Article supply device and method for controlling same

Abstract

The present disclosure relates to an article supply device. The article supply device comprises: at least one rail; a holder that can move in one of a first posture and a second posture; a dispenser; a motor; a discharge device; at least one sensor; and a processor. The processor controls the dispenser such that, if a capsule is seated on the holder while the holder is in a first posture, a container is supplied onto the at least one rail. The processor controls the motor to drive at least one rail such that the container is moved to a specific position. If the container is detected at a specific position on the basis of sensing values from at least one sensor, the processor controls the discharge device to discharge an article onto the container from the capsule of the holder moved in the second posture.

Description

Product supply device and control method thereof

[0001] The present disclosure relates to a product supply device and a method for controlling the same, and more specifically, to a device and method capable of delivering a product contained in a capsule to a customer by placing it in a container.

[0002] Recently, the number of unmanned cafes operated by robots is increasing.

[0003] Conventional unmanned cafes operated by robots had a problem in that, when manufacturing items (e.g., beverages and ice cream, etc.), the robot had to continuously hold the container holding the item while it was being dispensed, so the robot could not perform other tasks during that time.

[0004] In addition, conventional product dispensing devices lacked the function to directly dispense a container for the product or to remove the container after the product was dispensed, which resulted in the problem that consumers had to manually remove and take away the container.

[0005] A product supply device according to one or more embodiments of the present disclosure may include: at least one rail; a stand movable to one of a first position for placing a capsule containing a product and a second position for moving the capsule to the upper side of the at least one rail; a dispenser for supplying a container; a motor for driving the at least one rail; a dispensing device; at least one sensor; and a processor. The processor may control the dispenser to supply the container onto the at least one rail when the capsule is placed on the stand while the stand is in the first position, control the motor to drive the at least one rail to move the container to a specific position, and control the dispensing device to discharge the product from the capsule on the stand moved to the second position onto the container when the container is detected at the specific position based on the sensing value of the at least one sensor.

[0006] A method for controlling an article supply device according to one or more embodiments of the present disclosure may include: a step of supplying a container onto at least one rail when a capsule containing food is placed on a stand in a first position; a step of driving the at least one rail to move the container to a discharge position; and a step of discharging the article contained in the capsule onto the container when the stand is moved to a second position in which the capsule is placed above the discharge position and the container is moved to the discharge position.

[0007] FIG. 1 is a drawing for explaining the overall configuration of a product supply device according to at least one embodiment of the present disclosure.

[0008] FIG. 2 is a drawing for explaining a product supply device that communicates with an external device according to at least one embodiment of the present disclosure.

[0009] FIG. 3 is a block diagram of a product supply device according to at least one embodiment of the present disclosure.

[0010] FIG. 4 is a side view of the discharge device of FIG. 1 according to at least one embodiment of the present disclosure.

[0011] Figure 5 is a diagram illustrating the operation of the discharge device of Figure 4.

[0012] Figure 6 is a diagram illustrating the operation of the stand of Figure 1.

[0013] FIG. 7 is a drawing for showing the configuration of the robot device of FIG. 2 according to at least one embodiment of the present disclosure.

[0014] FIGS. 8 to 10 are flowcharts for illustrating a product supply device according to one or more embodiments of the present disclosure.

[0015] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0016] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0017] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0018] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0019] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0020] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0021] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0022] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0023] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0024] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0025] Below, a product supply device (1) according to various embodiments is described in detail with reference to the drawings.

[0026] FIG. 1 is a drawing for explaining the overall configuration of a product supply device (1) according to at least one embodiment of the present disclosure.

[0027] In FIG. 1, the item supply device (1) is a device that automatically supplies a container (10), dispenses an item contained in a capsule (20), and then automatically transports the container (10) to a final destination (410). In the present disclosure, the item may be various food items such as ice cream, beverages, etc., but is not limited thereto, and may be various types of items that need to be provided using a container, such as medicines, cosmetics, pigments, etc. Additionally, in the present disclosure, the capsule (20) may be an outer material that packages the item. The capsule (20) may be in the form of a compressed material that squeezes the internal item out, but is not necessarily limited thereto, and may be implemented as a packaging material that can be torn by external force, a packaging box made of a hard material that can be broken by pressure, etc. The capsule (20) may be described by various other names such as packaging material or outer material, but in the present disclosure, it is described as a capsule (20).

[0028] In FIG. 1, the item supply device (1) may include a discharge device (100), a stand (200), a dispenser (300), at least one rail (400), a motor (500), and at least one sensor (800).

[0029] In FIG. 1, the discharge device (100) is a device that applies pressure to the capsule (20) to discharge an item contained in the capsule (20) into the container (10).

[0030] The dispensing device (100) can be implemented in various forms depending on the shape of the capsule. For example, as described above, in the case where the contents inside the capsule (20) are discharged out when external pressure is applied, the dispensing device (100) may include a dispensing bar (110). The dispensing bar (110) is configured to provide pressure to the capsule (20) to compress the capsule (20) and thereby discharge the contents contained in the capsule (20) to the outside. The discharged contents can be received in a container (10) and provided to the outside. A detailed explanation of this is to be covered in detail in FIGS. 4 to 6, so the explanation is omitted.

