This disclosure relates generally to vending machines, and more particularly to a vending machine and a method for vending a product.

Background
[002] Vending machines are used to deliver required products automatically to customers with minimal human intervention. A vending machine may receive from the customers an order for a required product and the payment using currency notes, coins, credit cards, payment gateways, special cards, etc. While some vending machines may be designed to sell items such as, snacks, candy, chocolate bars, beverages, cigarettes, newspapers, postcards, and lottery tickets, some other vending machines may be configured to dispense free products likes masks and sanitizers upon request from the customers. Automated vending machines eliminate a need for vendors, provide faster operations, and enable 24/7 availability to the customers. With improvement in packing technology over the years and availability of cheaper and wide variety of food products in packed forms, shelf life is enhanced and lesser maintenance is required for storage. Therefore, use of vending machines and other automated system to sell packed foods has grown exponentially.
[003] A predominant component of conventional vending machines is an actuator for each packed product. For example, the actuator may be fitted with a coil spring or other mechanical assemblies to transport the products to delivery door. Use of actuator limits a vending machine to include products with identical shapes and weights. Thus, flexibility among the vending machines to accommodate products with different dimensions is restricted. Such vending machines may be fitted with actuators in a matrix form (such as, 4 x 4, 5 x 5, etc.).
[004] Expansion of the vending machines to store more products requires a significant amount of hardware change and an increase in usage of actuators. Use of X-Y actuator with gripper is an alternate solution to such a problem. However, such actuators also include restricted workspace. The product must be accommodated within the restricted workspace to enable the gripper to reach and deliver the product. Further, high power actuators are required to increase the workspace and to accommodate more products.
[005] The conventional vending machines fail to provide for increased storage and variety of products offered. There is, therefore, a need in the present state of art for alternate solutions to make the vending machines more scalable to hold more products and more flexible to accommodate products with shape variations.

SUMMARY
[006] In one embodiment, a vending machine is disclosed. In one example, the vending machine includes a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a non-linear periphery on the base. The vending machine may further include a mobile robot configured to move on the base alongside the periphery and dispense a target product from the plurality of products. The mobile robot may further include a drive system configured to cause movement of the mobile robot alongside the periphery, a positioning system configured to position the mobile robot proximate the target product of the plurality of products, and a pusher assembly configured to remove the target product from respective position and dispense the target product.
[007] In one embodiment, a vending machine is disclosed. In one example, the vending machine includes a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a non-linear periphery on the base. The vending machine further includes a mobile robot configured to move on the base alongside the periphery, a processor coupled to the mobile robot, and a memory coupled to the processor. The memory is configured to store a plurality of instructions, which upon execution by the processor, cause the processor to receive an input from a user for dispensing a target product. The processor-executable instructions, on execution, further cause the processor to determine a position of the target product in the product array. The processor-executable instructions, on execution, further cause the processor to cause the mobile robot to move on the base alongside the periphery of the product stack and position the mobile robot at a position on the track corresponding to the target product. The processor-executable instructions, on execution, further cause the processor to cause a pusher assembly of the mobile robot to remove the target product from respective position of the target product to dispense the target product.
[008] In one embodiment, a method of vending a product is disclosed. In one example, the method may include receiving an input from a user for dispensing a target product. The target product may be one of a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a non-linear periphery on the base. The method may further include determining a position of the target product in the product array. The method may further include causing a mobile robot to move on the base alongside the periphery of the product stack and positioning the mobile robot at a position on the track corresponding to the target product. The method may further include causing a pusher assembly of the mobile robot to remove the target product from respective position of the target product to dispense the target product.
[009] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS
[010] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles.
[011] FIG. 1 illustrates a front view of an exemplary vending machine, in accordance with some embodiments of the present disclosure.
[012] FIGS. 2A-C illustrate top views of some exemplary vending machines, in accordance with some embodiments of the present disclosure.
[013] FIG. 3 illustrates a front schematic view of a vending machine, in accordance with an embodiment of the present disclosure.
[014] FIG. 4 illustrates a front schematic view of a vending machine, in accordance with another embodiment of the present disclosure.
[015] FIG. 5 illustrates a front schematic view of a vending machine, in accordance with an embodiment of the present disclosure.
[016] FIG. 6 is a block diagram of an exemplary system for vending a product, in accordance with some embodiments of the present disclosure.
[017] FIG. 7 illustrates a detailed exemplary method for vending a product through a vending machine, in accordance with some embodiments of the present disclosure.
[018] FIG. 8 illustrates an exemplary method of vending a product through a vending machine, in accordance with some embodiments of the present disclosure.

