Note: Descriptions are shown in the official language in which they were submitted.
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MOTORIZED TRANSPORT UNIT WORKER SUPPORT SYSTEMS AND METHODS
Technical Field
These teachings relate generally to shopping environments and more
particularly to
devices, systems and methods for assisting workers and/or customers in those
shopping
environments.
Background
In a modern retail store environment, there is a need to improve the customer
experience
and/or convenience for the customer. Whether shopping in a large format (big
box) store or
smaller format (neighborhood) store, customers often require assistance that
employees of the store
are not always able to provide. For example, 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.
Brief Description of the Drawings
The above needs are at least partially met through provision of embodiments of
systems,
devices, and methods designed to provide assistance to workers and/or
customers in a shopping
facility, such as described in the following detailed description,
particularly when studied in
conjunction with the drawings, wherein:
FIG. 1 comprises a block diagram of a shopping assistance system as configured
in
accordance with various embodiments of these teachings;
FIGS. 2A and 2B are illustrations of a motorized transport unit of the system
of FIG. 1 in
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a retracted orientation and an extended orientation in accordance with some
embodiments;
FIGS. 3A and 3B are illustrations of the motorized transport unit of FIGS. 2A
and 2B
detachably coupling to a movable item container, such as a shopping cart, in
accordance with some
embodiments;
FIG. 4 comprises a block diagram of a motorized transport unit as configured
in accordance
with various embodiments of these teachings;
FIG. 5 comprises a block diagram of a computer device as configured in
accordance with
various embodiments of these teachings;
FIG. 6 illustrates a simplified block diagram of some components of an
exemplary
shopping facility assistance system, in accordance with some embodiments;
FIG. 7 illustrates a simplified flow diagram of an exemplary process of
assisting in stocking
of products, in accordance with some embodiments; and
FIG. 8 illustrates a simplified flow diagram of an exemplary process of
controlling the
movement of motorized transport units in supporting stocking at a shopping
facility, in accordance
with some embodiments.
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 often
not depicted in order to facilitate a less obstructed view of these various
embodiments of the
present teachings. Certain actions and/or steps may be described or depicted
in a particular order
of occurrence while those skilled in the art will understand that such
specificity with respect to
sequence is not actually required. The terms and expressions used herein have
the ordinary
technical meaning as is accorded to such terms and expressions by persons
skilled in the technical
field as set forth above except where different specific meanings have
otherwise been set forth
herein.
Detailed Description
The following description is not to be taken in a limiting sense, but is made
merely for the
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purpose of describing the general principles of exemplary embodiments.
Reference throughout
this specification to "one embodiment," "an embodiment," or similar language
means that a
particular feature, structure, or characteristic described in connection with
the embodiment is
included in at least one embodiment of the present invention. Thus,
appearances of the phrases "in
one embodiment," "in an embodiment," and similar language throughout this
specification may,
but do not necessarily, all refer to the same embodiment.
Generally speaking, pursuant to various embodiments, systems, devices and
methods are
provided for assistance of persons at a shopping facility. Generally,
assistance may be provided
to customers or shoppers at the facility and/or to workers at the facility.
The facility may be any
type of shopping facility at a location in which products for display and/or
for sale are variously
distributed throughout the shopping facility space. The shopping facility may
be a retail sales
facility, or any other type of facility in which products are displayed and/or
sold. The shopping
facility may include one or more of sales floor areas, checkout locations,
parking locations,
entrance and exit areas, stock room areas, stock receiving areas, hallway
areas, common areas
shared by merchants, and so on. Generally, a shopping facility includes areas
that may be dynamic
in terms of the physical structures occupying the space or area and objects,
items, machinery and/or
persons moving in the area. For example, the shopping area may include product
storage units,
shelves, racks, modules, bins, etc., and other walls, dividers, partitions,
etc. 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 according to known travel
patterns and timing. The
facility may be any size of format facility, and may include products from one
or more merchants.
For example, a facility may be a single store operated by one merchant or may
be a collection of
stores covering multiple merchants such as a mall. Generally, the system makes
use of automated,
robotic mobile devices, e.g., motorized transport units, that are capable of
self-powered movement
through a space of the shopping facility and providing any number of
functions. Movement and
operation of such devices may be controlled by a central computer system or
may be autonomously
controlled by the motorized transport units themselves. Various embodiments
provide one or more
user interfaces to allow various users to interact with the system including
the automated mobile
devices and/or to directly interact with the automated mobile devices. In some
embodiments, the
automated mobile devices and the corresponding system serve to enhance a
customer shopping
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experience in the shopping facility, e.g., by assisting shoppers and/or
workers at the facility.
In some embodiments, a shopping facility personal assistance system comprises:
a plurality
of motorized transport units located in and configured to move through a
shopping facility space;
a plurality of user interface units, each corresponding to a respective
motorized transport unit
during use of the respective motorized transport unit; and a central computer
system having a
network interface such that the central computer system wirelessly
communicates with one or both
of the plurality of motorized transport units and the plurality of user
interface units, wherein the
central computer system is configured to control movement of the plurality of
motorized transport
units through the shopping facility space based at least on inputs from the
plurality of user interface
units.
SYSTEM OVERVIEW
Referring now to the drawings, FIG. 1 illustrates embodiments of a shopping
facility
assistance system 100 that can serve to carry out at least some of the
teachings set forth herein. It
will be understood that the details of this example are intended to serve in
an illustrative capacity
and are not necessarily intended to suggest any limitations as regards the
present teachings. It is
noted that generally, FIGS. 1-5 describe the general functionality of several
embodiments of a
system, and FIGS. 6-8 expand on some functionalities of some embodiments of
the system and/or
embodiments independent of such systems.
In the example of FIG. 1, a shopping assistance system 100 is implemented in
whole or in
part at a shopping facility 101. Generally, the system 100 includes one or
more motorized transport
units (MTUs) 102; one or more item containers 104; a central computer system
106 having at least
one control circuit 108, at least one memory 110 and at least one network
interface 112; at least
one user interface unit 114; a location determination system 116; at least one
video camera 118; at
least one motorized transport unit (MTU) dispenser 120; at least one motorized
transport unit
(MTU) docking station 122; at least one wireless network 124; at least one
database 126; at least
one user interface computer device 128; an item display module 130; and a
locker or an item
storage unit 132. It is understood that more or fewer of such components may
be included in
different embodiments of the system 100.
These motorized transport units 102 are located in the shopping facility 101
and are
configured to move throughout the shopping facility space. Further details
regarding such
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motorized transport units 102 appear further below. Generally speaking, these
motorized transport
units 102 are configured to either comprise, or to selectively couple to, a
corresponding movable
item container 104. A simple example of an item container 104 would be a
shopping cart as one
typically finds at many retail facilities, or a rocket cart, a flatbed cart or
any other mobile basket
or platform that may be used to gather items for potential purchase.
In some embodiments, these motorized transport units 102 wirelessly
communicate with,
and are wholly or largely controlled by, the central computer system 106. In
particular, in some
embodiments, the central computer system 106 is configured to control movement
of the
motorized transport units 102 through the shopping facility space based on a
variety of inputs. For
example, the central computer system 106 communicates with each motorized
transport unit 102
via the wireless network 124 which may be one or more wireless networks of one
or more wireless
network types (such as, a wireless local area network, a wireless personal
area network, a wireless
mesh network, a wireless star network, a wireless wide area network, a
cellular network, and so
on), capable of providing wireless coverage of the desired range of the
motorized transport units
102 according to any known wireless protocols, including but not limited to a
cellular, Wi-Fi,
Zigbee or Bluetooth network.
By one approach the central computer system 106 is a computer based device and
includes
at least one control circuit 108, at least one memory 110 and at least one
wired and/or wireless
network interface 112. Such a control circuit 108 can comprise a fixed-purpose
hard-wired
platform or can comprise a partially or wholly programmable platform, such as
a microcontroller,
an application specification integrated circuit, a field programmable gate
array, and so on. These
architectural options are well known and understood in the art and require no
further description
here. This control circuit 108 is configured (for example, by using
corresponding programming
stored in the memory 110 as will be well understood by those skilled in the
art) to carry out one or
more of the steps, actions, and/or functions described herein.
