further comprise using the same cooking vessel and utensil combination together for all operations in the preparation of a first dish according to a first recipe, and washing the cooking vessel and the utensil at the end of the preparation cycle.

The method may further comprise re-using the cooking vessel and the utensil for preparation of a further dish according to a further recipe together and washing the vessel and the utensil together once more. A plurality of cooking vessels may be used to produce a plurality of dishes, each vessel and its corresponding utensil being washed in the automatic cooking vessel washing machine before being used to cook a further dish.

The recipe data may comprises base recipe data and custom recipe option data selected by a customer.

The method may further comprise receiving, at a recipe data storage means, recipe option data input to a customer input device by a customer.

The method may further comprise any or all of: operating the cooking vessel transfer means to deliver a cooking vessel to a plurality of ingredient delivery stations, operating the ingredient delivery stations to deliver one or more solid ingredients to the cooking vessel at a first ingredient delivery station, to deliver one or more flowable ingredients to the cooking vessel at a second ingredient delivery station, operating the cooking vessel transfer means to deliver the cooking vessel to a heating station, automatically operating the heating station to heat the cooking vessel, and operating the automated cooking vessel transfer means to deliver the cooking vessel from the heating station to a serving station.

Brief Description of the Drawings

Embodiments of the present invention will now be described, by non-limiting example only, with reference to the accompanying drawings, in which:

Figure 1 shows a plan view of a system in accordance with an embodiment of the invention;

Figure 2 shows the system of Figure 1 including examples of cooking vessels in the system;

Figure 3 A to 3E illustrate further details of the system of Figures 1 and 2;

Figure 4 illustrates further details for a system according to Figures 1 to 3E;

Figures 5A to 5E illustrate an ingredient dispensing system suitable for use in the system of Figures 1 to 4;

Figure 6 shows a cross section through an embodiment of an ingredient portioning and delivery station suitable for use in the system of Figures 1 to 4;

Figures 7A to 7E show a cooking vessel in use in the system of Figures 1 to 4;

Figure 8 shows detail of an ingredient dispensing station of the system of Figures 1 to 4; and

Figures 9A to 9D illustrate preferred a method of creating a meal to order using an automated food production system.

Detailed Description of Embodiments of the Invention

Figure 1 shows a system according to an embodiment of the invention. The system 1 is generally configured so that a plurality of heating stations 101 can be accessed by a cooking vessel transfer means. The cooking vessel transfer means of the system are preferably generally configured so that cooking vessels can be transferred between, around, toward and away from the heating stations 101 and to other stations of the system 1 s will be described in greater detail in the following. The illustrated heating stations 101, form a substantially central area of the system, while other stations are located around an outer perimeter of the heating stations. The heating stations 101 are generally formed in an array. The array may have one or more rows, 120, 121 and one or more columns 110 to 115. These are preferably arranged in a substantially two-dimensional array, in a substantially horizontal configuration. However, it will be appreciated that where a suitable cooking vessel transfer means is used, the array of heating stations may be arranged in any horizontal or vertical two dimensional array, as required according to space and accommodation constraints or other factors. The cooking vessel transfer means may comprise a plurality of separate elements. A first element of the cooking vessel transfer means may be provided in the form of a robotic arm 20. The robotic arm 20 comprises a base 21 and a manipulator portion 25. The manipulator portion 22 may be connected to the base 21 by one or more articulated elements 22 and 23. One or more of the articulated elements 22 and 23 may be rotatable relative to the base 21 around at least one axis, and may preferably be rotatable about the base around a plurality of axes, for example, a horizontal axis and a vertical axis. Articulated elements 22 and 23 may be rotatable relative to one another around an axis of a joint portion 24.

Transfer means 20 may therefore be provided generally in the form of a robotic or articulated arm. Such robotic devices can come in a number of known forms and these include a cartesian or linear robot, which has three principle axis of control, which are all linear and so the robot moves by linear movement rather than by rotation. Articulated robots such as the one illustrated in Figure 1 are generally formed with rotary joints, can be known as an industrial robot, and can have a relatively large reach from a single mounting point such as the base 21. Other robots available are cylindrical robots, spherical robots, anthropomorphic robots, all of which are readily available and could be implemented in the present system. However, for illustrative purposes, the articulated robot 20 is provided to show how the present invention may be implemented in a particular embodiment. An exemplary envelope of greatest reach 210 of the robot arm 20 is illustrated in Figure 1 as a circle 210. However, it will be appreciated that in view of the different robotic transfer means available, the envelope of greatest reach may have a different, non-circular form and may, for example, have the form of a square or rectangle in the case of a cartesian robot. However, in any of these cases, combination of robotic transfer means, configured to move cooking vessels in any direction, in 3-dimensional space, with linear transfer means may prove beneficial. This is because the combination can still extend the overall reach of the system beyond the reach of the robot or articulated vessel transfer means 20. The linear transfer means represent a lower cost means for extending the reach of the combined sub-elements of the vessel transfer means without incurring the cost of a second or further robotic transfer means. Further, enabling the operators of the system to remain outside the reach of the robotic transfer means can improve operator safety by reducing the possibility of impact between robotic transfer means and a user.

As can be seen, one or more of the linear transfer means 30, 40, 50, may be configured such that it can transfer one or more cooking vessels into and out of the envelope of greatest reach 210 of the robotic transfer means 20. Linear transfer means 30, 40 or 50 may not need to be perfectly linear in some implementations of the system. In some cases, they may be curved on non-linear on some other way, however the common feature will be one of translation of the cooking vessel along a guide or track without the vessel needing to be lifted from the guide or track. Such items may generally be termed translational transfer means and are available for use in manufacturing and logistics systems, luggage carousels and the like. In such a manner, it is possible for the robotic transfer means 20 to carry out some of the more complex transfer applications, for example, between the linear transfer means and the heating stations 101, or toward one or more user stations arranged around the outside of the system, which will be illustrated in more detail in the following figures. A further part of the cooking vessel transfer means may include one or more linear transfer means 30. The linear transfer means 30 is generally configured to transport cooking vessels in a linear direction by linear translation of the vessel located on the transfer means 30. The system may comprise a plurality of linear transfer means 30 and 50, to permit linear transfer of cooking vessels within or around the system in a plurality of non-parallel directions. The cooking vessel transfer means may further comprise alternative forms of linear transfer means, such as a linear transfer belt 40. Different examples of linear transfer means may therefore be combined in the system. Linear transfer means 30 is primarily figured to transport a single cooking vessel along a linear path 30, which may be defined by linear tracks or other linear transfer means. Alternatively, linear transfer belt 40 can be generally configured to transport a plurality of cooking vessels in a linear direction simultaneously.