DETAILED DESCRIPTION
[019] Exemplary embodiments are described with reference to the accompanying drawings. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the spirit and scope of the disclosed embodiments. It is intended that the following detailed description be considered as exemplary only, with the true scope and spirit being indicated by the following claims.
[020] Referring now to FIG. 1, a front view of an exemplary vending machine 100 is illustrated, in accordance with some embodiments of the present disclosure. The vending machine 100 may include, inside an enclosure 102, a product array 104 and a mobile robot 106. Further, the vending machine 100 may include a delivery door 108, a cash collector unit 110, and a User Interface (UI) unit 112. The product array 104 may include a plurality of products. In some embodiments, the product array 104 may extend vertically from a base of the vending machine 100 along a periphery.
[021] A user may select a target product from the plurality of products via the UI unit 112. The user may make a payment corresponding to the target product through the cash collector unit 110. The payment may be made through various modes of payment such as, cash, debit card, credit card, internet banking, mobile banking, digital wallets, Unified Payment Interface (UPI), or the like. Upon successful payment corresponding to the target product, the mobile robot 106 may move on a base alongside the periphery and dispense the target product from the product array 104.
[022] As will be described in greater detail in conjunction with FIGS. 2 – 8, the mobile robot 106 of the vending machine 100 may further include a drive system configured to cause movement of the mobile robot alongside the periphery. The mobile robot 106 may further include a positioning system configured to position the mobile robot proximate the target product of the plurality of products. The mobile robot 106 may further include a pusher assembly configured to remove the target product from respective position and dispense the target product.
[023] Referring now to FIGS. 2A-C, top views of some exemplary vending machines are illustrated, in accordance with some embodiments of the present disclosure. As shown in FIG. 2A, a vending machine 200a may include a product array that may include a plurality of products (such as, a product 202a). Further, the vending machine 200a may include a mobile robot 204a. Further, as shown in FIG. 2A, the product array may be defined along a circular periphery on the base.
[024] The mobile robot 204a may move on a base of the vending machine 200a alongside the circular periphery. Assemblies for vending machines with the circular periphery configuration (such as, the vending machine 200a) may accommodate more products with dimensional variations and may be able to converge delivery of the target product at one point. Thus, the delivery door may be smaller as compared with vending machines with a linear or a rectangular periphery configuration. It may be noted that the mobile robot 204a is configured to dispense a target product from the plurality of products. The mobile robot 204a may include a drive system configured to cause movement of the mobile robot 204a alongside the circular periphery, a positioning system configured to position the mobile robot 204a proximate the target product, and a pusher assembly configured to remove the target product from respective position and dispense the target product.
[025] In some embodiments, the mobile robot 204a may be configured to move on a track provided on the base of the vending machine 200a. Further, the track may be positioned along the periphery of the product array so as to allow the mobile robot 204a to move alongside the periphery of the product array. To this end, the mobile robot 204a may include two drive wheels and a support caster wheel for navigation. The drive wheels may be guided by two guide rails 206a on a track alongside the circular periphery on the base of the vending machine 200a. The guide rails 206a ensure that the mobile robot 204a is on the track and aid in overcoming path planning problems. The guide rails 206a may restrict movement of the mobile robot 204a along the track. Additionally, the guide rails 206a may keep the mobile robot 204a in proximity of an overhead camera (not shown in figure). In order to cause movement of the mobile robot 204a, the drive system of the mobile robot 204a may include an electric drive motor and a battery to power the electric drive motor. The electric drive motor may power the two drive wheels to rotate to thereby cause the movement of the mobile robot 204a on the track.
[026] Additionally, the guide rails 206a may keep the mobile robot 204a in proximity of an overhead camera (not shown in figure). The overhead camera may accurately and quickly detect position of the mobile robot 204a on the track. It should be noted that the guide rails 206a provide an optimal path for the mobile robot 204a to cover the product array.
[027] Further, in some embodiments, the vending machine 200a may include a battery recharging station 208a provided on the guide rails 206a. The battery recharging station 208a may be used to charge the battery of the mobile robot 204a. Further, the battery recharging station 208a may include charger pins which may be used for docking the mobile robot 204a. The charger pins may be powered by using an external power supply.
[028] The vending machine 200a may further include a slider 210a and a delivery pocket 212a. When the mobile robot 204a is positioned in proximity to the target product, the pusher assembly of the mobile robot 204a may push the target product towards the slider 210a. The slider 210a may include a smooth surface defined vertically below the base and declining at a predefined angle to facilitate movement of the target product towards the delivery pocket 212a. The delivery pocket 212a may lead the target product towards the delivery door of the vending machine 200a. Further, the user may collect the target product from the delivery door.