In this illustrative example the control circuit 108 operably couples to one
or more
memories 110. The memory 110 may be integral to the control circuit 108 or can
be physically
discrete (in whole or in part) from the control circuit 108 as desired. This
memory 110 can also
be local with respect to the control circuit 108 (where, for example, both
share a common circuit
board, chassis, power supply, and/or housing) or can be partially or wholly
remote with respect to
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the control circuit 108 (where, for example, the memory 110 is physically
located in another
facility, metropolitan area, or even country as compared to the control
circuit 108).
This memory 110 can serve, for example, to non-transitorily store the computer
instructions that, when executed by the control circuit 108, cause the control
circuit 108 to behave
as described herein. (As used herein, this reference to "non-transitorily"
will be understood to refer
to a non-ephemeral state for the stored contents (and hence excludes when the
stored contents
merely constitute signals or waves) rather than volatility of the storage
media itself and hence
includes both non-volatile memory (such as read-only memory (ROM) as well as
volatile memory
(such as an erasable programmable read-only memory (EPROM).)
Additionally, at least one database 126 may be accessible by the central
computer system
106. Such databases may be integrated into the central computer system 106 or
separate from it.
Such databases may be at the location of the shopping facility 101 or remote
from the shopping
facility 101. Regardless of location, the databases comprise memory to store
and organize certain
data for use by the central control system 106. In some embodiments, the at
least one database
126 may store data pertaining to one or more of: shopping facility mapping
data, customer data,
customer shopping data and patterns, inventory data, product pricing data, and
so on.
In this illustrative example, the central computer system 106 also wirelessly
communicates
with a plurality of user interface units 114. These teachings will accommodate
a variety of user
interface units including, but not limited to, mobile and/or handheld
electronic devices such as so-
called smart phones and portable computers such as tablet/pad-styled
computers. Generally
speaking, these user interface units 114 should be able to wirelessly
communicate with the central
computer system 106 via a wireless network, such as the wireless network 124
of the shopping
facility 101 (such as a Wi-Fi wireless network). These user interface units
114 generally provide
a user interface for interaction with the system. In some embodiments, a given
motorized transport
unit 102 is paired with, associated with, assigned to or otherwise made to
correspond with a given
user interface unit 114. In some embodiments, these user interface units 114
should also be able
to receive verbally-expressed input from a user and forward that content to
the central computer
system 106 or a motorized transport unit 102 and/or convert that verbally-
expressed input into a
form useful to the central computer system 106 or a motorized transport unit
102.
By one approach at least some of the user interface units 114 belong to
corresponding
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customers who have come to the shopping facility 101 to shop. By another
approach, in lieu of the
foregoing or in combination therewith, at least some of the user interface
units 114 belong to the
shopping facility 101 and are loaned to individual customers to employ as
described herein. In
some embodiments, one or more user interface units 114 are attachable to a
given movable item
container 104 or are integrated with the movable item container 104.
Similarly, in some
embodiments, one or more user interface units 114 may be those of shopping
facility workers,
belong to the shopping facility 101 and are loaned to the workers, or a
combination thereof
In some embodiments, the user interface units 114 may be general purpose
computer
devices that include computer programming code to allow it to interact with
the system 106. For
example, such programming may be in the form of an application installed on
the user interface
unit 114 or in the form of a browser that displays a user interface provided
by the central computer
system 106 or other remote computer or server (such as a web server). In some
embodiments, one
or more user interface units 114 may be special purpose devices that are
programmed to primarily
function as a user interface for the system 100. Depending on the
functionality and use case, user
interface units 114 may be operated by customers of the shopping facility or
may be operated by
workers at the shopping facility, such as facility employees (associates or
colleagues), vendors,
suppliers, contractors, etc.
By one approach, the system 100 optionally includes one or more video cameras
118.
Captured video imagery from such a video camera 118 can be provided to the
central computer
system 106. That information can then serve, for example, to help the central
computer system 106
determine a present location of one or more of the motorized transport units
102 and/or determine
issues or concerns regarding automated movement of those motorized transport
units 102 in the
shopping facility space. As one simple example in these regards, such video
information can
permit the central computer system 106, at least in part, to detect an object
in a path of movement
of a particular one of the motorized transport units 102.
By one approach these video cameras 118 comprise existing surveillance
equipment
employed at the shopping facility 101 to serve, for example, various security
purposes. By another
approach these video cameras 118 are dedicated to providing video content to
the central computer
system 106 to facilitate the latter's control of the motorized transport units
102. If desired, the
video cameras 118 can have a selectively movable field of view and/or zoom
capability that the
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central computer system 106 controls as appropriate to help ensure receipt of
useful information
at any given moment.
In some embodiments, a location detection system 116 is provided at the
shopping facility
101. The location detection system 116 provides input to the central computer
system 106 useful
to help determine the location of one or more of the motorized transport units
102. In some
embodiments, the location detection system 116 includes a series of light
sources (e.g., LEDs
(light-emitting diodes)) that are mounted in the ceiling at known positions
throughout the space
and that each encode data in the emitted light that identifies the source of
the light (and thus, the
location of the light). As a given motorized transport unit 102 moves through
the space, light
sensors (or light receivers) at the motorized transport unit 102, on the
movable item container 104
and/or at the user interface unit 114 receive the light and can decode the
data. This data is sent
back to the central computer system 106 which can determine the position of
the motorized
transport unit 102 by the data of the light it receives, since it can relate
the light data to a mapping
of the light sources to locations at the facility 101. Generally, such
lighting systems are known
and commercially available, e.g., the ByteLight system from ByteLight of
Boston, Massachusetts.
In embodiments using a ByteLight system, a typical display screen of the
typical smart phone
device can be used as a light sensor or light receiver to receive and process
data encoded into the
light from the ByteLight light sources.
In other embodiments, the location detection system 116 includes a series of
low energy
radio beacons (e.g., Bluetooth low energy beacons) at known positions
throughout the space and
that each encode data in the emitted radio signal that identifies the beacon
(and thus, the location
of the beacon). As a given motorized transport unit 102 moves through the
space, low energy
receivers at the motorized transport unit 102, on the movable item container
104 and/or at the user
interface unit 114 receive the radio signal and can decode the data. This data
is sent back to the
central computer system 106 which can determine the position of the motorized
transport unit 102
by the location encoded in the radio signal it receives, since it can relate
the location data to a
mapping of the low energy radio beacons to locations at the facility 101.
Generally, such low
energy radio systems are known and commercially available. In embodiments
using a Bluetooth
low energy radio system, a typical Bluetooth radio of a typical smart phone
device can be used as
a receiver to receive and process data encoded into the Bluetooth low energy
radio signals from
the Bluetooth low energy beacons.
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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.
Also optionally, the central computer system 106 can operably couple to one or
more user
interface computers 128 (comprising, for example, a display and a user input
interface such as a
keyboard, touch screen, and/or cursor-movement device). Such a user interface
computer 128 can
permit, for example, a worker (e.g., an associate, analyst, etc.) at the
retail or shopping facility 101
to monitor the operations of the central computer system 106 and/or to attend
to any of a variety
of administrative, configuration or evaluation tasks as may correspond to the
programming and
operation of the central computer system 106. Such user interface computers
128 may be at or
remote from the location of the facility 101 and may access one or more the
databases 126.
In some embodiments, the system 100 includes at least one motorized transport
unit (MTU)
storage unit or dispenser 120 at various locations in the shopping facility
101. The dispenser 120
provides for storage of motorized transport units 102 that are ready to be
assigned to customers
and/or workers. In some embodiments, the dispenser 120 takes the form of a
cylinder within which
motorized transports units 102 are stacked and released through the bottom of
the dispenser 120.
Further details of such embodiments are provided further below. In some
embodiments, the
dispenser 120 may be fixed in location or may be mobile and capable of
transporting itself to a
given location or utilizing a motorized transport unit 102 to transport the
dispenser 120, then
dispense one or more motorized transport units 102.
In some embodiments, the system 100 includes at least one motorized transport
unit (MTU)
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docking station 122. These docking stations 122 provide locations where
motorized transport units
102 can travel and connect to. For example, the motorized transport units 102
may be stored and
charged at the docking station 122 for later use, and/or may be serviced at
the docking station 122.
