Autonomous beverage dispensing system

Abstract

An autonomous retail self-service terminal for supplying beverages and a method of operating the autonomous retail self-service terminal are provided wherein the autonomous retail self-service terminal comprises two or more production work units and a carousel, and wherein each production work unit comprises a robot arm, the robot arm is used for moving the beverage among the beverage dispenser, the display station and the carousel.

Description

Background Art

[0001] Known autonomous retail systems for supplying beverages belong to many different categories. First, there is a retail system of the "vending machine" type that dispenses bottled, canned or other packaged beverages to users. Secondly, there is a "self-service" retail system, in which a user manually places a beverage container below a beverage dispenser, which dispenses beverages into the container, and the user removes the container subsequently, applying a lid and any further condiments as required. PCT discloses the example of a "self-service" retail system in No. WO2014 / 075833 (also disclosed as U.S. Patent Publication No. 2015 / 0245734A1). The problem with the retail system of the vending machine type is that usually only cold drinks can be dispensed. The self-service retail system is usually capable of producing hot and cold drinks, such as coffee and iced coffee. However, as mentioned above, the self-service retail system requires the user to manually place a beverage container below the beverage dispenser and apply a lid as required. This causes resources (such as beverage containers and lids) to be freely accessible to users. Therefore, this causes the problem of sanitation level and the possibility of tampering with the resources. Furthermore, due to the limited storage capacity of such machines, self-service retail systems are typically only placed in areas where an attendant can continuously monitor and replenish resources (including the aforementioned beverage containers and lids). Furthermore, self-service retail systems are typically placed in areas where an attendant is available to support the user in the event of problems, particularly the "unpleasant experience" of problems after payment. Therefore, there is a need for a more reliable system that can be placed in areas without attendants.

[0002] In an attempt to address the problems associated with existing self-service retail systems, a number of autonomous retail self-service terminals for serving beverages have been developed that attempt to replicate the function of human serving in a cafe or coffee shop by serving finished beverages in covered beverage containers to consumers. However, existing autonomous retail self-service terminals are very complex and have limited resource redundancy and are unable to cope with failures in any one resource. If any one resource (such as a beverage dispenser) fails, the autonomous self-service terminal will be out of service and unable to serve beverages. An improved autonomous retail self-service terminal for serving beverages is needed to address these problems. Summary of the invention

[0003] According to a first aspect, there is provided an autonomous retail self-service terminal for serving beverages, comprising two or more production work units and a turntable, wherein

[0004] Each production work unit includes: a beverage dispenser for dispensing liquids, a display station for displaying beverages to consumers, a robotic arm for moving beverages between the beverage dispenser, the display station and the turntable; and wherein the turntable is configured to receive a beverage container from a first robotic arm in a first work unit and deliver the beverage container to a second robotic arm in a second work unit, thereby moving the beverage container from the first work unit to the second work unit.

[0005] Optionally, each robot is configured to move in planes including a lateral plane, a vertical plane and a transverse plane. The robot may be configured to move in r, z and psi directions according to spherical coordinates.

[0006] Optionally, the self-service retail terminal further comprises one or more beverage makers configured to provide beverages to the beverage dispenser. Optionally, the beverage dispenser is a movable beverage dispensing head that can be tilted and raised. Optionally, the display station includes a rotating platform. Optionally, the self-service retail terminal further comprises one or more direct beverage suppliers configured to provide ingredients or processes (e.g., ice, a blender head, a muffin, an ice cream portion) to the cup.

[0007] Optionally, the self-service terminal comprises two substantially identical production work cells having bilateral symmetry.

[0008] Optionally, each robotic arm is configured to: move a beverage container from a beverage container dispenser to a beverage dispenser, move a beverage container from the beverage dispenser to a turntable, and move a beverage container from the turntable to a display station.

[0009] Optionally, the autonomous retail self-service terminal further includes a beverage container capping station, which includes a beverage container capping machine, which serves two or more production work units, or wherein each of the two or more production work units further includes one or more beverage container capping stations, each beverage container capping station includes a beverage container capping machine.

[0010] Optionally, the autonomous retail self-service terminal further comprises a beverage disposal receptacle for receiving waste beverages from the robotic arm or from another actuator.

[0011] Optionally, the carousel is further configured to receive beverage containers from the robotic arm and deliver the beverage containers to the same robotic arm for storing the beverage containers.

[0012] In a second aspect, a method of operating an autonomous retail self-service terminal is provided, the autonomous retail self-service terminal comprising two or more production work units and a turntable, the method comprising the following steps in a first production work unit: dispensing a beverage container from a beverage container dispenser to a first robotic arm, and moving the beverage container to the turntable using the first robotic arm,

[0013] And the method further includes removing the beverage container from the turntable using one of the first robotic arm or a second robotic arm in the second production work cell.

[0014] Optionally, the method further comprises: using the first robotic arm to move the beverage container from the beverage container dispenser to the first beverage dispenser, and dispensing the liquid from the beverage dispenser into the beverage container.

[0015] Optionally, the method further comprises presenting the beverage container to the consumer by placing the beverage container on a presentation station using one of the first robotic arm or the second robotic arm.

[0016] Optionally, removing the beverage container from the turntable uses a second robotic arm in the second production work unit, and the method further includes: dispensing liquid into the beverage container from a beverage dispenser in the second production work unit, and displaying the beverage container to a consumer by placing the beverage on a display station using the second robotic arm.

[0017] Optionally, removing the beverage container from the turntable uses a second robotic arm in the second production work unit, and the method further includes: dispensing liquid from a beverage dispenser in the second production work unit into the beverage container, and moving the beverage container to the turntable using the second robotic arm.

[0018] And the method further includes: removing the beverage container from the turntable using one of the first robotic arm or the second robotic arm in the second production work unit, and displaying the beverage container to the consumer by placing the beverage on a display station using one of the first robotic arm or the second robotic arm.