[029] Similarly, as shown in FIG. 2B, a vending machine 200b may include a product array 202b, a mobile robot 204b, guide rails 206b, and a delivery pocket 208b. The mobile robot 204b may move on a base of the vending machine 200b alongside a rectangular periphery of the base. Assemblies for vending machines with a rectangular periphery configuration (such as, the vending machine 200b) may accommodate more products as compared to a linear periphery configuration. Further, such assemblies may provide a round-about view of all products in the vending machine to the user. It may be noted that the mobile robot 204b is configured to dispense a target product from the plurality of products. The mobile robot 204b may include a drive system configured to cause movement of the mobile robot 204b alongside the rounded rectangular periphery, a positioning system configured to position the mobile robot 204b proximate the target product, and a pusher assembly configured to remove the target product from respective position and dispense the target product.
[030] In an embodiment, similar to vending machine 200a and the mobile robot 204b, the mobile robot 204b may include two drive wheels and a support caster wheel for navigation. The drive wheels may be guided by two guide rails 206b on a track alongside the rounded rectangular periphery on the base of the vending machine 200b. The guide rails 206b ensure that the mobile robot 204b is on the track and aid in overcoming path planning problems. When the mobile robot 204b is positioned in proximity to the target product, the pusher assembly of the mobile robot 204b may push the target product towards a slider (not shown in figure). The slider may be a smooth surface declining at a predefined angle to facilitate movement of the target product towards the delivery pocket 208b. The delivery pocket 208b may lead the target product towards the delivery door of the vending machine 200b. Further, the user may collect the target product from the delivery door.
[031] In FIG. 2C, a vending machine 200c may include a product array 202c, a mobile robot 204c, guide rails 206c, and a delivery pocket 208c. The mobile robot 204c may move on a base of the vending machine 200c alongside an elliptical periphery of the base. Assemblies for vending machines with an elliptical periphery configuration (such as, the vending machine 200c) may accommodate more products with larger delivery door as compared to the vending machines with a linear periphery configuration or circular periphery configuration. It may be noted that the mobile robot 204c may be configured to dispense a target product from the plurality of products. The mobile robot 204c may include a drive system configured to cause movement of the mobile robot 204c alongside the elliptical periphery, a positioning system configured to position the mobile robot 204c proximate the target product, and a pusher assembly configured to remove the target product from respective position and dispense the target product.
[032] In an embodiment, similar to the vending machine 200a and the mobile robot 204b, the mobile robot 204c may include two drive wheels and a support caster wheel for navigation. The drive wheels may be guided by two guide rails 206c on a track alongside the elliptical periphery on the base of the vending machine 200c. The guide rails 206c ensure that the mobile robot 204c is on the track and aid in overcoming path planning problems. When the mobile robot 204c is positioned in proximity to the target product, the pusher assembly of the mobile robot 204c may push the target product towards a slider (not shown in figure). The slider may be a smooth surface declining at a predefined angle to facilitate movement of the target product towards the delivery pocket 208c. The delivery pocket 208c may lead the target product towards the delivery door of the vending machine 200c. Further, the user may collect the target product from the delivery door.
[033] Referring now to FIG. 3, a front schematic view of a vending machine 300 is illustrated, in accordance with an embodiment of the present disclosure. The vending machine 300 may include a plurality of products (such as, a product 302) arranged in a product array 304. In an example, the product array 304 may include a plurality of products, or any other similar arrangement of the plurality of products in the vending machine. In another example, the product array 304 may include a plurality of vertical stacks each including a plurality of products. In such embodiments, the plurality of products in one vertical stack may be different from the plurality of products in another vertical stack. Further, the vending machine 300 may include a mobile robot 306, guide rails 308, an overhead camera 310, a slider 312, and a delivery door 314. A user may select a product from the product array 304 as a target product.
[034] In some embodiments, the mobile robot 306 may move on a base of the vending machine alongside a periphery of the base. In some embodiments, the periphery of the base may have a non-linear configuration, for example, a circular configuration (as shown in FIG. 2a), or a rectangular configuration (as shown in FIG. 2b), or an elliptical configuration (as shown in FIG. 2c). It may be noted that the mobile robot 306 is configured to dispense a target product from the plurality of products. The mobile robot 306 may include a drive system configured to cause movement of the mobile robot 306 alongside the non-linear periphery, a positioning system configured to position the mobile robot 306 proximate the target product, and a pusher assembly configured to remove the target product from respective position and dispense the target product.
[035] The drive system of the mobile robot 306 may include an electric drive motor and a battery to power the electric drive motor. In an embodiment, the mobile robot 306 may include two drive wheels and a support caster wheel for navigation. The drive wheels may be guided by two guide rails 308 on a track alongside the non-linear periphery on the base of the vending machine. The guide rails 308 ensure that the mobile robot 306 is on the track and aid in overcoming path planning problems. The guide rails 308 may restrict movement of the mobile robot 306 along the track. Additionally, the guide rails 308 may keep the mobile robot 306 in proximity of the overhead camera 310.
[036] Further, the mobile robot 306 may include an on-robot camera 316. The on-robot camera 316 may be used to scan a QR code 318 associated with the product array 304. The QR code 318 may provide information about products in the product array 304 and location of the product 302. In some embodiments, the QR code 318 may be used as a beacon to position the mobile robot 306 near the product array 304.