In accordance with some embodiments, a given motorized transport unit 102
detachably
connects to a movable item container 104 and is configured to move the movable
item container
104 through the shopping facility space under control of the central computer
system 106 and/or
the user interface unit 114. For example, a motorized transport unit 102 can
move to a position
underneath a movable item container 104 (such as a shopping cart, a rocket
cart, a flatbed cart, or
any other mobile basket or platform), align itself with the movable item
container 104 (e.g., using
sensors) and then raise itself to engage an undersurface of the movable item
container 104 and lift
a portion of the movable item container 104. Once the motorized transport unit
is cooperating
with the movable item container 104 (e.g., lifting a portion of the movable
item container), the
motorized transport unit 102 can continue to move throughout the facility
space 101 taking the
movable item container 104 with it. In some examples, the motorized transport
unit 102 takes the
form of the motorized transport unit 202 of FIGS. 2A-3B as it engages and
detachably connects to
a given movable item container 104. It is understood that in other
embodiments, the motorized
transport unit 102 may not lift a portion of the movable item container 104,
but that it removably
latches to, connects to or otherwise attaches to a portion of the movable item
container 104 such
that the movable item container 104 can be moved by the motorized transport
unit 102. For
example, the motorized transport unit 102 can connect to a given movable item
container using a
hook, a mating connector, a magnet, and so on.
In addition to detachably coupling to movable item containers 104 (such as
shopping carts),
in some embodiments, motorized transport units 102 can move to and engage or
connect to an item
display module 130 and/or an item storage unit or locker 132. For example, an
item display
module 130 may take the form of a mobile display rack or shelving unit
configured to house and
display certain items for sale. It may be desired to position the display
module 130 at various
locations within the shopping facility 101 at various times. Thus, one or more
motorized transport
units 102 may move (as controlled by the central computer system 106)
underneath the item
display module 130, extend upward to lift the module 130 and then move it to
the desired location.
A storage locker 132 may be a storage device where items for purchase are
collected and placed
therein for a customer and/or worker to later retrieve. In some embodiments,
one or more
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motorized transport units 102 may be used to move the storage locker to a
desired location in the
shopping facility 101. Similar to how a motorized transport unit engages a
movable item container
104 or item display module 130, one or more motorized transport units 102 may
move (as
controlled by the central computer system 106) underneath the storage locker
132, extend upward
to lift the locker 132 and then move it to the desired location.
FIGS. 2A and 2B illustrate some embodiments of a motorized transport unit 202,
similar
to the motorized transport unit 102 shown in the system of FIG. 1. In this
embodiment, the
motorized transport unit 202 takes the form of a disc-shaped robotic device
having motorized
wheels (not shown), a lower body portion 204 and an upper body portion 206
that fits over at least
part of the lower body portion 204. It is noted that in other embodiments, the
motorized 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
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or both of the upper body portion 206 and the lower body portion 204 may move
toward/away
from the other or rotated relative to the other. In some embodiments, in order
to raise the upper
body portion 206 relative to the lower body portion 204, the motorized
transport unit 202 includes
an internal lifting system (e.g., including one or more electric actuators or
rotary drives or motors).
Numerous examples of such motorized lifting and rotating systems are known in
the art.
Accordingly, further elaboration in these regards is not provided here for the
sake of brevity.
FIGS. 3A and 3B illustrate some embodiments of the motorized transport unit
202
detachably engaging a movable item container embodied as a shopping cart 302.
In FIG 3A, the
motorized transport unit 202 is in the orientation of FIG. 2A such that it is
retracted and able to
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. 38, the
motorized transport unit 202
is moved to the extended position of FIG. 2B such that the front portion 304
of the shopping cart
is lifted off of the ground by the motorized transport unit 202, with the
wheels 306 at the rear of
the shopping cart 302 remaining on the ground. In this orientation, the
motorized transport unit
202 is able to move the shopping cart 302 throughout the shopping facility. It
is noted that in these
embodiments, the motorized transport unit 202 does not bear the weight of the
entire cart 302 since
the rear wheels 306 rest on the floor. It is understood that in some
embodiments, the motorized
transport unit 202 may be configured to detachably engage other types of
movable item containers,
such as rocket carts, flatbed carts or other mobile baskets or platforms.
FIG. 4 presents a more detailed example of some embodiments of the motorized
transport
unit 102 of FIG. 1. In this example, the motorized transport unit 102 has a
housing 402 that contains
(partially or fully) or at least supports and carries a number of components.
These components
include a control unit 404 comprising a control circuit 406 that, like the
control circuit 108 of the
central computer system 106, controls the general operations of the motorized
transport unit 102.
Accordingly, the control unit 404 also includes a memory 408 coupled to the
control circuit 406
and that stores, for example, operating instructions and/or useful data.
The control circuit 406 operably couples to a motorized wheel system 410. This
motorized
wheel system 410 functions as a locomotion system to permit the motorized
transport unit 102 to
move within the aforementioned retail or shopping facility 101 (thus, the
motorized wheel system
410 may more generically be referred to as a locomotion system). Generally
speaking, this
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motorized wheel system 410 will include at least one drive wheel (i.e., a
wheel that rotates (around
a horizontal axis) under power to thereby cause the motorized transport unit
102 to move through
interaction with, for example, the floor of the shopping facility 101). The
motorized wheel system
410 can include any number of rotating wheels and/or other floor-contacting
mechanisms as may
be desired and/or appropriate to the application setting.
The motorized wheel system 410 also includes a steering mechanism of choice.
One simple
example in these regards comprises one or more of the aforementioned wheels
that can swivel
about a vertical axis to thereby cause the moving motorized transport unit 102
to turn as well.
Numerous examples of motorized wheel systems are known in the art.
Accordingly, further
elaboration in these regards is not provided here for the sake of brevity save
to note that the
aforementioned control circuit 406 is configured to control the various
operating states of the
motorized wheel system 410 to thereby control when and how the motorized wheel
system 410
operates.
In this illustrative example, the control circuit 406 also operably couples to
at least one
wireless transceiver 412 that operates according to any known wireless
protocol. This wireless
transceiver 412 can comprise, for example, a Wi-Fi-compatible and/or Bluetooth-
compatible
transceiver that can communicate with the aforementioned central computer
system 106 via the
aforementioned wireless network 124 of the shopping facility 101. So
configured the control
circuit 406 of the motorized transport unit 102 can provide information to the
central computer
system 106 and can receive information and/or instructions from the central
computer system 106.
As one simple example in these regards, the control circuit 406 can receive
instructions from the
central computer system 106 regarding movement of the motorized transport unit
102.
These teachings will accommodate using any of a wide variety of wireless
technologies as
desired and/or as may be appropriate in a given application setting. These
teachings will also
accommodate employing two or more different wireless transceivers 412 if
desired.
The control circuit 406 also couples to one or more on-board sensors 414.
These teachings
will accommodate a wide variety of sensor technologies and form factors. By
one approach at least
one such sensor 414 can comprise a light sensor or light receiver. When the
aforementioned
location detection system 116 comprises a plurality of light emitters disposed
at particular
locations within the shopping facility 101, such a light sensor can provide
information that the
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control circuit 406 and/or the central computer system 106 employs to
determine a present location
and/or orientation of the motorized transport unit 102.
As another example, such a sensor 414 can comprise a distance measurement unit
configured to detect a distance between the motorized transport unit 102 and
one or more objects
or surfaces around the motorized transport unit 102 (such as an object that
lies in a projected path
of movement for the motorized transport unit 102 through the shopping facility
101). These
teachings will accommodate any of a variety of distance measurement units
including optical units
and sound/ultrasound units. In one example, a sensor 414 comprises a laser
distance sensor device
capable of determining a distance to objects in proximity to the sensor. In
some embodiments, a
sensor 414 comprises an optical based scanning device to sense and read
optical patterns in
proximity to the sensor, such as bar codes variously located on structures in
the shopping facility
101. In some embodiments, a sensor 414 comprises a radio frequency
identification (RFID) tag
reader capable of reading RFID tags in proximity to the sensor. Such sensors
may be useful to
determine proximity to nearby objects, avoid collisions, orient the motorized
transport unit at a
proper alignment orientation to engage a movable item container, and so on.
