Navigation systems and methods for wheeled objects

• US 8,046,160 B2
• Filed: 03/20/2006
• Issued: 10/25/2011
• 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.
• Primary Examiner(s): Hellner; Mark
• Assistant Examiner(s): MAWARI, REDHWAN K
• Application Number:
  US11/277,027
• Publication Number:
  US 20060247847A1
• Time in Patent Office: 2,045 Days
• Field of Search: 701/200, 701/216, 701/217
• 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 non-motor-propelled vehicle for a retail environment and 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;

a processor configured to (a) combine the measured magnetic field components and the amount of rotation so as to estimate a position of the non-motor-propelled vehicle and (b) determine an inhibition signal based at least in part on the estimated position;

an anti-theft system configured to inhibit motion of the non-motor-propelled vehicle in response to receipt of the inhibition signal;

an activation system configured to receive a start navigation signal and information representative of a reference position at an entry to a tracking area, the start navigation signal received from a first source external to the non-motor propelled vehicle, the reference position comprising at least two coordinates indicative of the position of the entry to the tracking area, the processor configured to update the position of the non-motor-propelled vehicle based at least in part on the information representative of the reference position and to start estimating the position of the non-motor-propelled vehicle in response to the receipt of the start navigation signal,

the activation system further configured to receive a stop navigation signal at an exit from the tracking area, the stop navigation signal received from a second source external to the non-motor propelled vehicle, the processor configured to stop estimating the position of the non-motor-propelled vehicle in response to the receipt of the stop navigation signal;

wherein the first source and the second source are the same source or different sources; and

wherein the navigation system is disposed in or on the non-motor-propelled vehicle.

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

3. The navigation system of claim 2, wherein the cart is a shopping cart.

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

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

6. The navigation system of claim 4, wherein the wheel has a diameter of about 5 inches.

7. 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.

8. The navigation system of claim 7, wherein the navigation system is disposed within the wheel assembly.

9. 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 estimated position of the vehicle relative to the confinement boundary.

10. The navigation system of claim 9, wherein the confinement boundary comprises a portion of a predetermined polygon.

11. The navigation system of claim 9, wherein the processor is configured to provide the inhibition signal to the anti-theft system if the estimated position of the vehicle crosses or is outside of the confinement boundary.

12. The navigation system of claim 11, wherein the anti-theft system comprises a brake disposed in the wheel.

13. The navigation system of claim 1, wherein the navigation system is further configured to receive information related to a second reference position in the tracking area, the second reference position comprising at least two coordinates, and the processor is configured to update the position of the vehicle with the information related to the second reference position.

14. The navigation system of claim 13, further comprising a fixed marker device located external to the vehicle and defining the second reference position, wherein the marker device is configured to provide to the navigation system the information related to the second reference position.

15. The navigation system of claim 14, wherein the marker device comprises a magnetic marker that produces a magnetic field detectable by the navigation system.

16. The navigation system of claim 14, 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 second reference position information.

17. The navigation system of claim 16, wherein the electromagnetic frequency signal comprises a radio frequency signal.

18. The navigation system of claim 14, wherein the marker device is positioned at a selected location within the tracking area.

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

20. The navigation system of claim 1, further comprising an activation device located external to the vehicle and configured to communicate the start navigation signal or the stop navigation signal to the activation system.

21. 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.

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

23. The navigation system of claim 22, wherein the processor is further configured to use the path information to determine the inhibition signal.

32. The navigation system of claim 1, wherein the wheel rotation sensor is disposed within the wheel and the magnetic sensor and the processor are disposed in or on a frame or handlebar of the vehicle.

33. The navigation system of claim 1, wherein the inhibition signal is wirelessly communicated to the anti-theft system.

34. The navigation system of claim 1, further comprising a magnetic signal conditioning module configured to detect and correct errors in magnetic field measurements taken by the magnetic sensor.

35. The navigation system of claim 1, wherein the entry to the tracking area and the exit to the tracking area are the same location.

36. The navigation system of claim 1, wherein the entry to the tracking area is an exit from a retail store and the exit from the tracking area is an entrance to the retail store.

