System and method for beverage dispensing

Abstract

The invention relates to a system and method for beverage dispensing. The system comprises a mobile robot and a beverage module fitted to it. The mobile robot comprises a motion component, a first processing component and a first communication component. The beverage module comprises at least one liquid container, at least one beverage dispenser, a second processing component, and a second communication component. The method comprises the mobile robot traveling to a first location, preparing a beverage, dispensing it and leaving the first location.

Claims

1-30. (canceled)

31. A beverage dispensing system comprising: a mobile robot comprising a motion component, a first processing component, and a first communication component; and a beverage module fitted to the mobile robot and comprising at least one liquid container, at least one beverage dispenser, a second processing component, and a second communication component.

32. The system according to claim 31, wherein the mobile robot has a body, and wherein the beverage module is removably fitted to an opening within the body of the mobile robot.

33. The system according to claim 31, wherein the mobile robot further comprises a lockable lid arranged so as to prevent access to the beverage module in a closed position and allow access to at least part of the beverage module in an open position.

34. The system according to claim 31, wherein the first communication component and the second communication component are configured to communicate with each other, and the first communication component and the second communication component are configured to exchange data related to preparing a beverage and dispensing it to a beverage recipient, and the first processing component and the second processing component are configured to coordinate providing a beverage to the beverage recipient via the first communication component and the second communication component.

35. The system according to claim 31, further comprising at least one inclination sensor, and wherein prior to dispensing a beverage via the beverage module, at least one of the first processing component and/or the second processing component determines an inclination of the mobile robot based on data from the inclination sensor, and the second processing component is configured to abort beverage dispensing if the mobile robot's inclination is not within a predetermined range.

36. The system according to claim 35, wherein the motion component of the mobile robot is further configured to adopt a compensating position if the mobile robot's inclination is determined to not be within a predetermined range.

37. The system according to claim 31, wherein the beverage module further comprises at least one spill sensor configured to detect liquid outside expected areas of the beverage module.

38. The system according to claim 31, further comprising a server configured to communicate with the first and second communication components.

39. The system according to claim 38, wherein the server is configured to receive a status of the beverage module and direct the mobile robot to navigate to a predetermined location based on the status and wherein the status of the beverage module comprises at least one of: low beverage levels; and/or maintenance required; and/or spill detected; and/or low battery level; and/or temperature of beverage outside predetermined levels.

40. The system according to claim 39 wherein the system further comprises a hub configured to at least one of: refill the beverage module with liquid; and/or service the beverage module; and/or maintain the beverage module, and wherein the predetermined location comprises the hub.

41. The system according to claim 38 further comprising a user interface configured for communicating with the server, and wherein the user interface is configured for receiving requests for a beverage at a user-specified location.

42. The system according to claim 41, wherein the server is further configured to determine whether inclination data is available for the user-specified location and to verify that said inclination data is within a predefined range, and the server is further configured to suggest an alternative location if an inclination at the user-specified location is not within a predetermined range.

43. A method for dispensing beverages, the method comprising: a mobile robot comprising a motion component, a first processing component and a robot communication component travelling to a first location by using the motion component; at the first location, preparing a beverage via a beverage module fitted to the mobile robot and comprising at least one liquid container, at least one beverage dispenser, a second processing component, and a second communication component; dispensing the beverage to a beverage recipient via the beverage dispenser; and the mobile robot departing the first location.

44. The method according to claim 43 wherein the mobile robot further comprises a lockable lid arranged so as to prevent access to the beverage module in a closed position and allow access to at least part of the beverage module in an open position, and wherein the method further comprises: the first processing component causing the lid to change from the closed position to the open position before communicating to the second processing component via the first and second communication components that the beverage can be distributed to the beverage recipient.

45. The method according to claim 43 further comprising, prior to dispensing a beverage via the beverage module, measuring the mobile robot's inclination based on data from an inclination sensor; and aborting beverage dispensing if the measured inclination does not fall within a predetermined range.

46. The method according to claim 45 further comprising the mobile robot adopting a compensating position if the mobile robot's inclination is determined to be outside a predetermined range.

