Abstract: A cyclic rotary dispensing device and a vending device with the same are provided. The dispensing device includes: a housing, a closed bent slideway disposed on the housing, multiple dispensing assemblies disposed along the closed bent slideway and abutted against each other, a driving assembly and a detection assembly disposed below the closed bent slideway; bottoms of the dispensing assemblies are provided with protrusions; the driving assembly includes a rotary pulling piece disposed below the closed bent slideway and a driving member for driving the rotary pulling piece to rotate; the rotary pulling piece is rotated to drive the protrusions to move, to thereby make the dispensing assemblies cyclically move along the closed bent slideway; the detection assembly is electrically connected to the driving assembly, and is configured to detect positions of the dispensing assemblies. The dispensing device improves the efficiency for selling, and is convenient to maintain.

Abstract: A method of inspecting a building construction site using a mobile robotic system includes a mobile platform and a sensor system mounted on the mobile platform and configured to generate one or more types of sensor data. The method includes: receiving object identification information identifying at least one building object to be inspected by the mobile robotic system in the building construction site; obtaining a robot navigation map covering the at least one building object based on a building information model for the building construction site; and determining at least one goal point in the robot navigation map for the at least one building object, each goal point being a position in the robot navigation map for the mobile robotic system to navigate autonomously to for inspecting corresponding one or more building objects of the at least one building object. A corresponding inspection system is also provided.