The articulated or robotic transfer means 20 can be configured, to deliver items to one or more dishwashing stations, which may be automated dishwashing devices, configured to automatically wash cooking vessels. Therefore, it is possible for the robotic cooking vessel transfer means 20 to deliver cooking vessels to one or more dishwashers 80, 90, which are illustrated in an open configuration 80 and in a closed configuration 90. In between uses, cooking vessels in the system can be automatically washed for subsequent use. A further linear transfer means which may be implemented if required is a service transport means 70, which may be configured to deliver prepared dishes from the main cooking area in the vicinity of the main articulated transfer means, away to a service area for delivery to a customer.

Figure 2 illustrates a number of different steps in the food preparation cycle which can be implemented with the system of Figure 1. The system is arranged so that it can be used in a closed-loop or cyclical manner. This means that a particular cooking vessel can be used in rotation between the different stations of the system without needing to leave the system for washing, or storage, for example. For the purposes of illustration, with regard to Figure 2, a small number of cooking vessels are shown at key positions in the cycle carried out during operation of the system. When reading the following description, it will be apparent to the reader that a greater number of cooking vessels may be present in the system, both at, and in between the positions illustrated in Figure 2.

At a first position 201, a cooking vessel may be stored in an empty and unheated state when it is not required for cooking. When an instruction is received by the system that a new dish is required to be prepared for a customer, then the cooking vessel 200 may be moved from a storage position, which may be anywhere within the reach of the cooking vessel transfer means 20, to an initial position 202 in an ingredient delivery section of the system. In the ingredient delivery section, ingredients may be automatically delivered to the cooking vessel 200.

In the particular example of an ingredient delivery section shown, the linear transfer means 30 may be used to transfer the cooking vessel 200 to one or more of a row of ingredient delivery or ingredient portioning and dispensing positions. These will be described in more detail in relation to Figure 3A and 6. Once ingredients have been portioned and delivered to the cooking vessel 200, by at least one ingredient delivery station, then the vessel can be moved to a heating station 101 for heating. Ingredients may be delivered from a first row of ingredient delivery stations located parallel to linear track 30 and may also be provided via one or more further ingredient delivery stations, such as when the cooking vessel 200 is located at position 203, as will be described in greater detail in relation to later figures.

The robotic vessel transfer means 20 can then take the cooking vessel containing ingredients from the linear transfer means 50 and place it back at one of the heating stations 101 once more as illustrated at 204.

When on the heating station, the cooking vessel is heated for a pre-defmed time and at a pre-defmed temperature via the heating station. Parameters for this heating process are selected according to the needs of each individual recipe created for each customer and can therefore include heating at different temperatures for different times, depending upon the particular recipe being carried out by the system, for a particular dish, in a particular cooking vessel. This heating process can be termed a cooking cycle and will generally involve heating the cooking vessel to a chosen temperature, holding it at one or more separate selected temperature levels for respective pre-defmed periods of time, until the ingredients are cooked according to the pre-defmed parameters for a particular recipe or customer. The cooking vessel 200 can then be transferred to the linear belt 40 for delivery to a final preparation station 75. When the cooking vessel reaches position 206, at the end of the belt 40, it may be prevented from moving further by an end stop 71. An operator at operator station 75 can then grasp the cooking vessel by its handle and can transfer the cooked contents to a serving vessel. The serving vessel can then be placed on the serving belt 70 and the cooking vessel can be placed by the user at location 207, so that it can be retrieved by the cooking vessel transfer means 20 at a suitable time in the cycle of the system, when the transfer means 20 is not occupied by other tasks relating to other cooking vessels.

On being retrieved from position 207, the transfer means 20 can transfer the cooking vessel to position 208 for washing in the automated washing machine 80, 81 or 90 for an automated washing cycle to take place. Once the vessel is suitably washed, then the vessel transfer means 20 can relocate the vessel, either to a final resting place 209 where it may rest until it is next required for preparation of a dish, or it may alternatively be transferred directly to an ingredient portioning station, such as that illustrated at position 202.

It will be appreciated that it is preferable to provide means for opening and closing a lid of the cooking vessel and this will be described in relation to later figures.

Figure 3 A illustrates greater detail of the system of Figures 1 and 2. Figure 3 A shows a plurality of automated ingredient portioning stations 310. As can be seen in the illustrated example, the ingredient portioning stations 310 are arranged in a substantially linear array in a substantially parallel manner with regard to the linear transfer means 30. The linear transfer means 30 may comprise a platform 301 configured to receive a cooking vessel such as a pan 200. Platform 301 may also comprise a guide 302, configured to substantially surround at least one side portion of the cooking vessel 200 to support and/or locate the cooking vessel as it is moved relative to the ingredient portioning stations 310. The guide 302 may be movable so that when the platform 301 reaches an end of the first linear transfer means 30 adjacent the second linear transfer means 50, it can move the cooking vessel 200 from the platform 301 of the first linear guide means to the platform 501 of the second linear guide means. The platform 501 may then present the cooking vessel to position 203 where a further ingredient delivery station 311 may deliver further ingredients to the cooking vessel. Operation of this station 311 will be described in relation to later figures. The cooking vessel transfer means, preferably via linear transfer means 50, can then move the cooking vessel to a further ingredient dispenser 312. Dispenser 312 may be configured to deliver liquid ingredients, more viscous pastes, suspensions, gels or other flowable ingredients, and may further include a seasoning station for delivering ingredients such as salt and/or pepper to season the dish. Once any required liquid or viscous ingredients and/or seasoning, as required, are delivered at station 312, the cooking vessel 200 can be transferred via the cooking vessel transfer means to a heating station, such as illustrated at position 201/204. This may be carried out by the linear transfer means 50 returning the cooking vessel to a position 203, to be retrieved via the articulated transfer means 20 and placed on a chosen one of the heating stations 101. As described earlier, the dish can then be heated and cooked and subsequently placed on the linear transfer belt 40 for delivery to operator station 75. An operator interface 331 may be provided at user station 75 and/or an operator interface 332 may be provided at user station 76. These can be configured to display to the operator details of the present and/or next orders to arrive to enable them to prepare and deliver the necessary additional ingredients to the cooking vessel and/or to perform the relevant quality checks.