37. The navigation system of claim 36, wherein the tracking area comprises a portion of a parking lot.

38. The navigation system of claim 20, wherein the activation device comprises a magnetic marker.

39. The navigation system of claim 20, wherein the activation device comprises an access point configured to communicate a radio frequency signal, and the activation system comprises a radio frequency receiver configured to receive the radio frequency signal from the activation device.

40. The navigation system of claim 20, wherein the activation device is further configured to communicate the information representative of the reference position.

41. The navigation system of claim 1, wherein the information representative of the reference position comprises information encoding the at least two coordinates indicative of the reference position.

44. The navigation system of claim 1, wherein the navigation system is configured such that, after receipt of the start navigation signal by the activation system, the processor delays for a period of time or while the non-motor-propelled vehicle moves a distance before updating the position of the non-motor-propelled vehicle.

46. The navigation system of claim 1, wherein the first source and the second source are different sources.

24. An apparatus for estimating an updated position of a non-motor-propelled vehicle for a retail environment, the apparatus comprising:

means for measuring a direction of travel of the non-motor-propelled vehicle;

means for measuring an amount of rotation of a wheel of the non-motor-propelled vehicle; and

means for estimating the updated position of the non-motor-propelled vehicle from the direction of travel and the amount of rotation;

means for inhibiting motion of the non-motor-propelled vehicle, the inhibiting means configured to be actuated in response to a signal communicated from the estimating means, the signal determined at least in part from the updated position of the non-motor-propelled vehicle;

means for activating a navigation system of the non-motor-propelled vehicle, the activating means configured to receive a start navigation signal and reference position data at an entry to a tracking area, the start navigation signal received from a first source external to the non-motor propelled vehicle, the reference position data comprising information representative of at least two coordinates indicative of the position of the entry to the tracking area, the estimating means configured to update the position of the non-motor-propelled vehicle based at least in part on the reference position data and to start estimating the position of the non-motor-propelled vehicle in response to the receipt of the start navigation signal,

the activating means further configured to receive a stop navigation signal at an exit from the tracking area, the stop navigation signal received from a second source external to the non-motor propelled vehicle, the estimating means configured to stop estimating the position of the non-motor-propelled vehicle in response to the receipt of the stop navigation signal;

wherein the first source and the second source are the same source or different sources; and

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

25. The apparatus of claim 24, wherein the means for measuring a direction of travel comprises a magnetic compass.

26. The apparatus of claim 24, wherein the means for measuring rotation comprises a rotation counter.

27. The apparatus of claim 24, further comprising means for communicating the updated position of the vehicle to a remotely located user.

45. The apparatus of claim 24, wherein the navigation system is configured such that, after receipt of the start navigation signal by the activating means, the estimating means delays for a period of time or while the non-motor-propelled vehicle moves a distance before updating the position of the non-motor-propelled vehicle.

47. The apparatus of claim 24, wherein the first source and the second source are different sources.

28. An anti-theft system for a non-motor-propelled shopping cart, the anti-theft system comprising:

a navigation system for a shopping cart, the navigation system comprising a magnetic heading sensor and a wheel rotation sensor;

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

wherein the navigation system is configured to receive a first signal from a first source disposed near a checkout lane of a store and second and third signals from at least a second source disposed near an exit of the store, the first signal indicative of the shopping cart passing though the checkout lane, the second signal indicative of the shopping cart leaving the store, the third signal indicative of the shopping cart entering the store;

wherein the navigation system is configured to provide the braking signal to the brake system upon the second signal being received without the first signal having been previously received; and

wherein the navigation system is configured to begin estimating the position of the shopping cart upon receiving the second signal and to stop estimating the position of the shopping cart upon receiving the third signal.

29. The anti-theft system of claim 28, wherein the navigation system is operable to terminate transmission of the braking signal to the brake system in response to a condition.

30. The anti-theft system of claim 29, wherein the condition relates to whether the shopping cart is being moved in a predetermined direction relative to a confinement boundary.

31. The anti-theft system of claim 30, wherein the condition relates to whether the shopping cart is inside or outside the confinement boundary.

42. The anti-theft system of claim 28, wherein the navigation system is further configured to receive information representative of an initial reference position for the shopping cart, the initial reference position comprising at least two coordinates.

43. The anti-theft system of claim 42, wherein the navigation system is configured to determine the relative position of the shopping cart based at least in part on the information representative of the initial reference position for the shopping cart.