TRASH CAN MONITORING SYSTEMS AND METHODS

• US 20170176986A1
• Filed: 03/02/2017
• Published: 06/22/2017
• Est. Priority Date: 03/06/2015
• Status: Active Grant

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Wal Mart Stores Inc (WalMart Inc.)
• Inventors: High, Donald R., Winkle, David C., Atchley, Michael D., Chakrobartty, Shuvro
• Granted Patent: US 10,486,951 B2
• Time in Patent Office: Days
• CPC Class Codes: A47F 10/04 for storing or handling self-service hand-carts or baskets
• CPC Class Codes: A47F 13/00 Shop or like accessories devices for drawing-off and cutting paper from a roll B65H; movably-mounted ladders E06C9/06
• CPC Class Codes: A47F 2010/005 using RFID elements
• CPC Class Codes: A47F 2010/025 using stock management systems
• CPC Class Codes: A47F 3/08 with arrangements for continuously or intermittently moving the merchandise
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B07C 2501/0045 Return vending of articles, e.g. bottles
• CPC Class Codes: B07C 2501/0054 Sorting of waste or refuse
• CPC Class Codes: B07C 2501/0063 Using robots
• CPC Class Codes: B07C 5/28 using electrical control means
• CPC Class Codes: B07C 5/3422 using video scanning devices, e.g. TV-cameras
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: B60L 53/63 in response to network capacity
• CPC Class Codes: B60P 3/06 for carrying vehicles B60P3/12 takes precedence; caravans, camping, or like vehicles with vehicle-carrying means B60P3/36
• CPC Class Codes: B60Y 2410/10 Housings
• CPC Class Codes: B62B 5/0026 Propulsion aids
• CPC Class Codes: B62B 5/0069 Control
• CPC Class Codes: B62B 5/0076 Remotely controlled
• CPC Class Codes: B65F 2210/168 Sensing means
• CPC Class Codes: B65F 3/00 : Vehicles particularly adapted for collecting refuse vehicles in general B60; driving vehicle equipment or auxiliaries B60K; discharging contents by tilting entire vehicles B65G; wheeled apparatus for emptying sewers or cesspools E03F7/10
• CPC Class Codes: B66F 9/063 : Automatically guided
• CPC Class Codes: E01H 5/061 : by scraper blades
• CPC Class Codes: E01H 5/12 : Apparatus or implements specially adapted for breaking, disintegrating, or loosening layers of ice or hard snow with or without clearing or removing E01H5/10 takes precedence; Roughening ice or hard snow by means of tools by means of gritting materials E01H10/00; roughening or breaking-up pavements E01C23/08, E01C23/12
• CPC Class Codes: G01C 21/206 : specially adapted for indoor navigation
• CPC Class Codes: G01S 1/02 : using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 1/70 : using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 1/7034 : Mounting or deployment thereof
• CPC Class Codes: G01S 1/7038 : Signal details
• CPC Class Codes: G01S 1/72 : using ultrasonic, sonic or infrasonic waves
• CPC Class Codes: G01S 2201/02 : Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses
• CPC Class Codes: G05B 19/048 : Monitoring; Safety
• CPC Class Codes: G05B 19/124 : using tapes, cards or discs with optically sensed marks or codes G05B19/128, G05B19/14 take precedence
• CPC Class Codes: G05B 2219/23363 : Barcode
• CPC Class Codes: G05B 2219/39107 : Pick up article, object, measure, test it during motion path, place it
• CPC Class Codes: G05D 1/0011 : associated with a remote control arrangement
• CPC Class Codes: G05D 1/0016 : characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 : characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0027 : involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0061 : for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/021 : specially adapted to land vehicles
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0246 : using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0276 : using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: G05D 1/0289 : with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 1/0291 : Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G05D 1/0293 : Convoy travelling
• CPC Class Codes: G05D 1/0297 : by controlling means in a control room
• CPC Class Codes: G05D 1/04 : Control of altitude or depth
• CPC Class Codes: G06F 16/90335 : Query processing
• CPC Class Codes: G06F 18/214 : Generating training patterns; Bootstrap methods, e.g. bagging or boosting
• CPC Class Codes: G06F 21/606 : by securing the transmission between two devices or processes
• CPC Class Codes: G06F 3/017 : Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06K 7/10297 : arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092 cryptographic protocols H04L9/00; network security protocols H04L63/00; real-time communication protocols in data switching networks H04L65/00; network protocols for data switching network services H04L67/00
• CPC Class Codes: G06K 7/10821 : further details of bar or optical code scanning devices
• CPC Class Codes: G06K 7/1413 : 1D bar codes
• CPC Class Codes: G06Q 10/02 : Reservations, e.g. for tickets, services or events
• CPC Class Codes: G06Q 10/0631 : Resource planning, allocation, distributing or scheduling for enterprises or organisations
• CPC Class Codes: G06Q 10/06311 : Scheduling, planning or task assignment for a person or group