[0031] Alternatively, if the capsule (20) is in the form of a package, the dispensing device (100) may be implemented as a device that tears the package by pulling it in opposite directions while gripping both sides of the package. The stand (200) is configured to support the capsule (20) and move it to the dispensing position. The stand (200) can be implemented in various forms, such as a lifting method or a sliding method. The lifting method is a method in which the capsule (20) is placed on the stand, and then the stand is lifted to move it to the upper side of the dispensing position. The sliding method is a method in which the capsule (20) is placed on the stand, and then the stand is slid to one side to move it to the upper side of the dispensing position. For convenience of explanation, the state in which the capsule (20) can be placed may be called the first position, and the state in which the capsule (20) is moved to the upper side of the dispensing position may be called the second position. That is, the stand (200) can be freely switched between the first position and the second position. Switching can be performed automatically using a motor, but is not necessarily limited to this, and the user can also switch manually.

[0032] The following various embodiments are described based on cases implemented using an automatic lifting method.

[0033] It may include a mounting part (210) and a lift device (900). Here, the mounting part (210) may include a horizontal maintaining device (600) and a weight sensing sensor (700).

[0034] The mounting part (210) is a component capable of supporting the capsule (20). A detailed description of the mounting part (210) will be covered in detail in FIGS. 4 to 6. The weight sensing sensor (700) is a device capable of detecting the weight of the capsule (20) supported on the mounting part (210). The leveling device (600) is a device capable of assisting the mounting part (210) to always maintain a level position even when the mounting stand (200) is switched between a first position and a second position. As described above, the first position refers to a state in which the mounting part (210) supports the capsule (20), and the second position refers to a state in which the mounting part (210) is positioned on the rail (400).

[0035] The lift device (900) may include a lift bar (220) and a lift motor (not shown). The lift device (900) is a device capable of switching the mounting portion (210) to a first position or a second position. The lift bar (220) is in the form of two long rods and can be attached to each side of the mounting portion (210). The lift motor (not shown) can drive the lift bar (220) to a first position or a second position. As shown in FIG. 1, the lift motor (not shown) can lift down the lift bar (220) to position it horizontally when it is to be positioned in a first position to place the capsule (20). As shown in FIG. 1, the lift motor (not shown) can lift up the lift bar (220) to position it vertically when it is to be positioned in a second position to perform the discharge of the capsule (20). A detailed description of the configuration and operation of the discharge device (100) and the stand (200) is covered in FIGS. 4 to 6, so it is omitted here.

[0036] In FIG. 1, the dispenser (300) may include a plurality of containers (10) inside. If the containers (10) are cups, the plurality of containers (10) may be accommodated inside the dispenser (300) in a stacked state. The dispenser (300) may drop the lowest container downward by widening the gap of a support member (not shown) supporting the lowest container among the stacked containers (10). However, the structure and operation of the dispenser (300) are not necessarily limited to this and may be implemented with various modified structures.

[0037] When the capsule (20) containing the item is placed on the stand (200), the dispenser (300) can supply the container (10) onto at least one rail (400).

[0038] Meanwhile, if there are multiple items provided by a single item supply device (1), containers (10) of different sizes or shapes may be provided for each item. In this case, the dispenser (300) may include multiple containers (10) of different sizes and types. Through this, the dispenser (300) can supply containers (10) that suit the customer's preferences onto at least one rail (400) based on information regarding the type and quantity of items ordered by the customer.

[0039] At least one sensor (800) may include a plurality of photo sensors (801, 802, 803, 804). The plurality of photo sensors (801, 802, 803, 804) can detect the presence and location of the container (10). Each photo sensor (801, 802, 803, 804) may include a light-emitting diode and a light-receiving diode. Accordingly, it is possible to detect whether an external object (e.g., a container or capsule, etc.) is placed within the path of light emitted from the light-emitting diode. Although the present disclosure describes the use of photo sensors, it is not necessarily limited thereto, and various types of sensors such as ultrasonic sensors and pressure sensors may be used.

[0040] The first photo sensor (801) can detect whether the container (10) is stably seated on the first rail (401). The second photo sensor (802) can detect whether the container (10) is stably seated on the lower part of the discharge device (100). The third photo sensor (803) can detect whether the container is stably seated at the boundary point between the first rail (401) and the second rail (402). The fourth photo sensor (804) can detect whether the container (10) has stably arrived at the final destination (410).

[0041] The motor (500) can drive at least one rail (400). Specifically, when a container (10) supplied from the dispenser (300) is detected through the first photo sensor (801), the motor (500) can drive the first rail (401). When the motor (500) detects that the container (10) has arrived at the bottom of the dispensing device (100) through the second photo sensor (802), the motor (500) can stop the first rail (401). Afterward, when the discharge of an item from the dispensing device (100) into the container is completed, the motor (500) can drive the container (10) along the first rail (401) to the boundary point between the first rail (401) and the second rail (402). Afterward, after the third photo sensor (803) detects the container (10), the motor (500) can drive the second rail (402) to move the container (10) to the final destination (410).

