GB2562835B

GB2562835B - Shopping space mapping systems, devices and methods

Info

Publication number: GB2562835B
Application number: GB1804414.9A
Authority: GB
Inventors: R High Donald; C Taylor Robert; D Atchley Michael
Original assignee: Walmart Apollo LLC
Current assignee: Walmart Apollo LLC
Priority date: 2015-08-07
Filing date: 2016-08-05
Publication date: 2019-10-16
Anticipated expiration: 2036-08-05
Also published as: GB2543133A; GB201804414D0; GB2543133B; CA2938075A1; GB2562835A

Description

SHOPPING SPACE MAPPING SYSTEMS, DEVICES AND METHODS

Cross-Reference To Related Application [0001] This application claims the benefit of U.S. Provisional Application No. 62/202,747, filed August 7, 2015, and which is incorporated herein by reference.

Technical Field [0002] These teachings relate generally to shopping environments and more particularly to devices, systems and methods for assisting customers and/or workers in thoseshopping environments.

Background [0003] In a modern retail store environment, there is a need to improve the customer experience and/or convenience for the customer. Whether shopping in a large format (bigbox) store or smaller format (neighborhood) store, customers often require assistance thatemployees of the store are not always able to provide. For example, particularly during peakhours, there may not be enough employees available to assist customers such that customerquestions go unanswered. Additionally, due to high employee turnover rates, availableemployees may not be fully trained or have access to information to adequately supportcustomers. Other routine tasks also are difficult to keep up with, particularly during peakhours. For example, shopping carts are left abandoned, aisles become messy, inventory is notdisplayed in the proper locations or is not even placed on the sales floor, shelf prices may notbe properly set, and theft is hard to discourage. All of these issues can result in low customersatisfaction or reduced convenience to the customer. With increasing competition from non-traditional shopping mechanisms, such as online shopping provided by e-commercemerchants and alternative store formats, it can be important for “brick and mortar” retailers tofocus on improving the overall customer experience and/or convenience.

Brief Description of the Drawings [0004] The above needs are at least partially met through provision of embodiments of systems, devices, and methods designed to provide assistance to customers and/or workers in a shopping facility, such as described in the following detailed description, particularlywhen studied in conjunction with the drawings, wherein: [0005] FIG. 1 comprises a block diagram of a shopping assistance system as configured in accordance with various embodiments of these teachings; [0006] FIGS. 2 A and 2B are illustrations of a motorized transport unit of the system of FIG. 1 in a retracted orientation and an extended orientation in accordance with someembodiments;

[0007] FIGS. 3A and 3B are illustrations of the motorized transport unit of FIGS. 2A and 2B detachably coupling to a movable item container, such as a shopping cart, inaccordance with some embodiments; [0008] FIG. 4 comprises a block diagram of a motorized transport unit as configured in accordance with various embodiments of these teachings; [0009] FIG. 5 comprises a block diagram of a computer device as configured in accordance with various embodiments of these teachings; [0010] FIG. 6 comprises a block diagram of a system for mapping a shopping space in accordance with embodiments.

[0011] FIG. 7 comprises a flow diagram of a method for mapping a shopping space in accordance with embodiments.

[0012] FIGS. 8A and 8B comprise illustrations of a grid map of a shopping space in accordance with some embodiments.

[0013] Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and/or relative positioning ofsome of the elements in the figures may be exaggerated relative to other elements to help toimprove understanding of various embodiments of the present teachings. Also, common butwell-understood elements that are useful or necessary in a commercially feasible embodimentare often not depicted in order to facilitate a less obstructed view of these variousembodiments of the present teachings. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in the art will understand thatsuch specificity with respect to sequence is not actually required. The terms and expressionsused 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 specificmeanings have otherwise been set forth herein.

Detailed Description [0014] The following description is not to be taken in a limiting sense, but is made merely for the purpose of describing the general principles of exemplary embodiments.Reference throughout this specification to "one embodiment," "an embodiment," or similarlanguage means that a particular feature, structure, or characteristic described in connectionwith 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 languagethroughout this specification may, but do not necessarily, all refer to the same embodiment.

[0015] Generally speaking, pursuant to various embodiments, systems, devices and methods are provided for assistance of persons at a shopping facility. Generally, assistancemay be provided to customers or shoppers at the facility and/or to workers at the facility. Thefacility may be any type of shopping facility at a location in which products for displayand/or for sale are variously distributed throughout the shopping facility space. The shoppingfacility may be a retail sales facility, or any other type of facility in which products aredisplayed 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, stockreceiving areas, hallway areas, common areas shared by merchants, and so on. Generally, ashopping facility includes areas that may be dynamic in terms of the physical structuresoccupying 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 layoutsor physical arrangements. In other example, persons or other movable objects may be freelyand independently traveling through the shopping facility space. And in other example, thepersons or movable objects move according to known travel patterns and timing. The facilitymay 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 collectionof stores covering multiple merchants such as a mall. In embodiments, the system makes useof 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 offunctions. 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 interactwith the system including the automated mobile devices and/or to directly interact with theautomated mobile devices. In some embodiments, the automated mobile devices and thecorresponding system serve to enhance a customer shopping experience in the shoppingfacility, e.g., by assisting shoppers and/or workers at the facility.

[0016] In embodiments, a system for mapping a shopping space is provided, a method for mapping a shopping space is provided, and an apparatus for mapping a shoppingspace, all as defined in the claims that follow.

[0017] SYSTEM OVERVIEW

[0018] Referring now to the drawings, FIG. 1 illustrates embodiments of a shopping facility assistance system 100 that can serve to carry out at least some of the teachings setforth herein. It will be understood that the details of this example are intended to serve in anillustrative capacity and are not necessarily intended to suggest any limitations as regards thepresent teachings. It is noted that generally, FIGS. 1-5 describe the general functionality ofseveral embodiments of a system, and FIGS. 6-7 expand on some functionalities of someembodiments of the system and/or embodiments independent of such systems.

[0019] In the example of FIG. 1, a shopping assistance system 100 is implemented in whole or in part at a shopping facility 101. In embodiments, the system 100 includes morethan one motorized transport units (MTUs) 102; one or more item containers 104; a centralcomputer system 106 having at least one control circuit 108, at least one memory 110 and atleast one network interface 112; at least one user interface unit 114; a location determinationsystem 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 onewireless network 124; at least one database 126; at least one user interface computer device128; an item display module 130; and a locker or an item storage unit 132. It is understoodthat more or fewer of such components may be included in different embodiments of thesystem 100.

[0020] These motorized transport units 102 are located in the shopping facility 101 and are configured to move throughout the shopping facility space. Further details regardingsuch motorized transport units 102 appear further below. Generally speaking, these motorized transport units 102 are configured to either comprise, or to selectively couple to, acorresponding movable item container 104. A simple example of an item container 104would be a shopping cart as one typically finds at many retail facilities, or a rocket cart, aflatbed cart or any other mobile basket or platform that may be used to gather items forpotential purchase.

[0021] In some embodiments, these motorized transport units 102 wirelessly communicate with, and are wholly or largely controlled by, the central computer system 106.In particular, in some embodiments, the central computer system 106 is configured to controlmovement of the motorized transport units 102 through the shopping facility space based on avariety of inputs. For example, the central computer system 106 communicates with eachmotorized transport unit 102 via the wireless network 124 which may be one or morewireless networks of one or more wireless network types (such as, a wireless local areanetwork, 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 wirelesscoverage of the desired range of the motorized transport units 102 according to any knownwireless protocols, including but not limited to a cellular, Wi-Fi (RTM), Zigbee (RTM) orBluetooth (RTM) network.

[0022] By one approach the central computer system 106 is a computer based device and includes at least one control circuit 108, at least one memory 110 and at least one wiredand/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 fieldprogrammable gate array, and so on. These architectural options are well known andunderstood in the art and require no further description here. This control circuit 108 isconfigured (for example, by using corresponding programming stored in the memory 110 aswill be well understood by those skilled in the art) to carry out one or more of the steps,actions, and/or functions described herein.

[0023] In this illustrative example the control circuit 108 operably couples to one or more memories 110. The memory 110 may be integral to the control circuit 108 or can bephysically discrete (in whole or in part) from the control circuit 108 as desired. This memory110 can also be local with respect to the control circuit 108 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control circuit 108 (where, for example, the memory 110 isphysically located in another facility, metropolitan area, or even country as compared to thecontrol circuit 108).

