Field of the I nvention

[1] This invention relates general ly to a robotic ice cream delivery system .

Background of the Invention

[2] Devices for preparing and del ivering a cone or cup of ice cream include EP 3333815 A1 ( llventitre S. r.l .) 13 J une 2018 [hereinafter referred to as D l] which com prise a first robotic arm having a spoon which scoops ice cream from an ice cream tub and which deposits the scooped ice cream into a cup or cone held by a second robotic arm for del ivery.

[3] The present invention seeks to provide a system, which wil l overcome or substantial ly amel iorate at least some of the deficiencies of the prior art, or to at least provide an alternative.

[4] It is to be understood that, if a ny prior art i nformation is referred to herein, such reference does not constitute an adm ission that the information forms part of the common general knowledge in the art, in Austral ia or any other country.

Summa ry of the Disclosure

[5] There is provided herein a self-serve kiosk system com prising a controller interfacing an order configuration interface and a scoop subsystem com prising a robotic arm having a scoop mechanism at a distal end thereof.

[6] The scoop mechanism may be of a particular configuration in that the scoop mechanism com prises a scoop defining an interior vol ume and a coplanar rim about the interior.

[7] Furthermore, the control ler may be configured to control the robotic arm in a particular manner to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface, to lower the scoop mechanism into the ice cream container, to stroke the scoop across the ice cream container until such time that the coplanar rim hits flat against an opposing inner side wal l surface of the container thereby entrapping a fixed volume of ice cream between the opposing inner side wall surface and the interior of the scoop, to raise the scoop mechanism to wipe the coplanar rim of the opposing inner side wall su rface to withdraw the fixed volume of ice cream from the ice cream container and to position the scoop with respect to a disposable cup or cone to deposit the fixed vol ume of ice cream therein . [8] The scoop mechanism may com prise a wiper actuator driving a wiper across an inner surface of the scoop and the controller may to actuate the wiper mechanism to dislodge the fixed volume of ice cream from the scoop into the cup or cone

[9] As such, the present scoop mechanism allows for single robotic arm operation as opposed to the device of Dl, for exam ple, requiring first and second robotic arms.

[10] Furthermore, in em bodiments the scoop mechanism com prises a rack a nd pinion, a pinion thereof being connected to a wiper and an aperture through which a slider rod is slidably retained and wh ich bears against a bearing face of a rack of the rack and pinion to oppose a biasing spring and which extends from the aperture . As such, in use, when the scoop mechanism is moved to press a distal end of the slider rod against a surface, the slider rod slides into the aperture, thereby deflecting the rack, causing the pinion to rotate to move the wiper to dislodge the ice cream . As such, the present arrangement may allow for single robotic arm operation as opposed to the required first and second robotic arms of Dl for example.

[11] Furthermore, the present scoop mechanism allows for tight and repeatable control of the fixed volume of ice cream unlike the device of Dl, for exam ple, wherein the amount of ice cream scooped may vary considerably. Dl does not disclose or obviously suggest a scoop having a coplanar rim, let alone hitting the coplanar rim against the opposing inner side wall surface of the container.

[12] In em bodiments the rim com prises a horizontal straight lower edge, thereby allowing the cleaning of the plana r floor of the container. I n further em bodiments, the rim com prises side edges perpendicula r to the lower edge, thereby allowing cleaning of the side walls of the container.

[13] The scoop may com prise an upward curvature rearward from the horizontal straight lower edge and the length of the stroke may be configured such that the interior volume of the scoop is filled with ice cream when hitting the opposing inner side wall surface of the container.

[14] In embodiments the contro l ler may reference a pressure sensor of the robotic arm to lower the scoop mechanism until the scoop mechanism contacts an upper surface of ice cream within the container. Furthermore, the control ler may reference the pressure sensor to apply a m inim um amount of downward pressure during the stroke, thereby ensuring the scoop is adequately filled with ice cream.

[15] In further em bodiments, the control ler may record each stroke to record real -time real-time ice cream content topography data within each container. [16] As such, the control ler may lower the scoop mechanism in accorda nce with the real time ice cream content to pography data . Furthermore, the controller may move the scoop mechanism adjacently according to the real-time ice cream content topography data such that the container is scooped out in rows.

