AU2021106476A4 - Integrated robotic vending machine - Google Patents

Integrated robotic vending machine Download PDF

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Publication number
AU2021106476A4
AU2021106476A4 AU2021106476A AU2021106476A AU2021106476A4 AU 2021106476 A4 AU2021106476 A4 AU 2021106476A4 AU 2021106476 A AU2021106476 A AU 2021106476A AU 2021106476 A AU2021106476 A AU 2021106476A AU 2021106476 A4 AU2021106476 A4 AU 2021106476A4
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AU
Australia
Prior art keywords
cup
vending machine
mobile carrier
beverage
dispensing station
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
AU2021106476A
Inventor
Chee Wai John CHEONG
Pui San Joyce LIM
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Javis Holdings Pte Ltd
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Javis Holdings Pte Ltd
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Filing date
Publication date
Application filed by Javis Holdings Pte Ltd filed Critical Javis Holdings Pte Ltd
Priority to AU2021106476A priority Critical patent/AU2021106476A4/en
Priority to CN202122548405.7U priority patent/CN217085848U/en
Application granted granted Critical
Priority to TW110213048U priority patent/TWM625485U/en
Publication of AU2021106476A4 publication Critical patent/AU2021106476A4/en
Priority to PCT/SG2022/050597 priority patent/WO2023027635A1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
    • G07F13/06—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof
    • G07F13/065—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof for drink preparation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0242—Determining the position of transmitters to be subsequently used in positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/18—Payment architectures involving self-service terminals [SST], vending machines, kiosks or multimedia terminals
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G07F11/1653—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements being collecting buckets
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
    • G07F13/10—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with associated dispensing of containers, e.g. cups or other articles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
    • G07F9/023—Arrangements for display, data presentation or advertising
    • G07F9/0235—Arrangements for display, data presentation or advertising the arrangements being full-front touchscreens
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/10—Casings or parts thereof, e.g. with means for heating or cooling
    • G07F9/105—Heating or cooling means, for temperature and humidity control, for the conditioning of articles and their storage
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
    • A47J31/00—Apparatus for making beverages
    • A47J31/44—Parts or details or accessories of beverage-making apparatus
    • A47J31/52—Alarm-clock-controlled mechanisms for coffee- or tea-making apparatus ; Timers for coffee- or tea-making apparatus; Electronic control devices for coffee- or tea-making apparatus
    • A47J31/521—Alarm-clock-controlled mechanisms for coffee- or tea-making apparatus ; Timers for coffee- or tea-making apparatus; Electronic control devices for coffee- or tea-making apparatus the electronic control being performed over a network, e.g. by means of a computer or a handheld device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/28—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers
    • B65B7/2842—Securing closures on containers
    • B65B7/2878—Securing closures on containers by heat-sealing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/02—Devices for moving articles, e.g. containers, past labelling station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D3/00—Apparatus or devices for controlling flow of liquids under gravity from storage containers for dispensing purposes
    • B67D3/0009—Apparatus or devices for controlling flow of liquids under gravity from storage containers for dispensing purposes provided with cooling arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
    • B67D—DISPENSING, DELIVERING OR TRANSFERRING LIQUIDS, NOT OTHERWISE PROVIDED FOR
    • B67D3/00—Apparatus or devices for controlling flow of liquids under gravity from storage containers for dispensing purposes
    • B67D3/0012—Apparatus or devices for controlling flow of liquids under gravity from storage containers for dispensing purposes provided with mixing devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03547—Touch pads, in which fingers can move on a surface
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/10—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other two or more magazines having a common delivery chute
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks

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  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Accounting & Taxation (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Finance (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Business, Economics & Management (AREA)
  • Strategic Management (AREA)
  • Automation & Control Theory (AREA)
  • Beverage Vending Machines With Cups, And Gas Or Electricity Vending Machines (AREA)
  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)

Abstract

An integrated robotic vending machine configured to facilitate an automatic preparation and delivery of a plurality of beverages includes at least one cup dispensing station, at least one ingredient station, at least one mobile carrier, and a controller in communication with the cup dispensing station, the ingredient dispensing and/or the mobile carrier. The cup dispensing station is adapted to store a plurality of cups and/or dispense a cup from the plurality of cups. The ingredient dispensing station is adapted to dispense at least one ingredient to the cup in order to prepare the plurality of beverages and the mobile carrier is adapted to autonomously move at the cup dispensing station and/or the ingredient dispensing station. The mobile carrier includes a cup holder to hold the cup. 1/16 co C) CC\ C)o C)) C ))c CN CC C0 C) C) dL CC CCD

Description

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CC CCD INTEGRATED ROBOTIC VENDING MACHINE TECHNICAL FIELD
[0001] The present disclosure relates, generally, to vending machine for preparing and delivering a plurality of beverages and more particularly relates to an integrated robotic vending system having one or more mobile carriers adapted to autonomously move to facilitate a preparation and delivery of a plurality of beverages.
BACKGROUND
[0002] Many commercial establishments such as restaurants, and casinos offer a variety of beverages, including mixtures of beverages, for their patrons to consume. Typically, these establishments use humans to perform the task of preparing and serving these beverages. Although using a human has its benefits, it adds costs to the operation due to frequently having to spend large amounts of time and money recruiting and training individuals. Various vending machine also dispenses a plurality of beverages, such as, but not limited to, tea, coffee, milk, juices, carbonated drinks. However, these vending machines also require some form of human intervention to prepare and dispense beverages, which may lead to long queues at the vending machines.
[0003] The known robotic beverage servers generally use robotic arms to enable a preparation and delivery of beverages. However, these beverage servers with robotic arms are relatively large and expensive. Therefore, there is a need for a beverage server or a vending machine that can perform the necessary tasks of preparing and serving beverages in an economical and efficient manner without human intervention. In addition, there is a need to provide a beverage vending machine that can prepare and serve a high volume of beverages very efficiently and quickly. These needs are met by the apparatus and system of the present invention.
SUMMARY OF DISCLOSURE
[0004] One aspect of this disclosure relates to an integrated robotic vending machine that is adaptable to automatically prepare and deliver a plurality of beverages to a customer while minimizing or eliminating a human intervention. Also, the integrated robotic vending machine enables preparation of multiple beverages simultaneously and increases efficiency of preparing and delivering the beverages to the customers. Also, the integrated robotic vending machine helps in reducing a queue at the integrated robotic vending machine and deliver the beverage when the customer approaches the integrated robotic vending machine. Also, the integrated robotic vending machine has a relatively small foot-print and can be arranged at small kiosks, thereby saving space and associated costs.
[0005] According to the aspect, an example integrated robotic vending machine configured to facilitate an automatic preparation and delivery of a plurality of beverages is disclosed. The integrated robotic vending machine includes at least one cup dispensing station adapted to store a plurality of cups and/or dispense a cup from the plurality of cups, and at least one ingredient dispensing station adapted to dispense at least one ingredient to the cup in order to prepare the plurality of beverages. Further, the integrated robotic vending machine includes at least one robotic trolley adapted to autonomously move at the at least one cup dispensing station and/or the at least one ingredient dispensing station, the at least one robotic trolley includes a cup holder to hold the cup. The robotic trolley is alternatively known as mobile carrier or buggy. Moreover, the integrated robotic vending machine includes a controller in communication with the at least one cup dispensing station, the at least one ingredient dispensing and/or the at least one robotic trolley in order to deliver a cup of beverage to an opening of a housing of the integrated robotic vending machine. The buggy moves to one or more ingredient dispensing stations to collect ingredients needed to prepare the beverages, and delivers the beverage to the customer without any human intervention.