47. The method according to claim 43 further comprising a server communicating with the first and second communication components.

48. The method according to claim 47 further comprising the server directing the mobile robot to roam a target area and wherein the target area is identified as likely having a plurality of beverage recipients interested in receiving a beverage via the beverage module.

49. The method according to claim 47, further comprising the server directing the mobile robot to a hub for at least one of: (i) refilling the beverage module with liquid; and/or (ii) servicing the beverage module; and/or (iii) maintaining the beverage module, upon receiving data indicative of the beverage module requiring at least one of (i) and/or (ii) and/or (iii).

50. The method according to claim 43, further comprising, prior to the mobile robot travelling to the first location, receiving a beverage request to the first location from a user via a user interface; receiving at least one beverage parameter from a user via a user interface; and preparing a beverage with the at least one beverage parameter.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0198] FIG. 1 depicts an embodiment of a beverage module fitted to a mobile robot;

[0199] FIG. 2 schematically depicts a beverage dispensing system with a server;

[0200] FIG. 3 schematically depicts the components of the beverage module according to an embodiment of the invention;

[0201] FIG. 4 schematically depicts an exemplary embodiment of an optional beverage preparation component;

[0202] FIG. 5 schematically depicts an exemplary embodiment of a beverage dispenser;

[0203] FIG. 6 depicts an embodiment of the beverage module with a beverage cup;

[0204] FIG. 7 shows an embodiment of the beverage module with transparent walls;

[0205] FIG. 8 shows an embodiment of the mobile robot configured to be fitted with a beverage module; and

[0206] FIG. 9 shows an embodiment of a method for dispensing beverages.

DESCRIPTION OF EMBODIMENTS

[0207] FIG. 1 schematically depicts an embodiment of a mobile robot 100 with a beverage module 1 fitted to it.

[0208] The mobile robot 100 with the beverage module 1 can generally be used to dispense drinks to individuals. The mobile robot 100 can serve as a mobile on-demand vending machine for drinks and/or roam a certain area and be flagged down as desired by users. Users can generally interact with the mobile robot 100 and the beverage module 1 via a user interface such as an interface (e.g. app) on a personal computing device. The beverage module 1 can be loaded with components for preparing a beverage. Preferably, the beverage module 1 comprises a base liquid (such as water), and optionally further ingredients. For instance, the beverage module 1 can comprise coffee beans, milk, sugar and water. Additionally or alternatively, the beverage module 1 can comprise a pre-made beverage such as coffee, tea, hot chocolate, soft drink, juice or similar. There may be more than one pre-made beverage in the beverage module and/or there may be ingredients for making two or more different types of beverages.

[0209] In FIG. 1, the beverage module 1 is fitted to the mobile robot 100. Preferably, it is removably fitted, so that it can be quickly exchanged for another beverage module 2 (for example, instead of immediately refilling and/or servicing an empty and/or defective beverage module 1. The removable fitting can be executed via a securing component 12. The securing component 12 can comprise a lock, such as a mechanical lock.

[0210] The mobile robot 100 comprises a motion component 104, shown as wheels 104. The motion component 104 provides mobility to the mobile robot 100 and the beverage module 1. The mobile robot 100 further comprises a lid 106. The lid 106 can ensure that the beverage module 1 is protected and inaccessible while the mobile robot 100 is moving, as well as prevent unauthorized access to the beverage module 1. The lid can have an electronic lock that can be controlled remotely and/or directly by a processing component of the mobile robot 100.

[0211] The beverage module 1 is shown fitted inside an opening within the mobile robot 1. Top surface 46 is shown, along with a hatch 48. The top surface 46 can serve to prevent access to the insides of the beverage module 1 and to ensure that electronics and further components of the beverage module 1 are protected both from unauthorized use, as well as from the elements and/or unnecessary wear and tear.

