Note: Descriptions are shown in the official language in which they were submitted.
CA 02936391 2016-07-15
SHOPPING FACILITY ASSISTANCE SYSTEMS, DEVICES AND METHODS TO
DRIVE MOVABLE ITEM CONTAINERS
Technical Field
These teachings relate generally to shopping environments and more
particularly to
devices, systems and methods for assisting customers and/or workers in those
shopping
environments.
Background
In a modern retail store environment, there is a need to improve the customer
experience
and/or convenience for the customer. Whether shopping in a large format (big
box) store or
smaller format (neighborhood) store, customers often require assistance that
employees of the
store are not always able to provide. For example, customers may submit
customer orders for
one or more products that can be time consuming to fulfill, and particularly
during peak hours,
there may not be enough employees available to assist customers. Additionally,
due to high
employee turnover rates, available employees may not be fully trained or have
access to
information to adequately support customers. Other routine tasks also are
difficult to keep up
with, particularly during peak hours. For example, shopping carts are left
abandoned, aisles
become messy, inventory is not displayed in the proper locations or is not
even placed on the
sales floor, shelf prices may not be properly set, and theft is hard to
discourage. All of these
issues can result in low customer satisfaction or reduced convenience to the
customer. With
increasing competition from non-traditional shopping mechanisms, such as
online shopping
provided by e-commerce merchants and alternative store formats, it can be
important for "brick
and mortar" retailers to focus on improving the overall customer experience
and/or convenience.
Brief Description of the Drawings
The above needs are at least partially met through provision of embodiments of
systems,
devices, and methods designed to provide assistance to customers and/or
workers in a shopping
facility, such as described in the following detailed description,
particularly when studied in
conjunction with the drawings, wherein:
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FIG. 1 comprises a block diagram of a shopping assistance system as configured
in
accordance with various embodiments of these teachings;
FIGS. 2A and 2B are illustrations of a motorized transport unit of the system
of FIG. 1 in
a retracted orientation and an extended orientation in accordance with some
embodiments;
FIGS. 3A and 3B are illustrations of the motorized transport unit of FIGS. 2A
and 2B
detachably coupling to a movable item container, such as a shopping cart, in
accordance with
some embodiments;
FIG. 4 comprises a block diagram of a motorized transport unit as configured
in
accordance with various embodiments of these teachings;
FIG. 5 comprises a block diagram of a computer device as configured in
accordance with
various embodiments of these teachings;
FIG. 6 illustrates some embodiments of a motorized transport unit positioned
proximate a
movable item container;
FIG. 7 illustrates some embodiments of a motorized transport unit positioned
proximate a
movable item container that includes one or more tags;
FIG. 8 illustrates an example of the motorized transport unit of FIG. 1, in
accordance
with some embodiments;
FIG. 9 illustrates a simplified flow diagram of an exemplary process of
cooperating a
motorized transport unit with a movable item contain such that the motorized
transport unit can
drive the movable item container through a shopping facility and providing
customer assistance;
FIGS. 10A, 10B and 10C illustrate some embodiments of a motorized transport
unit
detachably engaging a movable item container embodied as a shopping cart;
FIG. 11A illustrates an exemplary movable item container, embodied as shopping
carts,
with a seating block, in accordance with some embodiments;
FIG. 11B illustrates some embodiments of two seated movable item containers,
embodied as shopping carts.
Elements in the figures are illustrated for simplicity and clarity and have
not necessarily
been drawn to scale. For example, the dimensions and/or relative positioning
of some of the
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elements in the figures may be exaggerated relative to other elements to help
to improve
understanding of various embodiments of the present teachings. Also, common
but well-
understood elements that are useful or necessary in a commercially feasible
embodiment are
often not depicted in order to facilitate a less obstructed view of these
various embodiments of
the present teachings. Certain actions and/or steps may be described or
depicted in a particular
order of occurrence while those skilled in the art will understand that such
specificity with
respect to sequence is not actually required. The terms and expressions used
herein have the
ordinary technical meaning as is accorded to such terms and expressions by
persons skilled in the
technical field as set forth above except where different specific meanings
have otherwise been
set forth herein.
Detailed Description
The following description is not to be taken in a limiting sense, but is made
merely for
the purpose of describing the general principles of exemplary embodiments.
Reference
throughout this specification to "one embodiment," "an embodiment," or similar
language means
that a particular feature, structure, or characteristic described in
connection with the embodiment
is included in at least one embodiment of the present invention. Thus,
appearances of the phrases
"in one embodiment," "in an embodiment," and similar language throughout this
specification
may, but do not necessarily, all refer to the same embodiment.
Generally speaking, pursuant to various embodiments, systems, devices and
methods are
provided for assistance of persons at a shopping facility. Generally,
assistance may be provided
to customers or shoppers at the facility and/or to workers at the facility.
The facility may be any
type of shopping facility at a location in which products for display and/or
for sale are variously
distributed throughout the shopping facility space. The shopping facility may
be a retail sales
facility, or any other type of facility in which products are displayed and/or
sold. The shopping
facility may include one or more of sales floor areas, checkout locations,
parking locations,
entrance and exit areas, stock room areas, stock receiving areas, hallway
areas, common areas
shared by merchants, and so on. Generally, a shopping facility includes areas
that may be
dynamic in terms of the physical structures occupying the space or area and
objects, items,
machinery and/or persons moving in the area. For example, the shopping area
may include
product storage units, shelves, racks, modules, bins, etc., and other walls,
dividers, partitions, etc.
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that may be configured in different layouts or physical arrangements. In other
examples, persons
or other movable objects may be freely and independently traveling through the
shopping facility
space. And in other examples, the persons or movable objects move according to
known travel
patterns and timing. The facility may be any size of format facility, and may
include products
from one or more merchants. For example, a facility may be a single store
operated by one
merchant or may be a collection of stores covering multiple merchants such as
a mall.
Generally, the system makes use of automated, robotic mobile devices, e.g.,
motorized transport
units, that are capable of self-powered movement through a space of the
shopping facility and
providing any number of functions. Movement and operation of such devices may
be controlled
by a central computer system or may be autonomously controlled by the
motorized transport
units themselves. Various embodiments provide one or more user interfaces to
allow various
users to interact with the system including the automated mobile devices
and/or to directly
interact with the automated mobile devices. In some embodiments, the automated
mobile
devices and the corresponding system serve to enhance a customer shopping
experience in the
shopping facility, e.g., by assisting shoppers and/or workers at the facility.
In some embodiments, a shopping facility personal assistance system comprises:
a
plurality of motorized transport units located in and configured to move
through a shopping
facility space; a plurality of user interface units, each corresponding to a
respective motorized
transport unit during use of the respective motorized transport unit; and a
central computer
system having a network interface such that the central computer system
wirelessly
communicates with one or both of the plurality of motorized transport units
and the plurality of
user interface units, wherein the central computer system is configured to
control movement of
the plurality of motorized transport units through the shopping facility space
based at least on
inputs from the plurality of user interface units.
SYSTEM OVERVIEW
Referring now to the drawings, FIG. 1 illustrates embodiments of a shopping
facility
assistance system 100 that can serve to carry out at least some of the
teachings set forth herein. It
will be understood that the details of this example are intended to serve in
an illustrative capacity
and are not necessarily intended to suggest any limitations as regards the
present teachings. It is
noted that generally, FIGS. 1-5 describe the general functionality of several
embodiments of a
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system, and FIGS. 6-11B expand on some functionalities of some embodiments of
the system
and/or embodiments independent of such systems.
In the example of FIG. 1, a shopping assistance system 100 is implemented in
whole or in
part at a shopping facility 101. Generally, the system 100 includes one or
more motorized
transport units (MTUs) 102; one or more item containers 104; a central
computer system 106
having at least one control circuit 108, at least one memory 110 and at least
one network
interface 112; at least one user interface unit 114; a location determination
system 116; at least
one video camera 118; at least one motorized transport unit (MTU) dispenser
120; at least one
motorized transport unit (MTU) docking station 122; at least one wireless
network 124; at least
one database 126; at least one user interface computer device 128; an item
display module 130;
and a locker or an item storage unit 132. It is understood that more or fewer
of such components
may be included in different embodiments of the system 100.
These motorized transport units 102 are located in the shopping facility 101
and are
configured to move throughout the shopping facility space. Further details
regarding such
motorized transport units 102 appear further below. Generally speaking, these
motorized
transport units 102 are configured to either comprise, or to selectively
couple to, a corresponding
movable item container 104. A simple example of an item container 104 would be
a shopping
cart as one typically finds at many retail facilities, or a rocket cart, a
flatbed cart or any other
mobile basket or platform that may be used to gather items for potential
purchase.
In some embodiments, these motorized transport units 102 wirelessly
communicate with,
and are wholly or largely controlled by, the central computer system 106. In
particular, in some
embodiments, the central computer system 106 is configured to control movement
of the
motorized transport units 102 through the shopping facility space based on a
variety of inputs.
For example, the central computer system 106 communicates with each motorized
transport unit
102 via the wireless network 124 which may be one or more wireless networks of
one or more
wireless network types (such as, a wireless local area network, a wireless
personal area network,
a wireless mesh network, a wireless star network, a wireless wide area
network, a cellular
network, and so on), capable of providing wireless coverage of the desired
range of the
motorized transport units 102 according to any known wireless protocols,
including but not
limited to a cellular, Wi-Fi, Zigbee or Bluetooth network.