The foregoing examples are intended to be illustrative and are not intended to
convey an
exhaustive listing of all possible sensors. Instead, it will be understood
that these teachings will
accommodate sensing any of a wide variety of circumstances or phenomena to
support the
operating functionality of the motorized transport unit 102 in a given
application setting.
By one optional approach an audio input 416 (such as a microphone) and/or an
audio output
418 (such as a speaker) can also operably couple to the control circuit 406.
So configured the
control circuit 406 can provide a variety of audible sounds to thereby
communicate with a user of
the motorized transport unit 102, other persons in the vicinity of the
motorized transport unit 102,
or even other motorized transport units 102 in the area. These audible sounds
can include any of a
variety of tones and other non-verbal sounds. These audible sounds can also
include, in lieu of the
foregoing or in combination therewith, pre-recorded or synthesized speech.
The audio input 416, in turn, provides a mechanism whereby, for example, a
user provides
verbal input to the control circuit 406. That verbal input can comprise, for
example, instructions,
inquiries, or information. So configured, a user can provide, for example, a
question to the
motorized transport unit 102 (such as, "Where are the towels?"). The control
circuit 406 can cause
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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.
In this example the motorized transport unit 102 includes a rechargeable power
source 420
such as one or more batteries. The power provided by the rechargeable power
source 420 can be
made available to whichever components of the motorized transport unit 102
require electrical
energy. By one approach the motorized transport unit 102 includes a plug or
other electrically
conductive interface that the control circuit 406 can utilize to automatically
connect to an external
source of electrical energy to thereby recharge the rechargeable power source
420.
By one approach the motorized transport unit 102 comprises an integral part of
a movable
item container 104 such as a grocery cart. As used herein, this reference to
"integral" will be
understood to refer to a non-temporary combination and joinder that is
sufficiently complete so as
to consider the combined elements to be as one. Such a joinder can be
facilitated in a number of
ways including by securing the motorized transport unit housing 402 to the
item container using
bolts or other threaded fasteners as versus, for example, a clip.
These teachings will also accommodate selectively and temporarily attaching
the
motorized transport unit 102 to an item container 104. In such a case the
motorized transport unit
102 can include a movable item container coupling structure 422. By one
approach this movable
item container coupling structure 422 operably couples to a control circuit
202 to thereby permit
the latter to control, for example, the latched and unlatched states of the
movable item container
coupling structure 422. So configured, by one approach the control circuit 406
can automatically
and selectively move the motorized transport unit 102 (via the motorized wheel
system 410)
towards a particular item container until the movable item container coupling
structure 422 can
engage the item container to thereby temporarily physically couple the
motorized transport unit
102 to the item container. So latched, the motorized transport unit 102 can
then cause the item
container to move with the motorized transport unit 102. In embodiments such
as illustrated in
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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.
In either case, by combining the motorized transport unit 102 with an item
container, and
by controlling movement of the motorized transport unit 102 via the
aforementioned central
computer system 106, these teachings will facilitate a wide variety of useful
ways to assist both
customers and associates in a shopping facility setting. For example, the
motorized transport unit
102 can be configured to follow a particular customer as they shop within the
shopping facility
101. The customer can then place items they intend to purchase into the item
container that is
associated with the motorized transport unit 102.
In some embodiments, the motorized transport unit 102 includes an input/output
(I/0)
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.
In some embodiments, the motorized transport unit 102 includes a user
interface 426
including for example, user inputs and/or user outputs or displays depending
on the intended
interaction with the user. For example, user inputs could include any input
device such as buttons,
knobs, switches, touch sensitive surfaces or display screens, and so on.
Example user outputs
include lights, display screens, and so on. The user interface 426 may work
together with or
separate from any user interface implemented at a user interface unit 114
(such as a smart phone
or tablet device).
The control unit 404 includes a memory 408 coupled to the control circuit 406
and that
stores, for example, operating instructions and/or useful data. The control
circuit 406 can comprise
a fixed-purpose hard-wired platform or can comprise a partially or wholly
programmable platform.
These architectural options are well known and understood in the art and
require no further
description here. This control circuit 406 is configured (for example, by
using corresponding
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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).)
It is noted that not all components illustrated in FIG. 4 are included in all
embodiments of
the motorized transport unit 102. That is, some components may be optional
depending on the
implementation.
FIG. 5 illustrates a functional block diagram that may generally represent any
number of
various electronic components of the system 100 that are computer type
devices. The computer
device 500 includes a control circuit 502, a memory 504, a user interface 506
and an input/output
(I/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 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.
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ADDITIONAL FEATURES OVERVIEW
Referring generally to FIGS. 1-5, the shopping assistance system 100 may
implement one
or more of several different features depending on the configuration of the
system and its
components. The following provides a brief description of several additional
features that could
be implemented by the system. One or more of these features could also be
implemented in other
systems separate from embodiments of the system. This is not meant to be an
exhaustive
description of all features and not meant to be an exhaustive description of
the details any one of
the features. Further details with regards to one or more features beyond this
overview may be
provided herein.
Tagalong Steering: This feature allows a given motorized transport unit 102 to
lead or
follow a user (e.g., a customer and/or a worker) throughout the shopping
facility 101. For example,
the central computer system 106 uses the location detection system 116 to
determine the location
of the motorized transport unit 102. For example, LED smart lights (e.g., the
ByteLight system)
of the location detection system 116 transmit a location number to smart
devices which are with
the customer (e.g., user interface units 114), and/or on the item container
104/motorized transport
unit 102. The central computer system 106 receives the LED location numbers
received by the
smart devices through the wireless network 124. Using this information, in
some embodiments,
the central computer system 106 uses a grid placed upon a 2D CAD map and 3D
point cloud model
(e.g., from the databases 126) to direct, track, and plot paths for the other
devices. Using the grid,
the motorized transport unit 102 can drive a movable item container 104 in a
straight path rather
than zigzagging around the facility. As the user moves from one grid to
another, the motorized
transport unit 102 drives the container 104 from one grid to the other. In
some embodiments, as
the user moves towards the motorized transport unit, it stays still until the
customer moves beyond
an adjoining grid.
Detecting Objects: In some embodiments, motorized transport units 102 detect
objects
through several sensors mounted on motorized transport unit 102, through
independent cameras
(e.g., video cameras 118), through sensors of a corresponding movable item
container 104, and
through communications with the central computer system 106. In some
embodiments, with semi-
autonomous capabilities, the motorized transport unit 102 will attempt to
avoid obstacles, and if
unable to avoid, it will notify the central computer system 106 of an
exception condition. In some
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embodiments, using sensors 414 (such as distance measurement units, e.g.,
laser or other optical-
based distance measurement sensors), the motorized transport unit 102 detects
obstacles in its path,
and will move to avoid, or stop until the obstacle is clear.
Visual Remote Steering: This feature enables movement and/or operation of a
motorized
transport unit 102 to be controlled by a user on-site, off-site, or anywhere
in the world. This is due
to the architecture of some embodiments where the central computer system 106
outputs the
control signals to the motorized transport unit 102. These controls signals
could have originated
at any device in communication with the central computer system 106. For
example, the
movement signals sent to the motorized transport unit 102 may be movement
instructions
determined by the central computer system 106; commands received at a user
interface unit 114
from a user; and commands received at the central computer system 106 from a
remote user not
located at the shopping facility space.
Determining Location: Similar to that described above, this feature enables
the central
computer system 106 to determine the location of devices in the shopping
facility 101. For
example, the central computer system 106 maps received LED light
transmissions, Bluetooth low
energy radio signals or audio signals (or other received signals encoded with
location data) to a
2D map of the shopping facility. Objects within the area of the shopping
facility are also mapped
and associated with those transmissions. Using this information, the central
computer system 106
can determine the location of devices such as motorized transport units.
Digital Physical Map Integration: In some embodiments, the system 100 is
capable of
integrating 2D and 3D maps of the shopping facility with physical locations of
objects and workers.
Once the central computer system 106 maps all objects to specific locations
using algorithms,
measurements and LED geo-location, for example, grids are applied which
sections off the maps
into access ways and blocked sections. Motorized transport units 102 use these
grids for navigation
and recognition. In some cases, grids are applied to 2D horizontal maps along
with 3D models. In
some cases, grids start at a higher unit level and then can be broken down
into smaller units of
measure by the central computer system 106 when needed to provide more
accuracy.