[0212] The hatch 48 can comprise a substantially circular component that can be actuated into an open and a closed position. In FIG. 1, the hatch 48 is shown in the open position. While the mobile robot 100 is travelling, the hatch would generally assume a close position as well. When the beverage is being dispensed, the hatch 48 would open to allow a beverage cup 42 to be lifted through it. In FIG. 1, the beverage cup 42 is resting on a component of a beverage dispenser 4, lifter assembly 40. The hatch 48 is preferably depressed with respect to the top surface 46. The amount of depression is preferably around 25% of the height of the beverage cup 42. Additionally or alternatively, the amount of depression can be at least 3 cm. This can particularly allow for the beverage cup 42 to be supported while being lifted and while resting on the lifter assembly 40 after being lifted through the hatch 48. Furthermore, while a beverage recipient lifts the cup 42 from the lifter assembly 40, the additional support can help avoid spills due to abrupt movements.

[0213] FIG. 2 schematically shows communication within the beverage dispensing system, including some optional elements of the system. The mobile robot 100 and the beverage module 1 are configured to communicate via the first communication component 118 and the second communication component 8 respectively. In other words, each of the mobile robot 100 and the beverage module 1 preferably have a separate controlling and processing systems. The communication between the mobile robot 100 and the beverage module 1 can be established via different protocols. There could also be more than one protocol used as a failsafe.

[0214] The beverage module 1 can send the mobile robot 100 information relating to its status, such as remaining amount of beverage, temperature, health status, the presence of any spills, status of beverage dispensing, and/or further data based on self-diagnostics and/or sensor data.

[0215] The mobile robot 100 can send the beverage module 1 information or commands related to starting of the beverage dispensing process. For example, the mobile robot 100 may inform the beverage module 1 that it has stopped and that the lid has been unlocked and opened, thereby allowing the beverage module 1 to start producing the beverage and/or to dispense the beverage.

[0216] Both the beverage module 1 and the mobile robot 100 can be configured to communicate with a server 200. The server 200 can be a remote server, a cloud server and/or a collection of servers. The server 200 is an optional element of the beverage dispensing system. The server 200 can coordinate operations of a plurality of robots 100 and beverage modules 1. The server 200 can receive status updates from both the mobile robot 100 and the beverage module 1. Additionally or alternatively, all of the communication from the beverage module 1 can pass through the mobile robot 100. This embodiment is not depicted in FIG. 2, where the communication is indicated by arrows. The server 200 can further send instructions and/or commands to the mobile robot 100 and/or to the beverage module 1. For example, commands may comprise directions for the mobile robot 100 to navigate to a certain location. Commands may also comprise directions for the beverage module 1 to prepare a beverage according to certain specifications and/or with certain parameters.

[0217] A further optional element of the beverage dispensing system is a user interface 300. The user interface 300 can communicate with the remote server 200. Additionally or alternatively, the user interface 300 can communicate with the mobile robot 100 and/or the beverage module 1. The user interface 300 can comprise an interface on a user's personal computing device, for example, a smartphone app. The user interface 300 can comprise a plurality of options or parameters that can be chosen and/or set by the user. For instance, the user may have the option to set a location where the mobile robot 100 should travel to dispense a beverage via the beverage module 1. Additionally or alternatively, parameters related to beverage type (e.g. coffee, tea, hot chocolate, juice, lemonade, soft drinks etc.), beverage taste agents (such as sugar, milk etc.), and/or beverage temperature may be input via the user interface 300. The server 200 can communicate with the user interface 300 by sending information regarding the status of the beverage delivery, for example the location of the mobile robot 200.

[0218] Another optional element of the beverage dispensing system is a hub 400. The hub 400 can comprise a physical structure or building and/or a location within a building or area. The hub 400 can service, repair, maintain and/or reload the beverage module 1 and/or the mobile robot. The hub 400 is preferably configured to operate largely autonomously. The hub 400 may be configured to replace one beverage module 1 for another, for instance if the first one is empty and/or defective. Additionally or alternatively, the hub 400 may be configured to refill the beverage module 1. The hub 400 is also preferably configured to replace a battery of the mobile robot and/or of the beverage module 1. The server 200 may contact the hub 400 in case a mobile robot 100 and/or a beverage module 1 requires maintenance, refilling, recharging and/or servicing, to verify whether the hub 400 can perform the task (i.e. whether it has the capacity, whether it is operational, etc.). If the hub 400 confirms, the server 200 may direct the mobile robot 100 to navigate to the hub. There may be a plurality of different hubs 400, located at different locations and servicing a plurality of mobile robots 100 and beverage modules 1.

