Smart grip and basket

Abstract

To provide a technique for reducing the effort required of a user when guiding a route to a destination. According to one aspect of the present disclosure, a smart grip includes a haptic feedback module, a positioning sensor, and a control device configured to obtain a current location measured by the positioning sensor, and output, via the haptic feedback module, haptic feedback to a user according to the obtained current location and a given rule, the feedback being configured to indicate a route to a destination.

Description

[Technical field]

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

[0002] There are systems that provide route guidance to a destination in facilities such as stores (commercial facilities), airports, etc. For example, Patent Document 1 proposes a product guidance device that acquires the current location of a customer in a store, calculates a shopping route based on the acquired current location and product locations, and transmits guidance information based on the acquired shopping route to a user terminal (terminal device). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-230236 A Summary of the Invention [Problem to be solved by the invention]

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

[0005] That is, within a facility, a user may move around while holding a basket (including a cart). When route guidance is provided based on information provided to a user terminal, the user will check visual information displayed on the user terminal while holding both the basket and the user terminal. Checking visual information displayed on the user terminal while holding a basket can be time-consuming.

[0006] In one aspect, the present disclosure has been made in consideration of the above circumstances, and one of its objectives is to provide a technology for reducing the effort required of a user when guiding a route to a destination. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the present disclosure employs the following configurations. Note that the following configurations can be appropriately combined.

[0008] A smart grip according to one aspect of the present disclosure includes a haptic feedback module, a positioning sensor, and a control device configured to obtain a current location measured by the positioning sensor, and output haptic feedback to a user via the haptic feedback module according to the obtained current location and a given rule, the feedback being configured to indicate a route to a destination.

[0009] In this configuration, since the smart grip is a grip, it can be held together 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, with this configuration, it is possible to at least partially reduce the effort of holding the user terminal separately from the basket. Also, with this configuration, 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. Feedback capable of communicating this route to the user is provided via the sense of touch. This at least partially reduces the work of checking visual information. Therefore, according to this configuration, it is expected that the effort required of the user can be reduced when guiding the user along a route to a destination.

[0010] In the smart grip according to the above aspect, the given rule may include determining the number of vibrations of the haptic feedback module according to the distance to be moved. According to this configuration, the distance to be moved is conveyed by the number of vibrations of the haptic feedback. This makes it possible to provide proper guidance for at least a part of the route to the destination.

[0011] In the smart grip according to the above aspect, the given rule may include determining a vibration intensity of the haptic feedback module according to a distance to be instructed to move. According to this configuration, the distance to be instructed to move is conveyed by the vibration intensity of the haptic feedback. This makes it possible to provide proper guidance for at least a part of the route to the destination.

[0012] In the smart grip according to the above aspect, the given rule may include determining a vibration period of the haptic feedback module according to a distance to be instructed to move. According to this configuration, the distance to be instructed to move is conveyed by the vibration period of the haptic feedback. This makes it possible to provide proper guidance for at least a part of the route to the destination.

[0013] In the smart grip according to the above aspect, the given rule may include determining a drive pattern of the haptic feedback module according to a direction of movement. According to this configuration, the direction of movement is conveyed by the drive pattern of the haptic feedback. This allows proper guidance of at least a part of the route to the destination.

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

[0015] In the smart grip according 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. The given rule may include determining the number of times to swing the arm of the servo motor according to the distance to be moved. According to this configuration, the distance to be moved is conveyed by the number of times to swing the arm of the servo motor. This makes it possible to provide proper guidance along at least a portion of the route to the destination.

[0016] In the smart grip according 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. The given rule may include determining the number of times to swing the arm of the servo motor according to a distance instructed to move in one direction, and determining a direction to swing the arm of the servo motor according to a direction instructing further movement after moving the instructed distance.

[0017] According to this configuration, the distance to be moved in one direction is transmitted by the number of times the arm of the servo motor is swung. After the instructed distance has been moved, the direction to be moved further is transmitted by the direction to swing the arm of the servo motor. This makes it possible to provide proper guidance for at least a portion of the route to the destination.

[0018] In the smart grip according 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. The given rule may include determining the number of times to swing the arm of the servo motor according to the number of second branch points that are passed from the current position to the first branch point without changing the traveling direction. According to this configuration, the number of branch points (second branch points) that are passed without changing the traveling direction is conveyed by the number of times to swing the arm of the servo motor. This makes it possible to properly guide at least a part of the route to the destination.

[0019] In the smart grip according to the above aspect, the given rule may further include determining a direction to swing the arm of the servo motor according to a direction of movement instructed at the first branch point. According to this configuration, the direction to change direction at the branch point (first branch point) after passing the second branch point (i.e., the direction to proceed from the first branch point) is transmitted by the direction to swing the arm of the servo motor. This allows proper guidance of at least a part of the route to the destination.

[0020] In the smart grip according 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. The given rule may include determining the number of vibrations of the vibration motor according to the number of second branch points passed from the current position to the first branch point without changing the traveling direction, and determining the direction of swinging the arm of the servo motor according to the direction of movement instructed at the first branch point.

[0021] According to this configuration, the number of branch points (second branch points) that will be passed without changing the traveling direction is transmitted by the number of vibrations of the vibration motor in the haptic feedback. The direction in which the direction is changed at the branch point (first branch point) after passing the second branch point (i.e., the traveling direction from the first branch point) is transmitted by the direction of swinging the arm of the servo motor in the haptic feedback. This allows proper guidance of at least a part of the route to the destination.

[0022] In the smart grip according 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. The given rule may include determining at least one of a vibration frequency, a vibration intensity, and a vibration period of the vibration motor according to a distance instructed to move in one direction, and determining a direction to swing the arm of the servo motor according to a direction instructing further movement after moving the distance instructed by the vibration motor.

[0023] According to this configuration, the distance to be moved in one direction is transmitted by at least one of the number of vibrations, the vibration intensity, and the vibration period of the vibration motor in the haptic feedback. The direction to be moved further after the instructed distance is transmitted by the direction to swing the arm of the servo motor in the haptic feedback. This makes it possible to provide proper guidance for at least a part of the route to the destination.

[0024] In the smart grip according to the above aspect, the haptic feedback module may include a plurality of vibration motors. The given rule may include determining a drive pattern of the plurality of vibration motors according to a direction of movement. According to this configuration, the direction of movement is conveyed by the drive pattern of the plurality of vibration motors in the haptic feedback. This makes it possible to provide proper guidance for at least a portion of the route to the destination.

[0025] In the smart grip according to the above aspect, the haptic feedback module may include a plurality of vibration motors. Indicating a route to the destination may include indicating a distance to move in one direction, and indicating a direction to move further after moving the indicated distance. The given rule may be to indicate a plurality of vibration motors depending on the direction to move further. The method may include determining a drive pattern for a vibration motor, and determining at least one of a vibration frequency, a vibration intensity, and a vibration period of a vibration motor among the plurality of vibration motors that is driven with the determined drive pattern in accordance with a distance to be instructed to move in one direction.

[0026] According to this configuration, the distance instructed to move in one direction is transmitted by at least one of the number of vibrations, the vibration intensity, and the vibration period of the vibration motor driven by the drive pattern determined according to the direction instructed to move further after moving the instructed distance in the haptic feedback. The direction instructed to move further after moving the instructed distance is transmitted by the drive patterns of the multiple vibration motors in the haptic feedback. This makes it possible to provide proper guidance for at least a part of the route to the destination.

[0027] The embodiment of the present disclosure may not be limited to the smart grip. An aspect of the present disclosure may be a component of a basket. An aspect of the present disclosure may be a basket (including a cart) itself. In addition, an aspect of the present disclosure may be an information processing method for realizing all or part of the control device (computer), a program, or a storage medium readable by a machine such as a computer that stores such a program. Here, the machine-readable storage medium may be a non-transient medium that accumulates information such as a program by electrical, magnetic, optical, mechanical, or chemical action. The non-transient 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 a computer, etc.

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

[0029] The basket according to the above aspect may be configured as a cart by further including one or more wheels. With this configuration, the cart form is expected to reduce the effort required by the user. Effect of the Invention

[0030] According to one aspect of the present disclosure, it is expected that the effort required of a user can be reduced when guiding the user along a route to a destination. [Brief description of the drawings]

[0031] [Figure 1] FIG. 1 illustrates an example of a situation to which the present disclosure is applied. [Diagram 2] FIG. 2 shows a schematic diagram of an example of a given rule (first rule). [Diagram 3] FIG. 3 illustrates a schematic diagram of an example of a given rule (second rule). [Figure 4] FIG. 4 shows an example of a scene in which route guidance is provided using both the first rule and the second rule. [Diagram 5] FIG. 5 illustrates a schematic diagram of an example of a given rule (the third rule). [Figure 6] FIG. 6 is a side view that illustrates an example of the structure of a smart grip. [Figure 7] FIG. 7 is a plan view illustrating an example of the structure of a smart grip. [Figure 8] FIG. 8 shows a schematic example (first case) of a given rule. [Figure 9] FIG. 9 illustrates a specific example (second case) of a given rule. [Figure 10] FIG. 10 shows a schematic example (third case) of a given rule. [Figure 11] FIG. 11 shows a schematic example (fourth case) of the given rule. [Figure 12] FIG. 12 shows a schematic example (fifth case) of the given rule. [Figure 13] FIG. 13 shows a schematic example (sixth case) of the given rule. [Figure 14] FIG. 14 is a plan view that illustrates another example of the structure of the smart grip. [Figure 15]FIG. 15 shows a schematic example (seventh case) of the given rule. [Figure 16] FIG. 16 shows a schematic example (eighth case) of a given rule. [Figure 17] FIG. 17 shows a schematic example (ninth case) of a given rule. [Figure 18] FIG. 18 illustrates an example of a software configuration of the smart grip (control device). [Figure 19] FIG. 19 is a flowchart illustrating an example of a processing procedure of the control device. [Figure 20] FIG. 20 illustrates another example of a situation to which the present disclosure is applied. [Figure 21] FIG. 21 illustrates a schematic diagram of another example of a situation to which the present disclosure is applied. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0032] Hereinafter, an embodiment according to one aspect of the present disclosure will be described with reference to the drawings. However, the embodiment described below is merely an example of the present disclosure in all respects. Various improvements or modifications may be made without departing from the scope of the present disclosure. In implementing the present disclosure, a specific configuration according to the embodiment may be appropriately adopted. Note that, although the data appearing in this embodiment is described in natural language, more specifically, it is specified by pseudo-language, commands, parameters, machine language, electrical signals, etc. that can be recognized by a machine such as a computer.