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By one approach the central computer system 106 is a computer based device and
includes at least one control circuit 108, at least one memory 110 and at
least one wired and/or
wireless network interface 112. Such a control circuit 108 can comprise a
fixed-purpose hard-
wired platform or can comprise a partially or wholly programmable platform,
such as a
microcontroller, an application specification integrated circuit, a field
programmable gate array,
and so on. These architectural options are well known and understood in the
art and require no
further description here. This control circuit 108 is configured (for example,
by using
corresponding programming stored in the memory 110 as will be well understood
by those
skilled in the art) to carry out one or more of the steps, actions, and/or
functions described herein.
In this illustrative example the control circuit 108 operably couples to one
or more
memories 110. The memory 110 may be integral to the control circuit 108 or can
be physically
discrete (in whole or in part) from the control circuit 108 as desired. This
memory 110 can also
be local with respect to the control circuit 108 (where, for example, both
share a common circuit
board, chassis, power supply, and/or housing) or can be partially or wholly
remote with respect
to the control circuit 108 (where, for example, the memory 110 is physically
located in another
facility, metropolitan area, or even country as compared to the control
circuit 108).
This memory 110 can serve, for example, to non-transitorily store the computer
instructions that, when executed by the control circuit 108, cause the control
circuit 108 to
behave as described herein. (As used herein, this reference to "non-
transitorily" will be
understood to refer to a non-ephemeral state for the stored contents (and
hence excludes when
the stored contents merely constitute signals or waves) rather than volatility
of the storage media
itself and hence includes both non-volatile memory (such as read-only memory
(ROM) as well
as volatile memory (such as an erasable programmable read-only memory
(EPROM).)
Additionally, at least one database 126 may be accessible by the central
computer system
106. Such databases may be integrated into the central computer system 106 or
separate from it.
Such databases may be at the location of the shopping facility 101 or remote
from the shopping
facility 101. Regardless of location, the databases comprise memory to store
and organize
certain data for use by the central control system 106. In some embodiments,
the at least one
database 126 may store data pertaining to one or more of: shopping facility
mapping data,
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customer data, customer shopping data and patterns, inventory data, product
pricing data, and so
on.
In this illustrative example, the central computer system 106 also wirelessly
communicates with a plurality of user interface units 114. These teachings
will accommodate a
variety of user interface units including, but not limited to, mobile and/or
handheld electronic
devices such as so-called smart phones and portable computers such as
tablet/pad-styled
computers. Generally speaking, these user interface units 114 should be able
to wirelessly
communicate with the central computer system 106 via a wireless network, such
as the wireless
network 124 of the shopping facility 101 (such as a Wi-Fi wireless network).
These user
interface units 114 generally provide a user interface for interaction with
the system. In some
embodiments, a given motorized transport unit 102 is paired with, associated
with, assigned to or
otherwise made to correspond with a given user interface unit 114. In some
embodiments, these
user interface units 114 should also be able to receive verbally-expressed
input from a user and
forward that content to the central computer system 106 or a motorized
transport unit 102 and/or
convert that verbally-expressed input into a form useful to the central
computer system 106 or a
motorized transport unit 102.
By one approach at least some of the user interface units 114 belong to
corresponding
customers who have come to the shopping facility 101 to shop. By another
approach, in lieu of
the foregoing or in combination therewith, at least some of the user interface
units 114 belong to
the shopping facility 101 and are loaned to individual customers to employ as
described herein.
In some embodiments, one or more user interface units 114 are attachable to a
given movable
item container 104 or are integrated with the movable item container 104.
Similarly, in some
embodiments, one or more user interface units 114 may be those of shopping
facility workers,
belong to the shopping facility 101 and are loaned to the workers, or a
combination thereof.
In some embodiments, the user interface units 114 may be general purpose
computer
devices that include computer programming code to allow it to interact with
the system 106. For
example, such programming may be in the form of an application installed on
the user interface
unit 114 or in the form of a browser that displays a user interface provided
by the central
computer system 106 or other remote computer or server (such as a web server).
In some
embodiments, one or more user interface units 114 may be special purpose
devices that are
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programmed to primarily function as a user interface for the system 100.
Depending on the
functionality and use case, user interface units 114 may be operated by
customers of the
shopping facility or may be operated by workers at the shopping facility, such
as facility
employees (associates or colleagues), vendors, suppliers, contractors, etc.
By one approach, the system 100 optionally includes one or more video cameras
118.
Captured video imagery from such a video camera 118 can be provided to the
central computer
system 106. That information can then serve, for example, to help the central
computer system
106 determine a present location of one or more of the motorized transport
units 102 and/or
determine issues or concerns regarding automated movement of those motorized
transport units
102 in the shopping facility space. As one simple example in these regards,
such video
information can permit the central computer system 106, at least in part, to
detect an object in a
path of movement of a particular one of the motorized transport units 102.
By one approach these video cameras 118 comprise existing surveillance
equipment
employed at the shopping facility 101 to serve, for example, various security
purposes. By
another approach these video cameras 118 are dedicated to providing video
content to the central
computer system 106 to facilitate the latter's control of the motorized
transport units 102. If
desired, the video cameras 118 can have a selectively movable field of view
and/or zoom
capability that the central computer system 106 controls as appropriate to
help ensure receipt of
useful information at any given moment.
In some embodiments, a location detection system 116 is provided at the
shopping
facility 101. The location detection system 116 provides input to the central
computer system
106 useful to help determine the location of one or more of the motorized
transport units 102. In
some embodiments, the location detection system 116 includes a series of light
sources (e.g.,
LEDs (light-emitting diodes)) that are mounted in the ceiling at known
positions throughout the
space and that each encode data in the emitted light that identifies the
source of the light (and
thus, the location of the light). As a given motorized transport unit 102
moves through the space,
light sensors (or light receivers) at the motorized transport unit 102, on the
movable item
container 104 and/or at the user interface unit 114 receive the light and can
decode the data. This
data is sent back to the central computer system 106 which can determine the
position of the
motorized transport unit 102 by the data of the light it receives, since it
can relate the light data to
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a mapping of the light sources to locations at the facility 101. Generally,
such lighting systems
are known and commercially available, e.g., the ByteLight system from
ByteLight of Boston,
Massachusetts. In embodiments using a ByteLight system, a typical display
screen of the typical
smart phone device can be used as a light sensor or light receiver to receive
and process data
encoded into the light from the ByteLight light sources.
In other embodiments, the location detection system 116 includes a series of
low energy
radio beacons (e.g., Bluetooth low energy beacons) at known positions
throughout the space and
that each encode data in the emitted radio signal that identifies the beacon
(and thus, the location
of the beacon). As a given motorized transport unit 102 moves through the
space, low energy
receivers at the motorized transport unit 102, on the movable item container
104 and/or at the
user interface unit 114 receive the radio signal and can decode the data. This
data is sent back to
the central computer system 106 which can determine the position of the
motorized transport unit
102 by the location encoded in the radio signal it receives, since it can
relate the location data to
a mapping of the low energy radio beacons to locations at the facility 101.
Generally, such low
energy radio systems are known and commercially available. In embodiments
using a Bluetooth
low energy radio system, a typical Bluetooth radio of a typical smart phone
device can be used as
a receiver to receive and process data encoded into the Bluetooth low energy
radio signals from
the Bluetooth low energy beacons.
In still other embodiments, the location detection system 116 includes a
series of audio
beacons at known positions throughout the space and that each encode data in
the emitted audio
signal that identifies the beacon (and thus, the location of the beacon). As a
given motorized
transport unit 102 moves through the space, microphones at the motorized
transport unit 102, on
the movable item container 104 and/or at the user interface unit 114 receive
the audio signal and
can decode the data. This data is sent back to the central computer system 106
which can
determine the position of the motorized transport unit 102 by the location
encoded in the audio
signal it receives, since it can relate the location data to a mapping of the
audio beacons to
locations at the facility 101. Generally, such audio beacon systems are known
and commercially
available. In embodiments using an audio beacon system, a typical microphone
of a typical
smart phone device can be used as a receiver to receive and process data
encoded into the audio
signals from the audio beacon.
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Also optionally, the central computer system 106 can operably couple to one or
more
user interface computers 128 (comprising, for example, a display and a user
input interface such
as a keyboard, touch screen, and/or cursor-movement device). Such a user
interface computer
128 can permit, for example, a worker (e.g., an associate, analyst, etc.) at
the retail or shopping
facility 101 to monitor the operations of the central computer system 106
and/or to attend to any
of a variety of administrative, configuration or evaluation tasks as may
correspond to the
programming and operation of the central computer system 106. Such user
interface computers
128 may be at or remote from the location of the facility 101 and may access
one or more the
databases 126.
In some embodiments, the system 100 includes at least one motorized transport
unit
(MTU) storage unit or dispenser 120 at various locations in the shopping
facility 101. The
dispenser 120 provides for storage of motorized transport units 102 that are
ready to be assigned
to customers and/or workers. In some embodiments, the dispenser 120 takes the
form of a
cylinder within which motorized transports units 102 are stacked and released
through the
bottom of the dispenser 120. Further details of such embodiments are provided
further below.
In some embodiments, the dispenser 120 may be fixed in location or may be
mobile and capable
of transporting itself to a given location or utilizing a motorized transport
unit 102 to transport
the dispenser 120, then dispense one or more motorized transport units 102.
In some embodiments, the system 100 includes at least one motorized transport
unit
(MTU) docking station 122. These docking stations 122 provide locations where
motorized
transport units 102 can travel and connect to. For example, the motorized
transport units 102
may be stored and charged at the docking station 122 for later use, and/or may
be serviced at the
docking station 122.
