Navigation systems and methods for wheeled objects

• US 20060247847A1
• Filed: 03/20/2006
• Published: 11/02/2006
• Est. Priority Date: 03/18/2005
• Status: Active Grant

• Current Assignee: Gatekeeper Systems, Inc.
• Original Assignee: Gatekeeper Systems, Inc.
• Inventors: Hannah, Stephen E., Carter, Scott J., James, Jesse M.
• Granted Patent: US 8,046,160 B2
• Time in Patent Office: Days
• US Class Current: 701/200
• 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 navigation system for a vehicle having a wheel, the system comprising:

a magnetic sensor configured to measure at least two components of a magnetic field;

a wheel rotation sensor configured to measure an amount of rotation of the wheel; and

a processor configured to combine the measured magnetic field components and the amount of rotation so as to estimate a position of the vehicle;

wherein the navigation system is disposed in or on the vehicle.

2. The navigation system of claim 1, wherein the vehicle is a non-motor-propelled vehicle.

3. The navigation system of claim 1, wherein the vehicle is a cart.

4. The navigation system of claim 3, wherein the cart is a shopping cart.

5. The navigation system of claim 1, wherein the magnetic sensor, the wheel rotation sensor, and the processor are disposed within the wheel.

6. The navigation system of claim 5, wherein the wheel is a shopping cart wheel.

7. The navigation system of claim 5, wherein the wheel has a diameter of about 5 inches.

8. The navigation system of claim 1, further comprising a wheel mount that couples the wheel to the vehicle, the wheel and the wheel mount forming a wheel assembly.

9. The navigation system of claim 8, wherein the navigation system is disposed within the wheel assembly.

10. The navigation system of claim 1, wherein the processor is provided with information relating to a confinement boundary, and the processor is configured to determine the updated position of the vehicle relative to the confinement boundary.

11. The navigation system of claim 10, wherein the confinement boundary comprises a portion of a predetermined polygon.

12. The navigation system of claim 10, wherein the processor is configured to provide a signal to an anti-theft system if the updated position of the vehicle crosses or is outside of the confinement boundary.

13. The navigation system of claim 12, wherein the anti-theft system comprises a brake mechanism disposed in the wheel.

14. The navigation system of claim 1, wherein the navigation system is further configured to receive information related to a reference position, and the processor is configured to update the position of the vehicle with the information.

15. The navigation system of claim 14, further comprising a marker device located external to the vehicle and defining the reference position, wherein the marker device is configured to provide the information related to the reference position.

16. The navigation system of claim 15, wherein the marker device comprises a magnetic marker that produces a magnetic field detectable by the navigation system.

17. The navigation system of claim 15, wherein the marker device comprises an electromagnetic frequency device configured to provide an electromagnetic frequency signal detectable by the navigation system, which signal comprises the reference position information.

18. The navigation system of claim 17, wherein the electromagnetic frequency signal comprises a radio frequency signal.

19. The navigation system of claim 15, wherein the marker device is positioned at a selected location within an area of expected navigation system operation.

20. The navigation system of claim 1, wherein the navigation system is configured to operate only in selected geographic areas or locations.

21. The navigation system of claim 20, further comprising activation devices located external to the vehicle and configured to cause the navigation system to be activated or deactivated based upon the position of the wheel relative to at least one of the selected geographic areas or locations.

22. The navigation system of claim 1, further comprising a system control located remote from the vehicle and configured to identify location of the vehicle to a server located remote from the vehicle.

23. The navigation system of claim 1, wherein the processor is configured to store path information referencing the updated position of the vehicle.

24. The navigation system of claim 23, wherein the processor is further configured to use the path information to activate a brake system disposed in the wheel.

25. An apparatus for estimating an updated position of a vehicle, the apparatus comprising:

means for measuring a direction of travel of the vehicle;

means for measuring an amount of rotation of a wheel of the vehicle; and

means for estimating the updated position of the vehicle from the direction of travel and the amount of rotation;

wherein at least the measuring means and the estimating means are disposed within the wheel.

