INCREASING THE CAPACITY OF DIFFERENT TYPES OF PRODUCTS AND MATCHING STOCK WITH FORECASTED SALES VOLUMES PER PRODUCT TYPE IN AUTOMATIC VENDING MACHINES

A system and a methodology are presented to solve the problem of increasing the capacity for different types of products, while matching stock with forecasted sales volumes per product type in automatic vending machines. The position of a selected product in a sub-shelf is calculated and tracked in a product stack. All products in the product stack, up to and including the selected product, are removed from the stack while maintaining their relative order in the stack. The selected product is then dispensed or discarded and the remaining removed products are returned to the stack while maintaining their relative order in the stack.

BACKGROUND

Field

The present invention relates to a system and method for increasing the capacity for different types of products and for matching stock with forecasted sales volumes per product type in automatic vending machines.

Background

Automatic vending machines are very popular machines for selling a wide variety of products 24/7 without the need for a human seller to be present. The first modern vending machines were postcard vending machines, developed in England in the early 1880s. Today, vending machines are very popular in public spaces and offices and are used for selling food, beverage, or more specialized products like medicines or hardware parts. They are available in a wide variety of types, with specialized features (e.g. those selling medicaments). The common elements of virtually all vending machines are a storage area for the products to be dispensed, a product selection mechanism for selecting the desired product, a product picking module for conveying the selected product from the storage area to a dispenser area where the client can collect it, and a payment module where the client pays for the selected product prior to its placement to the pick-up (i.e. dispenser) area.

Typically, the storage area has the form of a rack and shelf assembly, the product selection mechanism is in the form of a button or other graphical or physical User Interface (UI), the picking module may be in the form of a screw holding and pushing to release the selected product or a robotic mechanism to place the selected product to the dispenser area, typically a cavity or container at the frontal side of the machine, and the payment module is either a coin, banknote, or credit card module capable of receiving payment, verifying it, and allowing the release of the selected product. The operation of modern vending machines is typically done by a microcontroller which controls the operation of the electromechanical modules and components of the machine.

Specialized vending machines are adapted to the specific types of products they sell (e.g. mechanical parts and accessories for bikes, etc.), and/to the specific vending procedures necessary for special products, like the regulated sale of medicaments. For example, the sale of medicaments requires the scanning of a medical prescription, its transmission to a remote, trained pharmacist who supervises the operation and validates the respective products (e.g. the products are scanned by the machine and the pharmacist verifies that they match those in the prescription and have not expired), and the products are labelled and dispensed to the user of the vending machine.

Known automatic vending machines, typically have a storage area in the form of a reconfigurable rack and shelf assembly to match the sizes of the products available for sale, whether sold by the package or by volume or weight. Typically, each shelf is reconfigurably divided in sub-shelves, each holding a single type of product sold in identical packages.

So, for example a shelf divided into 5 sub-shelves can hold, at max, 5 types of products, where each sub-shelve can hold a certain number of identical packets of the same product type, and this number depends on the dimensions of the packets relative to the dimensions of the sub-shelf. Assuming, for reasons of simplicity of our example, that each sub-shelf can hold 10 identical packets of the same product type, a vending machine with 5 shelves can stock and sell:

for a total of:

(25 product types×10 products per product type)=250 products

This arrangement limits the number of different product types on stock and sale to 25, since this is the maximum number of sub-shelves that can be used in this exemplary vending machine. So, other fast selling product types cannot be stocked and potential sales are lost.

Such an arrangement implies that for the vending machine to operate efficiently, all product types sell at the same rate, otherwise some products may run out long before others and require frequent restocking, resulting in increased cost for restocking and high risk of lost sales.

As the above hypothesis is usually not valid, it is customary to use more than one sub-shelf for each of the faster vending product types. So, for example, instead of 25 product types, a vending machine may be stocked as follows:

resulting in the vending machine stocking and selling 10 product types. Such a stocking strategy may be closer to the actual sale rates for the respective products, but it is not very efficient. One may consider that it is very likely that Product A may sell only 41 products, Product G only 17 products, product J only 4 products, etc. until the next refill of the vending machine. At the same time Product E may sell 20 products, and product I may sell 10 products and not any more because no more products E and I are in stock in the vending machine.

The above example indicates that planning the stocking of vending machines by utilizing a strategy like the one above is not very efficient and results in lost sales, client inconvenience, or increased costs for frequent restocking.

There is a clear need for a system and method that solves the problem of how to increase the capacity for different types of products, while matching stock with forecasted sales volumes per product type in automatic vending machines.

SUMMARY

The present innovative solution solves the problem of increasing the capacity for different types of products, while matching stock with forecasted sales volumes per product type in automatic vending machines. The innovative solution solves the problems by proving a system and a methodology for stocking products of different types and/or dimensions in the same stack stored in the same storage location (e.g. in a sub-shelf at a shelf inside the vending machine) and for retrieving products from any position in the stack.

In a first exemplary embodiment, the interior of the vending machine houses a modular storage module with reconfigurable shelves and shelf partitions arranged inclined from the front face of the vending machine towards its interior, jointly forming at least one product holder in each shelf, where a product stop member holds a unitary width stack of products (of the same or of different types and dimensions) in the at least one product holder, in contact with the product stop element. Products loaded in the stack are recorded in a product log, containing the product code (used to identify the product), the product dimensions (used to calculate the exact physical storage location of the product when stored on the sub-shelf), the product expiry date, and the product location (as it is transitioned/moved across the various modules of the vending machine). After the user selects a product to buy (and makes the corresponding payment), a movable product picking module is aligned with the sub-shelf storing the selected product, and a product picking member at the end of the product picking module is actuated to push the first product of the stack of products (which is in contact with the product stop member) until the first product overcomes the product stop member and topples over a conveyor module on the top of the product picking module. After the first product is removed from the stack, its empty position in the stack is filled by the (next) second product as the entire stack slides down the sub-shelf until the second product touches the product stop element at the lower end of the sub-shelf. If the user has selected a product that is not the first product in the stack, the picking operation is repeated until the all products up to and including the desired product have been picked from the stack and have toppled over the conveyor module on the top of the product picking module. To ensure there is space and the order of the products on the conveyor module is not disturbed, the conveyor module is rotated after each new product has toppled over it so as to make space for the next product to topple. When the desired product is toppled onto the conveyor module, it is identified and verified and then placed at a dispenser area for the client to collect it. If the product is not identified or verified, it is dropped at a product dispose module for recycling, disposal, or restocking. The product log is updated after every operation and after a product is moved across any module of the vending machine.

In a second exemplary embodiment, the conveyor module is also rotated to push all products on its surface against a stop barrier543ensuring that more space can be made by more compactly and orderly stacking products on the conveyor module, and also that no product can fall off the conveyor module.

In a third exemplary embodiment, the selected product is moved from the conveyor module of the product picking module to an intermediate storage module, where it is identified and/or verified, before being moved to the dispenser area or the product dispose module.

In a fourth exemplary embodiment, the products are stored at reconfigurable sub-shelves formed onto shelves, using shelf partitions, arranged inclined from the posterior face of the vending machine towards its interior.

In a fifth exemplary embodiment, the products are stored at reconfigurable sub-shelves formed onto shelves, using shelf partitions, arranged inclined either from the frontal or the posterior faces of the vending machine towards its interior.

The system runs software to implement a method along the lines described above for the system's hardware components.

In sixth exemplary embodiment, the movable product picking module has a loading platform with two perpendicular bordering sides onto two opposing edges of the loading platform. The other opposing edges of the loading platform, are open and one of these open edges has a product picking member, securely attached to and leveled with the top surface of the loading platform and extending outwards of the platform, intended to pick the product of the stack of products in a sub-shelf that is in contact with a product stop element at the lower end of the inclined sub-shelf. The loading platform has a slot along its length through which an unloading member protrudes above the top surface of the loading platform and can move along the axis joining the two open edges of the loading platform. The product picking member is inclined longitudinally at about the longitudinal inclination of the sub-shelf, so as to allow the product picking module to form a ramp with the sub-shelf when aligned.

To remove the first product of a stack (i.e. the product that is in contact with the product stop member at the lower end of the corresponding inclined sub-shelf) the loading platform is moved towards the sub-shelf and until its longitudinal axis (i.e. the axis joining the two open edges of the loading platform) is aligned with the longitudinal axis of the sub-self (i.e. the axis passing from the product stop member and running along the shelf and the stacked products). This way the product picking member is aligned with a slot running longitudinally along the sub-shelf, and is dimensioned to movable fit inside the slot.