[0042] FIG. 2 is a drawing for explaining a product supply device (1) that communicates with an external device (1000) according to at least one embodiment of the present disclosure.

[0043] In FIG. 2, the external device (1000) is a device that allows a user to order goods. The external device (1000) can be implemented in various types, such as a kiosk, mobile phone, tablet PC, PC, laptop PC, etc.

[0044] The external device (1000) may further include an interface. An interface is a configuration created to interact between two or more systems, devices, programs, or users. The interface may include at least one of a communication interface, an input / output interface, and a user interface.

[0045] A communication interface is a configuration for performing communication with other devices via wired or wireless communication methods. The communication interface can receive user queries from external devices such as terminal devices, wireless speakers, remote controls, microphones, etc. Alternatively, the communication interface may be referred to as a communication unit. An external device (1000) can transmit order information entered by a customer to a product supply device (1) through the communication unit.

[0046] The input / output interface is configured to transmit or receive various signals, data, etc. from a wired device. When an external microphone is connected through the input / output interface, the external device (1000) can receive user queries input into the external microphone through the input / output interface. For example, when a customer voices an order, the voiced content, i.e., the order information, can be input through the microphone and then transmitted to the external device (1000) through the input / output interface. In addition, the input / output interface may include various ports, such as a USB port or an HDMI port, for connecting to various external devices such as a microphone, keyboard, or joystick. The input / output interface may also be referred to as a connection port. Order information input through the input / output interface can also be transmitted to the product supply device (1) through the communication unit.

[0047] A user interface is a configuration designed to receive various user commands directly from the user. A user interface can be implemented using touchscreens, touchpads, buttons, etc. For example, when implemented via a touchscreen, the user can directly input order information by drawing on the screen with their hand or a stylus, or they can input order information through a soft keyboard displayed on the touchscreen.

[0048] In FIG. 2, the external device (1000) can provide information on the type of various items, information on the size of the items, etc., to the user. The external device (1000) can provide an interface that allows the user to order items. Afterward, when the user orders items through the external device (1000), the external device (1000) can transmit the information on the items ordered by the user to the item supply device (1).

[0049] The external device (1000) may include a display. The display may be implemented as a display including a self-emissive element or as a display including a non-emissive element and a backlight. For example, it may be implemented as various types of displays such as an LCD (Liquid Crystal Display), an OLED (Organic Light Emitting Diodes) display, an LED (Light Emitting Diodes), a micro LED, a Mini LED, a PDP (Plasma Display Panel), a QD (Quantum dot) display, a QLED (Quantum dot light-emitting diodes), etc. The display (130) may also include a driving circuit, a backlight unit, etc., which may be implemented in the form of an a-si TFT, an LTPS (low temperature poly silicon) TFT, an OTFT (organic TFT), etc. The external device (1000) may display the order details entered by the orderer using the display.

[0050] Additionally, the external device (1000) may receive information regarding the progress of item preparation from the communication unit of the item supply device (1). Based on the received information, the external device (1000) may display information regarding the progress of item preparation. For example, if an item is being prepared at the item supply device (1), the external device (1000) may display the phrase "Preparing." When the container (10) from which the item has been dispensed at the item supply device (1) arrives at the final destination, the external device (1000) may display the phrase "Preparation complete" or display various identification information that can identify the orderer (e.g., the orderer's nickname, order number, etc.).

[0051] The article supply device (1) according to at least one embodiment of the present disclosure of FIG. 2 may include a robot device (30). Since the configuration of the robot device (30) will be discussed in detail in FIG. 7, a description thereof is omitted.

[0052] The robot device (30) can communicate with an external device (1000). The robot device (30) can receive user item order information from the external device (1000). This information may be received through the communication unit of the item supply device (1) or independently received by the robot device (30). Subsequently, the item supply device (1) can store the information in memory. Details regarding this will be covered in FIG. 3. Based on the received user item order information, the robot device (30) can identify a capsule (20) of an item suitable for the order information. Subsequently, the robot device (30) can grasp the capsule (20) of an item suitable for the order information and place it on a stand (200).

[0053] Additionally, based on order information, when the container (10) arrives at the final destination (410) after the dispensing of the item embedded in the capsule (20) is completed, the robot device (30) can grasp the container (10) and deliver it to the orderer.

[0054] FIG. 3 is a block diagram of a product supply device (1) according to at least one embodiment of the present disclosure.

[0055] In FIG. 3, the item supply device (1) may include a communication unit (40), a memory (50), and a processor (60).

[0056] The communication unit (40) is configured to perform communication with various devices.

[0057] Specifically, the communication unit (40) can communicate with various devices, such as an external device (1000) and a server device (not shown) capable of managing the entire store.