In accordance with some embodiments, a given motorized transport unit 102
detachably
connects to a movable item container 104 and is configured to move the movable
item container
104 through the shopping facility space under control of the central computer
system 106 and/or
the user interface unit 114. For example, a motorized transport unit 102 can
move to a position
underneath a movable item container 104 (such as a shopping cart, a rocket
cart, a flatbed cart, or
any other mobile basket or platform), align itself with the movable item
container 104 (e.g.,
using sensors) and then raise itself to engage an undersurface of the movable
item container 104
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and lift a portion of the movable item container 104. Once the motorized
transport unit is
cooperating with the movable item container 104 (e.g., lifting a portion of
the movable item
container), the motorized transport unit 102 can continue to move throughout
the facility space
101 taking the movable item container 104 with it. In some examples, the
motorized transport
unit 102 takes the form of the motorized transport unit 202 of FIGS. 2A-3B as
it engages and
detachably connects to a given movable item container 104. It is understood
that in other
embodiments, the motorized transport unit 102 may not lift a portion of the
movable item
container 104, but that it removably latches to, connects to or otherwise
attaches to a portion of
the movable item container 104 such that the movable item container 104 can be
moved by the
motorized transport unit 102. For example, the motorized transport unit 102
can connect to a
given movable item container using a hook, a mating connector, a magnet, and
so on.
In addition to detachably coupling to movable item containers 104 (such as
shopping
carts), in some embodiments, motorized transport units 102 can move to and
engage or connect
to an item display module 130 and/or an item storage unit or locker 132. For
example, an item
display module 130 may take the form of a mobile display rack or shelving unit
configured to
house and display certain items for sale. It may be desired to position the
display module 130 at
various locations within the shopping facility 101 at various times. Thus, one
or more motorized
transport units 102 may move (as controlled by the central computer system
106) underneath the
item display module 130, extend upward to lift the module 130 and then move it
to the desired
location. A storage locker 132 may be a storage device where items for
purchase are collected
and placed therein for a customer and/or worker to later retrieve. In some
embodiments, one or
more motorized transport units 102 may be used to move the storage locker to a
desired location
in the shopping facility 101. Similar to how a motorized transport unit
engages a movable item
container 104 or item display module 130, one or more motorized transport
units 102 may move
(as controlled by the central computer system 106) underneath the storage
locker 132, extend
upward to lift the locker 132 and then move it to the desired location.
FIGS. 2A and 2B illustrate some embodiments of a motorized transport unit 202,
similar
to the motorized transport unit 102 shown in the system of FIG. 1. In this
embodiment, the
motorized transport unit 202 takes the form of a disc-shaped robotic device
having motorized
wheels (not shown), a lower body portion 204 and an upper body portion 206
that fits over at
least part of the lower body portion 204. It is noted that in other
embodiments, the motorized
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transport unit may have other shapes and/or configurations, and is not limited
to disc-shaped.
For example, the motorized transport unit may be cubic, octagonal, triangular,
or other shapes,
and may be dependent on a movable item container with which the motorized
transport unit is
intended to cooperate. Also included are guide members 208. In FIG. 2A, the
motorized
transport unit 202 is shown in a retracted position in which the upper body
portion 206 fits over
the lower body portion 204 such that the motorized transport unit 202 is in
its lowest profile
orientation which is generally the preferred orientation for movement when it
is unattached to a
movable item container 104 for example. In FIG. 2B, the motorized transport
unit 202 is shown
in an extended position in which the upper body portion 206 is moved upward
relative to the
lower body portion 204 such that the motorized transport unit 202 is in its
highest profile
orientation for movement when it is lifting and attaching to a movable item
container 104 for
example. The mechanism within the motorized transport unit 202 is designed to
provide
sufficient lifting force to lift the weight of the upper body portion 206 and
other objects to be
lifted by the motorized transport unit 202, such as movable item containers
104 and items placed
within the movable item container, item display modules 130 and items
supported by the item
display module, and storage lockers 132 and items placed within the storage
locker. The guide
members 208 are embodied as pegs or shafts that extend horizontally from the
both the upper
body portion 206 and the lower body portion 204. In some embodiments, these
guide members
208 assist docking the motorized transport unit 202 to a docking station 122
or a dispenser 120.
In some embodiments, the lower body portion 204 and the upper body portion are
capable to
moving independently of each other. For example, the upper body portion 206
may be raised
and/or rotated relative to the lower body portion 204. That is, one or both of
the upper body
portion 206 and the lower body portion 204 may move toward/away from the other
or rotated
relative to the other. In some embodiments, in order to raise the upper body
portion 206 relative
to the lower body portion 204, the motorized transport unit 202 includes an
internal lifting
system (e.g., including one or more electric actuators or rotary drives or
motors). Numerous
examples of such motorized lifting and rotating systems are known in the art.
Accordingly,
further elaboration in these regards is not provided here for the sake of
brevity.
FIGS. 3A and 3B illustrate some embodiments of the motorized transport unit
202
detachably engaging a movable item container embodied as a shopping cart 302.
In FIG 3A, the
motorized transport unit 202 is in the orientation of FIG. 2A such that it is
retracted and able to
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move in position underneath a portion of the shopping cart 302. Once the
motorized transport
unit 202 is in position (e.g., using sensors), as illustrated in FIG. 3B, the
motorized transport unit
202 is moved to the extended position of FIG. 2B such that the front portion
304 of the shopping
cart is lifted off of the ground by the motorized transport unit 202, with the
wheels 306 at the rear
of the shopping cart 302 remaining on the ground. In this orientation, the
motorized transport
unit 202 is able to move the shopping cart 302 throughout the shopping
facility. It is noted that
in these embodiments, the motorized transport unit 202 does not bear the
weight of the entire cart
302 since the rear wheels 306 rest on the floor. It is understood that in some
embodiments, the
motorized transport unit 202 may be configured to detachably engage other
types of movable
item containers, such as rocket carts, flatbed carts or other mobile baskets
or platforms.
FIG. 4 presents a more detailed example of some embodiments of the motorized
transport
unit 102 of FIG. 1. In this example, the motorized transport unit 102 has a
housing 402 that
contains (partially or fully) or at least supports and carries a number of
components. These
components include a control unit 404 comprising a control circuit 406 that,
like the control
circuit 108 of the central computer system 106, controls the general
operations of the motorized
transport unit 102. Accordingly, the control unit 404 also includes a memory
408 coupled to the
control circuit 406 and that stores, for example, operating instructions
and/or useful data.
The control circuit 406 operably couples to a motorized wheel system 410. This
motorized wheel system 410 functions as a locomotion system to permit the
motorized transport
unit 102 to move within the aforementioned retail or shopping facility 101
(thus, the motorized
wheel system 410 may more generically be referred to as a locomotion system).
Generally
speaking, this motorized wheel system 410 will include at least one drive
wheel (i.e., a wheel
that rotates (around a horizontal axis) under power to thereby cause the
motorized transport unit
102 to move through interaction with, for example, the floor of the shopping
facility 101). The
motorized wheel system 410 can include any number of rotating wheels and/or
other floor-
contacting mechanisms as may be desired and/or appropriate to the application
setting.
The motorized wheel system 410 also includes a steering mechanism of choice.
One
simple example in these regards comprises one or more of the aforementioned
wheels that can
swivel about a vertical axis to thereby cause the moving motorized transport
unit 102 to turn as
well.
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Numerous examples of motorized wheel systems are known in the art.
Accordingly,
further elaboration in these regards is not provided here for the sake of
brevity save to note that
the aforementioned control circuit 406 is configured to control the various
operating states of the
motorized wheel system 410 to thereby control when and how the motorized wheel
system 410
-- operates.
In this illustrative example, the control circuit 406 also operably couples to
at least one
wireless transceiver 412 that operates according to any known wireless
protocol. This wireless
transceiver 412 can comprise, for example, a Wi-Fi-compatible and/or Bluetooth-
compatible
transceiver that can communicate with the aforementioned central computer
system 106 via the
-- aforementioned wireless network 124 of the shopping facility 101. So
configured the control
circuit 406 of the motorized transport unit 102 can provide information to the
central computer
system 106 and can receive information and/or instructions from the central
computer system
106. As one simple example in these regards, the control circuit 406 can
receive instructions
from the central computer system 106 regarding movement of the motorized
transport unit 102.
These teachings will accommodate using any of a wide variety of wireless
technologies
as desired and/or as may be appropriate in a given application setting. These
teachings will also
accommodate employing two or more different wireless transceivers 412 if
desired.
The control circuit 406 also couples to one or more on-board sensors 414.
These
teachings will accommodate a wide variety of sensor technologies and form
factors. By one
-- approach at least one such sensor 414 can comprise a light sensor or light
receiver. When the
aforementioned location detection system 116 comprises a plurality of light
emitters disposed at
particular locations within the shopping facility 101, such a light sensor can
provide information
that the control circuit 406 and/or the central computer system 106 employs to
determine a
present location and/or orientation of the motorized transport unit 102.
