Note: Descriptions are shown in the official language in which they were submitted.
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SHOPPING SPACE MAPPING SYSTEMS, DEVICES AND METHODS
Cross-Reference To Related Application
[0001] This application claims the benefit of U.S. Provisional
Application No.
62/202,747, filed August 7, 2015, and which is incorporated herein by
reference.
Technical Field
[0002] 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
[0003] 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 folinat (neighborhood) store, customers often require
assistance that employees
of the store are not always able to provide. For example, particularly during
peak hours, there
may not be enough employees available to assist customers such that customer
questions go
unanswered. 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.
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,
Brief Description of the Drawings
[0004] 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:
[0005] FIG. 1 comprises a block diagram of a shopping assistance system
as configured
in accordance with various embodiments of these teachings;
[0006] 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;
[0007] 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;
[0008] FIG. 4 comprises a block diagram of a motorized transport unit as
configured in
accordance with various embodiments of these teachings;
[0009] FIG. 5 comprises a block diagram of a computer device as
configured in
accordance with various embodiments of these teachings;
[0010] FIG. 6 comprises a block diagram of a system for mapping a
shopping space in
accordance with some embodiments.
[0011] FIG. 7 comprises a flow diagram of a method for mapping a shopping
space in
accordance with some embodiments.
[0012] FIGS. 8A and 8B comprise illustrations of a grid map of a shopping
space in
accordance with some embodiments.
[0013] 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 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
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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
[0014] 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.
[0015] 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. that may be configured in different layouts or physical
arrangements. In other
example, persons or other movable objects may be freely and independently
traveling through
the shopping facility space. And in other example, the persons or movable
objects move
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according to known travel patterns and timing. The facility may be any size of
foiinat 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.
[0016] 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.
[0017] SYSTEM OVERVIEW
[0018] 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 system, and FIGS. 6-7 expand on some functionalities
of some
embodiments of the system and/or embodiments independent of such systems.
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[0019] 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.
[0020] 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.
[0021] 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.
[0022] 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
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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.
[0023] 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).
[0024] 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).)
[0025] 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, customer data, customer shopping data and patterns, inventory data,
product pricing data,
and so on.
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[0026] 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 foini useful to the central
computer system 106 or a
motorized transport unit 102.
[0027] 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
[0028] 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
programmed to primarily function as a user interface for the system 100.
Depending on the
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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.
[0029] 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.
[0030] 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.
[0031] 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 a mapping of the light sources to locations at the facility
101. Generally, such
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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.
[0032] 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.
[0033] 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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[0034] 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.
[0035] 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
fotin 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.
[0036] 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.
[0037] 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
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item container 104 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.
[0038] 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.
[0039] 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
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least part of the lower body portion 204. It is noted that in other
embodiments, the motorized
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.
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[0040] 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
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.
[0041] 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.
[0042] 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.
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[0043] 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.
[0044] 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.
[0045] 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.
[0046] 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.
[0047] 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 infoimation
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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.
[0048] 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
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.
[0049] 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.
[0050] 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.
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[0051] 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.
[0052] 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.
[0053] 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.
[0054] 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)
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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.
[0055] 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.
[0056] In some embodiments, the motorized transport unit 102 includes an
input/output
(I/O) device 424 that is coupled to the control circuit 406. The I/O 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/O
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.
[0057] 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).
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[0058] 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 platfoim. 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,
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).)
[0059] 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.
[0060] 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/O) 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/O
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
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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.
[0061] ADDITIONAL FEATURES OVERVIEW
[0062] 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 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.
[0063] 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.
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[0064] 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.
[0065] 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 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.
[0066] 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.
[0067] 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
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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.
[0068] 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.
[0069] 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.
[0070] 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,
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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.
[0071] 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.
[0072] 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
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.
[0073] 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.
[0074] 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
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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.
[0075] 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.
[0076] 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 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.
[0077] 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.
[0078] 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
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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.