Initially, the loading platform is positioned so that its product picking member is aligned with the sub-shelf slot, lower than the lower surface of the sub-shelf. Then the loading platform is moved towards the sub-shelf until the product picking member is positioned underneath the first product in the sub-shelf's stack. Then the loading platform is raised until the product picking member has passed through the sub-shelf's longitudinal slot and pushed the first product upwards. Under the effect of the upward push received by the product picking member, the first product is lifted until it overcomes the product stop member of the inclined sub-shelf and topples onto the inclined loading platform under the influence of gravity. Once it has toppled, the first product starts sliding down the inclined loading platform until it touches the unloading member. At the same time, or immediately afterwards, the loading platform is lowered until the product picking member is located below the lower surface of the sub-shelf. Since the position previously occupied by the first product on the sub-shelf is empty, and since the product picking member is now below the lower surface of the sub-shelf, the second product (and all other products in the product stack) slide(s) down the inclined sub-shelf until it touches the product stop member. The process may be repeated until the desired product in the stack (e.g. the third product) is loaded onto the loading platform, or until the desired number of products are loaded on the loading platform (in the case where the customer has ordered more than one items of the same type). The unloading member may be positioned at any positioned along the longitudinal axis of the loading platform. For maximum capacity when loading the loading platform, the unloading member may be positioned at the position farthest from the product picking member. The two bordering sides (together with the unloading member) ensure that the product(s) loaded onto the loading platform will not fall off the loading platform.

To unload the product, that is closer to the product picking member, from the loading platform to the dispenser area for the client to pick it up, or to a sub-shelf during product rearrangement (e.g. when the client has been provided with the third product of a stack of products, and the first and second products that were unloaded from the same stack before the third product are repositioned back in the stack) a similar process is used like the process used for moving a product from the stack onto the loading platform.

Initially, the loading platform is positioned so that its product picking member is aligned over the dispenser area, and then the unloading member moves along the loading platform towards the product picking member, effectively pushing the product that is nearer the product picking member off the loading platform and into the dispenser area.

Once the product is dispensed, the loading platform is positioned so that its product picking member is aligned with the sub-shelf slot where the products were previously unloaded from. The product picking member is aligned higher than the product stop member of the sub-shelf. Then the loading platform is moved towards the sub-shelf until the product picking member is positioned in front of the product in the sub-shelf's stack that rests on the product stop member. Then the unloading member moves along the loading platform towards the product picking member, effectively pushing the products from the loading platform towards the sub-shelf, where they start pushing the product that was resting on the product stop member, which starts to slide uphill the sub-shelf. The unloading member moves along the loading platform towards the product picking member until all products from the loading platform have been pushed past the product stop member, and have fallen on the upper surface of the sub-shelf under the influence of gravity.

The unloading member then moves along the loading platform away from the product picking member (i.e. retracts), allowing the product in the products stack of the sub-shelf to slide, under the influence of gravity, until they reach the product stop member. The loading platform can then rest or be realigned with another sub-shelf.

The same processes can be used for restocking the vending machine using a restocking self or rack of selves (e.g. one that can be loaded to and unloaded from the vending machine much like inserting or removing a cartridge. Such an operation can significantly reduce stocking time and minimize or eliminate manual operations to be performed by a human operator, thus slushing costs.

During the above operations, the vending machine tracks and logs the position and movement of products, their dimensions, and relative positions in stacks, using sensors, so as to ensure that only the desired products will be dispensed, discarded, restocked, or restacked and that their order and orientation in the product stacks is always known.

DETAILED DESCRIPTION

Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

The term “exemplary” is used herein to mean “serving as an example, instance, or illustration”.

The acronym “ASIC” is intended to mean “Application-Specific Integrated Circuit”.

The acronym “CD” is intended to mean “Compact Disc”.

The acronym “DSL” is intended to mean “Digital Subscriber Line”.

The acronym “DVD” is intended to mean “Digital Versatile Disc”.

The acronym “GUI” is intended to mean “Graphical User Interface”.

The acronym “IR” is intended to mean “Infra Red”.

The acronym “LED” is intended to mean “Light Emitting Diode”.

The acronym “QR” is intended to mean “Quick Response”.

The acronym “S/W” is intended to mean “Software”.

The acronym “XML” is intended to mean “eXtensible Markup Language”.

The term “mobile device” may be used interchangeably with “client device” and “portable device with wireless capabilities”.

The term “user” may be used interchangeably with “regular user”, “ordinary user”, “customer” and “client”. It may also be used to mean “user of an application” or “user of a service”. It may also be used to refer to a “patient using a device, application, or service”, or to a “client using a device, application, or service”, unless otherwise explicitly stated or implicitly hinted at in the description, or obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

The term “pharmacist” may be used interchangeably with “doctor”, “physician”, “pharmacy operator” and the like.

The term “system” may be used interchangeably with “device”, “computing device”, “apparatus”, “computing apparatus”, and “service”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear. Under any circumstance, and unless otherwise explicitly stated or implicitly hinted at in the description, these six terms should be considered to have the broadest meaning i.e. that of encompassing all six.

The term “module” may be used interchangeably with “sub-module”, “unit” or “subunit”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

The term “product” may be used interchangeably with “loaded product”, and “stacked product”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

The term “product” may be omitted in the various technical terms. It is assumed to be implied unless it is obvious to a reader of ordinary skill in related art that its omission is purposeful, as this is apparent by the context of the discussion in which it appears.

The term “member” may be used interchangeably with “module”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

The term “pick” may be used interchangeably with “load”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

The term “means for unloading products” is intended to mean both “product unloading member” and “product picking member”, depending on the context of the discussion.

The term “dispenser area” may be used interchangeably with “dispenser module”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

The term “disposal area” may be used interchangeably with “disposal module”, except where it is obvious to a reader of ordinary skill in related art that these terms refer to different things, as this is apparent by the context of the discussion in which they appear.

An Exemplary Automatic Vending Machine According to the Present Innovative Solution

FIG.1shows a simplified, behind the cover, frontal view of an automatic vending machine. Vending Machine100has a modular storage system110in the form of a rack where shelves120are mounted one above the other. These shelves can be positioned at various heights on the rack, relative to each other, so as to accommodate the size of the products they are intended to hold. Each shelf can be partitioned into two or more sub-shelves by means of partitions130which can be attached on the shelf. Both the shelves and the partitions are attached at holes, indentations, or similar holding features formed on the rack and the shelved, respectively. Shelves120have gaps105running along their width (i.e. perpendicular to the longitudinal axis running along the width of the face of vending machine100).

A product picking module140is also provided, which is designed to pick a product from its storage position on a sub-shelf and hold on top of the module140. The product picking module140may have any form, like a platform (or main body) with a top surface for receiving the picked product, or a box-like structure with at least the top and a side open for receiving and holding the picked product, and the like. The product picking module140is designed to be movable in the x, y and, optionally, the z axes, so that it can be moved and aligned with a sub-shelf for picking a product. The product picking module140then moves and aligns with a dispenser area150, arranged to be accessed from the outside of vending machine100, and the picked product is moved from the product picking module140to the dispenser area150where the client can collect the product.

Optionally dispenser area150has a dispenser conveyor160, which forms the bottom surface of dispenser area150and which, optionally, protrudes outside dispenser area150and away from the outside of vending machine100where the dispenser area150is connected. When the dispenser conveyor160is attached to dispenser area150, product picking module140drops the picked product onto dispenser conveyor160, which is then actuated to move the picked product inside the dispenser area150for the user to collect the product.

When dispenser conveyor160is not used, dispenser area150is dimensioned to extend from the outside of vending machine100toward the interior of vending machine100, so that when product picking module140drops the picked product inside dispenser area150, the client may collect it. In a modified exemplary embodiment, the picked product is guided toward the area of dispenser area150adjacent to the outside of vending machine100for easier collection, for example, by having dispenser area's150bottom structured like a ramp inclined downwards from the inside to the outside wall of vending machine100, where dispenser area150is attached. For easier visualization,FIG.1does not illustrate the front cover of vending machine100, which is formed to close vending machine100and has an opening positioned and dimensioned to allow dispenser area150to attached onto. Shelves120that are positioned at the same height as dispenser area150are dimensioned to a length that allows both shelves120and dispenser area150to fit side-by-side inside vending machine100.

FIG.2shows a simplified, behind the cover, side view of an automatic vending machine. Vending machine200has a modular storage system210in the form of a rack with a movable set of shelves220, arranged above each other, each aligned with the width of the frontal face of vending machine200, and attached on a rack system (not shown). Shelves220are position at an angle to the horizontal so that each forms a ramp inclined towards the inside of the vending machine, and partitions130are movably attached on shelves220to partition them into sub-shelves.

