CN111148607A

CN111148607A - System and method for item delivery by mobile robot

Info

Publication number: CN111148607A
Application number: CN201880059740.9A
Authority: CN
Inventors: 阿赫蒂·海因拉; 安蒂·维拉纳; 安蒂·梅凯莱; 伊姆雷·泰雷斯; 卡勒-拉斯穆斯·沃尔科夫; 基蒂·马梅尔; 劳里·瓦因; 马迪斯·梅里莱; 马库斯·齐默尔曼; 瓦胡尔·拉斯; 卡德里·帕里卡斯
Original assignee: Starship Technologies OU
Current assignee: Starship Technologies OU
Priority date: 2017-09-15
Filing date: 2018-09-13
Publication date: 2020-05-12

Abstract

A mobile robot configured to sell consumer goods is disclosed. The invention also discloses a system configured for vending consumer goods, the system comprising a mobile robot, a vending terminal, and a server in communication with each of the mobile robot and the vending terminal. The invention also discloses a method for selling consumer goods using the mobile robot. A method for on-demand consumer product delivery by a mobile robot is also disclosed.

Description

System and method for item delivery by mobile robot

Technical Field

The present invention relates to a robot for delivering items to a consumer. More particularly, the present invention relates to on-demand delivery of specific items, such as consumer products.

Background

On-demand product delivery is a rapidly growing modern industry. Consumers often wish to have meals, beverages, snacks or other consumable items delivered to them at their convenience. Many courier services or delivery services offer delivery at a price in a short period of time. More recently, the delivery process has become increasingly automated, including increasingly the use of delivery robots that are configured to travel at least partially automatically to deliver items to delivery recipients.

On the other hand, consumers often wish to purchase items such as snacks or beverages on the fly. For example, consumers often turn to the convenience of vending machines that are available at any time and provide a limited number of consumer-attractive consumer products. Many types of vending machines are known in the art, but these are typically stationary (some vending machines include wheels for ease of installation and replacement of the machine).

Us patent application 2004/0256872 discloses a mobile vending unit having a loading space for storing and/or displaying products. The loading space is accessible through two open doors, which are located on the side walls and the rear wall of the loading space, respectively.

That is, the above application essentially discloses a vending machine or vending system that can be easily moved from one location to another.

Us patent 9,250,003 discloses a robotic refrigerator and a robotic refrigerator system. The robotic refrigerator is remotely controlled. The robot refrigerator generates image information from the surrounding image and transmits the generated image information to the wireless communication apparatus. The wireless communication device remotely controls the robot refrigerator in real time or monitors or remotely controls the robot refrigerator in real time, so that the robot refrigerator easily avoids obstacles, thereby minimizing the moving time of the robot refrigerator. Therefore, user convenience and system reliability are improved.

Although the present application discloses the obstacle detection module briefly, no details are given and the invention is intended to be used indoors, possibly at home.

Disclosure of Invention

In view of the above, it is an object of the present invention to provide an apparatus, system and method intended to provide vending services to consumers. It is another or alternative object of the present invention to disclose a mobile robot comprising a pre-loaded item to be sold to a consumer upon request of the consumer.

In a first embodiment, a mobile robot configured for vending consumer goods is disclosed. The mobile robot includes: a moving base; a body including an item space; a plurality of support elements located in the item space and configured to support consumer goods; and an item sensor configured to detect the presence of a consumer item supported by each of the support elements.

The movable base of the robot may include a frame to which wheels are attached. Multiple motors may be provided to allow the robot to propel itself. The robot may comprise a different number of wheels, for example two to ten wheels. Preferably, the robot may comprise four to eight wheels, for example six wheels.

The body of the robot may comprise a plastic or metal reinforced plastic material. Other materials are also possible. The object space is preferably located inside the robot, surrounded on four sides by the body, on the bottom by the frame or another part of the body, and preferably covered by a cover on the top. However, different arrangements of the article spaces, such as side covers, are also possible.

The mobile robot may be an autonomous robot or a semi-autonomous robot configured for ground-based travel. Note that as used herein, the term autonomous or semi-autonomous robot may be used to denote any level of automation, depending on the task the robot performs. That is, for most tasks, the robot may be adapted to run autonomously or semi-autonomously, but for some other tasks the robot may also be controlled remotely. The robot will then be non-autonomous during the control and again autonomous and/or semi-autonomous when no longer controlled. For example, the robot may employ any level of automation defined by the Society of Automotive Engineers (SAE), i.e., the levels given below.

Level 0-no automation

Level 1 driver assistance

Level 2-partial automation

Level 3-conditional automation

Level 4-height automation

5 th-full automation

Although these levels are often referred to as vehicles, such as automobiles, they may also be used in the context of mobile robots. That is, the 0 th stage may correspond to a remote terminal that completely controls the robot. Levels 1 through 4 may correspond to remote terminals that partially control, i.e., monitor, stop, or otherwise assist in the movement of the robot. Level 5 may correspond to a robot that is autonomously driven without being controlled by a remote terminal such as a server or a remote operator (in which case the robot may still communicate with the remote terminal and receive instructions periodically).

In some embodiments, the robot may further comprise at least one insert configured to removably fit into an item space comprising the support element and the item sensor. That is, in such embodiments, the consumer goods may be supported by a support element that is part of the insert. The insert may preferably comprise a plastic structure that can be easily fitted within the item space of the robot and is preferably easily removed from the item space only by authorized persons. That is, the insert may preferably be locked within the object space by means of an electronic and/or mechanical locking element. The advantages of using an insert are: the insert may be optimized for the consumer product being sold without the need to optimize the entire mobile robot in this manner. In other words, the item space of the mobile robot may be used to carry any item for any purpose (e.g., packages for package delivery, take-away food, newspapers, grocery delivery, and other purposes), while the insert may be specifically manufactured in a manner that allows the mobile robot to be easily used as a mobile vending machine, preferably as an on-demand vending machine. By using inserts for this purpose, the mobile robot can be quickly changed from a mobile robot optimized specifically for vending to a general mobile robot having a space for carrying items. Note that a plurality of inserts may also be fitted in one article space. For example, two inserts comprising different support elements may be placed in one item space.

In some such embodiments, the insert may include a top surface, and the support element includes a recess in the top surface of the insert (and all the way through the top surface or ceiling of the insert to include the hole). That is, the insert may have a relatively flat surface facing the cover of the mobile robot when the cover is placed on top of the item space. The surface may comprise a recess or aperture in which the consumer product may be placed. This can be very useful because: the consumer goods can be supported by the recess as the mobile robot travels without bouncing around the goods space or insert. The shape and depth of the recess may vary depending on the desired consumer product. For example, for carrying a beverage, the recess may comprise a substantially circular cross-section and be deep enough to support a can or bottle (e.g. at least 5cm, preferably at least 8cm, e.g. at least 10 cm). Alternatively or additionally, for a take-away box, the recess may comprise a generally square and/or rectangular cross-section, possibly tapered, and the recess may comprise a depth sufficient to support the take-away box (e.g. at least 5 cm). Different inserts comprising different types of recesses (or support elements) can be produced. This may also be particularly advantageous for use with removable inserts: the insert can be easily replaced when selling different types of items. An insert may also include different types of recesses for carrying a plurality of different consumer goods. For example, half of the top surface of the insert may include a circular recess for carrying a beverage, while the other half may include a rectangular recess for carrying a snack or chocolate bar.