[0019] Optionally, the method further includes the following steps: receiving information related to the availability of raw materials or hardware resources of two or more production work units at the controller, determining based on the information whether one or more of the two or more production work units are capable of producing beverages individually or in combination, and executing the above method based on the determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following detailed description describes specific implementations of the present disclosure by way of example only and with reference to the accompanying drawings, in which:

[0021] Figure 1a-1bA simplified view of an example layout of an automated beverage system is shown;

[0022] Figure 2a-2e a simplified schematic diagram showing the arrangement of working units around a turntable; and

[0023] Figure 3 An example combination of a turntable for use in an automated beverage system is shown.

[0024] Figure 4 An example flow chart describing a method of operation of the system of the present disclosure is shown.

[0025] The same reference numerals are used for the same components throughout the drawings. DETAILED DESCRIPTION

[0026] The term "degree of freedom" is used interchangeably with "number of axes" in this article and is used to define the motion capabilities of a robotic arm. For example, a robotic arm with one degree of freedom or one axis can move along a straight x-axis. A robotic arm with two degrees of freedom or two axes can move horizontally and vertically in an x / z plane. A robotic arm with three degrees of freedom or three axes can move horizontally, vertically, and backward / forward in x / y / z space. A robotic arm with four degrees of freedom can move horizontally, vertically, and backward / forward in x / y / z space, and change the orientation of an object along one axis (e.g., side sliding). A robotic arm with five degrees of freedom or five axes can move horizontally, vertically, and backward / forward in x / y / z space, and change the orientation of an object along two axes (e.g., side sliding and pitching). A robotic arm with six degrees of freedom or six axes can move horizontally, vertically, and backward / forward in x / y / z space, and change the orientation of an object along three axes (e.g., side sliding, pitching, and rolling).

[0027] The term "resource" as used herein refers to both hardware resources (such as robotic arms, beverage dispensers, display stations, beverage makers, beverage container dispensers, beverage disposal modules, ice dispensers, beverage container cappers, and turntables) and consumable resources (such as coffee beans, milk, beverage containers, beverage container lids, water, flavored syrups, and ice).

[0028] Figure 1aAn example layout of an autonomous retail self-service terminal 100 according to the present disclosure is shown. The autonomous retail self-service terminal 100 can be an automated beverage system. The autonomous retail self-service terminal 100 of Figure 1 includes two overlapping work envelopes 110, 120. The area in which the robot can operate is sometimes referred to as a work envelope. The term "production work unit" as used herein refers to a group of hardware resources located within the work envelope of a single robot. Preferably, each production work unit includes a beverage dispenser 113a, 113b for dispensing liquid, a display station 114 for displaying beverages to consumers, and a robot 115a, 115b for moving beverages between the beverage dispenser 113a, 113b, the display station 114 and the turntable 130. The automated beverage system may include an ice dispenser (not shown in Figure 1). The consumer may be a human or machine operator or user of the autonomous retail self-service terminal 100.

[0029] Each production work unit may further include a beverage maker 150, or the beverage maker 150 may be shared between the work units. The first production work unit 111a includes a beverage container dispenser 112a, a beverage dispenser 113a, and a display station 114a. The robotic arm 115a of the first production work unit 111a is operable to access each of the following: beverage container dispenser 112a, beverage dispenser 113a, and display station 114a. The robotic arm 115a is also arranged to access the turntable 130. Figure 1a The arrows in show the flow of beverage containers around the working units and between the working units via the turntable 130 .

[0030] Figure 1b An example layout of an autonomous retail self-service terminal 100 according to the present disclosure is shown. Preferably, each production work unit includes a beverage dispenser 113a, 113b for dispensing liquid, a display station 114 for displaying beverages to consumers, and a robot arm 115a, 115b for moving beverages between the beverage dispenser 113a, 113b, the display station 114 and the turntable 130. Figure 1b The ice dispenser is not shown.

[0031] exist Figure 1b In the illustrated embodiment, the robotic arm 115 exhibits 3 degrees of freedom and can move in the xy, yz and xz planes, the display station 114 has 1 degree of freedom and includes a rotatable platform, the beverage dispenser 113 exhibits 2 degrees of freedom and can move up and down as well as tilt, the beverage container dispenser 112 exhibits 1 degree of freedom and can rotate, the beverage container capper 140 exhibits 2 degrees of freedom and can move up and down as well as rotate, the beverage container cap turntable 141 exhibits 1 degree of freedom and can rotate, and the turntable 130 exhibits 1 degree of freedom and can rotate. Figure 1bThe arrows in the figure show the robotic arm and its range of motion.

[0032] There may be any number of working units 111 in the self-service retail terminal 100, which are arranged around a common central turntable 130, such as Figure 2a-2e For example, there may be five work units arranged around a common central turntable 130. In a configuration in which there are five work units arranged around a common central turntable 130, two of these work units may be positioned side by side, another two work units may be positioned back-to-back with the first two work units to form a rectangle centered on the turntable 130, and yet another work unit may be positioned on either end of the rectangle.

[0033] There may be four work units arranged around a common central turntable 130. In a configuration where there are four work units arranged around a common central turntable 130, two of these work units may be positioned side by side, with the other two work units positioned back-to-back with the first two work units to form a rectangle centered on the turntable 130. Alternatively, there may be three work units arranged around a common central turntable 130. In a configuration where there are three work units arranged around a common central turntable 130, two of these work units may be positioned side by side, with the other work unit positioned back-to-back with the first two work units to form a triangle centered on the turntable 130. Alternatively, the three work units may be positioned in a row.

[0034] Preferably, there are two working units arranged around a common central turntable 130. The two working units preferably exhibit bilateral symmetry.

