KR20180090929A - Apparatus and method for determining position of cart - Google Patents

Abstract

The present invention relates to an apparatus for calculating an indoor location of a cart. The apparatus for calculating an indoor location of a cart comprises: a user input unit for outputting a signal corresponding to a desired purchase product inputted by a user of a store; a cart movement speed detection unit attached to a wheel of a cart at a predetermined interval, and calculating a movement distance of the cart per second; a cart movement direction detection unit for detecting whether the movement direction of the cart is a forward direction or a backward direction; a geomagnetic detection unit for detecting the direction of geomagnetism of the cart, and sensing an azimuth angle of the cart; an operation control unit which receives a store map from a store map database, receives desired purchase article location information for a desired purchase product inputted by the user input unit from an article location database, displays a desired purchase article location on the store map, calculates a movement distance of the cart per second calculated by using a signal outputted from the movement speed detection unit, calculates a movement distance in the X direction and a movement distance in the Y direction of the cart by using a difference in azimuth angles of the cart using a signal applied from the geomagnetic detection unit, determines current location information of the cart, and displays a current location of the cart on the store map by using the current location information; and an information output unit which is connected to the operation control unit and displays the store map, the desired purchase article location, and the current location of the cart under the control of the operation control unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to an apparatus and method for calculating an indoor position of a cart.

Generally, when a user wants to purchase an item at a store, a user who uses the store uses a cart capable of moving to a desired position due to his / her manipulation.

Accordingly, the user moves the cart to a position such as a store where the goods to be purchased are displayed, and puts the desired product in the cart for purchase.

At this time, if the size of the store is wide, the user can not know the exact location of the store he wants to buy, so he must go around the whole store.

Therefore, it is often the case that a person goes to a store and purchases an item that is not in the plan, and he feels a lot of physical fatigue.

Korean Patent Laid-open Publication No. 10-2019-0072389 (Publication date: Jul. 02, 2009, entitled "Kart's Location Calculation Device and Promotion Device Using the Same)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art.

Another technical problem to be solved by the present invention is to improve the satisfaction of users who use the store.

The apparatus for calculating an indoor position of a cart according to an aspect of the present invention includes a user input unit for outputting a signal corresponding to a desired purchased item input by a user of a store, A cart moving direction sensing unit for sensing whether the moving direction of the cart is the forward direction or the backward direction, a geomagnetism sensing unit for sensing the direction of the cart's geomagnetism, A shopping mage sensing unit for sensing a location of the shopping mall; a shopping mall receiving unit for receiving a store map from the store map database and receiving a desired purchase item for the desired shopping mall inputted by the user input unit; The location information is received from the article location database, And the difference between the azimuth angle of the cart using the moving distance of the cart per second calculated by using the signal outputted from the moving speed sensing unit and the signal applied from the spatula sensing unit, An operation control unit for determining the current position information of the cart by calculating the movement distance in the direction and the movement direction in the Y direction and displaying the current position of the cart on the store map using the current position information, And an information output unit for displaying the store map, the desired purchased article position and the current position of the cart under the control of the operation control unit.

The apparatus for calculating an indoor position of a cart according to the above feature may further comprise a wireless local location information receiver connected to the operation control unit and receiving location information transmitted from a wireless local location information transmitter installed in a store, When the location information received from the wireless local area location information receiver is input, the received location information may be determined as the current location information of the cart.

It is preferable that the operation control section judges the related article corresponding to the desired purchased article and transmits the related article position information for the related article from the article position database and displays the related article position on the store map.

The operation control unit may calculate the shortest travel route for moving to the desired desired article location using the desired purchase location and display the shortest travel route on the information output unit.

The operation control unit can calculate the shortest movement route using the ASTAR algorithm.

A method for calculating an indoor position of a cart according to another aspect of the present invention includes the steps of determining a desired purchased item to be input from a user input unit, receiving a desired purchased article position for the determined desired purchased article from the article location database, The method comprising the steps of receiving a store map from a database, outputting the store map to an information output unit, displaying the location of the desired purchase item on the store map output to the information output unit, Calculating a current moving distance of the cart per second calculated by using the signal applied from the louver detecting unit at each set time, calculating a difference between the previous azimuth angle of the cart and the current azimuth angle, , Using the moving distance of the cart per second Calculating a movement distance of the cart moved during the predetermined time, calculating a movement distance in the X direction and a movement distance in the Y direction in the information output unit using the calculated movement distance of the cart and the difference in azimuth angle Calculating a current position information of the cart using the movement direction of the cart determined by the cart movement direction sensing unit, the movement distance in the X direction, and the movement distance in the Y direction, And displaying the current location of the cart on the store map being output to the information output unit using the information.