[0033] §1 Examples of application 1 is a schematic diagram showing an example of a situation to which the present disclosure is applied. The smart grip 1 according to this embodiment includes a haptic feedback module 13, a positioning sensor 14, and a control device 11. The control device 11 is configured to acquire a current position 20 measured by the positioning sensor 14, and output haptic feedback 25 according to the acquired current position 20 and a given rule 23 to a 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 (smart grip 1) that outputs the feedback 25 is a grip, and thus can be held 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 holding the smart grip 1. Therefore, according to this embodiment, the effort of holding a user terminal separately from the basket B1 can be at least partially reduced. The smart grip 1 may be used together with the user terminal, but by providing the feedback 25 via the smart grip 1, it is expected that the frequency of use of the user terminal can be reduced. 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. The feedback 25 capable of communicating this route 33 to the user TU is given via the sense of touch. This makes it possible to at least partially reduce the work of checking visual information. The smart grip 1 may be used together with the output of visual information, but it is expected that the frequency of checking visual information will be reduced by providing tactile feedback 25 via the smart grip 1. Therefore, according to this embodiment, it is expected that the effort of the user TU will be reduced when guiding the user along the route 33 to the destination 30.

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

[0036] As shown in FIG. 1, in a typical example, the basket B1 may include a basket body B10 and a pair of handle parts B11. The configuration of the basket body B10 and each handle part B11 may be appropriately determined according to the embodiment. For example, the basket body B10 may be configured to receive luggage TP from the upper end side by having an open upper end and a closed lower end at the bottom. The basket body B10 may have any shape such as a substantially rectangular parallelepiped shape or a substantially truncated pyramid shape. The pair of handle parts B11 may be arranged separately in the longitudinal direction of the basket body B10. Each end of the handle part B11 may be connected to each side surface in the short side direction of the basket body B10 so that the handle part B11 can be rotated around an axis in the short side direction. As a result, each handle part B11 may be configured to be rotated at the connection part with the basket body B10 to change the angle and be gripped along the short side direction. When the basket B1 includes a basket body B10, putting luggage TP (goods, etc.) into the basket body B10 may correspond to putting the luggage TP into the basket B1.

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

[0038] In addition, the type of the basket B1 is not limited to the example of FIG. 1, and may be changed as appropriate depending on the embodiment. As long as it can be used to carry any object, the type of the basket B1 is not particularly limited, and may be selected as appropriate depending on the embodiment. The basket B1 may include a cart having one or more wheels. For example, the basket B1 may include a shopping basket, a shopping cart, a baggage cart used at airports, etc. The basket B1 may include a bag that can be used for shopping, such as a plastic bag or a paper bag. The basket B1 may also include a device that can hold an object by hanging it, such as a hanger. A known basket may be used for the basket B1.

[0039] [Can be used as a basket handle] The ability to be used as a handle of a basket (such as basket B1) may be configured in any form in which the smart grip 1 is arranged as at least a part of a handle to be held by a user when carrying luggage (such as luggage TP). In one example, the ability to be used as a handle of a basket may be configured by hanging a handle part of the basket (such as handle part B11) on the smart grip 1 to replace an existing handle provided on the basket. The handle part of the basket may include any component that can be hung on the smart grip 1, such as a handle part of a bag or a hook of a hanger. In another example, the ability to be used as a handle of a basket may be configured by being attached to the handle part of the basket. In yet another example, the ability to be used as a handle of a basket may be configured by being attached to the basket main body (such as basket main body B10) as a handle part. In other words, the smart grip 1 may be configured as the handle part of the basket itself. Note that the smart grip 1 is not limited to such an example, and may have any configuration that can be held 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. In one example, the smart grip 1 according to this embodiment may be used for route guidance within any facility such as a store, an airport, etc. The store may include a commercial facility that sells goods. The sales format of goods in the store may be either unmanned or manned. The luggage TP may include any type of item that is carried. For example, when the smart grip 1 is used in a store (commercial facility), the luggage TP may include goods sold in the store. Also, when the smart grip 1 is used at an airport, the luggage TP may include the baggage ( In one example, the smart grip 1 according to the present embodiment may be used for general route guidance outdoors.

[0041] The smart grip 1 may be further equipped with any sensor so as to be capable of monitoring the behavior of the user TU within the facility. For example, the behavior to be monitored may include purchasing behavior such as putting a product into a basket. The sensor used for monitoring and the behavior of the user TU to be monitored are not particularly limited and may be appropriately selected according to the embodiment. For example, when the smart grip 1 is used in a store, the smart grip 1 may be configured to detect the putting of a product into a basket (basket B1) and identify the detected put-in product according to the observation result of the sensor. Any sensor may be used to detect the putting of a product into the basket and identify the product.

[0042] In one example, the smart grip 1 may further include a detection sensor and an imaging device. The imaging device may be appropriately arranged at a location where the inserted commodity can be observed when the commodity is inserted into the basket B1 (basket body B10). The type of the 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 an image representation, such as, for example, an RGB camera, a depth sensor, an infrared sensor, a radar, a LiDAR (light detection and ranging), etc. The imaging device may be used to obtain an image used for identifying the commodity.

[0043] The detection sensor may be appropriately configured to detect the insertion of a product into the basket B1. The type of detection sensor may be appropriately selected depending on the embodiment. For example, the detection sensor may be configured with one or more load sensors (weight sensors). In this case, the detection sensor can detect the insertion of a product by detecting a change (increase) in weight due to the insertion of the product. The detection sensor may be disposed at any location where a change in weight due to the insertion of the product can be observed.

[0044] Also, for example, the detection sensor may be composed of one or more imaging devices. In this case, the detection sensor may be the same as the imaging device for obtaining an image used to identify the product, or may be provided separately. The detection sensor can detect the insertion of the product by capturing the product in an image obtained by the imaging device. The detection sensor may be disposed at any location where the product falls within the imaging range at least during the period from when the user picks up the product to when the product is placed in the basket B1 and / or after the product is placed in the basket B1.

[0045] Also, for example, the detection sensor may be composed of one or more contact sensors. In this case, the detection sensor can detect the insertion of a product by contacting the inserted product or another object (such as a switch member) displaced by the insertion of the product. The detection sensor may be disposed at any location where the inserted product comes into direct or indirect contact. Indirect contact may include contact by another object displaced by the insertion of the product. The detection sensor may be composed of multiple types of sensors.

[0046] When the smart grip 1 (control device 11) is further provided 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, depending on the observation result of the detection sensor. When the detection sensor detects the insertion of a product, the smart grip 1 (control device 11) may obtain an image from the imaging device. As long as the inserted product can be captured in the captured image, the timing of capturing an image by the imaging device is not particularly limited and may be appropriately specified depending on the embodiment. In one example, when the imaging device is disposed in a position where it can capture an image of the product after the insertion is detected, the control device 11 may start the imaging device in response to the detection of the insertion of the product by the detection sensor, and control the operation of the imaging device so as to capture an image of the inserted product. The control device 11 may control the imaging device to capture an image of the product at any timing after the insertion of the product is detected. For example, the control device 11 may control the imaging device to capture an image of the product immediately after detecting the insertion of the product. The control device 11 may control the imaging device to generate the captured image. The control device 11 may appropriately acquire one or more captured images generated by this imaging from the imaging device. After generating one or more captured images, the control device 11 may stop the operation of the imaging device or switch it to a standby state. According to this example, the period during which the imaging device is activated can be narrowed down, so that the processing load and power consumption in the smart grip 1 can be reduced. In another example, the imaging device may be controlled to continuously generate captured images. The generated captured images may be accumulated in a memory area (such as the memory unit 12) for at least a certain period of time. The captured images generated at or around the time when the detection sensor detects the insertion of the product are highly likely to include the inserted product. Therefore, the control device 11 may acquire one or more captured images generated at or around the time when the detection sensor detects the insertion of the product from among the captured images accumulated in the memory area.

[0047] Then, the smart grip 1 (control device 11) may identify the product shown in the captured image by performing image analysis on the acquired captured image. The method of identification by image analysis may be appropriately determined depending on the embodiment. In one example, when a code generated by encoding identification information of the product is attached to the product, analyzing the captured image may include decoding the code attached to the product. The type of code may be selected arbitrarily. 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 from the characteristics (appearance, etc.) of the product in the image analysis, without relying on the code.

[0048] The method of image analysis 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 by a general image analysis method 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 calculation parameters that can be adjusted by machine learning. The one or more calculation parameters are used for the calculation of the target inference (image analysis, etc.). The machine learning model may be configured, for example, by a neural network, a support vector machine, or other function formula (calculation model). The machine learning method may be appropriately selected depending on the machine learning model to be adopted (for example, backpropagation method, etc.). Training the machine learning model is to adjust (optimize) the value of the calculation parameter using a training sample. The machine learning model may be appropriately trained so that when an image of a training sample is given, the machine learning model derives a true value of the corresponding analysis result. A large-scale model such as a large-scale visual 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. In one example, the product identification result may be used to determine the next destination, which will be described later. The smart grip 1 may further include a communication module 15. The smart grip 1 (control device 11) may output the product identification result to an external computer (a store terminal, a user terminal, a server device, etc.).

