Patent Description:
Devices for preparing and delivering a cone or cup of ice cream include <CIT> [hereinafter referred to as D1] which comprise a first robotic arm having a spoon which scoops ice cream from an ice cream tub and which deposits the scooped ice cream into a cup or cone held by a second robotic arm for delivery.

Publication "<NPL>et al. introduces methods for sensor calibration and 3D data segmentation to use a time-of-flight camera to automatically plan grasps and manipulation actions for a service robot.

The present invention seeks to provide a system, which will overcome or substantially ameliorate at least some of the deficiencies of the prior art, or to at least provide an alternative.

It is to be understood that, if any prior art information is referred to herein, such reference does not constitute an admission that the information forms part of the common general knowledge in the art, in Australia or any other country.

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

The scoop mechanism is of a particular configuration in that the scoop mechanism comprises a scoop defining an interior volume and a coplanar rim about the interior.

Furthermore, the controller is configured to control the robotic arm in a particular manner to position the scoop mechanism in relation to an ice cream container in accordance with an order received via the order configuration interface, to lower the scoop mechanism into the ice cream container, to stroke the scoop across the ice cream container until such time that the coplanar rim hits flat against an opposing inner side wall surface of the container thereby entrapping a fixed volume of ice cream between the opposing inner side wall surface and the interior of the scoop, to raise the scoop mechanism to wipe the coplanar rim of the opposing inner side wall surface to withdraw the fixed volume of ice cream from the ice cream container and to position the scoop with respect to a disposable cup or cone to deposit the fixed volume of ice cream therein.

The scoop mechanism comprises a wiper actuator driving a wiper across an inner surface of the scoop and the controller may to actuate the wiper mechanism to dislodge the fixed volume of ice cream from the scoop into the cup or cone.

As such, the present scoop mechanism allows for single robotic arm operation as opposed to the device of D1, for example, requiring first and second robotic arms.

Furthermore, in embodiments the scoop mechanism comprises a rack and pinion, a pinion thereof being connected to a wiper and an aperture through which a slider rod is slidably retained and which bears against a bearing face of a rack of the rack and pinion to oppose a biasing spring and which extends from the aperture. As such, in use, when the scoop mechanism is moved to press a distal end of the slider rod against a surface, the slider rod slides into the aperture, thereby deflecting the rack, causing the pinion to rotate to move the wiper to dislodge the ice cream. As such, the present arrangement may allow for single robotic arm operation as opposed to the required first and second robotic arms of D1 for example.

Furthermore, the present scoop mechanism allows for tight and repeatable control of the fixed volume of ice cream unlike the device of D1, for example, wherein the amount of ice cream scooped may vary considerably. D1 does not disclose or obviously suggest a scoop having a coplanar rim, let alone hitting the coplanar rim against the opposing inner side wall surface of the container.

In embodiments the rim comprises a horizontal straight lower edge, thereby allowing the cleaning of the planar floor of the container. In further embodiments, the rim comprises side edges perpendicular to the lower edge, thereby allowing cleaning of the side walls of the container.

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

In embodiments the controller may reference a pressure sensor of the robotic arm to lower the scoop mechanism until the scoop mechanism contacts an upper surface of ice cream within the container. Furthermore, the controller may reference the pressure sensor to apply a minimum amount of downward pressure during the stroke, thereby ensuring the scoop is adequately filled with ice cream.

In further embodiments, the controller may record each stroke to record real-time real-time ice cream content topography data within each container.

As such, the controller may lower the scoop mechanism in accordance with the real-time ice cream content topography data. Furthermore, the controller may move the scoop mechanism adjacently according to the real-time ice cream content topography data such that the container is scooped out in rows.

The present kiosk may comprise a rotary cassette having a plurality of ice cream containers within a bin, which may be selectively enclosed by an automatic lid. As such, in accordance with a customer order, the controller may open the bin lid and rotate the rotary cassette to position the correct ice cream container for scooping.