In some embodiments, the item sensor may comprise a capacitive sensor. That is, the item sensor may include two electrically conductive plates and an integrated or remote processor configured to determine a change in spacing between the plates due to a weight being placed on top of or removed from the plates. In some such embodiments, the article sensor may include a base plate and a plurality of pads, each of the pads including a conductive plate, wherein the base plate serves as a second conductive plate for all of the pads, and each of the pads may be configured to be placed under each of the support elements. In this way, once the consumer goods are placed onto or removed from each of the support elements, the consumer goods press down on the pads under the support elements and affect the spacing between a particular pad and the base plate, resulting in a varying capacitance. In such an embodiment, the support element preferably comprises a recess. In other words, the item sensor may be placed under the end of the recess in the top surface of the insert. The pads may be placed under each of the support elements, respectively, so that removal of the consumer goods or their replacement, respectively, may be detected. Note that the pads may also include the "bottom" or bottom of the recess, and this is felt to be placed "inside" or "as part" of the support element, rather than underneath. This meaning is therefore also part of the disclosure. The base plate may be a solid plate that extends below the pads along the entire surface area of the top surface of the insert (or the portion of the insert that includes the support elements). Having a single chassis may be advantageous because less manufacturing may be required and it may be sufficient to have individual pads for individual support elements to distinguish which consumer product has been removed. The shape of the pads need not correspond exactly to the shape of the support elements (particularly in embodiments where they include recesses), they may have a substantially similar cross-section, but they may include shapes that are easier to manufacture and install.

The pads may be made of different conductive materials, such as copper. The surface area of the pad may be about the same as the surface area or cross-section of the support element. For example, the support element configured to support the beverage may comprise a substantially circular cross-section with a radius between 3cm and 7 cm. The pads may include similar radii, but their shape need not be circular, and their shape may be any shape, such as square, rectangular, and/or another similar shape.

The capacitive sensor may be placed at the bottom of the insert, such that in embodiments where the support element comprises recesses, the sensor may be integrated into or constitute the bottom or bottom surface of these recesses. That is, the consumer product will be placed in the recess and supported on the bottom by the bottom surface, preferably by the pad (note that there may be a buffer surface or other surface between the pad and the consumer product).

Note that each of the pads may comprise an independent capacitive sensor in combination with the backplane, but a plurality of such independent sensors are also referred to herein as item sensors.

The item sensor may also comprise a different sensor or a combination of a capacitive sensor and another sensor. For example, the item sensor may include an infrared sensor. The item sensor may also include a photosensor. It may also include sonar sensors and/or ultrasonic sensors. It may also include mechanical sensors such as switches and/or buttons that are pressed when the consumer product is placed thereon. Preferably, the item sensor comprises a combination of two or more of the above sensors for detecting removed items with a very high accuracy.

In some embodiments, the mobile robot may further include a cover configured to cover the item space. As mentioned above, the lid may be a convenient element to protect the goods space and the consumer goods within the goods space from unauthorized access. The lid may also include an electronic lock that may be opened to provide access to the consumer product to the user or consumer, but remains closed when the robot travels or is on standby without a consumer in the vicinity.

In some such embodiments, the mobile robot may further comprise a lid sensor configured to detect whether the lid is open or closed. The cover sensor may comprise a motion detector, such as an optical sensor, a microwave sensor and/or an acoustic sensor or a combination thereof. In an exemplary embodiment, the cover sensor may include an infrared proximity sensor. The lid sensor may also include a mechanical sensor or may be based on the status of the electronic lock (locked/unlocked). In some such embodiments, the item sensor can only activate when the lid sensor detects that the lid is open. That is, the item sensor may be inactive or not "on" while the robot is traveling, thus experiencing the associated vibration and jerk. This may be advantageous as it may reduce the number of consumer goods that are erroneously detected as being removed from the support element due to the robot shaking while moving.

In some embodiments, the mobile robot may further comprise a second item sensor configured to: at least one of a different consumable supported by a different support element and/or an item different from the consumable supported by the support element is detected.

That is, the second item sensor may be used to detect a consumer item that is removed from the support element and then placed back in a different location and supported by a different support element. The second item sensor may also be used to detect items that were erroneously or intentionally placed in the item space in place of the consumer item. For example, the second item sensor may detect that a user has accidentally or intentionally exchanged a consumable item with their water bottle.

In some such embodiments, the second sensor may comprise a vision camera. That is, such a camera (or cameras) may be used to detect images of the consumer goods supported by the support element. The images can then be processed to extract information indicating which articles are supported by which support elements. For example, if a user removes a soft drink bottle from one of the support elements and replaces it with a water bottle, this may be detected on the image and the user may be notified of their error or intentional replacement.

In some embodiments, the second sensor may be positioned on a side of the cover facing the item space. That is, the second sensor may "look down" the item space when the lid is in the raised position. In other embodiments, the second sensor may be placed on the bottom side of the insert. In this case, if the second sensor comprises a vision camera, the insert may be transparent or comprise a hole.

In a second embodiment, the invention discloses a system configured for vending a consumer product. The system includes a mobile robot, the mobile robot comprising: a moving base; a body including an item space; a plurality of support elements configured to support an article; and an item sensor configured to detect the presence of a consumer item supported by each of the support elements. The system also includes a server and a vending terminal. The server is configured to communicate with the mobile robot and the vending terminal.

The mobile robot may be as described above in the foregoing embodiments and/or below in the description of the figures.

The server may comprise a remote server, such as a cloud server or a collection of servers.

The vending terminal may include a personal computing device (and/or a personal electronic device) configured to communicate with the server. For example, the vending terminal may include a smartphone, tablet computer, wearable computing device (e.g., watch, glasses, contact lens, or other wearable device), and/or laptop computer. Communication with the server may be established, for example, through an interface such as an application. The user of the vending terminal is referred to herein as the user and/or consumer of the mobile robot.

In some embodiments, the mobile robot may further include a communication component configured to communicate with a server. Communication between the server and the robot may be accomplished through a SIM card, a modem, and/or multiple SIM cards, modems, or a combination of both SIM cards and modems located on the mobile robot. That is, the communication means may also comprise a combination of several devices, for example several modems or SIM cards. The robot may receive commands from the server, such as commands to travel to a certain place, commands to open the lid, and other commands. The robot may send server data obtained by its article sensors as well as other on-board sensors, and the server may then relay some of that data to the vending terminal.