At operator station 75, an operator 19 can transfer the cooked ingredients from cooking vessel 200 to a serving vessel 313, such as a bowl or plate. The serving vessel 313 may be provided with unique identifier means, such as an RFID tag, a ID or 2D barcode, or other electromagnetic or optical identifying means. A reader 314 may be provided for reading the identifying means located on the serving vessel 313. The identifier on the vessel 313 can be read by the reader 314 and since the system will know which particular dish has just been delivered to operator station 75 the system can optionally automatically register that prepared dish to the serving vessel 313. Alternatively, the operator 19 may be presented with a display of the dish which the system considers to be allocated for vessel 313 and the operator 19 can check it is the correct dish and confirm via a user interface 331 which recipe is being delivered to vessel 313. The operator 19 may apply final garnishes or seasoning or flavourings to the dish, close the serving vessel if necessary, and deliver it to linear transfer means 70 for delivery to a serving area, as illustrated by serving vessel 315.

At or near to operator station 75, there may be provided a label printer 322. Label printer 322 may be used to print labels, which may comprise a unique identifier. These labels may be provided to any container, such as a takeaway container 321 which may be substantially disposable and have a reclosable lid. The label printer could, if desired, be used to provide labels carrying unique identifiers for non-takeaway serving vessels, such as serving vessel 313, although this is not necessarily a preferred mode of operation.

An extractor system 316 may be provided. The extractor system may be located to a side of the heating stations 101, but could be placed above or below according to particular design requirements in differing implementations. A source of air may be provided substantially opposite the extractor to provide a stream of air which passes over the array 10 of heating stations 101 to blow cooking fumes or vapours towards the extractor.

It may be advantageous to allow one or more arts of the system to be separable from others to allow cleaning and maintenance. In particular, the linear transfer means 30 and the ingredient portioning systems 310 may be separated from the bank of heating stations 101, both for access to the heating stations for cleaning and maintenance. Further, the system could be operated in a manual mode if the transfer means 20 has any down time for maintenance or cleaning by placing one or more human operators at the location of linear transfer means 30, so that they can transfer cooking vessels 200 between heating stations and the ingredient delivery and operator stations. Instructions normally sent to the transfer means 20 could be displayed to a human operator graphically to enable them to transfer vessels between the correct locations manually.

Figures 3B to 3E illustrate how a handle 220 of the cooking vessel 200 can be rotated through substantially 90 degrees as the vessel 200 travels along linear or translational transfer means 30. Guide means 350 to 355 can be located adjacent the linear or translational transfer means 30. These guide means are generally stationary and act to move the handle 220 relative to the vessel 200 in a direction of arrow 370 (see Figure 3C) as the vessel is translated along the path of the transfer means 30 in a direction of arrow 360. By being located at progressively closer locations to a centreline of the transfer means 30, the handle 220 can be aligned progressively closer to the centreline of the transfer means 30 as the vessel 200 travels along it. Guide 302 ensures that the vessel 200 is located securely on the platform 301 as the vessel travels along the track 30. In this way, when the vessel arrives at a further platform 501 of a further translational transfer means 50, the handle is oriented accordingly. As shown in Figure 3E, the guide means 350 to 355 may be provided in the form on one or more projecting members which can be extended at a first height for member 350 when outside of the radius of the vessel 200, and further members 351 to 355 may remain above a height of the vessel so as to guide the handle 220 without interfering with the body of the vessel 200.

Figure 4 illustrates the system in use substantially at full capacity, since a cooking vessel 200 is provided on each of the heating stations 101. A cooking vessel is also provided at each of the ingredient delivery areas, one on linear transfer means 30, and another on linear transfer means 50. A further vessel may be in each of dishwashers 80, 81 and 90. Another vessel is illustrated at position 206 having arrived at the operator station 75 and a further vessel is located at position 207 for return to the articulated transfer means 20, so that it can deliver it to one of the dishwashers, for example. An ingredient storage and provisioning device such as a garnish rack 323 may be provided and can carry a plurality of garnishes for operator 19 to use in dressing the cooked dishes.

Figure 5A to 5E shows in more detail the ingredient delivery station 311 shown in Figure 3 A and Figure 4. One or more of the ingredient delivery stations illustrated in Figures 3 A and 4 may be configured for certain types of ingredient, such as those which are difficult for automated systems to handle, or which are more fragile. This can be implemented in the system 1 at position 311. For such ingredients, it can be beneficial to prepare them in individual portioning containers, such as containers 501, shown in plan-view and in side-view in Figure 5A.

Figure 5B shows a rack 502 which may be configured to receive a plurality of containers 501. Such a rack may be prepared in advance of service and can therefore contain a plurality of containers 501 containing a plurality of portion of different ingredients, or of the same ingredients, for delivery to a cooking vessel at station 311. Further, an operator may select a particular container 501 when a particular recipe is presented to the operator 18 on a user interface provided at and logically associated with station 311. The operator can then make sure that the ingredient required is present in one or more of containers 501 and may further operate a user interface to identify which container 501 in rack 502 should be used for the recipe in question. As illustrated in Figure 5C, the rack 502 of containers 501 can be used to provide the filled containers 501 to an ingredient delivery station 51. It may have an actuating means 52 for actuating the container 501 to deliver ingredients in the container 501 to a cooking vessel 200. This is illustrated in Figure 5D.

As can be seen in Figure 5D the actuating means 52 can rotate the container 501 about a horizontal axis as illustrated by arrow 53 toward an ingredient delivery area 54 in which the vessel 200 can be located when receiving ingredients. Therefore, in a general sense, the ingredient dispensing station can be configured to dispense ingredients into the cooking vessel 200 by rotation of the container 501 about a substantially horizontal axis. This could be termed a straight forward tipping or pouring motion.