In embodiments the kiosk may comprise two or more bins and the robotic arm may move along a rail between each bin.

The kiosk may comprise a delivery subsystem to deliver the laden cone or cup to the user and a rinse station to rinse residual ice cream from the scoop between each stroke.

According to the invention, there is provided a self-serve kiosk system as recited in claim <NUM>.

The inner surface of the scoop may be semi-cylindrical and the wiper may have a curvature and rotates between upper and lower pivot points across the inner surface of the scoop.

The scoop mechanism may comprise a neck having the scoop at a distal end thereof and the scoop mechanism may comprise a driveshaft along the neck to the upper pivot point.

The rim may comprise a horizontal straight lower edge.

The scoop may comprise an upward curvature rearward from the horizontal straight lower edge.

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

The scoop mechanism may comprise a neck having the scoop at a distal end thereof and the coplanar rim may be away from an adjacent edge of the neck.

The coplanar rim may lie in a plane being parallel with an elongate axis of the neck.

The robotic arm may comprise a pressure sensor and the controller may be configured for lowering the scoop mechanism until such time that the pressure sensor indicates that the scoop contacts an upper surface of the ice cream within the ice cream container.

During the stroke, the controller may be configured to reference the pressure sensor to control the robotic arm to maintain a minimum downward pressure on the scoop.

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

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

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

The system may comprise a rotating cassette of containers and the controller may be configured for rotating the cassette according to the order.

The cassette may be housed within a bin and the bin may comprise a lid and a lid actuator and the controller may be configured for rotating the cassette according to the order to position one of the containers beneath the lid and to actuate the lid actuator to open the lid.

The system may further comprise a further rotating cassette of containers and the robotic arm may be able to travel along a rail and the controller may be configured for positioning the robotic arm along the rail to access the rotating cassette and the further rotating cassette.

The scoop mechanism may comprise a rack and pinion, a pinion thereof being connected to the wiper and an aperture through which a slider rod may be slidably retained and which bears against a bearing face of a rack of the rack and pinion to oppose a biasing spring and which extends from the aperture such that, in use, when the scoop mechanism is moved to press a distal end of the slider rod against a surface, the slider rod slides into the aperture, thereby deflecting the rack, causing the pinion to rotate to move the wiper.

Other aspects of the invention are also disclosed.

Notwithstanding any other forms which may fall within the scope of the present invention as defined in the appended claims, preferred embodiments of the disclosure will now be described, by way of example only, with reference to the accompanying drawings in which:.

A self-serve kiosk system <NUM> may comprise a POS system <NUM> and comprises an order configuration interface <NUM>.

The kiosk system <NUM> comprises a robotic arm <NUM> having a scoop mechanism <NUM> at a distal end thereof. The kiosk system <NUM> may comprise at least one bin <NUM> having a plurality of ice cream containers <NUM> therein.

Each bin <NUM> may comprise a rotating cassette <NUM> holding a plurality of ice cream containers <NUM> and a rotary actuator <NUM> to rotate the cassette <NUM>. Each bin <NUM> may comprise a bin lid <NUM> and a bin lid actuator <NUM> to open the bin lid <NUM>. The robotic arm <NUM> may travel along a rail <NUM> between adjacent bins <NUM>.

The scoop mechanism <NUM> may comprise a robotic arm interface <NUM> and comprises a scoop <NUM> at a distal end thereof. The robotic arm interface <NUM> may interface with a robotic arm mating interface <NUM> of the robotic arm <NUM>. The robotic arm mating interface <NUM> may comprise a plurality of rotary actuators <NUM>.

The robotic arm interface <NUM> may comprise a coupling device <NUM> interfacing the robotic arm mating interface <NUM>.

A neck <NUM> may interface the scoop <NUM> and the robotic arm interface <NUM>.

The scoop <NUM> may have a coplanar rim <NUM> round an interior volume <NUM>. The rim <NUM> may comprise a horizontal straight lower edge <NUM>. Furthermore, the coplanar rim <NUM> may comprise straight side edges <NUM> being perpendicular to the horizontal straight lower edge <NUM>.