[0006] In one embodiment, the integrated robotic vending machine includes a plurality of ingredient dispensing stations and a plurality of robotic trolleys. The plurality of robotic trolleys can simultaneously move to various ingredient dispensing stations to enable simultaneous preparation of multiple beverages.
[0007] In an embodiment, the controller is configured to move the at least one robotic trolley to at least one cup dispensing station to receive a cup from the at least one cup dispensing station, and move the at least one robotic trolley having the cup to the at least one ingredient dispensing station to collect the at least one ingredient inside the cup based on a beverage selected by a customer. The controller is also configured to move the at least one robotic trolley to the opening upon to deliver the selected beverage to the customer through the opening. In this manner, the controller enables the autonomous movement of the at least one robotic trolley at the integrated robotic vending machine.
[0008] In one embodiment, the integrated robotic vending machine includes a plurality of openings to deliver multiple beverages via the multiple robotic trolleys. The plurality of openings facilitates delivery of multiple beverages to multiple customers simultaneously to reduce the queue at the integrated robotic vending machine.
[0009] In one embodiment, the controller is configured to move the at least one robotic trolley to the opening after receiving an authentication code associated with the selected beverage. This facilitates the delivery of the beverage when the customer desires to pick-up the prepared beverage from the integrated robotic vending machine and thereby reduces a crowding of the robotic trolleys at the opening.
[0010] In an embodiment the integrated robotic vending machine includes a waiting zone at which the at least one robotic trolley is arranged after collecting ingredients inside the cup from the at least one ingredient dispensing station. The controller is configured to move the at least one robotic trolley to the opening from the waiting zone upon receipt of the authentication code to deliver the selected beverage to the customer, thereby reducing queue at the integrated robotic vending machine.
[0011] In an embodiment, the controller is adapted to determine a presence of a vacant opening from the at least one opening and assign the vacant opening to a robotic trolley to deliver the beverage upon the receipt of the authentication code. In this manner, the controller can reduce unnecessary movement of the at least one robotic trolley towards the opening and facilitates a smooth operation of the at least one robotic trolley.
[0012] In an embodiment, wherein the waiting zone includes a plurality of charging stations to enable a charging of the at least one robotic trolley when the at least one robotic trolley is in the waiting zone. This enables charging of the at least one robotic trolley during the preparation and delivery of the beverage without having to take out the robotic trolley from operation for charging purpose, reducing overall idle time of the robotic trolley.
[0013] In an embodiment, each of the charging stations is a wireless charging station to enable a wireless charging of the at least one robotic trolley.
[0014] According to an embodiment, the integrated robotic vending machine further includes an input station to enable the customer to input the authentication code from the customer.
[0015] According to an embodiment, the integrated robotic vending machine includes a receipt generator to print a payment receipt corresponding to the selected beverage.
[0016] In an embodiment, the integrated robotic vending machine includes a payment module in communication with the controller and adapted to receive a payment from the customer corresponding to the selected beverage, and the controller moves the at least one robotic trolley to the opening to deliver the selected beverage upon receipt of a payment corresponding to the selected beverage. This ensures that payment of each order is received before delivering the associated beverage.
[0017] In an embodiment, the integrated robotic vending machine further includes a user interface in communication with the controller and is configured to display a list of the plurality of beverages adapted to be prepared by the integrated robotic vending machine to the customer, and facilitates a selection of a beverage from the plurality of beverages by the customer.
[0018] In one embodiment, the user interface is web-based application adapted to be accessed via a computing device, such as, but not limited to, a mobile phone, a desktop computer, a laptop, a tablet, or any other similar device of the customer to facilitate an ordering of the beverage from a remote location.
[0019] In an embodiment, the integrated robotic vending machine further includes a recipe module in communication with the controller and configured to store a plurality of recipes corresponding to the plurality beverages to enable the preparation of the plurality of the beverage.
[0020] In an embodiment, the controller generates a path for movement of the at least one robotic trolley based on the recipe of the selected beverage to ensure the movement of the at least one robotic trolley to associated ingredient dispensers and/or in a desired sequence.
[0021] In an embodiment, the housing includes a door having a transparent portion to enable a viewing of an inside of the housing to a customer to view a process or preparation of the beverages.
[0022] In an embodiment, the door defines the opening.
[0023] According to an embodiment, the housing includes a storage chamber and a chiller arranged inside the storage chamber and adapted to store one or more ingredients of a plurality of ingredients. The chiller is able to keep one or more types of ingredients inside the storage chamber to cool or at a low temperature such that the one or more ingredients are able to be preserved for their freshness.
[0024] In an embodiment, the at least one cup dispensing station includes a first cup dispensing station adapted to store and dispense a plurality of first cups. The first cups are suitable for hot beverages (i.e., first type of beverages). The at least one dispensing station also includes a second cup dispensing station to store and dispense a plurality of second cups. The second cups are suitable for cold beverages (i.e., second type of beverages).
[0025] In an embodiment, the controller is configured to move the at least one robotic trolley to the first cup dispensing station to receive the first cup when the first type of beverage is selected, and is configured to move the at least one robotic trolley to the second cup dispensing station to receive the second cup when the second type of beverage is selected. In this manner, the controller enables pouring of the hot beverages inside the cups suitable for storing the content at relatively high temperatures.
[0026] In one embodiment, the at least one ingredient dispensing station includes a tea brewing and dispensing station adapted to brew a tea and dispense the brewed tea to the cup carried by the robotic trolley. The tea brewing and dispensing station facilitates a brewing and dispensing of bubble tea.
[0027] In one embodiment, the at least one ingredient dispensing station includes one or more of an ice dispensing station to dispense ice, a fructose dispensing station to dispense fructose, a flavor dispensing station to dispense flavor, a milk dispensing station to dispense milk, and a mousse dispensing station to dispense mousse.
[0028] In an embodiment, the integrated robotic vending machine further includes a labelling station adapted to label the cup based on a beverage selected by a customer. The label indicates a name of the beverage and/or an order number of the beverage to enable the customer to ensure a collection of the desired beverage from the integrated robotic vending machine.
[0029] In an embodiment, the at least one robotic trolley moves to the labelling station after receiving the cup from the at least one cup dispensing station.
[0030] In an embodiment, the integrated robotic vending machine further includes a sealing station to seal a cup containing a beverage. The sealing station includes a sealer for sealing the cup and a lifter module to move the cup between the at least one robotic trolley and the sealer. The sealing station seals the cup with a lid to ensure freshness and flavor of the beverage stored inside the cup is retained.
[0031] In an embodiment, the controller is configured to move the at least one robotic trolley to the sealing station upon receipt of all the ingredients corresponding to the selected beverage by a customer, and is configured to move the at least one robotic trolley to a waiting zone upon sealing the cup.
[0032] According to one embodiment, the integrated robotic vending machine further a localization system to determine a location of the at least one mobile carrier in real time. The determination of the location facilitate controlling the movement of the at least one mobile carrier.
[0033] In one embodiment, the localization system includes a plurality of beacons in communication with the at least one mobile carrier. The controller in communication with the plurality of the beacons is configured to determine the location of the at least one mobile carrier based on information received from the plurality of beacons. The at least one mobile carrier includes a locator arranged in communication with the plurality of beacons. The plurality of beacons receives an information associated with a location of the at least one mobile carrier from the locator. The controller is adapted to determine the location of the at least one mobile carrier by triangulating the signals received from the plurality of carriers. By determining the location of each mobile carrier, the controller controls the movement of the mobile carriers to move the mobile carriers to enable the preparation of a beverage or multiple beverage simultaneously without human intervention.