[0035] Robotic Arm

[0036] The following refers to the robot arm 115 and the work unit 110 in general, and it should be understood that the robot arm 115b and the work unit 111b (or any other work unit 111) can be arranged to operate in a substantially identical manner. Each work unit 111 includes a robot arm 115 for moving a beverage container. Preferably, the robot arm 115 includes several actuators configured to move the robot arm 115. The robot arm 115 can exhibit any number of degrees of freedom. The robot arm 115 can exhibit 7, 6, 5, 4, 3, 2 or 1 degrees of freedom. Preferably, the robot arm 115 exhibits three degrees of freedom. Three degrees of freedom are sufficient to move an object along any one or all of the x, y, z axes. Preferably, the robot arm 115 is configured to move in a lateral, vertical and cross-sectional plane (xy, yz and xz). In other words, the robot arm 115 is preferably configured to move up and down, left and right, and forward and backward. The robot arm configured in this way can be considered as an r, z, psi spherical coordinate system. In other words, the robot preferably includes a rotating hub (sweeping an arc in the psi direction) that can be raised and lowered (moved up and down in the z direction) and change the length of the protruding robot arm (moved in the radial r direction). Robots that exhibit lower degrees of freedom are cheaper, simpler, and more reliable than those that exhibit higher degrees of freedom.

[0037] The robotic arm 115 may be operated by any number of actuators. In theory, the robotic arm 115 may be operated by any form of actuator. Preferably, the robotic arm 115 is operated by an electric actuator, such as an electric motor.

[0038] The mechanical arm 115 may include a movable gripper for holding a beverage container or a fixed gripper for holding a beverage container. Preferably, the mechanical arm 115 includes a fixed gripper for holding a beverage container. Preferably, the fixed gripper for holding a beverage container is C-shaped, or alternatively U-shaped. Since the shape of the beverage container is generally truncated cone-shaped, the C-shaped hand can effectively grasp and lift the beverage container when moving in a vertical plane relative to the beverage container because the diameter of the C-shaped gripper is between the minimum diameter and the maximum diameter of the beverage container. The mechanical arm 115 can be configured to receive a beverage container from a beverage container dispenser 112, as further described below. The fixed gripper on the mechanical arm 115 preferably includes a high friction surface to effectively grip the container.

[0039] The robot 115 is preferably located at or near the center of the work cell 111 so that the various hardware resources are within the working envelope of the robot 115. Positioning the robot 115 at the center of the work cell 111 means that a less complex robot 115 with fewer degrees of freedom is required to access each hardware resource. Positioning the robot 115 at the center of the work cell 111 can also enable the use of a simpler robot 115 that does not need to rotate a full 360 degrees or continuously.

[0040] Therefore, the robot 115 is preferably configured to move beverage containers between hardware resources contained in the work unit 111 or hardware resources shared between multiple work units 111. For example, the robot 115 may be configured to move a beverage container from a beverage container dispenser to a beverage dispenser 113, or from a beverage container dispenser to a turntable 130. The robot 115 may be configured to move a beverage container from a turntable 130 to a beverage dispenser 113, or from a beverage dispenser 113 to a turntable 130. The robot 115 may be configured to move a beverage container from a beverage container dispenser to an ice dispenser, or from an ice dispenser to a beverage dispenser 113. The robot 115 may be configured to move a beverage container from a beverage dispenser 113 to an ice dispenser. The robot 115 may be configured to move a beverage container from an ice dispenser to an ice dispenser. The robot 115 may be configured to move a beverage container from an ice dispenser to a turntable 130, or vice versa. The robot 115 may be configured to move a beverage container from an ice dispenser or from a beverage dispenser 113 to a beverage container capper. The robot arm 115 may be configured to move the beverage container from the beverage container capper 140 to the display station 114 or to the turntable 130. The robot arm 115 may be configured to move the beverage container from the turntable 130 to the beverage container capper 140. The robot arm 115 may be configured to move the beverage container from the turntable 130 to the display station 114. The robot arm 115 may be configured to move the beverage container from the beverage container dispenser or from the ice dispenser to the waste storage container. The robot arm 115 may be configured to move the beverage container from the turntable 130 to the beverage container disposal unit. The robot arm 115 may be configured to move the beverage container from the beverage dispenser 113 to the beverage container disposal unit. The robot arm 115 may be configured to move the beverage container from the beverage container capper 140 to the beverage container disposal unit. The robot arm 115 may be configured to move the beverage container from the display station 114 to the beverage container disposal unit.

[0041] Beverage Dispenser

[0042] Each work unit 111 includes a beverage dispenser 113 for dispensing beverages. Preferably, the beverage dispenser 113 is in the form of a movable beverage dispensing head, including a beverage dispensing nozzle. The beverage dispensing head can be liftable (i.e., movable up and down). The beverage dispensing head can be tiltable so that the angle of the beverage dispensing head and the beverage dispensing nozzle can be changed to optimize liquid delivery. Preferably, the beverage dispensing head is liftable and tiltable. In other words, preferably, the beverage dispensing head exhibits two degrees of freedom and is a two-axis robot. Preferably, the angle of the beverage dispensing head is adjustable so that the angle of the beverage dispensing head relative to the beverage container can be adjusted. Preferably, when in the dispensing position, the angle of the beverage dispensing head relative to the beverage container to which the beverage dispensing head can dispense beverages is between 45 degrees and 15 degrees. More preferably, the angle of the beverage dispensing head relative to the beverage container to which the beverage dispensing head can dispense beverages is between 40 degrees and 25 degrees. Most preferably, the angle of the beverage dispensing head relative to the beverage container to which the beverage dispensing head can dispense beverages is 38 degrees. The beverage dispenser 113 may be arranged to move between a retracted position and a beverage dispensing position. The beverage dispenser 113 may be arranged to move to a retracted position to allow the robotic arm 115 to have a more complete range of motion when moving the beverage container into and out of a position into which the beverage can be dispensed. Once the beverage container has been moved to the correct position, the beverage dispenser 113 may be lowered into the dispensing position and the dispensing head may be tilted to a desired angle, which may be specified depending on the beverage to be served.

[0043] Alternatively or additionally, the robotic arm may be arranged to tilt the beverage container relative to the beverage dispensing head to achieve an optimal liquid delivery height and angle into the beverage container.