Figure 5E shows a plan view of the ingredient dispensing station, where it can be seen that a substantially horizontal array of ingredient dispensing stations 51 can be provided and arranged to actuate an array of containers 501 which can be individually actuated to deliver ingredients to a cooking vessel 200 placed at an ingredient delivery position.

Traceability of ingredients and their containers in the system is beneficial. It can be beneficial to have containers and trays individually tagged or barcoded or provided with an RFID tag or other unique identifier means. The containers 501 illustrated in Figure 5 A can be beneficial for ingredients which are either fragile or awkwardly shaped so cannot be dispensed with other forms of ingredient dispensing means, such as those illustrated at 310 in Figure 3 A, for example, as will be described in greater detail in the following.

It is envisaged that the system described herein can be configured to deliver around 120 meals per hour. Therefore, cooking vessels would be arriving at the semi-automated operator station 311 approximately once every 30 seconds. By providing the rack 502 to contain 6 containers 501, the operator 18 has a period of around 3 minutes to load the next six containers 501 into a rack 502 for delivery to the ingredient delivery device 51. The device 51 can automatically deliver the ingredients from the containers 502 to their relevant cooking vessel 200 while the operator 18 prepares the next six containers 501. Prior to start-up of the system, the operator, or another operator, may also have prepared pre-filled containers 501 with different types of ingredients, so that the only action which operator 18 is to do during service is to select the correct containers 501 and place them in the rack 502, subsequently delivering the rack of containers 501 to the ingredient delivery device 51. The containers 501 of ingredients may be refrigerated until they are needed at operator station 76. This can help to maintain freshness of the ingredients up until a point just before they are required for cooking. The delivery station 51 may have means for reading an identifier on each container 501, which will indicate to the station 51 what ingredients are contained in the container 501. In this way, the system can automatically select the appropriate one of the ingredient delivery devices to deliver ingredients to the cooking vessel 200, keeping ingredient delivery within the control of the automated system, thus reducing operator error.

Therefore, the loading of the containers can be done before the high pressure environment of live service begins, or can alternatively be carried out by a separate operator at a separate station away from live service. This reduces pressure on the human operator loading ingredients, so that they can focus on ensuring the correct ingredients are in the correct containers. Control of which ingredients from which container are then delivered to which cooking vessel is then within the domain of the automated system, which can then ensure that for each dish prepared, the customer is only delivered the appropriate ingredients according to the recipe data stored for a particular dish in the system. This is particularly if particular ingredients are required or are to be avoided for allergy-related or cultural reasons, for example.

Figure 6 shows a cross-sectional view of an ingredient portioning and delivery device 60 suitable for use at an ingredient portioning and delivery station 310 of the system. These ingredient portioning and delivery devices are configured to handle diced or cubed ingredients, or other large but moderately flowable ingredients. These can be held for service in a bulk ingredient container part 61. Bulk prepared ingredients, which may be pre-chopped or diced can be provided in the container part 61. It can be advantageous to provide a horizontally or laterally extending support member 68 within the container part 61. This can help to support some of the weight of the ingredients to reduce pressure on the section located below the container part 61, such as portioning wheel 620 of the portioning section 62. These ingredients are then fed, partly under the force of gravity, to a portioning section 62. In this portioning section, there may be provided a portioning wheel 620, which can be rotated to deliver the ingredients into a weighing section 63. The portioning wheel can therefore be actuated to deliver measured amounts onto weighing section 63, so that a measured amount of ingredients can be portioned out for delivery' to a cooking vessel 200 presented under the portioning station 310, in a direction of arrow 65. When the correct amount of ingredients have been measured in the weighing section 63, then an opening such as a flap or "trap door" 66 can be opened automatically to deliver the ingredients to the cooking vessel 200. This type of delivery mechanism works well with ingredients which are presented in relatively small pieces, such as diced carrots or courgettes, sweetcorn, or other relatively solid ingredients which have dimensions in the region of up to 1cm3. Since these stations are fed from a gravity assisted bulk container 61, it is not necessary to replenish them for each serving and so they can be replenished less regularly, and can also be replenished simply by removing a lid 64 from the container and delivering more ingredients into it without interrupting service. It can be advantageous to provide a container part 61 having walls which diverge in a downward direction and it has been found that this can particularly help with enabling ingredients in the container part 61 to descend when the portioning section 62 is actuated and helps to prevent blockages when ingredients are dispensed. The device 60 may be made from a plurality of separable portions. The container portion 61 may be separable from the dispensing portion 62. The dispensing portion may be itself assembled from, and disassembled into, a plurality of separate parts, for example, by removal of the dispensing wheel 620. Removal of the dispensing wheel may be achieved by separation of the body 67 of the dispensing portion into two separate parts which, when assembled enclose the dispensing wheel. Further, the weighing section 63 may further be removed from the remainder of the device and separated for cleaning. A modular ingredient portioning and delivery device 60 can therefore be provided, which is separable into sub-components for cleaning, storage and/or maintenance. The system can comprise a plurality of these devices as shown at 310 in Figure 3 A.

Therefore, between the ingredient delivery station of Figures 5A to 5E and the ingredient portioning station illustrated in Figure 6, a wide range of cubed and/or more fragile or complex shaped ingredients can be handled by the system and automatically delivered to the cooking vessel 200 as required.