[0034] According to another aspect of the disclosure, a method for preparing and delivering a beverage at an integrated robotic vending machine is provided. The method includes determining, by a controller, a beverage selected by a customer from a plurality of beverages, and moving, by the controller, at least one robotic trolley to at least one cup dispensing station to receive the cup from the at least one cup dispensing station. The method further includes moving, by the controller, the at least one robotic trolley to at least one ingredient dispensing station to receive at least one ingredient corresponding to the selected beverage and moving, by the controller, the at least one robotic trolley having the selected beverage to an opening of the integrated robotic vending machine to deliver the selected beverage to the customer. In this manner, a beverage is prepared and delivered to the customer by using the robotic trolley and without any human intervention.
[0035] In an embodiment, the at least one robotic trolley is moved to the opening to deliver the selected beverage upon receipt of an authentication code associated with the selected beverage. This facilitates the delivery of the beverage when the customer desires to pick-up the prepared beverage from the integrated robotic vending machine and thereby reduces a crowding of the robotic trolleys at the opening.
[0036] In an embodiment, the method further includes moving the at least one robotic trolley to a waiting zone of the integrated robotic vending machine after collecting ingredients inside the cup from the at least one ingredient dispensing station, and moving the at least one robotic trolley to the opening from the waiting zone upon receipt of the authentication code to deliver the selected beverage to the customer when the customer desires to collect the beverage.
[0037] According to an embodiment, the waiting zone includes a plurality of wireless charging stations to enable a charging of the at least one robotic trolley when the at least one robotic trolley is in the waiting zone. This enables charging of the at least one robotic trolley during the preparation and delivery of the beverage without having to take out the robotic trolley from operation for charging purpose, reducing overall idle time of the robotic trolley.
[0038] According to an embodiment, the controller receives the authentication code from customer via an input station adapted to enable the customer to enter the authentication code.
[0039] In an embodiment, the controller moves the at least one robotic trolley to the opening to deliver the selected beverage upon receipt of a payment corresponding to the selected beverage.
[0040] In an embodiment, the controller receives an input corresponding to the selection of the beverage from the plurality of beverages via a user interface. The user interface is adapted to display a list of the plurality of beverages to be prepared by the integrated robotic vending machine and facilitate the selection of the beverage from the plurality of beverages by the customer.
[0041] In an embodiment, the user interface is a web based application installed on computing device, such as, but not limited to, a mobile phone, a desktop computer, a laptop, a tablet, or any other similar device of the customer to facilitate an ordering of the beverage from a remote location.
[0042] In an embodiment, the method further includes accessing, by the controller, a recipe corresponding to the selected beverage from a plurality of recipes stored inside a recipe module, and generating, by the controller, a path for a movement of the at least one robotic trolley based on a recipe of the selected beverage so ensure the movement of the at least one robotic trolley to associated ingredient dispensers and/or in a desired sequence.
[0043] According to an embodiment, the at least one cup dispensing station includes a first cup dispensing station adapted to store and dispense a plurality of first cups, and a second cup dispensing station to store and dispense a plurality of second cups. The first cups are suitable for hot beverages (i.e., first type of beverages), while the second cups are suitable for cold beverages (i.e., second type of beverages). Moreover, wherein the controller moves the at least one robotic trolley to the first cup dispensing station to receive the first cup when a hot beverage is selected, and moves the at least one robotic trolley to the second cup dispensing station to receive the second cup when a cold beverage is selected. In this manner, the controller enables pouring of the hot beverages inside the cups suitable for storing the content at relatively high temperatures.
[0044] According to an embodiment, the at least one robotic trolley moves to a labelling station after receiving the cup from the at least one cup dispensing station. The label indicates a name of the beverage and/or an order number of the beverage to enable the customer to ensure a collection of the desired beverage from the integrated robotic vending machine.
[0045] In an embodiment, the controller moves the at least one robotic trolley to a sealing station upon receipt of all the ingredients corresponding to the selected beverage to seal the cup. The sealing station includes a sealer for sealing the cup and a lifter module to move the cup between the robotic trolley and the sealer. The sealing station seals the cup with a lid to ensure freshness and flavor of the beverage stored inside the cup is retained.
[0046] Additional aspects and advantages will be apparent from the following detailed description of example embodiments, which proceeds with reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0047] FIG. 1 illustrates a front perspective view of an example integrated robotic vending machine; !0
[0048] FIG. 2 illustrates the integrated robotic vending machine with a door arranged away from a cabinet of a housing of the integrated robotic vending machine;
[0049] FIG. 3 illustrates the integrated robotic vending machine with various internal doors removed and depicted internal components of the integrated robotic vending machine;
[0050] FIG. 4 illustrates an exploded view of the integrated robotic vending machine;
[0051] FIG. 5 illustrates top view of a layout of the integrated robotic vending machine;
[0052] FIG. 6 illustrates a localization system for determining location of mobile carriers of the integrated robotic vending machine; and
[0053] FIGS. 7-16 illustrate the movement of the robotic trolley inside the integrated robotic vending machine during a preparation and delivery of an example beverage.
DETAILED DESCRIPTION
[00541 Example embodiments are described below with reference to the accompanying drawings. Unless otherwise expressly stated in the drawings, the sizes, positions, etc., of components, features, elements, etc., as well as any distances there between, are not necessarily to scale, and may be disproportionate and/or exaggerated for clarity.
[00551 The terminology used herein is for the purpose of describing example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be recognized that the terms "comprise," "comprises," and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Unless otherwise specified, a range of values, when recited, includes both the upper and lower limits of the range, as well as any sub-ranges there between. Unless indicated otherwise, terms such as "first," !0 "second," etc., are only used to distinguish one element from another. For example, one element could be termed a "first element" and similarly, another element could be termed a "second element," or vice versa. The section headings used herein are for organizational purposes only and are not to be construed as limiting the subject matter described.
[0056] Unless indicated otherwise, the terms "about," "thereabout," "substantially," etc. mean that amounts, sizes, formulations, parameters, and other quantities and characteristics are not and need not be exact, but may be approximate and/or larger or smaller, as desired, reflecting tolerances, conversion factors, rounding off, measurement error and the like, and other factors known to those of skill in the art.
[0057] Spatially relative terms, such as "right," left," "below," "beneath," "lower," "above," and "upper," and the like, may be used herein for ease of description to describe one element's or feature's relationship to another element or feature, as illustrated in the drawings. It should be recognized that the spatially relative terms are intended to encompass different orientations in addition to the orientation depicted in the figures. For example, if an object in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the term "below" can, for example, encompass both an orientation of above and below. An object may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may be interpreted accordingly.
[0058] Unless clearly indicated otherwise, all connections and all operative connections may be direct or indirect. Similarly, unless clearly indicated otherwise, all connections and all operative connections may be rigid or non-rigid.
[0059] Like numbers refer to like elements throughout. Thus, the same or similar numbers may be described with reference to other drawings even if they are neither mentioned nor described in the corresponding drawing. Also, even elements that are not denoted by reference numbers may be described with reference to other drawings.
[0060] Many different forms and embodiments are possible without deviating from the spirit and teachings of this disclosure and so this disclosure should not be construed as limited to the example embodiments set forth herein. Rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will convey the scope of the disclosure to those skilled in the art.
