Smart grip and basket

Abstract

This technology provides features that reduce user effort when guiding users on routes to their destinations. [Solution] A smart grip according to one aspect of the present disclosure comprises a haptic feedback module, a positioning sensor, and a control device. The control device is configured to acquire the current location measured by the positioning sensor and to output to the user via the haptic feedback module haptic feedback that indicates the route to the destination, in accordance with the acquired current location and a given rule.

Description

Technical Field

[0001] The present disclosure relates to a smart grip and a basket.

Background Art

[0002] In facilities such as stores (commercial facilities) and airports, there are systems for guiding the route to a destination. For example, in Patent Document 1, there is proposed a product guidance device that acquires the current position of a customer in a store, calculates a purchase route based on the acquired current position and product position, and transmits guidance information based on the obtained purchase route to a user terminal (terminal device).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to conventional systems such as Patent Document 1, it is possible to guide a route to a destination (for example, the location of a product, etc.) based on the information displayed on a user terminal. However, the inventor of the present case has found that the conventional systems have the following problems.

[0005] That is, in a facility, a user may move while holding a basket (including a cart). When guiding a route based on the information given to the user terminal, the user has to hold both the basket and the user terminal and check the visual information displayed on the user terminal. It may be troublesome to check the visual information displayed on the user terminal while holding a basket.

[0006] This disclosure is made, in part, in consideration of these circumstances, and one of its purposes is to provide technology that reduces the effort required of the user when guiding them to a destination. [Means for solving the problem]

[0007] This disclosure adopts the following configuration to solve the aforementioned problems. Note that the following configurations can be combined as appropriate.

[0008] A smart grip relating to one aspect of this disclosure comprises a haptic feedback module, a positioning sensor, and a control device. The control device is configured to acquire the current location measured by the positioning sensor and to output to the user via the haptic feedback module haptic feedback that indicates the route to the destination, in accordance with the acquired current location and a given rule.

[0009] In this configuration, the grip allows it to be held in common with the basket. For example, if the smart grip can be used as a handle for the basket, the basket can be held by gripping the smart grip. Therefore, this configuration can at least partially reduce the effort required to separately hold the user terminal from the basket. In addition, in this configuration, the feedback indicating the route to the destination is determined according to a given rule. The user can recognize the route indicated by the feedback by interpreting the feedback according to the given rule. This feedback, which can communicate the route to the user, is provided via touch. This at least partially reduces the effort required to confirm visual information. This can be reduced. Therefore, with this configuration, it is possible to expect a reduction in the effort required of the user when guiding them to their destination.

[0010] In the smart grip relating to the above aspect, a given rule may include determining the number of vibrations of the haptic feedback module according to the distance to be instructed to move. With this configuration, the distance to be instructed to move is communicated by the number of vibrations of the feedback via touch. This makes it possible to properly guide at least a portion of the route to the destination.

[0011] In the smart grip relating to the above aspect, a given rule may include determining the vibration intensity of the haptic feedback module according to the distance to be instructed to move. With this configuration, the distance to be instructed to move is communicated by the vibration intensity of the feedback via touch. This makes it possible to properly guide at least a portion of the route to the destination.

[0012] In the smart grip relating to the above aspect, a given rule may include determining the vibration period of the haptic feedback module according to the distance to be instructed to move. With this configuration, the distance to be instructed to move is communicated by the vibration period of the feedback via touch. This makes it possible to properly guide at least a portion of the route to the destination.

[0013] In the smart grip relating to the above aspect, a given rule may include determining the drive pattern of the haptic feedback module according to the direction of movement. With this configuration, the direction of movement is communicated by the drive pattern of haptic feedback. This makes it possible to properly guide at least a portion of the route to the destination.

[0014] In the smart grip relating to the above aspect, a given rule may include determining the number of vibrations of the haptic feedback module according to the number of second junctions that are passed without changing direction from the current position to the first junction. According to this configuration, the number of junctions (second junctions) that are passed without changing direction is communicated by the number of vibrations of the feedback via touch. This makes it possible to properly guide at least a portion of the route to the destination.

[0015] In the smart grip relating to the above aspect, the haptic feedback module may include a servo motor. The servo motor may include a shaft and an arm attached to the shaft. A given rule may include determining the number of times the servo motor's arm swings according to the distance to be instructed to move. With this configuration, the distance to be instructed to move is communicated by the number of times the servo motor's arm swings. This makes it possible to properly guide at least a portion of the route to the destination.

[0016] In the smart grip relating to the above aspect, the haptic feedback module may include a servo motor. The servo motor may include a shaft and an arm attached to the shaft. A given rule may include determining the number of times the servo motor arm swings in accordance with the distance to which movement is instructed in one direction, and determining the direction in which the servo motor arm swings in accordance with the direction in which further movement is instructed after moving the instructed distance.

[0017] In this configuration, the distance to be instructed to move in one direction is communicated by the number of times the servo motor arm swings. After moving the instructed distance, the direction to be instructed to move further is communicated by the direction in which the servo motor arm swings. This makes it possible to properly guide at least a portion of the route to the destination.

[0018] In the smart grip relating to the above aspect, the haptic feedback module may include a servo motor. The servo motor is connected to a shaft and an arm attached to the shaft. The system may include the following: A given rule may include determining the number of times to swing the servo motor arm according to the number of second junctions that are passed without changing direction from the current position to the first junction. According to this configuration, the number of junctions (second junctions) that are passed without changing direction is communicated by the number of times the servo motor arm is swung. This makes it possible to properly guide at least a portion of the route to the destination.

[0019] In the smart grip relating to the above aspect, a given rule may further include determining the direction in which the servo motor arm swings according to the direction of movement instructed at the first branching point. With this configuration, the direction in which the vehicle changes direction at the branching point after passing the second branching point (the first branching point) (i.e., the direction of travel from the first branching point) is communicated by the direction in which the servo motor arm swings. This makes it possible to properly guide the vehicle along at least a portion of the route to its destination.

[0020] In the smart grip relating to the above aspect, the haptic feedback module may include a servo motor and a vibration motor. The servo motor may include a shaft and an arm attached to the shaft. A given rule may include determining the number of vibrations of the vibration motor according to the number of second branching points that are passed through from the current position to the first branching point without changing the direction of travel, and determining the direction in which the arm of the servo motor swings according to the direction of movement instructed at the first branching point.

[0021] In this configuration, the number of branching points (second branching point) that the vehicle passes without changing direction is communicated by the number of vibrations of the vibration motor in the tactile feedback. The direction in which the vehicle changes direction at the branching point after passing the second branching point (first branching point) (i.e., the direction from which it proceeds from the first branching point) is communicated by the direction in which the servo motor arm swings in the tactile feedback. This makes it possible to properly guide the vehicle along at least a portion of the route to its destination.

[0022] In the smart grip relating to the above aspect, the haptic feedback module may include a servo motor and a vibration motor. The servo motor may include a shaft and an arm attached to the shaft. A given rule may include determining at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor according to the distance to which movement is instructed in one direction, and determining the direction in which the arm of the servo motor swings according to the direction to which further movement is instructed after moving the distance instructed by the vibration motor.

[0023] According to this configuration, the distance indicating movement in one direction is transmitted by at least any one of the vibration frequency, vibration intensity, and vibration period of the vibration motor in the tactile feedback. The direction indicating further movement after moving the indicated distance is transmitted by the direction in which the arm of the servo motor swings in the tactile feedback. Thereby, at least a part of the route to the destination can be properly guided.

[0024] In the smart grip according to the above aspect, the tactile feedback module may include a plurality of vibration motors. A given rule may include determining a drive pattern of the plurality of vibration motors according to the direction indicating movement. According to this configuration, the direction indicating movement is transmitted by the drive pattern of the plurality of vibration motors in the tactile feedback. Thereby, at least a part of the route to the destination can be properly guided.

[0025] In the smart grip according to the above aspect, the tactile feedback module may include a plurality of vibration motors. Indicating the route to the destination may include indicating the distance indicating movement in one direction, and after moving the indicated distance, indicating the direction indicating further movement. A given rule may include determining a drive pattern of the plurality of vibration motors according to the direction indicating further movement, and determining at least any one of the vibration frequency, vibration intensity, and vibration period of the vibration motors driven with the determined drive pattern among the plurality of vibration motors according to the distance indicating movement in one direction. This may include determining the drive pattern of the plurality of vibration motors according to the direction indicating further movement, and determining at least any one of the vibration frequency, vibration intensity, and vibration period of the vibration motors driven with the determined drive pattern among the plurality of vibration motors according to the distance indicating movement in one direction.

[0026] According to this configuration, the distance indicating movement in one direction is transmitted by at least any one of the number of vibrations, vibration intensity, and vibration period of a vibration motor driven by a drive pattern determined according to the direction indicating further movement after moving the indicated distance in the haptic feedback. The direction indicating further movement after moving the indicated distance is transmitted by the drive patterns of a plurality of vibration motors in the haptic feedback. Thereby, at least a part of the route to the destination can be properly guided.

[0027] Note that the form of the present disclosure is not necessarily limited to the above smart grip. One aspect of the present disclosure may be a component of a basket. One aspect of the present disclosure may be the basket (including a cart) itself. Also, one aspect of the present disclosure may be an information processing method for realizing all or part of the above control device (computer), a program, or a machine-readable storage medium such as a computer storing such a program. Here, the machine-readable storage medium may be a non-temporary medium that accumulates information such as a program by an electrical, magnetic, optical, mechanical, or chemical action. The non-temporary storage medium may include a storage medium (CD, DVD, semiconductor memory, etc.), an auxiliary storage device of a computer, an external storage device connected to the computer, and the like.

[0028] For example, a basket according to one aspect of the present disclosure may include a basket body, a haptic feedback module, a positioning sensor, and a control device. The control device is configured to acquire the current position measured by the positioning sensor and output, via the haptic feedback module, haptic feedback according to the acquired current position and a given rule, the feedback being configured to indicate the route to the destination, to the user.

[0029] The basket according to the above aspect may be configured as a cart by further including one or more wheels. According to this configuration, it is possible to expect a reduction in the user's labor in the form of a cart.

Advantages of the Invention

[0030] According to one aspect of this disclosure, it can be expected that the user's effort will be reduced when guiding them on a route to their destination. [Brief explanation of the drawing]

[0031] [Figure 1] Figure 1 schematically illustrates an example of a scenario in which this disclosure applies. [Figure 2] Figure 2 schematically illustrates an example of a given rule (the first rule). [Figure 3] Figure 3 schematically illustrates an example of a given rule (the second rule). [Figure 4] Figure 4 schematically shows an example of a scenario where a route is guided using both the first and second rules. [Figure 5] Figure 5 schematically illustrates an example of a given rule (the third rule). [Figure 6] Figure 6 is a schematic side view showing an example of the structure of a smart grip. [Figure 7] Figure 7 is a schematic plan view showing an example of the structure of a smart grip. [Figure 8] Figure 8 schematically illustrates a concrete example (first example) of the given rule. [Figure 9] Figure 9 schematically illustrates a concrete example of the given rule (second example). [Figure 10] Figure 10 schematically illustrates a specific example of the given rule (third example). [Figure 11] Figure 11 schematically illustrates a concrete example of the given rule (Case 4). [Figure 12] Figure 12 schematically illustrates a specific example of the given rule (Case 5). [Figure 13] Figure 13 schematically illustrates a specific example of the given rule (Case 6). [Figure 14] Figure 14 is a schematic plan view showing another example of the structure of the smart grip. [Figure 15]Figure 15 schematically illustrates a specific example of the given rule (Case 7). [Figure 16] Figure 16 schematically illustrates a specific example of the given rule (Case 8). [Figure 17] Figure 17 schematically illustrates a specific example of the given rule (Case 9). [Figure 18] Figure 18 schematically shows an example of the software configuration of the smart grip (control device). [Figure 19] Figure 19 is a flowchart showing an example of the processing procedure of a control device. [Figure 20] Figure 20 schematically illustrates another example of a scenario in which this disclosure applies. [Figure 21] Figure 21 schematically illustrates another example of a scenario in which this disclosure applies. [Modes for carrying out the invention]

[0032] Hereinafter, embodiments relating to one aspect of this disclosure will be described with reference to the drawings. However, the embodiments described below are merely illustrative in all respects of this disclosure. Various improvements or modifications may be made without departing from the scope of this disclosure. In implementing this disclosure, specific configurations may be adopted as appropriate depending on the embodiment. In this embodiment, the data appearing is described in natural language, but more specifically, it is specified in pseudo-language, commands, parameters, machine code, electrical signals, etc., that can be recognized by machines such as computers.

[0033] §1 Examples of Application Figure 1 schematically shows an example of a scenario to which this disclosure applies. The smart grip 1 according to this embodiment comprises a haptic feedback module 13, a positioning sensor 14, and a control device 11. The control device 11 is configured to acquire the current position 20 measured by the positioning sensor 14, and to output haptic feedback 25 corresponding to the acquired current position 20 and a given rule 23 to the user TU via the haptic feedback module 13. The feedback 25 is configured to indicate a route 33 to a destination 30.

[0034] According to this embodiment, the device that outputs the feedback 25 (smart grip 1) is a grip, so it can be grasped in common with the basket B1. For example, if the smart grip 1 can be used as a handle for the basket B1, the basket B1 can be held by grasping the smart grip 1. Therefore, according to this embodiment, the effort of grasping the user terminal separately from the basket B1 can be reduced at least partially. The smart grip 1 may be used together with the user terminal, but by providing feedback 25 via the smart grip 1, it is possible to reduce the frequency of use of the user terminal. In addition, in this embodiment, the feedback 25 indicating the route 33 to the destination 30 is determined according to a given rule 23. The user TU can recognize the route 33 indicated by the feedback 25 by interpreting the feedback 25 according to the given rule 23. This feedback 25, which can transmit the route 33 to the user TU, is provided via touch. This makes it possible to reduce at least partially the work of confirming visual information. The smart grip 1 may be used in conjunction with the output of visual information, but by providing tactile feedback 25 via the smart grip 1, it is possible to reduce the frequency of checking visual information. Therefore, according to this embodiment, it is possible to reduce the effort required of the user TU when guiding them along a route 33 to a destination 30.

[0035] [Basket] In one example of this embodiment, the smart grip 1 may be configured to be usable as a handle for basket B1. The configuration of basket B1 is not particularly limited and may be determined as appropriate depending on the embodiment.