Calling a Motorized Transport Unit: This feature provides multiple methods to
request and
schedule a motorized transport unit 102 for assistance in the shopping
facility. In some
embodiments, users can request use of a motorized transport unit 102 through
the user interface
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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.
Locker Delivery: In some embodiments, one or more motorized transport units
102 may
be used to pick, pack, and deliver items to a particular storage locker 132.
The motorized transport
units 102 can couple to and move the storage locker to a desired location. In
some embodiments,
once delivered, the requestor will be notified that the items are ready to be
picked up, and will be
provided the locker location and locker security code key.
Route Optimization: In some embodiments, the central computer system
automatically
generates a travel route for one or more motorized transport units through the
shopping facility
space. In some embodiments, this route is based on one or more of a user
provided list of items
entered by the user via a user interface unit 114; user selected route
preferences entered by the user
via the user interface unit 114; user profile data received from a user
information database (e.g.,
from one of databases 126); and product availability information from a retail
inventory database
(e.g., from one of databases 126). In some cases, the route intends to
minimize the time it takes to
get through the facility, and in some cases, may route the shopper to the
least busy checkout area.
Frequently, there will be multiple possible optimum routes. The route chosen
may take the user
by things the user is more likely to purchase (in case they forgot something),
and away from things
they are not likely to buy (to avoid embarrassment). That is, routing a
customer through sporting
goods, women's lingerie, baby food, or feminine products, who has never
purchased such products
based on past customer behavior would be non-productive, and potentially
embarrassing to the
customer. In some cases, a route may be determined from multiple possible
routes based on past
shopping behavior, e.g., if the customer typically buys a cold Diet Coke
product, children's shoes
or power tools, this information would be used to add weight to the best
alternative routes, and
determine the route accordingly.
Store Facing Features: In some embodiments, these features enable functions to
support
workers in performing store functions. For example, the system can assist
workers to know what
products and items are on the shelves and which ones need attention. For
example, using 3D
scanning and point cloud measurements, the central computer system can
determine where
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products are supposed to be, enabling workers to be alerted to facing or
zoning of issues along
with potential inventory issues.
Phone Home: This feature allows users in a shopping facility 101 to be able to
contact
remote users who are not at the shopping facility 101 and include them in the
shopping experience.
For example, the user interface unit 114 may allow the user to place a voice
call, a video call, or
send a text message. With video call capabilities, a remote person can
virtually accompany an in-
store shopper, visually sharing the shopping experience while seeing and
talking with the shopper.
One or more remote shoppers may join the experience.
Returns: In some embodiments, the central computer system 106 can task a
motorized
transport unit 102 to keep the returns area clear of returned merchandise. For
example, the
transport unit may be instructed to move a cart from the returns area to a
different department or
area. Such commands may be initiated from video analytics (the central
computer system
analyzing camera footage showing a cart full), from an associate command
(digital or verbal), or
on a schedule, as other priority tasks allow. The motorized transport unit 102
can first bring an
empty cart to the returns area, prior to removing a full one.
Bring a Container: One or more motorized transport units can retrieve a
movable item
container 104 (such as a shopping cart) to use. For example, upon a customer
or worker request,
the motorized transport unit 102 can re-position one or more item containers
104 from one location
to another. In some cases, the system instructs the motorized transport unit
where to obtain an
empty item container for use. For example, the system can recognize an empty
and idle item
container that has been abandoned or instruct that one be retrieved from a
cart storage area. In
some cases, the call to retrieve an item container may be initiated through a
call button placed
throughout the facility, or through the interface of a user interface unit
114.
Respond to Voice Commands: In some cases, control of a given motorized
transport unit
is implemented through the acceptance of voice commands. For example, the user
may speak
voice commands to the motorized transport unit 102 itself and/or to the user
interface unit 114. In
some embodiments, a voice print is used to authorize to use of a motorized
transport unit 102 to
allow voice commands from single user at a time.
Retrieve Abandoned Item Containers: This feature allows the central computer
system to
track movement of movable item containers in and around the area of the
shopping facility 101,
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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.
Stocker Assistance: This feature allows the central computer system to track
movement of
merchandise flow into and around the back-room areas. For example, using
visual recognition and
captured images, the central computer system 106 can determine if carts are
loaded or not for
moving merchandise between the back room areas and the sale floor areas. Tasks
or alerts may
be sent to workers to assign tasks.
Self-Docking: Motorized transport units 102 will run low or out of power when
used.
Before this happens, the motorized transport units 102 need to recharge to
stay in service.
According to this feature, motorized transport units 102 will self-dock and
recharge (e.g., at a MTU
docking station 122) to stay at maximum efficiency, when not in use. When use
is completed, the
motorized transport unit 102 will return to a docking station 122. In some
cases, if the power is
running low during use, a replacement motorized transport unit can be assigned
to move into
position and replace the motorized transport unit with low power. The
transition from one unit to
the next can be seamless to the user.
Item Container Retrieval: With this feature, the central computer system 106
can cause
multiple motorized transport units 102 to retrieve abandoned item containers
from exterior areas
such as parking lots. For example, multiple motorized transport units are
loaded into a movable
dispenser, e.g., the motorized transport units are vertically stacked in the
dispenser. The dispenser
is moved to the exterior area and the transport units are dispensed. Based on
video analytics, it is
determined which item containers 104 are abandoned and for how long. A
transport unit will
attach to an abandoned cart and return it to a storage bay.
Motorized Transport Unit Dispenser: This feature provides the movable
dispenser that
contains and moves a group of motorized transport units to a given area (e.g.,
an exterior area such
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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.
Specialized Module Retrieval: This feature allows the system 100 to track
movement of
merchandise flow into and around the sales floor areas and the back-room areas
including special
modules that may be needed to move to the sales floor. For example, using
video analytics, the
system can determine if a modular unit it loaded or empty. Such modular units
may house items
that are of seasonal or temporary use on the sales floor. For example, when it
is raining, it is useful
to move a module unit displaying umbrellas from a back room area (or a lesser
accessed area of
the sales floor) to a desired area of the sales floor area.
Authentication: This feature uses a voice imprint with an attention code/word
to
authenticate a user to a given motorized transport unit. One motorized
transport unit can be
swapped for another using this authentication. For example, a token is used
during the session
with the user. The token is a unique identifier for the session which is
dropped once the session is
ended. A logical token may be a session id used by the application of the user
interface unit 114
to establish the session id when user logs on and when deciding to do use the
system 100. In some
embodiments, communications throughout the session are encrypted using SSL or
other methods
at transport level.
FURTHER DETAILS OF SOME EMBODIMENTS
Some embodiments provide systems to at least in part assist, enhance and/or
enable product
stocking on a sales floor of a retail shopping facility. Typically, the sales
floor comprises the area
of a shopping facility where customers travel in shopping for products. The
system includes a
plurality of motorized transport units 102 that are each configured to perform
multiple different
types of tasks at a retail shopping facility. As described above, the
different tasks can vary from,
but not limited to, assisting customers, performing a clean-up, collecting one
or more movable
item containers, and other such tasks. Further, the motorized transport units
can assist with
stocking products on the sales floor, in part by transporting stocking carts
carrying products to be
stocked on the sales floor. A central computer system 106 is in communication
with the motorized
transport units and is configured to coordinate the plurality of motorized
transport units 102 in
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performing the multiple different tasks. In some applications, the central
computer system
instructs one or more motorized transport units to retrieve a specified
stocking movable item
container 104, which is referred to below as a stocking cart. The stocking
cart is configured to
carry a plurality of products that are to be restocked onto one or more
product supports (e.g.,
shelves, racks, modulars, etc.) that are positioned on the sales floor and/or
product supports in a
back storage area, overflow area, or the like. The stocking cart is intended
to be used by workers
to transport products to the sales floor so that workers can restock the
product supports from the
products carried by the stocking cart.
In some applications, the stocking cart may be a specific stocking cart and/or
have a
specific coupling structure with which a motorized transport unit can
cooperate. The central
computer system can further instruct the one or more motorized transport units
to autonomously
transport the specified stocking cart to a specified stocking location on the
sales floor
corresponding to at least one of the plurality of products carried by the
stocking cart and intended
to be restocked at or near the stocking location.