[0061] Reference in this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. The appearance of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
[0062] Referring to FIGS. I to 3, an integrated robotic vending machine 100 (hereinafter simply referred to as vending machine 100) configured to prepare and deliver a plurality of beverages is shown. In an embodiment, as shown and explained henceforth, the vending machine 100 is adapted to prepare tea based and/or coffee based hot and cold beverages. Although the vending machine 100 is contemplated as tea-based and/or coffee-based beverages vending machine, it may be appreciated that the vending machine 100 can be customized to deliver any type of beverages. The vending machine 100 may be a portable vending machine having a housing 102 to house and support various components of the vending machine 100, and a plurality of wheels 104 attached to the housing 102 and supporting the housing 102 on a surface. The wheels 104 facilitate a movement of the vending machine 100 to different locations.
[0063] As shown, the housing 102 includes a cabinet 106 having a base 108, a roof 110, and a plurality of walls 112 extending vertically from the base 108 to the roof 110. The cabinet 106 includes a platform 114 arranged substantially parallel to the base 108 and dividing the cabinet into two portions, for example, a first portion 118 (i.e., top portion 118) and a second portion (i.e., bottom portion 120). The first portion 118 defines a dispensing chamber 122, while the bottom portion 120 defines a plurality of storage chambers, for example, a first storage chamber 124, a second storage chamber 126, and a third storage chamber 128, separated by each other by one or more vertically extending walls from the base 108 to the platform 114. Moreover, the housing 102 includes at least one door, for example, a first door 130 adapted to close a front opening of the first portion 118, and a second door 132 adapted to close a front opening of the second portion 120. As shown, the first door 130 includes a top end 134, a bottom end 136, a transparent portion 138 extending from the top end 134 towards the bottom end 136, and at least one opening, for example three openings 140 shown in FIGS. 1 to 3, arranged proximate to the bottom end 136 and adapted to provide an access of the dispensing chamber 122 when the first door 130 is in a closed position. The transparent portion 138 enables a viewing of the process of preparation and delivery of the beverages to a user or a customer. In an embodiment, the transparent portion 138 may include transparent television screens having panels to provide on screen instructions for beverage collection. In some embodiments, the transparent television screens may also include an interactive digital media and content proliferation device to display various advertisements. Also, various games may be displayed on the screens and the screens may be touch enabled screen to enable the customer to play various interactive games.
[0064] Although two doors 130, 132 are contemplated, it may be appreciated that a single door is also possible. Moreover, each of the storage chambers 124, 126, 128 has independent door to provide access of the inside of the respective storage chambers 124, 126, 128. In an embodiment, one of the storage chambers, for example, the first storage chamber 124, includes a chiller 142 to store various ingredients, such as, milk, mousse, juices/flavors, etc., at a desired temperature. In one embodiment, one of storage chambers, for example, the second storage chamber 126, may include a waste collector 144 to collect any spillage or waste generated during preparation of the beverage.
[0065] Referring to FIGS. 3 and 4, the vending machine 100 includes at least one cup dispensing station 150 to store a plurality of cups 152 and adapted to dispense one cup 152 at a time. In the illustrated embodiment, as shown in FIG. 4, the at least one cup dispensing station 150 includes a first cup dispensing station 154 to store and dispense a plurality of first cups 156 and a second cup dispensing station 158 to store and dispense a plurality of second cups 160. Each first cup 156 is suitable to store hot beverages, while each second cup 160 is suitable to store cold beverages. Additionally, the vending machine 100 includes at least one ingredient dispensing station 162 to dispense at least one ingredient inside the cup 152 to prepare the plurality of beverages. For example, as exemplified in FIG. 4 and FIG. 5, the vending machine 100 includes a plurality of ingredient dispensing stations, for example, an ice dispensing station 162a, a tea brewing and dispensing station 162b, a milk dispensing station 162c, a mousse dispensing station 162d, a fructose dispensing station 162e, a flavor dispensing station 162f, and a straining and dispensing station 162g, to dispense at least one ingredient inside the cup 152 to prepare the plurality of beverages. The ice dispensing station 162a arranged on the platform 114 proximate to a rear wall of the cabinet 106 and is adapted to dispense ice, while the tea brewing and dispensing station 162b is mounted on the platform 114 and is adapted to store tea ingredients and/or coffee ingredients. The tea brewing and dispensing station 162b is arranged proximate to the first door 130 and facilitates a brewing and dispensing of brewed tea or coffee inside a cup 152. Similarly, the milk dispensing station 162c, the mousse dispensing station 162d, the fructose dispensing station 162e, and the flavor dispensing station 162f are in the form of taps extending inside the dispensing chamber 122 through the platform 114 and are adapted to dispense milk, mousse, fructose, and flavor, respectively. Further, the straining and dispensing station 162g is mounted to the rear wall or the roof 110 of the cabinet 106 and is arrange at a distance from the platform 114 and is adapted to dispense toppings. It may be appreciated that the ingredient dispensing stations 162 and the cup dispensing stations 150 are arranged inside the dispensing chamber 122 and mounted to the cabinet 106 such that the ingredient dispensing stations 162 dispense the ingredients on to the cup 152 arranged/moving on the platform 114.
[0066] Additionally, or optionally, the vending machine 100 may include a labelling station 170 to label a name or a code corresponding to a beverage to be collected inside a cup 152. Moreover, the vending machine 100 may include a sealing station 172 to apply a lid on the cup 152 having the beverage and seal the lid on the cup 152. For so doing, the sealing station 172 includes a lifter module 174 and a sealer 176. The lifter module 174 is adapted to pick up and hold a cup to be sealed, and moves the cup 152 to the sealerl76. In an embodiment, the lifter module 174 is adapted move the cup 152 in a vertically direction and a horizontal direction (i.e., X-Y direction) to enable a movement of the cup 152 to the sealer 176 and then back to platform 114 or a cup holder arranged on the platform 114. The sealer 176 may be a heat or ultrasonic sealer adapted to position a lid on the cup 152 and then seal the lid on the cup 152 to prevent a spillage of the beverage disposed inside the cup 152. Accordingly, the cup 152 is sealed with the lid after all the ingredients for preparing a beverage are poured inside the cup 152.
[0067] Further, the vending machine 100 includes at least one robotic trolley 180 (i.e., mobile carrier 180) adapted to autonomously move on the dispensing platform 114 and at the ingredient dispensing stations 162, the cup dispensing stations 154, 158, the labelling station 170, and the sealing station 172 to facilitate the preparation and delivery of the plurality of beverages. As shown, the robotic trolley 180 includes a cup holder 182 for grabbing and holding a cup 152 dispensed from the at least one cup dispensing station 150, and a plurality of wheels 184 adapted to support the robotic trolley 180 on the platform 114. The wheels 184 facilitate movement of the robotic trolley 180 to the various stations 150, 162, 170, 172 of the vending machine 100. Further, the robotic trolley 180 may include necessary control modules to control the movement of the robotic trolley 180 based on various inputs, for example, a beverage selected by a customer. In an embodiment, the robotic trolley 180 may include a communication module (not shown) to facilitate a communication of the robotic trolley 180 with a central controller (hereinafter referred to as a controller 190) and/or the ingredient dispensing stations 162, the cup dispensing stations 150, the labelling station 170, the sealing station 172, and any other system or components associated with the vending machine 100. It may be envisioned that the robotic trolley 180 may include necessary hardware to power the wheels 184 to enable the movement of the robotic trolley 180. Also, the robotic trolley 180 may include necessary collision avoidance system and queue management system to enable the autonomous movement of the robotic trolley 180 to facilitate the preparation and delivery of the plurality of beverages.