[0044] Turntable

[0045] The self-service terminal for retailing includes a turntable 130. The turntable 130 is arranged to store beverage containers and allows beverage containers to be transferred between working units. The turntable 130 preferably includes a plurality of beverage container holders attached to a transmission belt. The container holders may be spaced apart around the transmission belt, and are preferably evenly distributed. The transmission belt is movable so that the beverage container holder is also movable. Therefore, the beverage container on the beverage container holder may move around the turntable 130. The turntable 130 may be arranged so that the beverage container placed on the beverage container holder may be transported around the entire range of motion of the transmission belt (i.e., in a loop) to arrive at the same point. The turntable 130 transmission belt is preferably at least partially located within the working envelope of the mechanical arm of the self-service terminal for retailing. In this way, the turntable 130 is arranged to receive beverage containers from all mechanical arms present in the self-service terminal, and to deliver beverage containers to all mechanical arms present in the self-service terminal. Therefore, the turntable 130 is arranged to transfer beverage containers between the working units of the self-service terminal for retailing. This has the advantage that if hardware or consumable resources are unavailable in one work cell 111, beverage containers can be freely transferred between work cells to complete beverage orders. The work envelope robot of any given work cell 111 can be arranged to access multiple beverage containers on the turntable 130 within the range of motion of the robot. The turntable effectively represents one degree of freedom, namely by moving the drive belt in either direction.

[0046] The turntable 130 may be arranged to incrementally move the beverage container holder so that when stationary the beverage container holder is located at a consistent position accessible to the robotic arm. That is, the beverage container holder is movable between a series of positions around the turntable 130, such as Figure 3 As shown in . Figure 3 An example carousel is shown, including a plurality of beverage container holders 131a ... 131g, which are located at corresponding fixed load positions A, B, C ... G. Positions A to G represent static positions of beverage container holders for receiving and delivering beverage containers. Each time the carousel moves, the beverage container holders are moved to align with fixed load positions A to G. The robotic arms 115a, 115b may access more than one fixed position. As shown in FIG. Figure 3 As shown in FIG. 1 , robot 115a can access stationary positions A and B, while robot 115b can access stationary positions E, F, and G. It should be understood that Figure 3 The robotic arms 115a and 115b in the embodiment can access two and three of the predetermined positions respectively, however Figure 3 This is for illustrative purposes only, and the robot 115 may be configured to access more or fewer load locations, with a symmetrical system being preferred in practice.

[0047] The robotic arms 115a and 115b can place beverage containers in any fixed position within their respective working envelopes, and can also retrieve beverage containers from any fixed position within their working envelopes. The robotic arms simply need to rotate about one axis and extend or retract the arm in a radial direction to access the turntable fixed positions. The turntable can be operated to move beverage containers in either direction. One or more of the fixed load positions accessible by the robotic arms 115 can be a preferred load position, such as Figure 3 In the load position A shown in FIG. 1 , because the robot arm extension is minimized. It may be the case that in use, when the turntable is heavily used, the beverage container holder in the load position A already has a beverage container located there, and a concurrent action is taking place at another robot arm, the robot arm 115 a is instructed to use the load position B.

[0048] The turntable 130 may be arranged so that the robot arm of the first working unit 111 may place a beverage container on the beverage container support of the turntable 130, and the turntable 130 may then be operated to move the beverage container to a reachable range of the robot arm of the second working unit 111, and the robot arm of the second working unit 111b may then remove the beverage container from the beverage container support of the turntable 130. Alternatively or additionally, the turntable 130 may be arranged so that the robot arm of the first working unit 111a may place a beverage container on the beverage container support of the turntable 130, and the turntable 130 may then be arranged to store the beverage container for a period of time, and the robot arm of the first working unit 111a may then remove the beverage container from the beverage container support of the turntable 130.

[0049] The beverage container holder may be provided with a sensor arranged to determine whether any given holder has a beverage container located thereon and provide a feedback signal to the control circuit of the system. Such sensors may be any suitable sensor known in the art, such as a weight sensor, a capacitive sensor or an optical sensor.

[0050] Display Station

[0051] Each work unit 111 may include a display station 114 for displaying beverages to consumers. A mechanical arm 115 is configured to place a beverage container on the display station 114. Since the self-service retail self-service terminal of the present disclosure is usually closed, the display station 114 may act as an airlock for safety and sanitation reasons. That is, in an embodiment, a user may be prevented from accessing the interior of the self-service terminal. In one embodiment, the display station 114 includes a rotating platform to which a bell is fixed, wherein there is an opening large enough on one side of the bell to accommodate the mechanical arm and the beverage container. The mechanical arm 115 and the display station 114 are arranged so that the mechanical arm can place the beverage container on the rotating platform in the bell by moving through the opening. The mechanical arm 115 is then arranged to retract from the bell after the beverage container is placed on the rotating platform. The display station 114 is then arranged to rotate so that the opening of the bell faces the user and the beverage container is displayed to the user. The display station 114 may be arranged to rotate 240 degrees. The display station 114 exhibits one degree of freedom of rotation around an axis perpendicular to its surface.

[0052] Beverage Making Machine

[0053] Each working unit 111 preferably includes a beverage maker 150 connected to a beverage dispenser 113. Alternatively, one beverage maker 150 can serve multiple beverage dispensers of different working units. Alternatively, multiple beverage makers 150 can serve a single beverage dispenser of a single working unit. The beverage maker 150 can be capable of making any type of beverage. The beverage maker 150 can be capable of producing soft drinks by mixing flavored syrup with still water or bubble water. The beverage maker 150 can be capable of producing hot drinks, such as coffee or tea. The beverage maker 150 can be capable of producing coffee from coffee beans or coffee grounds. Preferably, the beverage maker 150 can produce coffee from coffee beans. Preferably, the beverage maker can also produce hot milk and cold milk, including foam milk for coffee drinks (such as cappuccino, latte and white coffee).