[0058] The communication unit (40) may include at least one wireless communication module, at least one wired communication module, etc. Each communication module may be implemented in the form of at least one hardware chip. The wireless communication module may include at least one module among a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules. In addition, the communication unit (110) may include at least one communication chip that performs communication according to various wireless communication standards such as Zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), LTE-A (LTE Advanced), 4G (4th Generation), 5G (5th Generation), etc. The wired communication module may include, for example, at least one of a LAN (Local Area Network) module, an Ethernet module, a pair cable, a coaxial cable, a fiber optic cable, or an UWB (Ultra Wide-Band) module.

[0059] In FIG. 3, the memory (50) is configured to contain various programs, instructions, and data necessary for the operation of the item supply device (1). Although the memory (50) in FIG. 3 is depicted as being separate from the processor (60), it is not necessarily limited to this, and the memory (50) may be implemented as an internal memory such as ROM (e.g., EEPROM (electrically erasable programmable read-only memory)) or RAM included in the processor (60).

[0060] Alternatively, the memory (50) may be implemented in the form of a memory embedded in the item supply device (1) according to the purpose of data storage, or in the form of a memory that can be attached to and detached from the item supply device (1). Specifically, the memory (50) may be implemented in various forms such as volatile memory, SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc., non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory, hard drive, or solid state drive (SSD), CF (compact flash), SD (secure digital), MicroSD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.

[0061] In the present disclosure, the term memory (50) may be used to include a storage unit, a ROM (not shown), a RAM (not shown) within a processor (60), or a memory card (not shown) mounted on an electronic device (e.g., a micro SD card, a memory stick). Although the memory (50) is depicted as one in FIG. 3, the memory (60) may be implemented in various numbers.

[0062] The memory (50) is accessed by the processor (60). In the memory (50), data reading, writing, modification, deletion, updating, etc. by the processor (60) can be performed.

[0063] Specifically, the memory (50) may store various information such as the orderer's product order information, capsule (20) information suitable for the order information, information on each type of container (10) included in the dispenser (300), preset range information of the weight sensor (700), suitable pressure information of the dispensing device (100), information on the first and second positions of the stand (200), location information of the final destination (410), and information on the appropriate speed of the motor (500), as well as programs and commands for controlling the operation of the product supply device (1) and other devices.

[0064] The processor (60) is a component connected to each component of the item supply device (1) to control the overall operation of the item supply device (1). The processor (60) may be implemented as a digital signal processor (DSP) that processes digital video signals, a microprocessor, a GPU (Graphics Processing Unit), etc. However, it is not limited thereto, and may include one or more of a central processing unit (CPU), a Micro Controller Unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by such terms. Additionally, the processor (60) may be implemented as a System on Chip (SoC) or Large Scale Integration (LSI) with a built-in processing algorithm, or may be implemented in the form of an Application Specific Integrated Circuit (ASIC) or Field Programmable Gate Array (FPGA).

[0065] The processor (60) may perform at least one of the various operations described above based on an artificial intelligence model. The processor (60) for executing the artificial intelligence model may be implemented through a combination of software and a general-purpose processor such as a CPU, AP, DSP (Digital Signal Processor), a graphics-dedicated processor such as a GPU, VPU (Vision Processing Unit), or an artificial intelligence-dedicated processor such as an NPU.

[0066] When the processor (60) is implemented as a dedicated processor, it may be implemented to include memory (50) for implementing the embodiment of the present disclosure, or may be implemented to include a memory processing function for using external memory. The processor (60) may be implemented as one or a plurality of processors. Additionally, the processor (60) may perform various operations based on programs, instructions, data, etc. stored in memory (50).

[0067] Various information received by the item supply device (1) and information generated by the item supply device (1), for example, the orderer's item order information, the orderer's item type information, the orderer's item size information, screen data information to be transmitted to an external device (1000), etc. can be stored in the memory (50).

[0068] The processor (60) can control the dispenser (300) to supply the container (10) onto at least one rail (400) when the capsule (20) to be packaged is placed on the stand (200). The processor (60) can control the motor (500) to drive at least one rail (400) to move the container (10) to a specific position. The processor (60) can control the dispensing device (100) to dispense the item from the capsule (20) onto the container (10) when the container (10) is detected at a specific position based on the sensing value of at least one sensor (800).

[0069] The processor (60) can identify that the capsule (20) is placed on the stand (200) if the weight detected by the weight detection sensor (700) is greater than or equal to a preset weight.

[0070] The processor (60) can control the lift bar (220) to switch to a second position while maintaining the horizontal state of the stand (200) when the capsule (20) is seated on the stand (200) in the first position. Here, the processor (60) can control the lift drive motor (900) to switch from the first position to the second position.

[0071] When the processor (60) receives the orderer's product order information from an external device (1000) through the communication unit (40), it can store it in the memory (50). Based on the orderer's product order information, the processor (60) can identify a capsule (20) of a product suitable for the orderer's product order information. Additionally, the processor (60) can control the robot device (30) to grasp the capsule (20) of a product suitable for the orderer's product order information and place it on a stand (200).