[0079] 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.
[0080] 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.
[0081] 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.
[0082] 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
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some embodiments, communications throughout the session are encrypted using
SSL or other
methods at transport level.
[0083] FURTHER DETAILS OF SOME EMBODIMENTS
[0084] In accordance with some embodiments, further details are now
provided for one
or more of these and other features. A system and method for mapping a
shopping space is
provided herein.
[0085] An MTU system may include a progressively intelligent system with
capabilities
of integrating 3D and 2D store mapping with physical locations of objects,
colleagues, and
associates. In some embodiments, once the central computer system maps all
objects to specific
locations using measurements and an indoor positioning systems (including
those based on video
analytics, visual light communications, WiFi, Bluetooth, Audio, Ultrawideband
or other
techniques), grids are applied to section the map into access ways and blocked
sections. The
system and the MTU may use these grids for navigation and environment
recognition.
[0086] Grid units organize areas into blocked and open areas such that
the automated
processes can avoid using complicated methods to evaluate areas with
overlapping boundaries.
In some embodiments, grid units provide a more efficient and effective way of
transitioning from
a 2D horizontal map to a 3D vertical and horizontal map by way of grid section
association. Both
the 2D and 3D maps are associated to a grid section which ties the maps
together. Both maps are
based upon the layout and dimensions of the physical store. These maps are
then used to guide
MTUs, customers, store associates, and/or colleagues.
[0087] Real store positioning, 2D maps, and 3D maps may be integrated and
aligned with
a grid division into blocked and open sections using area identification based
on indoor
positioning systems and point cloud measurements. These grid units may then be
identified as
either blocked or open areas. Blocked sections may then be identified based on
what objects they
contain. Open areas are identified as open floor space for 2D models or open
air space in 3D
models. A partially blocked section may be considered a blocked section until
a smaller grid is
applied to further subdivide the grid section.
[0088] 3D scanning and Computer Aided Design (CAD) models may be built
for a
shopping space. When 3D scanning is performed, the models of the point clouds
from the scans
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may be used as input into a CAD program. Scalable 2D CAD maps of the store may
also be
entered into the Central Computer System (CCS). A grid may be placed over the
CAD maps at
the level of determining objects and travel paths for MTUs. The system may
compute all
possible travel path dimensions from a scalable model. LED smart lights may be
installed that
transmit a number to allow MTUs to deteitiiine their location in the shopping
space.
Measurements of the exact location of each indoor positioning beacon (e.g.,
LED smart light,
Bluetooth beacon, audio beacon, etc.) may be recorded by MTUs to determine
their position
within the store grid. A smart device may then be used to detect the range of
the indoor
positioning beacon transmission to identify the circle area of the reception
of the beacon's serial
number. Each position within the store may then be measured, calculated, and
designated based
on the store CAD map. Once the radius for each individual light is calculated,
the combination of
radii may then be measured using the same smart device. Using these
intersections of multiple
LED transmission a refined area may be calculated narrowing the sections to
fit the grid for
making the MTU path of travel within the measurements from the CAD map. The
system may
use the point cloud from the 3D maps to align the 2D map with the 3D map using
digital
measurements. These 3D digital measurements may be used to confirm the
accuracy of the 2D
map when the 3D map is from an actual scan of the shopping space while the 2D
maps built
using CAD programs.
[0089] From an enhanced grid map, pathways may be calculated and
established with
more precision as to which areas a MTU can travel through and which areas are
off limits. Using
the CAD and grid method, a MTU in each section can determine whether it can go
front or back,
left or right, or if certain directions are blocked. The grid blocks around a
MTU may be checked
to determine which directions the MTU can travel towards on the fly.
