Estimating motion of wheeled carts

• US 9,731,744 B2
• Filed: 09/02/2016
• Issued: 08/15/2017
• Est. Priority Date: 09/04/2015
• Status: Active Grant

• Current Assignee: Gatekeeper Systems, Inc.
• Original Assignee: Gatekeeper Systems, Inc.
• Inventors: James, Jesse M., Carter, Scott J., Ramanathan, Narayanan V., Hannah, Stephen E.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LEWANDROSKI, SARA J
• Application Number:
  US15/256,300
• Publication Number:
  US 20170066464A1
• Time in Patent Office: 347 Days
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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 3/1416 mounted on the handle
• CPC Class Codes: B62B 5/00 Accessories or details specially adapted for hand carts B62B3/1404 , B62B9/00 take precedence; wheels, axles, or axle bearings for vehicles B60B; castors for vehicles, castors in general B60B33/00
• CPC Class Codes: B62B 5/0096 Identification of the cart or merchandise, e.g. by barcodes or radio frequency identification [RFID]
• CPC Class Codes: B62B 5/0423 braking or blocking when leaving a particular area
• CPC Class Codes: G01C 17/00 Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes using gyroscopic effect G01C19/00
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01H 11/08 using piezoelectric devices
• CPC Class Codes: G01P 3/02 Devices characterised by the use of mechanical means
• CPC Class Codes: G01P 3/48 by measuring frequency of generated current or voltage in general G01R23/00
• CPC Class Codes: G01S 11/06 using intensity measurements
• CPC Class Codes: G01S 5/014 Identifying transitions between environments
• CPC Class Codes: G01S 5/02685 involving dead reckoning based on radio wave measurements
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G06Q 10/00 : Administration; Management
• CPC Class Codes: G06Q 10/06 : Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• CPC Class Codes: G08B 13/1427 : with transmitter-receiver for distance detection
• CPC Class Codes: G08B 13/1436 : with motion detection
• CPC Class Codes: G08B 21/0261 : System arrangements wherein the object is to detect trespassing over a fixed physical boundary, e.g. the end of a garden
• CPC Class Codes: G08B 29/24 : Self-calibration, e.g. compensating for environmental drift or ageing of components
• CPC Class Codes: G08G 1/00 : Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/207 : with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries

Abstract

Examples of systems and methods for locating movable objects such as carts (e.g., shopping carts) are disclosed. Such systems and methods can use dead reckoning techniques to estimate the current position of the movable object. Various techniques for improving accuracy of position estimates are disclosed, including compensation for various error sources involving the use of magnetometer and accelerometer, and using vibration analysis to derive wheel rotation rates. Also disclosed are various techniques to utilize characteristics of the operating environment in conjunction with or in lieu of dead reckoning techniques, including characteristic of environment such as ground texture, availability of signals from radio frequency (RF) transmitters including precision fix sources. Such systems and methods can be applied in both indoor and outdoor settings and in retail or warehouse settings.

Claims

1. A navigation system for a human-propelled cart, the navigation system comprising:

a magnetometer configured to determine a heading of the human-propelled cart;

a vibration sensor configured to measure vibration data of the human-propelled cart;

a communication system configured to communicate with a wheel of the human-propelled cart, the wheel comprising a brake configured to inhibit rotation of the wheel in response to receipt of a locking signal; and

a hardware processor programmed to;

estimate a speed of the human-propelled cart based at least in part on the vibration data from the vibration sensor, the hardware processor programmed to;

analyze a spectrum of the vibration data;

identify a first peak in the spectrum of the vibration data, the first peak associated with vibration data for vibrations associated with forward or rearward movement of the human-propelled cart;

determine a rotation rate of the wheel to be a harmonic frequency of the frequency of the first peak in the spectrum of the vibration data; and

estimate the speed based on the rotation rate and a circumference of the wheel; and

estimate a position of the human-propelled cart based at least in part on the estimate speed and the heading of the human-propelled cart.

2. The navigation system of claim 1, wherein the human-propelled cart comprises a handle, and the navigation system is mounted to the handle.

3. The navigation system of claim 2, wherein the human-propelled cart comprises a shopping cart.

4. The navigation system of claim 1, wherein the vibration sensor comprises an accelerometer.

5. The navigation system of claim 1, wherein the hardware processor is programmed to validate the determined raspecotation rate by analyzing the vibration spectrum for presence of a second peak at a harmonic frequency of the first peak.

