The present application claims a filing date of an earlier Innovation Patent application number 2021106476 as its priority date, which has the title of “Integrated Robotic Vending Machine” and is submitted to Australian patent office on 23 August 2021. All contents and/or relevant subject matter of the priority application is hereby incorporated entirely and/or wherever appropriate by reference.

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.

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.

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.

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.

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 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 includes a cup holder to hold the cup. The mobile carrier is alternatively known as robotic trolley or buggy. Moreover, the integrated robotic vending machine includes a localization system to determine a location of the at least one mobile carrier, and a controller arranged in communication with the at least one cup dispensing station, the at least one ingredient dispensing and/or the at least one mobile carrier. The controller is configured to generate a path for a movement of the at least one mobile carrier based on a recipe of a beverage out of the plurality of beverages selected by a customer, and move, based on the generated path and an input from the localization system, the at least one mobile carrier to the at least one cup dispensing station and the at least one ingredient dispensing station in order to prepare a cup of the selected beverage and deliver the cup containing the selected beverage to an opening of a housing of the integrated robotic vending machine. In this manner, the controller enables the autonomous movement of the at least one robotic trolley at the integrated robotic vending machine.

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. 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.

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.

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.

In an embodiment, one or each of the charging stations is a wireless charging station to enable a wireless charging of the at least one robotic trolley. Alternatively or additionally, the one or each of the charging stations comprise one or more plus or sockets for wired charging to the one or more robotic trolley.

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.

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 one or each order is received before delivering the associated beverage. 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.

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.

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.

In an embodiment, the door defines the opening.

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.

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). In this manner, the integrated robotic vending machine enables a use of different type of cups for different type of beverages.

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. 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.

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.

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.

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.

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.

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. This facilitates is reducing the queue at the openings of the housing

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 one or 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 beverages simultaneously without human intervention.

According to one embodiment, the housing includes a platform defining a grid of cells, and the localization system is configured to determine the location of the at least one mobile carrier based on a presence of the at least one mobile carrier inside a cell of the grid of cells. One or each cell of the grid of cells includes an identification code, and the at least one mobile carrier includes a reader to read the identification code and the share the identification code with the localization system to facilitate a determination of the location of the at least one mobile carrier. By dividing the platform into the cells, exact locations of the robotic trolleys can be determined without using complicated hardware and software.

In some embodiments, the at least one mobile carrier includes at least one sensor for detecting an obstacle in the generated path of the at least one mobile carrier, and the controller is configured to control the movement of the at least one mobile carrier based on input from the at least one sensor, thereby preventing the collision of the at least one mobile carrier with the obstacle.

According to some embodiments, the at least one mobile carrier includes a first mobile carrier and a second mobile carrier. The controller is configured to predict a collision of the first mobile carrier with the second mobile carrier, and control the movement of one of the first mobile carrier or the second mobile carrier to avoid the collision between the first mobile carrier and the second mobile carrier. In this manner, the movements of the robotic trolleys can be controlled to facilitate a fast and smooth preparation of the plurality of beverages simultaneously.

In some embodiments, the vending machine includes a queue manager to manage a queue at the least one ingredient dispensing station and/or the at least one cup dispensing station to reduce the waiting time of the robotic trolley at the at least one ingredient dispensing station and/or the at least one cup dispensing station. 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.

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.

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, thereby reducing queue at the integrated robotic vending machine.

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.

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. 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. This ensures that payment of one or each order is received before delivering the associated beverage.

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.

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.

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.

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.

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. 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.

In some embodiments, the method further includes determining, by a controller, a location of the at least one mobile carrier based on information received from a localization system. By determining the location of one or 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 beverages simultaneously without human intervention.

In some embodiments, the method includes receiving, by a plurality of beacons of the localization system, an information associated with the location of the at least one mobile carrier from a locator of the at least one mobile carrier. This facilitates in precisely locating one or each mobile carrier on the platform.

In some embodiments, the localization system is configured to determine the location of the at least one mobile carrier based on a presence of the at least one mobile carrier inside a cell of the grid of cells defined on a platform of the integrated robotic vending machine. One or each cell of the grid of cells includes an identification code, and the at least one mobile carrier includes a reader to read the identification code and the share the identification code with the localization system to facilitate a determination of the location of the at least one mobile carrier. By dividing the platform into the cells, exact locations of the robotic trolleys can be determined without using complicated hardware and software.