[17] The present kiosk may com prise a rotary cassette having a plural ity of ice cream containers within a bin, which may be selectively enclosed by an automatic lid. As such, in accordance with a customer order, the controller may open the bin lid a nd rotate the rotary cassette to position the correct ice cream container fo r scooping.

[18] In embodiments the kiosk may com prise two or more bins and the robotic arm may move along a rail between each bin.

[19] The kiosk may com prise a del ivery subsystem to deliver the laden cone or cup to the user and a rinse station to rinse residual ice cream from the scoop between each stroke.

[20] According to one aspect, there is provided a self-serve kiosk system com prising a controller interfacing an order configuration interface and a scoop subsystem comprising a robotic arm having a scoop mechanism at a distal end thereof, the scoop mechanism com prising a scoop defining an interior volume, the scoop com prising a coplanar rim around the interior volume and wherein, in use, the controller is configured for controll ing the robotic arm to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface, to lower the scoop mechanism into the ice cream container, to stroke the scoop across the ice cream container until such time that the coplanar rim hits flat against an opposing inner side wall surface of the container thereby entrapping a fixed volume of ice cream between the inner side wall surface and the interior of the scoop, to raise the scoop to wipe the coplanar rim up the opposing inner side wal l surface to withdraw the fixed volume of ice cream from the ice cream container and to position the scoo p with respect to a receptacle to deposit the fixed vol ume of ice cream therein.

[21] The scoop mechanism may further com prise a wiper moveable across an inner surface of the scoop and the control ler may be further configu red to actuate the wiper to dislodge the fixed volume of ice cream from the scoop into the receptacle.

[22] The inner surface of the scoop may be sem i cyl indrical and the wiper may have a curvature and rotates between upper and lower pivot points across the inner surface of the scoop. [23] The scoop mechanism may com prise a neck having the scoop at a distal end thereof and the scoop mechanism may comprise a driveshaft along the neck to the upper pivot point.

[24] The rim may comprise a horizontal straight lower edge.

[25] The scoop may com prise an upward curvature rearward from the horizontal straight lower edge.

[26] The rim may comprise side edges perpendicular to the lower edge.

[27] The scoop mechanism may com prise a neck having the scoop at a distal end thereof and the coplanar rim may be away from an adjacent edge of the neck.

[28] The coplanar rim may l ie in a plane being para llel with an el ongate axis of the neck.

[29] The robotic arm may com prise a pressure sensor and the control ler may be configured for lowering the scoop mechanism until such time that the pressure sensor indicates that the scoop contacts an upper surface of ice cream within th e stream container.

[30] During the stroke, the control ler may be configured to reference the pressure sensor to control the robotic arm to maintain a m inim um downward pressure on the scoop.

[31] The control ler may record each stroke to record real -time ice cream content topography data such that the controller may lowers the scoop mechanism according to the ice cream content topography data.

[32] The length of the stroke may be configured according to the interior volume of the scoop such that the interior volume may be filled with ice cream at the opposing inner side wall surface.

[33] The control ler may record each stroke to record real -time ice cream content topography data and the controller adjacently positions the scoop mechanism according to the ice cream content topography data.

[34] The system may com prise a rotating cassette of containers and the controller may be configured for rotating the cassette according to the order.

[35] The cassette may be housed within a bin and the bin may com prise a lid and a l id actuator and the controller may be configured for rotating the cassette according to the order to position one of the containers beneath the l id and to actuate the l id actuator to open the l id.

[36] The system may further com prise a further rotating cassette of containers and the robotic arm may be able to travel along a rail and the controller may be configured for positioning the robotic arm along the rail to access the rotating cassette and the further rotating cassette. [37] The scoop mechanism may com prise a rack and pinion, a pin ion thereof being connected to the wiper and an aperture through which a sl ider rod may be slidably retained and which bears against a bearing face of a rack of the rack and pinion to oppose a biasing spring and which extends from the aperture such that, i n use, when the scoop mechanism is moved to press a distal end of the slider rod against a surface, the slider rod sl ides into the aperture, thereby deflecting the rack, causing the pinion to rotate to move the wiper.