The robot and the selling terminal have the advantages of communicating through the server: the server may include a greater computational reserve and may efficiently coordinate such communications.

In embodiments where the mobile robot includes an insert removably secured in the robot's item space, the insert may also include a communication component separate from the communication component of the robot. In this document, "communication means" will refer to the means of the insert, since it will send and receive information directly related to the sale of the item (as opposed to communication means built into the robot that can coordinate navigation and positioning, onboard diagnostics, and other tasks not directly related to the sale of the item).

In some embodiments, the mobile robot may be configured to: access to its item space is allowed based on commands from the server. For example, the server may send a command to the mobile robot to unlock an electronic lock that prevents the lid from being opened.

In some embodiments, the server may be configured to: the mobile robot is instructed to allow access to its item space based on a request from the vending terminal. For example, the server may give such a command when the consumer communicates via the vending terminal that they are ready to retrieve the consumer product from the robot.

In some embodiments, the item sensor may be configured to: detecting the consumer goods removed from the support element while allowing access to the item space. That is, as the user accesses their item space, the item sensor may detect each consumer item removed from each support element and infer therefrom which items the user removed from the mobile robot. In some such embodiments, the robot may be configured to: communicating to the server which consumer items detected by the item sensor have been removed from the support element, the server may be configured to communicate to the vending terminal which consumer items have been removed and the cost of those consumer items.

In some embodiments, the item sensor may be further configured to: any consumer product that is placed back on the support element after being removed is detected. In some such embodiments, the robot may be further configured to: communicating to a server which consumer goods have been placed back to the support element after being removed, the server may be configured to: an updated list of removed consumer goods and their costs is communicated to the vending terminal. This may be advantageous when the user only wants to look at an item more closely and then decides to put it back into the robot without purchasing it.

In a third embodiment, the invention discloses a method of vending a consumer product using a mobile robot. The method includes providing a mobile robot, the mobile robot comprising: a moving base; a body including an item space; a plurality of support elements configured to support an article; and an item sensor configured to detect the presence of a consumer item supported by each of the support elements. The method further comprises the following steps: a plurality of consumer goods are loaded onto a support element of the mobile robot at a first location. The method further comprises the following steps: the mobile robot travels to a second position. The method further comprises the following steps: access to the consumer goods in the goods space of the mobile robot is allowed at the second location. The method further comprises the following steps: the mobile robot uses the item sensor to detect which consumer items have been removed from the support element.

In other words, the method discloses using the mobile robot as an on-demand vending machine. The robot may fill with consumer goods at a first location (which may include a hub, a business, and/or another location), travel to a second location (preferably after a vending terminal used by a user of the vending service requires so), and allow the user to remove the consumer goods in a manner that identifies the removed goods through the goods sensor.

Such mobile on-demand vending services are particularly advantageous because they can save users time and provide convenience that can be used outside of normal operating hours. Mobile robots can be deployed on college campuses, corporate sites, parks, and other public places. When the robot does not travel to the position indicated by the user, the robot may roam or be stationary on a particular trajectory.

The mobile robot may be as described in the embodiments above and below and in the drawings.

In some embodiments, the method may further include providing a server and a vending terminal. The server may be configured to communicate with the mobile robot and the vending terminal. The vending terminal and server may be as described in the embodiments and in the drawings above and below.

In some such embodiments, the method may further comprise: the vending terminal requests the mobile robot to travel to the second location by communicating with the server before the mobile robot travels to the second location. The server may coordinate one or more robots and direct them to navigate to the location indicated by the user. That is, preferably, the mobile robot travels to the second location after being requested to do so by the vending terminal and the request is sent to the server and the server commands the mobile robot to travel to the second location.

In some such embodiments, the method may further comprise: the server directs the mobile robot to travel to the second location before the mobile robot travels to the second location.

In some such embodiments, the method may further comprise: the vending terminal requests access to the item space of the robot from the server, and the server commands the mobile robot to allow access to the item space. That is, when the user encounters the robot at the second location, the user may indicate access to the robot's item space and request that the robot be unlocked so that the user may gain access to the consumer goods. It is preferred to have the robot locked when the robot is idle and/or travelling so that unauthorized persons cannot gain access to the consumable of the robot.

In some such embodiments, the vending terminal and mobile robot may be at the second location when access to the item space is requested. That is, the user may request access to the consumable product, preferably after encountering the robot.

In some embodiments, the method may further comprise: the mobile robot communicates to the server which items have been removed, and the server communicates to the vending terminal which consumer items have been removed and the cost of those consumer items. That is, the robot may use the item sensors to exclusively detect which items the user removed when authorized to access the item space, and forward this information to the server. The server may then present the user with a list of removed items and their costs. Preferably, this is done through an interface such as an application installed on the user's vending terminal. Note that in embodiments where the robot includes a removable insert that may forward data of the item sensor to the server, the insert includes the item sensor and a communication component separate from the communication component of the robot. This is also included herein under "the robot communicates with the server".

In some embodiments, the method may further comprise: an article sensor is used to detect a consumer article that has been replaced on the support element after being removed. For example, a user may remove a consumer product from a mobile robot, but change their mind and replace the consumer product. In this case, the article sensor can detect this. In some such embodiments, the method may further comprise: after the item sensor detects that some of the consumer items have been placed back to the support element, an updated list of removed consumer items and their costs is communicated to the vending terminal. That is, the user will not pay for consumer goods that they take out but subsequently put back on the support element of the robot.

In some embodiments, the item sensor may comprise a capacitance-based sensor that may detect a removed item by measuring a change in capacitance of the capacitive sensor as a result of removal of the consumer item from the support element.

In some embodiments, the article sensor may comprise an infrared sensor that can detect the removed article by measuring changes in light reflected from the consumer article as the consumer article is removed from the support element.

In some embodiments, the mobile robot may further include a second item sensor, and the method may further include: after allowing access to the item space, a second item sensor is used to detect at least one of the different consumer items supported by the different support elements and items different from the consumer items supported by the support elements. As previously mentioned, this may be useful for detecting that the user has replaced the consumer product on a different support element and/or that the user has placed a different item (e.g. a bottle of water instead of a soft drink, or a stone instead of a chocolate bar) on the support element.

In a fourth embodiment, a method for on demand consumer product delivery by a mobile robot is disclosed. The method comprises the following steps: at least one mobile robot is loaded with a plurality of consumer goods at a first location. The method further comprises the following steps: requesting the mobile robot to travel to the second location using the vending terminal. The method further comprises the following steps: the mobile robot travels to a second position. The method further comprises the following steps: access to the consumer goods is requested using the vending terminal. The method further comprises the following steps: the mobile robot allows access to the consumer goods. The method further comprises the following steps: the mobile robot detects one or more consumer goods that have been removed. The method further comprises the following steps: the vending terminal is communicated which consumer products have been removed and the cost of those consumer products.