As another example, such a sensor 414 can comprise a distance measurement unit
configured to detect a distance between the motorized transport unit 102 and
one or more objects
or surfaces around the motorized transport unit 102 (such as an object that
lies in a projected path
of movement for the motorized transport unit 102 through the shopping facility
101). These
teachings will accommodate any of a variety of distance measurement units
including optical
-- units and sound/ultrasound units. In one example, a sensor 414 comprises a
laser distance sensor
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device capable of determining a distance to objects in proximity to the
sensor. In some
embodiments, a sensor 414 comprises an optical based scanning device to sense
and read optical
patterns in proximity to the sensor, such as bar codes variously located on
structures in the
shopping facility 101. In some embodiments, a sensor 414 comprises a radio
frequency
.. identification (RFID) tag reader capable of reading RFID tags in proximity
to the sensor. Such
sensors may be useful to determine proximity to nearby objects, avoid
collisions, orient the
motorized transport unit at a proper alignment orientation to engage a movable
item container,
and so on.
The foregoing examples are intended to be illustrative and are not intended to
convey an
.. exhaustive listing of all possible sensors. Instead, it will be understood
that these teachings will
accommodate sensing any of a wide variety of circumstances or phenomena to
support the
operating functionality of the motorized transport unit 102 in a given
application setting.
By one optional approach an audio input 416 (such as a microphone) and/or an
audio
output 418 (such as a speaker) can also operably couple to the control circuit
406. So configured
.. the control circuit 406 can provide a variety of audible sounds to thereby
communicate with a
user of the motorized transport unit 102, other persons in the vicinity of the
motorized transport
unit 102, or even other motorized transport units 102 in the area. These
audible sounds can
include any of a variety of tones and other non-verbal sounds. These audible
sounds can also
include, in lieu of the foregoing or in combination therewith, pre-recorded or
synthesized speech.
The audio input 416, in turn, provides a mechanism whereby, for example, a
user
provides verbal input to the control circuit 406. That verbal input can
comprise, for example,
instructions, inquiries, or information. So configured, a user can provide,
for example, a question
to the motorized transport unit 102 (such as, "Where are the towels?"). The
control circuit 406
can cause that verbalized question to be transmitted to the central computer
system 106 via the
.. motorized transport unit's wireless transceiver 412. The central computer
system 106 can
process that verbal input to recognize the speech content and to then
determine an appropriate
response. That response might comprise, for example, transmitting back to the
motorized
transport unit 102 specific instructions regarding how to move the motorized
transport unit 102
(via the aforementioned motorized wheel system 410) to the location in the
shopping facility 101
.. where the towels are displayed.
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In this example the motorized transport unit 102 includes a rechargeable power
source
420 such as one or more batteries. The power provided by the rechargeable
power source 420
can be made available to whichever components of the motorized transport unit
102 require
electrical energy. By one approach the motorized transport unit 102 includes a
plug or other
electrically conductive interface that the control circuit 406 can utilize to
automatically connect
to an external source of electrical energy to thereby recharge the
rechargeable power source 420.
By one approach the motorized transport unit 102 comprises an integral part of
a movable
item container 104 such as a grocery cart. As used herein, this reference to
"integral" will be
understood to refer to a non-temporary combination and joinder that is
sufficiently complete so
as to consider the combined elements to be as one. Such a joinder can be
facilitated in a number
of ways including by securing the motorized transport unit housing 402 to the
item container
using bolts or other threaded fasteners as versus, for example, a clip.
These teachings will also accommodate selectively and temporarily attaching
the
motorized transport unit 102 to an item container 104. In such a case the
motorized transport unit
102 can include a movable item container coupling structure 422. By one
approach this movable
item container coupling structure 422 operably couples to a control circuit
202 to thereby permit
the latter to control, for example, the latched and unlatched states of the
movable item container
coupling structure 422. So configured, by one approach the control circuit 406
can automatically
and selectively move the motorized transport unit 102 (via the motorized wheel
system 410)
towards a particular item container until the movable item container coupling
structure 422 can
engage the item container to thereby temporarily physically couple the
motorized transport unit
102 to the item container. So latched, the motorized transport unit 102 can
then cause the item
container to move with the motorized transport unit 102. In embodiments such
as illustrated in
FIGS. 2A-3B, the movable item container coupling structure 422 includes a
lifting system (e.g.,
including an electric drive or motor) to cause a portion of the body or
housing 402 to engage and
lift a portion of the item container off of the ground such that the motorized
transport unit 102
can carry a portion of the item container. In other embodiments, the movable
transport unit
latches to a portion of the movable item container without lifting a portion
thereof off of the
ground.
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In either case, by combining the motorized transport unit 102 with an item
container, and
by controlling movement of the motorized transport unit 102 via the
aforementioned central
computer system 106, these teachings will facilitate a wide variety of useful
ways to assist both
customers and associates in a shopping facility setting. For example, the
motorized transport unit
102 can be configured to follow a particular customer as they shop within the
shopping facility
101. The customer can then place items they intend to purchase into the item
container that is
associated with the motorized transport unit 102.
In some embodiments, the motorized transport unit 102 includes an input/output
(1/0)
device 424 that is coupled to the control circuit 406. The I/0 device 424
allows an external
device to couple to the control unit 404. The function and purpose of
connecting devices will
depend on the application. In some examples, devices connecting to the I/0
device 424 may add
functionality to the control unit 404, allow the exporting of data from the
control unit 404, allow
the diagnosing of the motorized transport unit 102, and so on.
In some embodiments, the motorized transport unit 102 includes a user
interface 426
including for example, user inputs and/or user outputs or displays depending
on the intended
interaction with the user. For example, user inputs could include any input
device such as
buttons, knobs, switches, touch sensitive surfaces or display screens, and so
on. Example user
outputs include lights, display screens, and so on. The user interface 426 may
work together
with or separate from any user interface implemented at a user interface unit
114 (such as a smart
phone or tablet device).
The control unit 404 includes a memory 408 coupled to the control circuit 406
and that
stores, for example, operating instructions and/or useful data. The control
circuit 406 can
comprise a fixed-purpose hard-wired platform or can comprise a partially or
wholly
programmable platform. These architectural options are well known and
understood in the art
and require no further description here. This control circuit 406 is
configured (for example, by
using corresponding programming stored in the memory 408 as will be well
understood by those
skilled in the art) to carry out one or more of the steps, actions, and/or
functions described herein.
The memory 408 may be integral to the control circuit 406 or can be physically
discrete (in
whole or in part) from the control circuit 406 as desired. This memory 408 can
also be local with
respect to the control circuit 406 (where, for example, both share a common
circuit board,
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chassis, power supply, and/or housing) or can be partially or wholly remote
with respect to the
control circuit 406. This memory 408 can serve, for example, to non-
transitorily store the
computer instructions that, when executed by the control circuit 406, cause
the control circuit
406 to behave as described herein. (As used herein, this reference to "non-
transitorily" will be
understood to refer to a non-ephemeral state for the stored contents (and
hence excludes when
the stored contents merely constitute signals or waves) rather than volatility
of the storage media
itself and hence includes both non-volatile memory (such as read-only memory
(ROM) as well
as volatile memory (such as an erasable programmable read-only memory
(EPROM).)
It is noted that not all components illustrated in FIG. 4 are included in all
embodiments of
the motorized transport unit 102. That is, some components may be optional
depending on the
implementation.
FIG. 5 illustrates a functional block diagram that may generally represent any
number of
various electronic components of the system 100 that are computer type
devices. The computer
device 500 includes a control circuit 502, a memory 504, a user interface 506
and an input/output
(I/0) interface 508 providing any type of wired and/or wireless connectivity
to the computer
device 500, all coupled to a communication bus 510 to allow data and signaling
to pass
therebetween. Generally, the control circuit 502 and the memory 504 may be
referred to as a
control unit. The control circuit 502, the memory 504, the user interface 506
and the I/0
interface 508 may be any of the devices described herein or as understood in
the art. The
functionality of the computer device 500 will depend on the programming stored
in the memory
504. The computer device 500 may represent a high level diagram for one or
more of the central
computer system 106, the motorized transport unit 102, the user interface unit
114, the location
detection system 116, the user interface computer 128, the MTU docking station
122 and the
MTU dispenser 120, or any other device or component in the system that is
implemented as a
computer device.
ADDITIONAL FEATURES OVERVIEW
Referring generally to FIGS. 1-5, the shopping assistance system 100 may
implement one
or more of several different features depending on the configuration of the
system and its
components. The following provides a brief description of several additional
features that could
be implemented by the system. One or more of these features could also be
implemented in
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other systems separate from embodiments of the system. This is not meant to be
an exhaustive
description of all features and not meant to be an exhaustive description of
the details any one of
the features. Further details with regards to one or more features beyond this
overview may be
provided herein.
Tagalong Steering: This feature allows a given motorized transport unit 102 to
lead or
follow a user (e.g., a customer and/or a worker) throughout the shopping
facility 101. For
example, the central computer system 106 uses the location detection system
116 to determine
the location of the motorized transport unit 102. For example, LED smart
lights (e.g., the
ByteLight system) of the location detection system 116 transmit a location
number to smart
devices which are with the customer (e.g., user interface units 114), and/or
on the item container
104/motorized transport unit 102. The central computer system 106 receives the
LED location
numbers received by the smart devices through the wireless network 124. Using
this information,
in some embodiments, the central computer system 106 uses a grid placed upon a
2D CAD map
and 3D point cloud model (e.g., from the databases 126) to direct, track, and
plot paths for the
other devices. Using the grid, the motorized transport unit 102 can drive a
movable item
container 104 in a straight path rather than zigzagging around the facility.
As the user moves
from one grid to another, the motorized transport unit 102 drives the
container 104 from one grid
to the other. In some embodiments, as the user moves towards the motorized
transport unit, it
stays still until the customer moves beyond an adjoining grid.
