Shopping facility assistance systems, devices and methods to drive movable item containers

• US 9,908,760 B2
• Filed: 03/04/2016
• Issued: 03/06/2018
• 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., Winkle, David C., Atchley, Michael D.
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/061,474
• Publication Number:
  US 20160259346A1
• Time in Patent Office: 732 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 include a motorized transport unit providing customer assistance at a shopping facility, comprises: a transceiver; a control circuit; a motorized wheel system; a lift system; and a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to: activate a motorized wheel system, while continuing to monitor location information, to position the motorized transport unit under the item container and aligned, based on the location information, relative to a frame of the item container; and activate the lift system to lift on the frame of the item container lifting a first portion of the item container such one or more wheels of the item container are lifted off of a floor while two or more other wheels of the item container remain in contact with the floor.

Claims

1. A motorized transport unit providing customer assistance at a shopping facility, comprising:

a transceiver configured to wirelessly receive communications from a remote central computer system;

a control circuit coupled with the transceiver;

a motorized wheel system controlled by the control circuit;

a lift system controlled by the control circuit; and

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

activate the motorized wheel system, while continuing to monitor location information, to position the motorized transport unit under an item container and aligned, based on the location information, relative to a frame of the item container, wherein the item container is one of a plurality of item containers that are usable by customers and configured to be moved by customers through the shopping facility; and

activate the lift system to lift on the frame of the item container lifting a first portion of the item container such that one or more wheels of the item container are lifted off of a floor while two or more other wheels of the item container remain in contact with the floor;

one or more traction sensors cooperated with the motorized wheel system and configured to detect a reduction in traction of one or more wheels of the motorized wheel system;

wherein the control circuit is coupled with the one or more traction sensors, and further configured to activate the lift system to adjust a lift height of one side of the item container relative to the one or more wheels corresponding to the detected reduction in traction to increase weight on the one or more wheels relative to other wheels of the motorized wheel system.

2. The motorized transport unit of claim 1, wherein the control circuit is further configured to activate the motorized wheel system, in accordance with shopping route instructions received from the central computer system, to drive the item container through the shopping facility along a shopping route while the two or more other wheels of the item container continue to be in contact with the floor and supporting a portion of the weight of the item container and products placed into the item container.

3. The motorized transport unit of claim 1, further comprising:

actuatable clamps controlled by the control circuit; and

wherein the control circuit, in response to positioning the motorized transport unit under the item container and aligned relative to the frame of the item container, is further configured to activate the clamps to engage and removably clamp to the frame of the item container and temporarily secure the motorized transport unit with the item container.

4. The motorized transport unit of claim 1, further comprising:

one or more wireless tag sensors coupled with the control circuit;

wherein the control circuit is further configured to receive, from the one or more tag sensors, the location information comprising tag location information wirelessly detected from multiple different wireless tags positioned at different positions on the item container, and to identify a location and orientation of the item container relative to the motorized transport unit based on the tag location information detected by the one or more wireless tag sensors.

5. The motorized transport unit of claim 4, wherein the control circuit is further configured to:

wirelessly receive positioning route instructions from the central computer system; and

activate the motorized wheel system to move the motorized transport unit through at least a portion of the shopping facility and to position the motorized transport unit, in accordance with the positioning route instructions, proximate the item container such that the one or more tag sensors are capable of sensing at least one of the wireless tags on the item container.

6. The motorized transport unit of claim 1, wherein the lift system comprises a plurality of hydraulic lifts that are spaced relative to each other and upon activation lift the one or more wheels of the item container off of the floor.

7. The motorized transport unit of claim 6, further comprising:

a body having a top portion and a bottom portion;

wherein the hydraulic lifts cooperate with at least the top portion such that when activated cause the top portion to lift relative to the bottom portion and lifting the first portion of the item container.

8. The motorized transport unit of claim 6, further comprising:

a pair of arms that are rotatably cooperated with a body of the motorized transport unit; and

an actuatable clamp positioned on each of the arms such that the arms are rotated to position the clamps relative to the frame of the item container.

9. The motorized transport unit of claim 1, wherein the control circuit is further configured adjust a speed of at least one wheel based on the detected reduction in traction.

10. The motorized transport unit of claim 1, wherein the control circuit is further configured to cause a notification to be communicated to a user interface unit of a customer associated with the motorized transport unit.

11. The motorized transport unit of claim 1, wherein the control circuit is further configured to activate the lift system to balance the item container.

12. A method of providing customer assistance at a shopping facility, comprising:

by a control circuit;

activating a motorized wheel system of a motorized transport unit, while continuing to monitor location information, to position the motorized transport unit under an item container and aligned, based on the location information, relative to a frame of the item container, wherein the item container is one of a plurality of item containers that are usable by customers and configured to be moved by customers through a shopping facility;

activating a lift system to lift on the frame of the item container lifting a first portion of the item container such that one or more wheels of the item container are lifted off of a floor while two or more other wheels of the item container remain in contact with the floor;

receiving, from one or more traction sensors cooperated with the motorized wheel system, traction sensor data indicating a reduction in traction of one or more wheels of the motorized wheel system; and

activating the lift system to adjust a lift height of one side of the item container relative to the one or more wheels corresponding to the detected reduction in traction to increase weight on the one or more wheels relative to other wheels of the motorized wheel system.

13. The method of claim 12, further comprising:

activating the motorized wheel system, in accordance with shopping route instructions received from a central computer system, to drive the item container through the shopping facility along a shopping route while the two or more other wheels of the item container continue to be in contact with the floor and supporting a portion of the weight of the item container and products placed into the item container.

14. The method of claim 12, further comprising:

activating, in response to positioning the motorized transport unit under the item container and aligned relative to the frame of the item container, actuatable clamps to engage and removably clamp to the frame of the item container and temporarily secure the motorized transport unit with the item container.

15. The method of claim 12, further comprising:

receiving, from one or more wireless tag sensors of the motorized transport unit, the location information comprising tag location information wirelessly detected from multiple different wireless tags positioned at different positions on the item container; and

identifying a location and orientation of the item container relative to the motorized transport unit based on the tag location information detected by the one or more wireless tag sensors.

16. The method of claim 15, further comprising:

wirelessly receiving positioning route instructions from a central computer system; and

activating the motorized wheel system to move the motorized transport unit through at least a portion of the shopping facility and to position the motorized transport unit, in accordance with the positioning route instructions, proximate the item container such that the one or more tag sensors are capable of sensing at least one of the wireless tags on the item container.

17. The method of claim 12, wherein the activating the lift system comprises activating each of a plurality of hydraulic lifts that are spaced relative to each other to cause, upon activation, the lifting the one or more wheels of the item container off of the floor.

18. The method of claim 17, wherein the lift system is cooperated with a top portion of a body of the motorized transport unit;

and

wherein the activating the hydraulic lifts comprises lifting a top portion of the motorized transport unit relative to a bottom portion and lifting the first portion of the item container.

19. The method of claim 17 further comprising:

rotating a pair of arms that are rotatably cooperated with a body of the motorized transport unit, wherein a clamp is positioned on each of the arms;

positioning the clamps, based on the rotation of the arms, relative to the frame; and

activating the clamps when rotated into position relative to the frame of the item container through the rotation of the arms.