The robot, server and vending terminal may be as described in the embodiments above and below and in the accompanying drawings.

In some embodiments, the method may further comprise: the mobile robot detects a consumable good that has been placed back to the mobile robot and communicates an updated list of removed consumable goods and their costs to the vending terminal. As mentioned above, this is advantageous because it prevents the user from operating the vending terminal and wishing to pay for consumer goods that they have viewed but placed back into the robot's goods space when purchasing the goods from the mobile robot.

In some embodiments, the method may further comprise: loading at least two mobile robots with a plurality of different consumer goods at a first location; and the vending terminal selecting a desired at least one consumer product from the plurality of different consumer products prior to requesting the mobile robot carrying the desired consumer product to travel to the second location. In other words, there may be multiple mobile robots acting as an on-demand vending machine loaded with different items. The user may then select one of the robots through the vending terminal based on the items carried by the robot and/or the estimated time of arrival of the robot at the user location and/or the second location.

The invention is further defined by the following numbered embodiments.

The following is a list of device embodiments. These device embodiments will be denoted by the letter "a". Whenever such an embodiment is mentioned, this will be done by reference to the "a" embodiment.

A1. A mobile robot (1) configured for vending consumer goods (100), the mobile robot comprising:

a moving base (4); and

a main body (2) including an article space (22); and

a plurality of support elements (12), the plurality of support elements (12) being located in the goods space (22) and configured to support the consumer goods (100); and

an item sensor (30) configured to detect the presence of a consumer item (100) supported by each of the support elements (12).

A2. The mobile robot (1) according to the previous embodiment, further comprising at least one insert (10), said insert (10) being configured to be removably fitted into said item space (22), and wherein said insert (10) comprises said support element (12) and said item sensor (30).

A3. The mobile robot (1) according to the previous embodiment, wherein the insert (10) comprises a top surface and wherein the support element (12) comprises a recess in the top surface of the insert (10).

A4. The mobile robot (1) according to any of the preceding embodiments, wherein the item sensor (30) comprises a capacitive sensor (30).

A5. The mobile robot (1) according to the previous embodiment, wherein the item sensor (30) comprises a base plate (324) and a plurality of pads (322), and wherein,

each of the pads (322) includes a conductive plate, the backplane (324) serving as a second conductive plate for all of the pads; and

each of the pads (322) is configured to be placed under each of the support elements (12).

A6. The mobile robot (1) according to any of the preceding embodiments, further comprising a cover (24) configured to cover the item space (22).

A7. The mobile robot (1) according to the previous embodiment, wherein the mobile robot (1) further comprises a lid sensor (16) configured to detect whether the lid (24) is open or closed.

A8. The mobile robot (1) according to the previous embodiment, wherein the item sensor (30) is activated only when the lid sensor (16) detects that the lid (24) is open.

A9. The mobile robot (1) according to any one of the two preceding embodiments, wherein the cover sensor (16) comprises an infrared proximity sensor.

A10. The mobile robot (1) according to any of the preceding embodiments, further comprising a second item sensor (60) configured to detect at least one of:

different consumer products (100) supported by different support elements (12); and

an article different from the consumer product (100) supported by the support element (12).

A11. The mobile robot (1) according to the previous embodiment, wherein the second sensor (60) comprises a vision camera.

A12. The mobile robot (1) according to any one of the two preceding embodiments and with the features of embodiment a6, wherein the second sensor (60) is placed on the side of the cover (24) facing the goods space (22).

A13. The mobile robot (1) according to any one of embodiments a10 and a11 and having the features of embodiment a2, wherein the second sensor (60) is placed on the bottom side of the insert (10).

The following is a list of system embodiments. These system embodiments will be represented by the letter "S". Whenever such an embodiment is mentioned, this will be done by reference to the "S" embodiment.

S1. a system configured for vending consumer goods, the system comprising:

mobile robot (1) comprising:

a moving base (4); and

a main body (2) including an article space (22); and

a plurality of support elements (12), the plurality of support elements (12) configured to support an article (100); and

an item sensor (30) configured to detect the presence of a consumer item (100) supported by each of the support elements (12); and

a server (200); and

a vending terminal (300); and is

Wherein the server (200) is configured to communicate with the mobile robot (1) and the vending terminal (300).

S2. the system according to the preceding embodiment, wherein the mobile robot further comprises a communication component configured to communicate with the server.

S3. the system according to the preceding embodiment, wherein the communication means comprises at least one of a modem and a SIM card.

S4. the system according to any of the preceding system embodiments, wherein the vending terminal (300) comprises a personal electronic device.

S5. the system according to the preceding embodiment, wherein the vending terminal (300) comprises at least one of a smartphone, a tablet computer, a wearable device, and/or a laptop computer.

S6. the system according to any of the preceding system embodiments, wherein the mobile robot (1) is configured to: based on a command from the server (200), access to an item space (22) of the mobile robot is allowed.

S7. the system according to the preceding embodiment, wherein the server (200) is configured to: commanding the mobile robot (1) to allow access to the mobile robot's item space (22) based on a request from the vending terminal (300).

S8. the system according to any one of the two preceding embodiments, wherein the item sensor (30) is configured to: detecting a consumer product (100) removed from the support element (12) while allowing access to the item space (22).

S9. the system according to the preceding embodiment, wherein the robot (1) is configured to: communicating to the server (200) which consumer goods (100) detected by the item sensor (30) have been removed from the support element (12), and the server (200) is configured to: communicating to the vending terminal (300) which consumer products (100) have been removed and the cost of those consumer products.

S10. the system according to any of the preceding system embodiments, wherein the item sensor (30) is further configured to: detecting any consumer product (100) that is placed back on the support element (12) after removal.

S11. the system according to the preceding embodiment and having the features of embodiment S9, wherein the robot (1) is further configured to: communicating to the server (200) which consumer products (100) are replaced to the support element (12) after being removed, and the server (200) is configured to: communicating an updated list of removed consumer goods (100) and costs of those consumer goods to the vending terminal (300).

The following is a list of method embodiments. These method embodiments will be denoted by the letter "M". Whenever such an embodiment is mentioned, this will be done by reference to the "M" embodiment.

M1. a method for vending consumer goods using a mobile robot (1), the method comprising:

providing the mobile robot (1), the mobile robot (1) comprising:

a moving base (4); and

a main body (2) including an article space (22); and

an item sensor (30) configured to detect the presence of a consumer item (100) supported by each of the support elements (12);

loading a plurality of consumer goods (100) at a first location to a support element (12) of the mobile robot (1); and

the mobile robot (1) travels to a second position; and

-allowing access to the consumer goods (100) in the goods space (22) of the mobile robot (1) at the second location; and

the mobile robot detects which consumer goods (100) have been removed from the support element (12) using the item sensor (30).

