# US 8,751,148 B2 · Navigation systems and methods for wheeled objects

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- Number: US 8,751,148 B2
- Document ID: US8751148B2
- Status: Granted
- Kind: B2
- Application number: 13/209,219
- Filed: 2011-08-12
- Published: 2012-02-09
- Granted: 2014-06-10
- Earliest claimed: 2005-03-18
- Assignees: Gatekeeper Systems, Inc.
- Applicants: Scott J. Carter; Stephen E. Hannah; Jesse M. James
- Inventors: Scott J. Carter; Stephen E. Hannah; Jesse M. James
- Web page: https://patentgrep.com/patent/US8751148B2

## CPC

- B62B 5/0438: {hand operated}
- H04W 4/02: Services making use of location information
- A47F 10/04: for storing or handling self-service hand-carts or baskets
- B60K 25/08: from a ground wheel, e.g. engaging the wheel tread or rim
- B60T 7/16: operated by remote control, i.e. initiating means not mounted on vehicle
- B60T 7/18: operated by wayside apparatus
- B62B 3/14: characterised by provisions for nesting or stacking, e.g. shopping trolleys {(collapsible shopping trolleys B62B3/027)}
- B62B 3/1404: {Means for facilitating stowing or transporting of the trolleys; Antitheft arrangements (B62B5/0423 takes precedence)}
- B62B 3/1412: {mounted on the frame}
- B62B 3/1424: {Electronic display devices}
- B62B 3/1492: {Wheel arrangements}
- B62B 5/0003: {Adaptations for loading in or on a vehicle}
- B62B 5/0423: {braking or blocking when leaving a particular area}
- B62B 5/048: {Hub brakes; drum brakes}
- G01C 21/12: executed aboard the object being navigated; Dead reckoning
- G01C 21/206: {specially adapted for indoor navigation}
- G06K 7/10366: {the interrogation device being adapted for miscellaneous applications}
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G08B 13/2434: {Tag housing and attachment details}
- 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}
- G08B 13/2462: {Asset location systems combined with EAS (inventory, tracking, logistic G06Q10/00; entrance control systems G07C9/00)}
- G08B 13/2482: {EAS methods, e.g. description of flow chart of the detection procedure}
- G08G 1/20: {Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles}
- H02K 7/1846: {structurally associated with wheels or associated parts (dynamos arranged in the wheel hub of cycles B62J6/12)}
- H04W 4/024: Guidance services
- H04W 4/029: Location-based management or tracking services
- 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)}
- G08B 13/2474: {Antenna or antenna activator geometry, arrangement or layout (loop antennae H01Q1/22)}
- G08B 13/2477: {Antenna or antenna activator circuit}
- Y10T 29/49826: Assembling or joining
- B62B: HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES (characterised by animal propulsion B62C; propulsion of sledges by driver or engine B62M)
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)
- A47F: SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G06K: GRAPHICAL DATA READING (image or video recognition or understanding G06V); PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## 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

### Claim 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.

### Claim 2 (depends on 1)

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.

### Claim 3 (depends on 1)

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.

### Claim 4 (depends on 3)

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

### Claim 5 (depends on 3)

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

### Claim 6 (depends on 1)

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

### Claim 7 (depends on 1)

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

### Claim 8 (depends on 1)

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

### Claim 9 (depends on 1)

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

### Claim 10 (depends on 1)

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

### Claim 11 (depends on 1)

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

### Claim 12 (depends on 1)

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

### Claim 13 (depends on 1)

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

### Claim 14 (depends on 1)

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

### Claim 15 (depends on 1)

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

### Claim 16 (depends on 1)

The method of claim 1, further comprising: providing the first source and the second source.

### Claim 17 (depends on 1)

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.

### Claim 18 (depends on 1)

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.

### Claim 19 (depends on 1)

The method of claim 1, further comprising: providing a notification when the inhibition condition is satisfied.

### Claim 20 (depends on 19)

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