[0054] Beverage container dispenser

[0055] Each work unit 111 preferably comprises a beverage container dispenser. Alternatively, a beverage container dispenser can serve multiple workstations. The beverage container dispenser is arranged to distribute beverage containers to the gripper of the robot arm. Preferably, the beverage container dispenser is arranged to distribute a single beverage container from a stacked beverage container by rotating a screw with a thread, and the thread is arranged to move between the beverage containers and separate them. Preferably, the beverage container dispenser comprises a turntable of the beverage container dispenser, and the turntable is rotatable to align the correct beverage container dispenser with the delivery position. The beverage container dispenser can use any known device for separating beverage containers.

[0056] Beverage container cappers

[0057] Each work unit 111 may include a beverage container capping device 140. Preferably, the beverage container capping device 140 is located between two work units 111a, 111b, and is arranged to apply a lid to a beverage container located in any one of the two work units 111a, 111b. Preferably, the beverage container capping device 140 includes a mechanical arm. Preferably, the mechanical arm exhibits two degrees of freedom or two-axis degrees of freedom. Preferably, the mechanical arm can move up and down and rotate around the z-axis. Preferably, the beverage container capping device 140 further includes a rotating turntable 141 arranged to hold various lids. The rotating turntable 141 is arranged so that it is rotatable to position different lids below the mechanical arm. In operation, the beverage container capping device 140 may be arranged so that the mechanical arm removes the lid from the rotating turntable 141, and subsequently applies the lid to the beverage container.

[0058] Beverage container disposal unit

[0059] The autonomous retail self-service terminal may include a beverage container disposal unit for placing a beverage container therein. This unit may be desirable so that failed or untaken beverages can be processed. The beverage container disposal unit may be arranged to receive beverage containers from a robotic arm. Each work unit 111 may include a beverage container disposal unit. Alternatively, the beverage container disposal unit may be shared by a plurality of work units 111a ... 111n. In another embodiment, the beverage container may be moved to the beverage container disposal unit from another position in a turntable or an automated retail self-service terminal by an actuator (such as an arm), which pushes the beverage container into the beverage container disposal unit.

[0060] Ice Dispenser

[0061] The self-service retail terminal may include an ice dispenser for dispensing ice into a beverage container. Equipped with an ice dispenser, the ability to make iced beverages such as iced lattes is conferred. Each work unit 111 may include an ice dispenser. Alternatively, the ice dispenser may be shared by a plurality of work units 111a ... 111n.

[0062] Preferably, the ice dispenser comprises a single ice maker having an ice delivery chute for delivering ice to each operating unit. Preferably, the ice delivery chute comprises a guide element for directing ice to a particular operating unit. This configuration avoids the need for a robotic arm to be able to access a common location, while still requiring only one ice maker per automated retail self-service terminal.

[0063] The self-service retail terminal may include additional resources that are shared between the work units 111a ... 111n or that serve only one work unit 111. For example, the self-service retail terminal may further include a device arranged to dispense food items (such as muffins or a portion of ice cream) into a beverage container for supply to a user. The self-service retail terminal may further include a device arranged to dispense aerosol or whipped cream into a beverage container for supply to a user. The self-service retail terminal may further include a device arranged to dispense a portion of frozen yogurt into a beverage container for supply to a user. The self-service retail terminal may further include a blender for preparing mixed drinks.

[0064] layout

[0065] Thus, the layout shown in FIG. 1 includes an arrangement of low degree of freedom robots that work in collaboration and are accessible by a three degree of freedom robotic arm. The presence of the turntable 130 and the use of at least two working units means that a high degree of operational efficiency based on low cost robotic equipment with improved failover capabilities is possible. The autonomous retail system described herein comprising multiple working units and linked by a turntable can be configured so that components within the respective working units can work together to provide an improved autonomous retail system with improved functionality and / or simpler components relative to the prior art.

[0066] Method for operating an autonomous retail self-service terminal

[0067] The present disclosure also provides various methods for operating an autonomous retail self-service terminal, which includes two or more production work units and a turntable 130. The method may include the following steps in the first production work unit: distributing a beverage container from a beverage container dispenser to a first mechanical arm, and using the first mechanical arm to move the beverage container to a first load position on the turntable 130. The turntable can then store the beverage container for a predetermined amount of time, which may depend on order information or machine status information. The beverage container may be stored by the turntable in a turntable position that is not within the work unit or mechanical arm work envelope. When necessary, the turntable may move the beverage container to a load position to use one of the first mechanical arm in the first production work unit or the second mechanical arm in the second production work unit to remove the beverage container from the turntable 130. In this way, the beverage container can be directly transferred between the work units, or if necessary, it can be temporarily stored on the turntable. This can increase the operation time of the autonomous retail self-service terminal before the consumables in the self-service terminal need to be replenished. Each work unit can access certain consumables from each other work unit present in the autonomous retail self-service terminal.

[0068] Figure 4The flowchart shown in describes a method for operating an automated self-service terminal according to the present disclosure. The method is first described with reference to a first working unit and a first mechanical arm; it should be understood that the numbering of the working unit, the mechanical arm, etc. is for illustrative purposes and may vary within the scope of the present disclosure. At 400, an instruction is received at an autonomous retail self-service terminal. The instruction may be received from a local area network, a wide area network, or the Internet via a wired connection or a wireless connection. The instruction may be received from a user interface provided at the automated retail self-service terminal itself. The instruction may include information about the order to be produced. The order may include one or more beverages, which include different sets of raw materials and require different machine resources to complete. The instruction may specify that the order is produced using only the resources of working unit 1, or a combination of working unit 1 and working unit 2. The instruction may further specify that the order will be partially or completely produced and then stored at the turntable for a predetermined period of time, or until further user conditions are met. The user condition may be that the user enters a certain proximity of the automated retail self-service terminal, or provides further instructions to release the order stored at the turntable and display it to the user.