[037] In one embodiment, the overhead camera 310 may capture an image of the plurality of product arrays of the vending machine 300 prior to the user selecting a target product. In such an embodiment, the image of the product array may be used as a map to identify location of the target product in the vending machine. Further, the overhead camera 310 may track position of the mobile robot 306 on the track in real-time and may guide the mobile robot 306 to be proximate to the target product.
[038] In another embodiment, the overhead camera 310 may scan the plurality of product arrays and locate the target product in real-time upon receiving a corresponding request from the user. Further, the overhead camera 310 may track position of the mobile robot 306 on the track in real-time and may guide the mobile robot 306 to be proximate to the target product.
[039] In yet another embodiment, the on-robot camera 316 of the mobile robot 306 may scan the product array to locate the target product in real-time, as the mobile robot 306 moves across the plurality of products in the product array.
[040] Further, the mobile robot 306 may include a pusher assembly 320. When the mobile robot 306 reaches the product array 304, a pusher assembly 320 configured to push the target product out of the product array 304 may be activated. In an embodiment, the pusher assembly 320 may include a set of linear actuators arranged in a sequential order. In such an embodiment, upon positioning the pusher assembly proximate the target product, one or more linear actuators may be activated, based on the product dimension, to push and remove the target product from its respective position. The number of linear actuators activated may depend on the number of linear actuators needed to push and remove the target product. Alternately, the pusher assembly 320 may include at least one linear actuator. In such an embodiment, upon positioning the pusher assembly 320 proximate to the target product, the at least one linear actuator may push and remove the target product from associated position.
[041] The product array 304 may include openings at bottom on both sides (one side facing the mobile robot 306 and other side facing delivery tray). The mobile robot 306 may push the target product at the bottom of the product array 304 towards the delivery tray. The delivery tray may include the slider 312. The sider 312 may enable the target product to slide and reach near the delivery door 314. When the target product reaches the delivery door 314, the delivery door 314 is activated. The user may then open the delivery door 314 to collect the target product.
[042] Referring now to FIG. 4, a front schematic view of a vending machine 400 is illustrated, in accordance with another embodiment of the present disclosure. The vending machine 400 may include a plurality of products (such as, a product 402) arranged in a product cabin 404. In some embodiments, the vending machine 400 may include a plurality of such product cabins, each including a stock of a product. In such embodiments, the plurality of products in one product cabin may be different from the plurality of products in another product cabin. Further, the vending machine 400 may include a mobile robot 406, guide rails 408, an overhead camera 410, a slider 412, and a delivery door 414. A user may select a product from one of the plurality of product cabins as a target product.
[043] The mobile robot 406 may include an on-robot camera 416, a lifter 418, and a pusher assembly 420. The lifter 418 may lift the on-robot camera 416 and the pusher assembly 420 to position them in proximity to a target product cabin. In an embodiment, the lifter 418 and the pusher assembly 420 may use same type of linear actuation mechanism with vertical and horizontal orientation arrangements, respectively. When the lifter 418 positions the mobile robot 406 in proximity to the target product cabin, the on-robot camera 416 may verify whether the proximate product cabin is the target product cabin through a QR code, a barcode, or any other identity associated with the proximate product cabin. Further, upon successful verification, the pusher assembly 420 may be activated to push the target product out of the target product cabin towards the delivery door 414.
[044] For example, the target product cabin may include openings on both sides (one side facing the mobile robot 406 and other side facing delivery tray). The mobile robot 406 may push the target product from the target product cabin towards the delivery tray. The delivery tray may include the slider 412. The sider 412 may enable the target product to slide and reach near the delivery door 414. When the target product reaches the delivery door 414, the delivery door 414 is activated. The user may then open the delivery door 414 to collect the target product.
[045] Referring now to FIG. 5, a front schematic view of a vending machine 500 is illustrated, in accordance with an embodiment of the present disclosure. The vending machine 500 may include a plurality of products (such as, a product 502) arranged in a product cabin 504. In some embodiments, the vending machine 500 may include a plurality of such product cabins, each including a stock of a product. In such embodiments, the plurality of products in one product cabin may be different from the plurality of products in another product cabin. Further, the vending machine 500 may include a mobile robot 506, guide rails 508, an overhead camera 510, a slider 512, and a deliver door 514. A user may select a product from one of the plurality of product cabins as a target product.
[046] Further, the vending machine 500 may include a delivery cabin 516 positioned on a platform along same vertical axis as the plurality of product cabins. The delivery cabin 516 may be bottom-most cabin among the plurality of product cabins in the vending machine 500. The mobile robot 506 may include an on-robot camera 518, a lifter 520, and a gripper 522 coupled with a gripper arm 524. The lifter 520 may lift the on-robot camera 518 and the gripper 522 coupled with the gripper arm 524 in proximity to a target product cabin. In an embodiment, the lifter 520 and the gripper arm 524 may use same type of linear actuation mechanism with vertical and horizontal orientation arrangements, respectively.