M2. the method according to the preceding embodiment, further comprising providing a server (200) and a vending terminal (300), wherein,

the server (200) is configured to communicate with the mobile robot (1) and the vending terminal (300).

M3. the method according to the preceding embodiment, further comprising: before the mobile robot (1) travels to the second position,

the vending terminal (300) requests the mobile robot (1) to travel to the second location by communicating with the server (200).

M4. the method according to the previous embodiment, further comprising: before the mobile robot (1) travels to the second position,

the server (300) instructs the mobile robot (1) to travel to the second location.

M5. the method according to any of the three preceding embodiments, further comprising: the vending terminal (300) requesting access to the robot's item space (22) from the server (200); and the server (200) commands the mobile robot (1) to allow access to the item space (22).

M6., the method according to the preceding embodiment, wherein the vending terminal (300) and the mobile robot (1) are at the second location when access to the space of items (22) is requested.

M7. the method according to any of the preceding four embodiments, further comprising: the mobile robot communicates to the server (200) which items (100) have been removed; and the server (200) communicating to the vending terminal (300) which consumer products (100) have been removed and the cost of those consumer products.

M8. the method of any preceding method embodiment, further comprising: using the article sensor (30) to detect a consumer article (100) which, after being removed, is placed back on the support element (12).

M9. the method according to the preceding embodiment and having the features of embodiment M7, further comprising: -communicating to the vending terminal (300) an updated list of removed consumer goods (100) and costs of these consumer goods after the item sensor (30) detects that some consumer goods (100) have been placed back to the support element (12).

M10. the method according to any of the preceding method embodiments, wherein the item sensor (30) comprises a capacitance-based sensor, and wherein the item sensor (30) detects the removed item by measuring a change in capacitance of the capacitance sensor as a result of removing the consumer item (100) from the support element (12).

M11. the method according to any of the preceding method embodiments, wherein the item sensor (30) comprises an infrared sensor, and wherein the item sensor (30) detects the removed item by measuring a change in light reflected from the consumer item (100) as a result of the consumer item being removed from the support element (12).

M12. the method according to any of the preceding method embodiments, wherein the mobile robot (1) further comprises a second item sensor (60), and wherein the method further comprises: after allowing access to the item space (22), detecting, using the second item sensor (60), at least one of:

A method for on-demand consumer product (100) delivery by a mobile robot (1), the method comprising:

loading at a first location a plurality of consumer goods (100) to at least one mobile robot (1);

requesting the mobile robot (1) to travel to a second location using a vending terminal (300);

-the mobile robot (1) travels to the second position;

requesting access to the consumer goods (100) using the vending terminal (300);

the mobile robot (1) allowing access to the consumer goods (100);

-said mobile robot (1) detecting a consumer product (100) or consumer products (100) that have been removed;

communicating to the vending terminal (300) which consumer products (100) have been removed and the cost of those consumer products.

M14. the method according to the preceding embodiment, further comprising:

the mobile robot (1) detecting a consumer product (100) that has been put back to the mobile robot (1); and

communicating an updated list of removed consumer goods (100) and costs of those consumer goods to the vending terminal (300).

The method according to any of the two preceding embodiments, further comprising: loading at a first location a plurality of different consumer goods (100) to at least two mobile robots (1); and the vending terminal selecting a desired at least one consumer product (100) from a plurality of different consumer products (100) before requesting the mobile robot (1) carrying the desired consumer product (100) to travel to the second location.

Method according to any of the two preceding embodiments, wherein the mobile robot (1) is according to any of the apparatus embodiments a1 to a13.

The present technique will now be discussed with reference to the figures.

Drawings

Fig. 1 depicts an embodiment of a mobile robot 1 configured to carry consumer goods;

fig. 2 depicts an embodiment of an insert 10, the insert 10 being configured to be fitted into the mobile robot 1;

fig. 3 depicts an embodiment of the insert 10 fitted into a removable basket 28, the removable basket 28 being configured to be fitted into the mobile robot 1;

FIG. 4 schematically depicts a side view of the insert 10 assembled within the basket 28;

FIG. 5 schematically depicts a top view of the insert 10 assembled within the basket 28;

fig. 6 schematically depicts different inserts 10 assembled within the mobile robot 1;

fig. 7 depicts another embodiment of the insert 10 assembled within the mobile robot 1;

fig. 8 includes thumbnails a) through u) and depicts an exemplary embodiment of an electronic application configured to enable a user to communicate with the mobile robot 1;

FIG. 9 schematically depicts a system for vending consumer goods;

fig. 10 and 11 show a flow chart schematically outlining the steps of two methods of vending items using the mobile robot 1.

Detailed Description

Fig. 1 schematically depicts an embodiment of a mobile robot 1 configured to carry consumer goods. The mobile robot 1 may comprise a robot configured to travel on the ground. The mobile robot 1 may comprise a mobile frame 4. The frame 4 may comprise a base on the robot on which wheels 42 are mounted. The robot 1 may preferably comprise six wheels 42, but between approximately two and ten wheels is also possible. The robot 1 further comprises a main body 2, the main body 2 preferably being mounted on top of a moving frame 4. The main body 2 may include an article space 22. The article space 22 may be a hollow space surrounded by the main body 2 except for a top opening. However, in other not depicted embodiments, the product space 22 cannot be completely enclosed by the body 2, but has one or more open sides. The cover 24 may be configured to cover the top of the item space 22 such that no item 100 stored and transported within the item space 22 is visible. The lid 24 may also include a lock configured to be electronically locked and unlocked and ensure that no unauthorized persons have access to the item space 22. The mobile robot 1 may also include a signal device 26. The signal device 26 may include a flag or an antenna. A flag or antenna may be used to improve the visibility of the mobile robot 1 when the mobile robot 1 traverses an outdoor environment.

The mobile robot 1 may also comprise a plurality of context aware sensors 6. Such sensors 6 may include vision cameras, ultrasonic sensors, time-of-flight cameras, lidar sensors, and other similar sensors. They may be configured to: allowing the mobile robot 1 to sense its surroundings and make different navigation or other decisions based thereon. In addition to this, the mobile robot 1 preferably comprises purely "navigation" sensors (not shown in the figures), such as accelerometers, GPS sensors, altitude sensors, dead reckoning sensors and other similar sensors.

The mobile robot 1 may further comprise an insert 10, which insert 10 may be configured to be fitted into the object space 22 of the robot. The insert 10 may include a support element 12. For example, the support element 12 may include a cavity or recess. Support member 12 is configured to support article 100. Preferably, each support element 12 is configured to support one article 100. The insert 10 preferably comprises a plurality of support elements 12, for example between eight and forty support elements 12, preferably between ten and thirty support elements 12.