[0050] The process of identifying the product does not necessarily have to be executed on the smart grip 1. The process of identifying the product may be executed on another computer (e.g., a store terminal, a user terminal, a server device, etc.) other than the smart grip 1. The other computer may identify the product in any manner. In one example, the other computer may acquire information from the smart grip 1 and identify the product based on the acquired information. The information acquired from the smart grip 1 may include sensing data such as the captured image. The other computer may identify the product in the same manner as the smart grip 1. In another example, the other computer may not acquire information from the smart grip 1, but may acquire sensing data from sensors (one or more sensors) installed in the facility and identify the product based on the acquired sensing data.

[0051] The sensor to be used may be selected arbitrarily. For example, the sensor may include an imaging device installed so that the product shelf is included in the imaging range. In this case, the other computer may identify the inserted product by performing image analysis on the image captured by the imaging device. Also, for example, the sensor may include a load sensor (weight sensor) installed so as to measure the weight of the product displayed on the product shelf. In this case, the other computer may identify the inserted product by specifying the product shelf whose weight has changed (decreased) based on the measurement data of the load sensor.

[0052] The smart grip 1 may be linked to an external system such as a system installed in the facility or a user terminal, or may be used alone without linking to an external system. In one example, sensors such as an imaging device and a load sensor may not be installed in the facility, and the behavior of the user TU may be monitored only by the smart grip 1. In another example, sensors may be installed in the facility, and the smart grip 1 may monitor the behavior of the user TU in cooperation with sensors installed in the store or independently of the sensors installed in the store (i.e., without linking with the sensors in the store).

[0053] [Loading luggage] Putting a load (load TP) into a basket (basket B1) may include any form of carrying a load. As illustrated in FIG. 1, in a typical example, putting a load into a basket may be putting a new load TP into a basket body B10 of a basket B1 including a smart grip 1. Putting a load into a basket may also include any action similar to putting a load into a basket, such as hanging a handle of a basket containing a load on a smart grip 1. Hanging the handle of a basket containing a load may include hanging the handle of a plastic bag containing the load, hanging the hook of a hanger that is suspending the load, etc.

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

[0055] [Destination] The destination 30 may be provided in any manner. In one example, the smart grip 1 may further include an input device 17. The destination 30 may be input by the input device 17. For example, the input device 17 may include a microphone, and the destination 30 may be input by voice. In another 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 (for example, a map, a candidate destination, etc.). In another 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, the destination 30 may be specified by any method. In one example, the destination 30 may be directly specified by a method such as specifying a point on a map or specifying a location name (such as specifying an address). In another example, the destination 30 may be indirectly specified by a method such as specifying an object related to the target location. For example, when the smart grip 1 is used in a facility such as an airport, the object may include equipment such as a boarding counter or a security checkpoint. Also, for example, the smart grip When the device 1 is used in a store, the object may include any target object such as a sales floor, a specific product, a cash register, etc. The destination 30 may be specified by a known method.

[0057] [root] The route 33 from the current position 20 to the destination 30 may be composed of the entire route from the current position 20 to the destination 30, or may be composed of a portion of the route from the current position 20 to the destination 30. The portion of the route may be, for example, a route from the current position 20 to a waypoint. The waypoint may include, for example, any intermediate point such as a branch point where the direction of travel is changed. Indicating the route 33 to the destination 30 may be composed of indicating at least a portion of the route from the current position 20 to the destination 30.

[0058] In one example, indicating the route 33 to the destination 30 by the feedback 25 may include indicating at least one of a distance and a direction of movement. The starting point of the movement may be selected arbitrarily. In a typical example, the starting point of the movement may be the current position 20. That is, indicating the route 33 to the destination 30 may include indicating at least one of a distance and a direction of movement from the current position 20. In another example, the starting point of the movement may be a future position. The future position may be any point (e.g., an intermediate point on the route 33 such as a waypoint) that may be passed from the current position 20 to the destination 30. Thus, indicating the route 33 to the destination 30 may include an advance notice of the future route by indicating at least one of a distance and a direction of movement from a future position.

[0059] The distance instructed to move may be the total distance of all routes to the destination 30, or may be the distance of a portion of the routes (e.g., the distance to an intermediate point). In one example, when the searched route 33 includes a linear route, indicating the route 33 to the destination 30 may include indicating a distance instructed to move in one direction. For example, the feedback 25 may be configured to indicate a distance instructed to move in one direction from the current location 20.

[0060] When the feedback 25 is configured to indicate both the distance and the direction of movement, the order of movement of the indicated distance and direction may be appropriately defined according to the embodiment. In one example, the indicated distance may be a distance that instructs movement before facing the indicated direction, or may be a distance that instructs movement after facing the indicated direction. Accordingly, the indicated direction may be a direction that instructs further movement after moving the indicated distance (i.e., a traveling direction after a change of direction), or may be a traveling direction of the indicated distance. When the indicated distance is a distance that instructs movement before facing the indicated direction, the traveling direction in the movement of the indicated distance may be any direction, such as a current traveling direction. The current traveling direction may be a traveling direction at the time when the current position 20 is measured.

[0061] (Search for routes) The route 33 may be searched for by any method. In one example, the control device 11 may further include a memory unit 12, and map information 125 indicating a map of the search range may be held in the memory unit 12. The control device 11 may appropriately search for the route 33 from the current position 20 to the destination 30 on the map indicated by the map information 125. The method of searching for the route 33 on the map is not particularly limited, and may be appropriately selected depending on the embodiment. A known method may be adopted as the search method. The control device 11 may obtain the route 33 as a result of this search.

[0062] The process of searching for the route 33 may be executed at any timing before outputting the feedback 25. In one example, after searching for the route 33, the control device 11 may generate the feedback 25 based on the current position 20 used in searching for the route 33, and output the generated feedback 25 in real time. That is, the control device 11 acquires the current position 20, In the series of processes for outputting the feedback 25, a process for searching the route 33 may also be executed. In another example, 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 after searching the route 33. The control device 11 may determine whether or not the position of the user TU (current position 20) satisfies a predetermined condition according to the result of monitoring the movement of the user TU. In response to the position of the moving user TU satisfying the predetermined condition, the control device 11 may execute a process for outputting the feedback 25. In this case, the current position 20 used as the starting point of the route 33 may be separated from the position of the user TU at the time of outputting the feedback 25. Therefore, the control device 11 may use the current position 20 newly acquired in monitoring the movement of the user TU to generate the feedback 25. The control device 11 may determine whether or not the user TU has left the searched route 33 according to the result of monitoring the movement of the user TU. Whether the user TU has left the route 33 may be determined according to any index, such as the distance from the route 33, or the change of direction at a branch point different from the branch point indicated by the route 33. When the user TU has left the searched route 33, the control device 11 may execute a search for the route 33 again. On the other hand, when the user TU has not left the searched route 33, the control device 11 may not execute a search for the route 33 again, and may continue to use the search result of the route 33 obtained in the past. The control device 11 may generate the feedback 25 according to the past search result (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 the route 33. In yet another example, the control device 11 may execute a search process for the route 33 and a generation process for the feedback 25 in response to the position of the moving user TU satisfying a predetermined condition.

[0063] The map information 125 may be pre-installed in the storage unit 12, or 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 configured in any data format that allows a route 33 to be searched. A known data format may be adopted as the data format of the map information 125.

[0064] The search for the route 33 does not necessarily have to be performed on the smart grip 1. In another example, the search for the route 33 may be performed on an external computer. As with the external computer 5, the external computer that searches for the route 33 may be a facility terminal (store terminal), a user terminal, a server device, or the like. For example, the control device 11 may request the external computer to search for the route 33 by transmitting the current position 20 to the external computer. The destination 30 may be given to the external computer from the smart grip 1 or another computer. The destination 30 may be specified on the external computer. The external computer may search for the route 33 from the current position 20 to the destination 30 by any method. The method of searching for the route 33 may be the same as that of the smart grip 1. The external computer may return the search result to the smart grip 1. The smart grip 1 may obtain the route 33 by receiving this.

[0065] [feedback] As long as it can be sensed through touch, the configuration of the feedback 25 is not particularly limited and may be appropriately determined depending on the embodiment. The feedback 25 may be configured by an operation involving physical movement such as vibration, contact, etc. The haptic feedback module 13 may be configured by any device capable of performing an operation that generates such physical movement. For example, the haptic feedback module 13 may be configured by an actuator such as a servo motor, a vibration motor, etc. The type of actuator may be selected arbitrarily. The haptic feedback module 13 may be configured by multiple types of actuators. For example, The haptic feedback module 13 may be configured with a servo motor, a vibration motor, or a combination thereof. In the smart grip 1, the haptic feedback module 13 may be appropriately disposed in a location capable of transmitting motion to a portion gripped by the user TU (for example, an internal space within an area that can be gripped by the user TU, etc.).

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

[0067] When the given rule 23 is specified to determine the amount of drive of the control item depending on 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 be, for example, indicating the right direction with one vibration, indicating the left direction with two vibrations, etc., by comparing the operation of the feedback (feedback 25) with the rule (given rule 23) and understanding the meaning, thereby identifiably transmitting the direction of the object. On the other hand, intuitively indicating the direction of an object may be, for example, directly and perceptibly transmitting the direction of the object, such as 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 according to the direction of the object.