In an embodiment, the method also includes managing a queue, by a queue manager, at the least one ingredient dispensing station and/or the at least one cup dispensing station to reduce the waiting time of the robotic trolley at the at least one ingredient dispensing station and/or the at least one cup dispensing station.

In an embodiment, the method also includes detecting, by at least one sensor of the at least one mobile carrier, an obstacle along a path of the at least one mobile carrier, and controlling, by the controller, the movement of the at least one mobile carrier based on input from the at least one sensor, thereby preventing the collision of the at least one mobile carrier with the obstacle.

According to an embodiment, the method also includes predicting, by the controller, a collision between a first mobile carrier with a second mobile carrier, and controlling, by the controller, the movement of one of the first mobile carrier and/or the second mobile carrier to avoid the collision between the first mobile carrier and the second mobile carrier. In this manner, the movements of the robotic trolleys can be controlled to facilitate a fast and smooth preparation of the plurality of beverages simultaneously.

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.

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.

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.

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.

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.

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.

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.

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.

In an embodiment, one or each of the charging stations is a wireless charging station to enable a wireless charging of the at least one robotic trolley.

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.

According to an embodiment, the integrated robotic vending machine includes a receipt generator to print a payment receipt corresponding to the selected beverage.

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 one or each order is received before delivering the associated beverage.

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.

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.

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. 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.

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.

In an embodiment, the door defines the opening.

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.

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). In this manner, the integrated robotic vending machine enables a use of different type of cups for different type of beverages

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.

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. 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.

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.

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.

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.

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. This facilitates is reducing the queue at the openings of the housing

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 facilitates controlling the movement of the at least one mobile carrier.

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 one or 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 beverages simultaneously without human intervention.

According to one embodiment, the housing includes a platform defining a grid of cells, and the localization system is configured to determine the location of the at least one mobile carrier based on a presence of the at least one mobile carrier inside a cell of the grid of cells. One or each cell of the grid of cells includes an identification code, and the at least one mobile carrier includes a reader to read the identification code and the share the identification code with the localization system to facilitate a determination of the location of the at least one mobile carrier. By dividing the platform into the cells, exact locations of the robotic trolleys can be determined without using complicated hardware and software.

In some embodiments, the controller is configured to move the at least one mobile carrier inside a cell of the grid of cells in response to the cell being empty. This feature prevents the collision between two robotic trolleys.

In some embodiments, the at least one mobile carrier includes at least one sensor for detecting an obstacle in the generated path of the at least one mobile carrier, and the controller is configured to control the movement of the at least one mobile carrier based on input from the at least one sensor, thereby preventing the collision of the at least one mobile carrier with the obstacle.

According to some embodiments, the at least one mobile carrier includes a first mobile carrier and a second mobile carrier. The controller is configured to predict a collision of the first mobile carrier with the second mobile carrier, and control the movement of one of the first mobile carrier or the second mobile carrier to avoid the collision between the first mobile carrier and the second mobile carrier. In this manner, the movements of the robotic trolleys can be controlled to facilitate a fast and smooth preparation of the plurality of beverages simultaneously.

In some embodiments, the vending machine includes a queue manager to manage a queue at the least one ingredient dispensing station and/or the at least one cup dispensing station, to reduce the waiting time of the robotic trolley at the at least one ingredient dispensing station and/or the at least one cup dispensing station.

Additional aspects and advantages will be apparent from the following detailed description of example embodiments, which proceeds with reference to the accompanying drawings.

FIG. 1 illustrates a front perspective view of an example integrated robotic vending machine;

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;

FIG. 3 illustrates the integrated robotic vending machine with various internal doors removed and depicted internal components of the integrated robotic vending machine;

FIG. 4 illustrates the integrated robotic vending machine with various internal doors removed and depicted internal components of the integrated robotic vending machine as well the platform having a grid of cells;

FIG. 5 illustrates an exploded view of an upper portion of the integrated robotic vending machine;

FIG. 6 illustrates an exploded view of a bottom portion of the integrated robotic vending machine;

FIG. 7 illustrates top view of a layout of the integrated robotic vending machine;

FIG. 8 illustrates a localization system for determining location of mobile carriers of the integrated robotic vending machine;

FIG. 9 illustrates a localization system for determining location of mobile carriers of the integrated robotic vending machine; FIG. 10 illustrates a diagrammatic view of a control system of the integrated robotic vending machine; and

FIGS. 11-20 illustrate the movement of the robotic trolley inside the integrated robotic vending machine during a preparation and delivery of an example beverage.