• CPC Class Codes: G06Q 10/06315 : Needs-based resource requirements planning or analysis
• CPC Class Codes: G06Q 10/08 : Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 10/083 : Shipping
• CPC Class Codes: G06Q 10/087 : Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: G06Q 10/1095 : Meeting or appointment
• CPC Class Codes: G06Q 10/30 : Administration of product recycling or disposal
• CPC Class Codes: G06Q 20/12 : specially adapted for electronic shopping systems
• CPC Class Codes: G06Q 30/016 : After-sales
• CPC Class Codes: G06Q 30/0281 : Customer communication at a business location, e.g. providing product or service information, consulting
• CPC Class Codes: G06Q 30/0601 : Electronic shopping [e-shopping]
• CPC Class Codes: G06Q 30/0605 : Supply or demand aggregation
• CPC Class Codes: G06Q 30/0613 : Third-party assisted
• CPC Class Codes: G06Q 30/0617 : Representative agent
• CPC Class Codes: G06Q 30/0619 : Neutral agent
• CPC Class Codes: G06Q 30/0631 : Item recommendations
• CPC Class Codes: G06Q 30/0633 : Lists, e.g. purchase orders, compilation or processing
• CPC Class Codes: G06Q 30/0635 : Processing of requisition or of purchase orders
• CPC Class Codes: G06Q 30/0639 : Item locations
• CPC Class Codes: G06Q 30/0641 : Shopping interfaces
• CPC Class Codes: G06Q 50/40 : Business processes related to the transportation industry shipping G06Q10/083
• CPC Class Codes: G06T 2207/10028 : Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/593 : from stereo images
• CPC Class Codes: G06T 7/74 : involving reference images or patches
• CPC Class Codes: G06V 20/20 : in augmented reality scenes
• CPC Class Codes: G06V 20/40 : in video content extracting overlay text G06V20/62; video retrieval G06F16/70; processing of video elementary streams in video servers H04N21/234; processing of video elementary streams in video clients H04N21/44
• CPC Class Codes: G06V 20/44 : Event detection
• CPC Class Codes: G06V 20/52 : Surveillance or monitoring of activities, e.g. for recognising suspicious objects recognising microscopic objects G06V20/69
• CPC Class Codes: G06V 20/56 : exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/647 : by matching two-dimensional images to three-dimensional objects
• CPC Class Codes: G06V 30/224 : of printed characters having additional code marks or containing code marks
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G10L 13/00 : Speech synthesis; Text to speech systems
• CPC Class Codes: G10L 15/22 : Procedures used during a speech recognition process, e.g. man-machine dialogue
• CPC Class Codes: G10L 17/22 : Interactive procedures; Man-machine interfaces
• CPC Class Codes: G10L 2015/223 : Execution procedure of a spoken command
• CPC Class Codes: H02J 7/00034 : Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
• CPC Class Codes: H02J 7/0013 : acting upon several batteries simultaneously or sequentially H02J7/1423 takes precedence
• CPC Class Codes: H02J 7/0071 : with a programmable schedule
• CPC Class Codes: H04B 1/38 : Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
• CPC Class Codes: H04B 10/116 : Visible light communication
• CPC Class Codes: H04L 63/06 : for supporting key management in a packet data network cryptographic mechanisms or cryptographic arrangements for key management H04L9/08
• CPC Class Codes: H04L 63/08 : for authentication of entities cryptographic mechanisms or cryptographic arrangements for entity authentication H04L9/32
• CPC Class Codes: H04L 63/0846 : using time-dependent-passwords, e.g. periodically changing passwords
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04L 67/141 : Setup of application sessions admission control or resource allocation in data switching networks H04L47/70
• CPC Class Codes: H04L 67/143 : Termination or inactivation of sessions, e.g. event-controlled end of session
• CPC Class Codes: H04N 13/282 : for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
• CPC Class Codes: H04N 5/77 : between a recording apparatus and a television camera
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
• CPC Class Codes: H04N 7/183 : for receiving images from a single remote source
• CPC Class Codes: H04N 7/185 : from a mobile camera, e.g. for remote control
• CPC Class Codes: H04W 4/02 : Services making use of location information
• CPC Class Codes: H04W 4/021 : Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/029 : Location-based management or tracking services
• CPC Class Codes: H04W 4/30 : Services specially adapted for particular environments, situations or purposes
• CPC Class Codes: H04W 4/33 : for indoor environments, e.g. buildings
• CPC Class Codes: H04W 4/40 : for vehicles, e.g. vehicle-to-pedestrians [V2P]
• CPC Class Codes: H04W 4/80 : Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
• CPC Class Codes: Y02P 90/02 : Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02W 30/82 : Recycling of waste of electrical or electronic equipment [WEEE]
• CPC Class Codes: Y02W 90/00 : Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
• CPC Class Codes: Y02W 90/10 : Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
• CPC Class Codes: Y04S 10/50 : Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