[0068] In an embodiment, the robotic trolley 180 is a battery powered robotic trolley. Accordingly, the vending machine 100 includes at least one charging station 186 (best shown in FIGS. 2, 3, and 4) for charging the at least one robotic trolley 180. In an embodiment the charging stations 186 are wireless charging stations, and the robotic trolley 180 includes necessary hardware to enable the wireless charging of the battery of the robotic trolley 180. As shown, the charging stations 186 are arranged in a waiting zone 188 (best shown in FIGS. 2, 3, and 5) to enable the charging of the robotic trolley 180 while the robotic trolley 180 is waiting for receiving an instruction to enable a preparation of the beverage or waiting before moving to the delivery station (i.e., the openings 140) after preparation of the beverage. In an embodiment, the robotic trolley 180 is adapted to move to the delivery windows to deliver the cup with beverage upon receipt of an authentication code.
[0069] Additionally, the vending machine 100 includes a user interface 200 (shown in FIG. 1) to facilitate a selection of a beverage from the plurality of beverages by a customer. In an embodiment, the user interface 200 may be a panel mounted on housing 102 of the vending machine 100, and may include a display 202 and a keypad 204 to facilitate the selection of the beverage from the plurality of the beverages. In an embodiment, the keypad 204 may be an alphanumeric keypad or a touch pad. In some embodiments, as shown in FIG. 1, the user interface 200 may be a web-based application that can be accessed by a computing device, such as, but not limited to, a mobile phone, a desktop computer, a laptop, a tablet, or any other similar device that facilitates an access of the web-based application and facilitates a selection of the beverage by a customer. Further, the user interface 200 may include a payment module 206 to facilitate a receipt of a payment from the customer corresponding to the selected beverage. In an embodiment, the payment module 206 (shown in FIG. 1) may be a payment terminal on board the vending machine 100. The payment terminal may facilitate the payment via one or more of credit card, debit card, QR (quick response) codes, currency collector, or any other method know in the art. In one embodiment, the payment module 206 may be built into user interface 200 of the web based application that facilitates the payment via one or more of the credit card, debit card, intemet banking, or any other method known in the art. Further, the vending machine 100 may include a receipt generator 210 (shown in FIGS. 3 and 5) that print a receipt of the payment upon delivery of the cup 152 with the beverage through the one or the openings 140 (i.e., the delivery station). The user interface 200 is in communication with the controller 190 (shown in FIG. 1) to receive inputs corresponding to the selected beverage and the payment, and control the at least one robotic trolley 180, the at least one cup dispensing station 150, and the at least one ingredient station 162 to prepare and deliver the selected beverage to the customer.
[0070] The controller 190 may be a remote controller or a controller on board the vending machine 100 and is in communication with the user interface 200, the payment module 206, the at least one robotic trolley 180, the ingredient dispensing stations 162, the cup dispensing stations 154, 158, the charging stations 186, the labelling station 170, and the sealing station 172. In an embodiment, as shown in FIG. 1, the controller 190 may include a processor 192 for executing specified instructions, which controls and monitors various functions associated with vending machine 100. The processor 192 may be operatively connected to a memory 194 for storing instructions related to the control of the vending machine100 and components of the vending machine 100.
[0071] The memory 194 as illustrated is integrated into the controller 190, but those skilled in the art will understand that the memory 194 may be separate from the controller 190 but onboard the vending machine 100, and/or remote from the controller 190 and the vending machine 100, while still being associated with and accessible by the controller 190 to store information in and retrieve information from the memory 194 as necessary during the operation of vending machine 100. The memory 194 may include a recipe module 196 storing a plurality of recipes corresponding to the plurality of beverages adapted to be prepared by the vending machine 100. Also, each recipe may include information about one or more ingredients needed to prepare an associated beverage, amount of each ingredient, and/or a sequence in which the ingredients are to be mixed for preparing the associated beverage.
[0072] Although the processor 192 is shown, it is also possible and contemplated to use other electronic components such as a microcontroller, an application specific integrated circuit (ASIC) chip, or any other integrated circuit device. Moreover, the controller 190 may refer collectively to multiple control and processing devices across which the functionality of the various systems or components of the vending machine 100 may be distributed. For example, the ingredient dispensing stations 162, the robotic trolley 180, the cup dispensing stations 154, 158, the labelling station 170, the sealing station 172 each may include one or more controllers that communicate with the controller 190.
[0073] Further, the vending machine 100 may include a plurality of sensors (not shown) to detect a positioning of the robotic trolley 180 at any of the stations 150, 162, 170, 172, 186, 140 or a location of the robotic trolley 180 at the platform 114. The controller 190 upon receipt of such information from the sensors may control the movement of the robotic trolley 180 and/or control the operation of the stations 150, 162, 170, 172, 186 to enable a preparation and delivery of the selected beverage to the customer.
[0074] To facilitate and control the delivery of a beverage to the customer, the processor 192 receives an information or input corresponding to a beverage selected by the user through the user interface 200. Upon receipt of the information regarding the selected beverage, the processor may check a status of a payment corresponding to the selected beverage. Upon receipt of the confirmation of the payment or otherwise, the processor 192 may access the recipe module 196 to access the recipe corresponding to the selected beverage and determines the information related to the ingredients necessary for preparing the selected beverage. Further, the processor 192 may determine a type of cup 152 to be used for preparing the beverage. For example, the processor 192 may determine the type of cup 152 as the first cup 156 when the selected beverage is a hot beverage (i.e., a first type of beverage), while the processor 192 may determine the type of cup as the second cup 160 in response to the selected beverage being a cold beverage (i.e., a second type of beverage). In some embodiments, the vending machine 100 may include only one type of cups 152, and in such a case, processor may skip the determination of the type of cup based on the type of beverage selected by the user. Thereafter, the processor 192 may determine a path and a movement of the robotic trolley 180 based on the ingredients of the selected beverage and the type of the beverage and a sequence in which the ingredients are be delivered to the cup 152 held by the robotic trolley 180. Additionally, upon receipt of the order from the customer, the processor 192 may generate an authentication code to be shared with the customer/user. The customer presents the authentication code to receive the delivery of the cup 152 with the selected beverage.
[0075] In an embodiment, processor 192 may share the authentication code to the customer via the web-based user interface. In some embodiments, the processor 12 may share the authentication code via a text message deliver the customer phone. In an embodiment, the authentication code may be a QR code generated on the web-based application. Further, the processor 192 may store the authentication corresponding to each order in the memory 194. Also, processor 192 may assign an identification code with the robotic trolley that is controlled to receive the ingredients corresponding to the selected beverage. The identification code is paired with the authentication code and is stored inside the memory 194. Accordingly, the processor 192 is adapted to identify the robotic trolley 180 having the selected beverage when the customer enters or presents the authentication code. As shown in FIG. 1, the vending machine 100 may include one or more input stations 212 on board the vending machine 100 to facilitate an entry of the authentication code by the customer. In an embodiment, the input station may be keypad or a code scanner, or any other suitable component that facilitate the input of the authentication code by the customer.