The method of calculating an indoor position of a cart according to the above feature may further include determining the received position information as the current position information of the cart when the position information is received from the wireless local position information receiver.

A method for calculating an indoor position of a cart according to the above feature comprises the steps of determining an associated article corresponding to the desired purchased article, receiving related article position information for the related article from the article position database, And displaying it on the store map.

According to this aspect, the store user can use the store map image displayed on the information output unit to store the current location, the location where the desired purchase item desired to be purchased is located, and the location where the desired purchased article exists at the current location The movement path of the robot can be easily confirmed.

Therefore, it is possible to shorten the time for purchasing the desired purchased item, shorten the moving route of the user, and reduce the fatigue of the user when using the store.

In addition, when the list of related articles related to the desired purchased article and the position where the related article list is located are also displayed on the information output section, it is possible to prevent mistakes not to purchase the purchased articles to be purchased, do.

1 is a schematic block diagram of a system for calculating an indoor position of a cart according to an embodiment of the present invention.
2A and 2B are operational flowcharts of a system for calculating an indoor position of a cart according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but it should be understood that there may be other elements in between do. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

An apparatus and method for calculating an indoor position of a cart according to an embodiment of the present invention will now be described with reference to the accompanying drawings.

First, with reference to FIG. 1, a description will be given of a system for calculating an indoor position of a cart according to an embodiment of the present invention.

1, the system for calculating the indoor position of a cart according to the present embodiment includes a bed sensor 11, a magnetic sensor 12, a rotary encoder 13, a radio frequency identification receiver 20, a user input unit 30, an operation control unit 40 connected to the sensor 11-13, an RFID receiver 20 and a user input unit 30, and an operation control unit 40 The information output unit 60 connected to the operation control unit 40 and the communication unit 70 connected to the operation control unit 40 and the operation control unit 40 to communicate with each other, And a database unit 80 connected to the operation control unit 40 through a network.

In this example, the magnetic sensor 11, the magnetic sensor 12, the rotary encoder 13, the RFID receiver 20, the user input unit 30, the operation control unit 40, the storage unit 50, The indoor unit 60 and the communication unit 70 are mounted on a cart, and constitute an indoor position calculating device of the cart (hereinafter, the indoor position calculating device of the cart is referred to as an indoor position calculating device).

At this time, the constituent elements 11-12 and 20-70 of the indoor position calculation apparatus are not limited thereto, and other components may be added as necessary.

The geomagnetic sensor 11 uses a three-axis geomagnetic sensor as a sensor for determining the moving state of the cart in the diagonal direction using the direction of the cart.

The geomagnetic sensor 11, that is, the geomagnetism sensor is mounted on an article storage portion of a cart capable of holding a cart or an article, detects a direction of a geomagnetic field of the cart, To the operation control unit (40).

The magnetic sensor 12 is a moving speed detecting unit for determining the moving speed of the cart, and a plurality of the moving speed detecting units are attached to at least one wheel attached to the cart by a predetermined distance

Since the magnetic sensor 12 outputs a pulse every time the magnetic sensor 12 and the bottom of the floor come into contact with each other, the interval between adjacent pulses is determined according to the rotational speed of the wheel, so that the traveling speed of the cart can be determined. At this time, in the magnetic sensor 12 in contact with the floor, a signal of a high level is outputted and a signal of low level is outputted in the magnetic sensor 12 which is separated from the bottom.

Therefore, the interval between the pulses is determined by the moving speed of the wheels, that is, the moving speed of the cart.

The rotary encoder 13 is a cart movement direction sensing unit attached to the wheel rotation axis of the cart and for outputting a pulse signal in a corresponding state according to the rotation state of the wheel to detect whether the movement direction of the cart is the forward direction or the backward direction .

The rotary encoder 13 changes the state of a signal output in the direction of rotation of the wheel, that is, in a forward direction (e.g., clockwise) for forward movement or a reverse direction (e.g., a counterclockwise direction) for backward movement. The backward state can be determined.

The RFID receiver 20 is a wireless local location information receiver for receiving information (i.e., location information) transmitted from a plurality of RFID tags disposed in a store, and is a short-range wireless receiver.

In this example, a plurality of RFID tags (i.e., wireless local location information transmitter) are installed in the store, and these RFID tags are mainly installed at predetermined positions such as each store or a display case.