At the lower end of each of sub-shelf of shelves220is attached a product stop member221(not shown inFIG.1) which is intended to form a barrier preventing products from slipping off the respective sub-shelf. In one aspect product stop member221has a height, protruding over the top surface of the sub-shelf, that is chosen so as to provide enough support to the product it is in contact with, while at the same time allowing the product to overcome product stop member221and become free to fall off the sub-shelf once the product is almost totally or totally raised over the top of product stop member221. Typically, the height of product stop member221is chosen between 10%-50% of the height of the product is in contact with, but other relative heights of product stop member221can be selected. In another aspect, an individual product stop member221is attached at the lower end of each sub-shelf, while in another aspect, a single product stop member221is used per shelf220, thereby the same product stop member221is used across all sub-shelves of the same shelf.

Product picking module240is oriented horizontally (i.e. perpendicular to the vertical axis), is aligned with a sub-shelf of a shelf220and is used to pick the product in contact with product stop member221at the sub-shelf, and then drops the picked product to the dispenser area250, or into the optional dispenser conveyor260. Dispenser area150has two optional shutters an internal shutter270and an external shutter280(not shown inFIG.1). External shutter280is always closed so as to prevent access from the outside to the inside of vending machine200and only opens for allowing clients to collect their selected product or products. Before opening external shutter280, internal shutter270is closed so as to isolate dispenser area250from the inside of vending machine200. Internal shutter270is opened only if external shutter280is closed, for allowing the movement of the picked product from product picking module240to dispenser area250.

In an alternative exemplary embodiment, shelves220are replaced by shelves230, which are aligned with the width of the posterior face of vending machine200. In one aspect shelves220and230are identical, while in another aspect they differ. Shelves230operate identically or similarly to the operation of shelves220and allow the operation of product picking module240and dispenser area250as previously presented for shelves220.

In yet another exemplary embodiment, both shelves220,230are installed inside vending machine200for increasing the capacity of vending machine200. In this exemplary embodiment, product picking module240and dispenser area250are designed to operate with both shelves220,230.

Shelves220,230have gaps running along their width (i.e. perpendicular to the longitudinal axis running along the width of the face or back of vending machine200).

An Exemplary Product Picking Module According to the Present Innovative Solution

FIG.3Ashows a simplified side view, along the longitudinal axis, of an exemplary product picking module. Product picking module340has a main body345housing actuators (e.g. stepper motors). At the top face of product picking module340is attached a conveyor module344, which is kept in place and rotated by means of two rollers346(or bearings, or similar elements), which are rotatably attached at two ends of the top face of product picking module340and controlled by an actuator. Conveyor module344is aligned to move products placed on it, towards the frontal or back faces of vending machine100,200.

Product picking module340is designed to movably attach on a frame installed inside vending machine100,200for moving in the x, y, and optionally the z direction by using a positioning module (e.g. in its main body, or at the frame), that has 2 or 3 actuators, respectively. The frame onto which product picking module340moves in not shown inFIG.3A.

Near the ends of product picking module340, where rollers346are attached, are positioned a first rotating picking member347, and a second rotating picking member348, each connected with an actuator (e.g. a stepper motor). Both picking members347,348are kept in disengaged position, whereby they are completely below, or at the same level, or below the top level of conveyor module344. At its disengaged position, and when product picking module240is aligned with a sub-shelf of a shelf220, picking member348is aligned (still at its disengaged position), underneath the product, with the gap running along the sub-shelf holding the product. The actuator connected with picking member348is actuated to rotate picking member348to its engaged position, which is above the top level of conveyor module344.

Picking module344also has an optional barrier member349, which is attached on picking module344so as to protrude above picking module344and prevents products that are loaded on conveyor module344from falling off of it. Barrier member349may be planar or otherwise shaped and attached perpendicularly or inclined to the upper surface of conveyor module344.

In another aspect, at its disengaged position, and when product picking module340is aligned with a sub-shelf of a shelf230, picking member347is aligned (still at its disengaged position), underneath the product, with the gap running along the sub-shelf holding the product. The actuator connected with picking member347is actuated to rotate picking member347to its engaged position, which is above the top level of conveyor module344.

FIG.3Bshows a simplified top-down view of the exemplary product picking module ofFIG.3A. Product picking module340has main body345, on which is attached a conveyor module344, which has one long face over the surface of main body345. In another aspect, conveyor module344is structured as two conveyor module members spaced by a gap or slot341along the longitudinal axis of product picking module340. Product picking module340has a second348and an (optional) first347picking members which are rotatable between an unengaged and an engaged position as previously described. The design and actuation (via separate actuators or in another exemplary embodiment by the same actuator) of picking members347,348is such that they do not obstruct or interfere with the operation of conveyor module344. Product picking module340also has a barrier member349attached to main body345, so that barrier member349extends over the upper surface of conveyor module344. In one aspect, barrier member349is planar, while in another aspect it may have two or more members, which may also be movable.

Picking a Product from the First Position in a Stack of Products According to the Present Innovative Solution

FIG.4Ashows a simplified side view, along the longitudinal axis, of an exemplary product picking module positioned for picking a selected product from a sub-shelf. Shelf420is attached on the rack inside the vending machine and a sub-shelf is formed on shelf420, and equipped with a product stop member421. The product stop member421holds a unitary-width stack of products in physical contact with each other (a first423, a second,424, a third425, and a fourth426products—more products may be stacked but are not shown), where first product423is in physical contact with product stop member421. Products423-426are of the same type and dimensions.

Product picking module440has a main body445, a conveyor module444kept in place and rotated by means of two rollers446(or bearings or similar elements), a first rotating picking member447, and a second rotating picking member448, and an optional barrier member449.

Product picking module440is aligned with the sub-shelf of shelf420, where the desired product is held, so that the upper surface of conveyor module444is positioned leveled or under the lowest part of shelf420so that second rotating picking member448is aligned (still at its disengaged position), underneath the product, with the gap running along the sub-shelf holding the product.

In one aspect, product picking module440is of the type shown inFIG.3A-B. In another aspect, product picking module440may have alternative forms.

FIG.4Bshows the picking of the selected product by the product picking module according toFIG.4A. The actuator connected with picking member448is actuated to rotate picking member448to its engaged position, which is above the top level of conveyor module444, and through the gap running along the sub-shelf holding the product. By rotating picking member448to its engaged position, picking member448pushes the bottom side of the first product423and lifts it over product stop member421, so that first product423is now freed from stop member421and at the same time its position on the sub-shelf is left vacant and picking member448is actuated back to its disengaged position, thereby the products remaining on the sub-shelf slide all the way until product stop member421. First product423topples towards product picking module440under the force exerted to it by the sliding products that remain on the sub-shelf.

FIG.4Cshows the loading of the selected product onto the product picking module according toFIG.4B. Toppling first product423lands on conveyor module444.

FIG.4Dshows the alignment of the product picking module, according toFIG.4C, with the intermediate storage module. Product picking module440is then moved and aligned with optional intermediate storage module450, also inside the vending machine (not shown in the previous figures). In one aspect, intermediate storage module450has an intermediate conveyor module455forming its bottom surface, which is kept in place and rotated by means of two rollers456,457connected to an actuator. Intermediate conveyor module455is designed to load the product or products from product picking module440onto intermediate conveyor module455, and to unload the products from intermediate conveyor module455for the client to collect them. Intermediate conveyor module455is designed to move products along an axis perpendicular to the frontal and back face of the vending machine.

FIG.4Eshows the transfer of the selected product from the product picking module, according toFIG.4D, to the intermediate storage module. Conveyor module444is actuated in one direction to move first product423to intermediate conveyor module455, effectively loading first product423from product picking module440onto intermediate conveyor module455. This operation may optionally be aided by also actuating intermediate conveyor module455in one direction.

In the illustrated exemplary embodiment, product picking module440is shown arranged to the right of intermediate conveyor module455. However, in another exemplary embodiment, the reverse relative positions may be used. Also, in another exemplary embodiment, product picking module440may align with another shelf, or with both shelf420and the other shelf, one at a time.

FIG.4Fshows the selected product, according toFIG.4E, on the intermediate storage module. First product423is now loaded on intermediate storage module450. At this point an optional verification of the loaded product or products may be made. For instance, a scanner (e.g. Infra-Red (IR), or a camera) may scan the loaded product(s)'s barcode, Quick Response (QR) code, label, etc. and use the scanned image to either automatically identify and verify the products and its details (e.g. size, expiry date, etc.) or send the scanned image to human operator for manual verification (e.g. for the sale of medicaments or other regulated products). One or more scanners may be used to scan one or more sides of the product for acquiring all the necessary information which may be positioned on more than one sides of the product.

In an alternative exemplary implementation, where no intermediate storage module450is used, the scanning may be done on the product picking module440where first product423is placed.