Typically, the control circuit 108 of the central computer system 106 can
obtain location
infoimation for each of the motorized transport units 102. Similarly, the
central computer system
can obtain location information of one or more stocking carts. For example, a
stocking cart may
include a stocking cart control circuit and transceiver that can communicate
location information
to the central computer system. Additionally or alternatively, a worker can
notify the central
computer system when a stocking cart is being loaded and/or has completed a
loading of a stocking
cart, and can provide relevant location information. The stocking cart may
determine and/or track
its location similar to the motorized transport unit tracking its movement and
location (e.g.,
detection of encoded location information emitted by one or more light
sources, detecting one or
more beacons, triangulation of beacons, Wi-Fi, cellular or other signals,
inertial sensors, distance
measurement sensors, distance travel detection systems, global positioning
satellite information,
information from a user interface unit, other such sources, or a combination
of two or more of such
sources. Similarly, the central computer system may task one or more workers
to perform the task
of loading one or more stocking carts, and the central computer system may
track the location of
the workers as they load the stocking carts, and determine a location of one
or more stocking carts
based on the movements of the workers. The workers' locations may be
determined based on
information communicated from a user interface unit 114, video processing, and
the like.
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The stocking location is typically dependent on the products loaded in the
stocking cart.
Further, in some instances, the stocking location and/or the products
instructed to be loaded into
and/or onto the stocking cart are dependent on one or more products the
central computer system
has been notified of and/or determines are in need of being restocked.
Additionally, the stocking
location may further be dependent on a location of a worker who has been
tasked with restocking
the one or more products in or on the stocking cart. Accordingly, the central
computer system may
direct an motorized transport unit to cooperate with and transport a stocking
cart in response to
identifying that a worker is at or moving toward a tasked stocking location
(e.g., by tracking a user
interface unit 114 associated with the worker, using image recognition to
track the worker,
receiving a notification from the worker acknowledging starting of the
stocking task, other such
methods, or combination of two or more of such methods).
The one or more instructions communicated to the motorized transport unit to
autonomously transport one or more stocking carts can include routing
instructions based on a
mapping of the retail shopping facility, the starting location of the stocking
cart, and the intended
stocking location. Using the routing instructions, the motorized transport
unit 102 can
autonomously transport the stocking cart to the specified stocking location.
In some instances, the
motorized transport unit includes a stocking cart coupler, which may be the
same as or similar to
the item container coupling structure 422. Further, some shopping facilities
may have different
types of stocking carts, which may be intended for different types of
products. These different
types of stocking carts may include different types of couplers with which the
motorized transport
unit is expected to couple to be able to transport the stocking cart. In some
embodiments, the
central computer system 106 is further configured to identify a type of mating
coupler on a stocking
cart with which one of the motorized transport units is to couple in
transporting the stocking cart.
For example, the stocking cart may be and/or include a pallet jack, where the
mating coupler is
configured to allow the motorized transport unit to cause the pallet jack to
at least partially lift the
products and/or one or more pallets of products. In other instances, a
stocking cart may be similar
to or may be a shopping cart and the motorized transport unit may be intended
to move in under
at least a portion of the stocking cart and cooperate with one or more bars,
latches or other such
mating coupler with which an motorized transport unit can couple.
The central computer system can identify, from the plurality of motorized
transport units,
one or more motorized transport units that comprise one or more couplers that
are consistent with
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the type of mating coupler on the stocking cart. Based at least in part on
identifying one or more
motorized transport units that comprise the coupler consistent with the type
of mating coupler on
the stocking cart the central computer system can select one or more of the
identified motorized
transport units and direct the one or more motorized transport units to one or
more stocking carts.
Accordingly, the central computer system can select a motorized transport unit
having a correct
coupler to cooperate with and move the specific stocking cart. Further, one or
more motorized
transport units at the shopping facility may be incapable of coupling with a
stocking cart and are
not considered by the central computer system in selecting a motorized
transport unit to transport
the stocking cart. The central computer system may take into consideration
other factors, such as
but not limited to tasks that an motorized transport unit has already been
assigned, availability of
other motorized transport units that can couple with the stocking cart,
availability of one or more
other motorized transport units to which one or more tasks can be reassigned
freeing up a particular
motorized transport unit, a location of the one or more motorized transport
units relative to the
stocking cart, a distance an motorized transport unit has to travel, a
distance through the sales floor
an motorized transport unit has to travel, a battery charge levels of an
motorized transport unit,
other such factors, and typically a combination of two or more of such
factors.
Some embodiments may further confirm correct products to be stocked are on or
in the
stocking cart. In some instances, the central computer system receives sensor
data indicative of a
weight of the stocking cart and the plurality of products carried by the
stocking cart. For example,
the central computer system may receive sensor data from the motorized
transport unit 102 that is
directed to transport a specified stocking cart. Additionally or
alternatively, the stocking cart may
include one or more sensors that can detect weight, distributed weight,
temperature, or the like.
For example, the stocking cart may include an array of piezoelectric elements
on the stocking cart
that can detect weight and/or weight variations. Temperature sensors can
detect when and/or
where some products may be placed in or on the stocking cart. Further, some
embodiments may
use image and/or video processing over time to detect products and/or whether
a stocking cart
includes all of the intended products to be stocked from the stocking cart.
This weight information
may be communicated to the central computer system. In other embodiments, the
motorized
transport unit tasked to move the stocking car may determine an estimated
weight. For example,
the motorized transport unit may estimate weight based on forces used to
initiate movement and/or
maintain movement of the stocking cart. The central computer system can then
confirm based on
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the sensor data that an expected plurality of products is carried by the
stocking cart.
The motorized transport unit is configured to autonomously transport the
stocking cart to
a specified stocking location on the sales floor corresponding to at least one
of the first plurality
of products carried by the first stocking cart. In some implementations, the
central computer
system communicates one or more routing instructions to the motorized
transport unit that the
motorized transport unit implements to move the stocking cart. The motorized
transport unit
typically includes one or more sensors that can be used to determine and/or
confirm a location,
track movement of the motorized transport unit and/or the stocking cart,
detect distances between
the motorized transport unit and/or stocking cart and other elements in the
shopping facility (e.g.,
shelves, racks, movable item containers, customers, workers, other stocking
carts, pallets, pallet
jacks, fork lifts, boxes, products, and other such elements).
In some embodiments, the motorized transport unit can detect, through one or
more sensors
on the motorized transport unit, a customer or other element on the sales
floor and within a
threshold distance of the motorized transport unit as the motorized transport
unit transports the
stocking cart through the retail shopping facility. Based on the detection,
the motorized transport
unit can be configured to take one or more actions to avoid the motorized
transport unit and the
stocking cart from contacting the customer or other element. The sensor data
may be a distance
measurement, a movement sensor, image processing, other such sensor data, or a
combination of
two or more of such sensor data. Further, the motorized transport unit and/or
the central computer
system may obtain sensor data from one or more sensors outside of the
motorized transport unit.
For example, image and/or video processing can be performed on images and/or
video captured
by other motorized transport units, cameras mounted in the shopping facility,
user interface units,
and/or other sources. In some instances, the central computer system may
communicate additional
avoidance instructions to the motorized transport unit in response to an
evaluation at the central
computer system of sensor data from the motorized transport unit and/or other
sources. The actions
taken by the motorized transport unit can depend on one or more factors, such
as but not limited
to distance between the motorized transport unit and the customer or other
element, speed at which
the motorized transport unit is traveling, weight and/or estimated weight of
the stocking cart and
products on the stocking cart, estimated rate of the customer and/or other
element, determined
direction of travel of the customer and/or element, other elements around the
motorized transport
unit, available space around the motorized transport unit, other such factors,
and typically a
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combination of such factors. In some instances, the action is to stop the
motorized transport unit
and the stocking cart. In other instances, the motorized transport unit may
slow and change
direction to avoid the customer and/or element. Accordingly, the motorized
transport units are
configured to operate in a congested retail shopping facility to support the
stocking of products,
while still maintaining safety in the retail shopping facility. Further, the
motorized transport units
can operate in a retail shopping facility where movement of other elements is
random and often
unexpected. This is in distinction from some systems that limit the activity
within an environment
where robots operate so that a control system controls all movement within
that environment and
does not have to take into consideration such safety factors and/or such
random activity within the
environment.