[0072] Based on the orderer's item order information, the processor (60) can control the robot device (30) to grasp the container (10) and deliver it to the orderer when the container (10) arrives at the final destination (410) after the dispensing of the item embedded in the capsule (20) is completed.

[0073] The processor (60) can identify that the pressure sensing value detected by the pressure sensor (reference numeral 130 in FIG. 4) placed within the dispensing device (100) is within a preset pressure range, and that the capsule (20) is being dispensed into the container (10) with a uniform viscosity. Additionally, the processor (60) can control the dispensing device (100) to continue dispensing when the pressure sensing value detected by the pressure sensor (reference numeral 130 in FIG. 4) placed within the dispensing device (100) is within a preset pressure range.

[0074] The processor (60) can control the discharge device (100) to stop discharging if the pressure sensing value detected by the pressure sensor (reference numeral 130 in FIG. 4) is outside a preset pressure range. That is, the processor (60) can control the discharge device (100) to stop operation. Afterward, the processor (60) can control the lift bar (220) to switch the stand (200) from a second position for moving the capsule (20) to the upper side of the at least one rail (400) to a first position for replacing the capsule (20) while maintaining the horizontal state of the stand (200).

[0075] The processor (60) can identify that the container (10) is placed at the bottom of the dispenser (300) by the first photo sensor (801) among the plurality of photo sensors (801, 802, 803, 804). Subsequently, the processor (60) can identify that the container (10) is placed at the bottom of the dispensing device (100) by the second photo sensor (802) among the plurality of photo sensors (801, 802, 803, 804). Subsequently, the processor (60) can identify that the container (10) is placed at the boundary surface (not shown) between the first rail (401) and the second rail (402) among at least one rail (400) by the third photo sensor (803) among the plurality of photo sensors (801, 802, 803, 804). Afterwards, the processor (60) can identify that the container (10) has arrived at the final destination (410) by the fourth photo sensor (804) among the plurality of photo sensors (801, 802, 803, 804).

[0076] FIG. 4 is a side view of the discharge device (100) of FIG. 1 according to at least one embodiment of the present disclosure.

[0077] In FIG. 4, the discharge device (100) may include a housing (150), a discharge bar (110), an actuator (120), a pressure sensor (130), and a spring (140).

[0078] The housing (150) may include a first housing (151) disposed on the upper part of the discharge device (100), a second housing (152) disposed on the rear part of the discharge device (100), and a third housing (153) disposed on the lower part of the discharge device (100).

[0079] The first housing (151) may include components capable of dispensing a capsule (20) containing an item. Specifically, inside the first housing (151), a discharge bar (110) capable of directly transmitting pressure, an actuator (120) capable of generating and controlling pressure, a pressure sensor (130) capable of detecting pressure provided to the capsule (20), and a spring (140) capable of being deformed by a force applied by the actuator (120) and then restoring to its original shape when the force is removed may be disposed.

[0080] A second housing (152) according to at least one embodiment of the present disclosure of FIG. 4 may include a support member (154). The support member (154) can support the load and pressure of the support member (210) when the support member (210) of the support stand (200) is in a second position. Accordingly, when the discharge device (100) provides pressure to the capsule (20) placed on the upper part of the support member (210), the support member (210) can withstand the pressure transmitted through the discharge bar (110). In addition, the support member (154) can prevent damage to the support member (210).

[0081] Additionally, at least one rail (400) may be attached to the lower part of the second housing (152). Through this, the container (10) can be placed at the lower part of the discharge device (100) via at least one rail (400). That is, the container (10) can be placed at the lower part of the first housing (151).

[0082] In FIG. 4, a motor (500) for driving at least one rail (400) may be disposed on the upper part of the third housing (153). Additionally, a lift drive motor (900) may be coupled to the side of the third housing (153). The lift drive motor (900) may be coupled to the lift bar (220) of the stand (200). Through this, the lift drive motor (900) can drive the lift bar (220) to switch the stand (200) to a first position for seating the capsule (20) and / or a second position for moving the capsule (20) onto at least one rail (400).

[0083] In FIG. 4, the mounting bracket (200) may include a mounting portion (210), a lift bar (220), a leveling device (600), and a lift driving device (900).

[0084] The mounting portion (210) may include a dispensing portion (211) for applying pressure to the capsule (20) to dispense an item packaged in the capsule (20), a seating portion (212) for seating the capsule (20), and a weight sensing sensor (700).

[0085] In FIG. 4, the discharge section (211) may include a plurality of through holes in the central part of the mounting section (210). Through this, when the discharge bar (110) presses the capsule (20), the item packaged in the capsule (20) can be discharged through the discharge section (211) of the mounting section (210). The plurality of through holes of the discharge section (211) may vary in size and type. For example, the plurality of through holes of the discharge section (211) may be formed as dozens of small through holes, or as five or fewer through holes.