[0069] At 401, the first robotic arm is moved to the beverage container dispenser, and at 402 the beverage container is dispensed, as described above. At 403, if the instructions specify that the order is to be completed in a work cell other than work cell 1, the beverage container is moved by the robotic arm to a turntable and loaded onto a beverage container holder. If the instructions do not specify that the order should continue immediately in work cell 2, the beverage container may be moved by the turntable to a storage location (at 406) and may remain there until further instructions are received.

[0070] At 405, if the instructions specify that the order is to be continued in another work cell (eg, work cell 2), then at 407 the carousel moves the beverage container to the work cell 2 work envelope so that the second robotic arm can remove the beverage container from the carousel and continue the order.

[0071] At 403, if the instructions specify that the order is to be produced in work cell 1, the method proceeds to 409. The instructions may specify that the order is to be produced in whole or in part in work cell 1. The instructions may specify that the order is to be produced entirely in work cell 1 in one or more stages that occur at different times - that is, a first portion of a beverage may be made, and then the beverage may be stored at a turntable for completion at a second, later time. At 409, the robotic arm moves the beverage container to a beverage dispenser, which, at 410, may dispense a full or partial beverage. At 411, a determination is made as to whether the order is to be completed immediately at the first work cell. If the instructions specify that the order is not to be completed immediately in the first work cell, the robotic arm moves the beverage container (containing the fully or partially completed beverage) to the turntable and loads it (at 404). This process may continue from there in work cell 2 (steps 405, 407, etc.), or may be completed in work cell 1 (such as Figure 4 ). The turntable can move the beverage container from the storage location back to the work envelope of the work cell 1 so that the first robotic arm can pick up the beverage container and continue to produce the beverage by advancing to 409, or complete the order by moving the beverage container to the capper at 412. The cap is dispensed by the capper in the manner described at 413. At 414, the robotic arm then moves the beverage container to the display station. At 415, the finished product is displayed to the user.

[0072] Figure 4 Not shown in the steps related to other parts of the beverage, including, for example, moving the beverage container to an ice dispenser for ice dispensing. Such steps may occur at any suitable point in the beverage production process, particularly at or between 409 and 410 of the beverage making process.

[0073] In another embodiment, the method of operation may include: dispensing a beverage container from a beverage container dispenser to a first robotic arm, dispensing a liquid into the beverage container from a beverage dispenser 113 in a first production work unit, and placing the beverage container on a turntable. The method may further include: removing the beverage container from the turntable 130 using a second robotic arm in a second production work unit, dispensing a liquid into the beverage container from a beverage dispenser 113 in a second production work unit, and displaying the beverage container to a consumer by placing the beverage on a display station 114 using the second robotic arm. This is useful in cases where a beverage can be partially completed in a first work unit, loaded onto a turntable 130, transferred to another (second) work unit to complete the beverage, and then displayed to a user at a display station. This may be necessary in cases where the first production work unit includes a first portion of the raw materials required to produce the beverage, and the second work unit includes the remaining portion of the required raw materials. The autonomous retail self-service terminal may be configured to store partially completed beverages that are subject to asynchronous orders from users-that is, the received order is not intended to be displayed to the user immediately. When placing an order, the user can specify a future time when the beverage is to be presented.Thus, the carousel can be used as storage to minimize the waiting time when the user arrives at the self-service terminal to collect his product.

[0074] In another preferred embodiment, where the beverage container is removed from the turntable 130 using a second robotic arm in the second production work unit, the method further includes: dispensing liquid from the beverage dispenser 113 in the second production work unit into the beverage container, using the first second robotic arm to move the beverage container to the turntable 130. The method further includes: removing the beverage container from the turntable 130 using one of the first robotic arm or the second robotic arm in the second production work unit, and displaying the beverage container to the consumer by placing the beverage on the display station 114 using one of the first robotic arm or the second robotic arm.

[0075] In an embodiment, the self-service terminal 100 and / or its components or subsystems may include computing devices, microprocessors, modules and other computers or computing devices, which may be any programmable device that accepts digital data as input, is configured to process the input according to instructions or algorithms and provides results as output. In one embodiment, the computing and other such devices discussed herein may be, include, contain or be coupled to a central processing unit (CPU) configured to execute instructions of a computer program. Therefore, the computing and other such devices discussed herein are configured to perform basic arithmetic, logic and input / output operations.

[0076] The computing and other devices discussed herein may include memory. The memory may include volatile memory or non-volatile memory as needed by the coupled computing device or processor to provide space not only for executing instructions or algorithms, but also for storing the instructions themselves. For example, in one embodiment, the volatile memory may include random access memory (RAM), dynamic random access memory (DRAM), or static random access memory (SRAM). For example, in one embodiment, the non-volatile memory may include read-only memory, flash memory, ferroelectric RAM, hard disk, floppy disk, tape, or optical disk storage. The foregoing list in no way limits the types of memory that may be used, as these embodiments are given by way of example only and are not intended to limit the scope of the present disclosure.

[0077] In one embodiment, the system or its components may include or contain various modules or engines, each of which is constructed, programmed, configured or otherwise adapted to autonomously perform a function or set of functions. The term "engine" as used herein is defined as a real-world device, component or component arrangement implemented using hardware (such as by, for example, an application-specific integrated circuit (ASIC) or a field programmable gate array (FPGA)), or as a combination of hardware and software (such as by a microprocessor system and a program instruction set that adapts the engine to implement specific functionality, which (when executed) converts the microprocessor system into a dedicated device). The engine may also be implemented as a combination of the two, with certain functions facilitated by hardware alone and other functions facilitated by a combination of hardware and software. In certain implementations, at least a portion (and in some cases all) of an engine may be executed on a processor of one or more computing platforms comprised of hardware (e.g., one or more processors, data storage devices (such as memory or drive storage), input / output facilities (such as network interface devices, video devices, keyboards, mice or touch screen devices, etc.)) that execute an operating system, system programs, and application programs, while also implementing the engine using multitasking, multithreading, distributed (e.g., cluster, peer-to-peer, cloud, etc.) processing, or other such techniques where appropriate. Thus, each engine may be implemented in a variety of physically achievable configurations and should generally not be limited to any particular implementation illustrated herein unless such limitations are explicitly noted. Furthermore, an engine itself may be comprised of more than one sub-engine, each of which may itself be considered an engine. Furthermore, in the embodiments described herein, each of the various engines corresponds to a defined autonomous functionality; however, it should be understood that in other contemplated embodiments, each functionality may be distributed to more than one engine. Likewise, in other contemplated embodiments, multiple defined functionalities may be implemented by a single engine, which may perform those multiple functions in conjunction with other functions, or distributed among a group of engines differently than specifically illustrated in the examples herein.

