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

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.

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, based on the communications received from the motorized transport unit, identifying information of a first emitter within the shopping facility and detected by the motorized transport unit from an emission emitted by the first emitter, and additional sensor information detected by an on-board sensor system of the motorized transport unit, wherein the first emitter is one of a plurality of separate emitters external to the motorized transport unit and distributed over one or more portions of the shopping facility, and each of the plurality of emitters is configured to emit the emission over a corresponding area within the shopping facility, wherein the first emitter is configured to emit the emission over a correspond first area within the shopping facility; 
 determine a location of the first emitter and the corresponding first area relative to a mapping of the shopping facility; and 
 determine, in response to the determination of the location of the first emitter and the first area, a location of the motorized transport unit within the shopping facility as a function of at least the location of the first area and the additional sensor information. 
   
     
     
         2 . The system of  claim 1 , wherein the control circuit is obtaining the additional sensor information is 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 at least the location of the first area and the identified location of the first machine readable code.   
     
     
         3 . The system of  claim 2 , 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 , further comprising:
 the plurality of separate emitters external to the motorized transport unit and distributed over the one or more portions of the shopping facility, wherein the plurality of emitters are configured to emit the respective emission over the corresponding areas within the shopping facility;   wherein the corresponding areas are established within the shopping facility such that a detector of the motorized transport unit is configured to pass through at least a portion of the corresponding areas as the motorized transport unit travels through the shopping facility.   
     
     
         5 . The system of  claim 1 , wherein the control circuit is configured to obtain unique identifying information for each of multiple emitters detected by the motorized transport unit from emissions emitted from each of the multiple emitters, of the plurality of separate emitters, simultaneously detected by a 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 identifying information of the multiple emitters.   
     
     
         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 emissions emitted from the multiple emitters. 
     
     
         7 . The system of  claim 5 , further comprising:
 the motorized transport unit located within the shopping facility, wherein the motorized transport unit comprises:
 a receiver unit configured to detect the emission from the first emitter within the shopping facility; 
 a sensor configured to detect the additional sensor information; and 
 a communication transmitter configured to transmit the communications. 
   
     
     
         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 at least the location of the first area 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 of the motorized transport unit;   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 the location of the motorized transport unit within the shopping facility as a function of at least the location of the first area, 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 receiver unit configured to detect emissions from one or more external emitters of a plurality of separate emitters positioned within a shopping facility and obtain identifying information for each of the one or more emitters based on the detected respective emissions from the one or more emitters, wherein the plurality of separate emitters are external to the motorized transport units and distributed over one or more portions of the shopping facility, and each of the plurality of emitters is configured to emit emissions over a corresponding area within the shopping facility; 
 an on-board sensor system configured to detect additional sensor information; 
 a control circuit; and 
 a memory coupled to the control circuit and storing computer instructions that when executed by the control circuit cause the control circuit to control movement of the motorized transport unit as a function of a location of the motorized transport unit determined relative to a mapping of the shopping facility comprising mappings of the corresponding areas of emission within the shopping facility, each corresponding to one the plurality of separate emitters, and the additional sensor information. 
   
     
     
         11 . The system of  claim 10 , wherein the motorized transport unit further comprises a machine readable code reader configured to 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, and to extract a first code information corresponding to the first machine readable code; and
 wherein the control circuit in controlling the movement of the motorized transport unit is further configured to control the movement of the motorized transport unit as a function of the location of the motorized transport unit determined based on a location of the first machine readable code relative to the mapping, the mappings of the corresponding areas, and the additional sensor information.   
     
     
         12 . The system of  claim 10 , wherein the motorized transport unit further comprises:
 a communication transceiver configured to transmit the identifying information of the one or more emitters and the additional sensor information, and to receive one or more commands from a location controller that is separate and remote from the motorized transport unit and configured to determine the location of the motorized transport unit relative to the mapping of the shopping facility as a function of the identifying information and the additional sensor information; and   wherein the control circuit is further configured to implement the one or more commands to move the motorized transport unit in accordance with the one or more commands.   
     
