A vehicle tracking system includes a wheel assembly containing sensor circuitry capable of sensing one or more types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The wheel assembly may also include a brake mechanism. The wheel assemblies may be mounted on shopping carts and used to collect and monitor shopping cart status and location data via a wireless network. In one embodiment, the wheel assembly communicates via a wired or wireless connection with a handlebar mounted display unit of the cart.

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.

Disclosed herein are computer-implemented methods and systems to facilitate prevention or detection of theft of an item in a shopping container. A controller attached to the shopping container receives a first signal from a first transmitter upon entry of the shopping container into a first area within a store. A second signal is received by the controller from a second transmitter upon entry of the shopping container into a second area within the store. After receiving the second signal, the controller receives the first signal again without having received a third signal associated with a third area within the store. In response to receiving the first signal again without having received the third signal after receipt of the second signal, the controller automatically causes switching from a normal mode to an anti-theft mode associated with the controller.

A system for monitoring shopping baskets (e.g., baskets on human-propelled carts, motorized carts, or hand-carried baskets) can include a computer vision unit that can image a surveillance region (e.g., an exit to a store), determine whether a basket is empty or loaded with merchandise, and assess a potential for theft of the merchandise. The computer vision unit can include a camera and an image processor programmed to execute a computer vision algorithm to identify shopping baskets and determine a load status of the basket. The computer vision algorithm can comprise a neural network. The system can identify an at least partially loaded shopping basket that is exiting the store, without indicia of having paid for the merchandise, and execute an anti-theft action, e.g., actuating an alarm, notifying store personnel, activating a store surveillance system, activating an anti-theft device associated with the basket (e.g., a locking shopping cart wheel), etc.

A vehicle tracking system includes a wheel assembly containing sensor circuitry capable of sensing various types of conditions, such as specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. In some embodiments, the wheel assemblies detect that they have entered into particular zones by measuring received signal strengths of received command transmissions, and by comparing these measurements to thresholds that are used to define zone boundaries.

A system is disclosed for tracking and controlling shopping carts and other types of human propelled vehicles. The system includes a wheel assembly that attaches to a cart. The wheel assembly includes a brake unit for inhibiting cart motion, and includes wireless communication circuitry. The wheel assembly is capable of activating the brake unit in response to one or more conditions, such as the receipt of an RF signal or command. In some embodiments, the system also includes a display unit that displays information to a user of the cart, including information regarding the cart's proximity to a lock zone in which the brake unit will become activated.

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.

A shopping cart wheel includes a braking apparatus, and electronics that control the braking apparatus in response to wireless signals. The wireless signals include low frequency electromagnetic signals within a low frequency band and high frequency signals within a high frequency band. The braking apparatus includes a moveable interposer and an interposer controller where the moveable interposer is moved between braking and non-breaking positions at least partially with magnetic force.

A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Various systems for detecting unauthorized exit events are disclosed. The systems can support a variety of different methods for assessing whether a customer is exiting the store without paying. The particular method or methods used may vary widely based on the types and the locations of the system components included in a given installation. For example, the system may be configured to detect that a cart has passed or is passing through a checkout lane.