[0219] An exemplary operation of the beverage dispensing system will be described below. In the morning, a plurality of beverage modules 1 may be prepared (e.g. loaded with coffee beans, tea leaves, and/or pre-made beverages) at various hubs 400 and fitted to mobile robots 100. The mobile robots 100 may then leave the hubs 400 and travel to an area as directed by the server 200. The robots 100 may then roam the area and/or remain stationary at a certain location.

[0220] A request for a beverage can then be received by the server via the user interface 300. That is, a user may open the app, select a coffee with added sugar and milk, and select a location where the beverage should be dispensed. The server 200 may then compute which mobile robot 100 is most suitable to dispense the desired beverage (based on the status of the robot's 100 and beverage modules 1, dispensing location, other beverage requests, type of beverage requested etc), and direct this mobile robot 100 to travel to the indicated location. The mobile robot 100 may then arrive at the dispensing location.

[0221] There may be an authentication between the mobile robot 100 and the user interface 300. For example, the server 200 may request that the user interface 300 confirms readiness to receive a beverage (e.g., the user may need to confirm that they see the robot). The mobile robot 100 may then unlock the lid 106 and communicate to the beverage module 1 that the beverage may be dispensed. The beverage module 1 can then prepare the beverage and dispense it to a beverage recipient via the hatch 48 in the top surface 46.

[0222] Note, that the beverage recipient and user using the user interface may be the same person or not (e.g. a user may order a beverage for a friend at a different location than their own).

[0223] A user may further request to use their own cup or container for beverage dispensing. In this case, there may be further parameters to input via the user interface 300, such as dimensions of the cup. If this option is chosen, the user may be prompted by the server 200 to place their cup on the lifter assembly 40 and wait until it is filled with a beverage.

[0224] After dispensing the beverage, the beverage module 1 may close the hatch 48 and signal to the mobile robot 100 that the process is complete. Then, the mobile robot 100 may close the lid 46, and depart the dispensing location.

[0225] FIG. 3 schematically shows an embodiment of the beverage module 1. The beverage module 1 comprises a liquid container 2. The liquid container 2 can generally be a storing container for beverages and/or water that can be combined with further taste agents to make beverages. The liquid container 2 may comprise a tank or a similar vessel that can be filled with liquid such as water, coffee, tea, or other beverages. The beverage module 1 can also comprise a plurality of liquid containers 2. The liquid container 2 can comprise a temperature sensor 210 configured to measure the temperature of the liquid inside the container. There may further be a level sensor 212 configured to measure the level or amount of liquid present in the liquid container 2. Further, a spill sensor 214 may be present, either in or next to the liquid container 2. Additionally or alternatively, the spill sensor 214 may be placed elsewhere in the beverage module 1, such as near sensitive electronics. There may also be a plurality of spill sensors 214 placed around the beverage module 1. The spill sensor 214 is preferably configured to detect the presence of liquid and/or beverage outside expected areas. Expected areas refer to the liquid container, beverage cup, and any intermediate liquid holding areas. For example, electronics such as second processing component 6 and their surroundings would not be expected areas for liquid to be present at. Put differently, the spill sensor 214 is configured to detect any spills or undesirable presence of liquid within the beverage container 1 (including preferably on the top surface 46).

[0226] The data from all the sensors 210, 212, 214 may be received by the second processing component 6, which is adapted to control and manage the beverage module 1. For example, if the temperature sensor 210 records a temperature outside of an acceptable range (such as, for example, below 60° C. for warm beverages or above 15° C. for cold beverages), the second processing component 6 may stop beverage distribution. If liquid is detected in unexpected areas, the second processing component 6 may determine that immediate maintenance is needed and alert the mobile robot 100 and/or the server 200.