[0024] This memory 110 can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuit 108, cause the control circuit108 to behave as described herein. (As used herein, this reference to “non-transitorily” will beunderstood to refer to a non-ephemeral state for the stored contents (and hence excludes whenthe stored contents merely constitute signals or waves) rather than volatility of the storagemedia itself and hence includes both non-volatile memory (such as read-only memory (ROM)as well as volatile memory (such as an erasable programmable read-only memory(EPROM).) [0025] Additionally, in embodiments, at least one database 126 is accessible by the central computer system 106. Such databases may be integrated into the central computersystem 106 or separate from it. Such databases may be at the location of the shopping facility101 or remote from the shopping facility 101. Regardless of location, the databases comprisememory to store and organize certain data for use by the central control system 106. In someembodiments, the at least one database 126 may store data pertaining to one or more of:shopping facility mapping data (according to embodiments), customer data, customershopping data and patterns, inventory data, product pricing data, and so on.

[0026] In this illustrative example, the central computer system 106 also wirelessly communicates with a plurality of user interface units 114. These teachings will accommodatea variety of user interface units including, but not limited to, mobile and/or handheldelectronic 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 towirelessly communicate with the central computer system 106 via a wireless network, such asthe wireless network 124 of the shopping facility 101 (such as a Wi-Fi (RTM) wirelessnetwork). These user interface units 114 generally provide a user interface for interactionwith 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 unit114. In some embodiments, these user interface units 114 should also be able to receiveverbally-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 formuseful to the central computer system 106 or a motorized transport unit 102.

[0027] By one approach at least some of the user interface units 114 belong to corresponding customers who have come to the shopping facility 101 to shop. By anotherapproach, in lieu of the foregoing or in combination therewith, at least some of the userinterface units 114 belong to the shopping facility 101 and are loaned to individual customersto employ as described herein. In some embodiments, one or more user interface units 114are attachable to a given movable item container 104 or are integrated with the movable itemcontainer 104. Similarly, in some embodiments, one or more user interface units 114 may bethose of shopping facility workers, belong to the shopping facility 101 and are loaned to theworkers, or a combination thereof.

[0028] In some embodiments, the user interface units 114 may be general purpose computer devices that include computer programming code to allow it to interact with thesystem 106. For example, such programming may be in the form of an application installedon the user interface unit 114 or in the form of a browser that displays a user interfaceprovided by the central computer system 106 or other remote computer or server (such as aweb server). In some embodiments, one or more user interface units 114 may be specialpurpose devices that are programmed to primarily function as a user interface for the system100. Depending on the functionality and use case, user interface units 114 may be operatedby customers of the shopping facility or may be operated by workers at the shopping facility,such as facility employees (associates or colleagues), vendors, suppliers, contractors, etc.

[0029] By one approach, the system 100 optionally includes one or more video cameras 118. Captured video imagery from such a video camera 118 can be provided to thecentral computer system 106. That information can then serve, for example, to help thecentral computer system 106 determine a present location of one or more of the motorizedtransport units 102 and/or determine issues or concerns regarding automated movement ofthose motorized transport units 102 in the shopping facility space. As one simple example inthese regards, such video information can permit the central computer system 106, at least inpart, to detect an object in a path of movement of a particular one of the motorized transportunits 102.

[0030] By one approach these video cameras 118 comprise existing surveillance equipment employed at the shopping facility 101 to serve, for example, various securitypurposes. By another approach these video cameras 118 are dedicated to providing videocontent to the central computer system 106 to facilitate the latter’s control of the motorizedtransport units 102. If desired, the video cameras 118 can have a selectively movable field ofview and/or zoom capability that the central computer system 106 controls as appropriate tohelp ensure receipt of useful information at any given moment.

[0031] In some embodiments, a location detection system 116 is provided at the shopping facility 101. The location detection system 116 provides input to the centralcomputer system 106 useful to help determine the location of one or more of the motorizedtransport units 102. In some embodiments, the location detection system 116 includes aseries of light sources (e.g., LEDs (light-emitting diodes)) that are mounted in the ceiling atknown positions throughout the space and that each encode data in the emitted light thatidentifies the source of the light (and thus, the location of the light). As a given motorizedtransport unit 102 moves through the space, light sensors (or light receivers) at the motorizedtransport unit 102, on the movable item container 104 and/or at the user interface unit 114receive the light and can decode the data. This data is sent back to the central computersystem 106 which can determine the position of the motorized transport unit 102 by the dataof the light it receives, since it can relate the light data to a mapping of the light sources tolocations at the facility 101. Generally, such lighting systems are known and commerciallyavailable, e.g., the ByteLight system from ByteLight of Boston, Massachusetts. Inembodiments using a ByteLight system, a typical display screen of the typical smart phonedevice can be used as a light sensor or light receiver to receive and process data encoded intothe light from the ByteLight light sources.

[0032] In other embodiments, the location detection system 116 includes a series of low energy radio beacons (e.g., Bluetooth (RTM) low energy beacons) at known positionsthroughout the space and that each encode data in the emitted radio signal that identifies thebeacon (and thus, the location of the beacon). As a given motorized transport unit 102 movesthrough the space, low energy receivers at the motorized transport unit 102, on the movableitem container 104 and/or at the user interface unit 114 receive the radio signal and candecode the data. This data is sent back to the central computer system 106 which candetermine 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 energyradio beacons to locations at the facility 101. Generally, such low energy radio systems areknown and commercially available. In embodiments using a Bluetooth (RTM) low energyradio system, a typical Bluetooth (RTM) radio of a typical smart phone device can be used asa receiver to receive and process data encoded into the Bluetooth (RTM) low energy radiosignals from the Bluetooth (RTM) low energy beacons.

[0033] In still other embodiments, the location detection system 116 includes a series of audio beacons at known positions throughout the space and that each encode data in theemitted audio signal that identifies the beacon (and thus, the location of the beacon). As agiven motorized transport unit 102 moves through the space, microphones at the motorizedtransport unit 102, on the movable item container 104 and/or at the user interface unit 114receive the audio signal and can decode the data. This data is sent back to the centralcomputer system 106 which can determine the position of the motorized transport unit 102 bythe location encoded in the audio signal it receives, since it can relate the location data to amapping of the audio beacons to locations at the facility 101. Generally, such audio beaconsystems are known and commercially available. In embodiments using an audio beaconsystem, a typical microphone of a typical smart phone device can be used as a receiver toreceive and process data encoded into the audio signals from the audio beacon.

[0034] Also optionally, the central computer system 106 can operably couple to one or more user interface computers 128 (comprising, for example, a display and a user inputinterface such as a keyboard, touch screen, and/or cursor-movement device). Such a userinterface computer 128 can permit, for example, a worker (e.g., an associate, analyst, etc.) atthe retail or shopping facility 101 to monitor the operations of the central computer system106 and/or to attend to any of a variety of administrative, configuration or evaluation tasks asmay correspond to the programming and operation of the central computer system 106. Suchuser interface computers 128 may be at or remote from the location of the facility 101 andmay access one or more the databases 126.

[0035] In some embodiments, the system 100 includes at least one motorized transport unit (MTU) storage unit or dispenser 120 at various locations in the shoppingfacility 101. The dispenser 120 provides for storage of motorized transport units 102 that areready to be assigned to customers and/or workers. In some embodiments, the dispenser 120takes 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 areprovided further below. In some embodiments, the dispenser 120 may be fixed in location ormay be mobile and capable of transporting itself to a given location or utilizing a motorizedtransport unit 102 to transport the dispenser 120, then dispense one or more motorizedtransport units 102.

[0036] In some embodiments, the system 100 includes at least one motorized transport unit (MTU) docking station 122. These docking stations 122 provide locationswhere motorized transport units 102 can travel and connect to. For example, the motorizedtransport units 102 may be stored and charged at the docking station 122 for later use, and/ormay be serviced at the docking station 122.