[0068] (Vibration feedback) In one example, the haptic feedback module 13 may be configured to vibrate by including an actuator capable of presenting vibration such as a vibration motor (hereinafter also referred to as a "vibration actuator"). Accordingly, the given rule 23 may include determining an attribute value of the vibration of the haptic feedback module 13 according to at least one of the distance and direction of the movement instruction. The attribute value of the target vibration may include any control amount that characterizes the vibration. For example, the attribute value of the vibration determined according to the distance of the movement instruction may include the number of vibrations, the vibration intensity, the vibration period, or a combination thereof. The distance may be evaluated on a common scale such as 50m, 100m, etc. The distance may be evaluated by an index that depends on the facility in which the smart grip 1 is used, such as the number of branching points to be passed. In addition, for example, the attribute value of the vibration determined according to the direction of the movement instruction may include a drive pattern.

[0069] (Other haptic feedback) The feedback 25 may not be limited to feedback by vibration. The feedback 25 may include tactile feedback other than vibration together with or instead of feedback by vibration. In one example, the tactile feedback module 13 may be configured to execute a contact action by including an actuator capable of presenting direct or indirect contact, such as a servo motor with an arm. In response to this, the given rule 23 may include determining an attribute value of the contact action in the tactile feedback module 13 according to at least one of the distance and direction of the movement instruction. The attribute value of the target contact action may include any control amount that characterizes the contact action. For example, the attribute value of the contact action determined according to the distance of the movement instruction may include at least one of the number of times, the intensity, and the period of the contact. Also, for example, the attribute value of the contact action determined according to the direction of the movement instruction may include the direction of the contact.

[0070] (Output timing) The timing of outputting the feedback 25 is not particularly limited, and may be appropriately determined depending on the embodiment.

[0071] In one example, the control device 11 may manually execute a series of information processes for acquiring the current position 20 and outputting the feedback 25. For example, the smart grip 1 may further include an input device 17. The control device 11 may execute the series of information processes related to the output of the feedback 25 in response to an input of an output request by a user TU via the input device 17. The input of the output request may be, for example, a voice input, an operation input, or the like.

[0072] In another example, the control device 11 may automatically execute the above series of information processes regarding 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 monitoring this movement, the control device 11 may determine whether or not the acquired current position 20 satisfies a predetermined condition. If the acquired current position 20 satisfies the predetermined condition, the control device 11 may execute a process of outputting feedback 25 according to the current position 20 acquired at that time. On the other hand, if the current position 20 does not satisfy the predetermined condition, the control device 11 may omit executing the process of outputting the feedback 25. That is, in this example, the trigger for outputting the feedback 25 is that the current position 20 satisfies the predetermined condition.

[0074] The predetermined condition may be appropriately specified according to the location where the output is triggered, such as, for example, reaching the vicinity of a branch point, changing the traveling direction at a branch point and entering the next aisle, etc. The location where the output is triggered may be selected arbitrarily. For example, the location where the output is triggered may include a branch point. The branch point may include any location where an aisle branches in multiple directions. The branch point may include, for example, an intersection such as a crossroads or a T-junction. As an example, in a store that sells goods, multiple product shelves are arranged. As a result, an aisle is formed between the ends of the product shelves adjacent in the serial direction, between the display surfaces of the product shelves adjacent in the parallel direction, between the end of the product shelf and the display surface of the product shelf, etc. The branch point may be formed as a place where these aisles intersect.

[0075] Furthermore, whether the current position 20 satisfies a predetermined condition may be determined by any method. For example, an area in which the predetermined condition is determined to be satisfied may be set appropriately on a map (map information 125). The control device 11 may determine whether the current position 20 satisfies the predetermined condition depending on whether the current position 20 belongs to the set area. The control device 11 may determine that the current position 20 satisfies the predetermined condition depending on whether the current position 20 belongs to the set area. The control device 11 may determine that the current position 20 does not satisfy the predetermined condition depending on whether the current position 20 does not belong to the set area. A position in the set area may be determined to satisfy the predetermined condition, or may be determined not to satisfy the predetermined condition.

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

[0077] Also, for example, the control device 11 may detect the occurrence of an arbitrary event by a sensor other than the positioning sensor 14. In response to detecting the occurrence of the event, the control device 11 may execute the above-mentioned series of processes related to the output of the feedback 25. The event to be detected may be specified arbitrarily. The sensor to be used may be appropriately selected according to the event to be detected. For example, in a case where the display locations of each product are visited in sequence, a new next destination may be given in response to reaching the destination. In this case, the control device 11 may detect whether the destination (destination 30) has been reached. In response to detecting the arrival at the destination, the control device 11 may set the next destination to the new destination 30 and execute the above-mentioned series of processes related to the output of the feedback 25.

[0078] Arrival at the destination may be detected by any method. For example, in the case of sequentially visiting 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 hold the insertion status (unselected or selected) for each product. The order of visiting the display locations of each product to be purchased shown in the list in the target store may be determined automatically or manually by any method. The order of visiting may be determined by a known method. The control device 11 may appropriately acquire the identification result of the product inserted into the basket B1. The control device 11 may determine whether the inserted product is the product to be purchased selected as the destination 30 among the products to be purchased included in the list, according to the acquired identification result.

[0079] If the inserted product is not the target product to be purchased, the control device 11 may continue to guide the route (route 33) to the target product to be purchased. In response to detecting the insertion of a product other than the target product to be purchased, the control device 11 may execute the above-mentioned series of processes related to the output of the feedback 25 while maintaining the setting of the destination 30. In this way, at the time of detecting the insertion of another product, the control device 11 may output the feedback 25 configured to indicate a route to the target product to be purchased. If the inserted product is another product to be purchased, the control device 11 may change the status of the inserted product (the other product to be purchased) to selected. On the other hand, the control device 11 may detect that the inserted product has reached the destination in response to the fact that the target product to be purchased is the target product to be purchased. In response to detecting the arrival of the destination, the control device 11 may set the display location of a product to be purchased that is a product to be visited next after the target product to be purchased and has a status of not selected as a new destination 30, and execute the above-mentioned series of processes related to the output of the feedback 25. The display location of each product may be appropriately specified on a map (map information 125).

[0080] The product may be identified by any method. In one example, the above-mentioned method using a detection sensor and an imaging device may be adopted as the product identification method. A publicly known method may be adopted as the product identification method. Furthermore, the product identification process may be executed on the smart grip 1, or may be executed on another computer other than the smart grip 1. In the former case, the control device 11 may acquire the product identification result by executing the product identification process. In the latter case, the control device 11 may acquire the product identification result from the other computer.

[0081] The method of detecting arrival at the destination is not limited to this example, and may be changed as appropriate depending on the embodiment. In another example, whether the destination has been reached may be determined by a method using the current position 20. In this case, the location that triggers the output may include the destination (such as a display location of the product). The predetermined condition may be specified 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. In one example, when the haptic feedback module 13 is configured to be vibrable, the given rule 23 may include at least one of the following first to third rules.

[0083] (1) Rule 1 FIG. 2 is a schematic diagram showing an example (first rule) of the given rule 23 according to the present embodiment. In one example, displaying the route 33 to the destination 30 may include displaying a distance 50 for instructing movement. 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 for instructing movement (first rule). In response to this, 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 on a common scale (50 m, 100 m, etc.) or may be evaluated on an index (such as the number of junctions to be passed) that depends on the facility where the smart grip 1 is used.

[0084] The correspondence between the distance 50 and each attribute value may be arbitrarily defined. For example, the vibration frequency may be determined so that the longer the distance 50, the greater the vibration frequency, and the shorter the distance 50, the less the vibration frequency. The correspondence between the distance 50 and the vibration frequency may be the opposite of this correspondence. Also, for example, the vibration intensity may be determined so that the longer the distance 50, the greater the vibration intensity, and the shorter the distance 50, the weaker the vibration intensity. The correspondence between the distance 50 and the vibration intensity may be the opposite of this correspondence. Also, for example, the vibration period may be determined so that the longer the distance 50, the shorter the vibration period, and the longer the vibration period, the shorter the distance 50. The correspondence between the distance 50 and the vibration period may be the opposite of this correspondence. Each attribute value (vibration frequency, vibration intensity, and vibration period) may be increased or decreased stepwise or continuously. The period of one vibration may be arbitrarily defined.

[0085] In one example, the distance 50 may be a distance instructing movement in one direction. In FIG. 2, a scene is assumed in which the destination 30 is located on a straight line in one direction from the current position 20. In this scene, the distance 50 may be a distance from the current position 20 to the destination 30. However, the distance 50 is not limited to this example. In another example, the destination 30 may be located at a place reached by passing through one or more branch points while changing direction from the current position 20. In this case, the distance 50 may be a straight-line distance from the current position 20 to a waypoint (for example, a branch point where the direction is changed for the first time). That is, the distance 50 may be a distance of a part of a route. The end point of the route indicated by the distance 50 may not be limited to the destination 30, and may be a waypoint. In another example, when the destination 30 is located at a place reached by passing through one or more branch points while changing direction from the current position 20, the distance 50 may be a total distance of all routes from the current position 20 to the destination 30. Distance 50 may be a straight-line distance from current position 20 to destination 30. In another example, the start point of the route indicated by distance 50 does not have to be limited to current position 20, and may be a future position.

[0086] Also, the direction instructing the movement of the distance 50 may be appropriately determined according to the embodiment. In one example, the direction instructing the movement of the distance 50 may be the current traveling direction of the user TU. The current traveling direction may be detected by any method. For example, the smart grip 1 may further include a sensor such as an acceleration sensor. The control device 11 may detect the current traveling direction according to the measurement result of the sensor. Also, for example, when 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 traveling direction. When instructing the movement of the distance 50 in the current traveling direction, the control device 11 may generate the feedback 25 according to this first rule in response to the fact that the route 33 from the current position 20 to the destination 30 includes a path moving in the current traveling direction.

[0087] According to one embodiment of the present invention, the distance 50 to be moved is determined based on the vibration frequency of the feedback 25. The user TU can recognize the distance 50 traveled on the route 33 using at least one of the number of vibrations, the vibration intensity, and the vibration period as a clue. This allows proper guidance of at least a part of the route 33 to the destination 30.