[0078] It should be understood that the individual steps used in the method of this teaching can be performed in any order and / or simultaneously as long as the teaching remains operable. In addition, it should be understood that the apparatus and method of this teaching can include any number or all of the described embodiments as long as the teaching remains operable.

[0079] Various embodiments of systems, devices, and methods have been described herein. These embodiments are given as examples only and are not intended to limit the scope of the claimed invention. In addition, it should be understood that the various features of the embodiments described can be combined in various ways to produce many additional embodiments. In addition, although various materials, sizes, shapes, configurations, and positions, etc. for use with the disclosed embodiments have been described, other materials, sizes, shapes, configurations, and positions other than those disclosed may be used without exceeding the scope of the claimed invention.

[0080] A person of ordinary skill in the relevant art will recognize that an embodiment may include fewer features than those explained in any of the above individual embodiments. The embodiments described herein are not meant to be an exhaustive display of the ways in which various features can be combined. Therefore, the embodiments are not mutually exclusive combinations of features; rather, the embodiments may include a combination of different individual features selected from different individual embodiments, as understood by a person of ordinary skill in the art. In addition, the elements described with respect to one embodiment may be implemented in other embodiments, even if not described in these embodiments, unless otherwise stated. Although a dependent claim may be cited in a claim as a specific combination with one or more other claims, other embodiments may also include a combination of a dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not desired. In addition, it is also intended that the features of a claim be included in any other independent claim, even if the claim is not directly subordinate to the independent claim.

[0081] In addition, references in the specification to "one embodiment," "an embodiment," or "some embodiments" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present teachings. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily all refer to the same embodiment.

[0082] Any incorporation by reference of the above-mentioned documents is limited so that the subject matter incorporated is not inconsistent with the explicit disclosure herein. Any incorporation by reference of the above-mentioned documents is further limited so that any claims contained in these documents are not incorporated herein by reference. Any incorporation by reference of the above-mentioned documents is further limited so that any definitions provided in these documents are not incorporated herein by reference unless expressly included herein.

[0083] For purposes of claim interpretation, it is expressly intended that the provisions of 35 USC 112(6) shall not be invoked unless the specific terms "means for" or "step for" are recited in a claim.

[0084] Terms

[0085] 1. A self-service retail terminal for serving beverages, comprising two or more production work units and a turntable, wherein:

[0086] Each production work cell includes:

[0087] A beverage dispenser for dispensing liquids,

[0088] A display station for displaying beverages to consumers,

[0089] a robotic arm for moving beverages between the beverage dispenser, the display station, and the turntable, and wherein

[0090] The turntable is configured to receive a beverage container from a first robotic arm in a first work unit and deliver the beverage container to a second robotic arm in a second work unit, thereby moving the beverage container from the first work unit to the second work unit.

[0091] 2. An autonomous retail self-service terminal as in clause 1, wherein each robotic arm is configured to move in planes including a lateral plane, a vertical plane, and a cross-sectional plane.

[0092] 3. The autonomous retail self-service terminal of clause 1 or clause 2, further comprising: one or more beverage makers, the one or more beverage makers being configured to provide beverages to the beverage dispenser.

[0093] 4. An autonomous retail self-service terminal as in any preceding clause, wherein the beverage dispenser is a tiltable and liftable movable beverage dispensing head.

[0094] 5. An autonomous retail kiosk as in any preceding clause, wherein the display station comprises a rotating platform.

[0095] 6. An autonomous retail self-service terminal as in any preceding clause, wherein the self-service terminal comprises two substantially identical production work units having bilateral symmetry.

[0096] 7. An autonomous retail self-service terminal as in any preceding clause, wherein each robotic arm is configured to:

[0097] moving a beverage container from a beverage container dispenser to a beverage dispenser,

[0098] moving the beverage container from the beverage dispenser to the turntable, and

[0099] The beverage container is moved from the carousel to a display station.

[0100] 8. An autonomous retail self-service terminal as in any of the preceding clauses, further comprising: a beverage container capping station, the beverage container capping station comprising a beverage container capping machine, the beverage container capping machine serving the two or more production work units, or wherein each of the two or more production work units further comprises one or more beverage container capping stations, each beverage container capping station comprising a beverage container capping machine.

[0101] 9. An autonomous retail self-service terminal as in any preceding clause, further comprising: a beverage disposal receptacle for receiving discarded beverages from the robotic arm.

[0102] 10. The autonomous retail kiosk of any preceding clause, wherein the carousel is further configured to receive a beverage container from a robotic arm and deliver the beverage container to the same robotic arm for storage of the beverage container.

[0103] 11. A method of operating an autonomous retail self-service terminal, the autonomous retail self-service terminal comprising two or more production work units and a turntable, the method comprising the following steps in a first production work unit:

[0104] dispensing beverage containers from the beverage container dispenser to the first robotic arm, and

[0105] Using a first robotic arm to move the beverage container to the turntable,

[0106] The method further comprises:

[0107] The beverage container is removed from the turntable using one of the first robot arm or a second robot arm in a second production work cell.

[0108] 12. A method of operating an autonomous retail self-service terminal according to clause 11, wherein the method further comprises:

[0109] A beverage container is moved from the beverage container dispenser to a first beverage dispenser using a first robotic arm, and liquid is dispensed from the beverage dispenser into the beverage container.