[0090] Using the grid method for movement provides MTU with a
navigational path that
can be adjusted within a close (e.g. 6 inch) tolerance of a blocked object. A
MTU may otherwise
maintain a straight path within a grid block. Where there are partially
blocked grid sections and
there is a need to enter the partially blocked area, these grid sections may
be further divided into
sub-grid sections enabling a more precise sectioned area for navigation. The
system may
accomplish this by applying a grid at a smaller level of measurement
granularity to the grid.
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[0091] FIG. 6 illustrates a block diagram of a shopping space mapping
system 600,
similar to that of FIG. 1, as configured in accordance with various
embodiments of the
disclosure. The shopping space mapping system 600 includes a central computer
system 620, a
store map database 630, and a number of motorized transport units 640 each
configured to
perform various tasks in a shopping space based on instructions provided by
the central computer
system 620. The shopping space mapping system 600 may include or be
implemented at least
partially with one or more components shown in FIGS. 1, 4, and 5.
[0092] The central computer system 620 includes a control circuit 621 and
a memory
622, and may be generally referred to as a processor-based device, a computer,
a server, and the
like. In some embodiments, the central computer system 620 may be implemented
with one or
more of the central computer system 106 and/or the computer device 500
described above. For
example, the functionalities of the central computer system 620 described
herein may be
implemented as one or more software modules and/or hardware modules in the
central computer
system 106.
[0093] The central computer system 620 has stored on its memory 622, a
set of computer
readable instructions that is executable by the control circuit 621 to cause
the control circuit 621
to map a shopping space and generate and/or modify information associated with
a map of the
shopping space stored in the store map database 630. The control circuit 621
may be further
configured to instruct the motorized transport unit 640 to navigate through
the shopping space
based on the map information stored in the store map database 630.
[0094] In some embodiments, the central computer system 620 may be
located inside of
and serve a specific shopping space. In some embodiments, the central computer
system 620
may be at least partially implemented on a remote or cloud-based server that
provides store map
information to a store server and/or MTUs in one or more shopping spaces.
[0095] The store map database 630 may generally be implemented by any non-
transitory
storage medium. While the store map database 630 and the memory 622 as shown
are separate
element in FIG. 6, in some embodiments, the store map database 630 and the
memory 622 may
be implemented with the same physical device(s). In some embodiments, the
store map database
630 may be implemented with one or more of the database 126, memory 110, and
memory 504
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described with reference to FIGS. 1 and 5 above. In some embodiments, the
store map database
630 may store maps for two or more shopping spaces. The store map database 630
may be
coupled to the central computer system 620 via one or more of a local, wired,
wireless, and
networked connection.
[0096] Each motorized transport unit 640 may be the MTU 102 described in
FIG. 1, the
MTU shown in FIGS. 2A-3B, and/or the MTU 402 described in FIG. 4. Generally, a
MTU 640
may be a motorized device configured travel in a shopping space according to
instructions
received from a central computer system 620. In some embodiments, MTUs 640
include one or
more sensors for determining its location within the shopping space. For
example, each MTU
640 may include GPS sensors and/or sensors for receiving LED transmission from
smart LED
lights amounted throughout the shopping space. In some embodiments, the MTU
640 may
include other input and out devices such range sensors and optical sensors for
gathering
information from its surrounding.
[0097] The central computer system 620 may further be communicatively
coupled to a
set of sensors (not shown). Sensors may include one or more of optical
sensors, image sensors,
the location detection system 116, the video camera system 118, and sensors on
MTUs 120
described with reference to FIG. 1 above. Generally, the sensors are
configured to provide the
central computer system 620 information to determine whether one or more
sections of a
shopping space can be accessed by MTUs. For example, the sensors may be a set
of cameras for
providing images of various sections of a shopping space to the central
computer system 620.
The central computer system 620 may analyze the images captured by the cameras
and
determine whether there are obstructions that make one or more area of the
shopping space
inaccessible to MTUs. For example, an image may show pallets, shopping carts,
customers, etc.
that blocks a path in the shopping space. The cameras may be stationary
cameras mounted in the
shopping space and/or may include cameras on the MTUs and/or user interface
devices. The
sensors may communicate with the central computer system through any wired or
wireless
communication devices.
