# US 11,442,419 B2 · System and method for item delivery by a mobile robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,419 B2 - Document ID: US11442419B2 - Status: Granted - Kind: B2 - Application number: 16/816,246 - Filed: 2020-03-11 - Published: 2020-07-02 - Granted: 2022-09-13 - Earliest claimed: 2017-09-15 - Assignees: Starship Technologies Oü - Applicants: Starship Technologies Oü - Inventors: Ahti Heinla; Anti Veeranna; Antti Makela; Imre Teras; Kalle-Rasmus Volkov; Kitty Mamers; Lauri Vain; Madis Merila; Markus Zimmermann; Vahur Laas; Kadri Parikas - Web page: https://patentgrep.com/patent/US11442419B2 ## CPC - G05B 19/042: using digital processors (G05B19/05 takes precedence) - G06Q 10/00: Administration; Management - G05B 19/4155: characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program - G06Q 20/18: involving self-service terminals [SST], vending machines, kiosks or multimedia terminals - G05B 2219/2645: Vending, distribute drinks - G05B 2219/40233: Portable robot - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A mobile robot is configured for vending consumable items. The robot includes a mobile base; a body comprising an item space; a plurality of support elements located in the item space and configured to support consumable items; an item sensor configured to detect presence of one or more consumable items supported by each of the support elements; and an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. A method for vending consumable items uses the mobile robot. ## Claims ### Claim 1 A mobile robot configured for vending items, the mobile robot comprising: a mobile base; a body comprising an item space; a plurality of support elements located in the item space and configured to support items; and an item sensor configured to detect presence of one or more 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, 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. ### Claim 2 (depends on 1) The mobile robot according to claim 1, further comprising a lid configured to cover the item space, and wherein the mobile robot further comprises a lid sensor configured to detect whether the lid is open or closed. ### Claim 3 (depends on 2) The mobile robot according to claim 2 wherein the item sensor activates when the lid sensor detects that the lid is open. ### Claim 4 (depends on 1) The mobile robot according to claim 1 further comprising a second item sensor configured to detect at least one of: (i) different items supported by different support elements; and/or (ii) items different from the items supported by the support elements. ### Claim 5 (depends on 4) The mobile robot according to claim 4 wherein the second item sensor comprises a visual camera. ### Claim 6 (depends on 1) The mobile robot according to claim 1, wherein the mobile robot further comprises circuitry configured to detect changes in respective capacitances between the plurality of pads and the base plate. ### Claim 7 (depends on 1) The mobile robot according to claim 1, wherein the mobile robot further comprises an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. ### Claim 8 (depends on 7) The mobile robot according to claim 7, wherein the insert comprises a top surface and wherein the support elements comprise indentations in the top surface of the insert. ### Claim 9 (depends on 7) The mobile robot according to claim 7, wherein the mobile robot further comprises an electronic locking element configured to fix the insert inside the item space. ### Claim 10 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. ### Claim 11 (depends on 10) The system according to claim 10 wherein the mobile robot is configured to allow access to its item space based on a command from the server, and wherein the item sensor is configured to detect one or more items removed from the support elements while access is allowed to the item space. ### Claim 12 (depends on 11) The system according to claim 11, wherein the mobile robot is configured to communicate which items have been removed from the support elements as detected by the item sensor to the server, and wherein the server is configured to communicate to the vending terminal which items have been removed and their cost. ### Claim 13 (depends on 12) The system according to claim 12 wherein the item sensor is further configured to detect any items returned to the support elements after being removed, and wherein the mobile robot is further configured to communicate which items have been returned to the support elements after being removed to the server, and wherein the server is configured to communicate to the vending terminal an updated list of removed items and their cost. ### Claim 14 (depends on 10) The system according to claim 10, wherein the mobile robot further comprises circuitry configured to detect changes in respective capacitances between the plurality of pads and the base plate. ### Claim 15 (depends on 10) The system according to claim 10, wherein the mobile robot further comprises an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. ### Claim 16 (depends on 15) The system according to claim 15, wherein the mobile robot further comprises an electronic locking element configured to fix the insert inside the item space. ### Claim 17 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. ### Claim 18 (depends on 17) The method according to claim 17, further comprising: providing a server and a vending terminal, wherein the server is configured to communicate with the mobile robot and the vending terminal. ### Claim 19 (depends on 18) The method according to claim 18, wherein the method further comprises, before the mobile robot travelling to the second location, the vending terminal requesting the mobile robot to travel to the second location by communicating with the server; and the server directing the mobile robot to travel to the second location. ### Claim 20 (depends on 18) The method according to claim 18 further comprising: the vending terminal requesting access to the item space to the server and the server commanding the mobile robot to allow access to the item space. ### Claim 21 (depends on 18) The method according to claim 18, further comprising: the mobile robot communicating to the server which items have been removed, and the server communicating to the vending terminal which items have been removed and their cost. ### Claim 22 (depends on 17) The method according to claim 17, wherein the mobile robot further comprises a second item sensor, and wherein the method further comprises, after allowing access to the item space, using the second item sensor to detect at least one of: (i) different items supported by different support elements; and/or (ii) items different from the items supported by the support elements. ### Claim 23 (depends on 17) The method according to claim 17, wherein the mobile robot further comprises circuitry configured to detect changes in respective capacitances between the plurality of pads and the base plate. ### Claim 24 (depends on 17) The method according to claim 17, wherein the mobile robot further comprises an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. ### Claim 25 (depends on 24) The method according to claim 24, wherein the mobile robot further comprises an electronic locking element configured to fix the insert inside the item space. ### Claim 26 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. ### Claim 27 (depends on 26) The method according to claim 26 further comprising: the mobile robot detecting items that have been returned to the mobile robot; and communicating to the vending terminal an updated list of removed items and their cost. ### Claim 28 (depends on 26) The method according to claim 26 further comprising loading at least two mobile robots with a plurality of different items at a first location and the vending terminal selecting a particular at least one item from a plurality of different items before requesting the mobile robot carrying the particular at least one item to travel to the second location. ### Claim 29 (depends on 26) The method according to claim 26, wherein the mobile robot further comprises circuitry configured to detect changes in respective capacitances between the plurality of pads and the base plate. ### Claim 30 (depends on 26) The method according to claim 26, wherein the mobile robot further comprises an insert configured to removably fit into the item space, and wherein the insert comprises the support elements and the item sensor. ### Claim 31 (depends on 30) The method according to claim 30, wherein the mobile robot further comprises an electronic locking element configured to fix the insert inside the item space.