[0036] As shown in Figure 1, in a typical example, the basket B1 may comprise a basket body B10 and a pair of handles B11. The configuration of the basket body B10 and each handle B11 may be determined as appropriate depending on the embodiment. For example, the basket body B10 may be configured to receive luggage TP from the upper end, with the upper end open and the lower end closed at the bottom. The basket body B10 may have any shape, such as a roughly rectangular parallelepiped or a roughly truncated square pyramid. The pair of handles B11 may be arranged separately along the longitudinal direction of the basket body B10. Each end of the handles B11 may be connected to each side of the basket body B10 in the short direction so that the handles B11 can rotate around an axis in the short direction. As a result, each handle B11 may be configured to change its angle by rotating at the connection point with the basket body B10 and to be gripped along the short direction. If basket B1 includes a basket body B10, then placing luggage TP (goods, etc.) into basket body B10 may be considered equivalent to placing luggage TP into basket B1.

[0037] The configuration of the basket B1 is not limited to the example in Figure 1 and may be modified as appropriate depending on the embodiment. For example, the number of handles B11 is not limited to two. There may be one handle or three or more. Furthermore, each end of one handle B11 may be connected to one side of the basket body B10 in the short direction in the longitudinal direction, and each end of the other handle B11 may be connected to the other side of the basket body B10 in the short direction in the longitudinal direction. In this way, each handle B11 may be configured to be gripped along the longitudinal direction.

[0038] Furthermore, the type of basket B1 is not limited to the example in Figure 1 and may be appropriately changed depending on the embodiment. The type of basket B1 is not particularly limited as long as it can be used to carry any object and may be appropriately selected depending on the embodiment. Basket B1 may include a cart equipped with one or more wheels. For example, basket B1 may include a shopping basket, a shopping cart, a luggage cart used at an airport, etc. Basket B1 may include bags that can be used for shopping, such as plastic bags and paper bags. Basket B1 may also include a device that can hold objects by hanging them, such as a hanger. Known baskets may be used for basket B1.

[0039] [Must be usable as a basket handle] The ability to be used as a handle for a basket (basket B1, etc.) can be configured in any way in which the smart grip 1 is positioned as at least a part of the handle that the user grasps when carrying luggage (luggage TP, etc.). In one example, the ability to be used as a handle for a basket can be configured by hanging the basket's handle portion (handle portion B11, etc.) on the smart grip 1, thereby replacing the existing handle provided on the basket. The basket's handle portion may include any component that can be hung on the smart grip 1, such as the handle portion of a bag or the hook of a hanger. In another example, the ability to be used as a handle for a basket can be configured by being attached to the basket's handle portion. In yet another example, the ability to be used as a handle for a basket can be configured by being attached to the basket body (basket body B10, etc.) as a handle portion. That is, the smart grip 1 may be configured as the basket's handle portion itself. Note that the smart grip 1 is not limited to these examples and may have any configuration that allows it to be grasped together with the basket (basket B1).

[0040] [Usage scene] The smart grip 1 according to this embodiment may be used in any situation where a route (route 33) is to be guided. For example, the smart grip 1 according to this embodiment may be used for route guidance within any facility such as a store or an airport. A store may include a commercial facility that sells goods. The sales method of goods in the store may be either unmanned or manned. Luggage TP may include all kinds of items that are carried. For example, when the smart grip 1 is used in a store (commercial facility), luggage TP may include goods sold in the store. Also, when the smart grip 1 is used in an airport, luggage TP may include the user TU's hand luggage ( This may include a carry bag, etc. Furthermore, in one example, the smart grip 1 according to this embodiment may be used for general route guidance outdoors.

[0041] Furthermore, Smart Grip 1 may be configured to monitor the behavior of users TU within a facility by further equipping it with optional sensors. For example, the behavior to be monitored may include purchasing behavior such as placing items into a shopping basket. The sensors used for monitoring and the behavior of users TU to be monitored are not particularly limited and may be appropriately selected depending on the embodiment. For example, when Smart Grip 1 is used in a store, Smart Grip 1 may be configured to detect the placement of items into a shopping basket (basket B1) and identify the detected items placed in the basket, based on the observation results of the sensors. Any sensor may be used for detecting the placement of items and identifying the items.

[0042] In one example, the smart grip 1 may further include a detection sensor and an imaging device. The imaging device may be appropriately positioned in a location where it can observe the products being placed in the basket B1 (basket body B10) when the products are being placed in it. The type of imaging device is not particularly limited and may be appropriately selected depending on the embodiment. The imaging device may include any sensor that acquires data in the form of an image or image representation, such as an RGB camera, depth sensor, infrared sensor, radar, or LiDAR (light detection and ranging). The imaging device may be used to obtain an image used for product identification.

[0043] The detection sensor may be configured as appropriate to detect when an item is placed into basket B1. The type of detection sensor may be selected as appropriate depending on the embodiment. For example, the detection sensor may consist of one or more load sensors (weight sensors). In this case, the detection sensor can detect the placement of an item by detecting the change (increase) in weight caused by the placement of the item. The detection sensor may be placed at any location where the change in weight caused by the placement of an item can be observed.

[0044] Furthermore, for example, the detection sensor may consist of one or more imaging devices. In this case, the detection sensor may be the same as the imaging device used to obtain the image used for product identification, or it may be provided separately. The detection sensor can detect the placement of a product by capturing the product in the image captured by the imaging device. The detection sensor may be placed at any location where the product is within its imaging range at least either between the time the user picks up the product and places it in basket B1, or after it has been placed in basket B1.

[0045] Furthermore, for example, the detection sensor may consist of one or more contact sensors. In this case, the detection sensor can detect the insertion of a product when it comes into contact with the product being inserted or with other objects (such as switch members) that have been displaced by the insertion of the product. The detection sensor may be placed at any location where the inserted product comes into direct or indirect contact with it. Indirect contact may include contact with other objects that have been displaced by the insertion of the product. The detection sensor may consist of multiple types of sensors.

[0046] If the smart grip 1 (control device 11) is further equipped with a detection sensor and an imaging device, the smart grip 1 (control device 11) may detect whether or not a product has been inserted based on the observation results of the detection sensor. When the detection sensor detects that a product has been inserted, the smart grip 1 (control device 11) may acquire an image from the imaging device. The timing of imaging by the imaging device is not particularly limited, as long as the inserted product can be captured in the image, and may be appropriately defined depending on the embodiment. For example, if the imaging device is positioned to be able to image the product after it has been inserted, the control device 11 may activate the imaging device in response to the detection sensor detecting that a product has been inserted, and control the operation of the imaging device to image the inserted product. The control device 11 may control the imaging device to image the product at any timing after detecting that a product has been inserted. For example, the control device 11 may control the imaging device to image the product immediately after detecting that a product has been inserted. The imaging device may be controlled. The control device 11 may appropriately acquire one or more images generated by this imaging from the imaging device. After generating one or more images, the control device 11 may stop the operation of the imaging device or switch to a standby state. According to this example, the period during which the imaging device is started can be narrowed, and a reduction in processing load and power consumption in the smart grip 1 can be expected. In another example, the imaging device may be controlled to continuously generate images. The generated images may be stored in a memory area (storage unit 12, etc.) for at least a certain period of time. Images generated at or around the time the detection sensor detects the insertion of an item are likely to show the inserted item. Therefore, the control device 11 may acquire one or more images from the images stored in the memory area that were generated at or around the time the detection sensor detected the insertion of an item.

[0047] The Smart Grip 1 (control device 11) may identify the product in the captured image by performing image analysis on the captured image. The identification method by image analysis may be determined as appropriate depending on the embodiment. In one example, if a code generated by encoding product identification information is assigned to the product, analyzing the captured image may include decoding the code assigned to the product. The type of code may be arbitrarily selected. The code may be, for example, a one-dimensional code, a two-dimensional code, etc. In another example, the control device 11 may identify the product based on its characteristics (appearance, etc.) rather than the code during image analysis.

[0048] The image analysis method is not particularly limited and may be appropriately selected depending on the embodiment. In one example, the smart grip 1 (control device 11) may analyze the captured image using general image analysis techniques such as edge detection and pattern matching. In another example, the smart grip 1 (control device 11) may analyze the captured image using a trained machine learning model that has acquired the ability to analyze images. The machine learning model is configured to include one or more computational parameters that can be adjusted by machine learning. One or more computational parameters are used for the calculation of the desired inference (such as image analysis). The machine learning model may consist of, for example, a neural network, a support vector machine, or other functional equations (computational models). The machine learning method may be appropriately selected depending on the machine learning model to be adopted (for example, backpropagation). Training a machine learning model involves adjusting (optimizing) the values ​​of the computational parameters using training samples. The machine learning model may be appropriately trained to derive the true value of the corresponding analysis result when given images of training samples. A large-scale model such as a Vision Language Model (VLM) may be used as the trained machine learning model.

[0049] The Smart Grip 1 (control device 11) may output the product identification result as appropriate. The product identification result may be used for any purpose. For example, the product identification result may be used to determine the next destination, as described later. The Smart Grip 1 may also be further equipped with a communication module 15. The Smart Grip 1 (control device 11) may output the product identification result to an external computer (store terminal, user terminal, server device, etc.).

[0050] The process of identifying products does not necessarily have to be performed on Smart Grip 1. The process of identifying products may be performed on a computer other than Smart Grip 1 (e.g., a store terminal, a user terminal, a server device, etc.). The other computer may identify products in any way it chooses. For example, the other computer may acquire information from Smart Grip 1 and identify products based on the acquired information. The information acquired from Smart Grip 1 may include sensing data such as the captured images mentioned above. The other computer may identify products in the same way as Smart Grip 1. In another example, the other computer may not acquire information from Smart Grip 1, but instead acquire sensing data from sensors (one or more sensors) installed in the facility and identify products based on the acquired sensing data.

[0051] The sensors used may be selected arbitrarily. For example, the sensors may include an imaging device installed so that the product shelves are included in the imaging range. In this case, the other computer may identify the products that have been placed in the system by performing image analysis on the images obtained by the imaging device. Alternatively, for example, the sensors may include a load sensor (weight sensor) installed to measure the weight of the products displayed on the product shelves. In this case, the other computer may identify the products that have been placed in the system by identifying the product shelves whose weight has changed (decreased) based on the measurement data from the load sensor.

[0052] Furthermore, Smart Grip 1 may be linked with external systems such as systems deployed in the facility and user terminals, or it may be used independently without linking with external systems. In one example, sensors such as imaging devices and load sensors may not be installed in the facility, and the user TU's behavior may be monitored by Smart Grip 1 alone. In another example, sensors may be installed in the facility, and Smart Grip 1 may monitor the user TU's behavior in conjunction with sensors installed in the store, or independently of sensors installed in the store (i.e., without linking with store sensors).

[0053] [Loading luggage] Placing luggage (luggage TP) into the basket (basket B1) may include any form of carrying the luggage. As illustrated in Figure 1, in a typical example, placing luggage into the basket may mean placing luggage TP into the basket body B10 of basket B1, which includes the smart grip 1. In addition, placing luggage into the basket may include any action similar to placing luggage into the basket, such as hanging the handle of the basket containing the luggage onto the smart grip 1. Hanging the handle of the basket containing the luggage may include hanging the handle of the plastic bag containing the luggage, or hanging the hook of the hanger from which the luggage is suspended.

[0054] [Current location] The current location 20 may be appropriately derived from the measurements of the positioning sensor 14. For example, the measurements of the positioning sensor 14 may be used directly as the current location 20. Alternatively, for example, the current location 20 may be calculated from the measurements of the positioning sensor 14 by applying arbitrary calculation processing to one or more measurements of the positioning sensor 14. The representation format of the current location 20 is not particularly limited and may be appropriately selected depending on the embodiment, as long as it can be used to search for a route 33 to the destination 30. In one example, the current location 20 may be configured to indicate the position on a map using two-dimensional or three-dimensional coordinate values.

[0055] [Destination] The destination 30 may be provided in any way. For example, the smart grip 1 may further include an input device 17. The destination 30 may be input via the input device 17. For example, the input device 17 may include a microphone, and the destination 30 may be input by voice. Alternatively, for example, the smart grip 1 may further include an output device 16. The destination 30 may be input by operating the input device 17 from information output from the output device 16 (e.g., map, destination candidates, etc.). Alternatively, for example, the smart grip 1 may further include a communication module 15. The destination 30 may be provided from an external computer via the communication module 15.

[0056] Furthermore, destination 30 may be specified in any way. For example, destination 30 may be specified directly by specifying a point on a map, specifying a location name (address, etc.), etc. For another example, destination 30 may be specified indirectly by specifying an object related to the target location. For example, when using Smart Grip 1 in a facility such as an airport, the object may include equipment such as boarding counters and security checkpoints. When using item 1 within a store, the target object may include any target object such as the sales floor, specific products, or a cash register. A known method may be used to designate the destination 30.

[0057] [root] The route 33 from the current location 20 to the destination 30 may consist of the entire path from the current location 20 to the destination 30, or it may consist of a portion of the path from the current location 20 to the destination 30. The portion of the path may be, for example, the path from the current location 20 to an intermediate point. The intermediate point may include any intermediate point, such as a branching point where the direction of travel is changed. Showing the route 33 to the destination 30 may consist of showing at least a portion of the path from the current location 20 to the destination 30.

[0058] In one example, showing a route 33 to destination 30 via feedback 25 may include indicating at least one of the distance and direction of travel. The starting point of travel may be arbitrarily selected. In a typical example, the starting point of travel may be the current position 20. That is, showing a route 33 to destination 30 may include indicating at least one of the distance and direction of travel from the current position 20. In another example, the starting point of travel may be a future position. The future position may be any point that can be traversed between the current position 20 and destination 30 (for example, an intermediate point on route 33 such as a waypoint). Thus, showing a route 33 to destination 30 may include foreshadowing the future path by indicating at least one of the distance and direction of travel from the future position.

[0059] The distance indicating movement may be the total distance of all routes to destination 30, or it may be the distance of some of the routes (for example, the distance to an intermediate point). For example, if the searched route 33 includes a straight path, indicating route 33 to destination 30 may include indicating the distance indicating movement in one direction. For example, feedback 25 may be configured to indicate the distance indicating movement in one direction from the current location 20.

[0060] If the feedback 25 is configured to indicate both the distance and direction of movement, the order of movement of the indicated distance and direction may be appropriately defined depending on the embodiment. For example, the indicated distance may be the distance to which movement is instructed before facing the indicated direction, or the distance to which movement is instructed after facing the indicated direction. Accordingly, the indicated direction may be the direction to which further movement is instructed after moving the indicated distance (i.e., the direction of travel after changing direction), or it may be the direction of travel for the indicated distance. If the indicated distance is the distance to which movement is instructed before facing the indicated direction, the direction of travel for the indicated distance may be any direction, such as the current direction of travel. The current direction of travel may be the direction of travel at the time the current position 20 was measured.