[047] When the lifter 520 positions the mobile robot 506 in proximity to the target product cabin, the on-robot camera 518 may verify whether the proximate product cabin is the target product cabin through a QR code, a barcode, or any other identity associated with the proximate product cabin. Further, upon successful verification, the gripper arm 524 may move the gripper 522 towards the target product in the target product cabin. Further, the gripper 522 may pick up the target product from the target product cabin. Further, the lifter 520 may move the gripper 522 back in proximity to the delivery cabin 516. Further, the gripper 522 may place the target product in the delivery cabin 516.
[048] The delivery cabin 516 may include openings on both sides (one side facing the mobile robot 506 and other side facing delivery tray). The delivery cabin 516 may move the target product towards the delivery tray. The delivery tray may include the slider 512. The sider 512 may enable the target product to slide and reach near the delivery door 514. When the target product reaches the delivery door 514, the delivery door 514 is activated. The user may then open the delivery door 514 to collect the target product.
[049] As will be appreciated, the use of the gripper 522 enables the target product to be picked up and placed in the delivery cabin 516 safely, thereby, avoiding falling of the target product from the target product cabin to the delivery tray which may cause damage to fragile products (such as, bottled beverages, liquid items packed in a tetra pack, etc.). Additionally, the gripper 522 may provide liberty to place the delivery cabin 516 at any accessible region. Further, the gripper 522 may make installation of the delivery tray much accessible to the user (for example, when the delivery tray is installed at top or middle region of the vending machine rather than at bottom region of the vending machine).
[050] Referring now to FIG. 6, a block diagram of an exemplary system 600 for vending a product is illustrated, in accordance with some embodiments of the present disclosure. The system 600 may be implemented in a vending machine (such as, the vending machine 100). The system 600 may include a processing unit 602, a mobile robot 604, an overhead camera 606, a network interface 608, a user interface (UI) 610, a payment interface 612, and a delivery door control unit 614. The mobile robot 604 may include a drive system 616, an on-robot camera 618, a lifter 620, and a pusher assembly 622. In an embodiment, the processing unit 602 may be wirelessly coupled with the mobile robot 604 and may be coupled over a wired connection with the overhead camera 606, the network interface 608, the UI 610, the payment interface 612, and the delivery door control unit 614.
[051] The vending machine may include a plurality of products arranged in a product array. A user may interact with the vending machine implementing the system 600 using the UI 610. The user may provide a type and a quantity corresponding to a target product from the product array through the UI 610. In the product array, the plurality of products may extend vertically from a base of the vending machine and the product array may be defined along a periphery, for example a non-linear periphery on the base. Further, the processing unit 602 may determine a stock availability of the target product through the overhead camera 606 and may initiate refilling of stock through the network interface 608. The network interface 608 may transmit and receive signals over a network 624.
[052] Further, the processing unit 602 may calculate a bill amount for the user upon verifying the stock availability. The payment interface 612 may display the bill amount to the user. Further, the payment interface 612 provides a prompt notification for mode of payment (for example, cash, debit card, credit card, internet banking, mobile banking, digital wallets, UPI, or the like). Further, the payment interface 612 initiates a corresponding payment service based on the mode of payment selected by the user. In an embodiment, the payment interface 612 may include a cash collector and a card reader. The cash collector may collect cash and the card reader may be installed to receive payment through various cards (such as, debit cards or credit cards). In some embodiments, an encrypted Quick Response (QR) code is displayed on the UI 610 to avail a Unified Payment Interface (UPI)-based payment services. Upon receiving payment from the user, the mobile robot 604 may be activated to deliver the target product near the delivery door.
[053] The mobile robot 604 may move along the track in the vending machine through the drive system 616. In an embodiment, the drive system 616 may include a pair of drive wheels configured to engage with the track and cause movement of the mobile robot 604 on the track. Further, the drive system 616 may include a support caster wheel configured to engage with the track and cause turning of the mobile robot 604 on the track alongside the non-linear periphery of the product array. The movement of the mobile robot 604 may be guided by the overhead camera 606.
[054] In one embodiment, the overhead camera 606 may capture an image of the product array prior to the user selecting a target product. In such an embodiment, the image of the product array may be used as a map to identify location of the target product in the vending machine. Further, the overhead camera 606 may track position of the mobile robot 604 on the track in real-time and may guide the mobile robot 604 to be proximate to the target product.
[055] In another embodiment, the overhead camera 606 may scan the product array and locate the target product in real-time upon receiving a corresponding request from the user. Further, the overhead camera 606 may track position of the mobile robot 604 on the track in real-time and may guide the mobile robot 604 to be proximate to the target product.
[056] In yet another embodiment, the overhead camera 606 may not be required in the vending machine. In such an embodiment, the on-robot camera 618 of the mobile robot 604 may scan the product array to locate the target product in real-time, as the mobile robot 604 moves across the plurality of products in the product array.