In yet another exemplary implementation, the scanning of first product423may be done both on the product picking module440and on intermediate storage module450.

FIG.4Gshows the transfer of the selected product from the intermediate storage module, according toFIG.4F, to the dispenser area. If the scanned product is verified and approved, first product423is moved from intermediate storage module450over to dispenser module460by actuating intermediate conveyor module455in one direction. The product can then be collected by the client.

FIG.4Hshows the transfer of the selected product from the intermediate storage module, according toFIG.4G, to the product dispose module. If the scanned product is not verified or approved, first product423is transferred from intermediate storage module450over to product dispose module470by actuating intermediate conveyor module455in another direction. The product can then be collected by service staff for recycling, disposal, or restocking.

Product dispose module470is preferably placed below the level of the top surface of intermediate conveyor module455. In another aspect, the bottom surface of product dispose module470is at the same level as the top surface of intermediate conveyor module455.

Picking a Product from a Position in a Stack of Products of Multiple Types and/or Dimensions According to the Present Innovative Solution

FIG.5Ashows a simplified side view, along the longitudinal axis, of an exemplary product picking module according to the present invention, positioned for picking a selected product from a sub-shelf holding multiple product types. Shelf520is attached on the rack inside the vending machine and a sub-shelf is formed on it, and equipped with a product stop member521. Product stop member521holds, at the sub-shelf, a unitary-width (or multiple-width) stack of products of different types and/or dimensions, in physical contact with each other (a first523, a second,524, a third525, and a fourth526products—more products may be stacked but are not shown), where first product523is in physical contact with product stop member521. Products523-526are of different types and/or dimensions. The products may be stacked on any of their faces.

Product picking module540has a main body545, a conveyor module544kept in place and rotated by means of two rollers546(or bearings or similar elements), a first rotating picking member547, and a second rotating picking member548, an optional barrier member549, and an optional stop barrier543. Conveyor module544is aligned so that it moves products placed on it, along an axis perpendicular to the frontal and back faces of vending machine100,200. In one aspect, product picking module540is of the type shown inFIG.3A-B. In another aspect, product picking module540may have alternative forms.

In another exemplary embodiment, optional stop barrier543is movable along the longitudinal axis of product picking module540, under the actuation of an actuator (e.g. a stepper motor), connected to stop barrier543.

Product picking module540is aligned with the sub-shelf of shelf520, where the desired (i.e. user-selected) product is held, so that the upper surface of conveyor module544is positioned leveled with or under the lowest part of shelf520so that second rotating picking member548is aligned (still at its disengaged position), and protrudes underneath product523, with the gap running along the sub-shelf holding the product.

FIG.5Bshows the picking of the selected product by the product picking module according toFIG.5A. The actuator connected with picking member548is actuated to rotate picking member548to its engaged position, which is above the top level of conveyor module544, and through the gap running along the sub-shelf holding the product. By rotating picking member548to its engaged position, picking member548pushes the bottom side of the first product523and lifts it upwards or over product stop member521, so that first product523is now freed from stop member521and at the same time the position of first product523on the sub-shelf is left vacant and picking member548is actuated back to its disengaged position, thereby products524,525,526remaining on the sub-shelf slide all the way until product stop member521. First product523topples towards product picking module540under the force exerted to it by sliding products524,525,526that remain on the sub-shelf.

FIG.5Cshows the loading of the selected product onto the product picking module according toFIG.5B. Toppling first product523lands on conveyor module544.

FIG.5Dshows the picking of the second product onto the product picking module according toFIG.5C. Conveyor module544is rotated in one direction, moving first product523to contact with stop barrier543. The actuator connected with picking member548is actuated to rotate picking member548to its engaged position, which is above the top level of conveyor module544, and through the gap running along the sub-shelf holding second product524. By rotating picking member548to its engaged position, picking member548pushes the bottom side of second product524and lifts it over product stop member521, so that second product524is now freed from stop member521and at the same time the position of second product524on the sub-shelf is left vacant and picking member548is actuated back to its disengaged position, thereby products525,526remaining on the sub-shelf slide all the way until product525comes into contact with product stop member521. Second product524topples towards product picking module540under the force exerted to it by sliding products525,526that remain on the sub-shelf.

FIG.5Eshows the loading of the second product onto the product picking module according toFIG.5D. Toppling second product524lands on conveyor module544.

FIG.5Fshows the movement of the second product along the product picking module according toFIG.5E. Conveyor module544is rotated in one direction, moving second product524to contact first product523, which is also in contact with stop barrier543.

In another exemplary embodiment, product524may have dropped partially over product523and partially touching conveyor module544, thereby, when conveyor module544is rotated in one direction it moves second product524to partially slide over first product523, which is in contact with stop barrier543.

FIG.5Gshows the picking of the third product onto the product picking module according toFIG.5F. The actuator connected with picking member548is actuated to rotate picking member548to its engaged position, which is above the top level of conveyor module544, and through the gap running along the sub-shelf holding third product525. By rotating picking member548to its engaged position, picking member548pushes the bottom side of the third product525and lifts it over product stop member521, so that third product525is now freed from stop member521and at the same time its position on the sub-shelf is left vacant and picking member548is actuated back to its disengaged position, thereby fourth product526remaining on the sub-shelf slides all the way until it contacts product stop member521. Third product525topples towards product picking module540under the force exerted to it by the sliding products that remain on the sub-shelf.

FIG.5Hshows the loading of the third product onto the product picking module according toFIG.5G. Toppling third product525lands on conveyor module544.

In another exemplary embodiment, third product525may have dropped partially over second product524and partially touching conveyor module544, thereby, if and when conveyor module544is rotated in one direction it moves third product525to partially slide over second product524, which is in contact with first product523, which in turn is in contact with stop barrier543.

The dimensions of the product picking module and of the products are not depicted in scale. As such the skilled reader can appreciate that more products may be accommodated on the product picking module. The dimensions of the product picking mode may also vary among different exemplary implementations.

FIG.5Ishows the alignment and the transfer of the third product from the product picking module, according toFIG.5H, to the dispenser area. Third product525is optionally scanned on product picking module540for verification of the loaded product. In one aspect first523, and second524products are optionally scanned and verified together with third product525, or in another aspect they are scanned and verified previously, when they were loaded onto product picking module540. For instance, a scanner (e.g. Infra-Red (IR), or a camera) may scan the loaded product(s)'s barcode, Quick Response (QR) code, label, etc. and use the scanned image to either automatically identify and verify the products and their details (e.g. size, expiry date, etc.) or send the scanned image to human operator for manual verification (e.g. for the sale of medicaments or other regulated products). One or more scanners may be used to scan one or more sides of the product(s) for acquiring all the necessary information which may be positioned on more than one sides of the product(s).

In an alternative exemplary implementation, where an intermediate storage module is used, products523-525are first loaded on the intermediate storage module450and then scanned.

In yet another exemplary implementation, products523-525are scanned both on product picking module540and on intermediate storage module450.

If the scanned third product525is verified and approved, third product525is moved from product picking module540(or from intermediate storage module450) over to dispenser module560by actuating conveyor module544in one direction (or intermediate conveyor module455if the product was previously loaded on intermediate storage module450). The product is then ready for collection by the client.

FIG.5Jshows the transfer of the third product from the product picking module, according toFIG.5H, to the product dispose module. If the scanned third product525is not verified or approved, third product525is moved from product picking module540(or the intermediate storage module450) over to product dispose module570by actuating conveyor module544in one direction (or intermediate conveyor module455if the product was previously loaded on intermediate storage module450). The product can then be collected by service staff for recycling, disposal, or restocking.

FIG.5Kshows the loading of the second product from the product picking module to its sub-shelf, according toFIG.5J. Product picking module540is aligned with the sub-shelf of shelf520(as described inFIG.5A) but at the top end of stop member521(or higher), and conveyor module544is rotated in another direction to move second product524towards fourth product526, which fourth product526rests in contact with stop member521. As conveyor module544continues to move second product524, second product524slides over stop member521and pushes fourth product526along its sub-shelf and away from stop member521, effectively leaving an empty space between fourth product526and stop member521. When second product524has sled at least half its length over stop member521, second product524topples over stop member521onto the sub-shelf.

FIG.5Lshows the completion of the loading of the second product from the product picking module to its sub-shelf, according toFIG.5K. Once second product524starts toppling over stop member521onto the sub-shelf, only the force exerted by fourth product526as it slides downwards the sub-shelf acts on second product524, which results in both second product524and fourth product526sliding along the sub-shelf until second product524comes into contact with stop member521. This way second product524is restocking the sub-shelf, while fourth product526comes at rest in contact with second product524.