[0227] The liquid container 2 further comprises a dispenser port 216. The dispenser port 216 is configured to allow exit of liquid from the liquid container 2. The liquid can either be directly transferred to a beverage cup (in case the liquid in the liquid container comprises a pre-made beverage), or it can be directed towards further components of the beverage module (e.g. via a pump) to be further processed and made into a beverage (for example, water from the liquid container 2 can be used to make coffee or tea directly within the beverage module 1). The dispenser port 216 is preferably controlled by the second processing component 6. That is, the dispenser port 216 can be configured to dispense the beverage and/or liquid upon command from the second processing component 6.

[0228] The beverage module 1 further comprises a beverage dispenser 4. The beverage dispenser 4 can be configured to dispense a beverage to a beverage recipient. Preferably, the beverage dispenser 4 comprises some mobile parts configured to move with respect to the beverage module 1.

[0229] The beverage dispenser 4 preferably comprises a lifter assembly 40. The lifter assembly 40 can be configured to actuate beverage cup 42 from a position where it may receive liquid and/or beverage via the dispenser port 216, to one where the beverage recipient may retrieve it. The lifter assembly 40 can be configured to move translationally and/or rotationally, and linearly along one or preferably more axes. The lifter assembly 40 is preferably controlled via the second processing component. That is, the lifter assembly 40 can actuate between different positions when prompted to via the second processing component 6.

[0230] The beverage dispenser 4 preferably also comprises a cup assembly 44 configured to hold a plurality of beverage cups 42. The cups 42 may be stacked in one or more stacks. The cup assembly 44 is preferably configured to dispense the cups 42 one by one onto the lifter assembly 40. The cup assembly 44 may be configured to actuate to alternate between dispensing one or the other stack of cups 42. This can be done either when one stack is empty and/or when multiple cup sizes are offered for the beverages. The actuation of the cup assembly 44 can comprise, for example, a rotational motion. The cup assembly 44 is preferably controlled via the second processing component 6. In other words, the cup assembly 44 can be configured to dispense beverage cups 42 upon command from the second processing component 6.

[0231] The cup assembly 44 and the lifter assembly 40 may be arranged in such a way, that cups 42 released by the cup assembly 44 get deposited onto the lifter assembly 40 when it is in a neutral position. In this way, the lifter assembly 40 may be configured to alternate between three different positions: the neutral position where a cup 42 may be deposited onto it from the cup assembly 44, a filling position where the deposited cup 42 may be filled via the dispenser port 216, and a dispensing position where the cup 42 may be retrieved by the beverage recipient.

[0232] The beverage dispenser 4 further preferably comprises a top surface 46. The top surface 46 can serve to protect the insides of the beverage module 1 from unauthorized interference, while simultaneously serving as a beverage dispensing surface. The top surface 46 is preferably located under the lid 106 of the mobile robot 100. The top surface 46 preferably comprises a hatch 48 that can be substantially circular. The hatch 48 can be used as an egress point through which the lifter assembly 40 may lift the beverage cup 42. In other words, the dispensing position of the lifter assembly 40 preferably is arranged so that the beverage cup 42 protrudes through the hatch 48 above the top surface 46 and can be removed by the beverage recipient. The hatch 48 can preferably comprise an open and a closed position. The hatch 48 preferably stays in the closed position until actuated via a second processing component 6 to allow the lifter assembly 40 to lift the beverage cup 42 through it.

[0233] The beverage module 1 further preferably comprises a second processing component 6. The second processing component 6 can be configured to control and coordinate the operation of the beverage module 1. The second processing component 6 can be further configured to coordinate beverage dispensing with the mobile robot 100 and/or with a remote server 200. For example, before starting the beverage dispensing process, the second processing component 6 may wait for input from a first processing component 116 of the mobile robot 100 confirming that the mobile robot 100 is stationary, and that the lid 106 is open.

[0234] The second processing component 6 comprises a beverage control sub-process 60. The beverage control 60 can comprise controlling preparation and dispensing of a beverage. That is, the liquid container 2 and the beverage dispenser 4 can be controlled in a coordinated manner. If beverage preparation and/or brewing is required, the second processing component can also control this. Further details of an embodiment of beverage preparation are discussed below in the description to FIG. 4.

[0235] The second processing component 6 can also receive and process sensor inputs 62. That is, measurements taken by the temperature sensor 210, the level sensor 212, the spill sensor 214 and/or further sensors can be evaluated by the second processing component 6.