6. The navigation system of claim 5, wherein the hardware processor is programmed to analyze the spectrum for presence of the second peak at a first odd harmonic frequency of the first peak.

7. The navigation system of claim 1, wherein the hardware processor is programmed to analyze the vibration data to count regular boundaries on a surface over which the human-propelled cart travels.

8. The navigation system of claim 1, wherein the hardware processor is programmed to determine, based at least in part on the estimated position, whether the cart has crossed a containment boundary, and in response to the determination, to communicate the locking signal to the wheel.

9. The navigation system of claim 1, further comprising a detector configured to detect an entrance signal or an exit signal indicative of whether the human-propelled cart is entering or exiting a store, respectively.

10. The navigation system of claim 1, further comprising a received signal strength indicator (RSSI) detector, wherein the hardware processor is programmed to update the estimated position of the cart based at least partly on a measured RSSI signal.

11. The navigation system of claim 1, further comprising a radio frequency (RF) receiver configured to receive an RF signal from an external RF transmitter, wherein the hardware processor is programmed to update the estimated position of the cart based at least partly on the received RF signal.

12. The navigation system of claim 11, wherein the hardware processor is programmed to estimate a distance to the external RF transmitter based at least partly on an RF phase difference estimated using the RF signal.

13. The navigation system of claim 1, further comprising a temperature sensor configured to measure a temperature of the magnetometer, wherein the hardware processor is programmed to compensate for temperature sensitivity of the magnetometer based at least partly on temperature.

14. The navigation system of claim 1, wherein the magnetometer is configured to provide a plurality of magnetic readings, and the hardware processor is programmed to calibrate the magnetometer based at least partly on the plurality of magnetic readings and a hard or soft iron calibration model.

15. The navigation system of claim 1, wherein the hardware processor is further programmed to receive site configuration data comprising information associated with one or more of:

(1) a containment boundary, (2) an entrance or an exit, (3) an indoor area of the site, (4) an outdoor area of the site, (5) areas having a surface with a particular characteristic, (6) a geomagnetic field, (7) a correction to a geomagnetic field due to magnetic structures at or near the site, (8) a location of a reference position, or (9) a warning distance associated with a containment boundary.

16. A navigation method for a human-propelled wheeled cart, the method comprising:

measuring, with a magnetometer, a magnetic heading of the human-propelled cart;

measuring a spectrum of vibrations experienced by the human-propelled cart as the human-propelled cart travels over a surface;

analyzing the spectrum of vibrations to determine a rotation rate of a wheel of the human-propelled cart;

estimating a speed of the human-propelled cart based at least partly on the rotation rate of the wheel and a circumference of the wheel; and

estimating a position of the human-propelled cart based at least partly on the estimated speed and the measured magnetic heading of the human-propelled cart.

17. The navigation method of claim 16, further comprising:

measuring, with the magnetometer, a plurality of magnetic readings while the human-propelled cart is traveling over the surface; and

calibrating the magnetometer based at least partly on the plurality of magnetic readings and a hard or soft iron calibration model.

18. The navigation method of claim 16, further comprising:

measuring a temperature of the magnetometer; and

compensating for temperature sensitivity of the magnetometer based at least partly on the measured temperature.

19. The navigation method of claim 16, wherein the wheel comprises a brake configured to inhibit rotation of the wheel, the method further comprising:

determining, based at least in part on the estimated position, whether the human-propelled cart has crossed a containment boundary; and

in response to determining the cart has crossed the containment boundary, communicating a braking signal to actuate the brake in the wheel.

20. The navigation method of claim 16, wherein analyzing the spectrum of vibrations comprises identifying a first peak in the spectrum of vibrations associated with forward or rearward movement of the human-propelled cart.

21. The navigation method of claim 20, wherein the rotation rate of the wheel is determined to be a harmonic frequency of the frequency of the first peak in the spectrum of the vibration data.

22. The navigation method of claim 20, further comprising validating the determined rotation rate by analyzing the spectrum of vibrations for presence of a second peak at a harmonic frequency of the first peak.

23. The navigation method of claim 16, wherein analyzing the spectrum of vibrations comprises counting regular boundaries on the surface over which the human-propelled cart travels.