Detecting Objects: In some embodiments, motorized transport units 102 detect
objects
through several sensors mounted on motorized transport unit 102, through
independent cameras
(e.g., video cameras 118), through sensors of a corresponding movable item
container 104, and
through communications with the central computer system 106. In some
embodiments, with
semi-autonomous capabilities, the motorized transport unit 102 will attempt to
avoid obstacles,
and if unable to avoid, it will notify the central computer system 106 of an
exception condition.
In some embodiments, using sensors 414 (such as distance measurement units,
e.g., laser or other
optical-based distance measurement sensors), the motorized transport unit 102
detects obstacles
in its path, and will move to avoid, or stop until the obstacle is clear.
Visual Remote Steering: This feature enables movement and/or operation of a
motorized
transport unit 102 to be controlled by a user on-site, off-site, or anywhere
in the world. This is
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due to the architecture of some embodiments where the central computer system
106 outputs the
control signals to the motorized transport unit 102. These controls signals
could have originated
at any device in communication with the central computer system 106. For
example, the
movement signals sent to the motorized transport unit 102 may be movement
instructions
determined by the central computer system 106; commands received at a user
interface unit 114
from a user; and commands received at the central computer system 106 from a
remote user not
located at the shopping facility space.
Determining Location: Similar to that described above, this feature enables
the central
computer system 106 to determine the location of devices in the shopping
facility 101. For
example, the central computer system 106 maps received LED light
transmissions, Bluetooth
low energy radio signals or audio signals (or other received signals encoded
with location data)
to a 2D map of the shopping facility. Objects within the area of the shopping
facility are also
mapped and associated with those transmissions. Using this information, the
central computer
system 106 can determine the location of devices such as motorized transport
units.
Digital Physical Map Integration: In some embodiments, the system 100 is
capable of
integrating 2D and 3D maps of the shopping facility with physical locations of
objects and
workers. Once the central computer system 106 maps all objects to specific
locations using
algorithms, measurements and LED geo-location, for example, grids are applied
which sections
off the maps into access ways and blocked sections. Motorized transport units
102 use these
grids for navigation and recognition. In some cases, grids are applied to 2D
horizontal maps
along with 3D models. In some cases, grids start at a higher unit level and
then can be broken
down into smaller units of measure by the central computer system 106 when
needed to provide
more accuracy.
Calling a Motorized Transport Unit: This feature provides multiple methods to
request
and schedule a motorized transport unit 102 for assistance in the shopping
facility. In some
embodiments, users can request use of a motorized transport unit 102 through
the user interface
unit 114. The central computer system 106 can check to see if there is an
available motorized
transport unit. Once assigned to a given user, other users will not be able to
control the already
assigned transport unit. Workers, such as store associates, may also reserve
multiple motorized
transport units in order to accomplish a coordinated large job.
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Locker Delivery: In some embodiments, one or more motorized transport units
102 may
be used to pick, pack, and deliver items to a particular storage locker 132.
The motorized
transport units 102 can couple to and move the storage locker to a desired
location. In some
embodiments, once delivered, the requestor will be notified that the items are
ready to be picked
up, and will be provided the locker location and locker security code key.
Route Optimization: In some embodiments, the central computer system
automatically
generates a travel route for one or more motorized transport units through the
shopping facility
space. In some embodiments, this route is based on one or more of a user
provided list of items
entered by the user via a user interface unit 114; user selected route
preferences entered by the
user via the user interface unit 114; user profile data received from a user
information database
(e.g., from one of databases 126); and product availability information from a
retail inventory
database (e.g., from one of databases 126). In some cases, the route intends
to minimize the time
it takes to get through the facility, and in some cases, may route the shopper
to the least busy
checkout area. Frequently, there will be multiple possible optimum routes. The
route chosen
may take the user by things the user is more likely to purchase (in case they
forgot something),
and away from things they are not likely to buy (to avoid embarrassment). That
is, routing a
customer through sporting goods, women's lingerie, baby food, or feminine
products, who has
never purchased such products based on past customer behavior would be non-
productive, and
potentially embarrassing to the customer. In some cases, a route may be
determined from
multiple possible routes based on past shopping behavior, e.g., if the
customer typically buys a
cold Diet Coke product, children's shoes or power tools, this information
would be used to add
weight to the best alternative routes, and determine the route accordingly.
Store Facing Features: In some embodiments, these features enable functions to
support
workers in performing store functions. For example, the system can assist
workers to know what
products and items are on the shelves and which ones need attention. For
example, using 3D
scanning and point cloud measurements, the central computer system can
determine where
products are supposed to be, enabling workers to be alerted to facing or
zoning of issues along
with potential inventory issues.
Phone Home: This feature allows users in a shopping facility 101 to be able to
contact
remote users who are not at the shopping facility 101 and include them in the
shopping
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experience. For example, the user interface unit 114 may allow the user to
place a voice call, a
video call, or send a text message. With video call capabilities, a remote
person can virtually
accompany an in-store shopper, visually sharing the shopping experience while
seeing and
talking with the shopper. One or more remote shoppers may join the experience.
Returns: In some embodiments, the central computer system 106 can task a
motorized
transport unit 102 to keep the returns area clear of returned merchandise. For
example, the
transport unit may be instructed to move a cart from the returns area to a
different department or
area. Such commands may be initiated from video analytics (the central
computer system
analyzing camera footage showing a cart full), from an associate command
(digital or verbal), or
on a schedule, as other priority tasks allow. The motorized transport unit 102
can first bring an
empty cart to the returns area, prior to removing a full one.
Bring a Container: One or more motorized transport units can retrieve a
movable item
container 104 (such as a shopping cart) to use. For example, upon a customer
or worker request,
the motorized transport unit 102 can re-position one or more item containers
104 from one
location to another. In some cases, the system instructs the motorized
transport unit where to
obtain an empty item container for use. For example, the system can recognize
an empty and
idle item container that has been abandoned or instruct that one be retrieved
from a cart storage
area. In some cases, the call to retrieve an item container may be initiated
through a call button
placed throughout the facility, or through the interface of a user interface
unit 114.
Respond to Voice Commands: In some cases, control of a given motorized
transport unit
is implemented through the acceptance of voice commands. For example, the user
may speak
voice commands to the motorized transport unit 102 itself and/or to the user
interface unit 114.
In some embodiments, a voice print is used to authorize to use of a motorized
transport unit 102
to allow voice commands from single user at a time.
Retrieve Abandoned Item Containers: This feature allows the central computer
system to
track movement of movable item containers in and around the area of the
shopping facility 101,
including both the sale floor areas and the back-room areas. For example,
using visual
recognition through store cameras 118 or through user interface units 114, the
central computer
system 106 can identify abandoned and out-of-place movable item containers. In
some cases,
each movable item container has a transmitter or smart device which will send
a unique identifier
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to facilitate tracking or other tasks and its position using LED geo-location
identification. Using
LED geo-location identification with the Determining Location feature through
smart devices on
each cart, the central computer system 106 can determine the length of time a
movable item
container 104 is stationary.
Stocker Assistance: This feature allows the central computer system to track
movement
of merchandise flow into and around the back-room areas. For example, using
visual recognition
and captured images, the central computer system 106 can determine if carts
are loaded or not
for moving merchandise between the back room areas and the sale floor areas.
Tasks or alerts
may be sent to workers to assign tasks.
Self-Docking: Motorized transport units 102 will run low or out of power when
used.
Before this happens, the motorized transport units 102 need to recharge to
stay in service.
According to this feature, motorized transport units 102 will self-dock and
recharge (e.g., at a
MTU docking station 122) to stay at maximum efficiency, when not in use. When
use is
completed, the motorized transport unit 102 will return to a docking station
122. In some cases,
if the power is running low during use, a replacement motorized transport unit
can be assigned to
move into position and replace the motorized transport unit with low power.
The transition from
one unit to the next can be seamless to the user.
Item Container Retrieval: With this feature, the central computer system 106
can cause
multiple motorized transport units 102 to retrieve abandoned item containers
from exterior areas
such as parking lots. For example, multiple motorized transport units are
loaded into a movable
dispenser, e.g., the motorized transport units are vertically stacked in the
dispenser. The
dispenser is moved to the exterior area and the transport units are dispensed.
Based on video
analytics, it is determined which item containers 104 are abandoned and for
how long. A
transport unit will attach to an abandoned cart and return it to a storage
bay.
Motorized Transport Unit Dispenser: This feature provides the movable
dispenser that
contains and moves a group of motorized transport units to a given area (e.g.,
an exterior area
such as a parking lot) to be dispensed for use. For example, motorized
transport units can be
moved to the parking lot to retrieve abandoned item containers 104. In some
cases, the interior of
the dispenser includes helically wound guide rails that mate with the guide
member 208 to allow
the motorized transport units to be guided to a position to be dispensed.
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Specialized Module Retrieval: This feature allows the system 100 to track
movement of
merchandise flow into and around the sales floor areas and the back-room areas
including special
modules that may be needed to move to the sales floor. For example, using
video analytics, the
system can determine if a modular unit it loaded or empty. Such modular units
may house items
that are of seasonal or temporary use on the sales floor. For example, when it
is raining, it is
useful to move a module unit displaying umbrellas from a back room area (or a
lesser accessed
area of the sales floor) to a desired area of the sales floor area.
Authentication: This feature uses a voice imprint with an attention code/word
to
authenticate a user to a given motorized transport unit. One motorized
transport unit can be
swapped for another using this authentication. For example, a token is used
during the session
with the user. The token is a unique identifier for the session which is
dropped once the session
is ended. A logical token may be a session id used by the application of the
user interface unit
114 to establish the session id when user logs on and when deciding to do use
the system 100. In
some embodiments, communications throughout the session are encrypted using
SSL or other
methods at transport level.