[0061] (Searching for a route) Route 33 may be searched using any method. For example, the control device 11 may further include a storage unit 12, and map information 125 showing a map of the search range may be stored in the storage unit 12. The control device 11 may search for Route 33 from the current location 20 to the destination 30 on the map shown by the map information 125 as appropriate. The method of searching for Route 33 on the map is not particularly limited and may be appropriately selected depending on the embodiment. Known methods may be used for the search method. The control device 11 may obtain Route 33 as a result of this search.

[0062] The process of searching for Route 33 may be executed at any time before outputting Feedback 25. For example, after searching for Route 33, the control device 11 may generate Feedback 25 using the current position 20 used to search for Route 33, and output the generated Feedback 25 immediately. That is, the control device 11 obtains the current position 20, In the series of processes that output feedback 25, the process of searching for route 33 may also be executed. In another example, after searching for route 33, the control device 11 may monitor the movement of the user TU by continuously acquiring the current position 20 measured by the positioning sensor 14. The control device 11 may determine whether the user TU's position (current position 20) satisfies predetermined conditions based on the results of monitoring the user TU's movement. Depending on whether the moving user TU's position satisfies predetermined conditions, the control device 11 may execute the process of outputting feedback 25. In this case, the current position 20 used as the starting point of route 33 may deviate from the user TU's position at the time feedback 25 is output. Therefore, the control device 11 may use the newly acquired current position 20 in the monitoring of the user TU's movement to generate feedback 25. The control device 11 may determine whether the user TU has moved away from the searched route 33 based on the results of monitoring the user TU's movement. Whether or not the user TU has moved away from Route 33 can be determined according to any indicator, such as the distance from Route 33 or whether the user changed direction at a branching point different from the branching point indicated by Route 33. If the user TU has moved away from the searched Route 33, the control device 11 may perform a re-search for Route 33. On the other hand, if the user TU has not moved away from the searched Route 33, the control device 11 may not perform a re-search for Route 33 and may continue to use the previously obtained search results for Route 33. The control device 11 may generate feedback 25 according to the past search results (Route 33) and the newly acquired current position 20. In this case, the current position 20 used to generate the feedback 25 may be different from the current position 20 used as the starting point of Route 33. In yet another example, the control device 11 may perform the Route 33 search process and the feedback 25 generation process depending on whether the position of the moving user TU satisfies predetermined conditions.

[0063] The map information 125 may be pre-loaded into the storage unit 12, or it may be provided from an external computer 5 via a network. The external computer 5 is any computer other than the Smart Grip 1. For example, the external computer 5 may be a facility terminal (store terminal), a user terminal, a server device, etc. The map information 125 may be composed of any data format that allows for searching of Route 33. A known data format may be used for the map information 125 data format.

[0064] Note that the search for Route 33 does not necessarily have to be performed on Smart Grip 1. In another example, the search for Route 33 may be performed on an external computer. Similar to the external computer 5 described above, the external computer that searches for Route 33 may be a facility terminal (store terminal), a user terminal, a server device, etc. For example, the control device 11 may request the external computer to search for Route 33 by transmitting the current location 20 to the external computer. The destination 30 may be provided to the external computer from Smart Grip 1 or another computer. The destination 30 may also be specified on the external computer. The external computer may search for Route 33 from the current location 20 to the destination 30 by any method. The method for searching for Route 33 may be the same as that of Smart Grip 1 described above. The external computer may return the search results to Smart Grip 1. Smart Grip 1 may obtain Route 33 by receiving these results.

[0065] [feedback] The configuration of the feedback 25 is not particularly limited, as long as it can be perceived through touch, and may be appropriately determined depending on the embodiment. The feedback 25 may consist of actions involving physical motion such as vibration or contact. The tactile feedback module 13 may consist of any device capable of performing actions that generate such physical motion. For example, the tactile feedback module 13 may consist of actuators such as servo motors or vibration motors. The type of actuator may be arbitrarily selected. The tactile feedback module 13 may consist of multiple types of actuators. For example, The haptic feedback module 13 may consist of a servo motor, a vibration motor, or a combination thereof. In the smart grip 1, the haptic feedback module 13 may be appropriately positioned in a location where motion can be transmitted to the part grasped by the user TU (for example, the internal space within the range that can be grasped by the user TU).

[0066] (Given rules) The given rule 23 may be appropriately defined so that the route 33 guided via feedback 25 is recognized by the user TU. For example, the given rule 23 may be defined to determine the amount of drive of a control item in the haptic feedback module 13 according to at least one of the distance and direction of movement. The amount of drive may be defined as a constant value or as a variable value. Defining the amount of drive as a variable value may correspond to varying the operation of the control item during feedback 25. The control item (control object) may be one or more pieces of equipment constituting the haptic feedback module 13, and may be arbitrarily selected from one or more pieces of equipment for outputting haptic feedback 25. The equipment may include, for example, a vibration motor, a servo motor, etc.

[0067] If a given rule 23 specifies that the amount of drive of a control item is determined according to the direction of movement, the feedback 25 obtained by the given rule 23 may be configured to logically or intuitively indicate the direction of movement. Logically indicating the direction of an object may mean communicating the direction of the object in a way that can be identified by understanding the meaning of the operation of the feedback (feedback 25) in relation to the rule (given rule 23), for example, one vibration indicating the right direction, two vibrations indicating the left direction. On the other hand, intuitively indicating the direction of an object may mean communicating the direction of the object in a way that can be directly perceived, for example, by swinging the arm of a servo motor in the direction of the object, increasing the vibration of a vibration motor corresponding to the direction of the object, or driving multiple vibration motors in an order corresponding to the direction of the object.

[0068] (Feedback due to vibration) For example, the haptic feedback module 13 may be configured to vibrate by including an actuator capable of presenting vibrations, such as a vibration motor (hereinafter also referred to as a "vibration actuator"). Accordingly, the given rule 23 may include determining the vibration attribute values ​​of the haptic feedback module 13 according to at least one of the distance and direction of movement. The vibration attribute values ​​in question may include any control quantity that characterizes the vibration. For example, the vibration attribute values ​​determined according to the distance of movement may include the number of vibrations, vibration intensity, vibration period, or a combination thereof. The distance may be evaluated using a common scale such as 50m or 100m. The distance may also be evaluated using an index that depends on the facility using the smart grip 1, such as the number of junctions to be passed. Furthermore, for example, the vibration attribute values ​​determined according to the direction of movement may include the drive pattern.

[0069] (Other tactile feedback) Feedback 25 is not limited to vibrational feedback. Feedback 25 may include other tactile feedback besides vibration, either together with or in place of vibrational feedback. For example, the tactile feedback module 13 may be configured to perform contact actions by including an actuator capable of providing direct or indirect contact, such as a servo motor with an arm. Accordingly, a given rule 23 may include determining attribute values ​​of the contact action in the tactile feedback module 13 according to at least one of the distance and direction of movement. The attribute values ​​of the contact action in question may include any control quantity that characterizes the contact action. For example, attribute values ​​of the contact action determined according to the distance of movement may include at least one of the number, intensity, and period of contact. Also, for example, attribute values ​​of the contact action determined according to the direction of movement may include the direction of contact.

[0070] (Output timing) The timing for outputting feedback 25 is not particularly limited and may be defined as appropriate depending on the embodiment.

[0071] In one example, the control device 11 may manually perform a series of information processing steps to acquire the current position 20 and output feedback 25. For example, the smart grip 1 may further include an input device 17. The control device 11 may perform the above series of information processing steps regarding the output of feedback 25 in response to an output request input from the user TU via the input device 17. The output request input may consist of, for example, voice input, operation input, etc.

[0072] In another example, the control device 11 may automatically perform the above-described series of information processing related to the output of the feedback 25.

[0073] For example, as described above, the control device 11 may monitor the movement of the user TU by continuously acquiring the current position 20 measured by the positioning sensor 14. In this movement monitoring, the control device 11 may determine whether the acquired current position 20 satisfies predetermined conditions. If the acquired current position 20 satisfies predetermined conditions, the control device 11 may execute a process to output feedback 25 corresponding to the current position 20 acquired at that time. On the other hand, if the current position 20 does not satisfy predetermined conditions, the control device 11 may omit the execution of the process to output feedback 25. In other words, in this example, the trigger for outputting feedback 25 is that the current position 20 satisfies predetermined conditions.

[0074] The predetermined conditions may be defined as appropriate depending on the location that triggers the output, such as reaching the vicinity of a branching point or changing direction at a branching point and entering the next aisle. The location that triggers the output may be arbitrarily selected. For example, the location that triggers the output may include a branching point. A branching point may include any location where aisles branch off in multiple directions. A branching point may include intersections such as crossroads and T-junctions. As an example, in a store that sells goods, multiple shelves are arranged. As a result, aisles are formed between the ends of adjacent shelves in a series direction, between the display surfaces of adjacent shelves in a parallel direction, and between the ends of shelves and the display surfaces of shelves. A branching point may be formed as the location where these aisles intersect.

[0075] Furthermore, whether or not the current location 20 satisfies predetermined conditions can be determined by any method. For example, areas that are determined to satisfy predetermined conditions can be appropriately set on the map (map information 125). The control device 11 may determine whether or not the current location 20 satisfies predetermined conditions depending on whether or not the current location 20 belongs to the set area. The control device 11 may determine that the current location 20 satisfies predetermined conditions depending on whether the current location 20 belongs to the set area. The control device 11 may determine that the current location 20 does not satisfy predetermined conditions depending on whether the current location 20 does not belong to the set area. A location on the set area may be determined to satisfy predetermined conditions or not satisfy predetermined conditions.

[0076] The process of determining whether the current location 20 satisfies predetermined conditions does not necessarily have to be performed on the smart grip 1. Similar to the route search process 33 described above, this determination process may also be performed by an external computer. The control device 11 may request the external computer to perform the determination process by transmitting the current location 20 to the external computer. The external computer may perform the determination process in response to this request. The external computer may return the determination result to the control device 11. The control device 11 may obtain the determination result by receiving this.

[0077] Furthermore, for example, the control device 11 may detect the occurrence of any event using sensors other than the positioning sensor 14. In response to detecting the occurrence of an event, the control device 11 may perform the above-described series of processes related to the output of feedback 25. The events to be detected can be arbitrarily defined. The sensors used may be appropriately selected depending on the event to be detected. For example, in cases such as sequentially touring the display locations of each product, a new next destination may be assigned upon reaching a destination. In this case, the control device 11 may detect whether or not the destination (destination 30) has been reached. In response to detecting the arrival of the destination, the control device 11 may set the next destination as the new destination 30 and perform the above-described series of processes related to the output of feedback 25.

[0078] Arrival at the destination may be detected by any method. For example, in a case where the user sequentially tours the display locations of each product, a list of products to be purchased may be provided in advance by any method, such as input by the user TU. The list may maintain a status of placement (not selected or selected) for each product. Within the target store, the order in which the user tours the display locations of each product to be purchased shown in the list may be determined automatically or manually by any method. The order of tours may be determined by a known method. The control device 11 may appropriately acquire the identification result of the product placed in basket B1. Based on the acquired identification result, the control device 11 may determine whether the placed product is a target product selected as the destination 30 from among the products to be purchased included in the list.

[0079] If the item that has been put in is not the intended purchase item, the control device 11 may continue to guide the customer along the route (route 33) to the intended purchase item. Upon detecting the putting in of an item that is not the intended purchase item, the control device 11 may perform the above series of processes related to the output of feedback 25 while maintaining the setting of destination 30. As a result, when the putting in of another item is detected, the control device 11 may output feedback 25 configured to indicate the route to the intended purchase item. If the item that has been put in is another intended purchase item, the control device 11 may change the status of the put in item (the other intended purchase item) to selected. On the other hand, the control device 11 may detect that the customer has reached their destination, depending on whether the item that has been put in is the intended purchase item. Upon detecting that the customer has reached their destination, the control device 11 may set the display location of the next intended purchase item to be visited after the intended purchase item, whose status is not selected, as the new destination 30, and perform the above series of processes related to the output of feedback 25. The display location of each item may be appropriately defined on the map (map information 125).

[0080] Product identification may be performed by any method. For example, the above method using a detection sensor and an imaging device may be used as the product identification method. A known method may also be used as the product identification method. Furthermore, the product identification process may be performed on Smart Grip 1 or on another computer other than Smart Grip 1. In the former case, the control device 11 may obtain the product identification result by performing the product identification process. In the latter case, the control device 11 may obtain the product identification result from another computer.

[0081] The method for detecting arrival at the destination is not limited to this example and may be modified as appropriate depending on the embodiment. In another example, whether or not the destination has been reached may be determined using the method described above using the current location 20. In this case, the location that triggers the output may include the destination (such as the product display location). The predetermined conditions may be defined as appropriate depending on the destination.

[0082] [Specific example] The given rule 23 may be appropriately selected depending on the equipment of the haptic feedback module 13. For example, if the haptic feedback module 13 is configured to vibrate, the given rule 23 may include at least one of the following rules 1 to 3.

[0083] (1) Rule 1 Figure 2 schematically shows an example (first rule) of a given rule 23 according to this embodiment. In one example, indicating a route 33 to a destination 30 may include indicating a distance 50 to be traveled. The given rule 23 may include determining at least one of the vibration frequency, vibration intensity, and vibration period of the haptic feedback module 13 according to the distance 50 to be traveled (first rule). Accordingly, the feedback 25 may be configured to indicate the distance 50 to be traveled on the route 33 by at least one of the vibration frequency, vibration intensity, and vibration period. As described above, the distance 50 may be evaluated using a common scale (50m, 100m, etc.) or an index that depends on the facility using the smart grip 1 (number of junctions to be passed, etc.).

[0084] The correspondence between distance 50 and each attribute value may be defined arbitrarily. For example, the number of vibrations may be determined such that the number of vibrations increases as the distance 50 increases, and decreases as the distance 50 decreases. The correspondence between distance 50 and the number of vibrations may be the opposite of this correspondence. Also, for example, the vibration intensity may be determined such that the vibration intensity increases as the distance 50 increases, and decreases as the distance 50 decreases. The correspondence between distance 50 and vibration intensity may be the opposite of this correspondence. Also, for example, the vibration period may be determined such that the vibration period decreases as the distance 50 increases, and increases as the distance 50 decreases. The correspondence between distance 50 and vibration period may be the opposite of this correspondence. Each attribute value (number of vibrations, vibration intensity, and vibration period) may be increased or decreased in steps or continuously. The duration of one vibration may be defined arbitrarily.