[38] Other aspects of the invention are also disclosed.

Brief Description of the Drawings

[39] Notwithstanding any other forms which may fal l within the scope of the present invention, preferred em bodiments of the disclosure wil l now be described, by way of exam ple only, with reference to the accom panying drawings in which :

[40] Figure 1 shows a self-serve kiosk in accordance with an em bodiment;

[41] Figure 2 shows an exploded perspective view of a scoop mechanism in accordance with an em bodiment;

[42] Figure 3 shows a top perspective assem bled view of the scoop mechanism;

[43] Figure 4 shows a side elevation view of the scoop mechanism;

[44] Figure 5 shows a front elevation view of the scoop mechanism;

[45] Figure 6 shows a kiosk system in accordance with an em bodiment;

[46] Figure 7 shows exemplary processing by the system in accordance with an em bodiment; and

[47] Figures 8 - 10 il lustrate a scooping manoeuvre in accordance with an em bodiment.

Description of Embodiments

[48] A self-serve kiosk system 100 may com prise a POS system 102 and an order configuration interface 103.

[49] The kiosk system 100 com prises a robotic arm 104 having a scoop mechanism 105 at a distal end thereof. The kiosk system 100 may com prise at least one bin 106 having a plural ity of ice cream containers 107 therein.

[50] Each bin 106 may com prise a rotating cassette 109 holding a pl ura lity of ice cream containers 107 and a rotary actuator 108 to rotate the cassette 109. Each bin 106 may com prise a bin lid 110 and a bin l id actuator 143 to open the bin l id 110. The robotic arm 104 may travel along a rail 111 between adjacent bins 106.

[51] The scoop mechanism 105 may comprise a robotic arm interface 112 and a scoop 113 at a distal end thereof. The robotic arm interface 112 may interface with a robotic arm mating interface 113 of the robotic arm 104. The robotic arm mating interface 113 may com prise a plural ity of rotary actuators 114.

[52] The robotic arm interface 112 may comprise a coupling device 115 interfacing the robotic arm mating interface 113.

[53] A neck 118 may interface the scoop 113 and the robotic arm interface 112.

[54] The scoop 113 may have a coplanar rim 119 round an interior volume 120. The rim 119 may com prise a horizontal straight lower edge 121. Furthermore, the coplanar rim 190 may com prise straight side edges 122 being perpendicular to the horizontal straight lower edge 121.

[55] The coplanar rim 119 may be in front of an adjacent edge of the neck 118 such that the rim 119 may hit an opposing inner side wall surface of the container in the manner described hereunder without interference from the neck 118. Furthermore, the coplanar rim 119 may lie in a plane being paral lel with an elongate axis of the neck 118,

[56] The scoop 130 may com prise an upward curvatu re 123 rearward from the horizontal straight lower edge 121.

[57] The scoop mechanism 105 may com prise a wiper mechanism com prising a wiper 124. The scoop 113 may com prise a sem i cyl indrical inner surface and the wiper 124 may have a curvature and may be pivotally coupled between lower and upper pivot points 125, 126.

[58] A driveshaft 163 may interface a rack and pinion 117 held by a rack retaining plate 116 to rotate the wiper 124 between the pivot points 125, 126 such that the wiper wipes closely against and in ner surface of the interior volume 120 of the scoop 113.

[59] The scoop mechanism 105 may further com prise a rotary actuator 142 so as to be able to rotate the scoop 113 along and elongate axis of the neck 113 with respect to the robotic arm mating interface 113.

[60] Figure 6 shows a control system 127 which com prises a controller 128. The controller 128 com prises a m icroprocessor 129 for processing digital data. In operable comm unication with the processor 129 across a system bus 130 is a memory device 131. The memory device 131 is configured for stori ng digital data, incl uding computer program code instructions which, in use, are fetched, decoded and executed by the microprocessor 129 for im plementing the functionality described herein.