FURTHER DETAILS OF SOME EMBODIMENTS
In accordance with some embodiments, further details are now provided for one
or more
of these and other features. For example, generally speaking, pursuant to
various embodiments,
systems, apparatuses, processes and methods are provided herein that enable a
motorized
transport unit 102 to cooperate with a movable item container 104 and drive or
otherwise move
the item container through at least portions of the shopping facility, and in
some instances
outside of the shopping facility.
Referring back to FIGS. 3A-3B, in some embodiments, the motorized transport
unit 202
is configured to cooperate with and lift at least a portion of the movable
item container 104. The
motorized transport unit 202 positions itself and/or receives routing
information from the central
computer system relative to the movable item container, and in some instances
moves at least
partially under the movable item container or an extended support with which
the motorized
transport unit can couple.
In some embodiments, the central computer system utilizes sensor data (e.g.,
video
camera information, RFID information of a movable item container, one or more
radio beacons
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(e.g., WiFi, Bluetooth, RF, etc.) at known positions throughout the shopping
facility, light
sources (e.g., LEDs) that emit identifier information, location identifiers
(e.g., barcodes), and the
like) to identify a location of a movable item container and/or one or more
motorized transport
units. The location information may be received directly from a detector, from
one or more
sensors on the movable item container, sensor data from one or more motorized
transport units,
other sources, or combination of such sources. Based on the detected location
of the movable
item container and a motorized transport unit, the central computer system can
route a motorized
transport unit to the location of the movable item container.
Once proximate the movable item container, the motorized transport unit then
moves to a
predefined location and/or orientation relative to the movable item container
where the
motorized transport unit can lift at least a portion of the movable item
contain. In some
instances, the central computer system continues to track sensor data and
communicates routing
information to the motorized transport unit to cause the motorized transport
unit to move to the
predefined location. Additionally or alternatively, the motorized transport
unit may utilize its
own internal sensors in positioning and/or orienting itself relative to the
movable item container.
For example, in some embodiments, the central computer system routes the
motorized transport
unit to a location proximate the movable item container. Once positioned
proximate the movable
item container, the motorized transport unit autonomously moves itself into
position, based on
sensor data (e.g., distance measurement sensor/s, camera/s, image processing,
RFID scanner/s,
barcode reader/s, light ID detector/s, antenna/s, directional antenna/s, other
such sensors, or
typically a combination of two or more of such sensors and/or sensor data).
Furthermore, the
central computer system may communicate sensor data to the motorized transport
unit that can
be used by the motorized transport unit in addition to local sensor data in
orienting and
positioning itself relative to the movable item container.
FIG. 6 illustrates some embodiments of a motorized transport unit 202
positioned
proximate a movable item container. The movable item container may include an
RFID
transmitter 602 or other such transmitter that can be detected by the
motorized transport unit
and/or the central computer system to obtain an identifier of the movable item
container, and/or
may be used in part to determine a location of the movable item container.
Utilizing one or more
sensors (e.g., camera/s, distance sensor/s, other such sensors, or a
combination of two or more of
such sensors), the motorized transport unit, once positioned proximate the
movable item
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container, may recognize a shape of the movable item container (e.g., a
virtual modeled shape
604 that corresponds to a reference model) and based on the shape (e.g., a
difference between the
orientation of the detected modeled shape relative to a reference shape, such
as differences in
lengths, angles, etc.) can identify an orientation of the motorized transport
unit relative to the
movable item container. For example, the motorized transport unit can
recognize the movable
item container and its relative orientation based on angles and/or rotation of
the model.
Additionally or alternatively, some embodiments may recognize one or more key
features of the
movable item container. For example, the motorized transport unit may, based
on the detected
model, identify a frame 606, base, or the like, and/or a specific aspect of
the frame (e.g., a front
bar of the frame) and its orientation relative to that key feature.
Utilizing the determined relative position and/or orientation, the motorized
transport unit
can move itself into a desired position relative to the movable item
container. Typically, during
movement, the motorized transport unit can continue to use sensor data (e.g.,
distance
measurements, video and/or image data, etc.) to continue to track its position
relative to the
movable item container and its orientation relative to a desired positioning
and orientation
relative to the movable item container to allow cooperation between the
motorized transport unit
and the movable item container.
FIG. 7 illustrates some embodiments of a motorized transport unit 202
positioned
proximate a movable item container 302 that includes one or more tags 702,
beacons or the like
(e.g., RFID tag, radio beacon, distance tags providing distance information,
etc.) placed at
predefined locations on the movable item container. The proximity depends on
the signal
strength of the tags, interference, and other such factors. Again, the central
computer system
may provide routing instructions to guide the motorized transport unit through
one or more
portions of the shopping facility to a location proximate the movable item
container (e.g., within
a predefined threshold distance where it has been determined the motorized
transport unit can
accurately detect the tags). In some embodiments, the motorized transport unit
wirelessly
receives positioning route instructions from the central computer system.
Based on the route
instructions, the control circuit of the motorized transport unit can activate
the motorized wheel
system to move the motorized transport unit through at least a portion of the
shopping facility
and to position the motorized transport unit, in accordance with the
positioning route
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instructions, proximate the movable item container such that the one or more
wireless tag sensors
are capable of sensing at least one of the wireless tags on the item
container.
The motorized transport unit can then utilize one or more sensors (e.g.,
camera/s, distance
sensor/s, antenna/s, directional antenna/s, other such sensors, or a
combination of two or more of
such sensors) to detect and/or recognize the movable item container and/or
determine a relative
position and/or orientation of the movable item container relative to a
position and/or orientation
of the motorized transport unit. In some embodiments, the motorized transport
unit utilizes one
or more tag sensors, directional antennas or the like to detect and locate the
one or more tags 702
(e.g., determine distance and angle of tags relative to a position and
orientation of the motorized
transport unit). Based on the predefined location of the tags on the movable
item container, the
motorized transport unit can use the determined location and orientation of
the movable item
container relative to the motorized transport unit as the motorized transport
unit moves into a
desired position relative to the movable item container so that the motorized
transport unit can
cooperate with and lift at least a portion of the movable item container. For
example, based on
the detected tags, the motorized transport unit can apply triangulation
relative to the multiple tags
to determine a precise location of the motorized transport unit relative to
the movable item
container.
Again, the location information determined from the tags may be utilized in
combination
with other sensor data, such as distance measurement data, image processing
data and other such
information. The number of tags can vary depending on one or more factors,
such as but not
limited to size of the movable item container, precision of the sensors of the
motorized transport
unit, input from the central computer system (e.g., movement and/or routing
instructions, sensor
data, etc.), and other such factors. In some implementations, for example, the
movable item
container may include three or more tags 702 that allow the motorized
transport unit and/or the
central computer system to determine positioning and/or orientation of the
motorized transport
unit relative to the movable item container as the motorized transport unit
moved into a desired
position. As a specific example, in some applications four tags are secured in
predefined
locations on the movable item container, where three tags can be used for
horizontal positioning
and/or orientation while the fourth can be used for vertical positioning.
Typically, the tags have
unique identifiers that allow the motorized transport unit and/or the central
computer system to
distinguish between the tags. In some implementations, the orientation is
utilized to accurately
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orient the motorized transport unit relative to the movable item container,
such as to accurately
position one or more item container coupling structures 422.
Further, in some implementations, one or more sensors of the motorized
transport unit
may be overridden and/or ignored. For example, a bump sensor may be ignored as
the motorized
transport unit moves into position relative to the movable item container.
Similarly, in some
instances the motorized transport unit may intentionally bump one or more
parts of the movable
item container (e.g., the wheels) as part of a positioning process. As such,
the bump sensor may
be used not as a warning but as a confirmation.
FIG. 8 illustrates an example of the motorized transport unit 102 of FIG. 1,
in accordance
with some embodiments. In this example, the motorized transport unit 102 has a
housing 402
that contains (partially or fully) or at least supports and carries a number
of components. These
components can include a control unit 404 comprising a control circuit 406
that, like the control
circuit 108 of the central computer system 106, controls the general
operations of the motorized
transport unit 102, and memory 408, and can include one or more of a motorized
wheel system
410, wireless transceiver 412, on-board sensors 414, audio input 416, audio
output 418,
rechargeable power source 420, movable item container coupling structure 422,
input/output
(I/0) device 424, user interface 426, other such components, and typically a
combination of two
or more of such components.
As described above, the sensors 414 may include one or more wireless tag
sensors,
antennas and/or other such sensors to detect the tags 702 cooperated with
movable item
container. The tag sensors couple with the control circuit such that the
control circuit receives
from the one or more tag sensors location information. In some
implementations, the tag
location information, which is typically wirelessly detected from multiple
different wireless tags
positioned at different positions on the movable item container, can include
and/or be used to
determine location and/or orientation information of the tags 702 relative to
a location of the
motorized transport unit. This location information allows the control circuit
406 to identify a
location and orientation of the item container relative to the motorized
transport unit.
In some embodiments, the motorized transport unit further includes one or more
lift
systems 804. The lift system is configured to lift a portion of the motorized
transport unit. For
example, in some embodiments, the lift system is cooperated with the one or
more item container
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coupling structures 422, which lift at least the one or more item container
coupling structures.