Figure 7 A and 7B illustrate a cooking vessel suitable for use in the system of the invention in greater detail. The cooking vessel 200 can be based upon a standard cooking vessel such as a pan with a handle 220 and a lid 211. It can be advantageous for the cooking vessel transfer means 20 to be able to open and close the pan during transfer from a first location to a second location, and preferably without a need to manipulate two parts of the pan separately. This issue can be addressed by providing the pan with a hinged lid 211 attached to the body of the vessel by a hinge 212. The cooking vessel transfer means can therefore open the pan when it is empty, with the assistance of gravity, by rotating the pan substantially about the axis of its handle 220. In this way, if it is considered that the pan illustrated in Figure 7B is in a horizontal orientation, with its lid closed if the hinged side of the pan is rotated downwardly in a direction of arrow 213, then as the pan rotates about the axis of the handle 220, the lid will stay in substantially the same orientation until the pan is facing away from the viewer of the Figure shown in Figure 7B. The hinge 212 can be configured to only permit approximately 180° or a half circle of rotation, so that when the pan returns to the horizontal, the lid will be maintained in an open state, in a position relative to the pan as shown at position 21 IB. The pan can also be closed again by reversing the process. However, this process is, of course, not possible when the pan contains ingredients and so, for this reason, at the operator stations, in particular 75 and 311 or 312 shown in the earlier figures, and in Figure 8, it is also possible for the operator to open or close the lid in a conventional manner. A further aspect which can help to reduce the risk of cross contamination in the system is to provide a stirring device 214 which remains with the cooking vessel 200 throughout the preparation, cooking and washing procedure. It is therefore preferred to provide a stirring device 214 which is attachable to the cooking vessel 200. This can be achieved by providing a magnetic connection between the stirring device 214 and the lid or main body of the cooking vessel 200. A magnetic device can be attached to one of the two items. In this way, the stirring device 214, which maybe a spoon or a spatula, remains with the cooking vessel through the cooking procedure and is also washed with the cooking vessel in the dishwashers 80, 81 or 90. Therefore, each stirring device or utensil is only used for a single dish with a single set of ingredients in between washes. The stirring device can be used by the operator at station 76 to ensure that the ingredients are suitably mixed and distributed before they are moved to a heating station 101 for the cooking procedure to begin. It can also be used at operator station 75 to assist with removal of ingredients from the cooking vessel 200. As can therefore be appreciated, using a cooking vessel as described in relation to Figures 7 A and 7B, preferably combined with a dedicated stirring implement, can benefit the overall operation of the system. Figure 7A shows the lid 211 and stirrer 214 alone, and Figure 7B shows the cooking vessel 200 with the lid 211 in a closed configuration at position 211A and in an open position at location 21 IB. This generally provides a cooking vessel with a detachable stirring means 214 which is configured to remain connected to the cooking vessel during transfer of the cooking vessel between stations of the system 1 throughout the preparation and cooking procedures.

Figure 7C shows how location and/or orientation means 700 can be provided to help to ensure appropriate location of the cooking vessel 200 and its handle 220 on a heating station 101. Particularly, when substantially planar heating surfaces are used to heat a cooking vessel 200, such as in the case of, for example, induction-type cookers, a very small amount of liquid or condensation either on an underside of the cooking vessel or on the cooking surface itself can cause steam to be created, which can lift and move the cooking vessel 200 as the steam expands and escapes. As will be appreciated, a large amount of the automation of the system illustrated in the earlier figures depends upon the transfer means 20 being able to automatically grasp the handle 220 of the cooking vessel. Therefore, it is important that the handle 220 remains in a known location throughout the cooking cycle. To help with this, a lateral guide 700 can be provided and should ideally surround at least three points around the circumference of the cooking vessel 200 to prevent the cooking vessel 200 from moving significantly in a lateral direction. However, a certain amount of play may be provided, up to several millimetres, to allow the cooking vessel 200 to be safely removed from and placed in the guide 700. Handle guides 710 and 711 may also be provided. These are preferably provided one on either side of the handle 220 when it is in place on the heating station 101. This prevents the rotation of the cooking vessel 200 from displacing the handle 220 in a rotational sense from its preferred location between the two guides 710 and 711.

Figure 7D shows how the handle guides 710 and 711 may be provided with inclined surfaces 712 and 713, respectively, so that if the handle is located off-centre, or any agitation of the cooking vessel 200 or its ingredients displaces the handle 220, gravity naturally acts to relocate the handle 220 between the guides 710 and 711. This also helps if any manual intervention is necessary, ensuring that a cooking vessel located on a heating station 101 by an operator of the system is correctly located for subsequent processing by the automated transfer means 20.

Figure 7E shows how the guide arrangement 700 can be further adapted to enable agitation of the cooking vessel 200. Periodically during the cooking cycle, or at any point during some or all of the cooking cycle, it may be advantageous to agitate the ingredients. This can be done by agitating the cooking vessel, and could be done by moving the vessel via agitation of the handle 220. However, a guide arrangement 700 may also be required to prevent the cooking vessel 200 from moving from a predetermined location in order to enable the transfer means 20 to correctly locate the handle 220 as described above. Therefore, it can be advantageous to have a guide means 700 which is configured to provide an agitating motion to the cooking vessel 200. Numerous methods of providing a moveable guide 700 which can provide an agitating motion to the cooking vessel 200 are available to the skilled person once the need for such is identified as described herein. However, one way of achieving this agitation is illustrated in Figure 7E. In Figure 7E, the guide 700 is rotatably fixed at a point 750, for example on a pin fixed to the heating station 101. The remainder of the guide can be rotatable about the axis 750. When in position on a heating station 101, for example position 201 of Figure 2, an agitating motion may be provided by the guide 700. In the example illustrated, a wheel 720 can be provided with a pin 730 attached, which engages with a slot-shaped opening 760. Therefore, the rotating motion of wheel 720 about axis 740 in a direction of arrows 720A is translated into a reciprocating motion in the directions of arrows 760A. It is therefore possible to provide agitation means to agitate the ingredients inside the vessel by agitating the vessel 200 when on the heating station 101. This is in order to have an efficient means of agitating ingredients in the cooking vessel 200. This can cause the ingredients to move within the cooking vessel, which helps them to cook more evenly, and can help condensation which has accumulated on the inside of a lid of the vessel to fall back into the body of the vessel to continue helping to cook the ingredients. Additionally, or alternatively to any of the above described in relation to Figures 7A to 7E, at least a part of the surface of the heating statin may comprise a recess or a concave section configured to centre the cooking vessel 200 on the heating surface.