The coplanar rim <NUM> may be in front of an adjacent edge of the neck <NUM> such that the rim <NUM> may hit an opposing inner side wall surface of the container in the manner described hereunder without interference from the neck <NUM>. Furthermore, the coplanar rim <NUM> may lie in a plane being parallel with an elongate axis of the neck <NUM>,.

The scoop <NUM> may comprise an upward curvature <NUM> rearward from the horizontal straight lower edge <NUM>.

The scoop mechanism <NUM> comprises a wiper mechanism comprising a wiper <NUM>. The scoop <NUM> may comprise a semi cylindrical inner surface and the wiper <NUM> may have a curvature and may be pivotally coupled between lower and upper pivot points <NUM>, <NUM>.

A driveshaft <NUM> may interface a rack and pinion <NUM> held by a rack retaining plate <NUM> to rotate the wiper <NUM> between the pivot points <NUM>, <NUM> such that the wiper wipes closely against and inner surface of the interior volume <NUM> of the scoop <NUM>.

The scoop mechanism <NUM> may further comprise a rotary actuator <NUM> so as to be able to rotate the scoop <NUM> along and elongate axis of the neck <NUM> with respect to the robotic arm mating interface <NUM>.

<FIG> shows a control system <NUM> which comprises a controller <NUM>. The controller <NUM> comprises a microprocessor <NUM> for processing digital data. In operable communication with the processor <NUM> across a system bus <NUM> is a memory device <NUM>. The memory device <NUM> is configured for storing digital data, including computer program code instructions which, in use, are fetched, decoded and executed by the microprocessor <NUM> for implementing the functionality described herein.

The computer program code instructions may be logically divided into various controllers <NUM>. The memory device <NUM> may further comprise configuration data <NUM>. As such, the controllers <NUM> control the operation of the controller <NUM> in accordance with the configuration data <NUM>.

The controller <NUM> further comprises an I/O interface <NUM>. The I/O interface <NUM> may interface with a scoop subsystem <NUM> which may comprise the robotic arm <NUM> and the scoop mechanism <NUM>.

The robotic arm <NUM> may comprise position sensors <NUM> and arm actuators <NUM>. The arm actuators <NUM> may position the robotic arm in various positions.

The scoop mechanism <NUM> may comprise an aperture <NUM> through which a slider rod (not shown) is retained and bears against a bearing face <NUM> of the rack <NUM> against a biasing spring <NUM>. In accordance with this embodiment, the controller <NUM> may manoeuvre the scoop mechanism <NUM> to press the slider rod against a surface, causing the rod to slide into the aperture <NUM> and move the rack <NUM> against the biasing spring <NUM> to rotate the pinion <NUM> to wipe the wiper <NUM>.

In alternative embodiments, the scoop mechanism <NUM> may comprise a rotary actuator <NUM> and the wiper actuator <NUM>.

The I/O interface <NUM> may further interface with the POS subsystem <NUM>. The POS subsystem <NUM> may comprise a digital display <NUM> for the display of digital data thereon. A haptic overlay may interface the digital display <NUM> so as to be able to receive user input with respect to the information displayed by the digital display <NUM>. The POS subsystem <NUM> may further comprise a payment terminal <NUM> configured for receiving payment, typically by way of contactless payment in the manner known in the art.

The I/O interface <NUM> may further interface the order configuration subsystem <NUM>. The order configuration subsystem <NUM> may similarly comprise a digital display <NUM> for the display of information thereon and which may similarly comprise a haptic overlay allowing the user to configure paid for orders.

The I/O interface may further interface a rotary actuator <NUM> to rotate the cassette <NUM> of containers <NUM> within each bin <NUM>. Furthermore, the I/O interface <NUM> may interface with a lid actuator <NUM> to open and close the bin load <NUM>.

The I/O interface <NUM> may further interface the delivery subsystem <NUM> for the delivery of an order to a customer.