[0085] In one example, distance 50 may be the distance that instructs movement in one direction. In Figure 2, a scenario is assumed in which the destination 30 lies on a straight line in one direction from the current position 20. In this scenario, distance 50 may be the distance from the current position 20 to the destination 30. However, distance 50 is not limited to this example. In another example, the destination 30 may be located at a place that can be reached by passing through one or more branching points while changing direction at each of them from the current position 20. In this case, distance 50 may be the straight-line distance from the current position 20 to an intermediate point (for example, the first branching point where direction is changed). That is, distance 50 may be the distance of a part of the route. The endpoint of the route indicated by distance 50 is not limited to the destination 30, but may be an intermediate point. In yet another example, when the destination 30 is located at a place that can be reached by passing through one or more branching points while changing direction at each of them from the current position 20, distance 50 may be the total distance of all routes from the current position 20 to the destination 30. The distance 50 may be the straight-line distance from the current location 20 to the destination 30. In another example, the starting point of the route indicated by distance 50 is not limited to the current location 20, but may be a future location.

[0086] Furthermore, the direction in which movement over a distance of 50 is instructed may be determined as appropriate depending on the embodiment. In one example, the direction in which movement over a distance of 50 is instructed may be the current direction of travel of the user TU. The current direction of travel may be detected by any method. For example, the smart grip 1 may be further equipped with sensors such as an acceleration sensor. The control device 11 may detect the current direction of travel according to the measurement results of the sensors. Also, for example, if the current position 20 measured by the positioning sensor 14 is continuously acquired, the control device 11 may measure the direction of change of the current position 20 and detect the measured direction of change as the current direction of travel. When instructing movement over a distance of 50 in the current direction of travel, the control device 11 may generate feedback 25 according to this first rule, depending on whether the route 33 from the current position 20 to the destination 30 includes a path that moves in the current direction of travel.

[0087] In one example of this embodiment, the distance 50 that instructs movement is the number of vibrations of the feedback 25. The vibrations are transmitted by at least one of the number of vibrations, vibration intensity, and vibration period. The user TU can recognize the distance 50 traveled along Route 33 using at least one of the number of vibrations, vibration intensity, and vibration period as clues. This allows for proper guidance along at least a portion of Route 33 to the destination 30.

[0088] In one example, after outputting feedback 25 in accordance with this first rule, the control device 11 may monitor the user TU's movement by continuously acquiring the current position 20 measured by the positioning sensor 14. The control device 11 may determine whether or not the movement of distance 50 has been completed based on the results of this monitoring. If it is determined that the movement of distance 50 has been completed, the control device 11 may output feedback from at least one of the haptic feedback module 13 and the output device 16 to notify that the movement of distance 50 has been completed.

[0089] (2) Rule 2 Figure 3 schematically shows an example (second rule) of a given rule 23 according to this embodiment. In this example, indicating a route 33 to a destination 30 may include indicating a direction 55 that directs movement. The given rule 23 may include determining the drive pattern of the haptic feedback module 13 according to the direction 55 that directs movement (second rule). Accordingly, the feedback 25 may be configured to indicate a direction 55 that directs movement along the route 33 by the drive pattern of the haptic feedback module 13. In situations where the feedback 25 includes feedback by vibration, the drive pattern may be read as a vibration pattern.

[0090] In one example, the indicated direction 55 may be the direction in which the user changes direction at the current position 20. In Figure 3, it is assumed that the user TU has reached the final branching point, and can reach the destination 30 by changing direction to direction 55 at this branching point and then moving in a straight line. In this scenario, direction 55 may be the direction from the current position 20 toward the destination 30. However, direction 55 is not limited to this example. In another example, the destination 30 may be located in a place that can be reached by passing through one or more branching points from the current position 20 while changing direction at each of them. In this case, direction 55 may be the direction from the current position 20 toward an intermediate point (for example, the branching point where the user first changes direction). That is, direction 55 may consist of the direction of movement in one direction from the current position 20. In yet another example, even if the destination 30 is located in a place that can be reached by passing through one or more branching points from the current position 20 while changing direction at each of them, direction 55 may still be the direction from the current position 20 toward the destination 30. In another example, the starting point of the path indicated by direction 55 is not limited to the current position 20, but may be a future position. Direction 55 may be composed of the directions taken at branching points on route 33.

[0091] (Drive pattern) The drive pattern is not particularly limited and may be defined as appropriate depending on the embodiment, as long as the direction 55 being indicated can be identified. For example, determining the drive pattern according to the direction 55 indicating movement may include determining the number of vibrations according to the direction 55 indicating movement, such as indicating the right direction with one vibration and the left direction with two vibrations. The correspondence between the number of vibrations and the direction 55 being indicated is not limited to the above example and may be determined as appropriate depending on the embodiment. Indicating the direction 55 of an object by the number of vibrations is one example of logically indicating the direction of an object.

[0092] Furthermore, for example, the haptic feedback module 13 may include multiple vibration actuators. These multiple vibration actuators may be arranged separately in any direction (forward / backward, left / right, etc.). This allows each vibration actuator to be positioned in a different direction, and the haptic feedback module 13 may be configured to vibrate at multiple locations. In this case, determining the drive pattern according to the direction 55 that instructs movement may include vibrating the vibration actuator corresponding to the direction 55 that instructs movement more strongly than the remaining vibration actuators. In other words, determining the drive pattern according to the direction 55 that instructs movement may include vibrating the location corresponding to the direction 55 that instructs movement more strongly than the remaining locations among the multiple vibrable locations of the haptic feedback module 13. Corresponding to the direction of the object may mean being positioned in the direction of the object. Indicating the direction of the object by the location that vibrates strongly (the arrangement of the vibration actuators) is one example of intuitively indicating the direction of the object.

[0093] As a simple example, the haptic feedback module 13 may be equipped with two vibration motors. The two vibration motors may be positioned separately in the left and right directions. The haptic feedback module 13 may indicate leftward by vibrating the vibration motor positioned to the left more strongly than the vibration motor positioned to the right. Alternatively, the haptic feedback module 13 may indicate rightward by vibrating the vibration motor positioned to the right more strongly than the vibration motor positioned to the left.

[0094] Increasing the vibration intensity may consist of increasing the vibration strength, increasing the vibration period, or a combination thereof. The remaining areas (vibration actuators) may or may not be vibrated. If the latter is adopted, vibrating the vibration actuator corresponding to the direction 55 that instructs movement more strongly than the remaining vibration actuators may include operating only the vibration actuator corresponding to the direction 55 that instructs movement, and stopping (including pausing) the operation of the remaining vibration actuators.

[0095] Furthermore, for example, similar to the above, the haptic feedback module 13 may include multiple vibration actuators. In this case, determining the drive pattern according to the direction 55 that instructs movement may include determining the order in which at least two or more of the multiple vibration actuators are vibrated in the direction 55 that instructs movement. In other words, determining the drive pattern according to the direction 55 that instructs movement may include determining the order in which at least two or more of the multiple vibrable locations of the haptic feedback module 13 are vibrated.

[0096] If the direction of the target (direction 55) can be identified, the order in which the vibrations are made may be appropriately defined depending on the embodiment. For example, determining the order in which the vibrations are made toward the direction of the target may be done by selecting at least two or more vibration actuators located along the direction of the target from among a plurality of vibration actuators, and by making the vibration actuators located on the rear end (opposite direction to the direction of the target) side of the selected two or more vibration actuators vibrate first, and the vibration actuators located on the front end (leading end) side of the direction of the target vibrate later. Vibrating two or more vibration actuators in the determined order may be done by gradually switching which vibration actuator is vibrated from the first vibration actuator to the next vibration actuator, or by stopping the vibration of the first vibration actuator and then starting the vibration of the next vibration actuator. "Vibration actuator" may be read as "location" where vibration occurs. Indicating the direction of the target by this vibration order is an example of intuitively indicating the direction of the target. The vibrations in the determined order may be repeated multiple times.

[0097] As a simple example, the haptic feedback module 13 may have two vibration motors, similar to the above. In this case, the haptic feedback module 13 may indicate the right direction by vibrating the vibration motor positioned to the left, and then vibrating the vibration motor positioned to the right. Alternatively, the haptic feedback module 13 may indicate the left direction by vibrating the vibration motor positioned to the right, and then vibrating the vibration motor positioned to the left. You may point in a direction.

[0098] In one example of this embodiment, the direction 55 instructing movement is transmitted by the drive pattern (vibration pattern) of the haptic feedback module 13 in the feedback 25. The user TU can recognize the direction 55 to move along the route 33 using the drive pattern (vibration pattern) of the haptic feedback module 13 as a clue. This allows for proper guidance along at least a portion of the route 33 to the destination 30.

[0099] (Combination of Rule 1 and Rule 2) Figure 4 schematically shows an example of a scenario in which both the first and second rules are used to guide the user along Route 33. In this example, both the first and second rules may be used together. The control device 11 may decide which feedback 25 of the first or second rule to prioritize based on any criterion. For example, if the current direction of travel matches the direction of travel of Route 33, the control device 11 may prioritize the presentation of distance using feedback 25 according to the first rule. On the other hand, if the current direction of travel does not match the direction of travel of the route, the control device 11 may prioritize the presentation of direction using feedback 25 according to the second rule.

[0100] Figure 4 assumes a scenario where the destination 30 is located at a point reached by moving a distance of 501 in the current direction of travel, changing direction to 551 (to the right in the figure) at the junction, and then moving a distance of 502 in direction 551. In one example, in this scenario, the control device 11 may first instruct the user TU to move a distance of 501 in the current direction of travel using feedback 25 according to the first rule. After the movement of distance 501 is completed, the control device 11 may instruct the user TU to turn towards direction 551 at the junction reached by the movement of distance 501 using feedback 25 according to the second rule. Then, the control device 11 may instruct the user TU to move a distance of 502 in direction 551 using feedback 25 according to the first rule. This allows for proper guidance along the route 33 to the destination 30.

[0101] (3) Rule 3 Figure 5 schematically shows an example (third rule) of a given rule 23 according to this embodiment. In one example, indicating a route 33 to a destination 30 may include indicating the number of second junctions 65 that are passed without changing direction of travel from the current position 20 to the first junction 60. The given rule 23 may include determining the number of vibrations of the haptic feedback module 13 according to the number of second junctions 65 that are passed without changing direction of travel from the current position 20 to the first junction 60. Accordingly, the feedback 25 may be configured to indicate the number of junctions (second junctions 65) passed on the route 33 by movement from the current position 20 by the number of vibrations. The third rule corresponds to a form of the first rule. In the third rule, the distance 505 that instructs movement is expressed by the number of second junctions 65 indicated by the number of vibrations. This distance 505 that instructs movement is an example of the distance 50 in the first rule described above.

[0102] The first branching point 60 is a branching point where the direction of travel is changed. The second branching point 65 is a branching point that is passed without changing the direction of travel. In one example, determining the number of vibrations according to the number of second branching points 65 may be done by determining the number of vibrations to be equal to the number of second branching points 65. In Figure 5, it is assumed that the first branching point 60 is located at a place that can be reached by moving from the current position 20 in the current direction of travel by a distance of 505, which is the distance that passes through two second branching points 65. Therefore, the number of vibrations may be determined to be 2. However, the number of vibrations does not necessarily have to be equal to the number of second branching points 65, as long as the number of second branching points 65 is reflected. In another example, the number of vibrations may be determined to be 3, including the number of first branching points 60 (1). If the number of second branching points 65 can be determined, the number of vibrations may be different from the number of second branching points 65. The duration of one vibration may be arbitrarily defined.

[0103] Furthermore, Figure 5 assumes a scenario where the destination 30 is located at a place that can be reached by changing direction to direction 555 at the first branching point 60 and then moving a distance of 506 in one direction. In other words, in the example in Figure 5, the first branching point 60 is the final branching point before reaching the destination 30. The first branching point 60 may include such a final branching point. If the vehicle changes direction at multiple branching points before reaching the destination 30, the first branching point 60 may include intermediate branching points other than the final branching point. In this case, the control device 11 may guide the vehicle along the route 33 to the destination 30 by repeatedly providing feedback 25 according to the third rule.

[0104] In one example, the third rule may be used in combination with at least one of the first rule (in a form other than the third rule) and the second rule. The control device 11 may decide on any criterion which feedback 25 of the third rule or the first rule (which does not depend on the number of second branching points 65) to prioritize. For example, if a second branching point 65 exists within the range of movement in one direction, the control device 11 may prioritize the presentation of distance by feedback 25 according to the third rule. On the other hand, if a second branching point 65 does not exist within the range of movement in one direction, the control device 11 may prioritize the presentation of distance by feedback 25 according to the first rule (which does not depend on the number of second branching points 65). The relationship between the third rule and the second rule may be the same as the relationship between the first rule and the second rule described above.

[0105] In one example, in the scene shown in Figure 5, the control device 11 may instruct the user TU to move a distance of 505 in the current direction of travel, passing through the two second branching points 65, using feedback 25 according to the third rule. After completing the movement of distance 505 and reaching the first branching point 60, the control device 11 may instruct the user TU to turn in the direction 555 at the first branching point 60, using feedback 25 according to the second rule. Then, the control device 11 may instruct the user TU to move a distance of 506 in the direction 551, using feedback 25 according to the first rule. This allows for proper guidance along the route 33 to the destination 30.

[0106] In one example of this embodiment, the number of branching points (second branching point 65) that are passed without changing direction of travel is communicated by the number of vibrations in the feedback 25. The user TU can recognize the distance 505 traveled on the route 33 using the number of vibrations as a clue. This makes it possible to properly guide at least a portion of the route 33 to the destination 30.

[0107] (4) Others As described above, in one example, if the haptic feedback module 13 is configured to vibrate, the given rule 23 may include at least one of the first to third rules. If the given rule 23 includes the first and second rules, or the second and third rules, the vibration of the second rule may be performed in common with the vibration of the first or third rule, or it may be performed separately. Note that the given rule 23 is not limited to this example and may be modified as appropriate depending on the embodiment. The given rule 23 may include other rules that define vibrations other than those described above, together with at least one of the first to third rules, or in place of the first to third rules. Furthermore, if the haptic feedback module 13 is configured to transmit motions other than vibrations, such as contact, the given rule 23 may include one or more rules that define motions other than vibrations, together with at least one of the first to third rules, or in place of the first to third rules. An example of a rule that defines contact, among the rules that define motion other than vibration, will be explained in the structural example below.

[0108] §2 Example Configuration [Hardware configuration] As shown in Figure 1, the smart grip 1 includes a computer to which a control unit 11, a memory unit 12, a haptic feedback module 13, a positioning sensor 14, a communication module 15, an output device 16, and an input device 17 are electrically connected. In the smart grip 1, at least a part of this computer may be housed in a box.