Figure 8 shows an alternative means for closing a lid 211 of a cooking vessel 200. This can be used, for example, at a further ingredient delivery station 312 of the system 1 as illustrated in Figure 3 A. As will be appreciated, as the linear transfer means 50 delivers the cooking vessel 200 from station 311 toward station 312, the lid 211 will be in an open state after having had the ingredients delivered to it. The last ingredients to be added may be provided in liquid form from a liquid ingredient and/or seasoning delivery station 312. Seasoning may also be delivered at this station. The next step in the procedure will be for the cooking vessel 200 to be delivered to a heating station 101 by the cooking vessel transfer means 20. The lid is preferably closed for that cooking procedure. As illustrated in Figure 8, there can be provided a lever arm 800 which is articulated around an articulation point 801. An actuating member 802 may be provided at a fixed location and may be configured to engage the lever arm 800 as the platform 501 advances the cooking vessel toward the ingredient delivery station 312 in a direction of arrow 820. In this way, when the cooking vessel 200 arrives at ingredient delivery station 312, the lid 211 will be tipped over the vertical position by the lever arm as it engages the actuating member 802, such that it rests against a support, such as the body of the ingredient delivery station 312. Once ingredients are delivered from ingredient delivery station 312, then the cooking vessel 200 can be retracted from the ingredient delivery station 312 in a direction of arrow 821. As will be appreciated, as the cooking vessel 200 moves in the direction of arrow 821, gravity will then cause the lid 211 to close in a direction of arrow 822. As can be seen, one or more fluid delivery means 910 can be provided to deliver a liquid ingredient to the cooking vessel 200. This can be done by use of a peristaltic pump which may deliver substantially liquid or viscous ingredients to the pan. A peristaltic pump can be advantageous in the delivery of fluid ingredients, since cross-contamination and ease of washing of the apparatus in between uses is important. Using a peristaltic pump to actuate a tube, means that the tube, which may be connected to a collapsible bag or other vessel containing the liquid ingredient, can be removed from the pump and replaced with another, while the original one is washed or replenished. Fluid delivery means 910 may alternatively take the form of a syringe arranged to be automatically actuated in response to commands from a controller of the system 1 to deliver fluid ingredients to the cooking vessels 200 when they are located below the fluid delivery means 910. The station 312 may also comprise seasoning delivery means 920, which may take the form of grinding means, such as salt and/or pepper mills. These may again be driven by automatically controlled motors in the station 312, which may be controlled by the overall system to deliver seasoning to the cooking vessel 200, as required according to recipe data stored in the system for a particular dish being prepared in vessel 200 at that particular time.

As can therefore be appreciated from the description of the preceding figures, the system provides a number of advantageous features, which are particularly beneficial when used in combination. However, it is evident from the above that there are unique and useful advantages associated with each of the features and elements described above and it will be appreciated that they may be implemented in the system as a whole, but also separately as part of any general food preparation system, in order to improve the efficiency and consistency of quality and reduce cross-contamination in such a system.

The following will now describe processes which are followed to operate the system, described in relation to the flow diagrams shown in Figures 9A to 9D

Figures 9A to D illustrate a method for operating a catering system, which system may incorporate any or all of the features of the system 1 described in relation to the preceding figures.

In a first step 1001 a customer browses a menu and makes a decision to order a meal. In step 1002, the customer makes a decision on when to receive the meal. The available options may be to pre-order the meal for completion at a specific time point, or to have the meal cooked immediately by following step 1003. At step 1004 a computerised system for receiving orders may have been informed by the user that the user wishes to order immediately. The computer can show the user a virtual queue of available slots for delivery of the cooked meal for the user, taking into account preparation time, existing bookings in the system etc. If an immediate time slot is available at step 1005, then the customer proceeds to step 1006 to view a menu and select a meal. However, if the immediate time slot is not available, as at step 1007, then at step 1008, the customer is presented with a list of available time slots and selects an available time slot according to their needs. A pre-order is also available by following steps 1009 to 1013. At step 1009, the customer indicates to the system that it is desired to pre-order for a specific time point in the future. A computer then shows a virtual queue and available bookings around that timeslot on a user interface. If the desired timeslot indicated by the customer is available, then the customer proceeds after step 1011 to step 1006. If the preferred time slot is not available at step 1012, then at step 1013, the customer selects the closest available timeslot which suits his or her needs.

At step 1014, the customer, having selected a meal option at step 1006, views the options/ingredients which are available to customise their chosen meal. At step 1015, the customer chooses whether they wish to eat-in at step 1016 or have the meal to take-away, at step 1017. There may also be an available option to request delivery of a takeaway meal to a particular location as chosen by the customer at this stage. At step 1018, the customer confirms and places their order, and they may subsequently pay for their meal at step 1019.

At step 1020, a computerised control system processes the order and if the order was selected to be cooked now, then proceeds to step 1021a to begin preparation of the order at step 1022. However, if the order was selected for later delivery, the computer system identifies this at step 1021b and proceeds to step 1021c to wait for the selected time point before taking any steps to prepare for the order. A control computer will know, from the chosen recipe, the approximate preparation time required and will therefore begin preparation at step 1022 at a suitable time period before the selected delivery time chosen by the customer.

At step 1022, the system can then begin preparation of the order. It can firstly weigh out and hold ingredients in the ingredient portioning and dispensing station or stations 310 ready for delivery to a cooking vessel 200.

At step 1023 a computer system communicates any ingredients required to operator station 311. At step 1024, the operator at a semi-automated station such as station 311 can pick the required ingredients and place them into an automated ingredient dispenser such as dispenser 51 of Figure 5. At step 1025, the cooking vessel is retrieved, either from one of the dishwashers 80, 81, 90 or from one of the heating stations 101 and the lid is opened. This lid opening procedure may be carried out as described in relation to Figures 7A and 7B.

At step 1026, the cooking vessel 200 is transferred to an ingredient portioning station, such as those illustrated at 310, by delivery to platform 301 as shown in Figure 3A. Subsequently, the cooking vessel can, if necessary, be transferred to a further solid, fragile ingredient station 311 and/or a liquid/viscous ingredient and/or seasoning station 312, to deliver the necessary ingredients as defined by recipe data held for the dish in question in the central computer control system. At step 1028, the lid may be automatically closed and the cooking vessel moved to a heating station, such as heating station 101. At step 1029, an automated cooking sequence is begun by automatic control of a heating station 101. As described before, the vessel is heated to one or more temperature levels for one or more set time periods, by controlling power delivered to the vessel 200 by the heating station 101, for example.