FIG.5Mshows the loading of the first product from the product picking module to its sub-shelf, according toFIG.5M. Product picking module540is already aligned with the top end of stop member521(or higher) of the sub-shelf of shelf520, and conveyor module544is rotated in another direction to move first product523towards second product524, which second product524rests in contact with stop member521. As conveyor module544continues to move first product523towards the sub-shelf, first product523slides over stop member521and pushes second product524(and fourth product526which is in contact with second product524on the distant to stop member521side of second product524) along its sub-shelf and away from stop member521, effectively leaving an empty space between second product524and stop member521. When first product523has sled at least half its length over stop member521, first product523topples over stop member521onto the sub-shelf.

FIG.5Nshows the completion of the loading of the first product from the product picking module to its sub-shelf, according toFIG.5M. Once first product523starts toppling over stop member521onto the sub-shelf, only the force exerted by second product524as it slides downwards the sub-shelf acts on first product523, which results in both first product523, second product524, and fourth product526sliding along the sub-shelf until first product523comes into contact with stop member521. This way first product523is restocking the sub-shelf, while second product524and fourth product526come at rest in contact with first product523.

During loading the products back to their positions in the sub-shelf, product picking module540may optionally move (above and) towards the sub-shelf for pushing each loaded product to the sub-shelf and ensuring that each loaded product does not risk falling again over stop member521.

The result of the application of the methodology described inFIG.5A-Nis to allow a customer to select of a product at any position inside a stack of products, where the stack contains any number of different types of products (of the same or different dimensions) standing on any of their faces, and then replacing the products back to their original positions in the stack, except for the selected product which is dispensed or discarded. The result of the use of this methodology is to increase the capacity of different product types in automatic vending machines and to better adapt the quantities of the stocked products to the expected sales volumes of each product type between subsequent restocking of the vending machine. As a result, restocking costs and lost sales are reduced.

Methodology

FIG.6shows a high-level flow diagram of an exemplary methodology for the operation of the automatic vending machine of the present invention. Methodology600starts with a client selecting a product610stocked in the automatic vending machine, by pressing a button, or via a Graphical User Interface (GUI) presented on a screen on the outside of the vending machine. Alternatively, the client may use his mobile device or other computing device to connect to the vending machine (e.g. by scanning a QR code or by loading a webpage of the company operating the vending machine and selecting the specific vending machine from a list of available vending machines), and then select a product in stock at the vending machine.

The product choice is received by the controller of the vending machine610, which then checks620the inventory of the vending machine, e.g. by querying a database, or by looking up the product in a product log file, or by any similar method known in related art. Upon confirmation of the availability of the product, the product code is used to retrieve its position (i.e. shelf, sub-shelf, position in the sub-shelf stack) since the product position is associated with the said produce code. In another aspect the product code is used to retrieve the orientation of the product, i.e. on which of its faces it stands in the stack, which is used to calculate the exact location of the products on the sub-shelf. Orientation can be determined by processing sensory data with data relating to the dimensions associated with a product code. In one aspect the database, or product log file, etc. is locally stored at the vending machine (e.g. at a volatile, or a non-volatile storage module, or a combination thereof). In another aspect, it is remotely stored at a server, or at the cloud. In yet another aspect, it is stored in a combination of local and remote storage modules.

Having retrieved the product position, the controller calculates and sends control signals to the actuators (e.g. stepper motors) controlling the position of product picking module540. These control signals correspond to a specific and accurately calculated actuation of the respective actuators, and to specific rotation, or displacement of the respective movable members and modules of picking module540. Similar types of control signals are used for all actuators of the vending machine. The correspondence between control signals, actuation, and rotation and displacement, may, in one aspect, be calculated using a mathematical formula (e.g. for a stepper motor, 10 steps corresponds to 1 degree of rotation of a step motor, or 1 cm of displacement of the moving member/module), while in another aspect the correspondence may be pre-calculated and stored in a configuration or similar file, which is simply looked up by a controller module (see later for a description of the controller module) during the operation of the vending machine.

Upon receipt of the control signals, the actuators move product picking module540to align625with the lower end (i.e. the one proximal to stop member521) of the sub-shelf containing the collected product (as described inFIG.5A-N). In other words, product picking module is moved so that the product picking member is positioned, in its disengaged position, under the first product and aligned with the gap running along the sub-shelf. In an alternative exemplary implementation, position sensors (e.g. IR, proximity, magnetic, capacitive, pressure, mechanical) may also be available at each shelf/sub-shelf, which sensors detect the position of product picking module540and send the generated signals to the controller to help it confirm the actual positioning of product picking module540. These sensors are optional as the use of accurate or intelligent actuators (e.g. stepper motors) can allow the controller to accurately control the exact position of product picking module540without the additional cost associated with position sensors at each self. In a modification of the exemplary implementation, 2-3 position sensors may be optionally used, one for each of the x, y, and (optional) z axis of motion of product picking module540, so as to provide offset signals for calibration purposes, so as to offset incidental miss-alignments that could be produced during the movement of product picking module540by the actuators. Alternatively, a single position sensor may be used to provide offset signals for calibration purposes.

A counter N is set to N=1630for accessing first product523, which is in contact with stop member521on the selected sub-shelf. The counter may be implemented either in software or in hardware. Product picking module540is then commanded by the controller to pick and load635first product523onto conveyor module544(as described inFIG.5A-C) by actuating the actuator connected with second rotating picking member548, and then actuates the actuator connected with conveyor module544to move first product523away from the sub-shelf, and if optional stop barrier543is installed, until first product523comes into contact with stop barrier543(as described inFIG.5D). The controller then updates the product log640and in particular the new positions of first product523(i.e. first position on conveyor module544) and second254, third525, and forth products526(i.e. first, second and third positions, respectively, on the sub-shelf).

If another product needs to be picked645and loaded onto product picking module540, counter N is set to N=N+1 (i.e. increased by 1)650and methodology600branches back to step635, for as many times an additional products needs to be picked from the sub-shelf; in the present example, the first three products on the sub-shelf are to be picked, because the third product corresponds to the client's selection. Every time an additional product is picked and loaded onto product picking module540, the controller commands conveyor module544to move the newly loaded product (and the previously loaded products) away from the sub-shelf, and if optional stop barrier543is installed, until all loaded products come into contact with stop barrier543(as described inFIG.5D-H). The described operation maintains the relative order of the products.

First523, second524and third525products in the present example are of different categories and/or sizes, and are placed in the same sub-shelf for increasing the capacity of different product categories of the vending machine and/or for better matching the quantities of the stocked products for each product category with the forecasted sales volumes per product category.

If no more products are to be picked and loaded645onto product picking module540, the controller checks if the last loaded product, i.e. third product535in the present example, is verified or approved655(as previously described using scanners and/or cameras to ensure the correct product is loaded and that the product has not expired, etc.). In one aspect, the verification or approval step655is optional.

If third product535is not verified and/or approved655, the controller first detects if product picking module540is aligned over product dispose module470, and if no, the controller commands the actuators controlling to motion of product picking module540to actuate for moving product picking module540to align over product dispose module470, and optionally at a predetermined height from product dispose module470so as ensure that dropping third product535into product dispose module470will not damage third product535or any product already in product dispose module470.

If product picking module540is aligned over product dispose module470, the controller discards690third product535by commanding the actuator connected to conveyor module544to rotate conveyor module544until third product535drops into product dispose module470. Any optionally installed position sensors may be used for the controlling of this operation. The controller is so programmed as to ensure that only third product535is dropped and that first523and second524products remain onto conveyor module544. The controller then updates the product log. The controller then commands the actuators of product picking module540, to first (if needed) align product picking module540with the sub-shelf where the products were originally stored, and then to return 685 second product524, and then first product523to their storage positions in the sub-shelf520, and finally to update the product log695.

If third product535is verified and approved655, third product535is not discarded, and if an inner door is installed at dispenser module560, the controller commands an actuator connected to the inner door to open the inner door660. The controller than commands the actuator connected to conveyor module544to rotate conveyor module544until third product535is moved665to dispenser module560, close670inner door of dispenser module560, and open675outer door of dispenser module560for the client to collect his product. The inner and outer doors of dispenser module560are operated by the actuators respectively connected to the inner and outer doors.

Effectively inner door270and outer door280form an optional access control mechanism, controlling external access to dispenser module560and the interior of vending machine100,200.

In an alternative exemplary implementation (not shown inFIG.6), where an intermediate storage module450is installed in the automatic vending machine, the controller commands the actuator connected to conveyor module544to rotate conveyor module544until third product535is moved to intermediate storage module450. This operation may be facilitated by the controller commanding the actuator connected with intermediate conveyor module455to actuate intermediate conveyor module455to rotate for loading third product535onto intermediate storage module450. Third product, is verified or approved655on intermediate storage module450(as previously described using scanners and/or cameras to ensure the correct product is loaded and that the product has not expired, etc.) and not on product picking module540.

