Discovery ice cream creates an innovative, consumer-directed human-robot interaction

Discovery ice cream creates an innovative, consumer-directed human-robot interaction

Article Type: Mini features From: Industrial Robot: An International Journal, Volume 37, Issue 6

Background

Discovery Ice Cream (DIC) launched the world’s first and only commercial robotic ice cream machine in 2008 in Kingsport, Tennessee, USA. Discovery’s four-year concept took the traditional ice cream store, and with the consumer in mind, reinvented it with unique technology, transforming ice cream from a commodity into a revolutionary robotic experience.

The DIC robotic kiosk not only provides an autonomous, efficient and sanitized method for serving ice cream, but is also designed to be an inventive, educational, and entertaining interaction for the user.

Groundbreaking technology

The patent-pending DIC robotic ice cream machine features a system built around the Denso VP-5243G five-axis vertically articulated robotic arm. The ultracompact, high speed assembly robot, with a 430 mm reach, 3 kg max payload, and small 160×160 mm footprint, was modified by DIC with customized graphics and a stationary end-of-arm tool that holds the 10 oz plastic cup. The cup is clear to allow viewing of the six layers of ice cream and candies being added.

The Denso robot arm comes standard with ANSI and CE certifications. DIC have also achieved NSF (food sanitation) approval. Although not required by many local governing bodies (local health boards), NSF approval for food-related machines is seen as the highest standard for food equipment safety. Therefore, the arm and product (candies and ice cream area) are isolated and sealed. The anodized end-of-arm tooling has no moving parts and simply holds a 10 oz plastic cup. The cup’s natural taper is utilized to deliver the product to the carousel after the cup has been filled. This is achieved by setting the cup down and then moving the end-of-arm tool (cup holder) in a downward motion until it is free of the cup (there is a smaller diameter towards the bottom). Although multiple designs were considered, ultimately Discovery decided on the simplest design – one with no moving gripper parts (Figure 1).

The Denso arm has been programmed to make interesting “human-like” movements. For instance, if the patron chooses Reis as the robot character to assist her in preparing her treat, the robotic arm makes pirouette movements while dancing to playing music.

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Figure 1 The discovery ice cream robotic kiosk

The robot interfaces via Ethernet to the Denso RC7 compact controller. The analog and discrete signals are controlled by an Opto22 controller. All other I/Os are controlled via the Opto22 controller. A Stoelting Ice Cream Freezer Model F431, which had to be modified specifically for this robot application, sits on the back of the robotic machine, out of the patron’s view. Instead of using the standard “hand-pulling” levers on this soft serve ice cream machine, three linear actuators have been added (vanilla, chocolate, mix) to provide automated, precise control of the ice cream dispensing. Dispensing of the ice cream is controlled by time, once the cup is in position. The time of dispensing that is utilized (from 1.3 to 1.7 s), is effected by the viscosity of the ice cream (as approximated by the measured motor amperage).

Gear motors are used for the six candy dispensers. There are optical counters to facilitate the appropriate amount of candy. The commercial candy dispensers are modified and have 12 cavities per revolution. The S-shaped pyrex tubes carry the candy from the dispensers, and drop them into the cup.

The system programming is done with Denso’s Wincaps III offline programming software on a PC computer, which connects to the controller via ethernet. Numerous sensors monitor the state of the machine components. A console houses the touchscreen, integrated controller, and magnetic card reader. The entire kiosk is encased in round, futuristic looking plastic, purposefully designed to get away from the square, “vending-machine” look. The front is open for high visibility. A streamlined clutch-based carousel safely serves the ice cream treat.

Customization of the human robot interaction

The unique human robot interaction (HRI) was developed over a several year period studying children aged from two to 12, the primary end-users. The studies found that the bonus “treat” for the user is the ability to interact with the touch-screen 2D robot that implements the 3D Denso robot to prepare their creation in real-time (“I just got served ice cream by a robot!”).

The customer takes the following steps to select and dispense the six-layer ice cream product from the DIC robotic ice cream machine:

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  purchases a “CiD and Friends” pass card at the register. CiD (DIC backwards) is one of four animated robot characters;

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  inserts the card into the magnetic card reader;

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  touches one of four on-screen characters of choice on the console display. (This initiates the entire experience – robotic arm movements, as well as the type of music played);

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  selects via touch, the flavor and toppings, as prompted by the console display; and

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  hits the “GO” button, and observes the results of the customer’s personalized design efforts – the process of the robot assembling, then placing the final product in the carousel. The carousel rotates to the open position when the product is ready to be picked up.

The animation and music is programmed in Windows XP Pro and yields 1,000s of product combinations based on the four robot characters, three soft serve ice cream types, and six candy/topping types.

The customer designs and controls his choices of the character and product via easy “use-and-choose” on-screen graphics. However, the user soon realizes that his programming accounts for only about 20 percent of the story that unfolds on the animation monitor. Elements of suspense and surprise are hidden in the sub story in order to increase the level of entertainment and captivation so that the entire story is not all told at one-time. For example, a robot on the animation monitor loses control, breaks an arm, and then gets welded to complete its mission in conjunction with the real-time Denso robot.

In addition, on the last layer (top layer, which is a candy layer) the robot always positions the cup under the wrong type of candy (n+2) for just a moment and then moves to the correct position just as the patron is wondering if the robot went to the wrong place.

Results

The DIC Robotic Kiosk is based on a concept in which the end-user is able to “design/watch/enjoy” his own product, without any human involvement. The primary market for this high-tech ice cream innovation is children aged from two to 12. The results of the first model, after two years in operation, show that this “Disneyesque” experience of programming a robot to prepare a self-designed dessert is educational, inspiring, and fun.

Additionally, the DIC Robot yields profitable results. The element of entertainment adds to a justifiable, higher, acceptable charge for the product. The more entertainment provided, the more the customer is willing to pay. Owing to the compelling, surprise sub-story, and multiple options, the end-user typically becomes a repeat customer in order to experience the next adventure and to see how the story continues to unfold.

There are significant cost savings to utilizing the DIC system. In many retail establishments, labor cost is one of the biggest factors to total delivered product cost. Since humans do not serve the ice cream treats, there is a substantial labor savings compared to the time it takes for a human to take an order, prepare the treat and deliver it to a child. As an example, with the DIC system delivering 100 treats a day (maximum rate is 30 treats per hour), the machine will need approximately one hour of attention – or approximately 30 seconds per treat. There is no waste or overage because the amounts of ice cream and candy are automatically controlled. Furthermore, the food handling is much safer since human hands do not touch any of the many food products.

Future plans

As a leader in consumer-directed retail robotics applications, DIC is at the forefront of bringing the human-robot interaction to the public. Future concepts could entail patron-designed customizable consumables, such as specialty drinks and confectionaries.

The best business model for the DIC robotic machines are retail establishment chains/theme parks which have a significant traffic of children and are currently setup to handle food products. The robotic machine and kiosk utilize about 30 square feet.

More information on Discovery Ice Cream and the Robotic Kiosk can be found at: www.discoveryicecream.com