System and method for item delivery by a mobile robot

A system configured for vending items, the system comprising:

• a server;
• a vending terminal;
• and
• a mobile robot comprising:
• a mobile base;
• and
• a body comprising an item space;
• and
• a plurality of support elements configured to support one or more items;
• and
• an item sensor configured to detect presence of one or more items supported by each of the support elements,
• wherein the server is configured to communicate with the mobile robot and the vending terminal, and
• wherein the item sensor comprises a capacitive sensor comprising a base plate and a plurality of pads, and
• wherein each of the pads comprises a conductive plate with the base plate configured as a second conductive plate for all of the pads, and
• wherein each of the pads is configured to be placed below a respective one of the support elements, and
• wherein the base plate and the plurality of pads are configured such that an item placed in or removed from at least one of the support elements changes a distance between the respective pad placed below said at least one of the support elements and the base plate, and
• wherein the item sensor is configured to detect removal of one or more items from the support elements.

A method for vending items using a mobile robot, the method comprising:

• providing the mobile robot comprising:
• a mobile base;
• a body comprising an item space;
• a plurality of support elements configured to support items;
• an item sensor configured to detect presence of one or more items supported by each of the support elements;
• loading the support elements of the mobile robot with a plurality of items at a first location;
• the mobile robot travelling to a second location;
• allowing access to the items in the item space of the mobile robot at the second location;
• and
• the mobile robot detecting which items have been removed from the support elements using the item sensor,
• wherein the item sensor comprises a capacitive sensor comprising a base plate and a plurality of pads, and
• wherein each of the pads comprises a conductive plate with the base plate configured as a second conductive plate for all of the pads, and
• wherein each of the pads is configured to be placed below a respective one of the support elements, and
• wherein the base plate and the plurality of pads are configured such that an item placed in or removed from at least one of the support elements changes a distance between the respective pad placed below said at least one of the support elements and the base plate, and
• wherein the item sensor is configured to detect removal of one or more items from the support elements.

A method for on-demand item delivery by a mobile robot, the method comprising:

• loading at least one mobile robot with a plurality of items at a first location;
• using a vending terminal to request the mobile robot to travel to a second location;
• the mobile robot travelling to the second location;
• using the vending terminal to request access to the items;
• the mobile robot allowing access to the items;
• the mobile robot detecting the item or the items that have been removed;
• and
• communicating to the vending terminal which items have been removed and their cost;
• wherein the mobile robot comprises:
• a mobile base;
• a body comprising an item space;
• a plurality of support elements configured to support the items;
• and
• an item sensor configured to detect presence of the items supported by each of the support elements,
• wherein the item sensor comprises a capacitive sensor comprising a base plate and a plurality of pads, and
• wherein each of the pads comprises a conductive plate with the base plate configured as a second conductive plate for all of the pads, and
• wherein each of the pads is configured to be placed below a respective one of the support elements, and
• wherein the base plate and the plurality of pads are configured such that an item placed in or removed from at least one of the support elements changes a distance between the respective pad placed below said at least one of the support elements and the base plate, and
• wherein the item sensor is configured to detect removal of one or more items from the support elements.