[057] The on-robot camera 618 may scan an identification code (such as, a QR code, a bar code, etc.) provided on each product positioned in the product array, as the mobile robot 604 moves across the plurality of products in the product array. Further, upon successfully identifying the target product, the lifter 620 may cause vertical movement of the on-robot camera 618 and the pusher assembly 622 to position the pusher assembly 622 proximate the target product. In an embodiment, the pusher assembly 622 may include at least one linear actuator. Upon positioning the pusher assembly 622 proximate the target product, the at least one linear actuator may push and remove the target product from its respective position. In another embodiment, the pusher assembly may include a set of linear actuators arranged in a sequential order. Upon positioning the pusher assembly proximate the target product, based on the product dimension, at least one of the set of linear actuators is activated to push and remove the target product from its respective position. The target product is pushed towards delivery door of the vending machine. The user may then collect the target product from the delivery door.
[058] It may be noted that in some embodiments, the pusher assembly 622 may include a gripper assembly (not shown in the figure). In such embodiments, the gripper assembly may include a gripper to pick up the target product and place the target product in a delivery cabin. The target product is pushed towards delivery door of the vending machine from the delivery cabin. The user may then collect the target product from the delivery door.
[059] As will be appreciated by one skilled in the art, a variety of processes may be employed for vending a product. For example, the exemplary system 600 may dispense a product by the processes discussed herein. In particular, as will be appreciated by those of ordinary skill in the art, control logic and/or automated routines for performing the techniques and steps described herein may be implemented by the system 600 either by hardware, software, or combinations of hardware and software. For example, suitable code may be accessed and executed by the one or more processors on the system 600 to perform some or all of the techniques described herein. Similarly, application specific integrated circuits (ASICs) configured to perform some or all of the processes described herein may be included in the one or more processors on the system 600.
[060] Referring now to FIG. 7, a detailed exemplary method 700 for vending a product through a vending machine (such as, the vending machine 100) is depicted via a flowchart, in accordance with some embodiments of the present disclosure. The method 700 may include getting the list of products, at step 702. Further, for each of the list of products received, a check may be performed at step 704 of the method 700 to determine whether a product is available. When the product is not available, the method 700 may include prompting for the unavailable product, at step 706. When the product is available, the method 700 may include getting the product location, at step 708.
[061] Additionally, the method 700 may include getting current robot location, at step 710. Further, the method 700 may include planning the robot movement, at step 712. The planning may include determining left or right movements of the robot (for example, the mobile robot 106) based on the product location and the current robot location.
[062] Further, the method 700 may include moving the robot, at step 714. The robot may be moved based on the planning. Further, a check may be performed at step 716 of the method 700 to determine whether the robot reached target destination (i.e., location of the target product). When the robot is not at the target destination, the movement of the robot based on the planning may continue. When the robot is at the target destination, the method 700 may include stopping the robot, at step 718. Further, the method 700 may include activating pusher (such as, the pusher assembly 320) to push the product, at step 720.
[063] Further, a check may be performed at step 722 of the method 700 to determine whether required number of products are pushed. When the required number of products are not pushed, the pusher may keep pushing the product. When the required number of products are pushed, a check may be performed at step 724 of the method 700 to determine whether each of the list of products are delivered to the user. When each of the list of products are not delivered to the user, the method 700 may include getting location of next product (similar to the step 708 performed for obtaining location of current product). Further, the method 700 may repeat the steps 710 – 724 for the next product. When each of the list of products are delivered to the user, the method 700 may include opening the delivery door, at step 726.
[064] Referring now to FIG. 8, an exemplary method 800 for vending a product through a vending machine (such as, the vending machine 100) is depicted via a flowchart, in accordance with some embodiments of the present disclosure. The method 800 may include obtaining, using an overhead imaging device (such as, the overhead camera 310), position and identity of each of the plurality of products in the product array to create a product map of the plurality of products in the product array, at step 802. Further, the method 800 may include determining a stock availability of each product, at step 804. Further, the method 800 may include generating a notification for indicating a status of the stock availability of each product, at step 806.
[065] Further, the method 800 may include receiving an input from a user for dispensing a target product, at step 808. The target product may be one of a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a non-linear periphery on the base.
[066] Further, the method 800 may include determining a position of the target product in the product array, at step 810. Further, upon receiving the input for dispensing the target product, the step 810 of the method 800 may include mapping the target product with the product map, at step 812. Further, the step 810 of the method 800 may include determining the position of the target product in the product array based on the mapping, at step 814.
[067] Further, the method 800 may include causing a mobile robot (for example, the mobile robot 306) to move on the base alongside the periphery of the product stack, at step 816. Further, the step 816 of the method 800 may include obtaining, using the overhead imaging device, a current position of the mobile robot on the track, at step 818. Further, the step 816 of the method 800 may include causing to move the mobile robot to a position on the track corresponding to the position of target product, at step 820. Further, the method 800 may include positioning the mobile robot at a position on the track corresponding to the target product, at step 822.