Therefore, each RFID tag periodically transmits location information in a store where the RFID tag 20 is located using the RFID system, which is a near-field wireless communication system. When the cart having the RFID receiver 20 moves within the communication range of the RFID tag, And the corresponding position information is received by the corresponding RFID receiver 20 attached to the cart.

Accordingly, the RFID receiver 20 transmits the received location information to the operation control unit 40. When the location information is transmitted from the RFID receiver 20, the operation control unit 40 transmits the current location information of the cart to the RFID receiver 20 As shown in FIG.

When the position information is transmitted from the RFDI receiver 20 in this manner, the operation control unit 40 does not perform the position information calculation operation of the cart using the output signals of the sensors 11 and 12 and the rotary encoder 13, The location information is replaced with the location information of the current cart.

Therefore, instead of determining the current position of the cart using the calculation operation of the operation control unit 40, the position information of the cart is intermittently corrected using the accurate store position information from the RFID receiving device 20, The position calculation operation of the cart is performed.

The user input unit 30 generates a signal related to information or data input by an operation of a user using a cart and outputs the signal to the operation control unit 40. [

The user input unit 30 is input to a handle of a cart or the like to facilitate user's use, and may be formed of a touch pad or the like.

Therefore, the user of the cart can input his / her information (i.e., user identification information), the type of the article he / she wants to purchase (that is, the desired article) A food corner or a meat corner). At this time, the user identification information may not be input as needed.

As described above, when the information related to the destination of the cart user is input from the user input unit 30, the operation control unit 40 determines the destination (that is, the desired article) desired by the user based on the information input from the user input unit 30, Thereby allowing the user to provide the movement path of the cart.

The operation control unit 40 is a control unit that controls the overall operation of the indoor position calculation apparatus and uses the sensors 11 and 12 and the rotary encoder 13 to control the movement direction and the movement distance of the cart Calculates the current position information of the cart, and corrects the current position of the cart by using the RFID receiving unit 20.

In addition, the destination of the user is determined in the store using the information input from the user input unit 30, and the cart user is provided with a route to the destination, thereby facilitating the movement to the display case or the shop where the desired product exists .

The storage unit 50 is a storage medium that stores data and information necessary for operation of the indoor position calculation apparatus and data or information generated during operation.

The storage unit 50 stores user identification information using the cart, a current position and a previous position of the cart.

The information output unit 60 is for generating an output related to the time to the user and displays an image corresponding to the image data output from the operation control unit 40 on the screen under the control of the operation control unit 40. [

Accordingly, the information output unit 60 may include at least one display device among a liquid crystal display, an organic light emitting diode display, a flexible display, and a 3D display, .

In this example, the information output unit 60 may include a structure for video display, and a touch screen having a touch sensor, which is a sensor for sensing touch operation, having a mutual layer structure. In this case, the information output unit 60 also functions as an input device such as the user input unit 30, in addition to an output device that outputs an image.

The communication unit 70 communicates with the indoor position calculation apparatus and the database unit 80 or between the indoor position calculation apparatus and another external terminal such as a cashier terminal and between the database unit 80 and the cashier terminal 80. [ Lt; / RTI >

The communication unit 70 may further include at least one of a mobile communication module and an Internet module, as well as a short-range communication module.

The short-range communication module is a module for short-range communication. Examples of the short-range communication technology include Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), or ZigBee Can be used.

The mobile communication module wirelessly transmits and receives signals (i.e., radio signals) to at least one of a base station, an external terminal, and a server on a mobile communication network. The wireless signal may include various types of data depending on the transmission and reception of a voice call signal, a video call signal, a short message or a multimedia message.

The Internet module is a module for wireless or wired Internet access. WLAN (WiFi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access) or HSDPA (High Speed Downlink Packet Access) can be used as the Internet technology.

The database unit 80 includes a store map database 81 in which map information of a shop to which the cart is to be moved, a list of actual purchases of the user (i.e., user identification information) A purchase list database 82, an article location database 83 in which location information on the type of article is stored, and a user database 84 in which user information is stored.

Next, with reference to Figs. 2A and 2B, the operation of the indoor position calculating system of the cart having such a structure will be described.

When the power source necessary for the operation is supplied to the indoor position calculating device of the cart and the database unit 80 by the operation of the power source unit (not shown), the operation of the indoor position calculating device and the database unit 80 is started.

As a result, the operation control unit 40 of the indoor position calculation apparatus also starts operation (S10).