Some embodiments provide methods and systems of monitoring trash cans. A central computer system of a shopping facility identifies a first motorized transport unit and a second motorized transport unit; communicates routing instructions based on a mapping of the shopping facility to each of the first and second motorized transport units directing the first and second motorized transport units to a trash can receptacle, wherein the second motorized transport unit transports a replacement second trash can; communicates trash can removal instruction to the first motorized transport unit to cause the first motorized transport unit to remove the first trash can from the trash can receptacle; and communicates a trash can replacement instruction to the second motorized transport unit to cause the second motorized transport unit to place the second trash can into the trash can receptacle in place of the first trash can.

Claims

1. A system of monitoring trash cans, comprising:

a central computer system of a shopping facility, comprising;

a transceiver configured to receive communications from multiple self-propelled motorized transport units located at the shopping facility;

a control circuit coupled with the transceiver; and

a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of;

identify a first motorized transport unit and a second motorized transport unit;

communicate routing instructions based on a mapping of the shopping facility to each of the first and second motorized transport units directing the first and second motorized transport units to a trash can receptacle, of multiple trash can receptacles distributed about the shopping facility, identified as ready to be emptied, wherein the second motorized transport unit transports a replacement second trash can;

communicate trash can removal instruction to the first motorized transport unit to cause the first motorized transport unit to remove the first trash can from the trash can receptacle; and

communicate a trash can replacement instruction to the second motorized transport unit to cause the second motorized transport unit to place the second trash can into the trash can receptacle in place of the first trash can.

2. The system of claim 1, wherein the control circuit in communicating the trash can removal instruction is configured to:

communicate routing instructions to cause the first motorized transport unit to travel under the trash can receptacle and the first trash can; and

communicate a trash can engagement instruction that causes the first motorized transport unit to temporarily and removably couple with the first trash can, lift the first trash can at least a first threshold distance, and move the first trash can out and away from the trash can receptacle.

3. The system of claim 1, wherein the control circuit in communicating the trash can replacement instruction is configured to:

communicate routing instructions to cause the second motorized transport unit to align the second trash can horizontally in two dimensions with a door opening of the trash can receptacle, to align the second trash can vertically in a third dimension with guides of the trash can receptacle, and to move the second trash can into the trash can receptacle such that supports on the second trash can cooperate with the guides of the trash can receptacle; and

communicate a trash can disengagement instruction that when implemented causes the second motorized transport unit to decouple from the second trash can.

4. The system of claim 3, wherein the control circuit in communicating the trash can disengagement instruction further causes the second motorized transport unit to lower at least a portion of the second motorized transport unit reducing a height of the second motorized transport unit, and to move out from under the trash can receptacle and the second trash can.

5. The system of claim 1, wherein the control circuit is further configured to:

receive trash level sensor information, communicated from a transmitter at the trash can receptacle and coupled with a sensor positioned within the trash can receptacle, notifying the central computer system that a trash level within the first trash can is at or greater than a trash level threshold;

identify the first trash can is ready to be emptied in response to receiving the trash level sensor information indicating the trash level within the first trash can is at or greater than the trash level threshold; and

implement the identification of the first and second motorized transport units to replace the first trash can with the second trash can.

6. The system of claim 5, wherein the control circuit is further configured to:

identify the trash can receptacle from which the trash level sensor information is received;

identify a location of the trash can receptacle;

identify a location of the first motorized transport unit, and a location of the second motorized transport unit;

determine the routing instructions for the first motorized transport unit based on the location of the trash can receptacle and the location of the first motorized transport unit; and

determine the routing instructions for the second motorized transport unit based on the location of the trash can receptacle and the location of the second motorized transport unit.

