Navigation systems and methods for wheeled objects

• US 10,730,541 B2
• Filed: 03/24/2017
• Issued: 08/04/2020
• Est. Priority Date: 03/18/2005
• Status: Active Grant

• Current Assignee: Gatekeeper Systems, Inc.
• Original Assignee: Gatekeeper Systems, Inc.
• Inventors: Carter, Scott J., Hannah, Stephen E., James, Jesse M.
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US15/468,581
• Publication Number:
  US 20180037246A1
• Time in Patent Office: 1,229 Days
• CPC Class Codes: A47F 10/04 for storing or handling self-service hand-carts or baskets
• CPC Class Codes: B60K 25/08 from a ground wheel, e.g. engaging the wheel tread or rim
• CPC Class Codes: B60T 7/16 operated by remote control, i.e. initiating means not mounted on vehicle
• CPC Class Codes: B60T 7/18 operated by wayside apparatus
• CPC Class Codes: B62B 3/14 characterised by provisions for nesting or stacking, e.g. shopping trolleys collapsible shopping trolleys B62B3/027
• CPC Class Codes: B62B 3/1404 Means for facilitating stowing or transporting of the trolleys; Antitheft arrangements B62B5/0423 takes precedence
• CPC Class Codes: B62B 3/1412 mounted on the frame
• CPC Class Codes: B62B 3/1424 Electronic display devices
• CPC Class Codes: B62B 3/1492 Wheel arrangements
• CPC Class Codes: B62B 5/0003 Adaptations for loading in or on a vehicle
• CPC Class Codes: B62B 5/0423 braking or blocking when leaving a particular area
• CPC Class Codes: B62B 5/0438 hand operated
• CPC Class Codes: B62B 5/048 Hub brakes; drum brakes
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G06K 7/10366 the interrogation device being adapted for miscellaneous applications
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G08B 13/2434 Tag housing and attachment details
• CPC Class Codes: G08B 13/2448 Tag with at least dual detection means, e.g. combined inductive and ferromagnetic tags, dual frequencies within a single technology, tampering detection or signalling means on the tag
• CPC Class Codes: G08B 13/246 Check out systems combined with EAS, e.g. price information stored on EAS tag anti-theft systems in point of sale systems G07G3/003
• CPC Class Codes: G08B 13/2462 : Asset location systems combined with EAS inventory, tracking, logistic G06Q10/00; entrance control systems G07C9/00
• CPC Class Codes: G08B 13/2474 : Antenna or antenna activator geometry, arrangement or layout loop antennae H01Q1/22
• CPC Class Codes: G08B 13/2477 : Antenna or antenna activator circuit
• CPC Class Codes: G08B 13/2482 : EAS methods, e.g. description of flow chart of the detection procedure
• CPC Class Codes: G08G 1/20 : Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: H02K 7/1846 : structurally associated with wheels or associated parts dynamos arranged in the wheel hub of cycles B62J6/12
• CPC Class Codes: H04W 4/02 : Services making use of location information
• CPC Class Codes: H04W 4/024 : Guidance services
• CPC Class Codes: H04W 4/029 : Location-based management or tracking services
• CPC Class Codes: Y10T 29/49826 : Assembling or joining

Abstract

A navigation system uses a dead reckoning method to estimate an object'"'"'s present position relative to one or more prior positions. In some embodiments, the dead reckoning method determines a change in position from the object'"'"'s heading and speed during an elapsed time interval. In embodiments suitable for use with wheeled objects, the dead reckoning method determines the change in position by measuring the heading and the amount of wheel rotation. Some or all of the components of the navigation system may be disposed within a wheel, such as a wheel of a shopping cart.

Claims

1. A method for navigating with a human-propelled, non-motorized, wheeled cart in a tracking area comprising a first region and a second region, the method comprising:

receiving, from a source external to the cart, a start navigation signal indicating the cart has crossed a boundary between the first region and the second region;

performing, with a navigation system and in response to the start navigation signal, a navigation process;

estimating, with the navigation system, a position of the cart;

determining a heading of the cart relative to the boundary between the first region and the second region;

determining, based at least in part on the heading of the cart and the receipt of the start navigation signal, which of the first region and the second region the cart is entering;

performing, in response to a determination that the cart is entering the first region and in response to the receipt of the start navigation signal, a first navigation action; and

performing, in response to a determination that the cart is entering the second region and in response to the receipt of the start navigation signal, a second navigation action that is different from the first navigation action.

2. The method of claim 1, wherein:

the first navigation action comprises detecting a confinement perimeter of the first region.

3. The method of claim 2, wherein:

the first navigation action further comprises actuating a cart movement inhibition system.

4. The method of claim 3, wherein:

actuating the cart movement inhibition system comprises actuating a wheel brake.

5. The method of claim 1, wherein:

the second region comprises a portion of a retail store; and

the second navigation action comprises determining whether the cart has passed through a checkout lane in the second region.

6. The method of claim 5, wherein:

the second navigation action further comprises monitoring a duration during which the cart is present in an the checkout lane in the second region.

7. The method of claim 1, wherein:

the second region comprises a portion of a retail store; and

the second navigation action comprises determining a position of the cart using dead reckoning.

8. The method of claim 7, further comprising:

determining whether the cart has passed through an aisle or a checkout lane.

9. The method of claim 7, further comprising:

providing targeted advertising to a customer whose cart passed through the aisle.

10. The method of claim 7, further comprising:

detecting patterns suggestive of shoplifting.

11. The method of claim 7, further comprising:

gathering information related to clustering or queuing of carts in the retail store.

12. The method of claim 1, wherein:

receiving the start navigation signal comprises detecting a magnetic signature from a magnetic marker.

13. The method of claim 1, further comprising:

detecting a stop navigation signal; and

stopping any navigation actions.

14. The method of claim 1, wherein:

the boundary between the first region and the second region comprises a confinement boundary of a parking lot of a retail store;

the first region comprises the parking lot; and

the second region comprises an area beyond the confinement boundary of the parking lot.

15. The method of claim 14, wherein:

the second navigation action comprises actuating a cart movement inhibition system to inhibit motion of the cart; and

the first navigation action comprises deactuating the cart movement inhibition system.

16. The method of claim 15, wherein:

the first navigation action further comprises detecting a wheel vibration signature prior to deactuating the cart movement inhibition system.

17. The method of claim 1, wherein estimating the position of the cart comprises implementing a dead reckoning algorithm.

18. The method of claim 17, wherein implementing the dead reckoning algorithm comprises:

measuring, with a magnetic sensor, at least two components of a magnetic field;

measuring, with a sensor, an amount of rotation of a wheel of the cart; and

determining, with a processor, and using at least the measured at least two components of the magnetic field and the measured amount of rotation of the wheel, the estimated position of the cart.

19. The method of claim 1, wherein performing the navigation process comprises setting a clock in the navigation system or setting coordinates of the cart in the navigation system.

20. The method of claim 1, wherein receiving the start navigation signal comprises decoding the start navigation signal.

21. The method of claim 1, wherein performing the navigation process comprises changing a power mode of the navigation system.

22. The method of claim 1, wherein the navigation signal comprises a radio frequency signal.