[0037] In accordance with some embodiments, a given motorized transport unit 102 detachably connects to a movable item container 104 and is configured to move the movableitem container 104 through the shopping facility space under control of the central computersystem 106 and/or the user interface unit 114. For example, a motorized transport unit 102can move to a position underneath a movable item container 104 (such as a shopping cart, arocket cart, a flatbed cart, or any other mobile basket or platform), align itself with themovable item container 104 (e.g., using sensors) and then raise itself to engage anundersurface of the movable item container 104 and lift a portion of the movable itemcontainer 104. Once the motorized transport unit is cooperating with the movable itemcontainer 104 (e.g., lifting a portion of the movable item container), the motorized transportunit 102 can continue to move throughout the facility space 101 taking the movable itemcontainer 104 with it. In some examples, the motorized transport unit 102 takes the form ofthe motorized transport unit 202 of FIGS. 2A-3B as it engages and detachably connects to agiven movable item container 104. It is understood that in other embodiments, the motorizedtransport unit 102 may not lift a portion of the movable item container 104, but that itremovably latches to, connects to or otherwise attaches to a portion of the movable itemcontainer 104 such that the movable item container 104 can be moved by the motorizedtransport unit 102. For example, the motorized transport unit 102 can connect to a givenmovable item container using a hook, a mating connector, a magnet, and so on.

[0038] In addition to detachably coupling to movable item containers 104 (such as shopping carts), in some embodiments, motorized transport units 102 can move to andengage 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 orshelving unit configured to house and display certain items for sale. It may be desired toposition the display module 130 at various locations within the shopping facility 101 atvarious times. Thus, one or more motorized transport units 102 may move (as controlled bythe central computer system 106) underneath the item display module 130, extend upward tolift the module 130 and then move it to the desired location. A storage locker 132 may be astorage device where items for purchase are collected and placed therein for a customerand/or worker to later retrieve. In some embodiments, one or more motorized transport units102 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 itemdisplay module 130, one or more motorized transport units 102 may move (as controlled bythe central computer system 106) underneath the storage locker 132, extend upward to lift thelocker 132 and then move it to the desired location.

[0039] FIGS. 2A and 2B illustrate some embodiments of a motorized transport unit 202, similar to the motorized transport unit 102 shown in the system of FIG. 1. In thisembodiment, the motorized transport unit 202 takes the form of a disc-shaped robotic devicehaving motorized wheels (not shown), a lower body portion 204 and an upper body portion206 that fits over at least part of the lower body portion 204. It is noted that in otherembodiments, the motorized transport unit may have other shapes and/or configurations, andis 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 containerwith which the motorized transport unit is intended to cooperate. Also included are guidemembers 208. In FIG. 2A, the motorized transport unit 202 is shown in a retracted positionin which the upper body portion 206 fits over the lower body portion 204 such that themotorized transport unit 202 is in its lowest profile orientation which is generally thepreferred orientation for movement when it is unattached to a movable item container 104 forexample. In FIG. 2B, the motorized transport unit 202 is shown in an extended position inwhich the upper body portion 206 is moved upward relative to the lower body portion 204such that the motorized transport unit 202 is in its highest profile orientation for movementwhen it is lifting and attaching to a movable item container 104 for example. The mechanismwithin the motorized transport unit 202 is designed to provide sufficient lifting force to liftthe 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 movableitem 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 208are embodied as pegs or shafts that extend horizontally from the both the upper body portion206 and the lower body portion 204. In some embodiments, these guide members 208 assistdocking the motorized transport unit 202 to a docking station 122 or a dispenser 120. Insome embodiments, the lower body portion 204 and the upper body portion are capable tomoving independently of each other. For example, the upper body portion 206 may be raisedand/or rotated relative to the lower body portion 204. That is, one or both of the upper bodyportion 206 and the lower body portion 204 may move toward/away from the other or rotatedrelative to the other. In some embodiments, in order to raise the upper body portion 206relative to the lower body portion 204, the motorized transport unit 202 includes an internallifting 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.

[0040] FIGS. 3 A and 3B illustrate some embodiments of the motorized transport unit 202 detachably engaging a movable item container embodied as a shopping cart 302. In FIG3 A, the motorized transport unit 202 is in the orientation of FIG. 2A such that it is retractedand able to move in position underneath a portion of the shopping cart 302. Once themotorized transport unit 202 is in position (e.g., using sensors), as illustrated in FIG. 3B, themotorized transport unit 202 is moved to the extended position of FIG. 2B such that the frontportion 304 of the shopping cart is lifted off of the ground by the motorized transport unit202, with the wheels 306 at the rear of the shopping cart 302 remaining on the ground. Inthis orientation, the motorized transport unit 202 is able to move the shopping cart 302throughout the shopping facility. It is noted that in these embodiments, the motorizedtransport unit 202 does not bear the weight of the entire cart 302 since the rear wheels 306rest on the floor. It is understood that in some embodiments, the motorized transport unit 202may be configured to detachably engage other types of movable item containers, such asrocket carts, flatbed carts or other mobile baskets or platforms.

[0041] FIG. 4 presents a more detailed example of some embodiments of the motorized transport unit 102 of FIG. 1. In this example, the motorized transport unit 102 hasa 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 406that, like the control circuit 108 of the central computer system 106, controls the generaloperations of the motorized transport unit 102. Accordingly, the control unit 404 alsoincludes a memory 408 coupled to the control circuit 406 and that stores, for example,operating instructions and/or useful data.

[0042] The control circuit 406 operably couples to a motorized wheel system 410.

This motorized wheel system 410 functions as a locomotion system to permit the motorizedtransport unit 102 to move within the aforementioned retail or shopping facility 101 (thus, themotorized wheel system 410 may more generically be referred to as a locomotion system).Generally speaking, this motorized wheel system 410 will include at least one drive wheel(i.e., a wheel that rotates (around a horizontal axis) under power to thereby cause themotorized transport unit 102 to move through interaction with, for example, the floor of theshopping facility 101). The motorized wheel system 410 can include any number of rotatingwheels and/or other floor-contacting mechanisms as may be desired and/or appropriate to theapplication setting.

[0043] The motorized wheel system 410 also includes a steering mechanism of choice. One simple example in these regards comprises one or more of the aforementionedwheels that can swivel about a vertical axis to thereby cause the moving motorized transportunit 102 to turn as well.

[0044] Numerous examples of motorized wheel systems are known in the art.

Accordingly, further elaboration in these regards is not provided here for the sake of brevitysave to note that the aforementioned control circuit 406 is configured to control the variousoperating states of the motorized wheel system 410 to thereby control when and how themotorized wheel system 410 operates.

[0045] In this illustrative example, the control circuit 406 also operably couples to at least one wireless transceiver 412 that operates according to any known wireless protocol.This wireless transceiver 412 can comprise, for example, a Wi-Fi(RTM)-compatible and/orBluetooth(RTM)-compatible transceiver that can communicate with the aforementionedcentral computer system 106 via the aforementioned wireless network 124 of the shoppingfacility 101. So configured the control circuit 406 of the motorized transport unit 102 canprovide 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 106regarding movement of the motorized transport unit 102.

[0046] These teachings will accommodate using any of a wide variety of wireless technologies as desired and/or as may be appropriate in a given application setting. Theseteachings will also accommodate employing two or more different wireless transceivers 412if desired.

[0047] The control circuit 406 also couples to one or more on-board sensors 414.

These teachings will accommodate a wide variety of sensor technologies and form factors.By one approach at least one such sensor 414 can comprise a light sensor or light receiver.When the aforementioned location detection system 116 comprises a plurality of lightemitters disposed at particular locations within the shopping facility 101, such a light sensorcan provide information that the control circuit 406 and/or the central computer system 106employs to determine a present location and/or orientation of the motorized transport unit102.

[0048] As another example, such a sensor 414 can comprise a distance measurement unit configured to detect a distance between the motorized transport unit 102 and one or moreobjects or surfaces around the motorized transport unit 102 (such as an object that lies in aprojected path of movement for the motorized transport unit 102 through the shoppingfacility 101). These teachings will accommodate any of a variety of distance measurementunits including optical units and sound/ultrasound units. In one example, a sensor 414comprises a laser distance sensor device capable of determining a distance to objects inproximity to the sensor. In some embodiments, a sensor 414 comprises an optical basedscanning device to sense and read optical patterns in proximity to the sensor, such as barcodes variously located on structures in the shopping facility 101. In some embodiments, asensor 414 comprises a radio frequency identification (RFID) tag reader capable of readingRFID tags in proximity to the sensor. Such sensors may be useful to determine proximity tonearby objects, avoid collisions, orient the motorized transport unit at a proper alignmentorientation to engage a movable item container, and so on.

