Navigation systems and methods for wheeled objects
First Claim
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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.
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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.
194 Citations
16 Claims
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1. A system for training a non-motorized retail cart, the system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for training a non-motorized cart with regard to a boundary of a tracking area, the method comprising:
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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. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16)
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Specification