At step 1030, the automated cooking sequence ends. At step 1031, the cooking vessel may be transferred by the automated transfer means to a further operator station for final dressing and any necessary garnishing of the dish.

At step 1032, the operator at station 75, for example, can remove a detachable stirring device from the cooking vessel or its lid. At step 1032a the operator may open or remove a lid of the cooking vessel. At step 1033 a quality check can be carried out by the operator to determine whether the meal is sufficiently cooked and/or appropriately seasoned.

If the customer has selected to eat in, then the sequence of steps 1036 to 1040 may be executed. As illustrated in the steps, the operator 19 may scan a serving vessel such as a plate having a unique identifier. At step 1038, the operator can transfer the meal from the cooking vessel to the serving vessel and may add any garnish or any custom selected ingredients. At step 1040, the meal is served to the customer at the eating establishment.

Once the meal has been served, the cooking vessel is ready for return to the automated system. The operator at station 75, for example, can re-attach the lid and stirring device to the cooking vessel at steps 1046 and 1047 as necessary. At step 1048 the automated cooking vessel transfer means transfers the used cooking vessel to a dishwasher for cleaning, preferably along with its stirring device. This can comprise step 1049, in which the lid of the cooking vessel is opened (for example, as illustrated in Fig. 7B, or by any other suitable means) and the vessel and its lid are placed in a dishwasher, which may be a top-loading dishwasher (such as 80, 81, 90 illustrated in Fig. 2) and may be as illustrated in Figure 2, for example.

At step 1050, the cooking vessel is automatically washed and optionally dried in the dishwasher. Once the washing cycle is complete, at step 1051 the automated transfer means takes the cooking vessel from the dishwasher and at step 1052 it transfers the cooking vessel back to a heating station 101 for storage, or directly to platform 301 if the vessel is immediately required. At step 1053 this ends the cooking cycle and the cycle may begin once more for the vessel in question by carrying out any or all of steps 1025 onwards as required. As will be appreciated, any and all of the steps preceding step 1025 can be carried out in parallel by one or more users of the system. Steps 1025 onwards are begun at a set point in time determined by the central computer controller as being suitable for beginning preparation of a dish for a user. A new cooking cycle can be instigated at step 1054 if and when required, which can begin by automated collection of a cooking vessel and opening the lid of the vessel as indicated at step 1025.

It will be appreciated from reading the above and appreciating the overall description of the system in the earlier Figures 1 to 8 that not all of the method steps described in the above are essential and a subset of them can be selected while achieving the benefits of the invention.

As will be appreciated, the system can therefore provide a consumer interface which enables any or all of the steps 1001 to 1019 to be carried out. The device may include user data input means such as a keyboard, or touchscreen, and display means for displaying options and selected choices to the customer, which may take the form of a graphical user interface in any suitable known form. This can therefore be carried out with a standard user terminal, such as a keyboard and monitor, or entirely through a touchscreen display. Such systems are generally known and so are not described in detail herein. A skilled person will readily appreciate how to configure such a system to carry out the steps illustrated in Figures 9A to 9D in light of the disclosure of those steps described herein.

It will further be appreciated that an automated computer controller may be provided to operate the system. The automated computer controller may be configured to carry out any or all of the steps 1020 to 1053. As will be appreciated, for certain of those steps, it is necessary for the computer controller to communicate control messages to any or all of the elements of the system described in Figures 1 to 4. A system may therefore comprise a central controller, with control communications links between the controller and any or all of the automated elements of the system shown in Figures 1 to 4. The system 1 may be provided with a plurality of sensors and feedback loops so that the controller is provided with status data about the current status of one or more elements of the system 1. The central control system will comprise a memory for storing at least an operating programme and for storing predefined recipe data, as well as customer options for each recipe. Those options can be selected for a particular customer when they have selected their preferred base recipe. Based upon recipe data for a customer, which will generally define a base recipe, and may also include any options which the customer has selected for that base recipe. The centralised computer controller can then instruct the system and/or operators of the system 1 to carry out any or all of steps 1022 to 1053 as described above. The necessary communications links may be provided over a local area network provided either wirelessly or by direct physical communication between the different elements of the system 1, or by other hard-wired control systems as will be known to a person skilled in the art of hardware control systems. These elements are therefore not described in detail in the present specification. A person skilled in the creation of software control systems will also be able to implement the steps described in Figures 9A to 9D in an automated control software in light of the present disclosure and detailed steps of such programming steps are also therefore not described in detail in the present specification.

It will therefore be appreciated in light of the above that any or all of the aspects of the system and methods may combined, or implemented individually to realise some or all of the benefits of the invention described in the present specification.

Although specific embodiments of the invention have been described in detail herein, it will be appreciated that different features of the various embodiments can be combined to bring about the advantages of the invention. The detailed embodiments described are not intended to be limiting on the scope of protection, which is defined by the appended claims.

Claims

1. A food preparation and cooking system configured for the simultaneous production of a plurality of individually specified dishes, the system comprising: a plurality of ingredient deliver}' stations, each configured to deliver at least one portion of one or more ingredients to a cooking vessel receiving area; a plurality of heating stations, comprising a heat source and a cooking vessel receiving area for receiving and heating the cooking vessel; at least one user station comprising a cooking vessel receiving area and one or more ingredient storage and provisioning devices; and at least one service position, for receiving cooked ingredients and transferring them to a serving vessel, and comprising one or more ingredient storage and provisioning devices; and automated cooking vessel transfer means, configured to transferring a cooking vessel from at least a first ingredient delivery station, to at least one user station, to at least one heating station to cook one or more ingredients in the cooking vessel, and to remove the cooking vessel from the heating station to move it to the service position.

2. A system according to claim 1, wherein at least one of the ingredient portioning stations comprises weighing means and dispensing means.

3. A system according to claim 2, wherein the dispensing means comprises a door.

4. A system according to any of the preceding claims, further comprising an automated cooking vessel washing station, wherein the automated cooking vessel transfer means is configured to transfer one or more cooking vessels between the automated cooking vessel washing station and one or more of the ingredient portioning stations and/or one or more of the heating stations and/or the service position.