[0076] Further, the processor 192 may control the ingredient dispensing stations 162 to dispense the ingredient into cup 152 held by the robotic trolley 180 when the robotic trolley 180 with the cup reaches one or more of the ingredients dispensing stations as per the recipe of the selected beverage. Also, the processor controls the cup dispensing stations to deliver the cup 152 to the robotic trolley 180 depending on the type of beverage. For example, the processor may direct the robotic trolley 180 to the first cup dispensing station 154 when the selected beverage is a hot beverage and the directs the robotic trolley 180 the second cup dispensing station 158 when the selected beverage is a cold beverage. The processor 192 is configured to detect a presence of the robotic trolley at the first cup dispensing station 154 or the second cup dispensing station 158 and controls the first cup dispensing station 154 or the second cup dispensing station 158 to, respectively, drop/release the first cup 156 or the second cup 160 to be received by the cup holder 182 of the robotic trolley 180.
[0077] Further, the processor 192 may direct the robotic trolley 180 with the cup 152 to the labelling station 170 before directing the robotic trolley 180 with the cup 152 to one or more of the ingredient dispensing stations 162. The processor 192 may control and operate the labelling station 170 to label the cup with a suitable identifier when the robotic trolley 180 reaches the labelling station 170. Subsequently, the processor 192 directs the robotic trolley 180 with the cup 152 to one or more of the ingredient dispensing stations 162 to receive the one or more ingredients corresponding to the recipe of the selected beverage inside the cup 152 held by the robotic trolley 180. It may be appreciated that the robotic trolley 180 moves to various ingredient stations as per the recipe and in a sequence defined by the recipe of the selected beverage.
[0078] Upon collecting the ingredients corresponding to the selected beverage inside the cup 152, the robotic trolley 180 moves to the sealing station 172. Upon detection of the presence of the robotic trolley 180 with the cup 152, the processor 192 may control the sealing station to seal the cup 152 containing the beverage via a lid For so doing, the processor 192 may control the lifter module 174 to grab the cup 152 held by the cup holder 182 of the robotic trolley 180, and moves the cup 152 to the sealer 176. In so doing, the cup 152 may be moved in a vertically upward direction as well as a horizontal direction by the lifter module 174. The processor 192 controls the sealer 176 to apply the lid on the cup 152 and seal the cup 152 with the lid.
Thereafter, the processor 192 may again control the lifter module 174 to position the sealed cup 152 inside the cup holder 182 of the robotic trolley 180.
[0079] Upon receipt of the sealed cup inside the cup holder 182, the robotic trolley 180 or the processor 192 may check or determine if the authentication code corresponding to the beverage inside the cup 152 held by the robotic trolley 180 is received. The processor 192 moves the robotic trolley 180 to the one of the openings 140 from the sealing station 172 to deliver the cup 152 with the selected beverage if the authentication code has been received. In an embodiment, the processor 192 may identify a vacant opening 140 out of the openings 140 before moving the robotic trolley 180 with the cup 152 to the opening 140, and assigns the vacant opening 140 to the robotic trolley 180. The processor 192 may identify opening 140 as the vacant opening 140 when there is no robotic trolley 180 at the opening 140 and/or the opening 140 is not assigned to any of the robotic trolleys 180 operating inside the dispensing chamber 122. The processor 192 may move the robotic trolley 180 with the cup 152 to the waiting zone when there is no vacant opening 140 and moves the robotic trolley 180 with the cup when an opening out of the openings 140 is assigned to the robotic trolley 180.
[0080] Also, the processor 192 moves the robotic trolley 180 with the cup 152 to the waiting zone 188 from the sealing station 172 if the associated authentication code is not received and keeps the robotic trolley 180 at the waiting zone 188 until the authentication code is received and one of the openings 140 is assigned to the robotic trolley 180. In an embodiment, the robotic trolley 180 is charged by the charging station 186 when in the waiting zone. The robotic trolley 180 delivers the cup 152 with the beverage selected by the customer through the assigned opening 140. Also, the processor 192 may operate the receipt generator 210 to print a receipt for the customer upon delivery of the cup 152 with selected beverage. In this manner, the vending machine 100 facilitates preparation and delivery of the plurality of beverages without human intervention and brings efficiency in preparation and delivery of the beverages. Further, the processor 192 can control multiple robotic trolleys 180 to reduce the queue at the vending machine 100.
[0081] In an embodiment, referring to FIG. 6, the vending machine 100 includes a localization system 250 for determining a location of the at least one robotic trolley 180 in real time. In an embodiment, multiple robotic trolleys 180 may be provided and the localization system 250 is adapted to determine location of the multiple robotic trolleys 180 simultaneously and share the location information of each robotic trolley 180 with the processor 192 (i.e., the controller 190). The controller 190 with the help of location information controls the movement of each robotic trolley 180 arranged at the platform 114 to enable the smooth operation of each robotic trolley 180 in order to prepare and deliver one or more beverages simultaneously, while avoiding any collision therebetween. In an embodiment, the localization system 250 may include a plurality of slave beacons 252, for example, four slave beacons 252, arranged onboard the vending machine 100, and a master beacon 254 in communication with the slave beacons 252 and the controller 190. The master beacon 254 may be arranged on board the vending machine 100 or may be located outside the vending machine in proximity to the vending machine 100.
[0082] The master beacon 254 triangulates a position of each robotic trolley 180 based on the signals or information received from the slave beacons 252, and shares the location information of each of the robotic trolley 180 with the controller 190 in real time. In some implementations, the master beacon 254 may be omitted. In such case, the controller 190 may triangulate the locations of the robotic trolleys 180 based on the signals received from the slave beacons 252.
[0083] In an embodiment, the robotic trolley 180 also includes a locator 256, for example, a WI Fl module or a Bluetooth module, that interacts with the slave beacons 252 and/or the master beacon 254 to enable the determination of the location of the robotic trolley 180 by the master beacon 254. The locators 256 on the robotic trolleys 180 sets up an inverse architecture so that the update rate of the locations of the robotic trolleys 180 does not decrease as the number of robotic trolleys 180 inside the vending machine 100 increases. Additionally, the locator 256 may include an inertial sensor, for example, an IMU (inertial measurement unit), a ultrasonic sensor and/or LiDAR sensor to determine distances, a barometer to determine ambient pressures, to enhance accuracy in providing heading, direction and location of the associated robotic trolley 180. In some embodiment, the robotic trolley 180 may also include additional sensors, for example, a weight sensor to determine and record a weight of each beverage being poured inside the cup held by the robotic trolley, and a thermometer to determine temperature of its surroundings.
[0084] An example method for preparing a beverage and delivery of the beverage is explained with reference to the FIGS. 7 to 16. The method includes a step at which the processor 192 receives an input corresponding to a selected beverage through the user interface 200. In the example, the beverage selected by the customer is a cold tea with toppings & fructose & milk.
Upon receipt of the selection of the beverage as the cold tea with toppings & fructose & milk, the processor 192 accesses the recipe module 196 and determines the type of cup and the ingredients associated with the cold tea with toppings & fructose & milk. In the present example, the processor 192 determines the type of beverage as cold beverage and therefore determines the type of cup as the second cup 160. Subsequently, or otherwise, the processor 192 may generate an authentication code and share the authentication code with the customer. Also, the processor 192 assigns a single robotic trolley 180 to the customer order and assign an identifier with the robotic trolley 180 and associate or pair the identifier with the authentication code.
[0085] Subsequently, the processor 192 moves the assigned robotic trolley 180 at the second cup dispensing station 158 at which the second cup dispensing station 158 dispenses one second cup 160. The dispensed second cup 160 is received inside the cup holder 182 of the robotic trolley 180 (as shown in FIG. 7). Thereafter, the robotic trolley 180 moves to the labelling station 170 at which the processor 192 operates the labelling station 170 to label the second cup 160 with appropriate labels (as shown in FIG. 8). Upon completion of the labelling of the second cup 160, the processor 192 moves the robotic trolley 180 to the straining and dispensing station 162g where the topping is dispensed inside the second cup 160 held by the cup holder 182 of the robotic trolley 180 (as shown in FIG. 9).