[0110] 13. A method of operating an autonomous retail self-service terminal according to clause 11 or clause 11, wherein the method further comprises:

[0111] The beverage container is displayed to a consumer by placing the beverage container on a display station using one of the first robotic arm or the second robotic arm.

[0112] 14. A method of operating an autonomous retail self-service terminal according to clause 11 or clause 12, wherein removing the beverage container from the carousel uses a second robot arm in a second production work unit, the method further comprising:

[0113] dispensing liquid from the beverage dispenser in the second production work unit into the beverage container, and

[0114] The beverage container is displayed to the consumer by placing the beverage on a display station using a second robotic arm.

[0115] 15. A method of operating an autonomous retail self-service terminal according to clause 11 or clause 12, wherein removing the beverage container from the carousel uses a second robot arm in a second production work unit, the method further comprising:

[0116] dispensing liquid from the beverage dispenser in the second production work unit into the beverage container,

[0117] Using a second robotic arm to move the beverage container to the turntable,

[0118] The method further comprises:

[0119] removing the beverage container from the turntable using one of the first robot arm or a second robot arm in a second production work cell, and

[0120] The beverage container is displayed to a consumer by placing the beverage on a display station using one of the first robotic arm or the second robotic arm.

[0121] 16. A method for operating an autonomous retail self-service terminal, comprising the following steps:

[0122] receiving, at a controller, information related to availability of raw materials or hardware resources for two or more production work cells,

[0123] determining, based on the information, whether one or more of the two or more production work units are capable of producing a beverage individually or in combination, and

[0124] The method of any one of clauses 11 to 15 is performed based on the determination.

Claims

1. An autonomous retail self-service terminal for serving beverages, comprising two or more production work units and a turntable, wherein Each production work cell includes: A beverage dispenser for dispensing liquid, a display station for displaying the beverage to consumers, a robotic arm for moving beverages between the beverage dispenser, the display station, and the turntable, And among them The turntable is configured to receive a beverage container from a first robotic arm in a first work cell and deliver the beverage container to a second robotic arm in a second work cell, thereby moving the beverage container from the first work cell to the second work cell.

2. The autonomous retail self-service terminal of claim 1, wherein each robotic arm is configured to move in a plane, the plane comprising a lateral plane, a vertical plane, and a cross-sectional plane.

3. The autonomous retail self-service terminal according to claim 1 or claim 2, further comprising: One or more beverage makers configured to provide beverages to the beverage dispenser.

4. An autonomous retail self-service terminal as claimed in any preceding claim, wherein the beverage dispenser is a movable beverage dispensing head which is tiltable and raiseable.

5. An autonomous retail kiosk as claimed in any preceding claim, wherein the display station comprises a rotating platform.

6. An autonomous retail self-service terminal as claimed in any preceding claim, wherein the self-service terminal comprises two substantially identical production work cells having bilateral symmetry.

7. An autonomous retail self-service terminal as claimed in any preceding claim, wherein each robotic arm is configured to: moving a beverage container from a beverage container dispenser to a beverage dispenser, moving the beverage container from the beverage dispenser to the turntable, and The beverage containers are moved from the carousel to a display station.

8. The autonomous retail self-service terminal according to any preceding claim, further comprising: A beverage container capping station, wherein the beverage container capping station includes a beverage container capping machine, and the beverage container capping machine serves the two or more production work units, or wherein each of the two or more production work units further includes one or more beverage container capping stations, each beverage container capping station includes a beverage container capping machine.

9. The autonomous retail self-service terminal according to any preceding claim, further comprising: A beverage disposal receptacle is provided for receiving waste beverages from the robotic arm.

10. The autonomous retail kiosk of any preceding claim, wherein the carousel is further configured to receive beverage containers from a robotic arm and to deliver the beverage containers to the same robotic arm for storage of the beverage containers.

11. A method of operating an autonomous retail self-service terminal, the autonomous retail self-service terminal comprising two or more production work units and a turntable, the method comprising the following steps in a first production work unit: dispensing beverage containers from the beverage container dispenser to the first robotic arm, and using the first robotic arm to move the beverage container to the turntable, The method further comprises: The beverage containers are removed from the turntable using one of the first robotic arm or a second robotic arm in a second production work cell.

12. The method of operating an autonomous retail self-service terminal according to claim 11, wherein the method further comprises: using the first robotic arm to move the beverage container from the beverage container dispenser to a first beverage dispenser, Liquid is dispensed from the beverage dispenser into the beverage container.

13. The method for operating an autonomous retail self-service terminal according to claim 11 or claim 12, wherein the method further comprises: The beverage container is displayed to a consumer by placing the beverage container on a display station using one of the first robotic arm or the second robotic arm.

14. The method of operating an autonomous retail self-service terminal according to claim 11 or claim 12, wherein removing the beverage container from the turntable uses the second robot arm in the second production work unit, and the method further comprises: dispensing liquid from the beverage dispenser in the second production work unit into the beverage container, and The beverage container is displayed to a consumer by placing the beverage on a display station using the second robotic arm.

15. The method of operating an autonomous retail self-service terminal according to claim 11 or claim 12, wherein removing the beverage container from the turntable uses the second robot arm in the second production work unit, and the method further comprises: dispensing liquid from the beverage dispenser in the second production work unit into the beverage container, using the second robotic arm to move the beverage container to the turntable, The method further comprises: removing the beverage container from the turntable using one of the first robotic arm or a second robotic arm in a second production work cell, and The beverage container is displayed to a consumer by placing the beverage on a display station using one of the first robotic arm or the second robotic arm.

16. A method for operating an autonomous retail self-service terminal, comprising the following steps: receiving, at a controller, information related to availability of raw materials or hardware resources for two or more production work cells, determining, based on the information, whether one or more of the two or more production work units are capable of producing a beverage, either individually or in combination, and The method of any one of claims 11 to 15 is performed based on the determination.

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