[068] Further, the method 800 may include causing a pusher assembly (for example, the pusher assembly 320) of the mobile robot to remove the target product from respective position of the target product to dispense the target product, at step 824. Further, upon moving the mobile robot to the position corresponding to the target product, the step 824 of the method 800 may include signalling a lifter to cause vertical movement of an on-robot camera and the pusher assembly, at step 826. The on-robot camera may be configured to scan an identification code provided on each product positioned in the product array, as the mobile robot moves across the plurality of products in the product array.
[069] Further, the step 824 of the method 800 may include detecting, using the on-robot camera, the target product during the vertical movement of the on-robot camera and the pusher assembly, at step 828. Further, the step 824 of the method 800 may include positioning the pusher assembly proximate the target product, based on the detection, at step 830. Further, at least one linear actuator of the pusher assembly may cause the pusher assembly to push and remove the target product from its respective position. Alternately, at least one gripper (for example, the gripper 522) may grip the target product and remove the target product from its respective position.
[070] By way of an example, the vending machine 100 may create a product map corresponding to each of a plurality of product arrays in the vending machine. Further, upon receiving a user request for dispensing a target product that is available in the product array 104, the vending machine 100 may determine a location of the target product on the product map. Further, the vending machine 100 may initiate a movement of the mobile robot 106 towards the product array 104. The movement may be monitored by an overhead camera. Upon reaching in proximity to the product array 104, an on-robot camera installed on the mobile robot 106 may verify the identity of products present in the product array 104. Upon successful verification, a pusher assembly of the mobile robot 106 may push and remove the target product from the product array 104. The target product may be made available to the user via the delivery door 108.
[071] As will be also appreciated, the above described techniques may take the form of computer or controller implemented processes and apparatuses for practicing those processes. The disclosure can also be embodied in the form of computer program code containing instructions embodied in tangible media, such as floppy diskettes, solid state drives, CD-ROMs, hard drives, or any other computer-readable storage medium, wherein, when the computer program code is loaded into and executed by a computer or controller, the computer becomes an apparatus for practicing the invention. The disclosure may also be embodied in the form of computer program code or signal, for example, whether stored in a storage medium, loaded into and/or executed by a computer or controller, or transmitted over some transmission medium, such as over electrical wiring or cabling, through fiber optics, or via electromagnetic radiation, wherein, when the computer program code is loaded into and executed by a computer, the computer becomes an apparatus for practicing the invention. When implemented on a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.
[072] The disclosed methods and systems may be implemented on a conventional or a general-purpose computer system, such as a personal computer (PC) or server computer.
[073] Thus, the disclosed vending machine try to overcome the technical problem of vending a product. The vending machine may provide a significant reduction in number of actuators required in vending machines, which may enable cost reduction, lesser maintenance, and increased reliability. Further, the vending machine may use mobile robots to allow for shape variations in vending machines to accommodate products in a given space. Further, the vending machine may include a mobile robot that may not be under restrictions in workspace and may enable scalability to accommodate more products. Further, the vending machine may accommodate a plurality of products with dimensional variations. Further, the vending machine may use a computer vision system that may eliminate a need for several sensors (such as, position sensor).
[074] As will be appreciated by those skilled in the art, the various embodiments discussed above are not routine, or conventional, or well understood in the art. The embodiments discussed above provide for a vending machine. The embodiments use a single mobile robot that may transport actuator to products that need to be delivered to a user. In conventional vending machines, stepper motor-based actuator is used for every product and the number of actuators required with the increase in products. Use of actuators with similar configurations may limit products to have dimensional variations, i.e., products with similar dimensions may only be accommodated in the vending machines. The embodiments further implement computer vision techniques with an overhead camera for inventory management, stock verifications, robot positioning, fault detection, etc. The embodiments further provide for mobile robot-based vending machines with a base that may be non-linear (for example, circular, rectangular, elliptical, etc.).
[075] In light of the above mentioned advantages and the technical advancements provided by the disclosed method and system, the claimed steps as discussed above are not routine, conventional, or well understood in the art, as the claimed steps enable the following solutions to the existing problems in conventional technologies. Further, the claimed steps clearly bring an improvement in the functioning of the device itself as the claimed steps provide a technical solution to a technical problem.
[076] The specification has described a vending machine and a method of vending a product. The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope and spirit of the disclosed embodiments.
[077] Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, nonvolatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media.
[078] It is intended that the disclosure and examples be considered as exemplary only, with a true scope and spirit of disclosed embodiments being indicated by the following claims.