[0086] Thereafter, the robotic trolley 180 moves to the fructose dispensing station 162e as shown in FIG. 10. The processor 192 operates the fructose dispensing station 162e and deliver the fructose inside the second cup 160 held by the robotic trolley 180. Subsequently, the processor 192 moves the robotic trolley 180 to the ice dispensing station 162a as which ice is delivered to the second cup 160, as shown in FIG. 11. Subsequently, the robotic trolley 180 moves to the milk dispensing station 162c (as shown in FIG. 12) and the milk is dispensed inside the second cup 160 held by the robotic trolley 180. Upon receipt of the milk inside the second cup 160, the robotic trolley 180 moves to the tea brewing and dispensing station 162b and receives the tea inside the second cup 160. In an embodiment, as shown in FIG. 13, at the tea brewing and dispensing station 162b, the tea is brewed inside a cup filter 300 held by a holder 302 (shown in FIGS. 2 and 13), which receives the tea leaves and the hot water from the tea leaves dispenser 304 (best shown in FIGS. 2 and 4) and hot water dispensing taps 306 (best shown in FIG. 12) defines by the holder 302 respectively and delivers the brewed tea via a hole defined at a bottom of the cup filter 300. The tea brewing and dispensing station 162b includes a plurality of such holders 302, hot water dispensing taps 306, and the tea leaves dispensers 304. Also, the tea brewing and dispensing station 162b may include a plurality of swivel gates 310 shown in FIGS. 11 and 13) to open and close a plurality of discharge openings 312 (shown in FIG. 3) to enable a discharge of the spilled tea and the cup filter 300 to the waste collector 144 via the discharge openings 312.
[0087] After receiving the tea from the tea brewing and dispensing station 162b, the robotic trolley 180 moves to the sealing station 172 at which the second cup 160 is sealed with a lid 350 (as shown in FIG. 14). Thereafter, the robotic trolley 180 moves to the waiting zone 188 and is operatively connected to one of the charging stations 186 to charge the battery of the robotic trolley 180 (as shown in FIG. 15). The robotic trolley 180 remains at the waiting zone 188 until the process receives the authentication code via the input station 212. Upon receipt of the authentication code, the processor 192 identifies a vacant opening 140 among the openings 140, assigns the vacant opening 140 to the robotic trolley 180, and moves the robotic trolley 180 to the assigned opening 140 (show in FIG. 16) and delivers the second cup 160 with the beverage to the customer through the opening 140.
[0088] Many modifications and other embodiments of the disclosures set forth herein will come to mind to one skilled in the art to which these disclosures pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the disclosures are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Moreover, although the foregoing descriptions and the associated drawings describe example embodiments in the context of certain example combinations of elements and/or functions, it should be appreciated that different combinations of elements and/or functions may be provided by alternative embodiments without departing from the scope of the appended claims.
LIST OF ELEMENTS
100 integrated robotic vending machine 102 housing 104 wheel 106 cabinet 108 base 110 roof 112 walls 114 platform 118 top portion 120 bottom portion 122 dispensing chamber 124 first storage chamber 126 second storage chamber 128 third storage chamber 130 first door 132 second door 134 top end 136 bottom end 138 transparent portion 140 opening 142 chiller 144 waste collector 150 cup dispensing station 152 cup 154 first cup dispensing station 156 first cup 158 second cup dispensing station 160 second cup 162 ingredient dispensing station 162a ice dispensing station 162b tea brewing and dispensing station 162c milk dispensing station
162d mousse dispensing station 162e fructose dispensing station 162f flavor dispensing station 162g straining and dispensing station 170 labelling station 172 sealing station 174 lifter module 176 sealer 180 robotic trolley 182 cup holder 184 wheel 186 charging station 188 waiting zone 190 controller 192 processor 194 memory 196 recipe module 200 user interface 202 display 204 keypad 206 payment module 210 receipt generator 212 input station 250 localization system 252 slave beacon 254 master beacon 256 locator 300 cup filter 302 holder 304 tea leaves dispenser 306 water dispensing taps 310 swivel gate 312 discharge opening 350 lid

Claims (38)

1. An integrated robotic vending machine configured to facilitate an automatic preparation and delivery of a plurality of beverages, the integrated robotic vending machine comprising: at least one cup dispensing station adapted to store a plurality of cups and/or dispense a cup from the plurality of cups; at least one ingredient dispensing station adapted to dispense at least one ingredient to the cup in order to prepare the plurality of beverages; at least one mobile carrier adapted to autonomously move at the at least one cup dispensing station and/or the at least one ingredient dispensing station, the at least one mobile carrier comprising a cup holder to hold the cup; and a controller in communication with the at least one cup dispensing station, the at least one ingredient dispensing and/or the at least one mobile carrier in order to deliver a cup of beverage to an opening of a housing of the integrated robotic vending machine.
2. The integrated robotic vending machine of claim 1, wherein the controller is configured to move the at least one mobile carrier to at least one cup dispensing station to receive a cup from the at least one cup dispensing station, move the at least one mobile carrier having the cup to the at least one ingredient dispensing station to collect the at least one ingredient inside the cup based on a beverage selected by a customer, and move the at least one mobile carrier to the opening upon to deliver the selected beverage to the customer through the opening.
3. The integrated robotic vending machine of claim 2, wherein the controller is configured to move the at least one mobile carrier to the opening after receiving an authentication code associated with the selected beverage.
4. The integrated robotic vending machine of claim 3, wherein the integrated robotic vending machine includes a waiting zone at which the at least one mobile carrier is arranged after collecting the ingredients inside the cup from the at least one ingredient dispensing station, and the controller is configured to move the at least one mobile carrier to the opening from the waiting zone upon receipt of the authentication code.
5. The integrated robotic vending machine of claim 4, wherein the waiting zone includes a plurality of charging stations to enable a charging of the at least one mobile carrier when the at least one mobile carrier is in the waiting zone.
6. The integrated robotic vending machine of claim 5, wherein each of the charging stations is a wireless charging station to enable a wireless charging of the at least one mobile carrier.
7. The integrated robotic vending machine of claim 3 further including an input station to enable the customer to input the authentication code from the customer.
8. The integrated robotic vending machine of claim 2 further including a payment module in communication with the controller and adapted to receive a payment from the customer corresponding to the selected beverage, and the controller moves the at least one mobile carrier to the opening to deliver the selected beverage upon receipt of a payment corresponding to the selected beverage.
9. The integrated robotic vending machine of claim 1 further including a user interface in communication with the controller and is configured to display a list of the plurality of beverages adapted to be prepared by the integrated robotic vending machine to the customer, and facilitate a selection of a beverage from the plurality of beverages by a customer.
10. The integrated robotic vending machine of claim 2 further including a recipe module in communication with the controller and configured to store a plurality of recipes corresponding to the plurality of beverages.
11. The integrated robotic vending machine of claim 10, wherein the controller generates a path for movement of the at least one mobile carrier based on a recipe of the selected beverage.
12. The integrated robotic vending machine of claim 1, wherein the housing includes a door having a transparent portion to enable a viewing of an interior of the housing to a customer.
13. The integrated robotic vending machine of claim 12, wherein the door defines the opening.
14. The integrated robotic vending machine of claim 1, wherein the housing includes a storage chamber and a chiller arranged inside the storage chamber and adapted to store the at least one ingredient.