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.

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,” “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.

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.

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.

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.

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.

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.

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.

Referring to FIGS. 1 to 4, 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.

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 top portion 118 and a bottom portion 120. The top portion 118 defines a dispensing chamber 122, while the bottom portion 120 (as shown in FIGS. 4 and 6) defines a plurality of storage chambers, for example, a first storage chamber 124, a second storage chamber 126, a third storage chamber 128, and a fourth storage chamber 129, separated from one or 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 top portion 118, and a second door 132 adapted to close a front opening of the bottom 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 4, 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. The transparent portion 138 may include multiple portions (e.g. three portions) 138, which are available to all three transparent screens. 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.

Although two doors i.e., the first door 130 and the second door 132 are contemplated, it may be appreciated that a single door is also possible. Moreover, one or each of the first storage chamber 124, the second storage chamber 126, the third storage chamber 128, and the fourth storage chamber 129 has an independent door to provide access of the inside of the respective first storage chamber 124, the second storage chamber 126, the third storage chamber 128, and the fourth storage chamber 129. In an embodiment, as shown in FIGS. 4 and 6, 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. The waste collector 144 comprises a trash compactor and separator that separates liquid from solid waste, and optimizes space by compacting the trash as required. Further, one or more water tanks 146 may arranged inside the third storage chamber 128, while a fructose dispensing system 147 may be arranged inside the fourth storage chamber 129. Also, the second door 132 may include one or more chambers 148 in which one or more straw dispensers 149 (shown in FIG. 6) are arranged.

Referring to FIGS. 3 to 5, 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. 5, 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. One or each first cup 156 is suitable to store hot beverages, while one or 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. 5 and FIG. 7, 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 is arranged on the platform 114 and is disposed 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.

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 vertical 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.

Further, the vending machine 100 includes at least one robotic trolley 180 (also referred to as at least one mobile carrier 180) adapted to autonomously move on the dispensing platform 114 and at the ingredient dispensing stations 162, the first and second 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 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 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.

In an embodiment, as shown in FIG. 9, the robotic trolley 180 may include at least one sensor

185 to detect a presence of an obstacle in a path of the movement of the robotic trolley 180. The obstacle may be a stationary object or a moving object. In some embodiments, the at least one sensor 185 may be a camera, LIDAR (light detection and ranging, also known as LIDAR, or LiDAR; sometimes LADAR), a RADAR (radio detection and ranging), or any other suitable sensor known in the art that is configured suitable to detect a presence of an obstacle in the vicinity of the robotic trolley 180. The sensor 185 is in communication with the controller 190 that is configured to determine/predict a probability of collision of the robotic trolley 180 with the detected obstacle based on the input received from the at least one sensor 185. Further, in some embodiments, the robotic trolley 180 may include a navigation module (not shown) having a global positioning sensor and/or an inertial sensor to determine a position and a heading of the robotic trolley. In some embodiments, a speed sensor may be disposed onboard the robotic trolley 180 to determine a speed of the robotic trolley 180.

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, 4, 5, and 7) 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, 4, and 7) 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. Additionally, the vending machine 100 includes a user interface 200 (shown in FIGS. 1 and 10) 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 FIGS. 1 and 10, 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, internet banking, or any other method known in the art. Further, the vending machine 100 may include a receipt generator 210 (shown in FIGS. 3, 4, and 7) 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 a control system 220 having the controller 190 (shown in FIGS. 1 and 10) 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 dispensing station 162 to prepare and deliver the selected beverage to the customer.

Referring to FIG. 10, a diagrammatic view of the control system 220 of the vending machine 100 is shown. As shown, the control system 220 includes a localization system 222 and the controller 190 having an order manager 224, an order process manager 226, a route planner 228, a queue manager 230, a fleet manager 232, and a robotic trolley manager 234 to control the robotic trolleys and various stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 of the vending machine 100. The localization system 222 is configured to detect/determine a positioning of one or each robotic trolley 180 at any of the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172or a location of one or each robotic trolley 180 at the platform 114 in real time. The controller 190 upon receipt of such information from the localization system 222 may control the movement of one or each robotic trolley 180 and/or control the operation of the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 to enable a preparation and delivery of the selected beverage to the customer.