7. The system of claim 6, wherein the control circuit in determine the routing instructions for the second motorized transport unit further identifies a location of the second trash can that is available to be used to replace another trash can;

and

determine the routing instructions for the second motorized transport unit to direct the second motorized transport unit to the location of the second trash can, and to retrieve the second trash can prior to traveling to the location of the trash can receptacle such that the second motorized transport unit retrieves and transports the second trash can to the location of the trash can receptacle.

8. The system of claim 1, wherein the control circuit is further configured to communicate a door activation instruction to a trash can receptacle control circuit to cause the trash can receptacle control circuit to activate a door control system to unlatch the door of the trash can receptacle prior to the first motorized transport unit attempting to move the first trash can.

9. A method of monitoring trash cans, comprising:

by a control circuit of a shopping facility;

identifying a first motorized transport unit and a second motorized transport unit of a plurality of self-propelled motorized transport units configured to travel about a shopping facility;

communicating routing instructions based on a mapping of the shopping facility to each of the first and second motorized transport units directing the first and second motorized transport units to a trash can receptacle, of multiple trash can receptacles distributed about the shopping facility, identified as ready to be emptied, wherein the second motorized transport unit transports a replacement second trash can;

communicating trash can removal instruction to the first motorized transport unit to cause the first motorized transport unit to remove the first trash can from the trash can receptacle; and

communicating a trash can replacement instruction to the second motorized transport unit to cause the second motorized transport unit to place the second trash can into the trash can receptacle in place of the first trash can.

10. The method of claim 9, wherein the communicating the trash can removal instruction comprises:

communicating routing instructions to cause the first motorized transport unit to travel under the trash can receptacle and the first trash can; and

communicating a trash can engagement instruction that causes the first motorized transport unit to temporarily and removably couple with the first trash can, lift the first trash can at least a first threshold distance, and move the first trash can out and away from the trash can receptacle.

11. The method of claim 9, wherein the communicating the trash can replacement instruction comprises:

communicating routing instructions to cause the second motorized transport unit to align the second trash can horizontally in two dimensions with a door opening of the trash can receptacle, to align the second trash can vertically in a third dimension with guides of the trash can receptacle, and to move the second trash can into the trash can receptacle such that supports on the second trash can cooperate with the guides of the trash can receptacle; and

communicating a trash can disengagement instruction that when implemented causes the second motorized transport unit to decouple from the second trash can.

12. The method of claim 11, wherein the communicating the trash can disengagement instruction further causes the second motorized transport unit to lower at least a portion of the second motorized transport unit reducing a height of the second motorized transport unit, and to move out from under the trash can receptacle and the second trash can.

13. The method of claim 9, further comprising:

receiving trash level sensor information, communicated from a transmitter at the trash can receptacle and coupled with a sensor positioned within the trash can receptacle, notifying a central computer system that a trash level within the first trash can is at or greater than a trash level threshold;

identifying the first trash can is ready to be emptied in response to receiving the trash level sensor information indicating the trash level within the first trash can is at or greater than the trash level threshold; and

implementing the identification of the first and second motorized transport units to replace the first trash can with the second trash can.

14. The method of claim 9, further comprising:

identifying the trash can receptacle from which the trash level sensor information is received;

identifying a location of the trash can receptacle;

identifying a location of the first motorized transport unit, and a location of the second motorized transport unit;

determining the routing instructions for the first motorized transport unit based on the location of the trash can receptacle and the location of the first motorized transport unit; and

determining the routing instructions for the second motorized transport unit based on the location of the trash can receptacle and the location of the second motorized transport unit.

15. The method of claim 14, wherein the determining the routing instructions for the second motorized transport unit further comprises:

identifying a location of the second trash can that is available to be used to replace another trash can; and

determining the routing instructions for the second motorized transport unit to direct the second motorized transport unit to the location of the second trash can, and to retrieve the second trash can prior to traveling to the location of the trash can receptacle such that the second motorized transport unit retrieves and transports the second trash can to the location of the trash can receptacle.

16. The method of claim 9, further comprising:

communicating a door activation instruction to a trash can receptacle control circuit to cause the trash can receptacle control circuit to activate a door control system to unlatch the door of the trash can receptacle prior to the first motorized transport unit attempting to move the first trash can.