[0049] The foregoing examples are intended to be illustrative and are not intended to convey an exhaustive listing of all possible sensors. Instead, it will be understood that these teachings will accommodate sensing any of a wide variety of circumstances or phenomena tosupport the operating functionality of the motorized transport unit 102 in a given applicationsetting.

[0050] By one optional approach an audio input 416 (such as a microphone) and/or an audio output 418 (such as a speaker) can also operably couple to the control circuit 406. Soconfigured the control circuit 406 can provide a variety of audible sounds to therebycommunicate with a user of the motorized transport unit 102, other persons in the vicinity ofthe 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.

[0051] The audio input 416, in turn, provides a mechanism whereby, for example, a user provides verbal input to the control circuit 406. That verbal input can comprise, forexample, instructions, inquiries, or information. So configured, a user can provide, forexample, a question to the motorized transport unit 102 (such as, “Where are the towels?”).The control circuit 406 can cause that verbalized question to be transmitted to the centralcomputer system 106 via the motorized transport unit’s wireless transceiver 412. The centralcomputer system 106 can process that verbal input to recognize the speech content and tothen determine an appropriate response. That response might comprise, for example,transmitting back to the motorized transport unit 102 specific instructions regarding how tomove the motorized transport unit 102 (via the aforementioned motorized wheel system 410)to the location in the shopping facility 101 where the towels are displayed.

[0052] In this example the motorized transport unit 102 includes a rechargeable power source 420 such as one or more batteries. The power provided by the rechargeablepower source 420 can be made available to whichever components of the motorized transportunit 102 require electrical energy. By one approach the motorized transport unit 102 includesa plug or other electrically conductive interface that the control circuit 406 can utilize toautomatically connect to an external source of electrical energy to thereby recharge therechargeable power source 420.

[0053] By one approach the motorized transport unit 102 comprises an integral part of a movable item container 104 such as a grocery cart. As used herein, this reference to “integral” will be understood to refer to a non-temporary combination and joinder that issufficiently complete so as to consider the combined elements to be as one. Such a joindercan be facilitated in a number of ways including by securing the motorized transport unithousing 402 to the item container using bolts or other threaded fasteners as versus, forexample, a clip.

[0054] These teachings will also accommodate selectively and temporarily attaching the motorized transport unit 102 to an item container 104. In such a case the motorizedtransport unit 102 can include a movable item container coupling structure 422. By oneapproach this movable item container coupling structure 422 operably couples to a controlcircuit 202 to thereby permit the latter to control, for example, the latched and unlatchedstates of the movable item container coupling structure 422. So configured, by one approachthe control circuit 406 can automatically and selectively move the motorized transport unit102 (via the motorized wheel system 410) towards a particular item container until themovable item container coupling structure 422 can engage the item container to therebytemporarily physically couple the motorized transport unit 102 to the item container. Solatched, the motorized transport unit 102 can then cause the item container to move with themotorized transport unit 102. In embodiments such as illustrated in FIGS. 2A-3B, themovable item container coupling structure 422 includes a lifting system (e.g., including anelectric drive or motor) to cause a portion of the body or housing 402 to engage and lift aportion of the item container off of the ground such that the motorized transport unit 102 cancarry a portion of the item container. In other embodiments, the movable transport unitlatches to a portion of the movable item container without lifting a portion thereof off of theground.

[0055] In either case, by combining the motorized transport unit 102 with an item container, and by controlling movement of the motorized transport unit 102 via theaforementioned central computer system 106, these teachings will facilitate a wide variety ofuseful ways to assist both customers and associates in a shopping facility setting. Forexample, the motorized transport unit 102 can be configured to follow a particular customeras they shop within the shopping facility 101. The customer can then place items they intendto purchase into the item container that is associated with the motorized transport unit 102.

[0056] In some embodiments, the motorized transport unit 102 includes an input/output (I/O) device 424 that is coupled to the control circuit 406. The I/O device 424 allows an external device to couple to the control unit 404. The function and purpose ofconnecting devices will depend on the application. In some examples, devices connecting tothe I/O device 424 may add functionality to the control unit 404, allow the exporting of datafrom the control unit 404, allow the diagnosing of the motorized transport unit 102, and soon.

[0057] In some embodiments, the motorized transport unit 102 includes a user interface 426 including for example, user inputs and/or user outputs or displays depending onthe intended interaction with the user. For example, user inputs could include any inputdevice such as buttons, knobs, switches, touch sensitive surfaces or display screens, and soon. Example user outputs include lights, display screens, and so on. The user interface 426may work together with or separate from any user interface implemented at a user interfaceunit 114 (such as a smart phone or tablet device).

[0058] The control unit 404 includes a memory 408 coupled to the control circuit 406 and that stores, for example, operating instructions and/or useful data. The control circuit406 can comprise a fixed-purpose hard-wired platform or can comprise a partially or whollyprogrammable platform. These architectural options are well known and understood in the artand require no further description here. This control circuit 406 is configured (for example,by using corresponding programming stored in the memory 408 as will be well understood bythose skilled in the art) to carry out one or more of the steps, actions, and/or functionsdescribed herein. The memory 408 may be integral to the control circuit 406 or can bephysically discrete (in whole or in part) from the control circuit 406 as desired. This memory408 can also be local with respect to the control circuit 406 (where, for example, both share acommon circuit board, chassis, power supply, and/or housing) or can be partially or whollyremote with respect to the control circuit 406. This memory 408 can serve, for example, tonon-transitorily store the computer instructions that, when executed by the control circuit406, cause the control circuit 406 to behave as described herein. (As used herein, thisreference to “non-transitorily” will be understood to refer to a non-ephemeral state for thestored contents (and hence excludes when the stored contents merely constitute signals orwaves) rather than volatility of the storage media itself and hence includes both non-volatilememory (such as read-only memory (ROM) as well as volatile memory (such as an erasableprogrammable read-only memory (EPROM).) [0059] It is noted that not all components illustrated in FIG. 4 are included in all embodiments of the motorized transport unit 102. That is, some components may be optionaldepending on the implementation.

[0060] FIG. 5 illustrates a functional block diagram that may generally represent any number of various electronic components of the system 100 that are computer type devices.The computer device 500 includes a control circuit 502, a memory 504, a user interface 506and an input/output (I/O) interface 508 providing any type of wired and/or wirelessconnectivity to the computer device 500, all coupled to a communication bus 510 to allowdata and signaling to pass therebetween. Generally, the control circuit 502 and the memory504 may be referred to as a control unit. The control circuit 502, the memory 504, the userinterface 506 and the VO interface 508 may be any of the devices described herein or asunderstood in the art. The functionality of the computer device 500 will depend on theprogramming stored in the memory 504. The computer device 500 may represent a highlevel diagram for one or more of the central computer system 106, the motorized transportunit 102, the user interface unit 114, the location detection system 116, the user interfacecomputer 128, the MTU docking station 122 and the MTU dispenser 120, or any other deviceor component in the system that is implemented as a computer device.

[0061] ADDITIONAL FEATURES OVERVIEW

[0062] Referring generally to FIGS. 1-5, the shopping assistance system 100 may implement one or more of several different features depending on the configuration of thesystem and its components. The following provides a brief description of several additionalfeatures that could be implemented by the system. One or more of these features could alsobe implemented in other systems separate from embodiments of the system. This is notmeant to be an exhaustive description of all features and not meant to be an exhaustivedescription of the details any one of the features. Further details with regards to one or morefeatures beyond this overview may be provided herein.

[0063] Tagalong Steering: This feature allows a given motorized transport unit 102 to lead or follow a user (e.g., a customer and/or a worker) throughout the shopping facility 101.For example, the central computer system 106 uses the location detection system 116 todetermine 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 theitem container 104/motorized transport unit 102. The central computer system 106 receivesthe 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 gridplaced upon a 2D CAD map and 3D point cloud model (e.g., from the databases 126) todirect, track, and plot paths for the other devices. Using the grid, the motorized transport unit102 can drive a movable item container 104 in a straight path rather than zigzagging aroundthe facility. As the user moves from one grid to another, the motorized transport unit 102drives the container 104 from one grid to the other. In some embodiments, as the user movestowards the motorized transport unit, it stays still until the customer moves beyond anadjoining grid.