In an embodiment, as shown in FIG. 8, the localization system 222 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.

The master beacon 254 triangulates a position of one or each robotic trolley 180 based on the signals or information received from the slave beacons 252, and shares the location information of one or 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. In an embodiment, the robotic trolley 180 also includes a locator 256, for example, a WI-FI (a family of wireless network protocols, based on the IEEE 802.11) 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), an ultrasonic sensor and/or LiDAR (light detection and ranging) 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 one or each beverage being poured inside the cup held by the robotic trolley, and a thermometer to determine temperature of its surroundings. In some embodiments, as shown in FIGS. 4 and 9, the platform 114 of the vending machine 100 is divided into a plurality of cells to 260 arranged in the form a grid to enable the determination of the location of various robotic trolleys 180 moving on the platform 114 and control the movement of the robotic trolleys 180 accordingly. In some embodiments, one or each cell 260 may include an identification code adapted to be read by a suitable reader 262 of the robotic trolley. In an embodiment, as shown in FIG. 9, one or each cell 260 may include an RFID (radiofrequency identification) tag 264 embedded inside the portion of the platform 114 associated with the cell 260, and the reader 262 may be an RFID reader 266 adapted to communicate with the RFID tag 264, and receives the identification code associated with the cell 260 when the robotic trolley 180 is arranged within the cell 260. Although the RFID tags 264 embedded inside the cells 260 are contemplated, it may be appreciated that a barcode may be printed inside one or each cell 260, and the reader 262 may be barcode reader. The localization system 222 based on the received identification codes from one or each of the robotic trolleys 180 determines the location of one or each of the robotic trolley 180 in the real time.

The order manager 224 of the controller 190 is adapted to receive, store, and keep track of various orders received via the user interface 200. Upon receiving the order from the user interface 200, the order manager 224 assigns an identification coder, for example, an order number to the order. In some embodiments, before assigning the order number to the order, the order manager 224 may check a status of a payment corresponding to the selected beverage or the order. In an embodiment, the order manager 224 is adapted to communicate with the recipe module 196 and, upon receipt of the confirmation of the payment or otherwise, determines necessary ingredients needed to prepare the selected/ordered beverage and a sequence in which the ingredients need to be deposited inside a cup 152. Further, the order manager 224 is in communication with an order status tracker 270 that keeps track of a status of the various orders in real time. Moreover, the order manager 224 may determine a type of cup 152 to be used for preparing the selected/ordered beverage. For example, the order manager 224 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 order manager 224 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, the order manager 224 may skip the determination of the type of cup based on the type of beverage selected by the user. Moreover, upon receipt of the order from the customer, the order manager 224 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. 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 212 may be keypad or a code scanner, or any other suitable component that facilitate the input of the authentication code by the customer.

In some embodiments, the order manager 224 may share the authentication code to the customer via a web-based user interface. In some embodiments, the order manager 224 may share the authentication code via a text message delivered to the customer phone. In an embodiment, the authentication code may be a QR code generated on the web-based application. Further, the order manager 224 may store the authentication code corresponding to one or each order. Additionally, the order manager 224 shares the data related to the ingredient needed for preparing a beverage, i.e., ordered/selected beverage, the sequence in which the ingredient needs to be mixed to prepare the beverage associated with the order number, and/or the type of cup 152 associated with the selected/ordered beverage with the order process manager 226.

Based on the data received from the order manager 224, the order process manager 226 identifies one or more of the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 of the vending machine 100 to which a robotic trolley 180 is to be moved to prepare the selected/ordered beverage, and also controls the associated stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 of the vending machine 100 for preparing the beverage as per the order number. The order process manager 226 also identifies the sequence in which the robotic trolley 180 is to be moved between various stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 of the vending machine 100. The order process manager 226 is in communication with a fleet management system 280 and shares the details of the order with the fleet management system 280.