[0109] The control device 11 is configured to perform information processing based on a program and various data, including a processor P. The processor P is a hardware processor and is an example of a processor resource. The type of processor P may be appropriately selected depending on the embodiment. For example, the processor P may be a CPU (Central Processing Unit), a microcontroller, etc. It may consist of a cross-processor, FPGA (field-programmable gate array), DSP (digital signal processor), GPU (graphics processing unit), ASIC (application-specific integrated circuit), etc.

[0110] The storage unit 12 may consist of a hard disk drive, a solid-state drive, a semiconductor memory, etc. The storage unit 12 is an example of a memory resource. In this embodiment, the storage unit 12 stores various information such as program 81 and map information 125. Program 81 is a program that causes the control device 11 to perform information processing (Figure 19, described later) related to the output of feedback 25 by the haptic feedback module 13. Program 81 includes a series of instructions for said information processing.

[0111] At least one of the program 81 and the map information 125 may be stored in the storage medium SR1 instead of or together with the storage unit 12. The storage medium SR1 is configured to store various types of information (stored programs, etc.) by electrical, magnetic, optical, mechanical, or chemical means so that a machine such as a computer can read the information. The storage unit 12 and the storage medium SR1 are examples of non-temporary storage media. The Smart Grip 1 (computer) may retrieve at least one of the program 81 and the map information 125 from the storage medium SR1. The storage medium SR1 may be a disk-type storage medium (CD, DVD, etc.) or a non-disk-type storage medium such as semiconductor memory (flash memory, etc.). Any drive device may be used to read the information stored in the storage medium SR1. The type of drive device may be appropriately selected according to the storage medium SR1.

[0112] The positioning sensor 14 is configured to measure position. The type of positioning sensor 14 is not particularly limited as long as it can measure position, and may be appropriately selected depending on the embodiment. For example, the positioning sensor 14 may consist of a GPS (Global Positioning System) sensor, a GNSS (Global Navigation Satellite System) sensor, etc. Also, for example, The positioning sensor 14 may consist of a beacon receiver. In this case, the facility may be equipped with multiple beacon transmitters. The position of the smart grip 1 may be appropriately measured (estimated) from the strength of the beacon signal received by the positioning sensor 14 (beacon receiver). For example, the positioning sensor 14 may estimate the distance to each beacon transmitter according to the strength of the signal received by the beacon receiver. The positioning sensor 14 may measure the position of the smart grip 1 from the estimated distance to each beacon transmitter by tripointal surveying. At least a part of this position measurement process may be performed by the control device 11.

[0113] The communication module 15 is configured to perform wired or wireless communication over a network. The communication module 15 may consist of, for example, a wired LAN (Local Area Network) module, a wireless LAN module, etc. The type (standard) of network is not particularly limited and may be appropriately selected depending on the embodiment. The type of network may be appropriately selected from, for example, the Internet, wireless communication network, mobile communication network, telephone network, dedicated network, etc. The smart grip 1 (control device 11) can perform data communication with other computers (for example, external computer 5, etc.) via the communication module 15. In this embodiment, data communication may be performed directly or indirectly. Indirect data communication means performing data communication via another device such as a computer.

[0114] The output device 16 is configured to output information. The output device 16 may consist of, for example, a display, a speaker, an indicator light, etc. The format of the information output may be appropriately selected from text, images, sound, etc. If the output device 16 includes a display, it is preferable that the display be placed in a location where the output information can be seen while the user is holding the smart grip 1. This allows the user to check the information displayed on the display while using the smart grip 1.

[0115] The output device 16 may be used to output any information. For example, as described above, the output device 16 may be used to output information to be presented to the user TU when receiving input for the destination 30. Also, for example, if the smart grip 1 is further equipped with a detection sensor for detecting the insertion of products, the output device 16 may be used to output information related to the insertion of products in response to the detection of product insertion by the detection sensor. The information to be output may be stored in advance in the storage unit 12 or obtained from an external computer.

[0116] The input device 17 is configured to accept information input. The input device 17 may consist of, for example, a keyboard, a touch panel, an operator, a microphone, etc. The input device 17 may be used for any operation on the smart grip 1. For example, as described above, the input device 17 may be used to input the destination 30. The output device 16 and the input device 17 may be at least partially integrated by a touch panel display or the like.

[0117] Regarding the specific hardware configuration of Smart Grip 1 (computer), components can be omitted, replaced, and added as appropriate depending on the embodiment. For example, the control device 11 may include multiple hardware processors (processor P). At least one of the communication module 15, output device 16, and input device 17 may be omitted. At least one of the program 81 and map information 125 may be stored in an external storage device such as a NAS. An external storage device is also an example of a non-temporary storage medium. Smart Grip 1 may include multiple computers. The hardware configurations of each computer may or may not be the same. In addition, the computers included in Smart Grip 1 may be a specially designed computer, a general-purpose PC (Personal Computer), a tablet, etc. It may consist of a PC, terminal device (including a smartphone), etc. For example, the computer included in Smart Grip 1 may consist of a smartphone. Smart Grip 1 may be constructed by mounting a smartphone on a housing (attachment).

[0118] [Structure of Smart Grip] [1] First structure example Figures 6 and 7 are schematic side and top views showing an example (first structural example) of the structure of the smart grip 1 according to this embodiment. In one example, the smart grip 1 may further include a housing 90 that houses a haptic feedback module 13, a positioning sensor 14, and a control device 11. The housing 90 may be provided with one or more grooves (grooves 915, grooves 935, etc.) for hooking the handle portion B11 provided on the basket B1. According to this example, a smart grip 1 that can be used as a basket handle can be provided by replacing the existing basket handle portion (handle portion B11).

[0119] The structure of the Smart Grip 1, including the shape of the housing 90, the size of the housing 90, the arrangement of each component (control device 11, etc.) within the housing 90, the number of grooves, the shape of the grooves, and the arrangement of the grooves, is as described in the embodiment. The configuration may be determined as appropriate. In the example shown in Figures 6 and 7, the tactile feedback module 13 is assumed to consist of a vibration motor 130 and a servo motor 135. The output device 16 and input device 17 are assumed to consist of a touch panel display 167. The housing 90 is assumed to have a pair of grooves (915, 935). The smart grip 1 is assumed to further include a detection sensor consisting of a pair of load sensors 180 and an imaging device 19 provided separately from the detection sensors.

[0120] For the sake of explanation, in the following, the left-right direction in Figures 6 and 7 will be referred to as the "front-back direction." The left direction in Figures 6 and 7 will be referred to as the "front direction," and the right direction in Figures 6 and 7 will be referred to as the "back direction." The direction perpendicular to the plane of the paper in Figure 6 and the up-down direction in Figure 7 will be referred to as the "left-right direction." The up direction in Figure 7 will be referred to as the "right direction," and the down direction in Figure 7 will be referred to as the "left direction." The up-down direction in Figure 6 and the direction perpendicular to the plane of the paper in Figure 7 will be referred to as the "up direction." The up direction in Figure 6 will be referred to as the "up direction," and the down direction in Figure 6 will be referred to as the "down direction."

[0121] In one example, the housing 90 may comprise a first part 91, a second part 92, and a third part 93. In the example shown in each figure, the first part 91, the second part 92, and the third part 93 are arranged in a line in the front-to-back direction from rear to front. Each part (91, 92, 93) is formed in the shape of a rectangular parallelepiped. The first part 91 and the third part 93 may have substantially the same shape. The width (length in the left-to-right direction) of the second part 92 may be shorter than that of the first part 91 and the third part 93. This allows the second part 92 to constitute the part that the user grasps. In the example shown in each figure, the second part 92 extends along the front-to-back direction. Therefore, the user can hold the smart grip 1 by grasping the second part 92 with their hand along the front-to-back direction. The total length of the circumference of the second part 92 around the front-to-back axis may be determined within a range of a length that can be grasped by hand.

[0122] Side walls may be provided at the horizontal (left-right and front-back) ends of each section (91, 92, 93). A bottom surface may also be provided at the lower end of each section (91, 92, 93). This allows each section (91, 92, 93) to have an internal space enclosed by its side walls, which houses the computer portion of the Smart Grip 1. The internal spaces of the first section 91 and the second section 92 may be at least partially continuous. The internal spaces of the second section 92 and the third section 93 may also be at least partially continuous. The upper ends of each section (91, 92, 93) may be closed with a lid or the like, or they may be open.

[0123] A groove 915 may be provided on the rear end side of the first portion 91. In the example shown in each figure, the groove 915 is formed by recesses provided on the left-right opposing side walls of the first portion 91. Each recess is rectangular in shape. The groove 915 is formed by aligning the recesses in the front-rear direction. Even when the upper end of the first portion 91 is closed, the portion of the groove 915 on the upper end surface of the first portion 91 may be left open.

[0124] Similarly, a groove 935 may be provided on the front end side of the third portion 93. In the example shown in each figure, the groove 935 is formed by recesses provided on the left-right opposing side walls of the third portion 93. Each recess is rectangular in shape. The groove 935 is formed by aligning the recesses in the front-rear direction. Even when the upper end of the third portion 93 is closed, the portion of the groove 935 on the upper end surface of the third portion 93 may be open. The width (length in the front-rear direction) of each groove (915, 935) may be the same as or slightly larger than the width of the handle portion B11 of the corresponding basket B1. This allows each groove (915, 935) to be configured to receive each handle portion B11 of the basket B1.

[0125] (Load sensor) The pair of load sensors 180 may be positioned in the internal spaces of the first part 91 and the third part 93, respectively, aligned with the positions of the pair of grooves (915, 935). If the portion of B11 that hooks onto the smart grip 1 is formed in a straight line, in one example, the recesses constituting each groove (915, 935) may be formed such that the lower end of the recess is located slightly below the measuring portion (contact surface with the handle portion B11) of the load sensor 180. This ensures that when each handle portion B11 is hooked onto each groove (915, 935), each handle portion B11 contacts the measuring portion of each load sensor 180. As a result, each load sensor 180 can observe the weight change when luggage TP (goods, etc.) is placed in the basket B1 (basket body B10). The placement of the load sensor 180 is just one example of a location where a change in load occurs due to the placement of luggage TP. However, the positional relationship between each groove (915, 935) and each load sensor 180 is not limited to this example and may be appropriately changed depending on the shape of the handle portion B11 and other embodiments. For example, each handle portion B11 may be formed such that the portion located in the internal space of each portion (91, 93) curves downward when placed on the smart grip 1. In this case, the recesses constituting each groove (915, 935) may be formed such that the lower end of the recess is located above the measuring portion of the load sensor 180.

[0126] (Imaging device) In the example shown in each figure, the imaging device 19 is positioned within the internal space of the first part 91. For example, an opening may be provided in the bottom surface of the first part 91 to match the position of the imaging unit 191 (light-receiving unit, etc.) of the imaging device 19. The imaging device 19 may be positioned so that the imaging unit 161 is exposed from the bottom surface of the first part 91 by fitting the imaging unit 191 into the opening in its bottom surface. This allows the imaging device 19 to image the area below the smart grip 1. Therefore, when the smart grip 1 is attached to the basket B1 by hooking each handle B11 of the basket B1 into the respective grooves (915, 935), the imaging device 19 can include the storage area of ​​the basket body B10 in its imaging range. As a result, when luggage TP is placed into the basket body B10, the imaging device 19 can observe the luggage TP being placed. This position of the imaging device 19 is just one example of a location where the luggage TP being placed can be observed. The pair of load sensors 180 and the imaging device 19 may be used for any purpose. For example, the pair of load sensors 180 and the imaging device 19 may be used for identifying goods by the method described above.

[0127] (Box / Display) In addition, in the example shown in each figure, the control device 11, memory unit 12, positioning sensor 14, and communication module 15 are housed in a box 1100. The box 1100 is formed in the shape of a rectangular parallelepiped and is located in the internal space of the third part 93. A touch panel display 167 is located on the top surface of the box 1100. When the upper end of the third part 93 is closed, the touch panel display 167 may be positioned so that its screen is exposed from the upper end surface of the third part 93. In this example, when the user TU properly grasps the smart grip 1, the third part 93 is located in front of the second part 92. Therefore, while using the smart grip 1, the screen of the touch panel display 167 is positioned slightly in front of the user TU's gripping hand. This allows the user TU to easily view the screen of the touch panel display 167 without it being obstructed by body parts while using the smart grip 1.

[0128] (Haptic feedback module) In the example shown in each figure, the tactile feedback module 13 includes a vibration motor 130 and a servo motor 135. The vibration motor 130 and the servo motor 135 are located in the internal space of the second section 92. In this example, the second section 92 constitutes the part that the user TU grips. Therefore, by being located in the second section 92, the vibration motor 130 and the servo motor 135 can provide tactile feedback 25 to the user TU using the smart grip 1. This location of the vibration motor 130 and the servo motor 135 is an example of a location where motion can be transmitted to the part that the user TU grips. The types of vibration motor 130 and the servo motor 135 are not particularly limited and may be appropriately selected depending on the embodiment.

[0129] The vibration motor 130 is configured to output feedback by generating vibration. The servo motor 135 may include a shaft 1351 and an arm 1352. The shaft 1351 constitutes the axis of rotation. The arm 1352 is attached to the shaft 1351. For example, the arm 1352 may be attached to the end of the shaft 1351. The arm 1352 rotates around the axis of the shaft 1351 in accordance with the rotation of the shaft 1351. The arm 1352 may be configured to rotate clockwise or counterclockwise so that a part of the arm 1352 (e.g., the tip) directly contacts the hand of the user TU grasping the second part 92. Alternatively, the arm 1352 may be configured so that, by rotating clockwise or counterclockwise, the tip of the arm 1352 strikes the side wall of the second part 92, and the resulting vibration (indirect contact) is transmitted to the hand of the user TU grasping the second part 92. With these configurations, the servo motor 135 is configured to output feedback through direct or indirect contact. In the example shown in each figure, the arm 1352 is formed in a flat plate shape. However, the shape of the arm 1352 is not limited to this example. As long as it is possible to output direct or indirect contact by rotating, the shape of the arm 1352 is not particularly limited and may be appropriately selected depending on the embodiment.

[0130] (Given rules) In the first structural example, the given rule 23 may include at least one of the first to third rules described above. A vibration motor 130 may be used for the output of the vibration feedback 25 according to the first to third rules. The given rule 23 may also include determining attribute values ​​of the contact operation in the servo motor 135 according to at least one of the distance and direction of movement. For example, the attribute values ​​of the contact operation determined according to the distance of movement may include at least one of the number of contacts, intensity, and period. Also, for example, the attribute values ​​of the contact operation determined according to the direction of movement may include the direction of contact (e.g., the direction in which the arm 1352 swings). In one example, the given rule 23 may include at least one of the following first to sixth examples.