[0064] Detecting Objects: In some embodiments, motorized transport units 102 detect objects through several sensors mounted on motorized transport unit 102, throughindependent cameras (e.g., video cameras 118), through sensors of a corresponding movableitem container 104, and through communications with the central computer system 106. Insome embodiments, with semi-autonomous capabilities, the motorized transport unit 102 willattempt to avoid obstacles, and if unable to avoid, it will notify the central computer system106 of an exception condition. In some embodiments, using sensors 414 (such as distancemeasurement units, e.g., laser or other optical-based distance measurement sensors), themotorized transport unit 102 detects obstacles in its path, and will move to avoid, or stop untilthe obstacle is clear.

[0065] Visual Remote Steering: This feature enables movement and/or operation of a motorized transport unit 102 to be controlled by a user on-site, off-site, or anywhere in theworld. This is due to the architecture of some embodiments where the central computersystem 106 outputs the control signals to the motorized transport unit 102. These controlssignals could have originated at any device in communication with the central computersystem 106. For example, the movement signals sent to the motorized transport unit 102 maybe movement instructions determined by the central computer system 106; commandsreceived at a user interface unit 114 from a user; and commands received at the centralcomputer system 106 from a remote user not located at the shopping facility space.

[0066] Determining Location: Similar to that described above, this feature enables the central computer system 106 to determine the location of devices in the shopping facility 101.

For example, the central computer system 106 maps received LED light transmissions,Bluetooth (RTM) low energy radio signals or audio signals (or other received signalsencoded with location data) to a 2D map of the shopping facility. Objects within the area ofthe shopping facility are also mapped and associated with those transmissions. Using thisinformation, the central computer system 106 can determine the location of devices such asmotorized transport units.

[0067] Digital Physical Map Integration: In embodiments, the system 100 is integrates maps (2D and 3D maps) of the shopping facility with physical locations of objectsand workers. Once the central computer system 106 maps all objects to specific locationsusing algorithms, measurements and LED geo-location, for example, grids are applied whichsections off the maps into access ways and blocked sections. Motorized transport units 102use these grids for navigation and recognition. In some cases, grids are applied to 2Dhorizontal maps along with 3D models. In some cases, grids start at a higher unit level andthen can be broken down into smaller units of measure by the central computer system 106when needed to provide more accuracy.

[0068] Calling a Motorized Transport Unit: This feature provides multiple methods to request and schedule a motorized transport unit 102 for assistance in the shopping facility. Insome embodiments, users can request use of a motorized transport unit 102 through the userinterface unit 114. The central computer system 106 can check to see if there is an availablemotorized transport unit. Once assigned to a given user, other users will not be able to controlthe already assigned transport unit. Workers, such as store associates, may also reservemultiple motorized transport units in order to accomplish a coordinated large job.

[0069] Locker Delivery: In some embodiments, one or more motorized transport units 102 may be used to pick, pack, and deliver items to a particular storage locker 132. Themotorized 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 readyto be picked up, and will be provided the locker location and locker security code key.

[0070] Route Optimization: In some embodiments, the central computer system automatically generates a travel route for one or more motorized transport units through theshopping facility space (and specifically more than one motorized transport unit, according toembodiments). 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 preferencesentered by the user via the user interface unit 114; user profile data received from a userinformation database (e.g., from one of databases 126); and product availability informationfrom a retail inventory database (e.g., from one of databases 126). In some cases, the routeintends to minimize the time it takes to get through the facility, and in some cases, may routethe shopper to the least busy checkout area. Frequently, there will be multiple possibleoptimum routes. The route chosen may take the user by things the user is more likely topurchase (in case they forgot something), and away from things they are not likely to buy (toavoid 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 pastcustomer 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 pastshopping behavior, e.g., if the customer typically buys a cold Diet Coke (RTM) product,children’s shoes or power tools, this information would be used to add weight to the bestalternative routes, and determine the route accordingly.

[0071] Store Facing Features: In some embodiments, these features enable functions to support workers in performing store functions. For example, the system can assist workersto know what products and items are on the shelves and which ones need attention. Forexample, using 3D scanning and point cloud measurements, the central computer system candetermine where products are supposed to be, enabling workers to be alerted to facing orzoning of issues along with potential inventory issues.

[0072] Phone Home: This feature allows users in a shopping facility 101 to be able to contact remote users who are not at the shopping facility 101 and include them in theshopping experience. For example, the user interface unit 114 may allow the user to place avoice call, a video call, or send a text message. With video call capabilities, a remote personcan virtually accompany an in-store shopper, visually sharing the shopping experience whileseeing and talking with the shopper. One or more remote shoppers may join the experience.

[0073] Returns: In some embodiments, the central computer system 106 can task a motorized transport unit 102 to keep the returns area clear of returned merchandise. Forexample, the transport unit may be instructed to move a cart from the returns area to adifferent department or area. Such commands may be initiated from video analytics (thecentral 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 motorizedtransport unit 102 can first bring an empty cart to the returns area, prior to removing a fullone.

[0074] Bring a Container: One or more motorized transport units can retrieve a movable item container 104 (such as a shopping cart) to use. For example, upon a customeror worker request, the motorized transport unit 102 can re-position one or more itemcontainers 104 from one location to another. In some cases, the system instructs themotorized transport unit where to obtain an empty item container for use. For example, thesystem can recognize an empty and idle item container that has been abandoned or instructthat one be retrieved from a cart storage area. In some cases, the call to retrieve an itemcontainer may be initiated through a call button placed throughout the facility, or through theinterface of a user interface unit 114.

[0075] Respond to Voice Commands: In some cases, control of a given motorized transport unit is implemented through the acceptance of voice commands. For example, theuser may speak voice commands to the motorized transport unit 102 itself and/or to the userinterface unit 114. In some embodiments, a voice print is used to authorize to use of amotorized transport unit 102 to allow voice commands from single user at a time.

[0076] Retrieve Abandoned Item Containers: This feature allows the central computer system to track movement of movable item containers in and around the area of the shoppingfacility 101, including both the sale floor areas and the back-room areas. For example, usingvisual recognition through store cameras 118 or through user interface units 114, the centralcomputer system 106 can identify abandoned and out-of-place movable item containers. Insome cases, each movable item container has a transmitter or smart device which will send aunique identifier to facilitate tracking or other tasks and its position using LED geo-locationidentification. Using LED geo-location identification with the Determining Location featurethrough smart devices on each cart, the central computer system 106 can determine the lengthof time a movable item container 104 is stationary.

[0077] Stocker Assistance: This feature allows the central computer system to track movement of merchandise flow into and around the back-room areas. For example, usingvisual 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 salefloor areas. Tasks or alerts may be sent to workers to assign tasks.

[0078] Self-Docking: Motorized transport units 102 will run low or out of power when used. Before this happens, the motorized transport units 102 need to recharge to stay inservice. 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. Whenuse is completed, the motorized transport unit 102 will return to a docking station 122. Insome cases, if the power is running low during use, a replacement motorized transport unitcan be assigned to move into position and replace the motorized transport unit with lowpower. The transition from one unit to the next can be seamless to the user.

[0079] Item Container Retrieval: With this feature, the central computer system 106 can cause multiple motorized transport units 102 to retrieve abandoned item containers fromexterior areas such as parking lots. For example, multiple motorized transport units areloaded into a movable dispenser, e.g., the motorized transport units are vertically stacked inthe dispenser. The dispenser is moved to the exterior area and the transport units aredispensed. Based on video analytics, it is determined which item containers 104 areabandoned and for how long. A transport unit will attach to an abandoned cart and return itto a storage bay.

[0080] Motorized Transport Unit Dispenser: This feature provides the movable dispenser that contains and moves a group of motorized transport units to a given area (e.g.,an exterior area such as a parking lot) to be dispensed for use. For example, motorizedtransport units can be moved to the parking lot to retrieve abandoned item containers 104. Insome cases, the interior of the dispenser includes helically wound guide rails that mate withthe guide member 208 to allow the motorized transport units to be guided to a position to bedispensed.

[0081] Specialized Module Retrieval: This feature allows the system 100 to track movement of merchandise flow into and around the sales floor areas and the back-room areasincluding special modules that may be needed to move to the sales floor. For example, usingvideo analytics, the system can determine if a modular unit it loaded or empty. Such modularunits 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 roomarea (or a lesser accessed area of the sales floor) to a desired area of the sales floor area.