[0098] FIG. 7 shows a flow diagram of a process for mapping a shopping
space in
accordance with various embodiments of these teachings. The steps shown in
FIG. 7 may be
performed by one or more of the central computer system 620 in FIG. 6, the
central computer
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system 106 in FIG. 1, and the computer device 500 in FIG. 5. In some
embodiments, the steps
are performed by a process-based device executing a set of computer readable
instructions stored
on a memory device. In some embodiments, one or more of the steps may also be
performed by
a software program that provides a user interface for interacting with the
information stored in a
store map database. Generally, the steps shown in FIG. 7 are performed by a
control circuit of a
processor-based device.
[0099] In step 710, the system divides a map of a shopping space into
sections. The map
of the shopping space may be based on one or more 2D images and/or one or more
3D scans of
the actual shopping space. 2D images and 3D scans may be captured by one or
more of
stationary, mobile, and MTU mounted image sensors. In some embodiments, a 3D
scanning
device may be used to capture 3D layout of the shopping space. In some
embodiments, the map
of the shopping space may include a CAD model of the shopping space. In some
embodiments,
the map may be divided into a plurality of equal sized grid cells in step 710.
In some
embodiments, the store may be divided based on coordinates of a positioning
system. For
example, the shopping space may have a plurality of indoor positioning beacons
each
transmitting a unique code that can be used by MTUs to determine its location.
Each section may
approximately correspond to an indoor positioning system beacon's transmission
area. In some
embodiments, the store map may be divided into sections based on existing
structures and
fixtures such as pillars, walls, shelves, etc. in the shopping space. The
system may perform
image analysis of the 2D and/or 3D images to determine the locations of one or
more fixtures in
a shopping area and use the boundaries of the fixtures as the boundaries of at
least some of the
sections. In some embodiments, the map of the shopping space include one or
more of a retail
floor, a storage area, a customer service areas, a parking lot, a restroom, a
fitting room, a
backroom areas, etc. In some embodiments, the map is a 3D map, and the
sections are 3
dimensional blocks including locations of structures and fixtures in 3
dimensions.
[001001 In step 720, the system assigns a unique section identifier to
each section of the
store map. The unique section identifier may be stored in the store map
database along with
location information of the section that indicates the location of each
section relative to the other
sections. Generally, the unique section identifier may be any alphanumeric
identifier. In some
embodiments, the unique section identifier may correspond to the grid
coordinate of the section.
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In some embodiments, one or more sections may be grouped together and a unique
section
identifier may be assigned to the group of sections. In some embodiments, one
or more sections
may be divided into sub-section and a unique section identifier may be
assigned to each of the
sub-sections.
[00101] In step 730, whether each section is accessible to MTUs is
determined. In some
embodiments, step 730 is determined by the system using a 2D image and/or a 3D
scan of the
shopping space. For example, the system may identify one or more structures
(e.g. walls, pillars)
and/or fixtures (e.g. shelves, refrigerators, kiosks, checkout terminals) in
the shopping space
based on one or more images or scans of the shopping space and mark each
section
corresponding a structure or fixture as inaccessible to MTUs. In some
embodiments, in step 730,
a section is determined to be inaccessible only if the section is physically
inaccessible to any of
the MTUs. In some embodiments, accessibility of sections of a store may be at
least partially
manually entered. For example, a user may manually mark one or more section as
inaccessible in
step 730. A user may look at images of the shopping space and verify whether a
section is
accessible to MTUs. In some embodiments, the user may mark some sections as
inaccessible to
MTUs even though the section is physically accessible. For example, a user may
mark the stalls
that have been leased to third party vendors as inaccessible to MTUs. For each
section
determined to be inaccessible to MTUs in step 730, the system assigns a
blocked tag to the
unique section identifier associated with that section in step 740, and the
tag is stored in the store
map database in step 742.
