Systems, devices and methods of controlling motorized transport units in fulfilling product orders

• US 9,896,315 B2
• Filed: 03/04/2016
• Issued: 02/20/2018
• Est. Priority Date: 03/06/2015
• Status: Active Grant

• Current Assignee: Walmart Apollo, LLC (WalMart Inc.)
• Original Assignee: Wal-Mart Stores Texas LLC (WalMart Inc.)
• Inventors: High, Donald R., Chakrobartty, Shuvro, Winkle, David C., Taylor, Robert C.
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/061,402
• Publication Number:
  US 20160260158A1
• Time in Patent Office: 718 Days
• Field of Search: 700245, 221 2, 221 82, 221 9, 221 92, 221 93, 414273, 414279, 414280, 41433104, 414277, 414284, 414286, 414373, 705 28, 31856821, 318565, 31856811, 31856816, 3185682
• 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 include apparatuses to fulfill customer orders comprising a motorized transport unit; a product pick unit (PPU) that cooperate with the motorized transport unit; a wireless communication network; and a central computer system configured to communicate with the multiple motorized transport units and the plurality of product pick units, and comprises a control circuit and memory storing instructions executed to cause the control circuit to: communicate an instruction to the motorized transport unit and direct the motorized transport unit to transport the product pick unit to a determined first location within the shopping facility proximate to where a first product having been ordered is located; and communicate an instruction to the product pick unit cooperated with the motorized transport unit and direct the product pick unit to retrieve the first product.

Claims

1. A system to fulfill a customer order, comprising:

a first self-propelled motorized transport unit configured to move through at least a portion of a shopping facility that is configured such that customers regularly enter and travel through at least a sales floor portion of the shopping facility to locate and purchase products from the shopping facility;

a first product pick unit (PPU) configured to temporarily and removably cooperate with the motorized transport unit;

a wireless communication network; and

a central computer system that is separate from the motorized transport unit and the first product pick unit, wherein the central computer system comprises;

a transceiver;

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;

wirelessly communicate an instruction to the first motorized transport unit and direct the first motorized transport unit to transport the first product pick unit to a determined first location within the shopping facility proximate to where a first product having been ordered is located; and

wirelessly communicate an instruction to the first product pick unit cooperated with the first motorized transport unit and direct the first product pick unit to retrieve the first product;

wherein the central computer system in wirelessly communicating the instruction to the first product pick unit to retrieve the first product is configured to communicate an instruction to the first product pick unit to adjust a vertical location of a catch pouch relative to a vertical location of the first product prior to the first product pick unit retrieving the first product.

2. The system of claim 1, wherein the central computer system is further configured to:

wirelessly communicate an instruction to a second motorized transport unit and direct the second motorized transport unit to transport a second product pick unit to a determined second location within the shopping facility proximate to where a second product having been ordered is located;

wirelessly communicate an instruction to the second product pick unit to retrieve the second product;

wirelessly communicate an instruction to each of the first motorized transport unit and the second motorized transport unit directing the first and second motorized transport units to a collection location within the shopping facility; and

communicate an instruction to each of the first product pick unit and the second product pick unit to allow the first product and the second product, respectively, to be collected as at least part of fulfilling the order.

3. The system of claim 1, wherein the central computer system is further configured to wirelessly communicate a cooperate instruction to cause the first motorized transport unit to move proximate to the first product pick unit and temporarily cooperate with the first product pick unit such that the first motorized transport unit is configured to transport the first product pick unit through the shopping facility.

4. The system of claim 1, wherein the central computer system in wirelessly communicating the instruction and instructing the first product pick unit to adjust the vertical location of the catch pouch relative to the vertical location of the first product causes vertical movement of the catch pouch mirroring vertical movements of the first vacuum cup system such that the catch pouch is adjacent a support structure upon which the product is supported prior to activating the first vacuum cup system.

5. The system of claim 1, wherein the central computer system is further configured wirelessly communicate a protection instruction to the first product pick unit directing the first product pick unit to apply a protective packaging to the first product upon retrieval of the first product.

6. The system of claim 1, wherein the central computer system in wirelessly communicating the instruction to the first product pick unit to retrieve the first product is configured to communicate an instruction to the first product pick unit to vertically position each of the first vacuum cup system and a second vacuum cup system of the first product pick unit to grasp the first product through vacuum suction forces and cooperatively retrieve the first product.

7. The system of claim 1, wherein the central computer system is further configured to identify two or more products specified in a customer'"'"'s order, and determine routing through the shopping facility along which the motorized transport unit is to transport the first product pick unit to acquire the two or more products such that damage to the first product of the two or more products does not occur from the retrieval of a second product of the two or more products, wherein the wirelessly communicating the instruction to the first motorized transport unit comprises communicating route information in accordance with the determined routing that is to be implemented by the first motorized transport unit.

8. The system of claim 1, wherein the central computer system further receives sensor data corresponding to multiple different sensors of the first product pick unit that are configured to sense different conditions, and determines routing information for the first motorized transport unit based on the received sensor data from the multiple different sensors of the first product pick unit instead of sensor data from sensors on the first motorized transport unit that are inhibited due to the cooperation of the first motorized transport unit with the first product pick unit.