A mobile robot 1 as described in the present disclosure may be used to carry a plurality of consumer goods 100 that may be purchased. In other words, the robot 1 may be used as an intelligent and mobile vending machine. In one example, robot 1 (or multiple robots) may remain stationary at a critical location or travel around a location or area (such an area may include an environment such as a park, campus, public place, or the like) until required by a consumer to reach a particular location. The request may be accomplished, for example, through an electronic application on the personal device (e.g., an application on a smartphone, tablet, or other personal electronic device). Such exemplary electronic applications are discussed in more detail in the description of fig. 8a) to 8 w).

A potential consumer can see through the electronic application which consumer products 100 the robot 1 carries and select a suitable robot with the desired consumer product 100 if multiple robots 1 carrying different consumer products 100 are available in the area of the consumer. The customer may then also specify the time and location at which they want to encounter robot 1. The robot may then travel to this location, and the consumer may access the item space 22 of the robot including the insert 12 with the consumer item 100 (e.g., unlock the electronic lock through an application on a smart phone).

The consumer may remove one or more consumer products 100 that they want to purchase. The robot 1 may detect which items have been removed (as discussed in more detail in the description of fig. 4 and 5) and automatically charge the consumer for these items via the electronic application. The robot 1 may then resume its standby mode, which may either remain stationary at a particular location (not necessarily the same as before) or roam around an area.

A second item sensor 60 is also depicted in fig. 1. Second item sensor 60 may include a camera, such as an image camera. Second item sensor 60 may be placed on the underside of lid 24, closest to item space 22. It may also be placed on the underside of the insert 10, facing upwardly towards the lid 24. Second item sensor 60 may be used to more accurately detect which items have been removed from support member 12 and which items have been replaced. For example, if a user picks up a consumer product 100 from a particular support element 12 and then places it in another support element 12, second product sensor 60 may detect this. In another example, if a user picks up consumer product 100 and replaces it with another item, such as a user's water bottle in a corresponding support element 12, second item sensor 60 may detect this. Second item sensor 60 may identify the color and identity of consumer product 100.

Fig. 2 depicts an embodiment of the insert 10. The depicted insert 10 includes sixteen support elements 12, shown in the figures as substantially cylindrical recesses 12. Such a support element 12 is particularly useful for supporting beverages in cans, bottles or cups. The insert 10 may be removably secured in the robot's item space 22. This can be done, for example, by means of the fixing element 14. The securing element 14 may include a solenoid lock that may be unlocked when the insert 10 is removed from the item space 22 (but not by a consumer wishing to purchase the consumer product 100). The insert 10 also includes a top surface 18. The top surface 18 is preferably a smooth surface including the recesses 12. The top surface 18 of the insert 10 is visible when the insert 10 is fixed within the mobile robot 1. When the insert 10 is secured within the mobile robot 1, the top surface 18 is located closest to the cover 24 of the mobile robot 1. As shown in fig. 1, 6 and 7, the support elements 12 may also comprise different shapes and numbers.

Fig. 3 depicts the insert 10 placed in the basket 28. The basket 28 is also optionally placed in the goods space 22 of the mobile robot 1. The insert 10 is then removably secured to the basket 28. This may be practical for situations where the mobile robot 1 is used for other purposes than for consumer goods vending, such as item delivery. In such a case, the removable basket 28 may be a standard basket used with the robot 1, and the inserts 10 are inserted as needed for vending purposes.

Fig. 4 schematically depicts an embodiment of the insert 10 placed within the basket 28. As previously mentioned, the basket 28 is entirely optional. The insert 10 is shown in side view. The support element 12 is shown in cross-section. One of the support elements 10 supports (or holds) a consumer product 100, the consumer product 100 being depicted here as a bottle 100. A lid sensor 16 is shown. The cover sensor 16 may detect whether the cover 24 of the robot 1 is open or closed. The cover sensor 16 may be useful because the cover sensor 16 may be used to discard any false detections of item removal when the robot 1 is traveling and experiencing vibration or jerk due to uneven surfaces or acceleration.

Fig. 4 also schematically depicts an embodiment of an item sensor 30. The article sensor 30 may sense the presence of an article 100 supported by the support element 12. The item sensor 30 may include one sensor or a plurality of sensors. Preferably, the item sensors 30 comprise one sensor for each support element 12, such that each of the items 100 can be individually sensed by a separate item sensor. However, one article sensor 30 may also be configured to sense each of the articles 100 respectively supported by each of the support elements 12. The sensors 30 may comprise different sensors. For example, the item sensor 30 may include a capacitive sensor configured to: a change in the spacing between the conductive plates due to the article 100 being removed or replaced into the support element 12 is detected. The sensor 30 may also include an infrared sensor. In this case, article sensor 30 may detect a change in infrared light due to article 100 being removed or placed back into support element 12.

In the depicted figure, the item sensor 30 is depicted as a capacitive sensor 30. The sensor board 32 is placed under the support element 12. The sensor board 32 includes a bottom plate 324 and pads 322 as shown in fig. 5. The bottom plate 324 comprises a unitary plate extending through the lower portion of the insert 10 below all of the support elements 12. The pads 322 are placed under each of the support elements 12, respectively, so that the articles 100 removed from each of the support elements 12 can be inspected, respectively. In another embodiment, the capacitive sensor 30 may also include a separate pad 324 instead of the bottom plate 324.

Also depicted in fig. 4 is a plate handler 34, which plate handler 34 is configured to detect changes in capacitance between the backplane 324 and the pads 322. The plate processor 34 sends the data to the sensor processor 36. The sensor processor 36 is configured to: processes the data sent by the plate processor 34 and outputs which articles 100 have been removed from the support elements 12. The sensor 30 also includes a sensor battery 364, the sensor battery 364 configured to provide power to the sensor processor 36. Further, the sensor communication component 364 is configured to: the output of the sensor processor 36 and possibly other relevant data is sent to the mobile robot 1 or an external source. Note that as depicted in this embodiment, the sensor 30 includes its own sensor processing component 36. However, the sensor 30 may also be fully integrated with the mobile robot 1 and its built-in robot handling components (not shown).

Finally, a sensor support element 38 is depicted in the figure. The sensor support element 38 may be used to hold the sensor board 32 upward, but may also help to dampen vibrations caused by the movement of the mobile robot 1. The sensor support element 38 may also be optional.

Fig. 5 depicts a top view of an exemplary embodiment of the insert 10 positioned inside the basket 28. Below the support element 12, which is shown as a recess, a circular pad 322 is shown. The pads 322 may also comprise different shapes. As previously discussed, the pads 322 are placed under each of the support elements 12. A bottom plate 324 is also shown.