Therefore, when the operation of the operation control unit 40 is started, the operation control unit 40 judges whether or not the input operation from the user input unit 30 has been performed (S11).

When an input operation is made to the user input unit 30 by the operation of the user of the cart, the operation control unit 40 reads the signal applied from the user input unit 30 and inputs the inputted information, that is, And determines the article (S12).

Next, the operation control unit 40 receives the store position information located in the desired purchased article determined from the article position database 83, and determines the store position where the purchased article is located (S13).

At this time, since the number of purchased articles input by the user is one or more, the operation control unit 40 receives the store position information (i.e., the desired purchased article position information) corresponding to each purchased article, Determine the store location.

When all of the store locations for the desired purchased goods input by the user are determined, the operation control unit 40 receives the store map information from the store map database 81 (S14) and stores the transmitted store map information in the information And outputs the store map to the information output unit 60 (S15).

Then, the operation control unit 50 displays the desired purchased article position where each desired purchased article determined on the store map is located (S16). At this time, the name of the desired purchase item can be displayed together with the display of the store location of each desired purchased item. As a result, it is possible to know the item of the desired purchased item that can be purchased at each displayed store location to be used, so that it can be helped to understand the store structure.

Next, the operation control unit 50 calculates a shortest movement route for movement to the desired desired purchase article position using the desired purchase article position and the distance information between the desired purchase article in the store of each desired purchased article, On the display unit 60 (S17).

The calculation method of the shortest travel route uses an already known shortest travel route calculation method (for example, an A star search algorithm) using the store distance information between the two store locations and the current position information of the cart used in a navigation system or the like , And the display of the movement route can be displayed by connecting the store positions of the desired purchased articles to each other with a line of a predetermined color (e.g., red).

At this time, the operation control unit 40 can calculate the store distance information using the store location information on the two adjacent desired purchase lists. In addition, the current position information of the cart may be initial position information that the cart is initially located or current position information that is calculated from the initial position information by the operation of the operation control unit 40.

When the user's shortest movement route is calculated and displayed on the basis of the user's desired purchased article location information, the operation control unit 40 calculates the movement route of the moving cart in accordance with the user's operation, .

Therefore, for this purpose, the operation control unit 40 first determines whether there is location information received from the RFID receiving unit 20 (S18).

When the position information is received from the RFID receiving unit 20, the operation control unit 40 determines the position information received from the RFID receiving unit 20 as the current position information of the cart (S19).

Then, the current position of the cart is displayed on the store map outputted to the information output unit 60 using the determined current position information of the cart, and the shortest travel route based on the determined current position information is recalculated And outputs it to the solution information output unit 60 (S20).

Then, the determined current position information is stored in the storage unit 50 as previous position information (S21).

Then, the process proceeds to step S18 and an operation for calculating the current position of the cart is performed (S18).

However, if the position information is not transmitted from the RFID receiving unit 20, the operation control unit 40 uses the signals outputted from the sensors 11 and 12 and the rotary encoder 13 and the previous position information of the cart, .

Accordingly, the operation control unit 40 calculates the current movement distance of the cart per second using the signal output from the magnetic sensor 12 (S22).

In this example, since the attachment distance of the magnetic sensor 12 attached to the surface of the wheel, that is, the distance between two adjacent magnetic sensors 12, is already stored in the storage unit 50, The moving distance of the moving wheel per second, that is, the current moving distance of the cart per second, is calculated by using the time between the pulses output from the two magnetic sensors 12 adjacent to each other and the distance between the two magnetic sensors 12.

 Next, the rotation direction of the cart wheel is determined using the signal output from the rotary encoder 13, and it is determined whether the moving direction of the cart is the advanced state or the second state (S23).

Next, the operation control unit 40 reads the signal output from the geomagnetic sensor 11 to determine the current azimuth angle, and calculates the azimuth difference between the previous azimuth angle and the current azimuth angle using the previous azimuth angle stored in the storage unit 50 (S24).

That is, in this example, the operation control unit 40 reads the signal output from the geomagnetic sensor 11 every predetermined time (e.g., 0.25 seconds) to determine the angle sensed by the magnetic sensor 11, The difference between the current angle and the previous angle determined immediately before the current angle, i.e., 0.25 seconds before the set time, is calculated (S24).

Then, the operation control unit 40 calculates the moving distance of the cart moved for the set time (e.g., 0.25 seconds) (S25) using the current moving distance of the cart per second calculated in step S22. In this example, the current angle determined in step S24 is stored in the storage unit 50 as the previous angle.