[0082] Authentication: This feature uses a voice imprint with an attention code/word to authenticate a user to a given motorized transport unit. One motorized transport unit canbe swapped for another using this authentication. For example, a token is used during thesession with the user. The token is a unique identifier for the session which is dropped oncethe session is ended. A logical token may be a session id used by the application of the userinterface unit 114 to establish the session id when user logs on and when deciding to do usethe system 100. In some embodiments, communications throughout the session are encryptedusing SSL or other methods at transport level.

[0083] FURTHER DETAILS OF SOME EMBODIMENTS

[0084] In accordance with some embodiments, further details are now provided for one or more of these and other features. A system and method for mapping a shopping spaceis provided herein.

[0085] An MTU system includes a progressively intelligent system, for integrating 3D and 2D store mapping with physical locations of objects, colleagues, and associates. Insome embodiments, once the central computer system maps all objects to specific locationsusing measurements and an indoor positioning systems (including those based on videoanalytics, visual light communications, WiFi (RTM), Bluetooth (RTM), Audio,Ultrawideband or other techniques), grids are applied to section the map into access ways andblocked sections. The system and the MTU may use these grids for navigation andenvironment recognition.

[0086] Grid units organize areas into blocked and open areas such that the automated processes can avoid using complicated methods to evaluate areas with overlappingboundaries. In some embodiments, grid units provide a more efficient and effective way oftransitioning from a 2D horizontal map to a 3D vertical and horizontal map by way of gridsection association. Both the 2D and 3D maps are associated to a grid section which ties themaps together. Both maps are based upon the layout and dimensions of the physical store.These maps are then used to guide MTUs, customers, store associates, and/or colleagues.

[0087] Real store positioning, 2D maps, and 3D maps may be integrated and aligned with a grid division into blocked and open sections using area identification based on indoor positioning systems and point cloud measurements. These grid units may then be identified aseither blocked or open areas. Blocked sections may then be identified based on what objectsthey contain. Open areas are identified as open floor space for 2D models or open air space in3D models. A partially blocked section may be considered a blocked section until a smallergrid is applied to further subdivide the grid section.

[0088] 3D scanning and Computer Aided Design (CAD) models may be built for a shopping space. When 3D scanning is performed, the models of the point clouds from thescans may be used as input into a CAD program. Scalable 2D CAD maps of the store mayalso be entered into the Central Computer System (CCS). A grid may be placed over theCAD maps at the level of determining objects and travel paths for MTUs. The system maycompute all possible travel path dimensions from a scalable model. LED smart lights may beinstalled that transmit a number to allow MTUs to determine their location in the shoppingspace. Measurements of the exact location of each indoor positioning beacon (e.g., LEDsmart light, Bluetooth (RTM) beacon, audio beacon, etc.) may be recorded by MTUs todetermine their position within the store grid. A smart device may then be used to detect therange of the indoor positioning beacon transmission to identify the circle area of the receptionof the beacon’s serial number. Each position within the store may then be measured,calculated, and designated based on the store CAD map. Once the radius for each individuallight is calculated, the combination of radii may then be measured using the same smartdevice. Using these intersections of multiple LED transmission a refined area may becalculated narrowing the sections to fit the grid for making the MTU path of travel within themeasurements from the CAD map. The system may use the point cloud from the 3D maps toalign the 2D map with the 3D map using digital measurements. These 3D digitalmeasurements may be used to confirm the accuracy of the 2D map when the 3D map is froman actual scan of the shopping space while the 2D maps built using CAD programs.

[0089] From an enhanced grid map, pathways may be calculated and established with more precision as to which areas a MTU can travel through and which areas are off limits.Using the CAD and grid method, a MTU in each section can determine whether it can gofront or back, left or right, or if certain directions are blocked. The grid blocks around aMTU may be checked to determine which directions the MTU can travel towards on the fly.

[0090] Using the grid method for movement provides MTU with a navigational path that can be adjusted within a close (e.g. 6 inch) tolerance of a blocked object. A MTU may otherwise maintain a straight path within a grid block. Where there are partially blocked gridsections and there is a need to enter the partially blocked area, these grid sections may befurther divided into sub-grid sections enabling a more precise sectioned area for navigation.The system may accomplish this by applying a grid at a smaller level of measurementgranularity to the grid.

[0091] FIG. 6 illustrates a block diagram of a shopping space mapping system 600, similar to that of FIG. 1, as configured in accordance with various embodiments of thedisclosure. The shopping space mapping system 600 includes a central computer system 620,a store map database 630, and a number of motorized transport units 640 each configured toperform various tasks in a shopping space based on instructions provided by the centralcomputer system 620. The shopping space mapping system 600 may include or beimplemented at least partially with one or more components shown in FIGS. 1, 4, and 5.

[0092] The central computer system 620 includes a control circuit 621 and a memory 622, and may be generally referred to as a processor-based device, a computer, a server, andthe like. In some embodiments, the central computer system 620 may be implemented withone or more of the central computer system 106 and/or the computer device 500 describedabove. For example, the functionalities of the central computer system 620 described hereinmay be implemented as one or more software modules and/or hardware modules in thecentral computer system 106.

[0093] The central computer system 620 has stored on its memory 622, a set of computer readable instructions that is executable by the control circuit 621 to cause thecontrol circuit 621 to map a shopping space and generate and/or modify informationassociated with a map of the shopping space stored in the store map database 630. Thecontrol circuit 621 may be further configured to instruct the motorized transport unit 640 tonavigate through the shopping space based on the map information stored in the store mapdatabase 630.

[0094] In some embodiments, the central computer system 620 may be located inside of and serve a specific shopping space. In some embodiments, the central computer system620 may be at least partially implemented on a remote or cloud-based server that providesstore map information to a store server and/or MTUs in one or more shopping spaces.

[0095] The store map database 630 may generally be implemented by any non- transitory storage medium. While the store map database 630 and the memory 622 as shownare separate element in FIG. 6, in some embodiments, the store map database 630 and thememory 622 may be implemented with the same physical device(s). In some embodiments,the store map database 630 may be implemented with one or more of the database 126,memory 110, and memory 504 described with reference to FIGS. 1 and 5 above. In someembodiments, the store map database 630 may store maps for two or more shopping spaces.The store map database 630 may be coupled to the central computer system 620 via one ormore of a local, wired, wireless, and networked connection.

[0096] Each motorized transport unit 640 may be the MTU 102 described in FIG. 1, the MTU shown in FIGS. 2A-3B, and/or the MTU 402 described in FIG. 4. In embodiments,a MTU 640 is a motorized device configured to travel in a shopping space according toinstructions received from a central computer system 620. In some embodiments, MTUs 640include one or more sensors for determining its location within the shopping space. Forexample, each MTU 640 may include GPS sensors and/or sensors for receiving LEDtransmission from smart LED lights amounted throughout the shopping space. In someembodiments, the MTU 640 may include other input and out devices such range sensors andoptical sensors for gathering information from its surrounding.

[0097] In embodiments, the central computer system 620 is communicatively coupled to a set of sensors (not shown). Sensors may include one or more of optical sensors, imagesensors (according to embodiments), the location detection system 116, the video camerasystem 118, and sensors on MTUs 120 described with reference to FIG. 1 above. Inembodiments, the sensors are configured to provide the central computer system 620information to determine whether one or more sections of a shopping space can be accessedby MTUs. For example, the sensors may be a set of cameras for providing images of varioussections of a shopping space to the central computer system 620, in embodiments,. Inembodiments, the central computer system 620 analyzes the images captured by the camerasand determine whether there are obstructions that make one or more area of the shoppingspace inaccessible to MTUs. For example, an image may show pallets, shopping carts,customers, etc. that blocks a path in the shopping space. The cameras may be stationarycameras mounted in the shopping space and/or may include cameras on the MTUs and/or user interface devices. The sensors may communicate with the central computer systemthrough any wired or wireless communication devices.