[0131] (A) Case 1 Figure 8 schematically shows a specific example (first example) of the given rule 23 according to this embodiment. In one example, indicating the route 33 to the destination 30 may include indicating the direction 56 to indicate movement. The given rule 23 may include determining the direction in which the arm 1352 of the servo motor 135 swings according to the direction 56 to indicate movement. Accordingly, the feedback 25 may be configured to indicate the direction 56 to move along the route 33 based on the direction in which the arm 1352 of the servo motor 135 swings. The direction 56 may be the same as the direction 55 of the second rule described above.

[0132] In the example shown in each figure, by rotating the arm 1352 clockwise (swinging the arm 1352 clockwise), the impact from the arm 1352 is transmitted to the left side of the user TU's hand grasping the second part 92, providing feedback indicating a leftward direction. Conversely, by rotating the arm 1352 counterclockwise (swinging the arm 1352 counterclockwise), the impact from the arm 1352 is transmitted to the right side of the user TU's hand grasping the second part 92, providing feedback indicating a rightward direction. This use of the direction of arm 1352 to indicate the direction of the object is an example of intuitively indicating the direction of the object.

[0133] In one example of this embodiment, the direction 56 instructing movement is transmitted by the direction of swing of the arm 1352 of the servo motor 135 in the feedback 25. The user TU can recognize the direction 56 to move along the route 33 by using the direction of swing of the arm 1352, which is in direct or indirect contact with them, as a clue. This allows for proper guidance along at least a portion of the route 33 to the destination 30.

[0134] The feedback 25 by the servo motor 135 is not limited to this example and may be modified as appropriate depending on the embodiment. In another example, a given rule 23 may include determining at least one of the number of contacts, intensity, and period of contact by the arm 1352 of the servo motor 135, depending on the distance to be instructed to move. Accordingly, the feedback 25 may be configured to indicate the distance to be moved on the route 33 by at least one of the number of contacts, intensity, and period. The distance to be instructed to move may be the same as the distance 50 of the first rule described above. The intensity of the contact may be controlled by the speed at which the arm 1352 is swung. According to one example of this embodiment, the distance to be instructed to move is communicated by at least one of the number of contacts, intensity, and period of contact by the arm 1352 of the servo motor 135 in the feedback 25. This makes it possible to properly guide at least a portion of the route 33 to the destination 30. The feedback 25 by contact of the servo motor 135 in the first example may be used together with the feedback 25 by vibration of the vibration motor 130 according to at least one of the first to third rules described above.

[0135] (B) Second case Figure 9 schematically shows a specific example (second example) of the given rule 23 according to this embodiment. In one example, indicating the route 33 to the destination 30 may include indicating the distance 519 to instruct movement. The given rule 23 may include determining the number of times to swing the arm 1352 of the servo motor 135 according to the distance 519 to instruct movement. Accordingly, the feedback 25 may be configured to indicate the distance 519 to be moved on the route 33 based on the number of times the arm 1352 of the servo motor 135 is swung. The distance 519 may be the same as the distance 50 of the first rule described above.

[0136] The relationship between distance 519 and the number of swings of arm 1352 may be arbitrarily defined. For example, the number of swings of arm 1352 may be determined such that the longer the distance 519, the more swings there are, and the shorter the distance 519, the fewer swings there are. The relationship between distance 519 and the number of swings may also be the opposite of this relationship. The number of swings of arm 1352 may be increased or decreased in stages or continuously. The operation of swinging arm 1352 may be appropriately defined depending on the embodiment. For example, the operation of swinging arm 1352 may consist of rotating arm 1352 in either a clockwise or counterclockwise direction, and then rotating it back in the other direction. The time for one swing of arm 1352 may be arbitrarily defined. The amount of swing of arm 1352 may also be arbitrarily defined. For example, the control device 11 may drive the servo motor 135 to swing the arm 1352 to such an extent that the arm 1352 directly or indirectly contacts the user TU's hand. That is, the number of times the arm 1352 swings may correspond to the number of times the arm 1352 contacts the user TU's hand. This allows the number of times the servo motor 135 has swung the arm 1352 to be appropriately communicated to the user TU. In this second example, the direction in which the arm 1352 swings is not particularly limited and may be arbitrarily selected.

[0137] In one example of this embodiment, the distance 519 to be instructed to move is communicated by the number of times the arm 1352 of the servo motor 135 swings in the feedback 25. The user TU can recognize the distance 519 to be moved on the route 33 using the number of times the arm 1352 swings (number of contacts) as a clue. This makes it possible to properly guide at least a portion of the route 33 to the destination 30.

[0138] (C) Third case Figure 10 schematically shows a specific example (third example) of the given rule 23 according to this embodiment. In one example, indicating a route 33 to destination 30 means indicating a distance 518 that instructs movement in one direction, and indicating a direction 5 that instructs further movement after moving the indicated distance 518. It may include indicating 68. A given rule 23 may include determining the number of times the arm 1352 of the servo motor 135 swings in accordance with a distance 518 that instructs movement in one direction. In addition, a given rule 23 may further include determining the direction in which the arm 1352 of the servo motor 135 swings in accordance with a direction 568 that instructs further movement after moving the instructed distance 518.

[0139] Accordingly, the feedback 25 may be configured to indicate the distance 518 traveled along the route 33 based on the number of times the arm 1352 of the servo motor 1355 swings, and to indicate the direction in which to change direction after traveling the distance 518 (direction 568) based on the direction in which the arm 1352 swings. Distance 518 is an example of distance 50 according to the first rule above. Direction 568 is an example of direction 56 above. The third example is an example of a case in which the feedback 25 of the second example is output along with the feedback 25 of the first example above.

[0140] In one example of this embodiment, the distance 518 to be instructed to move is transmitted by the number of times the arm 1352 of the servo motor 135 is swung. The direction in which to change direction after moving the distance 518 is transmitted by the direction in which the arm 1352 is swung. The user TU can recognize the distance 518 to be moved on the route 33 by using the number of times the arm 1352 of the servo motor 135 is swung (number of contacts) as a clue. The user TU can also recognize the direction to face after moving the distance 518 (direction 568) by using the direction in which the arm 1352 is swung as a clue. This makes it possible to properly guide at least a portion of the route 33 to the destination 30. Furthermore, since both the distance 518 to be instructed to move and the direction 568 can be transmitted with a single action of swinging the arm 1352, the efficiency of control can be expected to be improved.

[0141] (D) Fourth case Figure 11 schematically shows a specific example (fourth example) of the given rule 23 according to this embodiment. In one example, indicating the route 33 to the destination 30 may include indicating the number of second branching points 65 that are passed through from the current position 20 to the first branching point 60 without changing direction of travel. The given rule 23 may include determining the number of times the arm 1352 of the servo motor 135 is swung according to the number of second branching points 65 that are passed through from the current position 20 to the first branching point 60 without changing direction of travel.

[0142] Accordingly, the feedback 25 may be configured to indicate the number of branching points (second branching point 65) to be passed when moving from the current position 20 on the route 33 by the number of times the arm 1352 of the servo motor 135 is swung. The distance 517 that instructs the movement, expressed by the number of second branching points 65, is an example of the distance 505 (distance 50 of the first rule) of the third rule described above. The fourth example is an example of a case in which the feedback 25 of the third rule described above is adapted for the servo motor 135.

[0143] The relationship between the number of times arm 1352 is swung and the number of second branching points 65 may be the same as the relationship between the number of vibrations and the number of second branching points 65 in the second rule described above. That is, in one example, determining the number of times arm 1352 is swung according to the number of second branching points 65 may be done by determining the number of times arm 1352 is swung so that it is equal to the number of second branching points 65. In the scenario of Figure 11, the number of times arm 1352 is swung may be determined to be 2, depending on the number of second branching points 65. However, the number of times arm 1352 is swung does not necessarily have to be equal to the number of second branching points 65, as long as the number of second branching points 65 is reflected. In another example, the number of times arm 1352 is swung may be determined to be 3, including the number of first branching points 60 (1). The number of times arm 1352 is swung may be different from the number of second branching points 65, as long as the number of second branching points 65 can be identified.

[0144] According to one example of this embodiment, the branching point (second branching point 65) that is passed without changing the direction of travel The number is transmitted by the number of times the arm 1352 of the servo motor 135 swings. The user TU can use the number of times the arm 1352 of the servo motor 135 swings as a clue to recognize the distance 517 traveled along route 33. This allows for proper guidance along at least a portion of route 33 to destination 30.

[0145] In addition, in the fourth example, indicating the route 33 to the destination 30 may further include indicating the direction 567 to indicate movement at the first branching point 60. The given rule 23 may further include determining the direction in which the arm 1352 of the servo motor 135 swings according to the direction 567 to indicate movement at the first branching point 60 (i.e., the direction of the change of direction). Accordingly, the feedback 25 may be configured to further indicate the direction of the change of direction (direction 567) at the first branching point 60 based on the direction in which the arm 1352 of the servo motor 135 swings. Direction 567 is an example of the direction 56 described above.

[0146] In one example of this embodiment, the direction of the change of direction at the first branching point 60 is further transmitted by the direction in which the arm 1352 of the servo motor 135 swings. The user TU can further recognize the direction to face at the first branching point 60 (direction 567) using the direction in which the arm 1352 of the servo motor 135 swings as a clue. This makes it possible to properly guide at least a portion of the route 33 to the destination 30. Also, similar to the third example, since both the distance 517 and the direction 567 that instructs movement can be transmitted with a single movement of swinging the arm 1352, the efficiency of control can be expected to be improved.

[0147] (E) Case Study 5 Figure 12 schematically shows a specific example (5th example) of the given rule 23 according to this embodiment. In one example, indicating a route 33 to a destination 30 may include indicating a distance 511 that instructs movement in one direction, and indicating a direction 561 that instructs further movement after moving the instructed distance 511. The given rule 23 may include determining at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor 130 according to the distance 511 that instructs movement in one direction. In addition, the given rule 23 may further include determining the direction in which the arm 1352 of the servo motor 135 swings according to the direction 561 that instructs further movement after moving the distance 511 instructed by the vibration motor 130.

[0148] Accordingly, the feedback 25 may be configured to indicate the distance 511 traveled along the route 33 based on at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor 130, and to indicate the direction of change of direction (direction 561) after traveling the distance 511 based on the direction in which the arm 1352 of the servo motor 135 swings. Distance 511 is an example of distance 50 of the first rule described above. Direction 561 is an example of direction 56 described above. The fifth example is an example of a case in which feedback 25 of the first rule from the vibration motor 130 is output along with feedback 25 of the first example from the servo motor 135.

[0149] The timing for driving the servo motor 135 (to swing the arm 1352) may be determined as appropriate depending on the embodiment. The control device 11 may drive the servo motor 135 simultaneously with the vibration motor 130. The control device 11 may drive the servo motor 135 while the user TU is moving, with a delay after the vibration of the vibration motor 130 has started. Alternatively, the control device 11 may drive the servo motor 135 at any timing after the vibration of the vibration motor 130 has finished but before the movement of the distance 511 is completed.

[0150] In one example of this embodiment, the distance 511 that instructs movement is transmitted by at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor 130. The direction of change of direction after moving the distance 511 is transmitted by the direction in which the arm 1352 of the servo motor 135 swings. The user TU is transmitted by at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor 130. Using either of these as a clue, the distance 511 traveled along route 33 can be recognized. In addition, the user TU can recognize the direction to face after traveling the distance 511 (direction 561) using the direction in which the arm 1352 of the servo motor 135 swings as a clue. This allows for proper guidance along at least a portion of route 33 to destination 30.

[0151] (F) Case 6 Figure 13 schematically shows a specific example (sixth example) of the given rule 23 according to this embodiment. In one example, indicating the route 33 to the destination 30 may include indicating the number of second branching points 65 that are passed through from the current position 20 to the first branching point 60 without changing direction of travel, and indicating the direction 562 that instructs movement at the first branching point 60. The given rule 23 may include determining the number of vibrations of the vibration motor 130 according to the number of second branching points 65 that are passed through from the current position 20 to the first branching point 60 without changing direction of travel. In addition, the given rule 23 may further include determining the direction in which the arm 1352 of the servo motor 135 swings according to the direction 562 that instructs movement at the first branching point 60 (i.e., the direction of changing direction).

[0152] Accordingly, the feedback 25 may be configured to indicate the number of branching points (second branching point 65) to be passed when moving from the current position 20 on the route 33 by the number of vibrations of the vibration motor 130, and to indicate the direction of the change of direction at the first branching point 60 (direction 562) by the direction in which the arm 1352 of the servo motor 135 is swung. The distance 512 that instructs the movement, expressed by the number of second branching points 65, is an example of the distance 505 (distance 50 of the first rule) of the third rule described above. The direction 562 is an example of the direction 56 described above. The sixth example is an example of a case in which the feedback 25 of the third rule by the vibration motor 130 is output along with the feedback 25 of the first example by the servo motor 135. The timing for driving the servo motor 135 (swinging the arm 1352) may be the same as in the fifth example described above.

[0153] In one example of this embodiment, the number of branching points (second branching point 65) that are passed without changing direction is communicated by the number of vibrations of the vibration motor 130. The direction in which the vehicle changes direction at the first branching point 60 is communicated by the direction in which the arm 1352 of the servo motor 135 swings. The user TU can recognize the distance 512 traveled on the route 33 using the number of vibrations of the vibration motor 130 as a clue. The user TU can also recognize the direction to face at the first branching point 60 (direction 562) using the direction in which the arm 1352 of the servo motor 135 swings as a clue. This makes it possible to properly guide the vehicle along at least a portion of the route 33 to the destination 30.

[0154] [2] Second structure example Figure 14 is a schematic plan view showing another example (second structural example) of the structure of the smart grip 1 according to this embodiment. In the second structural example, the haptic feedback module 13 is equipped with four vibration motors (131, 132, 133, 134) instead of the vibration motor 130 and servo motor 135 of the first structural example. The four vibration motors (131, 132, 133, 134) are arranged separately in the front-rear and left-right directions with the center of the second part 92 as the reference point PO. The first vibration motor 131 is positioned in front of the reference point PO. The second vibration motor 132 is positioned to the right of the reference point PO. The third vibration motor 133 is positioned to the left of the reference point PO. The fourth vibration motor 134 is positioned behind the reference point PO. Except for these points, the second structural example may be configured in the same way as the first structural example. The four vibration motors (131, 132, 133, 134) are an example of multiple vibration motors.