In a modification of this exemplary implementation, where an intermediate storage module450is installed in the automatic vending machine, the controller may verify and approve655third product535twice, a first time while third product535is on product picking module540, and a second time while third product535is on intermediate storage module450. Such a double verification and approval655may be used in the sale of regulated (e.g. medicaments) or expensive products, or for any product on sale. If an inner door is installed at dispenser module560, the controller commands the actuator connected to the inner door to open the inner door660. At a second time, the controller commands the actuator connected to intermediate conveyor module455to rotate for moving665third product535to dispenser module560, and then closes670inner door of dispenser module560, and opens675outer door of dispenser module560for the client to collect his product. The inner and outer doors of dispenser module560are operated by the actuators respectively connected to the inner and outer doors.

The controller then updates the product log680and commands the actuators of product picking module540, to first (if needed) align product picking module540with the sub-shelf where the products were originally stored, and then to return 685 second product524, and then first product523to their storage positions in the sub-shelf520, and finally to update the product log695.

So, the returned to the sub-shelf products are now in the following order, starting from product stop member521: first product523, second product524, fourth product526, etc. Effectively, only the product selected by the client has been removed from the product stack at the sub-shelf, and the remaining products are maintained in the original relative order, therefore allowing the controller to efficiently locate them, using the information stored in the product log, and serve future client purchases. The product log is also used and updated by the controller at every refill of the vending machine.

It is apparent to persons of ordinary skill in related art that the methodology600is presented adapted to the specific example where the client selects a product (i.e. third product535) stored at a sub-shelf of a shelf520. Adaptation of methodology600to other storage examples in alternative shelves (520/220, or230), sub-shelves, product position in sub-shelved, products of different dimensions stocked in the same sub-shelf, etc. is obvious to the skilled person and fall with the scope of protection of the present invention. E.g. using the information in the product log (i.e. product code, product type, shelf, sub-shelf, product position in sub-shelf, and product dimensions) the controller can calculate the exact positions the various moving elements of the automatic vending machine need to be rotated or moved, and can create appropriate control signals to send to the actuators connected to the moving elements at the correct timing, while coordinating with other modules (like the payment module, or the product selection mechanism, e.g. button or other UI) to create and service a client order for the sale of a product. In specialized vending machines, e.g. for selling medicaments, the controller may also communicate with additional modules, like a teleconferencing module for contacting a trained pharmacist, a scanner for scanning a prescription, a labeling module for printing and attaching a label to the medicament boxes prior to dispensing them, etc.

It is apparent to persons of ordinary skill in related art that methodology600can be used as is, or adapted in an obvious way, for use with automatic vending machines forming part of the prior art. This means that methodology600may be applied to different electromechanical, electronic and software components than these described in the present innovative solution. Such possible application of methodology600to prior art vending machines (that differ from the vending machine of the present innovative solution) does not take away novelty of the present innovative solution, irrespective of whether the present innovative solution relates to methodology600, or to the electromechanical, electronic, and software components presented below.

Electronics Architecture

FIG.7Ashows an exemplary high-level system electronics architecture diagram of the automatic vending machine of the present invention. Vending machine100,200houses a number of hardware (electromechanical and electronic) components700controlled by a controller705, which is connected to actuators710for controlling the operation of the inner and outer doors of dispenser module560, actuators715for moving the product picking module540, actuator720for rotating conveyor module544of product picking module540, actuators725for controlling product picking members347,348of product picking module540, optional sensors730for detecting/resetting the positions of moving modules of the vending machine, optional speaker(s)735for providing instructions to clients when they are in front of the vending machine, optional camera(s)740for scanning products and/or for video-conferencing, optional scanner(s)745for scanning the selected products and/or medicament prescriptions, product selection mechanism750, database755or other storage (e.g. any known type of memory module) for storing the product log, volatile and/or non-volatile memory760for storing software and/or data, communications transducer(s)765(e.g. wireless or wired using any known technology, including Ethernet, cellular communication adapters, etc. for communication between the modules of the vending machine and external servers and systems), loading areas sensors770(for detecting products on product picking module540, on intermediate storage module450, in dispenser module560, or in product dispose module470, or for detecting open and closed inner and outer doors of dispenser module560), power module775for powering up all modules of the vending machine, and payment module780(which according to the specific exemplary implementation may contain any or all of coin, banknote, credit/debit card, wireless payment, etc. submodules). It is apparent to persons of ordinary skills in related art that the hardware modules of architecture700are presented by means of example and additions, deletions, or merging of hardware modules fall within the scope of protection of the present innovative solution.

FIG.7Bshows an exemplary high-level electronics architecture of the controller of the automatic vending machine of the present invention. Controller705has a main processor780for controlling all other modules and for implementing methodology600, processes and data calculations, and connected with a product selection module782(which controls the buttons or other user interface used by the client to select a product), a product payment module783(which controls hardware payment module780), a product picking and restocking module784(which controls the operation of product picking module540for picking and loading products from the sub-shelves—it includes all moving parts of the product picking module540, and exploits sensor, scanner and camera data), a product dispenser and (optional) disposal module786(which controls the operation of product picking module540for dispensing the selected product from product picking module540to dispenser module560and for disposing the selected product to product dispose module470, according to the outcome of the identification and verification of the product loaded on product picking module540—it controls all moving parts of product picking module540, and exploits sensor, scanner and camera data), a product log module788(which logs product related data, such as product type, dimensions, expiry date, position in sub-shelf, and actions on the product, such as picking, loading, dispensing, discarding, reason for discarding, etc.), an optional video-conferencing module790(which controls video conferencing with an operator, and involves the control of cameras, scanners, speakers, and sensors), a product identification and verification module792(which identifies and verifies the products that have been loaded onto product picking module540—it uses data from scanners, cameras and sensors and its result for the product identification and verification operation is used by main processor780to control the operation of product dispenser and disposal module786),

It is obvious to a person skilled in related art that the exemplary controller705may be modified by adding, deleting and merging modules782-792without departing from the scope of protection of the present innovative solution. The skilled person may, for example, consider that the modification of controller705may be due to the implementation of certain modules in software, firmware, hardware, or a combination thereof, or its adaptation for use in any type of automatic vending machine known in the art, or for implementing modifications to methodology600.

Software Architecture

FIG.8shows an exemplary high-level software architecture diagram of the automatic vending machine of the present invention. Controller705runs main controller Software (S/W)805which controls the operation of automatic vending machine100,200and implements methodology600by communicating with the following software modules: actuator controller S/W810, sensor controller S/W815, camera controller S/W820, speaker controller S/W825, product selection mechanism controller S/W830, database controller S/W835, power module controller S/W840, communications controller S/W845, payment module controller S/W850, and memory controller S/W855.

It is apparent to persons of ordinary skill in related art that the software modules of architecture800are presented by means of example and additions, deletions, or merging of hardware modules fall within the scope of protection of the present innovative solution. For example, the skilled person may consider as obvious that modifications of S/W modules800may match the actual implementation of hardware components700, or controller705.

Also, it is apparent to persons of ordinary skills in related art that the software modules of architecture800may be implemented in firmware, machine code, medium or high-level programming languages, abstract programming languages (e.g. eXtensible Markup Language (XML)-based programming languages), or a combination thereof, or that some of these software modules may be implemented in dedicated hardware (e.g. using purpose-built microchips or micro-controllers, or Application Specific Integrated Circuits (ASIC)), or other hardware technology, or may run entirely at the vending machine, or at distributed servers, or at the cloud with which the vending machine is in wireless or wired communication, or a combination thereof.

Main controller software805is designed to use product type (i.e. product code), dimensions, position in sub-shelf, sensor data, product log data, user selection, payment data, etc. to calculate the actions to be taken for controlling the moving parts of the vending machine. For example, main controller software805uses these data to calculate control codes (e.g. a number of pulse, or a voltage level, or a digital code number) which it sends to the actuators of the vending machine for aligning product picking module540with a sub-shelf, dispenser module560, product dispose module470, for actuating picking member547,548, for opening and closing inner and outer doors of dispenser module560, etc.

The present innovative solution can also be implemented by software written in any programming language, or in an abstract language (e.g. a metadata-based description which is then interpreted by a software or hardware component). The software may run on the previously presented hardware.

In another exemplary implementation, the software may run on a general-purpose hardware or computing device, apparatus or system and effectively transforms the general-purpose hardware or computing device, apparatus or system into one that specifically implements the present innovative solution.