[0236] The sensor inputs 62 can be at least partially used for state control 64. The state control 64 may be monitoring the condition and/or health of the beverage module. That is, any detected spills may be identified as part of state control 64. Furthermore, unexpected behavior of the liquid container 2, the beverage dispenser 4 and/or further components can be identified as part of state control 64. The second processing component 6 can then alert the mobile robot 100 and/or the server 200 if the state of the beverage module has changed, so that, for example, maintenance, refilling and/or replacement can be requested.

[0237] The second processing component 6 preferably also comprises communication subroutines 66. That is, the second processing component 6 can exchange communication with the mobile robot 100 via its first processing component 116 and/or with the server 200. Instructions, commands and/or status reports can be sent and received via this communication.

[0238] The beverage module 1 further preferably comprises a second communication component 8. The second communication component 8 can be integrated with the processing component 6 (e.g. as part of a system on a chip device or board). Additionally or alternatively, the second communication component 8 can be a standalone device. The second communication component 8 can comprise a plurality of communication protocols that can be used either as failsafes and/or to communicate with different other members of the beverage dispensing system.

[0239] The second communication component 8 can communicate via the WLAN protocol 80. This can be useful, for example, when the mobile robot 100 is stationed at a hub 400, which may have its own WLAN network. Communication via cellular networks 82 such as GSM, CDMA can also be desired. This can be used, for example, when the mobile robot 100 is travelling to a dispensing location and the beverage module 1 communicates with a server 200 (and/or the mobile robot 100).

[0240] For more local communication, particularly between the beverage module 1 and the mobile robot 100, the communication component 8 can comprise Bluetooth® 84, NFC 86 and/or infrared 88 communication modules. For instance, Bluetooth Low Energy (BLE) can be used to communicate between the beverage module 1 and the mobile robot 100 to reduce energy usage.

[0241] FIG. 4 schematically depicts an embodiment of an optional beverage preparation component 30. If present, such a component is generally manufactured between the liquid container 2 and the dispenser port 216. That is, liquid from the liquid container 2 would not directly go to the dispenser port 216 to be dispensed to a beverage cup 42, but would first pass through a series of other components in order to prepare a beverage. The figure schematically shows the flow of liquid and other beverage ingredients starting from the liquid container 2 until the dispenser port 216.

[0242] The liquid from the liquid container 2 (which preferably comprises water) is pumped via a pump 23 while being heated by a heating element 24. The liquid may then be combined with a first taste agent 20 in a brewer 26. The first taste agent 20 may first pass through a modifier 25. For example, the first taste agent 20 may comprise coffee beans that are ground in a modifier (grinder) 25. The first taste agent 20 may also comprise powdered coffee and/or powdered hot chocolate, so that no modifier 25 is needed nor present.

[0243] After the brewer 26, the mixture proceeds to a mixer 28, where it may be mixed with a second taste agent 21 that has been passed through a second modifier 27. In a concrete example, the second taste agent 21 may comprise milk, which can get frothed in the second modifier (milk frother) 27. Additionally or alternatively, the second taste agent 21 may comprise sugar, which may not need modifying, and the second modifier 27 would not be present in this case.

[0244] After the mixing in the mixer 28, the resulting beverage is directed to the dispenser port 216, from which it is released to the beverage dispenser 4.

[0245] The beverage preparation component 30 may further comprise a waste container 29, where any waste generated during the preparation of the beverage may be disposed (for example, used coffee grounds may be disposed there).

[0246] Furthermore, a battery 22 may be present in case active heating is needed as part of beverage preparation. Alternatively, the liquid in the liquid container 2 may be brought to the desired temperature and insulated sufficiently, so that neither the battery 22 nor the heating element 24 are needed. In this case, there may be an insulating layer and/or a plurality of insulating layers around the liquid container 2.