[0155] (Given rules) In the second structural example, the given rule 23 may include at least one of the first to third rules described above. The output of the vibration feedback 25 according to the first to third rules includes at least one of the four vibration motors (131, 132, 133, 134). It may be used. Also, in the second structural example, each vibration motor (131, 132, 133, 134) is located away from the reference point PO, so that its vibration can intuitively transmit the direction from the reference point PO. Therefore, when the above second rule is included, the given rule 23 may include determining the drive pattern of the four vibration motors (131, 132, 133, 134) so ​​as to intuitively indicate the direction of movement. In one example, the given rule 23 may include at least one of the following seventh to ninth examples.

[0156] (A) Case 7 Figure 15 schematically shows a specific example (7th example) of a given rule 23 according to this embodiment. In one example, indicating a route 33 to a destination 30 may include indicating a direction 57 to indicate movement. The given rule 23 may include determining the drive pattern of four vibration motors (131, 132, 133, 134) according to the direction 57 to indicate movement. Accordingly, the feedback 25 may be configured to indicate the direction 57 to move along the route 33 by driving the four vibration motors (131, 132, 133, 134) with the determined drive pattern. The direction 57 is an example of the direction 55 of the second rule described above. The 7th example is an example of a case in which the feedback 25 of the second rule is output by multiple vibration motors.

[0157] The drive pattern may be arbitrarily selected. For example, determining the drive pattern according to the direction 57 that instructs movement may include determining the number of vibrations of at least one of the four vibration motors (131, 132, 133, 134) according to the direction 57 that instructs movement. As a result, the control device 11 may output a feedback 25 that logically points to the direction 57 that instructs movement.

[0158] Furthermore, as described above, determining the drive pattern according to the direction 57 that instructs movement may be configured by determining the drive patterns of the four vibration motors (131, 132, 133, 134) in such a way that they intuitively indicate the direction 57 that instructs movement.

[0159] For example, determining the drive pattern according to the direction 57 instructing movement may include vibrating one of the four vibration motors (131, 132, 133, 134) more strongly than the vibration motor corresponding to the direction 57 instructing movement compared to the remaining vibration motors. For example, as shown in Figure 15, the control device 11 may output feedback indicating the right direction to the user TU by vibrating the second vibration motor 132 more strongly than the remaining vibration motors (131, 133, 134). Conversely, the control device 11 may output feedback indicating the left direction to the user TU by vibrating the third vibration motor 133 more strongly than the remaining vibration motors (131, 132, 134). The same applies to the forward and backward directions.

[0160] The number of vibration motors that are vibrated more strongly than the remaining vibration motors is not limited to one, but may be multiple. For example, the control device 11 may output feedback indicating a direction between forward and right by vibrating the first vibration motor 131 and the second vibration motor 132 more strongly than the remaining vibration motors (133, 134). Alternatively, the control device 11 may output feedback indicating a direction slightly forward by vibrating the first vibration motor 131 more strongly than the second vibration motor 132. As in these examples, the control device 11 may output feedback indicating a direction between the positions where the vibration motors are located by vibrating multiple vibration motors more strongly than the remaining vibration motors. Furthermore, the control device 11 may output feedback continuously indicating the direction of the target by varying the intensity of vibration among the multiple vibration motors that are vibrated more strongly.

[0161] In another example, determining the drive pattern according to the direction 57 that directs the movement is This may include determining the order in which at least two of the four vibration motors (131, 132, 133, 134) vibrate in the direction 57 that instructs movement. The order of vibration may be arbitrarily defined. In one example, determining the order in which two or more vibration motors vibrate may consist of selecting at least two or more vibration motors from the four vibration motors (131, 132, 133, 134) that are located along the direction 57 that instructs movement, and vibrating the vibration motors located closer to the rear end of the direction 57 that instructs movement earlier, and vibrating the vibration motors located closer to the front end of the direction 57 that instructs movement later.

[0162] For example, the control device 11 may output feedback indicating a rightward direction to the user TU by vibrating the third vibration motor 133 and then the second vibration motor 132. Conversely, the control device 11 may output feedback indicating a leftward direction to the user TU by vibrating the second vibration motor 132 and then the third vibration motor 133. Alternatively, the control device 11 may output feedback indicating a direction between forward and right by vibrating the first vibration motor 131 after vibrating the third vibration motor 133. The same applies to other directions.

[0163] The vibration strength (intensity, period, etc.) of at least two vibration motors indicating the direction may be the same or different. For example, the control device 11 may vibrate the vibration motors located towards the rear end of the direction 57 indicating movement more weakly, and the vibration motors located towards the front end of the direction 57 indicating movement more strongly. This makes it possible to output feedback that emphasizes the front end of the direction being indicated.

[0164] In one example of this embodiment, the direction 57 instructing movement is transmitted by the drive patterns of the four vibration motors (131, 132, 133, 134) in the feedback 25. The user TU can recognize the direction 57 to move along the route 33 using the drive patterns of the four vibration motors (131, 132, 133, 134) as a clue. This allows for proper guidance along at least a portion of the route 33 to the destination 30.

[0165] (B) Case 8 Figure 16 schematically shows a specific example (8th example) of the given rule 23 according to this embodiment. In one example, indicating a route 33 to a destination 30 may include indicating a distance 521 that instructs movement in one direction, and indicating a direction 571 that instructs further movement after moving the instructed distance 521. The given rule 23 may include determining the drive pattern of the four vibration motors (131, 132, 133, 134) according to the direction 571 that instructs further movement. In addition, the given rule 23 may further include determining at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motors driven by the determined drive pattern among the four vibration motors (131, 132, 133, 134) according to the distance 521 that instructs movement in one direction.

[0166] Accordingly, the feedback 25 may be configured to indicate the distance 521 traveled on the route 33 by at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor driven by the determined drive pattern, and to indicate the direction (direction 571) to change direction after traveling the distance 521 by the drive pattern. Distance 521 is an example of distance 50 of the first rule described above. Direction 571 is an example of direction 57 (direction 55) described above. The eighth example is an example of a case in which the first rule and the second rule (seventh example) are applied simultaneously. When distance 521 is indicated by vibration frequency, the drive pattern indicating direction 571 may be a drive pattern other than a drive pattern that logically indicates direction by vibration frequency.

[0167] According to one example of this embodiment, the distance 521 that instructs movement in one direction is the vibration of the vibration motor. The vibrations are transmitted by at least one of the number of vibrations, vibration intensity, and vibration period. The direction in which the vehicle changes direction after traveling a distance of 521 is transmitted by the drive pattern of the four vibration motors (131, 132, 133, 134). The user TU can use these as clues to recognize the distance 521 traveled in one direction on the route 33 and the direction (direction 571) to face after traveling the distance 521. This allows the vehicle to be properly guided along at least a portion of the route 33 to the destination 30.

[0168] (C) Case 9 Figure 17 schematically shows a specific example (the ninth example) of the given rule 23 according to this embodiment. In one example, indicating the route 33 to the destination 30 may include indicating the number of second junctions 65 that are passed through from the current position 20 to the first junction 60 without changing direction of travel, and indicating the direction 572 to indicate movement at the first junction 60. The given rule 23 may include determining the drive pattern of the four vibration motors (131, 132, 133, 134) according to the direction 572 to indicate movement at the first junction 60. In addition, the given rule 23 may include determining the number of vibrations of the vibration motors driven by the determined drive pattern according to the number of second junctions 65 that are passed through from the current position 20 to the first junction 60 without changing direction of travel.

[0169] Accordingly, the feedback 25 may be configured to indicate the number of branching points (second branching point 65) that are passed on the route 33 from the current position 20, based on the number of vibrations of the vibration motor driven by the determined drive pattern, and to indicate the direction of the change of direction at the first branching point 60 (direction 572) based on that drive pattern. The distance 522 that indicates movement, expressed by the number of second branching points 65, is an example of the distance 505 (distance 50 of the first rule) of the third rule described above. The direction 572 is an example of the direction 57 (direction 55) described above. The ninth example is an example of a case in which the second rule (seventh example) and the third rule are applied simultaneously. Since the number of second branching points 65 is indicated by the number of vibrations, the drive pattern that indicates direction 572 may be a drive pattern other than a drive pattern that logically indicates direction by the number of vibrations.

[0170] In one example of this embodiment, the number of branching points (second branching point 65) that are passed without changing direction is transmitted by the vibration frequency of the vibration motor. The direction in which the vehicle changes direction at the first branching point 60 is transmitted by the drive pattern of the four vibration motors (131, 132, 133, 134). The user TU can use these as clues to recognize the distance 522 traveled on the route 33 and the direction to face at the first branching point 60 (direction 572). This allows for proper guidance of at least a portion of the route 33 to the destination 30.

[0171] [3] Others The structure of the smart grip 1 is not limited to the examples shown in Figures 6 to 8, and may be modified as appropriate depending on the embodiment. For example, the shape of the housing 90 may be modified as appropriate. In another example, the housing of the smart grip 1 may be formed in the shape of a ring, and a part of the ring may be made openable and closable by attaching and detaching the ends together. In this way, the housing of the smart grip 1 may be configured to replace the handle by receiving the handle portion B11 of the basket B1 inside the ring formed by the housing. In yet another example, the housing of the smart grip 1 may be formed to receive a terminal device such as a smartphone. In this case, the smart grip 1 may be constructed by attaching the terminal device to the housing.

[0172] Furthermore, the positions of each groove (915, 935) may be changed as appropriate. The number of grooves provided in the housing (housing 90) is not limited to two; it may be one or three or more. Also, the arrangement of each component may be changed as appropriate. The arrangement of the load sensor 180 may be changed as appropriate depending on the structure of the housing (housing 90). When a sensor other than the load sensor 180 is used as a detection sensor, the detection sensor should be appropriately placed in a location where it can detect the loading of luggage TP. This may be done. The arrangement of the imaging device 19 may be changed as appropriate depending on the embodiment. The imaging device 19 may be placed in a location other than the internal space of the first part 91. At least one of the detection sensor and the imaging device 19 may be omitted.

[0173] The output device 16 may be accompanied by or replace the display with other output devices (speakers, indicator lights, etc.). The arrangement of other output devices may be determined as appropriate depending on the embodiment. The input device 17 may be accompanied by or replace the touch panel with other input devices (keyboard, controls, microphone, etc.). The arrangement of other input devices may be determined as appropriate depending on the embodiment. The components housed in the box 1100 may be changed as appropriate. The box 1100 may be located in a place other than the internal space of the third part 93. The box 1100 may be omitted.

[0174] Furthermore, in the tactile feedback module 13 of the first structural example, at least one of the vibration motor 130 and the servo motor 135 may be omitted. When selecting a given rule 23 within the range of the first to fourth examples, the vibration motor 130 may be omitted from the tactile feedback module 13. The tactile feedback module 13 may be equipped with other actuators together with or in place of at least one of the vibration motor 130 and the servo motor 135. The configuration of the servo motor 135 may be appropriately changed depending on the embodiment. In addition, the tactile feedback module 13 may be equipped with other configurations that intuitively indicate a predetermined direction, either in place of or together with the servo motor 135.

[0175] Furthermore, in the second structural example, if two or more vibration motors are provided, direction comparison is possible. Therefore, when the haptic feedback module 13 is configured to output feedback that intuitively indicates the direction of the object, the number of vibration motors included in the haptic feedback module 13 is not limited to four, but may be two, three, or five or more. In other words, the haptic feedback module 13 may be configured to output feedback that intuitively indicates the direction of the movement by providing multiple vibration motors. The multiple vibration motors may each be arranged in different directions from the reference point. At least one of the four vibration motors (131, 132, 133, 134) may be omitted. For example, by omitting the first vibration motor 131 and the fourth vibration motor 134, the haptic feedback module 13 may be configured to output feedback that intuitively indicates the left and right directions. The haptic feedback module 13 may be equipped with at least one of the four vibration motors (131, 132, 133, 134) or with other actuators instead of the four vibration motors (131, 132, 133, 134).

[0176] Furthermore, in the second structural example, the position of the reference point PO of each vibration motor (131, 132, 133, 134) is not limited to the center of the second part 92, but may be determined as appropriate depending on the embodiment. The position of the reference point PO may be defined as appropriate depending on the number and arrangement of vibration motors. In order to make it easier to sense the direction indicated by the vibration of the vibration motor, it is preferable that the reference point PO be set to the center or near the center of the part that the user TU normally grips. This allows the user TU to easily sense the direction indicated by the tactile feedback module 13 in accordance with the deviation of the vibration from the part being gripped. In yet another example, the tactile feedback module 13 may include both a servo motor and a plurality of vibration motors. Accordingly, the tactile feedback module 13 may be configured to output feedback indicating a specific direction from both the servo motor and the vibration motor.

[0177] [Software Configuration] Figure 18 shows the software configuration of the smart grip 1 (control device 11) according to this embodiment. An example is schematically shown. The control device 11 of the Smart Grip 1 executes instructions contained in the program 81 stored in the memory unit 12 using the processor P. As a result, the Smart Grip 1 (control device 11) operates as a computer equipped with a position acquisition unit 111 and a feedback unit 112 as software modules. In other words, in this embodiment, each software module of the Smart Grip 1 is realized by the control device 11 (processor P).

[0178] The position acquisition unit 111 is configured to acquire the current position 20 measured by the positioning sensor 14. The feedback unit 112 is configured to output the acquired current position 20 and tactile feedback 25 according to a given rule 23 to the user TU via the tactile feedback module 13. The feedback 25 is configured to indicate the route 33 to the destination 30.

[0179] In this embodiment, an example is described in which each software module of the Smart Grip 1 is implemented by a general-purpose processor (processor P). However, some or all of the above software modules may be implemented by one or more dedicated processors or chipsets. Each of the above modules may also be implemented as a hardware module. Regarding the software configuration of the Smart Grip 1, modules may be omitted, replaced, and added as appropriate, depending on the embodiment.

[0180] §3 Example of Operation Figure 19 is a flowchart showing an example of the processing procedure for the output of feedback 25 by the control device 11 of the smart grip 1 according to this embodiment. The following processing procedure is an example of a control method (information processing method) executed by the computer (control device 11). However, the following processing procedure is merely an example, and each step may be changed as much as possible. In addition, steps in the following processing procedure can be omitted, replaced, and added as appropriate, depending on the embodiment.

[0181] In step S101, the control device 11 operates as a position acquisition unit 111. The control device 11 acquires the current position 20 measured by the positioning sensor 14. Once the current position 20 is acquired, the control device 11 proceeds to the next step S102.