Fig. 6 depicts another embodiment of an insert 10 placed inside the mobile robot 1. The insert 10 comprises support elements 12' of different shapes. In the depicted embodiment, the support element 12' includes a substantially rectangular recess. The consumer product 100' includes a container that is typically used to take out food products.

Fig. 7 depicts another embodiment of an insert 10 placed inside the mobile robot 1. The terminal end 50 is depicted as part of the insert 10. The terminal 50 may be used to process payment for the required consumer goods 100, 100' directly on the mobile robot 1. The terminal 50 may also be connected with the sensor processor 36 so that when certain items 100, 100' are removed from the insert 10, the sensor 30 detects which items are removed and the processor 36 communicates information about how much a fee should be charged to the consumer through the terminal 50. The terminal 50 may comprise a contactless payment terminal that can accept different payment modes through cards, personal mobile devices, wearable devices, and other devices. Terminal 50 is optional and is only part of one embodiment of the present invention.

Fig. 8a) to 8u) comprise examples of electronic applications that may be used by a potential user (and/or consumer) to communicate with the robot 1. Sketch a) depicts a start screen displaying an image of the mobile robot 1.

Thumbnail b) shows a selection screen in which the user can select the type of consumer product 100 in which they are interested. Sketch b) also shows an option for package delivery, which the mobile robot 1 may also be configured to do, but this is optional in case the mobile robot 1 sells consumer products 100.

Sketch c) shows the selection of beverages and treats displayed after the user selects the "beverage and treat" category from the menu shown in sketch b). In the depicted embodiment, only a selection of drinks is shown. Various consumer products 100 may be selected by clicking on an icon. The price of each item is also shown. On the right side of each icon, the estimated arrival time is shown. This may be based on the current location of the user.

Sketch d) shows a screen prompting the user to set the location of the encounter with the robot. This meeting position is also referred to as "second position" in this application. The user can select a convenient meeting place on the map to which the user wants the mobile robot 1 carrying his own interested consumer goods 100 to arrive. The location may be the user's current location or other locations in the vicinity of the user. The encounter location may also be far from the user if the user is currently on the way to there or is planned to leave at some known time in the near future. Sketch e) shows the user a map in which the user can track the progress of the robot towards the encounter location.

Sketch f) shows a payment screen on which the user can enter detailed information of the payment method by which the user wishes to pay for the consumer product 100 purchased from the robot 1.

Sketch g) to sketch j) depict the interaction between commanding the robot and the robot reaching the requested position. The estimated arrival time, the real-time location of the robot, and a notification conveying that the robot is at the requested location or point of encounter are shown.

Thumbnails k) to n) show the steps until the consumer product 100 within the robot 1 can be accessed: the user needs to find the robot, unlock the robot by clicking the corresponding command, and open the lid of the robot. Note that one or more of these steps may be automated. That is, once the user clicks on their finding of the robot 1, the robot 1 can simply unlock and lift the lid automatically.

Thumbnails o) to s) show the steps for removing the consumer product 100 from the robot 1 and closing the lid again. Note that steps s), t) and u) are also optional. The user may simply be prompted to confirm that the correct consumer product 100 was removed and the robot may then automatically close and lock the lid.

Sketch t) shows the removed consumer product 100 and a screen of the total price the user will pay for these consumer products.

Thumbnail u) provides the user with the option of leaving feedback on the entire experience.

Fig. 9 schematically depicts a system for vending consumer goods using the mobile robot 1. The mobile robot 1 can communicate with the server 200. The server 200 may communicate with the vending terminal 300. Server 200 may comprise a remote server, such as a cloud server or the like. The vending terminal 300 may include a personal mobile device, such as a smart phone, tablet computer, wearable device, or the like. The mobile robot 1 can communicate with the server 200 via a communication means such as a SIM card or a modem. The vending terminal 300 may communicate with the server via an electronic application, such as an "app" on a smart phone. In a typical example, a user (or consumer) using the vending terminal 300 can see whether any mobile robot 1 is available for vending services in an area of interest of the user (e.g., a park or college campus). Then, the user may send a request to the mobile robot 1 to reach a specific location at a specific time. The request may then arrive from the user's vending terminal 300 to the server 200, where it may be processed and sent as a command to the mobile robot 1 at the server 200. The mobile robot 1 may then navigate to the indicated position (preferably at least semi-autonomously, i.e. it navigates and travels itself except in certain situations where the robot 1 may request assistance). At the indicated position, the robot 1 may wait for the user to use the vending terminal 300. The user may then remove the desired article 100, 100' from the mobile robot. Mobile robot 1 may then detect via item sensors 30 which items have been removed and communicate this to server 200. Server 200 may then communicate to vending terminal 300 (and thus to the user) how much they must pay for the removed item. Payment may be processed directly through the server 200 or through a third party provider. Once the purchase is completed through the vending terminal 300, the server 200 may transmit a command to the mobile robot 1 to resume a standby mode (which may include following a specific trajectory within an area, staying at a current location, traveling to another location, or the like).

Fig. 10 shows a flow chart depicting the steps of vending an item using the mobile robot 1 as described above and below. In a first step S1, the mobile robot 1 is loaded with consumer goods 100 at a first position. The first location may comprise a loading station where the consumer goods 100 may be stored before being loaded into the robot 1. The robot 1 may also return to this first position to enable refilling of the consumer product 100. Such a location may include, for example, an automated center that includes a storage area for consumer products 100. Additionally or alternatively, the first location may comprise a store, restaurant, kiosk, cafe, or similar commercial establishment, at which the robot 1 may be automatically or manually loaded and reloaded with consumable items 100.

In S2, the mobile robot travels to the second position. The second position may be selected by a user requesting to move the robot 1 there, as explained in the description of fig. 8. The second location may also be part of its route that the robot may travel autonomously or semi-autonomously. In the former case, the robot may be discovered by a potential user and stopped to view available consumer goods 100 and possibly purchase some of the consumer goods 100.

In step S3, access to the consumer goods in the mobile robot 1 is authorized. As mentioned before, the consumer goods 100 are preferably stored in the goods space of the robot, even more preferably in the support element. The item space is covered by a cover, which is preferably locked while the robot is traveling until a potential user/consumer explicitly requests unlocking. That is, allowing access to the consumer product 100 may include: the lid is unlocked so that it can be opened manually or automatically to gain access to the item space.

In step S4, the mobile robot detects which consumer goods have been removed. The robot performs this operation by using the item sensor. The item sensor may be as described above and below. The robot may be configured to detect each removed item separately.