26. The apparatus of claim 25, wherein the means for measuring a direction of travel comprises a magnetic compass.

27. The apparatus of claim 25, wherein the means for measuring rotation comprises a rotation counter.

28. The apparatus of claim 25, further comprising means for communicating the updated position of the vehicle to a remotely located user.

29. An anti-theft system for an object having a wheel comprising:

a navigation system operable to determine a relative position of the object with respect to a confinement boundary;

a brake system operable to provide a braking force to the wheel and responsive to a braking signal from the navigation system;

wherein the navigation system is operable to provide the braking signal to the brake system if the relative position satisfies a first predetermined condition.

30. The anti-theft system of claim 29, wherein the navigation system is operable to terminate transmission of the braking signal to the brake system in response to a second predetermined condition.

31. The anti-theft system of claim 30, wherein the second predetermined condition relates to whether the object is being moved in a predetermined direction relative to the confinement boundary.

32. The anti-theft system of claim 29, wherein the first predetermined condition relates to whether the object is inside or outside the confinement boundary.

33. A method for reducing theft of a cart from a confinement area comprising:

providing a navigation system on the cart, the navigation system configured to calculate a position of the cart;

providing confinement information to the navigation system related to the confinement area;

providing an anti-theft system on the cart, the anti-theft system responsive to a signal from the navigation system;

calculating, using the navigation system, a relative position of the cart with respect to the confinement area using the confinement information, and signaling the anti-theft system if the relative position of the cart satisfies a theft condition.

34. The method of claim 33, wherein the theft condition is related to whether the cart is inside or outside the confinement area.

35. The method of claim 33, wherein the step of providing confinement information further comprises using the navigation system on the cart or on a training cart to measure the confinement information.

36. A method of providing a code comprising one or more bits of information to a vehicle having a magnetic sensor, the method comprising:

providing one or more magnetic elements, the magnetic elements configured in a predetermined magnetic arrangement to represent the one or more bits of information;

moving the vehicle relative to the one or more magnetic elements;

detecting, using the magnetic sensor, the magnetic arrangement of the magnetic elements.

37. The method of claim 36, wherein the one or more bits of information provide location information.

38. The method of claim 36, wherein the magnetic arrangement comprises values of one or more magnetic field components.

39. The method of claim 36, further comprising encoding the one or more bits of information with an error correcting code.

40. The method of claim 36, further comprising providing one or more magnetic terminators that enable the code to be detected for at least two directions of vehicle movement.

41. The method of claim 36, further comprising transferring the detected magnetic arrangements of the one or more magnetic elements to a remote processor for evaluation of the code.

42. A method of preventing theft of an object having a wheel, wherein the object includes a navigation system which updates a location of the object, the method comprising:

determining when the object is no longer within a predetermined boundary or has passed a location;

activating a braking system associated with the wheel in response to the determination;

detecting when the object is being moved in a predetermined direction relative to the boundary or the location; and

deactivating the braking system in response to the detection.

43. The method of claim 42, wherein the act of detecting comprises detecting wheel vibration and direction of object motion.

44. A method of preventing theft of an object having a wheel, wherein the object includes a navigation system which updates a location of the object, the method comprising:

detecting that the object is in a predetermined geographic area;

activating the navigation system in response to the detection;

determining when the object crosses a predetermined boundary or other location;

activating a braking system associated with the wheel in response to the determination.

45. The method of claim 44, wherein the act of detecting comprises detecting when the object enters the predetermined geographic area.

46. The method of claim 44, wherein the act of detecting comprises detecting when the object passes a selected external device.

47. The method of claim 46, wherein the selected external device is a radio frequency transceiver.

48. The method of claim 46, wherein the selected external device is a magnetic marker.

49. The method of claim 46, wherein the selected external device is a magnetic bar code marker.