[0098] FIG. 7 shows a flow diagram of a process for mapping a shopping space in accordance with various embodiments of these teachings. In embodiments, the steps shown inFIG. 7 are performed by one or more of the central computer system 620 in FIG. 6, thecentral computer system 106 in FIG. 1, and the computer device 500 in FIG. 5. In someembodiments, the steps are performed by a process-based device executing a set of computerreadable instructions stored on a memory device. In some embodiments, one or more of thesteps may also be performed by a software program that provides a user interface forinteracting with the information stored in a store map database. Generally, the steps shown inFIG. 7 are performed by a control circuit of a processor-based device.

[0099] In step 710, the system divides a map of a shopping space into sections. The map of the shopping space may be based on one or more 2D images and/or one or more 3Dscans of the actual shopping space. 2D images and 3D scans may be captured by one or moreof stationary, mobile, and MTU mounted image sensors. In some embodiments, a 3Dscanning device may be used to capture 3D layout of the shopping space. In someembodiments, the map of the shopping space may include a CAD model of the shoppingspace. In some embodiments, the map may be divided into a plurality of equal sized grid cellsin step 710. In some embodiments, the store may be divided based on coordinates of apositioning system. For example, the shopping space may have a plurality of indoorpositioning beacons each transmitting a unique code that can be used by MTUs to determineits location. Each section may approximately correspond to an indoor positioning systembeacon’s transmission area. In some embodiments, the store map may be divided intosections based on existing structures and fixtures such as pillars, walls, shelves, etc. in theshopping space. The system may perform image analysis of the 2D and/or 3D images todetermine the locations of one or more fixtures in a shopping area and use the boundaries ofthe fixtures as the boundaries of at least some of the sections. In some embodiments, the mapof the shopping space include one or more of a retail floor, a storage area, a customer serviceareas, a parking lot, a restroom, a fitting room, a backroom areas, etc. In some embodiments,the map is a 3D map, and the sections are 3 dimensional blocks including locations ofstructures and fixtures in 3 dimensions.

[00100] In step 720, the system assigns a unique section identifier to each section ofthe store map. The unique section identifier may be stored in the store map database alongwith location information of the section that indicates the location of each section relative tothe other sections. Generally, the unique section identifier may be any alphanumericidentifier. In some embodiments, the unique section identifier may correspond to the gridcoordinate of the section. In some embodiments, one or more sections may be groupedtogether and a unique section identifier may be assigned to the group of sections. In someembodiments, one or more sections may be divided into sub-section and a unique sectionidentifier may be assigned to each of the sub-sections.

[00101] In step 730, whether each section is accessible to MTUs is determined. Insome embodiments, step 730 is determined by the system using a 2D image and/or a 3D scanof the shopping space. For example, the system may identify one or more structures (e.g.walls, pillars) and/or fixtures (e.g. shelves, refrigerators, kiosks, checkout terminals) in theshopping space based on one or more images or scans of the shopping space and mark eachsection corresponding a structure or fixture as inaccessible to MTUs. In embodiments, in step730, a section is determined to be inaccessible only if the section is physically inaccessible toany of the MTUs. In some embodiments, accessibility of sections of a store may be at leastpartially manually entered. For example, a user may manually mark one or more section asinaccessible in step 730. A user may look at images of the shopping space and verify whethera section is accessible to MTUs. In some embodiments, the user may mark some sections asinaccessible to MTUs even though the section is physically accessible. For example, a usermay mark the stalls that have been leased to third party vendors as inaccessible to MTUs. Foreach section determined to be inaccessible to MTUs in step 730, the system assigns a blockedtag to the unique section identifier associated with that section in step 740, and the tag isstored in the store map database in step 742.

[00102] For each section determined to be accessible to at least some MTUs in step730, the system assigns an accessible tag to the unique section identifier associated with thesection. In embodiments, a section is assigned an accessible tag if the section is accessible toat least one of the MTUs that receives instructions from the system.

[00103] In step 752, the system allows access restriction settings to be configured toeach section having an accessible tag. Access restrictions may be based various conditionsand characteristics associated with MTUs. In some embodiments, the access restriction may be based on time of day. For example, MTUs may be permitted to travel through checkoutterminal lanes only during hours that the store is closed. In some embodiments, outside of thescope of the invention as claimed, the access restriction may be based on the MTU’scurrently assigned task. A MTU may be assigned various tasks such as leading a customer,following a customer, carrying a basket, carrying a cart, carrying a passenger, scanningshelves, and cleaning up. The access restriction may, for example, allow only MTUs assignedwith a cleanup task to enter restrooms and/or prohibit MTUs carrying a basket or a cart toenter restrooms. In another example, if a section corresponds to a narrow pathway, the accessrestriction may only allow MTUs not carrying a cart or a basket to pass through. In yetanother example, the access restriction may prevent MTUs escorting a customer fromentering employee only areas or going into the parking lot prior to the conclusion of theshopping trip. In some embodiments, the access restrictions may be based on the MTU’scapability. For example, the access restriction may permit only MTU’s with cleaningcapability to enter restrooms, and MTU’s with shopping cart coupling capability to enter theshopping cart storage area. In some embodiments, the access restriction may be based onwhether and who the MTU is assigned to. For example, a section corresponding to abackroom storage area may be accessible only to MTUs assigned to store associates and notto MTUs assigned to customers. In some embodiments, the access restrictions may be basedon the area’s height clearance. For example, the store map may be a 3D store map thatincludes height clearance information for sections of the map. The access restriction mayimpose a maximum height of an MTU, including any cargo it may be carrying, that can travelthrough that section. For example, an MTU alone, may be permitted to travel under certaindisplay shelves or on a raised track; while a MTU coupled to a shopping cart or escorting acustomer would be not permitted to travel on these routes. Generally access restrictionssettings may be configured to permit or prohibit access of MTUs based one or moreconditions and MTU characteristics.

[00104] In some embodiments, the access restrictions settings may be at least partiallymanually configured. The system may provide a user interface for store associates and/orsystem administrators to enter and/or modify access restrictions associated with varioussections of the stores. In some embodiments, a set of default access restrictions may beassociated with a section category. A user or a system may determine a category for eachsection or group of sections and access restrictions may be automatically assigned based on the category. For example, the system may use image analysis to identify areas of a shoppingspace as parking lot, restroom, storage area etc., and automatically assign access restrictionsassociated with those area categories to the corresponding sections. In some embodiments,the system may use image analysis to determine sections that correspond to narrow paths orlow height clearance areas, and set access restrictions based on the size of the MTU and/orMTU’s cargo accordingly. For example, the system may determine that a particular aisle isbelow a certain width (e.g. 4 feet (1.2192 metres)), and permit only MTUs not carrying ashopping cart to travel through that aisle. In some embodiments, a user may manually enterand/or modify access restrictions for sections of the shopping space. In step 742, the accessrestrictions for each section identifier are stored in the store map database.

[00105] In some embodiments, after step 742, the system is further configured tomonitor for accessibility of sections of the shopping space in real-time using one or moresensors in the shopping area. For example, the system may compare images of a sectioncaptured by image sensors and a baseline image of the section to determine whether there is atemporary obstruction in the section. In some embodiments, the system may further usesensors mounted on MTUs to gather real-time accessibility information. A temporaryobstruction may be one or more of, a display shelf, a pallet, a spill, a customer, a shoppingcart, a MTU, etc. Generally, a temporary obstruction may by any object that makes an area atleast partially inaccessible to some MTUs. In embodiments, if an obstruction is detected, thesection is marked as temporarily inaccessible in the store map database. In someembodiments, the temporarily inaccessible sections may also include access restrictionsbased on one or more characteristics of the MTUs. For example, when a spill is detected, thesystem may mark the section as inaccessible to all MTUs except for MTUs with a cleanuptask to clean the specific spill. In another example, the system may determine that anobstruction is only a partial obstruction and permit some of the MTUs to travel through. Forexample, a shopping cart may be partially blocking an area such that only MTUs not carryinganother shopping cart can pass through. In such case, the system may mark that section astemporarily inaccessible only to MTUs carrying a shopping cart. The system may continue tomonitor the access condition of the section of the shopping space and remove the temporarilyinaccessible tag from the corresponding unique section identifiers when the obstruction isremoved. In some embodiments, the system may only monitor real-time accessibilityinformation in sections with an accessible tag. For example, the system may only update accessibility information for sections of the shopping space that is accessible to at least someofthe MTUs.

