Apparatus and method of obtaining location information of a motorized transport unit

Patent metadata

Field	Value
Publication number	US-10351400-B2
Application number	US-201816059431-A
Country	US
Kind code	B2
Filing date	Aug 9, 2018
Priority date	Mar 6, 2015
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

Methods and apparatuses are provided, some apparatuses comprise: a location controller separate from a motorized transport unit, comprising: a transceiver configured to receive communications from the motorized transport unit; a control circuit; a memory storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of: obtain, from the communications, a unique light source identifier of a light source detected by the motorized transport unit, and relative distance information determined by the motorized transport unit through an optical measurement; process the at least one unique light source identifier and the relative distance information relative to a mapping of the shopping facility; and determine, in response to the processing, a location of the motorized transport unit within the shopping facility as a function of the at least one unique light source identifier and the relative distance information.

First claim

What is claimed is:

1. A system providing control over movement of a motorized transport unit within a shopping facility, comprising:
a location controller separate and distinct from a self-propelled motorized transport unit, wherein the location controller comprises:
a transceiver configured to receive communications from the motorized transport unit located within a shopping facility;
a control circuit coupled with the transceiver; and
a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to perform the steps of:
obtain, from the communications received from the motorized transport unit, a unique light source identifier of an external light source within the shopping facility and detected by the motorized transport unit from light emitted by the light source, and additional sensor information detected by an on-board sensor system of the motorized transport unit, wherein the light source is one of a plurality of separate light sources external to the motorized transport unit and distributed over one or more portions of the shopping facility, and each of the plurality of light sources is configured to illuminate a corresponding illumination area within the shopping facility;
process the at least one unique light source identifier relative to a mapping of the shopping facility and the additional sensor information; and
determine, in response to the processing, a location of the motorized transport unit within the shopping facility as a function of the at least one unique light source identifier and the additional sensor information.

2. The system of claim 1 , wherein the control circuit is further configured to:
obtain, from the communications from the motorized transport unit, first code information corresponding to a first machine readable code of a plurality of unique machine readable codes that are positioned at different locations distributed throughout at least a first portion of the one or more portions of the shopping facility and detected by the motorized transport unit;
identify, based on the first code information relative to the mapping, a location of the first machine readable code within the shopping facility; and
determine, relative to the mapping of the shopping facility, the location of the motorized transport unit within the shopping facility as a function of the at least one unique light source identifier, the additional sensor information and the identified location of the first machine readable code.

3. The system of claim 1 , wherein the control circuit is further configured to:
determine, relative to the mapping and the determined location of the motorized transport unit, one or more movement commands to control movement of the motorized transport unit to cause the motorized transport unit to move in a desired direction; and
cause the transceiver to transmit the one or more movement commands to the motorized transport unit to cause the motorized transport unit to control its movements in accordance with the movement commands.

4. The system of claim 1 , wherein the illumination area are formed within the shopping facility such that a detector of the motorized transport unit is configured to pass through at least a portion of one or more of the illumination areas as the motorized transport unit travels through the shopping facility.

5. The system of claim 4 , wherein the control circuit, in obtaining the at least one unique light source identifier, is further configured to obtain multiple unique light source identifiers detected by the motorized transport unit from the light emitted from multiple separate light sources, of the plurality of separate light sources, simultaneously impinging on the detector of the motorized transport unit;
wherein the control circuit in determining the location of the motorized transport unit is further configured to determine the location of the motorized transport unit as a function of the multiple unique light source identifiers.

6. The system of claim 5 , wherein the control circuit, in determining the location of the motorized transport unit is further configured to identify, relative to the mapping, a location of an overlapping light area of the light emitted from the multiple light sources wherein the multiple light sources are ceiling mounted overhead lights.

7. The system of claim 1 , further comprising:
the motorized transport unit located within the shopping facility, wherein the motorized transport unit comprises:
a light receiver unit configured to detect the light from the light source within the shopping facility and extract the unique light source identifier from the detected light;
a sensor configured to detect the additional sensor information; and
a communication transmitter configured to transmit at least the light source identifier and the additional sensor information.

8. The system of claim 7 , wherein the motorized transport unit further comprises a machine readable code reader configured to optically read a first machine readable code of a plurality of unique machine readable codes that are positioned at different locations distributed throughout at least a first portion of the one or more portions of the shopping facility;
wherein the control circuit is further configured to:
obtain, from the motorized transport unit, the first code information;
identify, based on the first code information relative to the mapping, a location of the first machine readable code within the shopping facility; and
determine, relative to the mapping of the shopping facility, the location of the motorized transport unit within the shopping facility as a function of the at least one unique light source identifier, the additional sensor information and the identified location of the first machine readable code.

9. The system of claim 1 , wherein the control circuit, in determining the location of the motorized transport unit, is further configured to:
obtain an additional unique light source identifier from light emitted by an additional light source within the shopping facility and detected by a light receiver unit positioned on a movable item container removably coupled with the motorized transport unit configured to be moved by the motorized transport unit through at least a first portion of the one or more portions of the shopping facility;
process the additional unique light source identifier and determine, relative to the mapping, a location within the mapping of a light pattern of the additional light source; and
determine, in response to the processing, the location of the motorized transport unit within the shopping facility as a function of the at least one unique light source identifier, the additional sensor information and the location within the mapping of the light pattern.

10. A system providing control over movement of a motorized transport unit within a shopping facility, comprising:
a self-propelled motorized transport unit within a shopping facility, wherein the motorized transport unit comprises:
a light receiver unit configured to detect light from one or more external light sources of a plurality of separate light sources within a shopping facility and extract at least one unique light source identifier from the detected light, wherein the plurality of separate light sources are external to the motorized transport unit and distributed over one or more portions of the shopping facility, and each of the plurality of light sources is configured to illuminate a corresponding illumination area within the shopping facility;
an on-board sensor system configured to detect additional sensor information;
a control circuit; and
a memory c

Assignees

• Walmart Apollo Llc

Inventors

• High Donald R
• Atchley Michael D
• Mchale Brian G
• Taylor Robert C
• Winkle David C

Classifications

• G01S2201/02

  Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses · CPC title

• G01S1/7038

  Signal details · CPC title

• G01S1/7034

  Mounting or deployment thereof · CPC title

• G06Q30/0633

  Managing shopping lists, e.g. compiling or processing purchase lists (shipping orders G06Q10/083; order filling G06Q10/087) · CPC title

• G06Q30/0635

  replenishment orders; recurring orders · CPC title