[0247] FIG. 5 schematically depicts exemplary components and configuration of the beverage dispenser 4. Cup assembly 44 dispenses a beverage cup 42 onto a cup plate 41 of the lifter assembly 40. As described above, the cup assembly may be configured to hold one or a plurality of stacks of beverage cups 42, and to actuate as needed to change between stacks. The cup plate 41 of the lifter assembly 40 may comprise a sufficiently flat surface, preferably with an indentation or a further means of stabilizing the cup 42. The lifter assembly 40 is preferably configured to actuate in a filing position, where beverage from the dispenser port 216 may enter the cup 42. The cup 42 with the beverage can then be transported by the lifter assembly 40 towards the hatch 48. The hatch 48 can open to allow the lifter assembly 40 to raise the beverage cup 42 through the opening and past the top surface 46. The beverage cup may then be retrieved by the beverage recipient.

[0248] In an alternative embodiment, the recipient may wish to use their own, reusable cup for beverage dispensing. In this case, the lifter assembly 40 can be configured to raise the cup plate 41 towards the hatch 48, which can move into an open position. The recipient can then place their cup on the cup plate 41 of the lifter assembly 40. The lifter assembly 40 can detect the presence of the cup (e.g. via weight and/or further sensors) and move the recipient's cup to the filling position. There, the recipient's cup may be filled with the beverage via the dispensing port 216, and it can be returned to the dispensing position through the hatch 48 (which can either remain open, or, preferably, close after the recipient's cup has been lowered into the beverage module.

[0249] FIGS. 6 and 7 depict the beverage module 1 without the mobile robot 100. FIG. 6 shows a similar view to FIG. 1: a beverage cup 42 is shown on the lifting assembly 40, with the cup plate 41 of the lifting assembly 40 vertically displaced with respect to the top surface 46. Also shown is the securing component 12 that can be used to fix the beverage module 1 to the mobile robot 100.

[0250] FIG. 7 shows a view of the beverage module 1 with transparent walls. The lifting assembly 40 is shown in a lowered position, with rails on the right side of the beverage module 1 facilitating vertical displacement. Also shown is the liquid container 2, schematically depicted as a tank that can contain liquid such as water and/or a pre-made beverage. Multiple liquid containers 2 can be present within the beverage module 1.

[0251] FIG. 8 demonstrates an exemplary embodiment of the mobile robot 100. The mobile robot 100 can comprise a delivery or a vending robot, that is, it can transport and deliver packages, consumable items, groceries or other items to customers. Preferably, the mobile robot 100 is outfitted with a beverage module (not shown in the figure).

[0252] The mobile robot 100 comprises a robot body 102. The body 102 comprises an item compartment in which items can be placed and transported by the robot (not shown in the present figure).

[0253] The mobile robot 100 further comprises a motion component 104 (depicted as wheels 104). In the present embodiment, the motion component 104 comprises six wheels 104. This can be particularly advantageous for the mobile robot 100 when traversing curbstones or other similar obstacles on the way to delivery recipients.

[0254] The mobile robot 100 comprises a lid 106. The lid 106 can be placed over the item compartment and locked to prevent unauthorized access to the beverage module.

[0255] The mobile robot 100 further comprises a robot signaling device 108, depicted here as a flagpole or stick 108 used to increase the visibility of the robot 100. Particularly, the visibility of the robot 100 during road crossings can be increased. In some embodiments, the signaling device 108 can comprise an antenna. The mobile robot 100 further comprises robot headlights 109 configured to facilitate the robot's navigation in reduced natural light scenarios and/or increase the robot's visibility further. The headlights are schematically depicted as two symmetric lights 109, but can comprise one light, a plurality of lights arranged differently and other similar arrangements.

[0256] The mobile robot 100 also comprises robot sensors 110, 112, 113, 114, 115, and 119. The sensors are depicted as visual cameras in the figure, but can also comprise radar sensors, ultrasonic sensors, Lidar sensors, time of flight cameras and/or other sensors. Further sensors can also be present on the mobile robot 100. One sensor can comprise a front camera 110. The front camera 110 can be generally forward facing. The sensors may also comprise front, side and/or back stereo cameras 112, 113, 114, 115, 119. The front stereo cameras 112 and 113 can be slightly downward facing. The side stereo cameras 114 and 115 can be forward-sideways facing. There can be analogous side stereo cameras on the other side of the robot (not shown in the figure). The back stereo camera 119 can be generally backward facing. The sensors present on multiple sides of the robot can contribute to its situational awareness. That is, the robot 100 can be configured to detect approaching objects and/or hazardous moving objects from a plurality of sides and act accordingly.