[0086] The mounting portion (212) of the discharge portion (211) may be in the form of a groove formed in the central portion of the upper surface of the mounting portion (210). The size of the groove in the mounting portion (212) may vary depending on the size of the capsule (20). Through this, the capsule (20) can be prevented from detaching from the mounting portion (210) while the mounting portion (210) switches between the first position and the second position.

[0087] In FIG. 4, the weight sensing sensor (700) is positioned at a point on the left side of the mounting part (210), but is not limited thereto and can be positioned at various locations on the mounting part (210). The weight sensing sensor (700) can detect the weight of the capsule (20). Through this, the item supply device (1) can identify that the capsule (20) is seated on the mounting stand (200) when a weight greater than a preset weight is detected.

[0088] In FIG. 4, the lift bar (220) may have a long rod-like shape. A horizontal maintaining device (600) may be attached to one side of the lift bar (220), and a lift driving device (900) may be attached to the opposite side. The horizontal maintaining device (600) can control the mounting part (210) to maintain a horizontal state while switching to a first position and / or a second position. By doing so, the horizontal maintaining device (600) can prevent the capsule (20) from coming off while switching to a first position and / or a second position.

[0089] FIG. 5 is a drawing for explaining the operation of the discharge device (20) of FIG. 4.

[0090] In FIG. 5, the second photo sensor (402) can identify that the container (10) has arrived at the bottom of the dispensing device (100) via the first rail (401). Afterward, the mounting member (210) can switch from a first position to a second position. The operation of the mounting member (200) switching to the first position and / or the second position is omitted as it will be discussed in detail in FIG. 6. Furthermore, the operation of the mounting member (210) switching to the first position and / or the second position is not limited to being driven only when the container (10) arrives at the bottom of the dispensing device (100); it can be driven even before the container (10) is discharged from the dispenser (300), and this can be implemented at various times. When the mounting member (210) is in the second position, the dispensing device (100) can operate to discharge the capsule (20). The dispensing device (100) can lower the dispensing bar (110) by driving the actuator (120). Afterwards, the dispensing bar (110) continues to descend until it comes into contact with the upper part of the capsule (20). Afterwards, the actuator (120) continues to drive so that the dispensing bar (110) continues to descend, thereby allowing the item (21) contained in the capsule (20) to be discharged through the dispensing part (211). Afterwards, the discharged item (21) can be discharged onto the container (10).

[0091] FIG. 6 is a drawing for explaining the operation of the stand (200) of FIG. 1.

[0092] The description of the configuration of the stand (200) according to at least one embodiment of the present disclosure of FIG. 6 is omitted because it has been described in detail in FIG. 4 and FIG. 5.

[0093] In FIG. 6, the stand (200) can form a first position for seating the capsule (20) and / or a second position for moving the capsule (20) onto at least one rail (400). When the capsule (20) is seated on the stand (200) in the first position, the stand (200) can switch to the second position while maintaining the horizontal state of the stand (200). Specifically, when the stand (200) is in the first position, the lift bar (220a) forms a horizontal state. When the stand (200) is in the first position, after the capsule (20) is seated on the stand (200), the lift bar (220a) of the first position can be switched to the lift bar (220b) of the second position, which is in a vertical state, by driving the lift drive device (900). Here, while the lift bar (220a) of the first position is switched to the lift bar (220b) of the second position, the mounting part (210) can always maintain a horizontal state by operating the horizontal maintaining device (600).

[0094] The operation of the lift bar (220) switching from the first position to the second position can be performed immediately when the weight sensing sensor (700) identifies that the capsule (20) has been placed. Alternatively, the operation of the lift bar (220) switching from the first position to the second position may be performed when the container (10) arrives at the bottom of the discharge device (100), as shown in FIG. 4. In this way, the operation of the lift bar (220) switching from the first position to the second position can be performed at various times.

[0095] FIG. 7 is a drawing for showing the configuration of the robot device (30) of FIG. 2 according to at least one embodiment of the present disclosure.

[0096] In FIG. 7, the robot device (30) is a device capable of identifying a capsule (20) of an item based on order information, grasping the capsule (20), and placing it on a stand (200). Additionally, the robot device (30) is a device capable of grasping the container (10) and delivering it to the orderer when the container (10) arrives at the final destination (410) after the dispensing of the item contained in the capsule (20) is completed.

[0097] A robot device (30) according to at least one embodiment of the present disclosure of FIG. 7 may have a 3-axis core robot shape. In FIG. 7, the robot device (30) can operate based on X, Y, and Z axes, and is a robot capable of horizontal movement, vertical movement, etc. based on these axes. Through this, the 3-axis core robot (3000) can perform repetitive and precise tasks.

[0098] In FIG. 7, the robot device (30) may include a core module (31), a plurality of joint modules (32), and an end effector module (33).

[0099] In FIG. 7, the core module (31) may be placed on the lower surface of the robot device (30). The core module (31) is a device capable of controlling a plurality of joint modules (32) and end effector modules (33). Additionally, the core module (31) may include a communication unit, memory, and a processor. Through this, the core module (31) can receive various information, such as the orderer's product order information and the arrival information of the container (10) at the final destination (410), from various devices such as an external device (1000).