[0182] In step S102, the control device 11 operates as a feedback unit 112. The control device 11 generates feedback 25 according to the acquired current position 20 and a given rule 23. The feedback 25 is configured to indicate a route 33 to the destination 30. The control device 11 outputs the feedback 25 generated via the haptic feedback module 13 to the user TU.

[0183] For example, given Rule 23 may include at least one of the first to third rules described above. If the first structural example is adopted for the structure of Smart Grip 1, given Rule 23 may include at least one of the first to sixth examples described above. Also, if the second structural example is adopted for the structure of Smart Grip 1, given Rule 23 may include at least one of the seventh to ninth examples described above.

[0184] Note that the search for route 33 may be performed at any time before processing step S102. Also, the timing of processing step S102 is not limited to the example in Figure 19. In another example, the control device 11 may perform the processing of step S102 after repeating the processing of step S101 multiple times and determining that the acquired current position 20 satisfies predetermined conditions. When feedback 25 is output, the control device 11 proceeds to the next step S103.

[0185] In step S103, the control device 11 determines whether or not to terminate the process. The determination criteria can be set arbitrarily. For example, the control device 11 may decide not to terminate the process until a termination instruction is given. On the other hand, once a termination instruction is given, the control device 11 may decide to terminate the process. The termination instruction can be given in any way. In another example, the smart grip 1 may be used within a facility. Accordingly, if the target user (user TU) is present within the facility, the control device 11 may decide not to terminate the process. On the other hand, if the target user is not present within the facility (has left the facility), the control device 11 may decide to terminate the process. Whether or not the user is present within the facility may be determined appropriately based on the measurement results of the positioning sensor 14 (current position 20), etc.

[0186] If the control device 11 determines that it is not time to terminate the process, it returns to step S101 and executes the process again from step S101. If the control device 11 determines that it is time to terminate the process, it terminates the processing procedure related to the output of feedback 25 in this example of operation. Note that the timing of terminating the process is not limited to this example. The control device 11 may terminate the processing procedure related to the output of feedback 25 at any time. In one example, the control device 11 may execute the series of processes from step S101 to step S103 in real time.

[0187] According to this embodiment, since the smart grip 1 can be grasped in common with the basket B1, the effort required to grasp the user terminal separately from the basket B1 can be reduced, at least partially. Furthermore, according to this embodiment, the guidance of the route 33 to the destination 30 is provided as tactile feedback 25 through the processing of step S102. This reduces, at least partially, the effort required to confirm visual information. Therefore, according to this embodiment, a reduction in the effort required of the user TU when guiding the user of the route 33 to the destination 30 can be expected.

[0188] §4 Variant While embodiments of this disclosure have been described in detail above, the above description is merely illustrative in all respects. The processes and means described in this disclosure can be freely combined and implemented as long as no technical inconsistencies arise. Furthermore, various improvements or modifications may be made to the above embodiments as appropriate. For example, the following modifications are possible. In the following, the same reference numerals are used for components similar to those in the above embodiments, and explanations of points similar to those in the above embodiments have been omitted as appropriate.

[0189] <4.1> The above embodiment is configured as Smart Grip 1. However, the embodiments of this disclosure are not limited to Smart Grip 1. The embodiments of this disclosure may be components of a basket or the basket (including carts) itself. The type of basket is not particularly limited and may be appropriately selected depending on the embodiment. For example, the basket may include shopping baskets, shopping carts, baggage carts used at airports, etc.

[0190] (First variation) Figure 20 schematically illustrates another example of a scenario to which this disclosure applies. In the example in Figure 20, the embodiment of this disclosure is a basket 1A. Basket 1A comprises a basket body 102A, a tactile feedback module 13, a positioning sensor 14, and a control device 11. The tactile feedback module 13, the positioning sensor 14, and the control device 11 may be configured in the same manner as in the above embodiment. That is, the control device 11 acquires the current position 20 measured by the positioning sensor 14, and outputs the acquired current position 20 and tactile feedback 25 according to a given rule 23 to the user TU via the tactile feedback module 13. It may be configured to do so. The feedback 25 may be configured to show the route 33 to the destination 30.

[0191] Other configurations of basket 1A are not particularly limited and may be determined as appropriate depending on the embodiment. In one example, basket 1A may include a pair of handles 101A attached to the basket body 102A, and a grip 100A that spans the pair of handles 101A. Each handle 101A may be configured in the same way as each handle B11 of basket B1. When these configurations are adopted, in one example, basket 1A may be constructed by using the smart grip 1 for the grip 100A. However, the method of constructing basket 1A is not limited to such examples.

[0192] Similar to the smart grip 1 described above, the basket 1A may further include a storage unit 12. The basket 1A may further include at least one of a communication module 15, an output device 16, and an input device 17. The basket 1A may also further include a detection sensor and an imaging device 19. If the detection sensor and imaging device 19 are included, the control device 11 may, when it detects the insertion of an item by the detection sensor, acquire an image captured by the imaging device 19 and identify the item placed in the basket body 102A by performing image analysis on the acquired image.

[0193] The computer components of the cage 1A (control devices 11 to input devices 17, detection sensors, and imaging device 19) are not limited to the grip 100A. At least a portion of the computer components of the cage 1A may be placed anywhere other than the grip 100A. In another example, if a load sensor is used as the detection sensor, the detection sensor may be placed on the bottom surface of the housing section of the cage body 102A. The imaging device 19 may be placed on the edge of the opening of the cage body 102A with the imaging unit 191 facing the housing section of the cage body 102A. The tactile feedback module 13 may be placed anywhere that can transmit motion to the part grasped by the user TU (in this modified example, the grip 100A). The tactile feedback module 13 may be placed anywhere other than the grip 100A as long as motion can be transmitted. However, from the viewpoint of motion transmission, it is preferable that the tactile feedback module 13 be placed on the grip 100A.

[0194] The basket 1A according to this modified example can provide feedback 25 to the user TU, similar to the smart grip 1 described above. Therefore, according to this modified example, it is possible to reduce the effort required of the user TU when guiding them along the route 33 to the destination 30. The configuration of the basket 1A may be changed as appropriate depending on the embodiment. In another example, the grip 100A may be omitted. In this case, the user may hold the basket 1A by grasping the pair of handles 101A. The tactile feedback module 13 may be placed at any location on at least one of the pair of handles 101A that can transmit motion.

[0195] Figure 21 schematically illustrates another example of a scenario to which this disclosure applies. In the example in Figure 21, the embodiment of this disclosure is a basket 1B. Basket 1B corresponds to a configuration in which basket 1A is further equipped with one or more wheels 103B to form a cart. That is, basket 1B comprises a basket body 102B, a tactile feedback module 13, a positioning sensor 14, a control device 11, and one or more wheels 103B. The basket body 102B may be the same as the basket body 102A of the first modified example. The control device 11 may be configured to acquire the current position 20 measured by the positioning sensor 14, and to output tactile feedback 25 corresponding to the acquired current position 20 and a given rule 23 to the user TU via the tactile feedback module 13. The feedback 25 may be configured to indicate a route 33 to a destination 30. The number of wheels 103B may be appropriately selected depending on the embodiment. In a typical example, the basket 1B may be equipped with four wheels 103B. The basket 1B may be used as a shopping cart, luggage cart, etc.

[0196] The arrangement of each wheel 103B and the configuration for supporting the basket body 102B may be determined as appropriate depending on the embodiment. In one example, the basket 1B may be equipped with a grip 100B and a base 101B. The base 101B may be equipped with a leg 1011B and a support column 1012B. The leg 1011B may be positioned below the basket body 102B. Each wheel 103B may be attached to the leg 1011B. The support column 1012B may be configured to extend vertically upward from one end of the leg 1011B. The basket body 102B may be fixed to the support column 1012B. The grip 100B may be attached to the upper end of the support column 1012B.

[0197] As a result, the basket 1B may have a configuration similar to that of a general shopping cart. However, the configuration of the basket 1B is not limited to this example and may be modified as appropriate depending on the embodiment. For example, the basket 1B may have a configuration similar to that of other types of carts such as a silver cart. Furthermore, in one example of adopting these configurations, the basket 1B may be constructed by using the smart grip 1 described above for the grip 100B. However, the method of constructing the basket 1B is not limited to this example.

[0198] Similar to the Smart Grip 1 described above, the basket 1B may further include a storage unit 12. The basket 1B may further include at least one of a communication module 15, an output device 16, and an input device 17. The basket 1B may also further include a detection sensor and an imaging device 19. Similar to the first modified example described above, if the basket 1B includes a detection sensor and an imaging device 19, the control device 11 may perform product identification processing by image analysis.

[0199] The computer components of the basket 1B (control devices 11 to input devices 17, detection sensors, and imaging device 19) are not limited to the grip 100B. At least a portion of the computer components of the basket 1B may be placed anywhere other than the grip 100B. In another example, if a load sensor is used as the detection sensor, the detection sensor may be placed on the bottom surface of the housing section of the basket body 102B. The imaging device 19 may be placed with its imaging unit 191 facing the housing section of the basket body 102B, on the edge of the opening of the basket body 102B or in the area of ​​the support column 1012B from the upper end of the basket body 102B to the grip 100B. The tactile feedback module 13 may be placed anywhere that can transmit motion to the part grasped by the user TU (in this modified example, the grip 100B). The tactile feedback module 13 may be placed anywhere other than the grip 100B as long as motion can be transmitted. However, from the standpoint of motion transmission, it is preferable that the tactile feedback module 13 be located on the grip 100B.

[0200] The basket 1B according to this modified version can provide feedback 25 to the user TU, similar to the smart grip 1 described above. Therefore, according to this modified version, it is expected that the effort required of the user TU will be reduced when guiding the user along the route 33 to the destination 30. The basket body 102B may also be used as a basket receiver. In this case, other baskets may be placed in the basket body 102B, and the luggage TP (goods, etc.) may be placed in the other baskets. The detection sensor may be appropriately positioned to detect when goods are placed in other baskets. Detecting when goods are placed in the basket body 102B may include detecting when goods are placed in other baskets placed in the basket body 102B. The legs 1011B may also be configured to receive luggage. In this case, detection sensors may also be placed in the legs 1011B. If product identification by image analysis is also performed in the legs 1011B, the imaging device 19 may also be placed in the legs 1011B. Furthermore, the basket body 102B may be omitted. In this case, the leg portion 1011B may be used as the basket body. [Explanation of Symbols]

[0201] 1…Smart Grip, 1A・1B…Basket, 102A・102B…Basket body, 11...Control device, 13...Haptic feedback module, 14…Positioning sensor, 20...Current position, 23...Given rule, 25…Feedback, 30...Destination, 33...Route TU... User

Claims

1. Haptic feedback module, Positioning sensor, and control device Equipped with, The control device is To obtain the current location measured by the positioning sensor, and The system outputs haptic feedback to the user via the haptic feedback module, which is configured to indicate the route to the destination, based on the acquired current location and a given rule. Configured to perform, Smart Grip.

2. The given rule includes determining the number of vibrations of the haptic feedback module according to the distance that instructs movement. The smart grip according to claim 1.

3. The given rule includes determining the vibration intensity of the haptic feedback module according to the distance that instructs movement. The smart grip according to claim 1.

4. The given rule includes determining the vibration period of the haptic feedback module according to the distance that instructs movement. The smart grip according to claim 1.

5. The given rule includes determining the driving pattern of the haptic feedback module according to the direction of movement, The smart grip according to claim 1.

6. The given rule includes determining the number of vibrations of the haptic feedback module according to the number of second branching points that are passed through from the current position to the first branching point without changing direction of travel. The smart grip according to claim 1.

7. The aforementioned haptic feedback module includes a servo motor, The servo motor comprises a shaft and an arm attached to the shaft, The given rule includes determining the number of times the servo motor swings the arm depending on the distance to be instructed to move. The smart grip according to claim 1.

8. The aforementioned haptic feedback module includes a servo motor, The servo motor comprises a shaft and an arm attached to the shaft, The aforementioned given rule is, The number of times the arm of the servo motor swings is determined according to the distance to which movement is instructed in one direction, and After moving the specified distance, the direction in which the arm of the servo motor swings is determined according to the direction in which further movement is instructed. including, The smart grip according to claim 1.

9. The aforementioned haptic feedback module includes a servo motor, The servo motor comprises a shaft and an arm attached to the shaft, The given rule includes determining the number of times the arm of the servo motor swings, according to the number of second branching points that are passed through from the current position to the first branching point without changing direction of travel. The smart grip according to claim 1.

10. The given rule further includes determining the direction in which the arm of the servo motor swings, depending on the direction instructing movement at the first branching point. The smart grip according to claim 9.

11. The aforementioned haptic feedback module includes a servo motor and a vibration motor, The servo motor comprises a shaft and an arm attached to the shaft, The aforementioned given rule is, The number of vibrations of the vibration motor is determined according to the number of second branching points that are passed through from the current position to the first branching point without changing direction of travel, and The direction in which the arm of the servo motor swings is determined according to the direction of movement instructed at the first branching point. including, The smart grip according to claim 1.

12. The aforementioned haptic feedback module includes a servo motor and a vibration motor, The servo motor comprises a shaft and an arm attached to the shaft, The aforementioned given rule is, The vibration frequency, vibration intensity, and vibration period of the vibration motor are determined according to the distance at which movement is instructed in one direction, and After moving a distance indicated by the vibration motor, the direction in which the arm of the servo motor swings is determined according to the direction in which further movement is indicated. including, The smart grip according to claim 1.

13. The haptic feedback module comprises multiple vibration motors, The given rule includes determining the drive pattern of the plurality of vibration motors according to the direction instructing the movement. The smart grip according to claim 1.

14. The haptic feedback module comprises multiple vibration motors, To show the route to the aforementioned destination, To indicate the distance for movement in one direction, and After moving the specified distance, indicate the direction of further movement. Includes, The aforementioned given rule is, The drive pattern of the plurality of vibration motors is determined according to the direction instructing the further movement, and Depending on the distance for which movement is instructed in one direction, determine at least one of the vibration frequency, vibration intensity, and vibration period of the vibration motor driven by the determined drive pattern among the plurality of vibration motors. including, The smart grip according to claim 1.

15. Basket body, Haptic feedback module, Positioning sensor, and control device Equipped with, The control device is To obtain the current location measured by the positioning sensor, and The system outputs haptic feedback to the user via the haptic feedback module, which is configured to indicate the route to the destination, based on the acquired current location and a given rule. Configured to perform, Basket.

16. By adding one or more wheels, it is configured as a cart. The basket according to claim 15.

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