Upon receipt of the information from the order process manager 226, the fleet manager 232 of the fleet management system 280 assigns a robotic trolley 180 for fulfilling the order. For so doing, the fleet manager 232 is configured to determine the location of one or each robotic trolley 180 in real time based on input from the localization system 222. In an embodiment, the fleet manager 232 identifies a vacant or unassigned robotic trolley 180 and assigns the order to the unassigned robotic trolley 180. In some embodiments, the fleet manager 232 determines that all the robotic trolleys 180 have preassigned orders and may be in the process of the full filling the preassigned orders. In such a case, the fleet manager 232 may determine a robotic trolley 180 that may complete the preassigned order first, and assigns the newly received order to the determined robotic trolley 180. Moreover, the fleet manager 232 communicates with the robotic trolley manager 234 to determine the assigned or unassigned status of one or each of the robotic trolley 180.

Upon assignment of a robotic trolley 180 to the order, the route planner 228 of the fleet management system 280, using a gaming algorithm, identifies and generates a path for the movement of the assigned robotic trolley 180 to enable the preparation of the selected/ordered beverage. In an embodiment, the route planner 228 may use input from the localization system 222, the order process manager 226 and the robotic trolley manager 234 for generating the path for the assigned robotic trolley 180.

The robotic trolley manager 234 controls the movement of all the robotic trolleys 180 of the vending machine 100 based on the input from the route planner 228, the fleet manager 232, the order process manager 226, the queue manager 230 and the localization system 222. Based on the generated paths and the recipes for the beverages associated with orders, the robotic trolley manager 234 controls and moves associated robotic trolleys 180 on the platform 114 between various stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 of the vending machine 100. In an embodiment, the at least one sensor 185 of the robotic trolley 180 detects an obstacle in the path of the movement, and shares the location of the detected obstacle with the robotic trolley manager 234. The robotic trolley manager 234 in turn, determines whether the obstacle is a stationary obstacle or a moving obstacle, for example, another robotic trolley 180. Based on the presence of the obstacle, the robotic trolley manager 234 controls the movement of the robotic trolleys 180 on the platform 114.

In an embodiment, the obstacle may be a stationary obstacle. In such a case, the route planner 228 may generate an alternate path for the movement of the robotic trolley 180, and communicates the alternate path to the robotic trolley manager 234. The robotic trolley manager 234 accordingly moves and controls the movement of the robotic trolley 180 along the alternate path. Moreover, the robotic trolley manager 234 controls the robotic trolleys 180 such that a single robotic trolley 180 is present inside a cell 260 and prevents the presence of more than one robotic trolley 180 inside a single cell 260. Further, the robotic trolley manager 234 or the fleet manager 232 is configured to predict a collision of two or more robotic trolleys 180, for example, a first robotic trolley 180a and a second robotic trolley 180b, based on locations, paths, speeds, and heading of the robotic trolleys 180a, 180b, and control the speed, path, and/or movement of the one or more of the robotic trolleys 180a, 180b to avoid the collision.

Additionally, the robotic trolley manager 234 or the fleet manager 232 communicates with the order process manager 226 upon reaching one or each station of various stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 of the vending machine 100 as per the recipe of the ordered beverage. In response to the determination that the robotic trolley 180 has reached the associated station, the order process manager 226 controls the associated station to facilitate the preparation of the selected beverage. In an embodiment, the order process manager 226 may control the operation of the various stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 using a MODBUS 290 which is a data communication protocol that facilitates the transfer of data between the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172and the order process manager 226. The MODBUS 290 is configured to transmit completion status of an operation one or each of the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 back to the order process manager 226, which in turn informs the robotic trolley manager 234 to move the robotic trolleys 180 to the next station 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172. MODBUS is a data communications protocol originally published by Modicon (now Schneider Electric) in 1979 for use with its programmable logic controllers (PLCs). Modbus (i.e. MODBUS) has become a de facto standard communication protocol and is now a commonly available means of connecting industrial electronic devices. The Modbus protocol uses character serial communication lines, Ethernet, or the Internet protocol suite as a transport layer. Modbus supports communication to and from multiple devices connected to the same cable or Ethernet network. For example, there can be a device that measures temperature and another device to measure humidity connected to the same cable, both communicating measurements to the same computer, via Modbus.