[00102] For each section determined to be accessible to at least some MTUs
in step 730,
the system assigns an accessible tag to the unique section identifier
associated with the section.
In some embodiments, a section is assigned an accessible tag if the section is
accessible to at
least one of the MTUs that receives instructions from the system.
[00103] In step 752, the system allows access restriction settings to be
configured to each
section having an accessible tag. Access restrictions may be based various
conditions and
characteristics associated with MTUs. In some embodiments, the access
restriction may be
based on time of day. For example, MTUs may be permitted to travel through
checkout terminal
lanes only during hours that the store is closed. In some embodiments, the
access restriction may
be based on the MTU's currently assigned task. A MTU may be assigned various
tasks such as
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leading a customer, following a customer, carrying a basket, carrying a cart,
carrying a
passenger, scanning shelves, and cleaning up. The access restriction may, for
example, allow
only MTUs assigned with a cleanup task to enter restrooms and/or prohibit MTUs
carrying a
basket or a cart to enter restrooms. In another example, if a section
corresponds to a narrow
pathway, the access restriction may only allow MTUs not carrying a cart or a
basket to pass
through. In yet another example, the access restriction may prevent MTUs
escorting a customer
from entering employee only areas or going into the parking lot prior to the
conclusion of the
shopping trip. In some embodiments, the access restrictions may be based on
the MTU's
capability. For example, the access restriction may peunit only MTU's with
cleaning capability
to enter restrooms, and MTU's with shopping cart coupling capability to enter
the shopping cart
storage area. In some embodiments, the access restriction may be based on
whether and who the
MTU is assigned to. For example, a section corresponding to a backroom storage
area may be
accessible only to MTUs assigned to store associates and not to MTUs assigned
to customers. In
some embodiments, the access restrictions may be based on the area's height
clearance. For
example, the store map may be a 3D store map that includes height clearance
information for
sections of the map. The access restriction may impose a maximum height of an
MTU, including
any cargo it may be carrying, that can travel through that section. For
example, an MTU alone,
may be permitted to travel under certain display shelves or on a raised track;
while a MTU
coupled to a shopping cart or escorting a customer would be not permitted to
travel on these
routes. Generally access restrictions settings may be configured to permit or
prohibit access of
MTUs based one or more conditions and MTU characteristics.
[001041 In some embodiments, the access restrictions settings may be at
least partially
manually configured. The system may provide a user interface for store
associates and/or system
administrators to enter and/or modify access restrictions associated with
various sections of the
stores. In some embodiments, a set of default access restrictions may be
associated with a section
category. A user or a system may determine a category for each section or
group of sections and
access restrictions may be automatically assigned based on the category. For
example, the
system may use image analysis to identify areas of a shopping space as parking
lot, restroom,
storage area etc., and automatically assign access restrictions associated
with those area
categories to the corresponding sections. In some embodiments, the system may
use image
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analysis to detetinine sections that correspond to narrow paths or low height
clearance areas, and
set access restrictions based on the size of the MTU and/or MTU's cargo
accordingly. For
example, the system may determine that a particular aisle is below a certain
width (e.g. 4 feet),
and permit only MTUs not carrying a shopping cart to travel through that
aisle. In some
embodiments, a user may manually enter and/or modify access restrictions for
sections of the
shopping space. In step 742, the access restrictions for each section
identifier are stored in the
store map database.
1001051 In
some embodiments, after step 742, the system is further configured to monitor
for accessibility of sections of the shopping space in real-time using one or
more sensors in the
shopping area. For example, the system may compare images of a section
captured by image
sensors and a baseline image of the section to determine whether there is a
temporary obstruction
in the section. In some embodiments, the system may further use sensors
mounted on MTUs to
gather real-time accessibility information. A temporary obstruction may be one
or more of, a
display shelf, a pallet, a spill, a customer, a shopping cart, a MTU, etc.