9. The system of claim 1, wherein the central computer system is further configured to:

wirelessly communicate an instruction to a second motorized transport and direct the second motorized transport unit to transport a second product pick unit of the plurality of product pick units to a second location within the shopping facility proximate to where a second product is located, wherein the second product has a temperature requirement different than that of the first product;

wirelessly communicate an instruction to the second product pick unit cooperated with the second motorized transport unit and direct the second product pick unit to retrieve the second product; and

wirelessly communicate one or more route instructions to the second motorized transport unit to transport the second product pick unit and the second product to a temperature control area of the shopping facility.

10. The system of claim 1, wherein the first product pick unit comprises a containment compartment adjacent a release of the catch pouch, and a pouch control system coupled with the release that controls the opening and closing of the release to allow the first product deposited into the catch pouch to be transferred to a storage container temporarily positioned within the containment compartment and subsequently used in delivering the first product to a customer requesting the first product.

11. The system of claim 1, wherein the first motorized transport unit comprises a communication coupling configured to communicatively couple with a communication coupling of the first product pick unit, wherein the central computer system is configured to communicate instructions to the first product pick unit through the first motorized transport unit relaying instructions wirelessly received at the first motorized transport unit from the central computer system to the first product pick unit.

12. The system of claim 11, wherein the first motorized transport unit comprises a power coupling configured to couple with a power coupling of the first product pick unit, and wherein the first motorized transport unit is configured to supply power to the first product pick unit.

13. A method of fulfilling a customer order, comprising:

by a control circuit;

wirelessly communicating an instruction to a first motorized transport unit, which is separate from the control circuit, directing the first motorized transport unit to transport a first product pick unit to a determined first location within a shopping facility proximate to where a first product having been ordered is located, wherein the first product pick unit is configured to temporarily and removably cooperate with the first motorized transport unit; and

wirelessly communicating an instruction to the first product pick unit cooperated with the first motorized transport unit instructing the first product pick unit to adjust a vertical location of a catch pouch relative to a vertical location of the first product and directing the first product pick unit to retrieve the first product.

14. The method of claim 13, further comprising:

wirelessly communicating an instruction to a second motorized transport unit and direct the second motorized transport unit to transport a second product pick unit to a determined second location within the shopping facility proximate to where a second product having been ordered is located;

wirelessly communicating an instruction to the second product pick unit to retrieve the second product;

wirelessly communicating an instruction to each of the first motorized transport unit and the second motorized transport unit directing the first and second motorized transport units to a collection location within the shopping facility; and

communicating an instruction to each of the first product pick unit and the second product pick unit to allow the first product and the second product, respectively, to be collected as at least part of fulfilling the order.

15. The method of claim 13, further comprising:

wirelessly communicating a cooperate instruction to cause the first motorized transport unit to move proximate to the first product pick unit and temporarily cooperate with the first product pick unit such that the first motorized transport unit is configured to transport the first product pick unit through the shopping facility.

16. The method of claim 13, wherein the wirelessly communicating the instruction to the first product pick unit to retrieve the first product comprises:

communicating the instruction to the first product pick unit to adjust the vertical location of a catch pouch relative to the vertical location of the first product causing vertical movement of the catch pouch mirroring vertical movements of the first vacuum cup system such that the catch pouch is adjacent a support structure upon which the product is supported prior to activating the first vacuum cup system, and communicating an instruction to activate at least a first vacuum cup system to grasp the first product through a vacuum suction force and deposit the first product into the catch pouch.

17. The method of claim 13, further comprising:

wirelessly communicating a protection instruction to the first product pick unit directing the first product pick unit to apply a protective packaging to the first product upon retrieval of the first product.

18. The method of claim 13, wherein the wirelessly communicating the instruction to the first product pick unit to retrieve the first product further comprises communicating an instruction to the first product pick unit to vertically position each of the first vacuum cup system and a second vacuum cup system of the first product pick unit to grasp the first product through vacuum suction forces and cooperatively retrieving the first product.

19. The method of claim 13, further comprising:

identifying two or more products specified in a customer'"'"'s order; and

determining routing through the shopping facility along which the motorized transport unit is to transport the first product pick unit to acquire the two or more products such that damage to the first product of the two or more products does not occur from the retrieval of a second product of the two or more products;

wherein the wirelessly communicating the instruction to the first motorized transport unit comprises communicating route information in accordance with the determined routing that is to be implemented by the first motorized transport unit.

20. The method of claim 13, further comprising:

receiving sensor data corresponding to multiple different sensors of the first product pick unit that are configured to sense different conditions, and

determining routing information for the first motorized transport unit based on the received sensor data from the multiple different sensors of the first product pick unit instead of sensor data from sensors on the first motorized transport unit that are inhibited due to the cooperation of the first motorized transport unit with the first product pick unit.

21. The method of claim 13, further comprising:

wirelessly communicating an instruction to a second motorized transport and directing the second motorized transport unit to transport a second product pick unit of the plurality of product pick units to a second location within the shopping facility proximate to where a second product is located, wherein the second product has a temperature requirement different than that of the first product;

wirelessly communicating an instruction to the second product pick unit cooperated with the second motorized transport unit and directing the second product pick unit to retrieve the second product; and

wirelessly communicating one or more route instructions to the second motorized transport unit to transport the second product pick unit and the second product to a temperature control area of the shopping facility.