[0088] In one example, after outputting the feedback 25 according to this first rule, 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 or not the movement of the distance 50 is completed according to the result of this monitoring. When it is determined that the movement of the distance 50 is completed, the control device 11 may output feedback notifying that the movement of the distance 50 is completed from at least one of the haptic feedback module 13 and the output device 16.

[0089] (2) Second Rule 3 is a schematic diagram showing an example (second rule) of the given rule 23 according to the present embodiment. In one example, indicating the route 33 to the destination 30 may include indicating a direction 55 for instructing movement. The given rule 23 may include determining a drive pattern of the haptic feedback module 13 according to the direction 55 for instructing movement (second rule). In response to this, the feedback 25 may be configured to indicate the direction 55 for instructing movement on the route 33 by the drive pattern of the haptic feedback module 13. In a situation 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 a direction in which the direction is changed at the current position 20. In FIG. 3, a scene is assumed in which the user TU has reached the final branch point, and can reach the destination 30 by changing the traveling direction to the direction 55 at this branch point and then moving linearly. In this scene, the direction 55 may be a direction from the current position 20 toward the destination 30. However, the direction 55 is not limited to such an example. In another example, the destination 30 may be located at a place where the user can reach the destination 30 by passing through one or more branch points while changing direction from the current position 20. In this case, the direction 55 may be a direction from the current position 20 toward a waypoint (for example, the first branch point where the user can change direction). That is, the direction 55 may be configured as a direction of moving in one direction from the current position 20. In another example, even if the destination 30 is located at a place where the user can reach the destination 30 by passing through one or more branch points while changing direction from the current position 20, the direction 55 may be a direction from the current position 20 toward the destination 30. In another example, the start point of the route indicated by the direction 55 is not limited to the current position 20, but may be a future position. The direction 55 may be configured as a direction to proceed at a branch point on the route 33.

[0091] (Drive pattern) As long as the pointing direction 55 can be identified, the drive pattern is not particularly limited and may be appropriately defined according to the embodiment. For example, determining the drive pattern according to the direction 55 instructing the movement may include determining the number of vibrations according to the direction 55 instructing the movement, such as indicating the right direction with one vibration and indicating the left direction with two vibrations. The correspondence between the number of vibrations and the pointing direction 55 is not limited to the above example and may be appropriately determined according to the embodiment. Pointing out the direction 55 of the target with the number of vibrations is an example of logically pointing out the direction of the target.

[0092] Also, for example, the haptic feedback module 13 may include a plurality of vibration actuators. The plurality of vibration actuators may be arranged separately in any direction (front-back direction, left-right direction, etc.). As a result, each vibration actuator may be arranged in a different direction, and the haptic feedback module 13 may be configured to be able to vibrate in a plurality of places. In this case, determining the drive pattern according to the direction 55 instructing the movement may include vibrating a vibration actuator corresponding to the direction 55 instructing the movement among the multiple vibration actuators more strongly than the remaining vibration actuators. In other words, determining the drive pattern according to the direction 55 instructing the movement may include vibrating a location corresponding to the direction 55 instructing the movement among multiple vibrable locations of the haptic feedback module 13 more strongly than the remaining locations. Corresponding to the direction of the target may be arranged in the direction of the target. Pointing to the direction of the target by a location that is vibrated strongly (arrangement of the vibration actuator) is an example of intuitively pointing to the direction of the target.

[0093] As a simple example, the haptic feedback module 13 may include two vibration motors. The two vibration motors may be arranged separately in the left and right directions. The haptic feedback module 13 may indicate the left direction by vibrating the vibration motor arranged to the left more strongly than the vibration motor arranged to the right. The haptic feedback module 13 may also indicate the right direction by vibrating the vibration motor arranged to the right more strongly than the vibration motor arranged to the left.

[0094] Increasing the vibration may be achieved by increasing the vibration intensity, increasing the vibration cycle, or a combination of these. The remaining locations (vibration actuators) may or may not be vibrated. In the latter case, vibrating the vibration actuator corresponding to the direction 55 instructing the movement more strongly than the remaining vibration actuators may include operating only the vibration actuator corresponding to the direction 55 instructing the movement and stopping (including pausing) the operation of the remaining vibration actuators.

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

[0096] As long as the direction of the target (direction 55) can be identified, the order of vibration may be appropriately determined according to the embodiment. In one example, determining the order of vibration in the direction of the target may be configured by selecting at least two or more vibration actuators located along the direction of the target from among the multiple vibration actuators, and vibrating the vibration actuators located at the rear end (opposite the direction of the target) of the selected two or more vibration actuators first, and vibrating the vibration actuators located at the leading end of the direction of the target last. Vibrating two or more vibration actuators in the determined order may be configured by gradually switching the vibration actuator to be vibrated from the previous vibration actuator to the next vibration actuator, or by stopping the vibration of the previous vibration actuator and then starting the vibration of the next vibration actuator. The "vibration actuator" may be read as the "location" to be vibrated. Pointing to the direction of the target by this vibration order is an example of intuitively pointing to the direction of the target. Vibration in the determined order may be performed multiple times.

[0097] As a simple example, similar to the above, the haptic feedback module 13 may include two vibration motors. In this case, the haptic feedback module 13 may indicate the right direction by vibrating the vibration motor arranged in the left direction and then vibrating the vibration motor arranged in the right direction. Also, the haptic feedback module 13 may indicate the left direction by vibrating the vibration motor arranged in the right direction and then vibrating the vibration motor arranged in the left direction. It may also point out the direction.

[0098] According to one example of this embodiment, a direction 55 instructing movement is transmitted by a drive pattern (vibration pattern) of the haptic feedback module 13 in the feedback 25. The user TU can recognize the direction 55 to move in on the route 33 using the drive pattern (vibration pattern) of the haptic feedback module 13 as a clue. This makes it possible to properly guide the user TU along at least a part of the route 33 to the destination 30.

[0099] (Combination of Rules 1 and 2) FIG. 4 is a schematic diagram showing an example of a scene in which the route 33 is guided using both the first rule and the second rule. In one example, the first rule and the second rule may be used together. The control device 11 may determine which of the feedback 25 of the first rule and the second rule is to be prioritized based on an arbitrary criterion. For example, when the current traveling direction matches the traveling direction of the route 33, the control device 11 may prioritize the presentation of the distance by the feedback 25 according to the first rule. On the other hand, when the current traveling direction does not match the traveling direction of the route, the control device 11 may prioritize the presentation of the direction by the feedback 25 according to the second rule.

[0100] In FIG. 4, a scene is assumed in which the destination 30 is present at a location that can be reached by moving a distance 501 in the current traveling direction, changing direction to a direction 551 (to the right in the figure) at a branch point to be reached, and then moving a distance 502 in the direction 551. In one example, in this scene, first, the control device 11 may instruct the user TU to move the distance 501 in the current traveling direction by feedback 25 according to the first rule. After the movement of the distance 501 is completed, the control device 11 may instruct the user TU to turn in the direction 551 at the branch point reached by the movement of the distance 501 by feedback 25 according to the second rule. Then, the control device 11 may instruct the user TU to move the distance 502 in the direction 551 by feedback 25 according to the first rule. This allows the user TU to be properly guided along the route 33 to the destination 30.

[0101] (3) Third Rule FIG. 5 is a schematic diagram showing an example (third rule) of the given rule 23 according to the present embodiment. In one example, showing the route 33 to the destination 30 may include showing the number of second branch points 65 that are passed from the current position 20 to the first branch point 60 without changing the traveling direction. The given rule 23 may include determining the number of vibrations of the haptic feedback module 13 according to the number of second branch points 65 that are passed from the current position 20 to the first branch point 60 without changing the traveling direction. In response to this, the feedback 25 may be configured to show the number of branch points (second branch points 65) that are passed on the route 33 in the movement from the current position 20 by the number of vibrations. The third rule corresponds to one form of the first rule. In the third rule, the distance 505 instructing the movement is expressed by the number of second branch points 65 indicated by the number of vibrations. This distance 505 instructing the movement is an example of the distance 50 of the first rule.

[0102] The first branch point 60 is a branch point where the traveling direction is changed. The second branch point 65 is a branch point where the traveling direction is not changed and the vehicle passes through. In one example, the determination of the number of vibrations according to the number of the second branch points 65 may be configured by determining the number of vibrations to be equal to the number of the second branch points 65. In FIG. 5, a scene is assumed in which the first branch point 60 is present at a location that is reached by moving from the current position 20 in the current traveling direction by a distance 505 that passes through two second branch points 65. Therefore, the number of vibrations may be determined to be two. However, as long as the number of the second branch points 65 is reflected, the number of vibrations may not necessarily be equal to the number of the second branch points 65. In another example, the number of vibrations may be determined to be three, including the number of the first branch points 60 (one). As long as the number of the second branch points 65 can be specified, the number of vibrations may be different from the number of the second branch points 65. The period of one vibration may be arbitrarily specified.

[0103] Also, in FIG. 5, a scene is assumed in which the destination 30 is located at a place that can be reached by changing direction at the first branch point 60 to a direction 555 and then moving in one direction by a distance 506. That is, in the example of FIG. 5, the first branch point 60 is the final branch point until the destination 30 is reached. The first branch point 60 may include such a final branch point. When changing direction at multiple branch points before reaching the destination 30, the first branch point 60 may include an intermediate branch point other than the final branch point. In this case, the control device 11 may provide guidance on the route 33 to the destination 30 by repeating the feedback 25 according to the third rule.