<FIG> illustrates exemplary processing <NUM> implemented by the system <NUM>.

The processing <NUM> comprises receiving payment at step <NUM> via the POS subsystem <NUM> followed by receiving an order configuration at step <NUM> via the order configuration subsystem <NUM>. For example, using various prompts on the digital display <NUM> of the order configuration subsystem <NUM>, the user may order a cup of ice cream comprising a scoop of strawberry flavoured ice cream and a scoop of chocolate flavoured ice cream.

Once the order is placed via the order configuration subsystem <NUM>, the controller <NUM> may open the bin lid <NUM> by controlling the lid actuator <NUM> of the relevant bin <NUM> at step <NUM>.

The configuration data <NUM> may comprise ice cream type data for each container <NUM> within each bin <NUM>. As such, in accordance with the order configuration data, the controller <NUM> is able to determine which bin <NUM> comprises the type of ice cream ordered by the customer so as to be able to open the appropriate bin lid <NUM>.

The controller <NUM> may comprise a setup mode wherein the operator of the kiosk <NUM> programs in the ice cream contents of each container <NUM> of each bin <NUM>. Such configuration may be performed using an administrator interface available via the digital display <NUM> of the order configuration subsystem <NUM>.

The controller <NUM> may then rotate the cassette <NUM> according to the order configuration at step <NUM>. Specifically, the controller <NUM> may control the rotary actuator <NUM> such that the appropriate container <NUM> locates beneath the open bin lid <NUM>.

The controller <NUM> then positions the scoop mechanism <NUM> with respect to the container <NUM> at step <NUM>.

The controller <NUM> may move the robotic arm <NUM> along the rail <NUM> between each bin <NUM> depending on the location of the chosen ice cream container <NUM>.

The controller <NUM> may position the scoop mechanism <NUM> above the ice cream container <NUM>.

At step <NUM>, the controller <NUM> lowers the scoop mechanism <NUM> into the container <NUM> as is substantially illustrated in <FIG>.

As is illustrated in <FIG>, each container <NUM> may be wedge-shaped and may narrow towards the centre point of the container <NUM>. As such, the controller <NUM> may position the scoop mechanism <NUM> within the container <NUM> towards the centre point of the cassette <NUM>.

At step <NUM>, the controller <NUM> strokes the scoop mechanism <NUM> across the container <NUM> towards an opposing planar inner side wall surface <NUM> of the container <NUM>. As the scoop mechanism <NUM> is stroked across the container <NUM>, the scoop <NUM> gathers ice cream within the interior volume <NUM> thereof.

In the embodiment shown in <FIG>, the controller <NUM> may position the scoop <NUM> such that an upper edge <NUM> of the rim <NUM> substantially coincides with an upper surface <NUM> of the ice cream within the container <NUM>.

Alternatively, the upper edge <NUM> may locate above the upper surface <NUM> and wherein the upward curvature rearward from the horizontal straight lower edge <NUM> may cause ice cream to rise within the interior volume <NUM> to substantially fill the entire interior volume <NUM> of the scoop <NUM>.

A length of the stroke may be configured such that the interior volume <NUM> of the scoop <NUM> filled entirely with ice cream.

In embodiments, the robotic arm <NUM> may comprise a pressure sensor. As such, the controller <NUM> may lower the scoop mechanism <NUM> until such time that the pressure sensor detects that the scoop <NUM> contacts the upper surface <NUM> of the ice cream therein whereafter the controller <NUM> performs the sideway stroke.

In embodiments, the pressure sensor may be further referenced such that the controller <NUM> may control the robotic arm <NUM> to apply a minimum threshold of downward pressure on the scoop <NUM>.

In embodiments, the controller <NUM> records the stroke to record real-time ice cream content topography data for each container which may be stored within the configuration data <NUM>.

As such, the controller <NUM> may lower the scoop mechanism <NUM> according to the real-time ice cream content topography data.