Generally, a temporary
obstruction may by any object that makes an area at least partially
inaccessible to some MTUs.
If an obstruction is detected, the section may be marked as temporarily
inaccessible in the store
map database. In some embodiments, the temporarily inaccessible sections may
also include
access restrictions based on one or more characteristics of the MTUs. For
example, when a spill
is detected, the system may mark the section as inaccessible to all MTUs
except for MTUs with a
cleanup task to clean the specific spill. In another example, the system may
determine that an
obstruction is only a partial obstruction and permit some of the MTUs to
travel through. For
example, a shopping cart may be partially blocking an area such that only MTUs
not carrying
another shopping cart can pass through. Iii such case, the system may mark
that section as
temporarily inaccessible only to MTUs carrying a shopping cart. The system may
continue to
monitor the access condition of the section of the shopping space and remove
the temporarily
inaccessible tag from the corresponding unique section identifiers when the
obstruction is
removed. In some embodiments, the system may only monitor real-time
accessibility
information in sections with an accessible tag. For example, the system may
only update
accessibility information for sections of the shopping space that is
accessible to at least some of
the MTUs.
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[00106] In step 760, the system provides navigation instructions to MTUs
based on the
access restriction settings of each section of the shopping space stored in
the store map database.
For example, prior to providing navigation instructions to a MTU, the system
may verify that
each section in the path of the MTU is accessible to the MTU according to one
or more of time
of date, the MTU type, the MTU's assigned task, the MTU's capability, etc. If
at least one
section is inaccessible and/or restricted to that particular MTU, the system
may determine a new
path for the MTU that avoids the inaccessible sections. In some embodiments,
the accessibility
information may further include temporary access restrictions determined in
real-time. As the
MTU travels through the shopping space, the system may continue to check the
store map
database to ensure that the MTU does not travel through any inaccessible,
restricted, and/or
temporarily inaccessible sections. The system may be configured to reroute the
MTU in real-time
to avoid these sections.
[00107] FIG. 8A illustrates a map divided in to a plurality of sections in
accordance with
some embodiments. In FIG. 8A, an area of the shopping space 800 is divided
into sections and
each section is assigned a unique section identifier 801-825. Each section may
correspond to a
discrete area of the shopping space with accessibility information. While
sections 801-825 are
shown as equal size squares, in some embodiments each section may be of any
shape and may
differ in size from each other. For example, the shape of sections may track
boundaries of
building structures and/or fixtures. In some embodiments, one or more sections
may be grouped
together and the group of sections may have a unique group identifier that
allows the group to
share accessibility information and access restriction settings. In some
embodiments, one or
more sections may be further divided into subsection and each subsection may
have a subsection
unique identifier that can have separate accessibility information and access
restriction settings.
[00108] FIG. 8B illustrates a data table storing accessibility and access
restriction
information associated some sections of the map 800. In FIG. 8B, section 808
has an inaccessible
tag; as such, no access restriction settings or temporary accessibility
settings are stored for
section 808. The area of the shopping space corresponding to section 808 may
include, for
example, a wall, a pillar, a permanent fixture, etc. and is inaccessible to
any of the MTUs.
Section 812 has an accessible tag and an access restriction setting that
restricts access between
8am-11pm. Section 814 has an accessible tag and an access restriction setting
that restricts
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access of MTUs escorting a customer. Section 804 has an accessible tag and no
access restriction
setting. However, section 823 is temporarily inaccessible to MTUs carrying a
cart. The
temporary inaccessibility may correspond to, for example, a partially blocked
pathway.
[00109] As an example, if a MTU is currently located at section 813 and
needs to travel to
section 803, the system may first check the accessibility information of the
most direct route,
which is through section 808. Since the section 808 has an inaccessible tag,
the system will then
find an alternate route. The system may check the time of day to deteimine
whether the MTU
can travel through section 812 and/or whether the MTU is currently escorting a
customer to
determine whether the MTU can travel through section 814. In some embodiments,
the system
may check all sections on a planned route (e.g. 814, 809, 804, 803) to ensure
that there is a
cleared route to the destination prior to instructing the MTU to begin moving
in that direction.