[0100] According to one embodiment of FIG. 7, a plurality of joint modules (32) may include an I-shaped module (32a), a first L-shaped module (32b), a second L-shaped module (32c), and a third L-shaped module (32d). The plurality of joint modules (32) can flexibly move the robot device (30) and perform various operations. There is no limitation on the number or type of the plurality of joint modules (32). In addition, the robot device (30) assembled with the plurality of joint modules (32) is not limited to FIG. 7 and can be formed in various shapes.

[0101] The end effector module (33) according to one embodiment of FIG. 7 may have a gripper shape. The end effector module (33) can grasp various objects such as a container (10) and a capsule (20). Although the end effector module (33) in FIG. 7 has a clamp shape, it is not necessarily limited to this and can be made in various shapes. For example, the end effector module (33) may have three or more clamps. In addition, the end effector module (33) may have a magnetic shape. If the end effector module (33) has a magnetic shape, the end effector module (33) can grasp the container (10) and the capsule (20) through a magnet.

[0102] Although not shown in FIG. 7, the end effector module (33) may include at least one sensor (400). Through this, the robot device (30) can identify type information of various capsules (20) based on the sensing value of at least one sensor (400).

[0103] Specifically, the robot device (30) can receive the orderer's product order information from an external device (1000) through a communication unit (40). The robot device (30) may receive the orderer's product order information directly, or it may receive the orderer's product order information from the communication unit (40) of the product supply device (1) itself, and then receive the order information from the product supply device (1) to the robot device (30). Based on the received orderer's product order information, the robot device (30) can identify a capsule (20) suitable for the product ordered by the orderer through the sensing value of at least one sensor (400). Afterward, the robot device (30) can grasp the capsule (20) suitable for the product ordered by the orderer and place it on a stand (200).

[0104] Afterwards, when the dispensing of the capsule (20) from the item supply device (100) is completed and the container (10) arrives at the final destination (410), the robot device (30) can receive information from the item supply device (1) that the container (10) has arrived at the final destination (410). Afterwards, the robot device (30) can grasp the container (10) that has arrived at the final destination (410) and deliver the container (10) to the customer.

[0105] FIG. 8 is a flowchart for explaining a product supply device (1) according to one or more embodiments of the present disclosure.

[0106] In FIG. 8, when a capsule (20) containing an item is placed on a stand (200), the item supply device (1) can supply a container (10) onto at least one rail (400) (S1010). Afterwards, the item supply device (1) can drive at least one rail (400) to move the container (10) to a specific position (S1020). Afterwards, when the stand (200) moves to a second position in which the capsule (20) is placed on the upper side of the discharge position and the container (20) is moved to the discharge position, the item containing the capsule (20) can be discharged onto the container (20) (S1030).

[0107] The item supply device (1) can identify that a capsule (20) is placed on the stand (200) if the weight detected by the weight detection sensor (700) placed on the stand (20) is greater than or equal to a preset weight. Subsequently, when the capsule (20) is placed on the stand (200) in the first position, the item supply device (1) can lift the stand (200) to move it toward the upper side of the discharge position while maintaining the horizontal state of the capsule (20).

[0108] In FIG. 8, the description of various devices such as the item supply device (1), capsule (20), stand (200), and dispenser (300) has been covered in detail in the above section, so the description thereof is omitted.

[0109] FIG. 9 is a flowchart for explaining a control method of a product supply device (1) according to one or more embodiments of the present disclosure.

[0110] In FIG. 9, when the item supply device (1) receives item order information through the communication unit (40), it can store it in the memory (50) (S1110). Subsequently, the item supply device (1) can identify a capsule (20) suitable for the orderer's order information based on the order information (S1120). Subsequently, when the item supply device (1) receives order information from an external device (1000), it can control the robot device (30) to grasp the capsule (20) corresponding to the order information from among the previously stored capsules (20) and place it on the stand (200) (S1130).

[0111] Afterward, the item supply device (1) can control the robot device (30) to grasp the container (10) and deliver it to the orderer when the container (10) arrives at the final destination (410) after the item contained in the capsule (20) has been discharged.

[0112] The item supply device (1) can push the discharge bar (110) toward the capsule (20) seated on the second position stand (200) to discharge the item inside the capsule (20) downward through a plurality of holes (211) formed on the lower side of the stand (200).

[0113] Since the descriptions of various devices such as the external device (1000), communication unit (40), memory (50), and robot device (30) have been covered in detail in the above section, the description thereof is omitted.

[0114] FIG. 10 is a flowchart for explaining a control method of a product supply device (1) according to one or more embodiments of the present disclosure.

[0115] In FIG. 10, the item supply device (1) can detect the pressure applied to the capsule (20) by the discharge bar (110) using a pressure sensor (130) (S1210). Afterwards, the item supply device (1) can stop the discharge when the pressure exceeds a preset pressure range (S1220). Afterwards, the item supply device (1) can return the discharge bar (110) to its original position. Afterwards, the item supply device (1) can switch the stand (200) from a second position for moving the capsule (20) to the upper side of at least one rail (400) to a first position for replacing the capsule (20) while maintaining the horizontal state of the stand (200).