When the item container coupling structures are cooperated with the movable
item container, the
lifting can be transferred to the movable item container to cause at least a
portion of the movable
item container to be lifted. Additionally or alternatively, in some
embodiments, the motorized
transport unit includes a frame structure with at least two frame and/or
housing sections that are
movable relative to each other. The lift system can couple between the two
frame sections such
that when activated can cause the two frame sections to at least move toward
or away from each
other. The control circuit 406 controls the one or more lift systems 804.
Typically, when the lift
system is operated to move the frame sections toward each other the motorized
transport unit is
in a low profile or retracted state, and when operated to move the two frame
sections away from
each other the motorized transport unit is in high profile or extended state
such that a height of at
least a portion of the motorized transport unit is greater in the extended
state than in the retracted
state (e.g., see FIGS. 3A-3B).
In some embodiments, the control circuit activates the lift system to
configure the
motorized transport unit into the retracted state retracting the two frame
sections. This can allow
the control circuit to control the motorized wheel system to move the
motorized transport unit in
position underneath a portion of the movable item container. The motorized
wheel system 410
can be activate and controlled while continuing to monitor location
information (e.g., using
distance sensor data, tag location data, image processing, information from
the central computer
system, and/or other such information) to position the motorized transport
unit under the
movable item container and aligned, based on the location information,
relative to a frame of the
movable item container.
Once the motorized transport unit is in position (e.g., using sensors,
antennas, image
processing, etc.), the control circuit can activate the one or more lift
systems 804 to transition to
the extended state to lift on the frame 606 of the movable item container
lifting a first portion of
the item container. In some embodiments, the lifting on the frame 606 lifts a
portion of the
movable item container such that one or more wheels 306 of the item container
are lifted off of
the floor while two or more other wheels 306 of the item container remain in
contact with the
floor. For example, a front portion 304 of the movable item container can be
lifted off of the
ground by the motorized transport unit, including lifting the front wheels off
the ground. The
back or rear wheels 306 of the movable item container can remain on the
ground. In this
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orientation, the motorized transport unit 202 is able to drive the movable
item container through
the shopping facility. Again, in these embodiments, the motorized transport
unit does not bear
the weight of the entire movable item container since the rear wheels 306 rest
on the floor.
Further, the motorized transport unit takes advantage of the rear wheels
continued contact with
the floor to maintain an enhanced stability and reduces the potential of
tipping. The control
circuit is configured to activate the motorized wheel system, in accordance
with shopping route
instructions received from the central computer system, to drive the item
container through the
shopping facility along a shopping route while the two or more wheels of the
item container
continue to be in contact with the floor and supporting a portion of the
weight of the item
container and products placed into the item container. The lift force provided
by the lift system
can depend on expected weight and/or load of the movable item container and
the weight of the
products expected to be placed into the movable item container.
The lift system 804 can be configured with one or more lifting devices and/or
systems.
In some instances, the lift system includes a lift system control circuit that
receives instructions
from the motorized transport unit control circuit 406 and controls the one or
more lifting devices.
In other instances, the motorized transport unit control circuit directly
controls the lifting
devices. The lifting devices extend and retract the two frame and/or housing
sections, one or
more item container coupling structures 422, or other portion of the motorized
transport unit that
cooperates with the movable item container. The one or more lifting devices
can include one or
more hydraulic lifts, screw drives, servo-electric motors, linear servo-
electric motors, or other
such lifting devices or a combination of two or more of such lifting devices.
In some embodiments, the lift system comprises a plurality of hydraulic lifts
that are
spaced relative to each other and upon activation lift the one or more wheels
306 of the item
container off of the floor. For example, the lift system may include four
hydraulic lift devices,
which may be positioned to correspond to each of one of the wheels of the
motorized wheel
system, and can be cooperatively or independently activated. The motorized
transport unit can
include a body or housing having a top portion and a bottom portion. In some
implementations,
the hydraulic lifts cooperate with at least the top portion such that when
activated cause the top
portion to lift relative to the bottom portion and lift the first portion of
the item container.
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Some applications cooperate the one or more hydraulic lift systems or other
such lift
systems with a track, rail, guide, groove, rod, or the like that allows a
portion of the motorized
transport unit (e.g., a lower portion) to rotate relative to another portion
(e.g., upper portion).
The lifting devices alternatively cooperated with hinges, pivots, gearing
and/or other such
features that allow at least some lateral movement. In other implementations,
a one or more
screw drives are utilized to provide the lifting force. For example, a single
centrally positioned
screw drive can be utilized that causes a lower portion of the motorized
transport unit to spin
relative to an upper portion of the motorized transport unit. Alternatively or
additionally, the
frame and/or housing may include an upper portion and a lower portion with
cooperative
threading allowing extension and retraction between the upper and lower
portions as the lower
portion rotates relative to the upper portion.
FIG. 9 illustrates a simplified flow diagram of an exemplary process 900 of
cooperating a
motorized transport unit with a movable item contain such that the motorized
transport unit can
drive the movable item container through a shopping facility and providing
customer assistance.
In step 902, a motorized wheel system of a motorized transport unit is
activated by a control
circuit. The control circuit, while activating the motorized wheel system,
typically further
continues to monitor location information to position the motorized transport
unit under a
movable item container, and aligns the motorized transport unit, based on the
location
information, relative to a frame of the item container. Typically, the item
container is one of a
plurality of movable item containers that are usable by customers and
configured to be moved by
customers through the shopping facility. In step 904, a lift system is
activated to lift on the frame
of the item container lifting a first portion of the item container such one
or more wheels of the
item container are lifted off of a floor while two or more other wheels of the
item container
remain in contact with the floor.
FIGS. 10A, 10B and 10C illustrate some embodiments of a motorized transport
unit 202
detachably engaging a movable item container embodied as a shopping cart 302.
In FIG 3A, the
motorized transport unit 202 is located proximate the movable item container
with one or more
arms 1002, levers, extensions or the like in a first, engagement or extended
position. When in
the engagement position, the arms are configured to cooperate with a base,
frame 606 or other
portion of the movable item container. For example, a pair of arms may be
configured with
lengths sufficient to allow each arm to contact a portion of the frame (e.g.,
cooperatively span a
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distance across the frame). In some instances, the width of the motorized
transport unit when the
arms are in the engagement position is such that the motorized transport unit
cannot get between
the wheels 306 of the movable item container or can be difficult to maneuver
between the wheels
306. Accordingly, as illustrated in FIG. 10B, the arms may be rotated,
retracted or otherwise
moved to a second, aligned or narrowed position. In the aligned position, the
motorized
transport unit has a narrower width allowing the motorized transport unit to
more readily move
between the wheels 306 of the movable item container. In some embodiments, one
or more
motors and/or gearing are cooperated with the arms to implement the rotation
of the arms. FIGS.
10A-10C illustrate the motorized transport unit moving in under the movable
item container
from a first direction (e.g., front of the cart), however, it will be
appreciated by those skilled in
the art that the motorized transport unit can move in from any direction that
provides sufficient
clearance (horizontally, such as between the wheels; and vertically).
Once the motorized transport unit 202 is in position (e.g., using sensors), as
illustrated in
FIG. 10C, the arms can be moved back to the engagement position to allow the
arms to engage
parts of the frame 606 of the movable item container. The arms can provide
added support and
stability when lifting at least a portion of the movable item container. In
some implementations,
the motorized transport unit may position itself relative to the movable item
container such that
the arms are adjacent to the front wheels, and potentially utilize the front
wheels as a point of
engagement. For example, the arms may rest against and push against the wheels
or wheel
housing as the motorized transport unit drives the movable item container
through the shopping
facility. Some applications further position the arms relative to the
motorized transport unit such
that the weight of the movable item container supported by the motorized
transport unit is
approximately centered on the motorized transport unit and/or allowing
relatively balanced
distribution of the weight across the wheels of the motorized transport unit.
One or more of the item container coupling structures 422 may be included on
each arm
1002 allowing the item container coupling structures to be secured with the
frame or
corresponding coupling structures on the movable item containers. The item
container coupling
structure may be positioned on an end of each arm, and/or one or more item
container coupling
structures may be implemented at one or more locations along a length of each
arm. In some
embodiments, the one or more arms are rotatably cooperated with a body of the
motorized
transport unit, with at least one actuatable clamp positioned on each of the
arms such that the
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arms are rotated to position the clamps relative to the frame of the item
container. Additionally
or alternatively, one or more item container coupling structures may be
included on the housing
of the motorized transport unit and/or cooperated with a frame of the
motorized transport unit.
The arms are constructed of a strong, durable material, such as steel,
stainless steel, other
relevant alloy, or other material that is configured to support the expected
weight of the movable
item container and items placed into the movable item container. Cushioning
may be included
along some or all of the length of the arms, e.g., a rubberized or plastic
coating. This cushioning
can provide a soft contact between the motorized transport unit and the
movable item container,
limit a transfer of bumps from the motorized transport unit to the movable
item container, limit
potential damage to the frame of the movable item container and/or to the
motorized transport
unit, and the like. In some implementations, the arms may be configured to
flex based on an
expected weight to be supported, and/or be cooperated with the motorized
transport unit with one
or more springs or flexing members that provide cushioning.
The lift system 804 may directly cooperate with the arms 1002, such that the
lift system
causes the arms to elevate and lift the movable item container. In other
instances, however, the
arms are elevated as a portion of the motorized transport unit lifts. The arms
may further be
configured to accommodate misalignment and/or damage to the frame of the
movable item
container and/or the arm. For example, the arms may be configured to extend
beyond the frame
or other movable item container intended to be picked up.