While the MTU travels through the shopping space, the system may continue to
check for any
temporary inaccessible conditions and reroute the MTU responsively. For
example, if a route
takes a MTU through section 823 and the "inaccessible to MTUs carrying a cart"
condition is
detected, the MTU may be rerouted to avoid section 823 or be instructed to
wait until the
blockage clears if no alternative routes are available.
[00110] The table in FIG. 8B is provided as an illustration only. In some
embodiments, the
accessibility information and access restriction settings can be stored in
other formats without
departing from the spirit of the present disclosure. For example, the access
restriction may be
inclusively defined (e.g. only MTU with listed characteristics can enter) or
exclusively defined
(e.g. all but MTU with listed characteristics can enter). In some embodiments,
the restriction
settings may comprise a lookup table listing every condition and MTU
characteristic that can be
used to configure the setting and whether a section is accessible or
inaccessible for each
condition and MTU characteristic which may be stored in the map database.
[00111] In some embodiments, apparatuses and methods are provided herein
useful for
mapping a shopping space for movable transport unit navigation. In some
embodiments, a
system for mapping a shopping space is provided. The system comprises a
plurality of motorized
transport units, a store map database for storing a map of the shopping space,
and a central
computer system coupled to the plurality of motorized transport units and the
store map
database. The central computer system being configured to divide the map of
the shopping space
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into a plurality of sections, assign an unique section identifier to each of
the plurality of sections
in the shopping space, associate, in the store map database, a blocked tag
with each unique
section identifier corresponding to a section of the shopping space
inaccessible to the plurality of
motorized transport units, associate, in the store map database, an accessible
tag with each
unique section identifier corresponding to a section of the shopping space
accessible by at least
one of the plurality of motorized transport units, for each unique section
identifier having an
accessible tag, allow an access restriction setting to be configured for the
corresponding section,
and provide navigation instructions to the plurality of motorized transport
units based on access
restriction settings of each section of the shopping space stored in the store
map database.
[00112] In some embodiments, a method for mapping a shopping space is
provided. The
method comprises dividing, by a central computer system, the map of the
shopping space into a
plurality of sections, assigning an unique section identifier to each of the
plurality of sections in
the shopping space, associating, in the store map database, a blocked tag with
each unique
section identifier corresponding to a section of the shopping space
inaccessible to a plurality of
motorized transport units coupled to the central computer system, associating,
in the store map
database, an accessible tag with each unique section identifier corresponding
to a section of the
shopping space accessible by at least one of the plurality of motorized
transport units, for each
unique section identifier having an accessible tag, allowing an access
restriction setting to be
configured for the corresponding section, and providing navigation
instructions to the plurality of
motorized transport units based on access restriction settings of each section
of the shopping
space stored in the store map database.
[00113] In some embodiments, an apparatus for mapping a shopping space is
provided.
The apparatus comprising a non-transitory storage medium storing a set of
computer readable
instructions, a control circuit configured to execute the set of computer
readable instructions
which causes to the control circuit to: divide the map of the shopping space
into a plurality of
sections, assign an unique section identifier to each of the plurality of
sections in the shopping
space, associate, in a store map database, a blocked tag with each unique
section identifier
corresponding to a section of the shopping space inaccessible to a plurality
of motorized
transport units, associate, in the store map database, an accessible tag with
each unique section
identifier corresponding to a section of the shopping space accessible by at
least one of the
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plurality of motorized transport units, for each unique section identifier
having an accessible tag,
allow an access restriction setting to be configured for the corresponding
section, and provide
navigation instructions to the plurality of motorized transport units based on
access restriction
settings of each section of the shopping space stored in the store map
database.
[00114] 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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