[00106] In step 760, the system provides navigation instructions to MTUs based on theaccess restriction settings of each section of the shopping space stored in the store mapdatabase. For example, prior to providing navigation instructions to a MTU, the system mayverify that each section in the path of the MTU is accessible to the MTU according to one ormore of time of date, the MTU type, the MTU’s assigned task, the MTU’s capability, etc. Ifat least one section is inaccessible and/or restricted to that particular MTU, the system maydetermine a new path for the MTU that avoids the inaccessible sections. In someembodiments, the accessibility information may further include temporary access restrictionsdetermined in real-time. As the MTU travels through the shopping space, the system maycontinue to check the store map database to ensure that the MTU does not travel through anyinaccessible, restricted, and/or temporarily inaccessible sections. The system may beconfigured to reroute the MTU in real-time to avoid these sections.

[00107] FIG. 8A illustrates a map divided in to a plurality of sections in accordancewith some embodiments. In FIG. 8A, an area of the shopping space 800 is divided intosections and each section is assigned a unique section identifier 801-825. Each section maycorrespond to a discrete area of the shopping space with accessibility information. Whilesections 801-825 are shown as equal size squares, in some embodiments each section may beof any shape and may differ in size from each other. For example, the shape of sections maytrack boundaries of building structures and/or fixtures. In some embodiments, one or moresections may be grouped together and the group of sections may have a unique groupidentifier that allows the group to share accessibility information and access restrictionsettings. In some embodiments, one or more sections may be further divided into subsectionand each subsection may have a subsection unique identifier that can have separateaccessibility information and access restriction settings.

[00108] FIG. 8B illustrates a data table storing accessibility and access restrictioninformation associated some sections of the map 800. In FIG. 8B, section 808 has aninaccessible tag; as such, no access restriction settings or temporary accessibility settings arestored for section 808. The area of the shopping space corresponding to section 808 mayinclude, for example, a wall, a pillar, a permanent fixture, etc. and is inaccessible to any ofthe MTUs. Section 812 has an accessible tag and an access restriction setting that restricts access between 8am-11pm. Section 814 has an accessible tag and an access restriction settingthat restricts access of MTUs escorting a customer. Section 804 has an accessible tag and noaccess restriction setting. However, section 823 is temporarily inaccessible to MTUs carryinga cart. The temporary inaccessibility may correspond to, for example, a partially blockedpathway.

[00109] As an example, if a MTU is currently located at section 813 and needs to travel to section 803, the system may first check the accessibility information of the mostdirect route, which is through section 808. Since the section 808 has an inaccessible tag, thesystem will then find an alternate route. The system may check the time of day to determinewhether the MTU can travel through section 812 and/or whether the MTU is currentlyescorting a customer to determine whether the MTU can travel through section 814. In someembodiments, the system may check all sections on a planned route (e.g. 814, 809, 804, 803)to ensure that there is a cleared route to the destination prior to instructing the MTU to beginmoving in that direction. While the MTU travels through the shopping space, the system maycontinue to check for any temporary inaccessible conditions and reroute the MTUresponsively. For example, if a route takes a MTU through section 823 and the “inaccessibleto MTUs carrying a cart” condition is detected, the MTU may be rerouted to avoid section823 or be instructed to wait until the blockage clears if no alternative routes are available.

[00110] The table in FIG. 8B is provided as an illustration only. In some embodiments,the accessibility information and access restriction settings can be stored in other formatswithout departing from the spirit of the present disclosure. For example, the access restrictionmay be inclusively defined (e.g. only MTU with listed characteristics can enter) orexclusively defined (e.g. all but MTU with listed characteristics can enter). In someembodiments, the restriction settings may comprise a lookup table listing every condition andMTU characteristic that can be used to configure the setting and whether a section isaccessible or inaccessible for each condition and MTU characteristic which may be stored inthe map database.

[00111] Although a few preferred embodiments have been shown and described, it willbe appreciated by those skilled in the art that various changes and modifications might bemade without departing from the scope of the invention, as defined in the appended claims.

Claims

1. A system for mapping a shopping space comprising: a plurality of motorized transport units; a store map database for storing a map of the shopping space; and a central computer system coupled to the plurality of motorized transport units and thestore map database, the central computer system being configured to: divide the map of the shopping space into a plurality of sections; assign an unique section identifier to each of the plurality of sections in the shoppingspace; associate, in the store map database, a blocked tag with each unique section identifiercorresponding to a section of the shopping space inaccessible to the plurality of motorizedtransport units; associate, in the store map database, an accessible tag with each unique sectionidentifier corresponding to a section of the shopping space accessible by at least one of theplurality of motorized transport units; for each unique section identifier having an accessible tag, allow an access restrictionsetting to be configured for the corresponding section; and provide navigation instructions to the plurality of motorized transport units based onaccess restriction settings of each section of the shopping space stored in the store mapdatabase, wherein the motorized transport units are configured to travel through the shoppingspace in response to the navigation instructions; and wherein the central computer system is further configured to determine whether asection of the shopping space is temporarily inaccessible to the plurality of motorizedtransport units based on images captured by a plurality of image sensors.

2. The system of claim 1, wherein the access restriction setting comprises a restrictionbased on a motorized transport unit’s capability.

3. The system of claim 1, wherein the access restriction setting comprises a restrictionbased on whether a motorized transport unit is assigned to a store associate or a customer.

4. The system of claim 1, wherein the blocked tags and the accessible tags areassociated with unique section identifiers based on analyzing images captured by the pluralityof image sensors.

5. The system of claim 1, wherein whether a section is temporarily inaccessible isdetermined based on comparing the images of the section captured by the plurality of imagesensors and a baseline image of the section.

6. The system of claim 1, wherein the map of the shopping space comprises a three-dimension map.

7. A method for mapping a shopping space comprising: dividing, by a central computer system, a map of the shopping space into a pluralityof sections; assigning an unique section identifier to each of the plurality of sections in theshopping space; associating, in a store map database, a blocked tag with each unique section identifiercorresponding to a section of the shopping space inaccessible to a plurality of motorizedtransport units coupled to the central computer system; associating, in the store map database, an accessible tag with each unique sectionidentifier corresponding to a section of the shopping space accessible by at least one of theplurality of motorized transport units; for each unique section identifier having an accessible tag, allowing an accessrestriction setting to be configured for the corresponding section; providing navigation instructions to the plurality of motorized transport units based onaccess restriction settings of each section of the shopping space stored in the store mapdatabase, the motorized transport units travelling through the shopping space in response tothe navigation instructions; and determining, by the central computer system, whether a section of the shopping spaceis temporarily inaccessible to a motorized transport unit based on images captured by aplurality of image sensors coupled to the central computer system in the shopping space.

8. The method of claim 7, wherein the access restriction setting comprises arestriction based on a motorized transport unit’s capability.

9. The method of claim 2, wherein the access restriction setting comprises arestriction based on whether the motorized transport unit is assigned to a store associate or acustomer.

10. The method of claim 7, further comprising associating blocked tags and accessibletags with unique section identifiers based on analyzing images captured by the plurality ofimage sensors coupled to the central computer system in the shopping space.

11. The method of claim 7, further comprising determining whether a section istemporarily inaccessible based on comparing the images of the section captured by theplurality of image sensors and a baseline image of the section.

12. The method of claim 7, wherein the map of the shopping space comprises a three-dimension map.

13. An apparatus for mapping a shopping space comprising: a non-transitory storage medium storing a set of computer readable instructions; a control circuit configured to execute the set of computer readable instructions whichcauses to the control circuit to: divide a map of the shopping space into a plurality of sections; assign a unique section identifier to each of the plurality of sections in theshopping space; associate, in a store map database, a blocked tag with each unique sectionidentifier corresponding to a section of the shopping space inaccessible to a pluralityof motorized transport units; associate, in the store map database, an accessible tag with each unique sectionidentifier corresponding to a section of the shopping space accessible by at least oneof the plurality of motorized transport units; for each unique section identifier having an accessible tag, allow an accessrestriction setting to be configured for the corresponding section; provide navigation instructions to the plurality of motorized transport unitsbased on access restriction settings of each section of the shopping space stored in thestore map database to effect travelling through the shopping space by the motorizedtransport units in response to the navigation instructions; and determine whether a section of the shopping space is temporarily inaccessibleto a motorized transport unit based on images captured by a plurality of image sensorsin the shopping space.