[0104] In addition, in one example, the third rule may be used in combination with at least one of the first rule (a form other than the third rule) and the second rule. The control device 11 may determine which feedback 25 of the third rule or the first rule not depending on the number of the second branch points 65 is to be prioritized based on an arbitrary criterion. For example, when the second branch point 65 exists within the range of movement in one direction, the control device 11 may prioritize the presentation of the distance by the feedback 25 according to the third rule. On the other hand, when the second branch point 65 does not exist within the range of movement in one direction, the control device 11 may prioritize the presentation of the distance by the feedback 25 according to the first rule not depending on the number of the second branch points 65. The relationship between the third rule and the second rule may be similar to the relationship between the first rule and the second rule described above.

[0105] In one example, in the scene of Fig. 5, the control device 11 may instruct the user TU to move in the current traveling direction by a distance 505 passing through two second branch points 65, by using the feedback 25 according to the third rule. After the movement of the distance 505 is completed and the first branch point 60 is reached, the control device 11 may instruct the user TU to turn in a direction 555 at the first branch point 60 by using the feedback 25 according to the second rule. Then, the control device 11 may instruct the user TU to move in a direction 551 by a distance 506 by using the feedback 25 according to the first rule. This allows the user TU to be properly guided along the route 33 to the destination 30.

[0106] According to one example of this embodiment, the number of branch points (second branch points 65) that will be passed without changing the traveling direction is conveyed by the number of vibrations in the feedback 25. Using the number of vibrations as a clue, the user TU can recognize the distance 505 traveled on the route 33. This allows proper guidance of at least a part of the route 33 to the destination 30.

[0107] (4)Other As described above, in one example, when the haptic feedback module 13 is configured to be vibrated, the given rule 23 may include at least one of the first rule to the third rule. When the given rule 23 includes the first rule and the second rule, or includes the second rule and the third rule, the vibration of the second rule may be executed together with the vibration of the first rule or the third rule, or may be executed separately. Note that the given rule 23 is not limited to such an example, and may be appropriately changed according to the embodiment. The given rule 23 may include another rule that prescribes a vibration other than the above, together with at least one of the first rule to the third rule, or instead of the first rule to the third rule. Furthermore, when the haptic feedback module 13 is configured to be able to transmit a motion other than the vibration such as the above-mentioned contact, the given rule 23 may include one or more rules that prescribe a motion other than vibration, together with at least one of the first rule to the third rule, or instead of the first rule to the third rule. An example of the rules governing contact among the rules governing motions other than vibration will be described later in the structural example.

[0108] §2 Configuration Example [Hardware configuration] 1, the smart grip 1 includes a computer to which a control device 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 the computer may be housed in a box.

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

[0110] The storage unit 12 may be configured with a hard disk drive, a solid state drive, a semiconductor memory, or the like. The storage unit 12 is an example of a memory resource. In this embodiment, the storage unit 12 stores various information such as a program 81 and map information 125. The program 81 is a program for causing the control device 11 to execute information processing (FIG. 19 described later) related to the output of feedback 25 by the haptic feedback module 13. The program 81 includes a series of instructions for the 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 the storage unit 12 or together with the storage unit 12. The storage medium SR1 is configured to accumulate various information (stored programs, etc.) by electrical, magnetic, optical, mechanical, or chemical action 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-transient storage media. The smart grip 1 (computer) may acquire 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 a 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 a position. As long as the position can be measured, the type of the positioning sensor 14 is not particularly limited and may be appropriately selected depending on the embodiment. For example, the positioning sensor 14 may be configured with a GPS (Global Positioning System) sensor, a GNSS (Global Navigation Satellite System) sensor, or the like. In addition, for example, The positioning sensor 14 may be configured with a beacon receiver. In this case, a plurality of beacon transmitters may be installed in the facility. 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 triangulation. At least a part of the process of measuring this position may be executed by the control device 11.

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

[0114] The output device 16 is configured to output information. The output device 16 may be configured with, for example, a display, a speaker, an indicator light, etc. The output format of the information may be appropriately selected from text, images, sounds, etc. When the output device 16 includes a display, the display is preferably disposed in a location where the output information can be viewed 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 the input of the destination 30. Also, for example, if the smart grip 1 further includes a detection sensor that detects the insertion of a product, the output device 16 may be used to output information related to the insertion of the product in response to the detection of the insertion of the product by the detection sensor. The information to be output may be stored in advance in the storage unit 12, or may be acquired from an external computer.

[0116] The input device 17 is configured to receive input of information. The input device 17 may be configured, for example, by 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 for inputting a destination 30. The output device 16 and the input device 17 may be at least partially integrated with a touch panel display or the like.

[0117] Regarding the specific hardware configuration of the smart grip 1 (computer), components can be omitted, replaced, or 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, the output device 16, and the input device 17 may be omitted. At least one of the program 81 and the map information 125 may be stored in an external storage device such as a NAS. The external storage device is also an example of a non-transitory storage medium. The smart grip 1 may include multiple computers. The hardware configuration of each computer may or may not be the same. Furthermore, the computer included in the smart grip 1 may be a dedicated computer, a general-purpose PC (Personal Computer), a tablet, etc. The smart grip 1 may be configured with a laptop PC, a terminal device (including a smartphone), etc. For example, the computer included in the smart grip 1 may be configured with a smartphone. The smart grip 1 may be constructed by mounting a smartphone on a housing (attachment).

[0118] [Smart Grip Structure] [1] First structure example 6 and 7 are a side view and a plan view showing a schematic example (first structure 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 the haptic feedback module 13, the positioning sensor 14, and the control device 11. The housing 90 may include one or more grooves (groove 915, groove 935, etc.) for hooking the handle B11 provided on the basket B1. According to this example of the present embodiment, it is possible to provide a smart grip 1 that can be used as a handle for a basket by replacing the handle (handle B11) of an existing basket.

[0119] The structure of the smart grip 1, such as the shape of the housing 90, the size of the housing 90, the arrangement of each component (such as the control device 11) in the housing 90, the number of grooves, the shape of the grooves, and the arrangement of the grooves, may be changed as described in the embodiment. 6 and 7, a situation is assumed in which the haptic feedback module 13 is configured by a vibration motor 130 and a servo motor 135. A situation is assumed in which the output device 16 and the input device 17 are configured by a touch panel display 167. A situation is assumed in which the housing 90 has a pair of grooves (915, 935). A situation is assumed in which the smart grip 1 further includes a detection sensor configured by a pair of load sensors 180 and an imaging device 19 provided separately from the detection sensor.

[0120] For ease of explanation, the left-right direction in Figs. 6 and 7 will be referred to as the "front-rear direction". The left direction in Figs. 6 and 7 will be referred to as the "front direction", and the right direction in Figs. 6 and 7 will be referred to as the "rear direction". The direction perpendicular to the paper surface of Fig. 6 and the up-down direction in Fig. 7 will be referred to as the "left-right direction". The upward direction in Fig. 7 will be referred to as the "right direction", and the downward direction in Fig. 7 will be referred to as the "left direction". The upward-down direction in Fig. 6 and the direction perpendicular to the paper surface of Fig. 7 will be referred to as the "up-down direction". The upward direction in Fig. 6 will be referred to as the "upper direction", and the downward direction in Fig. 6 will be referred to as the "lower direction".

[0121] In one example, the housing 90 may include a first portion 91, a second portion 92, and a third portion 93. In one example of each figure, the first portion 91, the second portion 92, and the third portion 93 are arranged in a line in the front-rear direction from the rear. Each portion (91, 92, 93) is formed in a rectangular parallelepiped shape. The first portion 91 and the third portion 93 may have substantially the same shape. The width (length in the left-right direction) of the second portion 92 may be formed shorter than the first portion 91 and the third portion 93. As a result, the second portion 92 may constitute a portion to be held by the user. In one example of each figure, the second portion 92 extends along the front-rear direction. Therefore, the user can hold the smart grip 1 by holding the second portion 92 with his / her hand along the front-rear direction. The total length of the circumference of the second portion 92 around the axis in the front-rear direction may be determined within a range of a length that can be held by hand.

[0122] Side walls may be provided at the ends of each part (91, 92, 93) in the horizontal direction (left-right direction and front-back direction). A bottom surface may be provided at the lower end of each part (91, 92, 93). As a result, an internal space may be formed in each part (91, 92, 93) that is surrounded by each side wall and that houses the computer part of the smart grip 1. The internal spaces of the first part 91 and the second part 92 may be at least partially continuous. The internal spaces of the second part 92 and the third part 93 may also be at least partially continuous. The upper end of each part (91, 92, 93) may be closed by a lid or the like, or may be open.

[0123] A groove 915 may be provided on the rear end side of the first portion 91. In one example of each figure, the groove 915 is formed by recesses provided on side walls opposing each other in the left-right direction of the first portion 91. Each recess is formed in a rectangular shape. The recesses are aligned in the front-rear direction to form the groove 915. 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 open.

[0124] Similarly, a groove 935 may be provided on the front end side of the third portion 93. In one example of each figure, the groove 935 is formed by recesses provided on side walls opposing each other in the left-right direction of the third portion 93. Each recess is formed in a rectangular shape. The recesses are aligned in the front-rear direction to form the groove 935. 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 formed to be the same as or slightly larger than the width of the corresponding handle portion B11 of the basket B1. In this way, each groove (915, 935) may be configured to be able to receive each handle portion B11 of the basket B1.