Next, the operation control unit 40 calculates the moving distance in the X direction (i.e., the row direction) and the moving distance in the Y direction (i.e., the column direction) in the information output unit 60 , And calculates the calculated travel distance in the X direction and the calculated travel distance in the Y direction as the number of pixels in accordance with the resolution of the information output unit 60 (S26).

That is, the number of pixels corresponding to the calculated movement distance in the X direction and the calculated distance in the Y direction are determined by using the size of one pixel, that is, the length in the X direction and the length in the Y direction. At this time, the size of one pixel is determined according to the resolution of the information output unit 60, the length in the X direction (i.e., the width) and the length in the Y direction (i.e., the length) of the information output unit 60 .

For example, if it is determined that the calculated angle difference is 45 degrees and the movement distance is 400 mm for 0.25 seconds, the movement distance in the X direction is 400 mm cos (45 degrees) = 210.128 mm, and the movement distance in the Y direction is 400 mm (45 degrees) = 340.364 mm.

These moving distances (210.128 mm, 340.364 mm) are converted into the number of pixels calculated according to the size of one pixel.

When the number of pixels corresponding to the computed movement distance in the X direction and the computed distance in the Y direction are determined, the operation control unit 40 controls the operation control unit 40 to move the previous position stored in the storage unit 50 The current position information of the cart is determined in consideration of the information (that is, the pixel position in the row direction and the pixel position in the column direction in the information output unit 60) and the moving direction of the cart determined (S27).

For example, when the determined moving direction of the cart is the forward direction, the determined moving distance in the Y direction is the distance moved in the forward direction from the current position, whereas when the determined moving direction of the cart is the backward direction, The moving distance in the Y direction is the distance moved in the backward direction from the current position.

Therefore, the previous position information is (x1, y1) (x1 is a positive integer as a pixel position in the row direction, and y1 is a positive integer as a pixel position in the column direction) When the number of pixels corresponding to the moving distance in the Y direction is 10 and 15 respectively and the moving direction of the cart is the forward direction, the current position information of the cart is ((x1 + 10), (y1 + 15)) , Whereas if the moving direction of the cart is the backward direction, the current position information of the cart becomes ((x1 + 10), (y1-15)).

When the current position information of the cart is determined in this manner, the operation control unit 40 displays the current position in the information output unit 60, recalculates the shortest travel route according to the determined current position, (Step S28).

Then, the determined current position information of the cart is stored in the storage unit 50 as previous position information, and then the current position of the cart is calculated again at step S18.

As described above, the store user can use the store map image displayed on the information output unit 60 to display the current position, the position where the desired purchase item desired to be purchased is located, and the position where the desired purchased article exists at the current position Can easily be confirmed.

As a result, the movement time of the store user is greatly shortened, and the effect of the article purchase time is reduced.

In the store map displayed on the information output unit 60, the value of the video data of the display case where the article is displayed or the pixel related to the store is set to a set value such as '0'.

Therefore, the operation control unit 40 determines that the pixel portion having the set value is an unmovable region in which the cart can not move, and excludes the unmovable region in the calculation of the shortest moving route. In order to calculate the shortest movement path, in this case, the operation control unit 40 can use the Astar algorithm as already described.

In addition, the operation control unit 40 may display a recommended route to a position where the article related to the desired purchased article exists in the information output unit 60, as well as the travel route determined based on each desired purchased article.

To this end, when the desired purchased article is determined, the operation control section 60 determines the related article, which is an article related to the determined desired purchased article. At this time, the related article may be stored in the storage unit 50 or a separate database in correspondence with the article.

Then, the position information in which the related article is stored is read from the article position database 83, and the position at which the related article in which the related article is located (i.e., the position of the related article) is displayed in the information output section 60.

At this time, the display state of the related article position is made different from the display state of the desired purchased article position, which is the position of the desired purchased article, so that the user can distinguish the related article position and the purchased article position. In this case, the name of the relevant article as well as the position of the related article may also be displayed together.

For example, if the purchased item is a pasta surface, the position of the source store where the pasta sauce is located is displayed on the information output unit 60 with the related article position.

When the position of the related article is displayed as described above, the operation control unit 40 also displays the moving path from the position of the purchased article to the position of the related article, so that the user can move the moving article .

After the user completes the calculation, the cashier terminal completes the calculation together with the identification information of the user using the cart. To the purchase list database (82) of the database unit (80).

Thus, the purchase list database 82 stores a list of actual purchase items together with purchase dates corresponding to the user identification information.