CLAIMS

WE CLAIM:

1. A vending machine comprising:
a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a non-linear periphery on the base; and
a mobile robot configured to move on the base alongside the periphery and dispense a target product from the plurality of products, the mobile robot comprising:
a drive system configured to cause movement of the mobile robot alongside the periphery;
a positioning system configured to position the mobile robot proximate the target product of the plurality of products; and
a pusher assembly configured to remove the target product from respective position and dispense the target product.

2. The vending machine as claimed in claim 1 further comprising:
a track provided on the base alongside the periphery of the product array, wherein the mobile robot is configured to move on the track.

3. The vending machine as claimed in claim 2, wherein the drive system of the mobile robot comprises:
a pair of drive wheels configured to engage with the track and cause movement of the mobile robot on the track; and
a support caster wheel configured to engage with the track and cause turning of the mobile robot on the track alongside the non-linear periphery of the product array.

4. The vending machine as claimed in claim 1 further comprising:
an overhead imaging device communicatively coupled to the mobile robot, wherein the overhead imaging device is configured to:
obtain and store position of each of the plurality of products in the product array;
continuously obtain a position of the mobile robot on the track; and
cause to move the mobile robot at a position on the track corresponding to the target product.

5. The vending machine as claimed in claim 1, wherein the positioning system of the mobile robot further comprises:
an on-robot camera configured to scan an identification code provided on each product positioned in the product array, as the mobile robot moves across the plurality of products in the product array.

6. The vending machine as claimed in claim 5, wherein the mobile robot further comprises:
a lifter to cause vertical movement of the on-robot camera and the pusher assembly,
wherein upon moving the mobile robot at the position on the track corresponding to the target product, the lifter is to cause vertical movement of the on-robot camera and the pusher assembly to position the pusher assembly proximate the target product.

7. The vending machine as claimed in claim 6, wherein the pusher assembly comprises:
at least one linear actuator,
wherein upon positioning the pusher assembly proximate the target product, the at least one linear actuator is to push and remove the target product from its respective position.

8. The vending machine as claimed in claim 6, wherein the pusher assembly comprises:
a set of linear actuators arranged in a sequential order,
wherein upon positioning the pusher assembly proximate the target product, based on the product dimension, one or more of the set of linear actuators are activated to push and remove the target product from its respective position.

9. A vending machine comprising:
a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a periphery on the base;
a mobile robot configured to move on the base alongside the periphery;
a processor coupled to the mobile robot; and
a memory coupled to the processor, wherein the memory is configured to store a plurality of instructions, which upon execution by the processor, cause the processor to:
receive an input from a user for dispensing a target product;
determine a position of the target product in the product array;
cause the mobile robot to move on the base alongside the periphery of the product stack and position the mobile robot at a position on the track corresponding to the target product; and
cause a pusher assembly of the mobile robot to remove the target product from respective position of the target product to dispense the target product.

10. The vending machine as claimed in claim 9, wherein the product array is defined along a non-linear periphery on the base.

11. The vending machine as claimed in claim 10, wherein the plurality of instructions further cause the processor to:
obtain, using an overhead imaging device, position and identity of each of the plurality of products in the product array to create a product map of the plurality of products in the product array;
determine a stock availability of each product; and
generate a notification for indicating a status of the stock availability of each product.

12. The vending machine as claimed in claim 11, wherein the plurality of instructions further cause the processor to:
upon receive the input for dispensing the target product, map the target product with the product map; and
determine the position of the target product in the product array based on the mapping.

13. The vending machine as claimed in claim 12, wherein the plurality of instructions further cause the processor to:
obtain, using the overhead imaging device, a current position of the mobile robot on the track; and
cause to move the mobile robot to a position on the track corresponding to the position of target product.

14. The vending machine as claimed in claim 13, wherein the plurality of instructions further cause the processor to:
upon moving the mobile robot to the position corresponding to the target product, signal a lifter to cause vertical movement of an on-robot camera and the pusher assembly, wherein the on-robot camera is configured to scan an identification code provided on each product positioned in the product array, as the mobile robot moves across the plurality of products in the product array;
detect, using the on-robot camera, the target product during the vertical movement of the on-robot camera and the pusher assembly; and
position the pusher assembly proximate the target product, based on the detection.

15. The vending machine as claimed in claim 14, wherein the plurality of instructions further cause the processor to:
cause at least one linear actuator of the pusher assembly to push and remove the target product from its respective position.

16. The vending machine as claimed in claim 14, wherein the plurality of instructions further cause the processor to:
cause at least one gripper to grip the target product and remove the target product from its respective position.

17. The vending machine as claimed in claim 10, further comprising:
an opening defined in the base to receive the product removed by the pusher assembly; and
a slider positioned below the opening and configured to slide the removed product target and transfer to a delivery door to be collected by a user.

18. A method of vending a product through a vending machine, the method comprising:
receiving, by the vending machine, an input from a user for dispensing a target product, wherein the target product is one of a plurality of products positioned in a product array extending vertically from a base of the vending machine, the product array defined along a non-linear periphery on the base;
determining, by the vending machine, a position of the target product in the product array;
causing, by the vending machine, a mobile robot to move on the base alongside the periphery of the product stack and positioning the mobile robot at a position on the track corresponding to the target product; and
causing, by the vending machine, a pusher assembly of the mobile robot to remove the target product from respective position of the target product to dispense the target product.