[0125] (Load sensor) The pair of load sensors 180 may be disposed in the internal spaces of the first portion 91 and the third portion 93 in accordance with the positions of the pair of grooves (915, 935), respectively. When the portion of B11 that is hooked onto the smart grip 1 is formed in a straight line, in one example, the recesses constituting each groove (915, 935) may be formed so that the lower end of the recess is located slightly lower than the measurement portion (contact surface with the handle portion B11) of the load sensor 180. In this way, when each handle portion B11 is hooked onto each groove (915, 935), each handle portion B11 comes into contact with the measurement portion of each load sensor 180. As a result, each load sensor 180 can observe the change in weight when a baggage TP (goods, etc.) is put into the basket B1 (basket body B10). The location of this load sensor 180 is an example of a location where a change in load occurs due to the insertion of the baggage 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 according to the embodiment such as the shape of the handle portion B11. For example, each handle portion B11 may be formed so that a portion located in the internal space of each portion (91, 93) curves downward when the handle portion B11 is hung on the smart grip 1. In this case, the recesses constituting each groove (915, 935) may be formed so that the lower end of the recesses is located above the measurement portion of the load sensor 180.

[0126] (Imaging device) In one example of each figure, the imaging device 19 is disposed in the internal space of the first part 91. For example, an opening may be provided on the bottom surface of the first part 91 in accordance with the position of the imaging section 191 (light receiving section, etc.) of the imaging device 19. The imaging device 19 may be disposed so that the imaging section 161 is exposed from the bottom surface of the first part 91 by fitting the imaging section 191 into the opening on the bottom surface. This allows the imaging device 19 to capture an image of the area below the smart grip 1. Therefore, when the smart grip 1 is attached to the basket B1 by hooking each of the handle parts B11 of the basket B1 into each of the grooves (915, 935), the imaging device 19 can include the storage section of the basket body B10 in the imaging range. As a result, when the luggage TP is inserted into the basket body B10, the imaging device 19 can observe the luggage TP being inserted. The location where the imaging device 19 is disposed is one example of a location where the luggage TP being inserted can be observed. The pair of load sensor 180 and image capture device 19 may be used for any purpose, for example, the pair of load sensor 180 and image capture device 19 may be used to identify products according to the methods described above.

[0127] (Box / Display) In addition, in one example of each figure, the control device 11, the storage unit 12, the positioning sensor 14, and the communication module 15 are housed in a box 1100. The box 1100 is formed in a rectangular parallelepiped shape and is disposed in the internal space of the third portion 93. A touch panel display 167 is disposed on the upper surface of the box 1100. When the upper end of the third portion 93 is closed, the touch panel display 167 may be disposed so that the screen is exposed from the upper end surface of the third portion 93. In this example, when the user TU properly holds the smart grip 1, the third portion 93 is located in front of the second portion 92. Therefore, while using the smart grip 1, the screen of the touch panel display 167 is disposed slightly in front of the hand of the user TU that holds the smart grip 1. As a result, while using the smart grip 1, the user TU can easily view the screen of the touch panel display 167 without being blocked by any body part.

[0128] (Haptic feedback module) In one example of each figure, the haptic feedback module 13 includes a vibration motor 130 and a servo motor 135. The vibration motor 130 and the servo motor 135 are disposed in the internal space of the second part 92. In this example, the second part 92 constitutes a part that is held by the user TU. Therefore, by disposing the vibration motor 130 and the servo motor 135 in the second part 92, the user TU using the smart grip 1 can be given haptic feedback 25. This location of the vibration motor 130 and the servo motor 135 is an example of a location where motion can be transmitted to a part that is held by the user TU. The types of the vibration motor 130 and the servo motor 135 are not particularly limited, and may be appropriately selected according to the embodiment.

[0129] The vibration motor 130 is configured to be able to output feedback by generating vibration. The servo motor 135 may include a shaft 1351 and an arm 1352. The shaft 1351 constitutes a rotation axis. The arm 1352 is attached to the shaft 1351. For example, the arm 1352 may be attached to the tip of the shaft 1351. The arm 1352 rotates around the axis of the shaft 1351 in response to the rotation of the shaft 1351. The arm 1352 may be configured so that a part (for example, a tip) of the arm 1352 directly contacts the hand of the user TU holding the second part 92 by rotating clockwise or counterclockwise. Alternatively, the arm 1352 may be configured so that the tip of the arm 1352 hits the side wall of the second part 92 by rotating clockwise or counterclockwise, and the vibration (indirect contact) generated thereby is transmitted to the hand of the user TU holding the second part 92. With these configurations, the servo motor 135 is configured to be able to output feedback by direct or indirect contact. In one example of each figure, the arm 1352 is formed in a flat plate shape. However, the shape of the arm 1352 does not need to be limited to such an example. As long as the arm 1352 can 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 the rules) In the first structural example, the given rule 23 may include at least one of the first rule to the third rule. The vibration motor 130 may be used to output the feedback 25 by vibration according to the first rule to the third rule. The given rule 23 may also include determining an attribute value of the contact action of the servo motor 135 according to at least one of the distance and the direction of the movement instruction. For example, the attribute value of the contact action determined according to the distance of the movement instruction may include at least one of the number of contacts, the intensity, and the period. For example, the attribute value of the contact action determined according to the direction of the movement instruction may include the direction of the contact (such as the direction of swinging the arm 1352). In one example, the given rule 23 may include at least one of the following first case to sixth case.

[0131] (A) Case 1 8 is a schematic diagram showing a specific example (first case) of the given rule 23 according to the present embodiment. In one example, indicating the route 33 to the destination 30 may include indicating a direction 56 for instructing movement. The given rule 23 may include determining a direction for swinging the arm 1352 of the servo motor 135 according to the direction 56 for instructing movement. In response to this, the feedback 25 may be configured to indicate the direction 56 for moving on the route 33 by the direction for swinging the arm 1352 of the servo motor 135. The direction 56 may be similar to the direction 55 of the second rule described above.

[0132] In one example of each figure, feedback pointing to the left can be given by rotating the arm 1352 clockwise (swinging the arm 1352 clockwise) and transmitting an impact from the arm 1352 to the left side of the hand of the user TU holding the second part 92. On the other hand, feedback pointing to the right can be given by rotating the arm 1352 counterclockwise (swinging the arm 1352 counterclockwise) and transmitting an impact from the arm 1352 to the right side of the hand of the user TU holding the second part 92. Pointing to the direction of a target by the direction of swinging the arm 1352 is an example of intuitively pointing to the direction of a target.

[0133] According to one example of the present embodiment, the direction 56 instructing movement is transmitted by the swinging direction 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 using the swinging direction of the arm 1352 with which the user TU directly or indirectly comes into contact as a clue. This makes it possible to properly guide the user TU along at least a part 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 appropriately changed depending on the embodiment. In another example, the given rule 23 may include determining at least one of the number of contacts, the strength, and the period of contact by the arm 1352 of the servo motor 135 according to the distance to be instructed to move. In response to this, 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, the strength, and the period. The distance to be instructed to move may be the same as the distance 50 of the first rule. The strength of the contact may be controlled by the speed at which the arm 1352 is swung. According to one example of the present embodiment, the distance to be instructed to move is transmitted by at least one of the number of contacts, the strength, and the period of contact by the arm 1352 of the servo motor 135 in the feedback 25. This allows proper guidance of at least a part 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 in at least one of the first rule to the third rule.

[0135] (B) Second case 9 is a schematic diagram showing a specific example (second example) of the given rule 23 according to the present embodiment. In one example, indicating the route 33 to the destination 30 may include indicating a distance 519 for instructing 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 for instructing movement. In response to this, the feedback 25 may be configured to indicate the distance 519 to be moved on the route 33 by the number of times to swing the arm 1352 of the servo motor 135. The distance 519 may be the same as the distance 50 of the first rule described above.

[0136] The correspondence between the distance 519 and the number of times the arm 1352 is swung may be defined arbitrarily. For example, the number of times the arm 1352 is swung may be determined so that the longer the distance 519, the more the number of times the arm 1352 is swung, and the shorter the distance 519, the less the number of times the arm 1352 is swung. The correspondence between the distance 519 and the number of times the arm 1352 is swung may be the opposite of this correspondence. The number of times the arm 1352 is swung may be increased or decreased stepwise or continuously. One motion of swinging the arm 1352 may be defined as appropriate depending on the embodiment. For example, one motion of swinging the arm 1352 may be configured by rotating the arm 1352 in either a clockwise or counterclockwise direction, and then returning the arm 1352 by rotating it in the other direction. The time of one motion of swinging the arm 1352 may be defined arbitrarily. In addition, the amount of swinging the arm 1352 may also be defined arbitrarily. 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 comes into contact with the hand of the user TU. In other words, the number of times the arm 1352 is swung may correspond to the number of times the arm 1352 comes into contact with the hand of the user TU. This makes it possible to appropriately communicate to the user TU the number of times the arm 1352 of the servo motor 135 has been swung. In this second example, the direction in which the arm 1352 is swung is not particularly limited and may be selected arbitrarily.

[0137] According to one example of the present embodiment, the distance 519 to be instructed to move is transmitted by the number of times the arm 1352 of the servo motor 135 in the feedback 25 is swung. The user TU can recognize the distance 519 to be moved on the route 33 using the number of times the arm 1352 is swung (number of contacts) as a clue. This makes it possible to provide proper guidance on at least a part of the route 33 to the destination 30.

[0138] (C) Third case 10 is a schematic diagram showing a specific example (third example) of the given rule 23 according to the present embodiment. In one example, showing a route 33 to a destination 30 includes showing a distance 518 instructing movement in one direction, and showing a direction 518 instructing further movement after moving the instructed distance 518. 68. The given rule 23 may include determining a number of times to swing the arm 1352 of the servo motor 135 in response to the distance 518 that instructs movement in one direction. In addition, the given rule 23 may further include determining a direction to swing the arm 1352 of the servo motor 135 in response to a direction 568 that instructs further movement after moving the instructed distance 518.

[0139] In response to these, feedback 25 may be configured to indicate distance 518 moved on route 33 by the number of times arm 1352 of servo motor 135 is swung, and to indicate the direction (direction 568) to change direction after moving distance 518 by the direction of swinging arm 1352. Distance 518 is an example of distance 50 of the first rule. Direction 568 is an example of direction 56. The third case is an example of a case in which feedback 25 of the second case is output together with feedback 25 of the first case.