In addition, the operation control unit 40 transmits the information on the user's travel route stored in the storage unit 50 to the purchase list database 82.

For this, when the calculation is completed, the cashier terminal transmits the calculation completion state to the operation control unit 40 through the communication unit 70 of the indoor position calculation apparatus using its communication unit, and when the calculation completion state is transmitted from the cashier terminal, The operation control unit 40 transmits data related to the movement path of the user stored in the storage unit 50, that is, the movement path of the store for purchasing the actual purchased article, to the purchase list database 82. [

Thus, in order to purchase the corresponding actual purchase list, the user can know the travel route using the shop.

Therefore, by using the information stored in the purchase list database 82, it is possible to analyze a list of goods purchased by each user, a travel route, and the like, and to grasp a list of articles that the user mainly purchases by time or season Accordingly, it is possible to give the user a satisfactory feeling for both the user and the business by allowing the user to carry out the advertisement message and the product event guide for the product that the user mainly purchases.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

11: Geomagnetic sensor 12: Magnetic sensor
13: Rotary encoder 20: RFID receiver
30: User input unit 40: Operation control unit
50: storage unit 60: information output unit
70: communication unit 81: store map database
82: Purchase list map database
83: goods location database

Claims (8)

A user input unit for outputting a signal corresponding to the desired purchased item input by the user of the store,
A moving speed detection unit of the cart attached to the wheels of the cart at predetermined intervals, for calculating a moving distance of the cart per second,
A cart movement direction sensing unit for sensing whether the movement direction of the cart is a forward direction or a backward direction,
A geomagnetism detection unit for detecting the direction of the cart's geomagnetism and detecting the azimuth angle of the cart,
And a controller for receiving a store map from the store map database and storing a desired purchase article position for the desired purchased article input by the user input unit, Information on the position of the desired purchased article on the store map is received from the article location database and the moving distance of the cart per second calculated using the signal outputted from the moving speed sensing unit and the signal applied from the ruled- The current position information of the cart is calculated by calculating the moving distance of the cart in the X direction and the moving distance in the Y direction using the difference of the azimuth angle of the cart using the current position information, An operation control unit for displaying the current position, and
And an information output unit connected to the operation control unit and displaying the store map, the position of the desired purchased article and the current position of the cart under the control of the operation control unit,
And an indoor position calculating device for calculating an indoor position of the cart. The method of claim 1,
Further comprising a wireless local location information receiver connected to the operation control unit and receiving location information transmitted from a wireless local area location information transmitter installed in a store,
When the position information received from the wireless local area position information receiver is input, the operation control unit determines the received position information as the current position information of the cart
An apparatus for calculating the indoor position of a cart. The method of claim 1,
Wherein the operation control unit determines an associated article corresponding to the desired purchased article, receives related article position information on the related article from the article position database and displays the related article position on the store map, Device. The method of claim 1,
Wherein the operation control unit calculates a shortest movement route for movement to the desired desired article position using the desired purchase article position and displays the shortest movement route on the information output unit. 5. The method of claim 4,
Wherein the operation control unit calculates the shortest travel route using the Astar algorithm. Determining a desired purchased article to be input from a user input section,
Receiving a desired purchased article location for the determined desired purchased article from the article location database,
Receiving a store map from the store map database,
Outputting the store map to an information output unit and displaying the location of the desired purchased goods on the store map output to the information output unit,
Calculating a moving distance of the cart per second calculated using the signal output from the moving speed sensing unit,
Calculating a current azimuth angle of the cart using a signal applied from the spatula detection unit at each set time,
Calculating an azimuth difference between a previous azimuth of the cart and the current azimuth;
Calculating a moving distance of the cart moved during the set time using the moving distance of the cart per second,
Calculating a movement distance in the X direction and a movement distance in the Y direction in the information output unit using the calculated movement distance of the cart and the difference in azimuth angle,
Calculating current position information of the cart using the movement direction of the cart determined by the cart movement direction sensing unit, the movement distance in the X direction and the movement distance in the Y direction, and
Displaying the current location of the cart on the store map being output to the information output unit using the current location information of the cart
And calculating the indoor position of the cart. The method of claim 6,
And when the location information is received from the wireless local area location information receiver, determining the received location information as the current location information of the cart. The method of claim 6,
Determining an associated article corresponding to the desired purchased article,
Receiving related article location information for the related article from the article location database, and
To display the relevant article location on the store map,
And calculating the indoor position of the cart.

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