The item container coupling structures 422 can be substantially any relevant
coupling
structure that can cooperate the motorized transport unit with the movable
item container. For
example, the item container coupling structures may include one or more
clamps, hooks, latches,
posts, recesses, and other such coupling structures. Some implementations
include one or more
actuatable clamps controlled by the control circuit. The control circuit, in
response to
positioning the motorized transport unit under the item container and aligned
relative to the
frame of the item container, can activate the clamps to engage and removably
clamp to the frame
of the item container and temporarily secure the motorized transport unit with
the item container.
Further, the item container coupling structures and/or the arms can be
configured to
accommodate slight variations between the frame of the movable item container
and positioning
of the motorized transport unit when trying to cooperate with the movable item
container and
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motorized transport unit (e.g., carts may vary, for example, because of being
damaged and the
like). In some instances, the coupling structure and/or movable item container
may include one
or more guides or other such structure to help achieve desired alignment of
the coupling structure
and the part of the movable item container that is being secured (e.g.,
lateral bar of the frame).
Additionally, the item container coupling structure may be configured to move
horizontally
and/or vertically relative to the motorized transport unit to allow for
alignment. The arms may
also be configured to provide for slight variations (e.g., may be able to
extend or retract at least a
small distance) to allow for easier cooperation. Further, the lift system may
lift one side of the
motorized transport unit and/or an arm higher than the other to achieve a
cooperation of the
coupling structure with the movable item container. Some embodiments include
coupling
structure sensors to ensure the coupling structures have achieved a secure
cooperation with the
movable item container.
In some embodiments, the sensors 414 may include one or more traction and/or
slip
sensors. For example, a traction sensor may be cooperated with one or more of
the wheels
and/or axles of the motorized transport unit and can detect and/or index the
rotation of one or
more wheels and/or axles of the wheels. As such, in some instances, the
control circuit and/or
the motorized wheel system can receive traction sensor data that may indicate
a reduction in
traction of one or more wheels of the motorized wheel system (e.g., can detect
when a wheel is
moving faster than expected). In some instances, the control circuit and/or
the motorized wheel
system can detect a reduction or lack of traction relative to one or more
wheels based on the rate
of rotation of a the wheel relative to the rate of rotation of one or more
other wheel (e.g., rate of
rotation is different by a threshold amount).
The control circuit can be configured to take corrective action in response to
a detection
of a reduction or loss of traction. In some implementations, the one or more
traction sensors
cooperate with the motorized wheel system and are configured to detect a
reduction in traction of
one or more wheels of the motorized wheel system. In some embodiments, the
control circuit is
configured to activate one or more of the lift systems 804 to adjust a lift
height of one side or
quadrant of the item container 302 relative to the one or more wheels of the
motorized transport
unit corresponding to the detected reduction in traction. The change in height
can increase
weight on the one or more wheels relative to other wheels of the motorized
wheel system, which
may overcome the reduction in traction. For example, some embodiments include
one or more
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traction sensors cooperated with the motorized wheel system and configured to
detect a
reduction in traction of one or more wheels of the motorized wheel system. The
control circuit is
coupled with the one or more traction sensors, and further configured to
activate the lift system
to adjust a lift height of one side of the item container relative to the one
or more wheels
corresponding to the detected reduction in traction to increase weight on the
one or more wheels
relative to other wheels of the motorized wheel system.
Additionally or alternatively, the motorized wheel system can be controlled to
slow down
or speed up one or more wheels in attempts to enhance traction of the one or
more wheels or
others of the one or more wheels. Still further, one or more notifications can
be communicated
to the central computer system and/or to a customer or other user (e.g.,
through a communication
to a corresponding user interface unit, a display on the movable item
container, lights and/or
sounds from the motorized transport unit and/or the movable item container,
other such
notification, or combinations of two or more of such notifications).
Similarly, the lift system may be used to balance the weight of the movable
item
container (and items placed in the item container). For example, one or more
lifting devices can
be activated to elevate one side or the other in attempts to help balance the
weight. Some
embodiments may include weight detectors and/or level detectors that can
detect an imbalance of
weight. Accordingly, the lift system can activate one or more lifting devices
in attempts to at
least partially compensate for the imbalance.
In some embodiments, the motorized transport unit does not lift any portion of
the
movable item container. Instead, the motorized transport unit can position
itself relative to the
movable item container and activate the one or more item container coupling
structures to secure
the motorized transport unit with the item container. The motorized transport
unit can then drive
and/or tow the movable item container. Some applications position the
motorized transport unit
near or at the front of the movable item container while still providing the
front wheels with
clearance to freely rotate and/or swing (e.g., in some instances swing 360 ).
The lift system may
still be used, without intent to fully lift a portion of the movable item
container off the floor.
Instead, the lift system can be activated to increase pressure on wheels of
the movable item
container and allow the movable item container to achieve more traction.
Further sensors can be
used (e.g., pull sensors, skid sensors, traction sensor, etc.) to identify
when to increase pressure
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on the motorized transport unit, which can trigger one or more lifting devices
to increase a lift
force, but not lifting the movable item container. Further, one or more sensor
(e.g., distance
sensors, range sensor, tilt sensors, other such sensors, or combination of two
or more of such
sensors) can be employed to prevent the lift system from lifting too high and
lifting one or both
-- of the front wheels 306 of the movable item container off the floor.
It can be difficult for the motorized transport unit to separate two movable
item
containers (e.g., shopping carts 302) when they have been forced or "seated"
together.
Accordingly, some embodiments utilize one or more seating blocks, bumpers,
stops, or other
devices to limit how compressed together the movable item containers can be.
FIG. 11A illustrates an exemplary movable item container, embodied as shopping
carts
302, with a seating block 1102, in accordance with some embodiments. FIG. 11B
illustrates
some embodiments of two seated movable item containers, embodied as shopping
carts 302.
The shopping carts 302 further include seating blocks 1102. The seating blocks
are positioned
on the shopping carts to limit how closely two or more shopping carts can be
positioned relative
-- to each other and/or seated. Because the carts cannot be forced together
too tightly, the
motorized transport unit typically has sufficient power and traction to
separate two seated carts.
Still further, in some instances, the seating blocks maintain a distance
between carts to allow the
motorized transport unit to move underneath a front most cart, cooperate with
the cart and move
the cart away from the other one or more carts with which it is seated. This
may include
-- providing sufficient room to allow the motorized transport unit to move in
under the shopping
cart from the side of the cart.
In some embodiments, systems, apparatuses and methods are provided herein
useful to
provide customer assistance. In some embodiments, a motorized transport unit
providing
customer assistance at a shopping facility, comprises: a transceiver
configured to wirelessly
-- receive communications from a remote central computer system; a control
circuit coupled with
the transceiver; a motorized wheel system controlled by the control circuit; a
lift system
controlled by the control circuit; and a memory coupled to the control circuit
and storing
computer instructions that when executed by the control circuit cause the
control circuit to:
activate the motorized wheel system, while continuing to monitor location
information, to
-- position the motorized transport unit under the item container and aligned,
based on the location
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information, relative to a frame of the item container, wherein the item
container is one of a
plurality of item containers that are usable by customers and configured to be
moved by
customers through the shopping facility; and activate the lift system to lift
on the frame of the
item container lifting a first portion of the item container such one or more
wheels of the item
container are lifted off of a floor while two or more other wheels of the item
container remain in
contact with the floor.
In some embodiments, a method of providing customer assistance at a shopping
facility,
comprises: by a control circuit: activating a motorized wheel system of a
motorized transport
unit, while continuing to monitor location information, to position the
motorized transport unit
under the item container and aligned, based on the location information,
relative to a frame of the
item container, wherein the item container is one of a plurality of item
containers that are usable
by customers and configured to be moved by customers through a shopping
facility; activating a
lift system to lift on the frame of the item container lifting a first portion
of the item container
such that one or more wheels of the item container are lifted off of a floor
while two or more
other wheels of the item container remain in contact with the floor.
In some embodiments, a motorized transport unit providing customer assistance
at a
shopping facility, comprises: a transceiver configured to wirelessly receive
communications
from a remote central computer system; a control circuit coupled with the
transceiver; a
motorized wheel system controlled by the control circuit; a lift system
controlled by the control
circuit; and a memory coupled to the control circuit and storing computer
instructions that when
executed by the control circuit cause the control circuit to: activate the
motorized wheel system,
while continuing to monitor location information, to position the motorized
transport unit under
the item container and aligned, based on the location information, relative to
a frame of the item
container, wherein the item container is one of a plurality of item containers
that are usable by
customers and configured to be moved by customers through the shopping
facility; and activate
the lift system to lift on the frame of the item container lifting a first
portion of the item container
such one or more wheels of the item container are lifted off of a floor while
two or more other
wheels of the item container remain in contact with the floor.
In some embodiments, a method of providing customer assistance at a shopping
facility,
comprises: by a control circuit: activating a motorized wheel system of a
motorized transport
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unit, while continuing to monitor location information, to position the
motorized transport unit
under the item container and aligned, based on the location information,
relative to a frame of the
item container, wherein the item container is one of a plurality of item
containers that are usable
by customers and configured to be moved by customers through a shopping
facility; activating a
lift system to lift on the frame of the item container lifting a first portion
of the item container
such that one or more wheels of the item container are lifted off of a floor
while two or more
other wheels of the item container remain in contact with the floor.
Those skilled in the art will recognize that a wide variety of modifications,
alterations,
and combinations can be made with respect to the above described embodiments
without
departing from the scope of the invention, and that such modifications,
alterations, and
combinations are to be viewed as being within the ambit of the inventive
concept.
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