15. The integrated robotic vending machine of claim 1, wherein the at least one cup dispensing station includes a first cup dispensing station adapted to store and dispense a plurality of first cups, wherein the first cups are suitable for a first type of beverages, and a second cup dispensing station to store and dispense a plurality of second cups, wherein the second cups are suitable for a second type beverages.
16. The integrated robotic vending machine of claim 15, wherein the controller is configured to move the at least one mobile carrier to the first cup dispensing station to receive the first cup when the first type of beverage is selected, and move the at least one mobile carrier to the second cup dispensing station to receive the second cup when the second type of beverage is selected.
17. The integrated robotic vending machine of claim 1, wherein the at least one ingredient dispensing station includes a tea brewing and dispensing station adapted to brew a tea and dispense the brewed tea to the cup carried by the mobile carrier.
18. The integrated robotic vending machine of claim 1, wherein the at least one ingredient dispensing station includes one or more of an ice dispensing station to dispense ice, a fructose dispensing station to dispense fructose, a flavor dispensing station to dispense flavor, a milk dispensing station to dispense milk, and a mousse dispensing station to dispense mousse.
19. The integrated robotic vending machine of claim 1 further including a labelling station adapted to label the cup based on a beverage selected by a customer.
20. The integrated robotic vending machine of claim 19, wherein the at least one mobile carrier moves to the labelling station after receiving the cup from the at least one cup dispensing station.
21. The integrated robotic vending machine of claim 1 further including a sealing station to seal the cup containing a beverage.
22. The integrated robotic vending machine of claim 21, wherein the sealing station includes a sealer for sealing a lid on the cup and a lifter module to move the cup between the at least one mobile carrier and the sealer.
23. The integrated robotic vending machine of claim 21 wherein the controller is configured to move the at least one mobile carrier to the sealing station upon receipt of the ingredients corresponding to a beverage selected by a customer, and move the at least mobile carrier to a waiting zone upon sealing the cup.
24. The integrated robotic vending machine of claim 1 further including a localization system to determine a location of the at least one mobile carrier.
25. The integrated robotic vending machine of claim 24, wherein the localization system includes a plurality of beacons in communication with the at least one mobile carrier, and the controller in communication with the plurality of the beacons is configured to determine the location of the at least one mobile carrier based on information received from the plurality of beacons.
26. The integrated robotic vending machine of claim 25, wherein the at least one mobile carrier includes a locator arranged in communication with the plurality of beacons, wherein the plurality of beacons receives an information associated with a location of the at least one mobile carrier from the locator.
27. A method for preparing and delivering a beverage at an integrated robotic vending machine, the method comprising: determining, by a controller, a beverage selected by a customer from a plurality of beverages; moving, by the controller, at least one mobile carrier to at least one cup dispensing station to receive a cup from the at least one cup dispensing station; moving, by the controller, the at least one mobile carrier to at least one ingredient dispensing station to receive at least one ingredient corresponding to the selected beverage; and moving, by the controller, the at least one mobile carrier having the selected beverage to an opening of the integrated robotic vending machine to deliver the selected beverage to the customer.
28. The method of claim 27, wherein the at least one mobile carrier is moved to the opening to deliver the selected beverage upon a receipt of an authentication code associated with the selected beverage.
29. The method of claim 28 further including moving the at least one mobile carrier to a waiting zone of the integrated robotic vending machine after collecting the at least one ingredient inside the cup from the at least one ingredient dispensing station, and moving the at least one mobile carrier to the opening from the waiting zone upon the receipt of the authentication code.
30. The method of claim 29, wherein the waiting zone includes a plurality of charging stations to enable a charging of the at least one mobile carrier when the at least one mobile carrier is in the waiting zone.
31. The method of claim 28, wherein the controller receives the authentication code from the customer via an input station adapted to enable the customer to enter the authentication code.
32. The method of claim 27, wherein the controller moves the at least one mobile carrier to the opening to deliver the selected beverage upon receipt of a payment corresponding to the selected beverage.
33. The method of claim 27, wherein controller receives an input corresponding to the selection of the beverage from the plurality of beverages via a user interface adapted to display a list of the plurality of beverages to be prepared by the integrated robotic vending machine and facilitate the selection of the beverage from the plurality of beverages by the customer.
34. The method of claim 27 further including accessing, by the controller, a recipe corresponding to the selected beverage from a plurality of recipes stored inside a recipe module, and generating, by the controller, a path for a movement of the at least one mobile carrier based on a recipe of the selected beverage.
35. The method of claim 27, wherein the at least one cup dispensing station includes a first cup dispensing station adapted to store and dispense a plurality of first cups, wherein the first cups are suitable for a first type of beverages, and a second cup dispensing station to store and dispense a plurality of second cups, wherein the second cups are suitable for a second type of beverages, wherein the controller moves the at least one mobile carrier to the first cup dispensing station to receive the first cup when the first type of beverage is selected, and moves the at least one mobile carrier to the second cup dispensing station to receive the second cup when the second type of beverage is selected.
36. The method of claim 27, wherein the at least one mobile carrier moves to a labelling station after receiving the cup from the at least one cup dispensing station.
37. The method of claim 27, wherein the controller moves the at least one mobile carrier to a sealing station upon receipt of the ingredients corresponding to the selected beverage to seal the cup.
38. The method of claim 37, wherein the sealing station includes a sealer for sealing the cup and a lifter module to move the cup between the mobile carrier and the sealer.
134 110 100
130 102 192 194
138 190 180 106 212
112 202 196 1/16
200 206
132
108
206 140 104 212
FIG. 1
134 100 138 118 114 122 162b 162d 162c 162e
102
132
106
162f 2/16
112
186 180 188 120 304 130 140 108 302 310 136 104
FIG. 2
134 114 110 162b 100 138 210 186 188 118 162g 150
162e
130
106 162f 3/16
102 116c 112
162d
132 128 180 126 120 108 140 122 312 124 104 162a 142 144
FIG. 3
176 162 162a 162 174 162g 158 160 150
152 156 172 182 150 152 186 152 180 162c
184 154 130 122 118 134 4/16
162 162e 114
138 162f
162d 170
162b 132 304 120
136 140 FIG. 4
162a 162g 100
170 150
172 158 154
150
186 162c
180 162e 5/16
186 188 162f
210 162d 140 140 162b 140
FIG. 5
250
252 254 252
252 6/16
252
256 180 256 180
FIG. 6
AU2021106476A 2021-08-23 2021-08-23 Integrated robotic vending machine Active AU2021106476A4 (en)

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AU2021106476A AU2021106476A4 (en) 2021-08-23 2021-08-23 Integrated robotic vending machine
CN202122548405.7U CN217085848U (en) 2021-08-23 2021-10-22 Integrated vending machine
TW110213048U TWM625485U (en) 2021-08-23 2021-11-04 Integrated robotic vending machine
PCT/SG2022/050597 WO2023027635A1 (en) 2021-08-23 2022-08-22 Integrated robotic vending machine

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Publication number Priority date Publication date Assignee Title
US7456596B2 (en) * 2005-08-19 2008-11-25 Cisco Technology, Inc. Automatic radio site survey using a robot
WO2019070733A1 (en) * 2017-10-06 2019-04-11 Zume, Inc. Self-propelled food preparation appliances and on-demand robotic food assembly with self-propelled food preparation appliances
US10729281B2 (en) * 2018-10-12 2020-08-04 Truebird, Inc. Increasing throughput of food and beverage preparation robots with concurrent transport of workpieces along multiple axes

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