[61] The com puter program code instructions may be logically divided in to various controllers 132. The memory device 131 may further com prise configuration data 133. As such, the control lers 132 control the operation of the control ler 128 in accordance with the configuration data 133. [62] The controller 128 further com prises an I/O interface 134. The I/O interface 134 may interface with a scoop subsystem 135 which may com prise the robotic arm 104 and the scoop mechanism 105.

[63] The robotic arm 104 may com prise position sensors 136 and arm actuators 137. The arm actuators 137 may position the robotic arm in various positions.

[64] The scoop mechanism 105 may com prise an aperture 164 through which a slider rod (not shown) is retained and bears against a bearing face 165 of the rack 168 against a biasing spring 167. I n accordance with this em bodiment, the controller 128 may manoeuvre the scoop mechanism 105 to press the sl ider rod against a surface, causing the rod to sl ide into the aperture 164 and move the rack 168 against the biasing spring 167 to rotate the pinion 166 to wipe the wiper 124.

[65] In alternative em bodiments, the scoop mechanism 105 may com prise a rotary actuator 108 and the wiper actuator 138.

[66] The I/O interface 134 may further interface with the POS subsystem 102. The POS subsystem 102 may com prise a digital display 139 for the display of digital data thereon. A haptic overlay may interface the digital display 139 so as to be able to receive user input with respect to the information displayed by the digital display 139. The POS subsystem 102 may further com prise a payment term in al 140 configured for receiving payment, typically by way of contactless payment in the manner known in the art.

[67] The I/O interface 134 may further interface the order configuration subsystem 103. The order configuration subsystem 103 may sim ilarly com prise a digital display 141 for the display of information thereon and which may sim ilarly com prise a haptic overlay allowing the user to configure paid for orders.

[68] The I/O interface may further interface a rotary actuator 142 to rotate the cassette 109 of containers 107 within each bin 106. Furthermore, the I/O interface 134 may interface with a lid actuator 143 to open and close the bin load 110.

[69] The I/O interface 134 may further interface the del ivery subsystem 144 for the delivery of an order to a customer.

[70] Figure 7 il lustrates exem plary processing 145 im plemented by the system 127.

[71] The processing 145 comprises receiving payment at step 146 via the POS subsystem 102 followed by receiving an order configuration at step 147 via the order configuration subsystem 103. For exam ple, using various prom pts on the digital display 141 of the order configuration subsystem 103, the user may order a cup of ice cream com prising a scoop of strawberry flavoured ice cream and a scoop of chocolate flavoured ice cream . [72] Once the order is placed via the order configuration subsystem 103, the control ler 128 may open the bin lid 110 by control ling the lid actuator 143 of the relevant bin 106 at step 148.

[73] The configuration data 133 may com prise ice cream type data for each container 107 within each bin 106. As such, in accordance with the order configuration data, the controller 128 is able to determ ine which bin 106 com prises the type of ice cream ordered by the customer so as to be able to open the appropriate bin lid 110.

[74] The controller 128 may com prise a setup mode wherein the operator of the kiosk 110 programs in the ice cream contents of each container 107 of each bin 106. Such configuration may be performed using an adm inistrator interface available via the digital display 141 of the order configuration subsystem 103.

[75] The control ler 128 may then rotate the cassette 109 according to the order configuration at step 149. Specifical ly, the controller 128 may control the rotary actuator 142 such that the appropriate container 107 locates beneath the open bin lid 110.

[76] The control ler 128 may then position the scoop mechanism 105 with respect to the container 107 at step 150.

[77] The control ler 128 may move the robotic arm 104 along the rail 111 between each bin 106 depending on the location of the chosen ice cream container 107.

[78] The control ler 128 may position the scoop mechanism 105 above the ice cream container 107.

[79] At step 151, the control ler 128 lowers the scoop mechanism 105 into the container 107 as is substantially ill ustrated in Figure 8.

[80] As is il lustrated in Figure 8A, each container 107 may be wedge -shaped and may narrow towards the centre point of the container 109. As such, the control ler 128 may position the scoop mechanism 105 within the container 107 towards the centre point of t he cassette 109.

[81] At step 152, the controller 128 strokes the scoop mechanism 105 across the container 107 towards an opposing planar inner side wal l surface 158 of the container 107. As the scoop mechanism 105 is stroked across the container 107, the scoop 113 gathers ice cream within the interior vol ume 120 thereof.