     
         13 . The system of  claim 12 , wherein the motorized transport unit is incapable of determining its own location and is dependent on the one or more commands from the location controller. 
     
     
         14 . The system of  claim 12 , further comprising:
 the location controller separate from the motorized transport unit, wherein the location controller comprises:
 a transceiver configured to receive the identifying information of the one or more emitters and the additional sensor information; 
 a second control circuit coupled with the transceiver; 
 a second memory coupled to the second control circuit and storing computer instructions that when executed by the second control circuit cause the second control circuit to perform the steps of: 
 process the identifying information of the one or more emitters relative to the mapping of the shopping facility and identify respective locations with the shopping facility of the corresponding areas of emission associated with each of the one or more emitter; 
 determine the location of the motorized transport unit within the shopping facility based on the identified locations within the shopping facility of the identified corresponding areas of emission associated with each of the one or more emitters and the additional sensor information; and 
 identifying the one or more commands as a function of the determined location of the motorized transport unit. 
   
     
     
         15 . The system of  claim 10 , wherein the control circuit is further configured to perform the steps of:
 process the identifying information of the one or more emitters relative to the mapping of the shopping facility and identify respective locations with the shopping facility of the corresponding areas of emission associated with each of the one or more emitter; and   determine the location of the motorized transport unit within the shopping facility based on the identified locations within the shopping facility of the identified corresponding areas of emission associated with each of the one or more emitters and the additional sensor information.   
     
     
         16 . A method of controlling movement of a motorized transport unit within a shopping facility, comprising:
 receiving, at a location controller separate and distinct from a self-propelled motorized transport unit located within a shopping facility, communications from the motorized transport unit;   obtaining, based on the communications, identifying information of a first emitter, of a plurality of separate emitters within the shopping facility, detected by the motorized transport unit from emissions emitted by the first emitter, and additional sensor information detected by an on-board sensor system of the motorized transport unit, wherein the plurality of emitters are external to the motorized transport unit and distributed over at least a portion of the shopping facility, and each of the plurality of emitters is configured to emit the emission over a corresponding area within the shopping facility, wherein the first emitter is configured to emit the emission over a correspond first area within the shopping facility;   processing the at least one unique light source identifier determine a location of the first emitter and the first corresponding area relative to a mapping of the shopping facility; and   determining, in response to the determination of the location of the first emitter and the first area, a location of the motorized transport unit within the shopping facility as a function of at least the location of the first area and the additional sensor information.   
     
     
         17 . The method of  claim 16 , further comprising:
 obtaining, from the communications received from the motorized transport unit, first code information corresponding to a first machine readable code of a plurality of unique machine readable codes positioned at different locations distributed throughout at least a portion of the shopping facility and detected by the motorized transport unit; and   identifying, based on the first code information relative to the mapping, a location of the first machine readable code within the shopping facility;   wherein the determining the location of the motorized transport unit further comprises determining, relative to the mapping of the shopping facility, the location of the motorized transport unit within the shopping facility as a function of at least the location of the first area and the identified location of the first machine readable code.   
     
     
         18 . The method of  claim 17 , further comprising:
 determining, 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   transmitting 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.   
     
     
         19 . The method of  claim 16 , further comprising:
 determining a destination location within the shopping location;   identifying, relative to the mapping, a route between the determined location of the motorized transport unit and the destination location;   identifying one or more movement commands to control movement of the motorized transport unit to cause the motorized transport unit to move to the destination location; and   transmitting 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.   
     
     
         20 . The method of  claim 16 , further comprising:
 detecting, through a receiver unit of the motorized transport unit located within the shopping facility, emissions from the first emitter within the shopping facility;   obtaining the identifying information based on the emissions from the first emitter;   detecting the additional sensor information through an on-board sensor system of the motorized transport unit; and   transmitting, from the motorized transport unit, the communications.   
     
     
         21 . The method of  claim 20 , further comprising:
 optically reading, through a machine readable code reader of the motorized transport unit, the first machine readable code;   extracting, at the motorized transport unit, the first code information; and   wherein the transmitting, from the motorized transport unit, the communications comprises transmitting the communications comprising at least the light source identifier, the additional sensor information, and the first code information.