Navigation systems and methods for wheeled objects

• US 9,630,639 B2
• Filed: 06/09/2014
• Issued: 04/25/2017
• 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:
  US14/299,957
• Publication Number:
  US 20140350851A1
• Time in Patent Office: 1,051 Days
• Field of Search: 701 25, 701408, 701412, 701422, 701425
• 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 system for training a non-motorized retail cart, the system comprising:

a portable training object positioned on a first non-motorized cart, the portable training object comprising a dead reckoning navigation system that is configured to determine, record, and store coordinate data related to the shape and extent of a confinement area of a retail environment, the dead reckoning navigation 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 portable training object;

a transmitter configured to provide a signal indicative of a reference direction;

a receiver positioned on a second non-motorized cart, the receiver configured to receive the signal indicative of the reference direction;

a cart navigation system positioned on the second non-motorized cart and in communication with the receiver, the cart navigation system configured to receive the coordinate data and the reference direction, the cart navigation system also configured to calculate a position and heading of the second non-motorized cart based at least in part on the coordinate data and the reference direction; and

a movement inhibition system on the second non-motorized cart, the movement inhibition system configured to inhibit movement of the second non-motorized cart in response to an inhibition signal from the cart navigation system, the inhibition signal provided when a theft condition is satisfied.

2. The system of claim 1, wherein the theft condition is satisfied when the second non-motorized cart is outside the confinement area.

3. The system of claim 1, wherein the first and second non-motorized carts comprise shopping carts.

4. The system of claim 1, wherein the movement inhibition system comprises a brake configured to inhibit rotation of a wheel of the second non-motorized cart.

5. The system of claim 1, wherein the cart navigation system is further configured to begin calculating the position of the second non-motorized cart in response to receipt of a start navigation signal.

6. The system of claim 1, wherein the transmitter comprises a magnetic marker.

7. The system of claim 1, wherein the confinement area defines a retail store and associated parking lot.

8. A method for training a non-motorized cart with regard to a boundary of a tracking area, the method comprising:

determining a representation of the tracking area;

calculating, using a map, a first set of coordinates corresponding to the boundary of the tracking area;

moving a first non-motorized cart along at least a portion of the boundary of the tracking area, the first non-motorized cart comprising a training object configured to determine a second set of coordinates corresponding to the portion of the boundary, the training object comprising a dead reckoning navigation system that comprises 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 training object;

correcting the first set of coordinates with the second set of coordinates to provide corrected coordinates;

transferring the corrected coordinates of the boundary from the training object to a controller; and

transferring the corrected coordinates of the boundary to a cart navigation system on a second non-motorized cart.

9. The method of claim 8, further comprising recording, with the training object, a coordinate location of at least one of a magnetic marker, radio frequency transmitter, and access point with respect to the boundary.

10. The method of claim 8, further comprising moving the first non-motorized cart along the portion of the boundary at least twice.

11. The method of claim 10, wherein moving the first non-motorized cart along the portion of the boundary at least twice comprises moving the first non-motorized cart along the portion of the boundary in a clockwise direction and moving the first non-motorized cart along the portion of the boundary in a counterclockwise direction.

12. The method of claim 8, wherein the controller is positioned on the first non-motorized cart.

13. The method of claim 8, wherein the controller is physically separate from the first non-motorized cart.

14. The method of claim 8, wherein the training object comprises a hand-held device.

15. The method of claim 8, further comprising:

determining, with the cart navigation system, a position of the second non-motorized cart with respect to the boundary; and

inhibiting movement of the second non-motorized cart when the position of the second non-motorized cart is determined to satisfy a theft condition.

16. The method of claim 15, wherein the theft condition comprises the position of the second non-motorized cart having crossed the boundary.