In some embodiments, one or more sensors on the motorized transport unit are
utilized to
track movement of a worker and to use that detected movement to better support
the worker. This
enhanced support can include moving the stocking cart to follow the worker,
moving the stocking
cart to a location that is anticipated the worker is moving toward (e.g.,
based on movements of the
worker and products being transported by the stocking cart), keeping the
motorized transport unit
and the stocking cart out of the way of the worker while still being in a
position to limit the workers
movement to access additional products to be stocked, and other such actions.
In some
embodiments, the central computer system 106 receives sensor data, which can
include sensor data
from the motorized transport unit. Using the sensor data, the central computer
system is further
configured to identify a worker stocking one or more of the products from the
stocking cart, and
detect from the sensor data that the worker has moved at least a first
threshold distance from the
stocking cart. In response, the central computer system can direct the
motorized transport unit to
move the stocking cart to follow the worker and place the stocking cart within
a second threshold
distance of the worker. The threshold distance can vary depending on the
products being stocked,
the rate at which the identified worker is stocking products, the movement of
the worker, other
traffic (e.g., customers' movements, other motorized transport units, etc.) in
the area, and the like.
As such, in some instances, the central computer system can direct the
motorized transport unit to
follow the stocking worker.
In some embodiments, the central computer system is further configured to
determine when
a stocking cart is unloaded and/or empty of the products being stocked on the
sales floor. This
determination may be based on image and/or video processing from one or more
cameras, a
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determined weight pulled by the motorized transport unit and/or carried by the
stocking cart, a
notification from a worker, data received from a product scanner used by the
worker, detection or
lack of detection of RFID tags, other such factors, or a combination of two or
more of such factors.
The central computer system can then direct the motorized transport unit to
perform one or more
actions and/or functions in response to determining that the multiple products
carried by the
stocking cart have been unloaded and/or the stocking cart is empty of
products. The central
computer system may further determine that the stocking cart is empty of the
plurality of products
and carries waste material. Based on the waste material, the central computer
system can
communicate instructions to the motorized transport unit to cause the
motorized transport unit to
transport the stocking cart to a waste disposal area. Workers at the waste
disposal area can remove
the waste material and properly dispose of the material. In other instances,
the motorized transport
unit may cause some or all of the waste material to be disposed in different
and appropriate disposal
bins (e.g., recycling bin, trash bin, etc.).
Additionally or alternatively, the central computer system may determine that
the plurality
of products have been unloaded from the stocking cart and communicate
instructions to the
motorized transport unit to cause the motorized transport unit to transport
the unloaded and/or
empty stocking cart to a drop location. The central computer system may
further communicate
instructions to the motorized transport unit instructing the motorized
transport unit to retrieve a
specified second stocking cart that is carrying a second plurality of
products, and to autonomously
transport the second stocking cart to the same or a different specified
stocking location on the sales
floor.
As described above, the motorized transport units are configured to perform
multiple
different types of tasks at the shopping facility. Accordingly, the central
computer system 106
further instructs the motorized transport units to perform other tasks at the
shopping facility. In
some instances, the central computer system may determine based on the sensor
data that the
plurality of products have been unloaded from the stocking cart, and can
direct the motorized
transport unit to perform a second task, of the multiple different tasks, at
the retail shopping facility
that is unassociated with stocking products and retrieving products.
FIG. 6 illustrates a simplified block diagram of some components of an
exemplary
shopping facility assistance system 600, in accordance with some embodiments.
The components
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in part support the stocking of products. The shopping facility assistance
system 600 includes the
central computer system 106 in communication with multiple motorized transport
units 102.
Multiple stocking carts 602 are available to be transported through the
shopping facility to support
the stocking of products on the sales floor. Multiple workers interact with
the stocking carts 602,
central computer system 106 and/or motorized transport units, in part, to
retrieve products from
the stocking carts and stock relevant shelves, racks and/or other such product
supports. Some
embodiments may further include sensors and/or sensor systems 608 that
communicate with the
central computer system. Further, one or more databased 126 and/or other such
information
sources can be accessed by the central computer system to obtain product
information, stocking
information, stocking schedules, product location information, product demand
information, sales
information and/or other such information that may be used by the central
computer system in
determining stocking needs, identifying products to be stocked, instructions
for loading products
on one or more stocking carts, routing information, and the like.
In some embodiments, the central computer system 106 further includes a
location
application 610, a routing application 612, a work queue application 614,
and/or a replenishment
application 616. The location application can receive sensor data from
motorized transport units,
sensor data from a stocking cart, shopping facility sensors, and the like.
Based on the sensor data,
the location application can determine a location of the motorized transport
units, stocking cart,
product locations and the like. The routing application 612 can determine
optimum routing of the
motorized transport units in going to a stocking cart, transporting a stocking
cart, moving the
stocking cart, returning the stocking cart, and the like. The work queue
application can add and
track tasks to be performed, including stocking tasks, transporting stocking
carts, and the like. The
working queue may, in some instances, further maintain and track task queues
for each motorized
transport unit, including when a stocking task is added to a motorized
transport unit task queue.
The replenishment application can track product inventory, determine when and
where to stock
products, and schedule the stocking of products.
FIG. 7 illustrates a simplified flow diagram of an exemplary process 700 of
assisting in
stocking of products, in accordance with some embodiments. In step 702, the
central computer
system 106 coordinates a plurality of motorized transport units 102 in
performing the multiple
different tasks. Many if not all of the motorized transport units are
typically configured to perform
multiple different types of tasks at the retail shopping facility.
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In step 704, the central computer system communicates instructions to a
selected motorized
transport unit instructing the motorized transport unit to retrieve a
specified stocking cart that is
carrying a plurality of products that are to be restocked onto product
supports that are positioned
on the sales floor where customers travel in shopping for products. In some
instances, the central
computer system identifies a type of mating coupler on the stocking cart and
with which one of
the motorized transport units is to couple in transporting the stocking cart,
and identifies, from the
plurality of motorized transport units, that one or more motorized transport
units comprise a
coupler consistent with the type of mating coupler on the stocking cart. The
central computer
system can then select at least one of these motorized transport units based
on the motorized
transport unit comprising the coupler consistent with the type of mating
coupler on the stocking
cart. In step 706, the central computer system communicates instructions to
the motorized
transport unit instructing the motorized transport unit to autonomously
transport the stocking cart
to a specified stocking location on the sales floor corresponding to at least
one of the plurality of
products carried by the stocking cart.
In some embodiments, the central computer system may further confirm that a
stocking
pallet has the correct products. For example, the central computer system may
receive, from the
motorized transport unit, sensor data indicative of a weight of the stocking
cart and the plurality
of products carried by the stocking cart. Base on the sensor data, the central
computer system can
confirm that an expected plurality of products is carried by the stocking
cart. Additionally or
alternatively, the central computer system may receive product scan data, RFID
data and the like
regarding products moved onto the stocking cart.
Sensor data from sensors on a motorized transport unit can further be used in
routing the
motorized transport unit and/or to avoid hitting customers and other objects
in the shopping
facility. Some embodiments detect, through sensor data from one or more
sensors on the
motorized transport unit, a customer on the sales floor who is within a
threshold distance of the
motorized transport unit as the motorized transport unit transports the
stocking cart through the
retail shopping facility. The motorized transport unit can be caused to take
one or more actions to
avoid the motorized transport unit and the stocking cart from contacting the
customer. The action
may be based on one or more instructions from the central computer system, may
be determined
by the motorized transport unit control circuit 406, or the like,
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Similarly, sensor data may be utilized to cause the motorized transport unit
to follow a
worker as the worker stocks products from the stocking cart. Some embodiments
detect, from
sensor data comprising sensor data from the motorized transport unit, a worker
stocking one or
more of the products from the stocking cart, and detect from the sensor data
that the worker has
moved at least a first threshold distance from the stocking cart. The
motorized transport unit can
be directed to move the stocking cart to follow the worker and place the
stocking cart within a
second threshold distance of the worker.
Some embodiments further detect that all of the products are unloaded from the
stocking
cart and/or the stocking cart is empty of the plurality of products, and may
further detect that the
stocking cart carries waste material. In response, the central computer system
can communicate
instructions instructing the motorized transport unit to transport the
stocking cart to a waste
disposal area. Similarly, it may be detected that the plurality of products
have been unloaded from
the stocking cart, and the central computer system may communicate
instructions instructing the
motorized transport unit to transport the unloaded and/or empty stocking cart
to a drop location.
