Navigation systems and methods for wheeled objects

• US 8,751,148 B2
• Filed: 08/12/2011
• Issued: 06/10/2014
• 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:
  US13/209,219
• Publication Number:
  US 20120035823A1
• Time in Patent Office: 1,033 Days
• Field of Search: 701/408, 701/412, 701/422, 701/425, 340/573.4
• US Class Current: 701/408
• 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 controlling movement of a non-motorized cart with regard to a confinement area of a retail environment, the method comprising:

providing a non-motorized cart comprising a navigation system and a movement inhibition system, the navigation system configured to calculate a position of the cart, the movement inhibition system configured to inhibit movement of the cart in response to a signal from the navigation system;

transferring confinement information to the navigation system of the cart, the confinement information comprising a reference direction and coordinate data related to the shape and extent of a confinement area of a retail environment;

receiving, from a first source, a start navigation signal and information representative of a reference position;

starting to calculate, using the navigation system and in response to the receipt of the start navigation signal, a position of the cart with respect to the confinement area, the calculation based at least in part on the information representative of the reference position;

receiving, from a second source, a stop navigation signal;

stopping the calculation of the position of the cart with respect to the confinement area in response to the receipt of the stop navigation signal; and

signaling the inhibition system when the position of the cart with respect to the confinement area satisfies an inhibition condition,

wherein the first source and the second source are external to the non-motorized cart, and are the same source or different sources.

2. The method of claim 1, wherein transferring confinement information to the navigation system further comprises moving the cart along at least some of a perimeter of the confinement area.

3. The method of claim 1, wherein transferring confinement information to the navigation system further comprises:

moving a training object along at least some of a perimeter of the confinement area, the training object configured to determine the coordinate data; and

transferring the coordinate data from the training object to the navigation system.

4. The method of claim 3, wherein the training object comprises a second non-motorized cart.

5. The method of claim 3, wherein the training object comprises a hand-held device.

6. The method of claim 1, wherein transferring confinement information to the navigation system further comprises measuring magnetic field deviations related to the confinement area.

7. The method of claim 1, wherein the inhibition condition is satisfied when the cart is outside the confinement area.

8. The method of claim 1, wherein the cart comprises a shopping cart.

9. The method of claim 1, wherein the movement inhibition system comprises a brake configured to inhibit rotation of a wheel of the cart.

10. The method of claim 1, wherein the inhibition condition is satisfied when the cart is inside the confinement area.

11. The method of claim 1, wherein the inhibition condition is satisfied when the cart crosses a perimeter of the confinement area.

12. The method of claim 1, wherein the first source and the second source are the same source.

13. The method of claim 1, wherein the first source and the second source are different sources.

14. The method of claim 1, where the first source and the second source are configured to transmit wireless RF signals.

15. The method of claim 1, where the first source and the second source are access points.

16. The method of claim 1, further comprising:

providing the first source and the second source.

17. The method of claim 1, further comprising:

receiving information related to a second reference position with respect to the confinement area, the second reference position comprising at least two coordinates; and

updating the position of the cart with the information related to the second reference position.

18. The method of claim 1, further comprising:

signaling a notification system on the cart when the position of the cart, with respect to the confinement area, satisfies a notification condition, the notification condition occurring prior to the inhibition condition.

19. The method of claim 1, further comprising:

providing a notification when the inhibition condition is satisfied.

20. The method of claim 19, wherein providing the notification comprises sounding an alarm.