In another exemplary implementation, the software may run on a special-purpose hardware or computing device, apparatus or system and effectively transforms the special-purpose hardware or computing device, apparatus or system into one that specifically implements the present innovative solution.

The exemplary implementations ofFIG.1-2,FIG.4A-HandFIG.5A-Nshow shelves and sub-selves arranged at an inclination with respect to the horizontal plane, so that the shelves and sub-selves allow products placed on them (e.g. in a unitary-width stack of products) to slide under the influence of gravity towards the product stop member, until the first product in the stack comes into contact with the product stop member. So, the inclined shelves and sub-shelves are effectively a product stack movement mechanism. In alternative exemplary implementations, the shelves and sub-selves are arranged parallel in all directions with the horizontal plane such that the unitary-width stack of products does not slide under the influence of gravity. In such implementations, the shelves and sub-selves are equipped with a product movement or push mechanism that moves or pushes the products towards to product stop member. Such a mechanism, is known in the art and may take the form of, e.g. a push member movable along the length of the sub-shelf, an elastic member in contact with the last product in the unitary-width stack of products, etc. Such a mechanism is effectively a product stack movement mechanism.

Exemplary Implementation Using a Modified Product Picking Module

FIG.9shows a simplified, behind the cover, side view of an automatic vending machine. Vending machine200has a modular storage system210in the form of a rack with a movable set of shelves220, arranged above each other, each aligned with the width of the frontal face of vending machine200, and attached on a rack system (not shown). Shelves220are position at an angle to the horizontal plane so that each forms a ramp inclined towards the inside of the vending machine, and partitions130are movably attached on shelves220to partition them into sub-shelves.

At the lower end of each of sub-shelf of shelves220is attached a product stop member221, which is intended to form a barrier preventing products from slipping off the respective sub-shelf. In one aspect, product stop member221has a height, protruding over the top surface of the sub-shelf, that is chosen so as to provide enough support to the product it is in contact with, while at the same time allowing the product to overcome product stop member221and become free to fall off the sub-shelf once the product is almost totally or totally raised over the top of product stop member221. Typically, the height of product stop member221is chosen between 10%-50% of the height of the product is in contact with, but other relative heights of product stop member221can be selected. The height of the loaded product is the height of the product as loaded, i.e. depends on the face on which the product lies upon. In another aspect, an individual product stop member221is attached at the lower end of each sub-shelf, while in another aspect, a single product stop member221is used per shelf220, thereby the same product stop member221is used across all sub-shelves of the same shelf.

Product picking module940is oriented at an angle to the horizontal plane as indicated by the longitudinal axis941(and may be at about the same angle as the sub-shelves of shelf220as indicated by the longitudinal axis131), is aligned with a sub-shelf of a shelf220and is used to pick the product in contact with product stop member221at the sub-shelf using product picking member957, and then drops the picked product to the dispenser area250, or into the optional dispenser conveyor260. Product picking module's940inclination allows the picked product to topple and slide under the influence of gravity from the product stack in the sub-shelf onto product picking module940.

Dispenser area250has two optional shutters an internal shutter270and an external shutter280. External shutter280is always closed so as to prevent access from the outside to the inside of vending machine200and only opens for allowing clients to collect their selected product or products. Before opening external shutter280, internal shutter270is closed so as to isolate dispenser area250from the inside of vending machine200. Internal shutter270is opened only if external shutter280is closed, for allowing the movement of the picked product from product picking module940to dispenser area250. In a variation of the present exemplary embodiment, internal shutter is located at the upper side of dispenser area250.

In an alternative exemplary embodiment, shelves220are replaced by shelves230, which are aligned with the width of the posterior face of vending machine200. In one aspect shelves220and230are identical, while in another aspect they differ. Shelves230operate identically or similarly to the operation of shelves220and allow the operation of product picking module940and dispenser area250as previously presented for shelves220.

In yet another exemplary embodiment, both shelves220,230are installed inside vending machine200for increasing the capacity of vending machine200. In this exemplary embodiment, product picking module940and dispenser area250are designed to operate with both shelves220,230. For this reason product picking module940can rotate about the vertical axis.

Shelves220,230have gaps running along their width (i.e. perpendicular to the longitudinal axis running along the width of the face or back of vending machine200).

In the above variations of the sixth exemplary embodiment, product picking module940can rotate about the vertical axis for aligning with and positioning its product picking member957proximal to product stop member221of the selected subself or to dispenser area250.

Modified Product Picking Module

FIG.10Ashows a simplified side view, along the longitudinal axis, of an exemplary modified product picking module. Product picking module1040has a main body (or product loading platform)1045housing actuators (e.g. stepper motors). At the upper face of product picking module's1040loading platform1045are attached two perpendicular barrier members (or bordering sides)1049onto two opposing edges of loading platform1045. The other opposing edges of loading platform1045, are open and one of these open edges has a product picking member1057, securely attached to and leveled with the top surface of loading platform1045and extending outwards of loading platform1045, intended to pick a product from the stack of products in a sub-shelf that is in contact with product stop element221at the lower end of the inclined sub-shelf.

FIG.10Bshows a simplified top-down view of the exemplary product picking module ofFIG.10A. The loading platform has a gap or slot1041along its length through which a product unloading member1044protrudes above the top surface of loading platform1045and can move along the axis joining the two open edges of loading platform1045. Product picking module1040is inclined longitudinally at about the longitudinal inclination of the sub-shelf with respect to the horizontal (or vertical) plane, so as to allow product picking member1057and product loading platform1045to form a ramp with the sub-shelf when aligned.

Product picking module1040is designed to movably attach on a frame installed inside vending machine100,200for moving in the x, y, and optionally the z direction by using a positioning module (e.g. in its main body, or at the frame), that has 2 or 3 actuators, respectively. The frame onto which product picking module340moves in not shown inFIG.9. Product picking module340is also designed to rotate about the vertical axis.

Product unloading member1044extends through slot1041and protrudes above the top surface of loading platform1045, while it can be moved along slot1041. Unloading member1044has a double function. First to act as a barrier preventing products loaded on loading platform1045from falling off of loading platform1045, and second, to push loaded products off-loading platform1045and either towards dispenser area250for the customer to pick them up, discard area for discarding (e.g. for expired products), or to a sub-shelf for restocking or for replacing products in the product stack from where they were removed together with the product selected by the customer.

Loading the Product Picking Module

FIG.11Ashows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, aligned with the sub-shelf for picking a selected product.

Shelf420is attached on the rack inside the vending machine and a sub-shelf is formed on shelf420, and equipped with a product stop member421. The product stop member421holds a unitary-width (or multiple-width) stack of products (stacked on any of their faces) in physical contact with each other (a first423, a second,424, a third425, and a fourth426products—more products may be stacked but are not shown), where first product423is in physical contact with product stop member421. Products423-426are of the same type and dimensions (or of different types and dimensions).

Product picking module1040has a main body (or loading platform)1045, two barrier members (or border sides)1049, an unloading member1044, and a product picking member1057.

Product picking module1040is aligned with the sub-shelf of shelf420, where the desired product is held.

To remove the first product423of a stack (i.e. the product that is in contact with product stop member421at the lower end of the corresponding inclined sub-shelf) loading platform1045(i.e. the entire product picking module1040) is moved towards the sub-sheld and until its longitudinal axis (i.e. the axis joining the two open edges of the loading platform) is aligned with the longitudinal axis of the sub-self (i.e. the axis passing from the product stop member and running along the shelf and the stacked products). This way the product picking member1057is aligned with the slot running longitudinally along the sub-shelf, and product picking member1057is dimensioned to movably fit inside slot1041. Unloading member1044is moved along slot1041and distantly to product picking member1057for creating enough loading space for receiving products from the sub-shelf's stack of products. In one aspect, unloading member1044is moved prior to aligning loading platform1045with the sub-shelf, while in other aspects it is moved while or after aligning loading platform1045with the sub-shelf.

FIG.11Bshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, with its product picking member under the first product of the stack. Loading platform1045is lowered so that its product picking member1057is aligned with the sub-shelf's longitudinal slot (not shown) and is lower than the lower surface of the sub-shelf. Loading platform1045is moved towards the sub-shelf until its product picking member1057is positioned underneath first product423in the sub-shelf's stack and is aligned with the sub-shelf's slot.

FIG.11Cshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, with its product picking member toppling the first product from the stack. Then loading platform1045is raised until its product picking member1057has passed through the sub-shelf's longitudinal slot and pushes first product423upwards. Under the effect of the upward push received by product picking member1057, first product423is lifted until it overcomes product stop member421of the inclined sub-shelf and topples onto inclined loading platform1045under the influence of gravity.

FIG.11Dshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has loaded the first product. Once first product423has toppled it starts sliding downhill inclined loading platform1045until first product423touches unloading member1044.