Fig. 11 also depicts a flow chart showing the vending of consumer goods 100 using mobile robot 1. Step S1 is the same as step S1 in fig. 10, and includes loading the mobile robot with the consumer goods at the first location. Step S2' includes: the mobile robot is requested to travel to the second location using the vending terminal 300. The vending terminal 300 may include a personal computing device, such as a smart phone, tablet computer, wearable device, or the like. The request may be completed by the application. Communication between the robot and the vending terminal 300 may also be via a server but not directly. That is, the user or consumer may request the mobile robot to reach a certain location through an application or similar interface, and the request may be sent to a server, which may then forward the request and/or send the request as a command/instruction to the mobile robot 1.

Step S3' includes: the mobile robot 1 travels to the second position indicated by the vending terminal 300.

Step S4' includes: vending terminal 300 requests access to consumer product 100. Further, this may be accomplished through an interface such as an application and through a server coordinating communications.

In step S5, the mobile robot 1 authorizes access to the consumer product 100. This can be done by: the cover of the robot is unlocked and/or raised to allow access to the item space.

In step S6, the mobile robot detects which consumer goods have been removed. Step S6 corresponds to step S4 shown in fig. 10.

Step S7 includes: the identity and total cost of the removed item is communicated to the vending terminal. In short, items that the user has taken out may preferably be displayed on the vending terminal 300 via an interface such as an application, and the price that the user would have to pay for these items would be displayed next to the items.

Whenever relative terms such as "about", "substantially" or "approximately" are used in this specification, such terms should also be construed as also including the exact term. That is, for example, "substantially straight" should be interpreted to also include "(precisely) straight".

Whenever steps are recited above or also in the appended claims, it should be noted that although the order in which the steps are recited herein may be a preferred order, it is not mandatory that the steps be performed in the order recited. That is, the order in which the steps are recited may not be mandatory unless otherwise specified or unless it is clear to a skilled artisan. That is, when the present document states, for example, that a method comprises steps (a) and (B), this does not necessarily mean that step (a) precedes step (B), but step (a) may also be performed (at least partially) simultaneously with step (B), or step (B) may also precede step (a). Further, when it is said that step (X) precedes another step (Z), this does not mean that there is no step between step (X) and step (Z). That is, the step (X) before the step (Z) includes not only the case where the step (X) is directly performed before the step (Z), but also the case where the step (X) is performed after the step (Z) before one or more steps (Y1), … …. When terms such as "after" or "before" are used, there are corresponding considerations.

Claims

1. A mobile robot (1) configured for vending consumer goods (100), the mobile robot comprising:

a moving base (4); and

a main body (2) including an article space (22); and

a plurality of support elements (12), the plurality of support elements (12) being located in the goods space (22) and configured to support consumer goods (100); and

2. The mobile robot (1) according to the preceding claim, further comprising at least one insert (10), said insert (10) being configured to be removably fitted into said item space (22), and wherein said insert (10) comprises said support element (12) and said item sensor (30).

3. The mobile robot (1) according to the preceding claim, wherein the insert (10) comprises a top surface and wherein the support element (12) comprises a recess in the top surface of the insert (10).

4. The mobile robot (1) according to the previous embodiment, wherein the item sensor (30) comprises a capacitive sensor comprising a bottom plate (324) and a plurality of pads (322), and wherein,

5. The mobile robot (1) according to any of the preceding claims, further comprising a cover (24) configured to cover the item space (22), and wherein the mobile robot (1) further comprises a cover sensor (16) configured to detect whether the cover (24) is open or closed.

6. The mobile robot (1) according to the preceding claim, wherein the item sensor (30) is activated only when the cover sensor (16) detects that the cover (24) is open.

7. The mobile robot (1) of any one of the preceding claims, further comprising a second item sensor (60) configured to detect at least one of:

8. The mobile robot (1) according to the preceding claim, wherein the second sensor (60) comprises a vision camera.

9. A system configured for vending consumer goods, the system comprising:

mobile robot (1) comprising:

a moving base (4); and

a main body (2) including an article space (22); and

a server (200); and

a vending terminal (300); and is

10. The system according to the preceding claim, wherein the mobile robot (1) is configured to allow access to an item space (22) of the mobile robot based on a command from the server (200), and wherein the item sensor (30) is configured to: detecting a consumer product (100) removed from the support element (12) while allowing access to the item space (22).

11. The system according to the preceding claim, wherein the robot (1) is configured to: communicating to the server (200) which consumer goods (100) detected by the item sensor (30) have been removed from the support element (12), and the server (200) is configured to: communicating to the vending terminal (300) which consumer products (100) have been removed and the cost of those consumer products.

12. The system according to the preceding system claim, wherein the item sensor (30) is further configured to detect any consumer items (100) that are put back to the support element (12) after being removed, and wherein the robot (1) is further configured to communicate to the server (200) which consumer items (100) are put back to the support element (12) after being removed, and the server (200) is configured to communicate to the vending terminal (300) an updated list of removed consumer items (100) and costs of these consumer items.

13. A method for vending consumer goods using a mobile robot (1), the method comprising:

providing the mobile robot (1), the mobile robot (1) comprising:

a moving base (4); and

a main body (2) including an article space (22); and

the mobile robot (1) travels to a second position; and

allowing access to the consumer goods (100) in the goods space (22) of the mobile robot (1) at the second location; and

14. The method according to the preceding claim, further comprising: providing a server (200) and a vending terminal (300), wherein,

15. The method according to the preceding claim, wherein the method further comprises: before the mobile robot (1) travels to the second position,

the vending terminal (300) requesting the mobile robot (1) to travel to the second location by communicating with the server (200); and

the server (300) directs the mobile robot (1) to travel to the second location.

16. The method according to any of the preceding claims 13 to 15 and having the features of claim 14, further comprising: the vending terminal (300) requesting access to the robot's item space (22) from the server (200); and the server (200) commands the mobile robot (1) to allow access to the item space (22).

17. The method according to any of the preceding claims 13 to 16 and having the features of claim 14, further comprising: the mobile robot communicates to the server (200) which items (100) have been removed; and the server (200) communicating to the vending terminal (300) which consumer products (100) have been removed and the cost of those consumer products.

18. The method according to any of the preceding claims 13-17, wherein the mobile robot (1) further comprises a second item sensor (60), and wherein the method further comprises: after allowing access to the item space (22), detecting, using the second item sensor (60), at least one of:

19. A method for on-demand consumer product (100) delivery by a mobile robot (1), the method comprising:

-the mobile robot (1) travels to the second position;

requesting access to the consumer goods (100) using the vending terminal (300);

the mobile robot (1) allowing access to the consumer goods (100);

20. The method according to the preceding claim, further comprising:

21. The method according to any of the two preceding claims, further comprising: loading at a first location a plurality of different consumer goods (100) to at least two mobile robots (1); and the vending terminal selecting the required at least one consumer product (100) from a plurality of different consumer products (100) before requesting the mobile robot (1) carrying the desired consumer product (100) to travel to the second location.