Further, the central computer system may communicate instructions instructing
the motorized
transport unit to retrieve a different specified stocking cart that is
carrying a second plurality of
products, and to autonomously transport the stocking cart to a specified
second stocking location
on the sales floor.
Again, many if not all of the motorized transport units are configured to
perform multiple
different tasks associated with the shopping facility. Some embodiments detect
based on the
sensor data that the first plurality of products have been unloaded from the
stocking cart.
Instructions can be communicated to the motorized transport unit, in response
to determining the
stocking cart is unloaded and/or empty, directing the motorized transport unit
to perform a second
task of the multiple different tasks at the retail shopping facility and that
is unassociated with
stocking products and retrieving products.
FIG. 8 illustrates a simplified flow diagram of an exemplary process 800 of
controlling the
movement of motorized transport units in supporting stocking at a shopping
facility, in accordance
with some embodiments. In step 802, one or more stocking carts are loaded with
products intended
to be stocked on shelves, racks, and/or other such product supports. In some
embodiments, the
central computer system and/or a product loading system may track a sequence,
order of placement
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and/or location of placement of the products on the stocking cart. The worker
or system loading
the stocking cart may scan products as they are placed, image processing may
be used to track
placement on the stocking cart, sensors on the stocking cart may detect
placement (e.g., weight
sensors, RFID detectors, etc.), and the like.
In step 804, the central computer system is notified that the stocking cart is
ready to be
transported to the sales floor. This may be based on sensor data from a worker
(e.g., from a bar
code scanner, RFID detector, etc.), notification from a worker (e.g., through
a user interface unit,
a notification that loading is complete, etc.), sensor data from the stocking
cart and/or other sensors
(e.g., cameras), and the like. In some embodiments, the notification may
further include an
identification of one or more departments and/or areas that the products on
the stocking cart are to
be taken. The loaded stocking cart may contain products intended for different
departments and/or
parts of the shopping facility. Accordingly, the central computer system
typically has knowledge
of the products placed on the stocking cart (e.g., the central computer system
may specify which
products are placed on the stocking cart, worker stocking the stocking cart
may scan products
placed on the stocking cart, RFID tags may be read of products placed on the
stocking cart, other
such determinations, or combination of two or more of such information). Based
on the products,
the central computer system can direct the motorized transport unit to
transport the products to
each of the multiple locations in turn to allow one or more workers to
retrieve the products from
the stocking cart. The information may further identify specific shelves,
hooks or the like that
products are to be placed.
In step 806, the central computer system uses the location of the stocking
cart, the product
information and product stocking locations to determine a routing that a
motorized transport unit
is to follow in transporting the stocking cart. The transport task can be
entered into a task queue
or work queue. In step 808, the central computer system identifies potentially
available motorized
transport units and selects a relevant motorized transport unit to cooperate
with the loaded stocking
cart, and adds the transport task to the selected motorized transport units
queue. The selection of
the motorized transport unit can be dependent on the type of motorized
transport unit, capabilities
of the motorized transport unit to move the loaded stocking cart, a coupler on
the motorized
transport unit that is capable of mating with a coupler on the stocking cart,
the capability of the
motorized transport unit to operate with the type of loaded stocking cart
(e.g., flat bed, pallet, pallet
jack, specialty cart, sampling cart, display cart, sorting cart, shopping
cart, etc.), task queue, other
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such factors, and typically a combination of two or more of such factors.
In some instances, optional step 810 is included where the selected motorized
transport
unit may be directed to an unloaded and/or empty stocking cart to transport
the empty stocking
cart to a specified location as part of routing the motorized transport unit
to the location of the
loaded stocking cart. In returning the empty stocking cart, the motorized
transport unit may further
be directed to one or more disposal areas to dispose of waste on the stocking
cart. In step 812, the
motorized transport unit couples with the loaded stocking cart, and implements
routing instructions
to transport the loaded stocking cart. In some embodiments, the motorized
transport unit may
further notify the central computer system that the motorized transport unit
is in transit and moving
the stocking cart. Typically, the routing instructions are dependent on the
product loading
sequence. For example, the routing instructions can cause the motorized
transport unit to transport
the loaded stocking cart to a location where the products last loaded onto the
stocking cart are to
be stocked (i.e., last on, first off). As products are removed, the motorized
transport unit may
move the stocking cart (e.g., to follow a worker, to move to each of one or
more different stocking
location as products are removed from the stocking cart, and the like).
In step 814, products are removed from the stocking cart by a worker, and in
some instances
the products removed are tracked (e.g., based on RFID readings, bar code scans
by the worker,
weight changes, etc.). In step 816, sensor data is monitored to identify when
a stocking cart is
ready to be moved and/or when a stocking cart is ready to be returned to a
loading area. Again, in
some instances, the central computer system may direct the motorized transport
unit to transport
the unloaded stocking cart to a waste disposal area (e.g., carton crusher
area, recycle area, trash
area, etc.). In step 818, the central computer system can select an
appropriate motorized transport
unit to transport the unloaded stocking cart back to a loading area when a
motorized transport unit
is not already cooperated with the stocking cart. In step 820, the return task
can be placed in the
task queue of the selected motorized transport unit. In step 822, the selected
motorized transport
unit is provided routing instructions to move to and cooperate with the
unloaded stocking cart, and
to transport the stocking cart to one or more disposal locations and/or an
empty cart location. In
step 824, the motorized transport unit is caused to transport the unloaded
stocking cart to the one
or more relevant locations, and may wait until waste is removed from the
stocking cart, then returns
the empty stocking cart to a stocking cart corral or other such location. In
step 826, the central
computer system may direct the motorized transport unit to perform one or more
other tasks.
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In some implementations, the central computer system can schedule the pulling
of stocking
carts. Often in retail shopping facilities, workers tend to pull numerous
stocking carts out onto the
sales floor so that they can proceed to perform stocking without interruption
to go to a back storage
area to retrieve additional products to be stocked. Such stocking cart pulling
can cause congestion
on the sales floor, inhibit customers' abilities to access some products, and
otherwise interfere with
customers' shopping experience. Further, the worker may have to hunt through
the multiple pulled
stocking carts to find products that the worker is trying to stock. In some
embodiments, however,
the central computer system can coordinate the pulling of stocking carts as
one or more workers
are ready for additional products. As such, workers do not need to return to
back areas to pull
additional stocking carts, and numerous stocking carts are not simultaneously
on the sales floor
inhibiting customers' shopping experiences. Similarly, the central computer
system can direct one
or more motorized transport units to return empty stocking carts to a storage
area so that workers
do not have to take time to move the empty stocking carts.
In some embodiments, systems, apparatuses, processes and methods are provided
to assist
product stocking on a sales floor of a retail shopping facility. Some
embodiments comprise: a
plurality of motorized transport units that are each configured to perform
multiple different types
of tasks at a retail shopping facility; a central computer system configured
to coordinate the
plurality of motorized transport units in performing the multiple different
tasks comprising instruct
a first motorized transport unit to retrieve a specified first stocking cart
that is carrying a first
plurality of products that are to be restocked onto product supports that are
positioned on the sales
floor where customers travel in shopping for products, and further instruct
the first motorized
transport unit to autonomously transport the first stocking cart to a
specified first stocking location
on the sales floor corresponding to at least one of the first plurality of
products carried by the first
stocking cart.
Further, some embodiments include methods to assists product stocking on a
sales floor of
a retail shopping facility, comprising: by a central computer system for a
retail shopping facility:
coordinating a plurality of motorized transport units in performing the
multiple different tasks,
wherein each of the plurality of motorized transport units are configured to
perform multiple
different types of tasks at the retail shopping facility; communicating an
instruction instructing a
first motorized transport unit to retrieve a specified first stocking cart
that is carrying a first
plurality of products that are to be restocked onto product supports that are
positioned on the sales
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floor where customers travel in shopping for products; and communicating an
instruction
instructing the first motorized transport unit to autonomously transport the
first stocking cart to a
specified first stocking location on the sales floor corresponding to at least
one of the first plurality
of products carried by the first stocking cart. .
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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