5. A system according to any of the preceding claims, wherein the automated cooking vessel transfer means comprises linear or translational transfer means for transferring a cooking vessel in a linear or translational fashion, substantially parallel to a row of the ingredient portioning stations, to receive ingredients from one or more of the ingredient portioning stations.

6. A system according to any of the preceding claims, wherein the automated cooking vessel transfer means comprises a robotic arm.

7. A system according to claim 6, wherein the robotic arm is mounted to rotate about a rotational axis on a robotic arm base.

8. A system according to claim 7, wherein the linear or translational transfer means is configured to transfer cooking vessels into and out of the reach of the robotic arm to reach one or more parts of the system disposed out of the reach of the robotic arm.

9. A system according to claim 6 or claim 7, wherein at least one of the ingredient portioning stations and/or at least one of the user stations is disposed so as to be outside of the reach of the robotic arm.

10. A system according to any of claims 6 to 9, wherein the vessel heating stations are arranged so as to be reachable by the robotic arm to place cooking vessels thereon.

11. A system according to any of claims 6 to 10, wherein the cooking vessel washing station is disposed such that the robotic arm can place at least one cooking vessel into, and take at least one cooking vessel out of, the cooking vessel washing station.

12. A system according to any of the preceding claims, further comprising at least one solid ingredient dispensing station and at least one liquid ingredient dispensing station.

13. A system according to claim 12, wherein the liquid ingredient dispensing station comprises a peristaltic pump and/or a syringe mechanism for dispensing more viscous fluids such as ghee and coconut oil.

14. A system according to claim 12 or 13, wherein the solid ingredient dispensing station comprises a container, and a wheel comprising radially extending voids for transferring solid ingredients out of the container by rotation of the wheel.

15. A system according to any of claims 12 to 14, further comprising an automated fragile ingredient dispensing device, for tipping fragile ingredients into a cooking vessel by rotation of a container containing the ingredients.

16. A system according to any of claims 12 to 15, further comprising automated grinding means for grinding ingredients on demand to dispense them into a cooking vessel.

17. A system according to any of the preceding claims, comprising automated control means configured to automatically control one or more of: the ingredient portioning stations to deposit ingredients into a cooking vessel presented thereto by the cooking vessel transfer means; the heating stations to heat a cooking vessel placed thereon by the cooking vessel transfer means; the cooking vessel transfer means to transfer one or more cooking vessels between at least one of the ingredient portioning stations, and at least one of the heating station, the at least one serving station, and at least one cooking vessel washing station.

18. A system according to claim 17, wherein the automated control means is further configured to control the automated cooking vessel washing station to wash cooking vessels placed therein by the cooking vessel transfer means.

19. A system according to any of the preceding claims, comprising a user data receiving means configured to receive recipe selection data from a user, the system configured to prepare a dish according to the recipe selection data received from the user.

20. A system according to claim 19, wherein the user data is received from a customer data input device connected to the system.

21. A system according to claim 20, wherein the user data input device is one or more of a mobile communications device, a user terminal located near and connected to the automated control means, or a remote terminal such as a computer connected to the system via remote data communications means such as the internet.

22. A system according to any of the preceding claims, comprising an operator interface, the system configured to display instructions to an operator on the operator interface, the instructions relating to a dish being prepared by the system in a cooking vessel presented to the operator by the cooking vessel transfer means.

23. A method of operating a system according to any of claims 1 to 22, carried out in an automatic controller, comprising the steps of: receiving recipe data from a recipe data memory; operating the cooking vessel transfer means to present the cooking vessel to at least a first ingredient delivery station; operating the at least one ingredient delivery station to deliver at least one ingredient to the cooking vessel; operating the cooking vessel transfer means to transfer the cooking vessel to at least one heating station; heating the cooking vessel at the heating station; and operating the cooking vessel transfer means to transfer the cooking vessel to at least one user station.

24. A method according to claim 23, further comprising operating the cooking vessel transfer means to transfer the cooking vessel to at least one washing station.

25. A method according to claim 24, further comprising operating the washing station to wash at least one cooking vessel.

26. A method according to any of claims 23 to 25, further comprising agitating the cooking vessel on the heating station via automated cooking vessel agitation means.

27. A method according to any of claims 23 to 26, further comprising operating an automated cooking vessel transfer means to rotate a cooking vessel through substantially 180 degrees to open and/or close a hinged lid of the cooking vessel by action of gravity.

28. A method according to claim 27, wherein rotating the cooking vessel comprises rotating the vessel about an axis of a hinge of the lid by between around 90 to 180 degrees to open the lid for subsequent washing at a vessel washing station and/or to close the lid for storage of the vessel in an upright position.

29. A method according to claim 27, wherein rotating the cooking vessel comprises rotating the vessel about an axis of a hinge of the lid by between around 180 degrees to 360 degrees to open the lid and place the vessel with an opening facing upwards to receive ingredients for food preparation.

30. A method according to any of claims 23 to 29, further comprising using a same cooking vessel and a same utensil for all operations in the preparation of a first dish according to a first recipe, and washing the cooking vessel and the utensil at the end of the preparation cycle.

31. A method according to any of claims 2 to 30, further comprising re-using the cooking vessel and the utensil for preparation of a further dish according to a further recipe.

32. A method according to claim 31, in which a plurality of cooking vessels are used to produce a plurality of dishes, each vessel and its corresponding utensil being washed in the automatic cooking vessel washing machine before being used to cook a further dish.

33. A method according to any of claims 23 to 32, wherein the recipe data comprises base recipe data and custom recipe option data selected by a customer.

34. A method according to any of claims 23 to 33, further comprising receiving, at a recipe data storage means, recipe option data input to a customer input device by a customer.

35. A method according to any of claims 23 to 34, further comprising operating the cooking vessel transfer means to deliver a cooking vessel to a plurality of ingredient delivery stations, operating the ingredient delivery stations to deliver one or more solid ingredients to the cooking vessel at a first ingredient delivery station, to deliver one or more flowable ingredients to the cooking vessel at a second ingredient delivery station, operating the cooking vessel transfer means to deliver the cooking vessel to a heating station, automatically operating the heating station to heat the cooking vessel, and operating the automated cooking vessel transfer means to deliver the cooking vessel from the heating station to a serving station.