[0116] Here, the description of the pressure sensor (130), first position, second position, lift bar (220), etc., has been covered in detail in the above section, so the description thereof is omitted.

[0117] Meanwhile, in the various embodiments described above, the item supply device (1), external device (1000), and robot device (30) are represented as different configurations or as different control devices, but are not limited thereto, and may all be included and controlled within the item supply device (1). Additionally, the external device (1000) may include functions for a server device, etc., and may store management information of the item supply device (1), such as information on the type and quantity of capsules (20).

[0118] Each of the components described in this document may consist of one or more components, and the names of such components may vary depending on the type of electronic device.

[0119] Although various embodiments of the present disclosure have been described individually above, each embodiment is not required to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0120] Although preferred embodiments have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. In a product supply device, At least one rail; A stand movable to one of a first position for seating a capsule containing an item and a second position for moving the capsule to the upper side of at least one rail; Dispenser for supplying containers; A motor for driving at least one rail; Discharge device; At least one sensor; and Includes a processor; The above processor is, When the capsule is placed on the stand while the stand is in the first position, the dispenser is controlled to supply the container onto the at least one rail, and The motor is controlled to drive at least one rail to move the container to a specific position, and A product supply device that controls the dispensing device to dispense the product from the capsule of the stand moved to the second position onto the container when the container is detected at the specific position based on the sensing value of at least one sensor.

2. In Paragraph 1, The above at least one sensor includes a weight sensing sensor, The above processor is, A product supply device that identifies that the capsule is seated on the holder when the weight detected by the weight sensing sensor is greater than or equal to a preset weight.

3. In Paragraph 2, The above-mentioned mounting bracket further includes a lift bar for switching to the first position or the second position, and The above processor is, A product supply device that controls the lift bar to switch to the second position while maintaining the horizontal state of the holder when the capsule is seated on the holder in the first position.

4. In Paragraph 1, A product supply device further comprising a robotic device for performing the operation of grasping the capsule and placing it on the stand or grasping the container in which the supply of products is completed and delivering it to the orderer.

5. In Paragraph 4, A communication unit for communicating with an external device and Includes more memory, The above processor is, When order information entered from the above external device is received through the communication unit, it is stored in the memory, and A product supply device that controls the robot device to grasp a capsule corresponding to the above order information and place it on the above stand.

6. In Paragraph 5, The above processor is, A product supply device that controls a robot device to grasp the container and deliver it to the orderer when the product embedded in the capsule is discharged onto the container and the container is moved to a final destination.

7. In Paragraph 1, The above discharge device is, Discharge bar; An actuator that pushes the discharge bar toward the capsule seated on the mounting bracket in the second position according to the control of the above processor to compress the capsule; and It includes a pressure sensor for sensing the pressure acting on the capsule by the actuator above, and The above-mentioned holder is a product supply device comprising a plurality of holes for discharging the product inside the capsule downward.

8. In paragraph 7, the processor, A product supply device that controls the discharge device to stop the discharge when the pressure detected by the pressure sensor deviates from a preset pressure range.

9. In Paragraph 8, The above at least one sensor A first photo sensor positioned at a container discharge location, and It includes a second photo sensor positioned on the lower side of the discharge device, and The above processor is, When the container is detected by the first photo sensor, the at least one rail is controlled to move the container to the lower part of the discharge device, and When the container is detected by the second photo sensor, the dispensing device controls the dispensing device to dispense the food from the capsule. Item supply device.

10. In Paragraph 6, The above robot device is a 3-axis core robot, a material supply device.

11. In a method for controlling a product supply device, When a capsule containing food is placed on a stand positioned in a first position, a step of supplying a container onto at least one rail; The step of driving at least one rail to move the container to a discharge position; and A control method for an article supply device comprising the step of: moving the above-mentioned stand to a second position in which the capsule is placed above the discharge position, and when the above-mentioned container is moved to the discharge position, discharging the article contained in the capsule onto the container.

12. In Paragraph 11, A method for controlling a product supply device, comprising the step of identifying that the capsule is seated on the mounting bracket if the weight detected by a weight sensing sensor placed on the mounting bracket is greater than or equal to a preset weight.

13. In Paragraph 12, A method for controlling a product supply device, comprising the step of lifting the mounting bracket to move the capsule upward while maintaining the horizontal state of the capsule when the capsule is seated on the mounting bracket of the first position.

14. In Paragraph 11, A method for controlling a product supply device, comprising the step of controlling a robot device to grasp a capsule corresponding to the order information from among the previously stored capsules and place it on the stand when order information is received from an external device.

15. In Paragraph 14, A method for controlling a product supply device, comprising the step of controlling the robot device to grasp the container and deliver it to the orderer when the container arrives at the final destination after the dispensing of the product embedded in the capsule is completed.

Images