Furthermore, the controller <NUM> may adjacently position the scoop mechanism <NUM> at each successive stroke according to the real-time ice cream content topography data such that the ice cream scoop from the container <NUM> a series of rows between sidewalls <NUM> of the container <NUM>.

As is illustrated in <FIG>, the controller <NUM> may stroke the scoop mechanism <NUM> until such time that the coplanar rim <NUM> of the scoop <NUM> hits flat against the opposing inner side wall surface <NUM>, thereby entrapping a fixed volume of ice cream between the inner side wall surface <NUM> and the interior of the scoop <NUM>.

At step <NUM>, the controller <NUM> raises the scoop mechanism <NUM> in the manner shown in <FIG>, thereby withdrawing the fixed volume of ice cream from the ice cream container <NUM>.

At step <NUM>, the controller <NUM> may position the scoop mechanism <NUM> with respect to a disposable cup or cone <NUM>.

At step <NUM>, the controller <NUM> actuates the wiper mechanism such that the wiper <NUM> wipes across the interior surface of the scoop <NUM>, thereby dislodging the ice cream contents therefrom to fall into the disposable cup <NUM>. As alluded to above, the controller <NUM> may position the scoop mechanism <NUM> to depress the slider rod against a pad to deflect the rack <NUM> to turn the pinion <NUM> of the rack and pinion mechanism <NUM> to move the wiper <NUM>.

The controller <NUM> may then position the scoop mechanism <NUM> with respect to a rinsing station <NUM> and actuate the rinsing station <NUM> at step <NUM> such as by flushing the scoop <NUM> with a jet of water to remove residual ice cream therefrom.

Thereafter, the process may be repeated until such time that a number of scoops of chosen ice cream is deposited within the disposable cup <NUM>.

At step <NUM>, the controller <NUM> controls the delivery mechanism to move the disposable cup to a delivery surface or chute.

The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that specific details are not required in order to practise the invention. Thus, the foregoing descriptions of specific embodiments of the invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed as obviously many modifications and variations are possible within the scope of the appended claims. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to best utilize the invention and various embodiments with various modifications within the scope of the appended claims.

The term "approximately" or similar as used herein should be construed as being within <NUM>% of the value stated unless otherwise indicated.

Claim 1:
A self-serve kiosk system (<NUM>) comprising a controller (<NUM>) interfacing an order configuration interface (<NUM>) and a scoop subsystem comprising a robotic arm (<NUM>) having a scoop mechanism (<NUM>) at a distal end thereof, the scoop mechanism (<NUM>) comprising a scoop (<NUM>) defining an interior volume (<NUM>), the scoop (<NUM>) comprising a coplanar rim (<NUM>) around the interior volume (<NUM>) and wherein, in use, the controller (<NUM>) is configured for controlling the robotic arm (<NUM>) to position the scoop mechanism (<NUM>) in relation to an ice cream container (<NUM>) in accordance with an order received via the order configuration interface (<NUM>), to lower the scoop mechanism (<NUM>) into the ice cream container (<NUM>), to stroke the scoop (<NUM>) across the ice cream container (<NUM>) until such time that the coplanar rim (<NUM>) hits flat against an opposing inner side wall surface (<NUM>) of the container (<NUM>) thereby entrapping a fixed volume of ice cream between the inner side wall surface (<NUM>) and the interior of the scoop (<NUM>), to raise the scoop (<NUM>) to wipe the coplanar rim (<NUM>) up the opposing inner side wall surface (<NUM>) to withdraw the fixed volume of ice cream from the ice cream container (<NUM>) and to position the scoop (<NUM>) with respect to a receptacle to deposit the fixed volume of ice cream therein, wherein the scoop mechanism (<NUM>) further comprises a wiper (<NUM>) moveable across an inner surface of the scoop (<NUM>) and wherein the controller (<NUM>) is further configured to actuate the wiper (<NUM>) to dislodge the fixed volume of ice cream from the scoop (<NUM>) into the receptacle.