FIG.11Eshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, with its product picking member under the second product of the stack. At the same time, or immediately afterwards, loading platform1045is lowered until product picking member1057is located below the lower surface of the sub-shelf. Since the position previously occupied by first product423on the sub-shelf is empty, and since product picking member1057is now below the lower surface of the sub-shelf, second product424(and all other products425,426in the product stack) slide(s) down the inclined sub-shelf until it/they touche(s) product stop member421.

FIG.11Fshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, with its product picking member toppling the second product from the stack. Then loading platform1045is raised until its product picking member1057has passed through the sub-shelf's longitudinal slot and pushed second product424upwards. Under the effect of the upward push received by product picking member1057, second product424is lifted until it overcomes product stop member412of the inclined sub-shelf and topples onto the inclined loading platform1045under the influence of gravity.

FIG.11Gshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has loaded the second product. Once second product424has toppled it starts sliding downhill inclined loading platform1045until second product424touches first product423, which in turn touches unloading member1044.

FIG.11Hshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has loaded the second product and lowered its product picking member below the sub-shelf. At the same time, or immediately afterwards, loading platform1045is lowered until the product picking member1057is located below the lower surface of the sub-shelf. Since the position previously occupied by second product424on the sub-shelf is empty, and since product picking member1057is now below the lower surface of the sub-shelf, third product425(and all other products426in the product stack) slide(s) down the inclined sub-shelf until it/they touch(es) product stop member421.

The stack may contain any number of products and any product in the stack of products may be selected by the customer using the present venting machine.FIG.11A-Hshow four products and assume the second product is the one selected by the customer; these are shown only by means of example and not for limiting the scope of protection of the present invention. The process may be repeated until the desired product in the stack (e.g. the nthproduct) is loaded onto the loading platform, or until the desired number of products are loaded on the loading platform (in the case where the customer has ordered more than one items of the same type). Unloading member1044may be positioned at any position along the longitudinal axis of loading platform1045. For maximum capacity when loading the loading platform, unloading member1044may be positioned at the positional farthest from product picking member1057. The two bordering sides1049(together with the unloading member1044) ensure that the product(s) loaded onto loading platform1045will not fall off loading platform1045.

The dimensions of loading platform1045and of the other elements of product picking module1040, as well as, the dimensional and orientation (i.e, the face on which they lie) of the products are not shown in scale. The skilled reader easily understands that more products can be accommodated on loading platform1045and products can stand on any of their faces on the sub-shelf.

Unloading the Product Picking Module for Restocking or Restacking

FIG.12Ashows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has loaded the second product and is moving away from the sub-shelf. Loading platform1045is lowered until the product picking member1057is distanced to the lower surface of the sub-shelf.

FIG.12Bshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has loaded the second product and is being aligned with another sub-shelf of another shelf420. Loading platform1045is moved for its product picking member1057to be aligned with another sub-shelf which contains fifth product428in contact with product stop element421.

FIG.12Cshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has aligned with the other sub-shelf and its product picking member is over product stop element421of the other sub-shelf. Loading platform1045is raised until the product picking member1057is over product stop element421of the other sub-shelf and in front of fifth product428.

FIG.12Dshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after its product picking member is positioned over the product stop element of the other sub-shelf, and the product unloading member pushes the loaded products from the product loading platform towards the other sub-shelf. Product unloading member1044pushes loaded products423,424from product loading platform1045towards the other sub-shelf.

FIG.12Eshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, with its product unloading member pushing second loaded product424(via first loaded product423) from the product loading platform onto the other sub-shelf, which second product424, in turn, pushes fifth product428, which slides uphill the sub-shelf. Product unloading member1044continues pushing loaded products423,424, (and428) from product loading platform1045towards the other sub-shelf until second loaded product424overcomes product stop element421and drops on the other sub-shelf.

FIG.12Fshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after the second product has been stacked onto the other sub-self. Product unloading member1044retracts to allow second product424(and fifth product428) to slide under the influence of gravity until they touch product stop element421. First product423continues touching product unloading member1044as it slides downhill product loading platform1045under the influence of gravity.

The operation continues with product picking module1040moving and aligning with the sub-shelf holding third425and fourth426products, i.e. the sub-shelf where first product423was originally stacked. This way first product423is restacked in its original stack and in the same position (i.e. first), while second product424has been removed from its original stack and moved over to a new stack (now as first product in the new stack) at the other sub-shelf. This operation allows rearranging the stock in the automatic vending machine. The exact operation may be used for restocking the vending machine, where the stack initially holding four products423-426is located at a sub-shelf of a restocking shelf or rack of shelves that is loaded to (and unloaded from) the automatic vending machine much like inserting or removing a cartridge. The other sub-shelf is at a rack of shelves of the automatic vending machine used for servicing customer requests for product purchase. Such operations can significantly reduce restocking and restacking times and minimize or eliminate manual operations that would otherwise have to be performed by human operators, thus slushing costs.

During the above operations, the automatic vending machine tracks and logs the position and movement of products, their dimensions, the face on which they stand upon, and their relative positions in the stacks, using sensors, so as to ensure that only the desired products will be restoked and restacked and that their order in the product stacks is known for correctly dispensing and disposing them.

Unloading the Product Picking Module for Dispensing or Disposal

FIG.13Ashows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has been positioned over the dispensing area. Loading platform1045is moved for its product picking member1057to be positioned over product dispensing area1360. Product loading platform1045holds, in the present example, first423and second424products. An internal may be fitted on the upper side of product dispensing area1360, which if not already open, it is opened now.

FIG.13Bshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after it has been positioned over the dispensing area, and while the product unloading member pushes the loaded products off the product loading platform. Product unloading member1044pushes the loaded first423and second424products towards product picking member1057and off product loading platform's1045.

FIG.13Cshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after its product unloading member has pushed the second loaded product off the product loading platform. Product unloading member1044stops pushing the loaded first product423when second product424has toppled and dropped off product loading platform's1045, towards product dispensing area1360.

FIG.13Dshows a simplified side view, along the longitudinal axis, of the product picking module of the sixth exemplary embodiment, after the second loaded product is being picked up by the customer from inside the dispensing area. Second product424has landed on the bottom of product dispensing area1360. The internal door of dispensing area1360is closed and then an external door that may be fitted to the outside face (right face in the illustrated example) of dispensing area1360is opened, thereby giving access to the interior of dispensing area1360to the customer. The customer can then grab second product424with his hand1090.

The same process illustrated inFIG.13A-Dis applicable to discarding products (e.g. expired products), and where dispensing area1360is replaced by a disposal area.

Both dispensing area1360and disposal area may have their opening (and optional internal door) at their upper side or to their inner side (i.e. left side in the illustrated example). In the first case, dispensing or discarding is done as shown inFIG.13A-D. In the second case, product picking module1040partially or fully inserted in the dispensing area1360or disposal area from the respective inner opening (the left side opening) and then unloads the product to be dispensed or disposed.

During the above operations, the vending matching tracks and logs the position and movement of products, their dimensions, and relative positions in stacks, using sensors, so as to ensure that only the desired products will be dispensed and/or disposed and that their order in the product stacks remains known.

The exemplary embodiments ofFIG.9-13operate according to the exemplary methodology presented in the high-level flow diagram ofFIG.6. Alignment of the product loading platform with the sub-shelves, dispenser area, and disposal area, and the relative movement of product picking module1057and product unloading member1044in steps625,635,690,685,665are performed according to the description presented forFIG.11-13. The sixth exemplary embodiment and its variations are implemented using the electronics and software architectures ofFIG.7-8.

The above exemplary embodiments are presented for use in automatic vending machines. However, they may also be used in any other product handling system without departing from the scope of protection of the invention.

The above exemplary embodiment descriptions are simplified and do not include hardware and software elements that are used in the embodiments but are not part of the current invention, or are not needed for the understanding of the embodiments, or are obvious to any user of ordinary skill in related art. Furthermore, variations of the described system architecture are possible, where, for instance, some servers may be omitted or others added.

The figures and the electro-mechanical and electronic components they illustrate are not necessarily in scale, and their relative positions and interconnections are exemplary. Their variations, which are obvious to persons of skill in related art, are within the scope of protection of the present innovative solution.

The foregoing description of a preferred embodiment and best mode of the invention known to the applicant at the time of filing the application has been presented and is intended for the purposes of illustration and description. It is not intended to be exhaustive or limit the invention to the precise form disclosed and many modifications and variations are possible in the light of the above teachings. The embodiment was chosen and described in order to best explain the principles of the invention and its practical application and to enable others skilled in the art to best utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed for carrying out this invention, but that the invention will include all embodiments falling within the scope of the appended claims.