[0257] The robot sensors can also allow the robot 100 to navigate and travel to its destinations at least partially autonomously. That is, the robot can be configured to map its surroundings, localize itself on such a map and navigate towards different destinations using in part the input received from the multiple sensors.

[0258] FIG. 9 depicts an exemplary embodiment of a method for beverage dispensing using the system described in the present disclosure. In step S1, the mobile robot 100 may travel to a first location. This can be in response to a request for a beverage via a user terminal 300, or the first location may be a pre-planned dispensing location.

[0259] In step S2, a beverage is prepared via the beverage module 1. Note, that preparing may refer to actually mixing ingredients and effecting physical changes on them (such as heating and/or grinding), or it can refer to simply dispensing a beverage from the liquid container 2 to the beverage cup 42 in case a pre-made beverage is available.

[0260] In step S3, the beverage is dispensed to a beverage recipient via a beverage dispenser 4. Note, that the beverage recipient may or may not be a user that requests a beverage via the user interface (e.g. someone may order a cup of coffee for a friend).

[0261] Step S4 comprises the mobile robot 100 departing the first location upon dispensing the beverage. The mobile robot may then navigate to a further dispensing location, proceed to roam according to a pre-planned route and/or instructions from a remote server 200, and/or depart to a hub 400 in case maintenance, refilling and/or servicing is needed (either for the mobile robot 100 and/or for the beverage module 1).

LIST OF REFERENCE NUMERALS

Beverage Module Components

[0262] 1—beverage module [0263] 2—liquid container [0264] 20—first taste agent [0265] 21—second taste agent [0266] 210—temperature sensor [0267] 212—level sensor [0268] 214—spill sensor [0269] 216—dispenser port [0270] 22—battery [0271] 23—pump [0272] 24—heating element [0273] 25—first modifier (grinder) [0274] 26—brewer [0275] 27—second modifier (steamer) [0276] 28—mixer [0277] 29—waste container [0278] 4—beverage dispenser [0279] 40—lifter assembly [0280] 41—cup plate [0281] 42—beverage cup [0282] 44—cup assembly [0283] 46—top surface [0284] 48—hatch [0285] 6—second processing component [0286] 8—second communication component [0287] 12—securing component

Mobile Robot Components

[0288] 100—mobile robot [0289] 102—robot body [0290] 104—motion component [0291] 106—lid [0292] 108—signalling device [0293] 109—headlights [0294] 110—front camera [0295] 112—front stereo camera [0296] 113—front stereo camera [0297] 114—side stereo camera [0298] 115—side stereo camera [0299] 116—first processing component [0300] 118—first communication component [0301] 119—back stereo camera

Further System Components

[0302] 200—server [0303] 300—user interface [0304] 400—hub

[0305] Whenever a relative term, such as “about”, “substantially” or “approximately” is used in this specification, such a term should also be construed to also include the exact term. That is, e.g., “substantially straight” should be construed to also include “(exactly) straight”.

[0306] Whenever steps were recited in the above or also in the appended claims, it should be noted that the order in which the steps are recited in this text may be the preferred order, but it may not be mandatory to carry out the steps in the recited order. That is, unless otherwise specified or unless clear to the skilled person, the order in which steps are recited may not be mandatory. That is, when the present document states, e.g., that a method comprises steps (A) and (B), this does not necessarily mean that step (A) precedes step (B), but it is also possible that step (A) is performed (at least partly) simultaneously with step (B) or that step (B) precedes step (A). Furthermore, when a step (X) is said to precede another step (Z), this does not imply that there is no step between steps (X) and (Z). That is, step (X) preceding step (Z) encompasses the situation that step (X) is performed directly before step (Z), but also the situation that (X) is performed before one or more steps (Y1), . . . , followed by step (Z). Corresponding considerations apply when terms like “after” or “before” are used.