For example, the order process manager 226 controls 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 152 reaches one or more of the ingredients dispensing stations as per the recipe of the selected/order beverage and the inputs received from the robotic trolley manager 234. Also, the order process manager 226 controls the at least one cup dispensing station 150 to deliver the cup 152 to the robotic trolley 180 depending on the type of beverage. For example, the robotic trolley manager 234 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 to the second cup dispensing station 158 when the selected beverage is a cold beverage. The order process manager, based on the information received from the robotic trolley manager 234, is configured to determine a presence of the robotic trolley 180 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.

In some embodiments, the robotic trolley manager 234, based on the information received from the order process manager 226, 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 order process manager 226 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 robotic trolley manager 234 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.

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 at the sealing station 172, the order process manager 226 may control the sealing station 172 to seal the cup 152 containing the beverage via a lid. For so doing, the order process manager 226 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 order process manager controls the sealer 176 to apply the lid on the cup 152 and seal the cup 152 with the lid. Thereafter, the order process manager 226 may again control the lifter module 174 to position the sealed cup 152 inside the cup holder 182 of the robotic trolley 180.

Additionally, the queue manager 230 based on the data received from the localization system 222 and the fleet manager 232, manages a queue of the robotic trolleys 180 at one or more of the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172ofthe vending machine. The queue manager 230 may assign the priority order to one or each robotic trolley 180 for reaching one or each of the stations 154, 158, 162a, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 based on the order number associated with the robotic trolley 18.

Upon receipt of the sealed cup inside the cup holder 182, the robotic trolley 180 or the order process manager 226 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 order process manager 226 conveys the receipt or the non-receipt of the authentication code from the customer to the robotic trolley manager 234. Accordingly, the robotic trolley manager 234 may control and move the associated robotic trolley 180 to 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 robotic trolley manager 234 based on the inputs from the localization system 222 and/or the fleet manager 232 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 robotic trolley manager 234 may identify an 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 robotic trolley manager 234 may move the robotic trolley 180 with the cup 152 to the waiting zone 188 when there is no vacant opening 140 and moves the robotic trolley 180 with the cup 152 when an opening out of the openings 140 is assigned to the robotic trolley 180.

Also, the robotic trolley manager 234 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 188. Upon determining that the robotic trolley 180 has reached the waiting zone 188, the robotic trolley manager 234 informs the order process manager 226 that the preparation of the beverage has completed. Thereafter, the order process manager 226 informs the customer via a notification about the completion of the preparation of the order, and the order manager 224 update the status of the order associated with the order. The robotic trolley 180 delivers the cup 152 with the beverage selected by the customer through the assigned opening 140. Also, the order process manager 226 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.

In an embodiment, as shown in FIG. 1, 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 first and second 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 one or more processors 192 associated with the order manager 224, the order process manager 226, the route planner 228, the queue manager 230, the fleet manager 232, and trolley manager for executing specified instructions, which controls and monitors various functions associated with vending machine 100. The processor 192 may be operatively connected to at least one memory 194 for storing instructions related to the control of the vending machine 100 and components of the vending machine 100.

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, one or each recipe may include information about one or more ingredients needed to prepare an associated beverage, amount of one or each ingredient, and/or a sequence in which the ingredients are to be mixed for preparing the associated beverage.

Although the one or more processors 192 are contemplated, 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 first and second cup dispensing stations 154, 158, the labelling station 170, the sealing station 172 one or each may include one or more controllers that communicate with the controller 190.

An example method for preparing a beverage and delivery of the beverage is explained with reference to the FIGS. 11 to 20. The method includes a step at which the controller 190 (i.e., order manager 224) 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 controller 190 (i.e., order manager 224) 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 order manager 224 determines the type of beverage as a cold beverage and therefore determines the type of cup as the second cup 160. Subsequently, or otherwise, the order manager 224 (i.e., the controller 190) may generate an authentication code and share the authentication code with the customer. Thereafter, the order process manager 226, based on the data received from the order manager 224, determines that one or more of the stations 154, 158, 162a, 162b, 162b, 162c, 162d, 162e, 162f, 162g, 170, 172 associated with the preparation of the selected beverage. In the present example, the order process manager 226 determines that a robotic trolley is to be moved to the second cup dispensing station 158, the labelling station 170, the straining and dispensing station 162g, the fructose dispensing station 162e, ice dispensing station 162a, the milk dispensing station 162c, the tea brewing and dispensing station 162b, and the sealing station 172. The order process manager 226 also determines the sequence in which a robotic trolley 180 is to be moved inside the vending machine 100.