[82] In the em bodiment shown in Figu re 8 B, the controller 128 may position the scoop 113 such that an upper edge 159 of the rim 119 substantial ly coincide s with an upper surface 160 of the ice cream with in the container 107. [83] Alternatively, the upper edge 159 may locate above the upper surface 160 and wherein the upward curvature rearward from the horizontal straight lower edge 121 may cause ice cream to rise within the interior volume 120 to substantially fil l the entire interior vol ume 120 of the scoop 113.

[84] A length of the stroke may be configured such that the interior volume 120 of the scoop 113 fil led entirely with ice cream.

[85] In embodiments, the robotic arm 104 may comprise a pressure sensor. As such, the controller 128 may lower the scoop mechanism 105 until such time that the pressure sensor detects that the scoop 113 contacts the upper surface 160 of the ice cream therein whereafter the control ler 128 performs the sideway stroke.

[86] In embodiments, the pressure sensor may be further referenced such that the controller 128 may control the robotic arm 104 to apply a m inim um threshold of downward pressure on the scoop 113.

[87] In embodiments, the controller 128 records the stroke to record real -time ice cream content topography data for each container which may be stored within the configuration data 133.

[88] As such, the control ler 128 may lower the scoop mechanism 105 according to the real-time ice cream content topography data.

[89] Furthermore, the controller 128 may adjacently position the scoop mechanism 105 at each successive stroke according to the real -time ice cream content topography data such that the ice cream scoop from the container 107 a series of rows between sidewalls 161 of the container 107.

[90] As is ill ustrated in Figure 9, the controller 128 may stroke the scoop mechanism 105 until such time that the coplanar rim 119 of the scoop 113 hits flat against the opposing inner side wall surface 158, thereby entrapping a fixed volume of ice cream between the inner side wal l surface 158 and the interior of the scoop 113.

[91] At step 153, the control ler 128 raises the scoop mechanism 105 in the manner shown in Figure 10, thereby withdrawing the fixed vol ume of ice cream from the ice cream container 107.

[92] At step 154, the controller 128 may position the scoop mechanism 105 with respect to a disposable cup or cone 162.

[93] At step 155, the controller 128 may actuate the wiper mechanism such that the wiper 124 wipes across the interior surface of the scoop 113, thereby dislodging the ice cream contents therefrom to fall into the disposable cup 162. As all uded to above, the controller 128 may position the scoop mechanism 105 to depress the sl ider rod against a pad to deflect the rack 168 to turn the pinion 166 of the rack and pin ion mechanism 117 to move the wiper 124.

[94] The controller 128 may then position the scoop mechanism 105 with respect to a rinsing station 156 and actuate the rinsing station 157 at step 157 such as by fl ushing the scoop 113 with a jet of water to remove residual ice cream therefrom .

[95] Thereafter, the process may be repeated until such time that a num ber of scoops of chosen ice cream is deposited within the disposable cup 162.

[96] At step 158, the control ler 128 controls the delivery mechanism to m ove the disposable cup to a delivery surface or chute.

[97] The foregoing description, for purposes of expla nation, used specific nomenclature to provide a thorough u nderstanding of the invention. However, it will be apparent to one skil led in the art that specific details are not required in order to practi se the invention. Thus, the foregoing descriptions of specific em bodiments of the invention are presented for purposes of ill ustration and description. They are not intended to be exhaustive or to lim it the invention to the precise forms disclosed as obviously many modifications and variations are possible in view of the above teachings. The em bodiments were chosen and described in order to best explain the principles of the invention and its practical applica tions, thereby enabling others skilled in the art to best util ize the invention and various em bodiments with various modifications as are suited to the particular use contem plated. It is intended that the fol lowing claims and their equivalents define the s cope of the invention.

[98] The term "approximately" or sim ilar as used herein should be construed as being within 10% of the value stated unless otherwise indicated.

[99] Whereas ice cream has been described with reference to a preferred em bodiment, other viscous food types are envisaged such as frozen yoghurt and the l ike.