Further, the fleet manager 232 (i.e., the controller 190) assigns a robotic trolley 180 to enable the preparation and delivery of the selected/ordered beverage, and assign an identifier with the robotic trolley and associate or pair the identifier with the authentication code for receiving the selected beverage.

Subsequently, the route planner 228 (i.e., the controller 190) determines or generates a path for the movement of the assigned robotic trolley 180 based on the determined stations 158, 170, 162g, 162e, 162a, 162c, 162b, 172, the sequence in which the ingredients is to be dispensed, and an initial location of the assigned robotic trolley 180. Based on the generated path, with the help of the sensors on board the robotic trolley, and the localization system, the robotic trolley manager 234 (i.e., the controller 190) controls and moves the assigned trolley for the preparation of the selected beverage while avoiding any collision with any obstacle. Also, the robotic trolley manager 234 controls the movement of the assigned robotic trolley to one or each of the determined stations 158, 170, 162g, 162e, 162a, 162c, 162b, 172 as per a determined priority order to manage queue at one or each of the determined stations 158, 170, 162g, 162e, 162a, 162c, 162b, 172.

In the present example, the robotic trolley manager 234 (i.e., the controller 190) moves the assigned robotic trolley 180 at the second cup dispensing station 158 at which the second cup dispensing station 158, based on the inputs from the order process manager 226, dispenses one second cup 160. The dispensed second cup 160 is received inside the cup holder 182 of the assigned robotic trolley 180 (as shown in FIG. 11). Thereafter, the assigned robotic trolley 180 is moved to the labelling station 170 by the robotic trolley manager 234 at which the order process manager 226 (i.e., the controller 190) operates the labelling station 170 to label the second cup 160 with appropriate labels (as shown in FIG. 12). Upon completion of the labelling of the second cup 160, the robotic trolley manager 234 (i.e., the controller 190) moves the assigned 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 assigned robotic trolley 180 (as shown in FIG. 13).

Thereafter, the assigned robotic trolley 180 is moved to the fructose dispensing station 162e as shown in FIG. 14. The order process manager 226 operates the fructose dispensing station 162e and delivers the fructose inside the second cup 160 held by the assigned robotic trolley 180. Subsequently, the robotic trolley manager 234 moves the assigned robotic trolley 180 to the ice dispensing station 162a at which ice is delivered to the second cup 160 based on inputs from the order process manager 226, as shown in FIG. 15. Subsequently, the assigned robotic trolley 180 is moved to the milk dispensing station 162c (as shown in FIG. 16) and the milk is dispensed inside the second cup 160 held by the assigned robotic trolley 180. Upon receipt of the milk inside the second cup 160, the robotic trolley manager 234 moves the assigned robotic trolley 180 to the tea brewing and dispensing station 162b. Upon determining that the assigned robotic trolley 180 has reached at the tea brewing and dispensing station 162b, the order process manager 226 controls the tea brewing and dispensing station 162b and pour the tea inside the second cup 160. In an embodiment, as shown in FIG. 17, 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 17), which receives the tea leaves and the hot water from the tea leaves dispenser 304 (best shown in FIGS. 2 and 5) and hot water dispensing taps 306 (best shown in FIG. 16) defined 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. 14 and 17) to open and close a plurality of discharge openings 312 (shown in FIGS. 3 and 4) to enable a discharge of the spilled tea and the cup filter 300 to the waste collector 144 via the discharge openings 312.

After receiving the tea from the tea brewing and dispensing station 162b, the robotic trolley 180 is moved, by the robotic trolley manager 234, to the sealing station 172 at which the second cup 160 is sealed with a lid 350 (as shown in FIG. 18). Thereafter, the robotic trolley 180, by robotic trolley manager 234, may be moved 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. 19). The robotic trolley 180 remains at the waiting zone 188 until the order process manager 226 determines a receipt of the authentication code corresponding to the order. Upon receipt of the authentication code, the robotic trolley manager 234 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. 20) and delivers the second cup 160 with the beverage to the customer through the opening 140.

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.