[0140] According to an example of the present embodiment, the distance 518 instructed to move is transmitted by the number of times the arm 1352 of the servo motor 135 is swung. The direction of the change of direction after the movement of the distance 518 is transmitted by the direction of the swing of the arm 1352. The user TU can recognize the distance 518 to be moved on the route 33 using the number of times (number of contacts) the arm 1352 of the servo motor 135 is swung as a clue. In addition, the user TU can recognize the direction (direction 568) to be faced after the movement of the distance 518 using the direction of the swing of the arm 1352 as a clue. This makes it possible to properly guide at least a part of the route 33 to the destination 30. In addition, since both the distance 518 and the direction 568 instructed to move can be transmitted by a single action of swinging the arm 1352, it is expected that the efficiency of the control can be improved.

[0141] (D) Fourth case 11 is a schematic diagram showing a specific example (fourth case) of the given rule 23 according to the present embodiment. In one example, displaying the route 33 to the destination 30 may include displaying the number of second branch points 65 that will be passed from the current position 20 to the first branch point 60 without changing the traveling direction. The given rule 23 may include determining the number of times to swing the arm 1352 of the servo motor 135 according to the number of second branch points 65 that will be passed from the current position 20 to the first branch point 60 without changing the traveling direction.

[0142] Accordingly, the feedback 25 may be configured to indicate the number of branch points (second branch points 65) to be passed on the route 33 in the movement from the current position 20 by the number of times to swing the arm 1352 of the servo motor 135. The distance 517 indicating the movement expressed by the number of second branch points 65 is an example of the distance 505 of the third rule (the distance 50 of the first rule). The fourth case is an example of a case in which the feedback 25 of the third rule is diverted to the servo motor 135.

[0143] The relationship between the number of times the arm 1352 is swung and the number of the second branch points 65 may be the same as the relationship between the number of vibrations and the number of the second branch points 65 in the second rule. That is, in one example, determining the number of times the arm 1352 is swung in accordance with the number of the second branch points 65 may be configured by determining the number of times the arm 1352 is swung so as to be equal to the number of the second branch points 65. In the scene of FIG. 11, in accordance with the number of the second branch points 65 being two, the number of times the arm 1352 is swung may be determined to be two. However, as long as the number of the second branch points 65 is reflected, the number of times the arm 1352 is swung may not necessarily be equal to the number of the second branch points 65. In another example, the number of times the arm 1352 is swung may be determined to be three, including the number of the first branch points 60 (one). As long as the number of the second branch points 65 can be specified, the number of times the arm 1352 is swung may be different from the number of the second branch points 65.

[0144] According to one example of this embodiment, the number of junctions (second junction 65) that the vehicle passes through without changing its traveling direction is The number is transmitted by the number of times the arm 1352 of the servo motor 135 swings. The user TU can recognize the distance 517 to be traveled on the route 33 using the number of times the arm 1352 of the servo motor 135 swings as a clue. This allows proper guidance of at least a part of the route 33 to the destination 30.

[0145] In addition to the above, in the fourth case, indicating the route 33 to the destination 30 may further include indicating a direction 567 instructing movement at the first branching point 60. The given rule 23 may further include determining a direction to swing the arm 1352 of the servo motor 135 according to the direction 567 instructing movement (i.e., the direction of turning) at the first branching point 60. In response to this, the feedback 25 may be configured to further indicate the direction (direction 567) of turning at the first branching point 60 by the direction to swing the arm 1352 of the servo motor 135. The direction 567 is an example of the above-mentioned direction 56.

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

[0147] (E) Fifth Case FIG. 12 is a schematic diagram showing a specific example (fifth example) of the given rule 23 according to the present embodiment. In one example, showing the route 33 to the destination 30 may include showing a distance 511 instructing movement in one direction, and showing a direction 561 instructing further movement after moving the instructed distance 511. The given rule 23 may include determining at least one of the number of vibrations, the vibration intensity, and the vibration period of the vibration motor 130 according to the distance 511 instructing movement in one direction. In addition, the given rule 23 may further include determining a direction to swing the arm 1352 of the servo motor 135 according to the direction 561 instructing further movement after moving the distance 511 instructed by the vibration motor 130.

[0148] In response to these, the feedback 25 may be configured to indicate the distance 511 traveled on the route 33 by at least one of the number of vibrations, the vibration intensity, and the vibration period of the vibration motor 130, and to indicate the direction (direction 561) of change of direction after travel of the distance 511 by the direction of swinging the arm 1352 of the servo motor 135. The distance 511 is an example of the distance 50 of the first rule. The direction 561 is an example of the direction 56. The fifth case is an example of a case in which the feedback 25 of the first case by the servo motor 135 is output together with the feedback 25 of the first rule by the vibration motor 130.

[0149] The timing for driving the servo motor 135 (swinging the arm 1352) may be appropriately determined 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 from when the vibration motor 130 starts to vibrate. Furthermore, the control device 11 may drive the servo motor 135 at any timing after the vibration of the vibration motor 130 ends and before the movement of the distance 511 is completed.

[0150] According to one example of this embodiment, the distance 511 instructing the movement is transmitted by at least one of the number of vibrations, the vibration intensity, and the vibration period of the vibration motor 130. The direction of the change in direction after the movement of the distance 511 is transmitted by the direction of swinging the arm 1352 of the servo motor 135. The user TU can transmit at least one of the number of vibrations, the vibration intensity, and the vibration period of the vibration motor 130. Using either of these as a clue, the user TU can recognize the distance 511 to be traveled on the route 33. Also, using the direction of swinging the arm 1352 of the servo motor 135 as a clue, the user TU can recognize the direction (direction 561) to face after travel of the distance 511. This makes it possible to properly guide at least a part of the route 33 to the destination 30.

[0151] (F) Case 6 FIG. 13 is a schematic diagram showing a specific example (sixth case) of the given rule 23 according to the present embodiment. In one example, displaying the route 33 to the destination 30 may include displaying the number of second branch points 65 that are passed from the current position 20 to the first branch point 60 without changing the traveling direction, and displaying a direction 562 instructing movement at the first branch point 60. The given rule 23 may include determining the number of vibrations of the vibration motor 130 according to the number of second branch points 65 that are passed from the current position 20 to the first branch point 60 without changing the traveling direction. In addition, the given rule 23 may further include determining a direction to swing the arm 1352 of the servo motor 135 according to the direction 562 instructing movement at the first branch point 60 (i.e., the direction of change of direction).

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

[0153] According to one example of the present embodiment, the number of branch points (second branch points 65) that will be passed without changing the traveling direction is transmitted by the number of vibrations of the vibration motor 130. The direction of the change in direction at the first branch point 60 is transmitted by the direction of swinging the arm 1352 of the servo motor 135. 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. In addition, the user TU can recognize the direction (direction 562) to face at the first branch point 60 using the direction of swinging the arm 1352 of the servo motor 135 as a clue. This allows proper guidance of at least a part of the route 33 to the destination 30.

[0154] [2] Second structure example FIG. 14 is a plan view showing a schematic diagram of another example (second structural example) of the structure of the smart grip 1 according to the present embodiment. In the second structural example, the haptic feedback module 13 includes four vibration motors (131, 132, 133, 134) instead of the vibration motor 130 and the servo motor 135 of the first structural example. The four vibration motors (131, 132, 133, 134) are arranged separately in the front-rear direction and the left-right direction with the center of the second portion 92 as a reference point PO. The first vibration motor 131 is arranged forward from the reference point PO. The second vibration motor 132 is arranged right from the reference point PO. The third vibration motor 133 is arranged left from the reference point PO. The fourth vibration motor 134 is arranged rearward from the reference point PO. Except for these points, the second structural example may be configured similarly to the first structural example. The four vibration motors (131, 132, 133, 134) are an example of a plurality of vibration motors.

[0155] (Given the rules) In the second structure example, the given rule 23 may include at least one of the first rule to the third rule. At least one of the four vibration motors (131, 132, 133, 134) is used to output the feedback 25 by vibration according to the first rule to the third rule. In the second structural example, each vibration motor (131, 132, 133, 134) is located away from the reference point PO, and therefore the vibration of the vibration motor can intuitively convey the direction from the reference point PO. Therefore, in the case where the above-mentioned second rule is included, the given rule 23 may include determining a drive pattern of the four vibration motors (131, 132, 133, 134) so ​​as to intuitively indicate the direction instructing the movement. In one example, the given rule 23 may include at least one of the following seventh to ninth cases.

[0156] (A) Case 7 FIG. 15 is a schematic diagram showing a specific example (seventh case) of the given rule 23 according to the present embodiment. In one example, showing the route 33 to the destination 30 may include showing a direction 57 for instructing movement. The given rule 23 may include determining a drive pattern of the four vibration motors (131, 132, 133, 134) according to the direction 57 for instructing movement. In response to this, the feedback 25 may be configured to indicate the direction 57 for moving on 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. The seventh case is an example of a case in which the feedback 25 of the second rule by a plurality of vibration motors is output.

[0157] The drive pattern may be selected arbitrarily. For example, determining the drive pattern according to the direction 57 instructing the 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 instructing the movement. In this way, the control device 11 may output the feedback 25 that logically indicates the direction 57 instructing the movement.

[0158] Also, for example, as described above, determining the drive pattern according to the direction 57 of the command to move may be configured by determining the drive patterns of the four vibration motors (131, 132, 133, 134) so ​​as to intuitively indicate the direction 57 of the command to move.

[0159] In one example, determining the drive pattern according to the direction 57 instructing the movement may include vibrating the vibration motor corresponding to the direction 57 instructing the movement among the four vibration motors (131, 132, 133, 134) more strongly than the remaining vibration motors. For example, as shown in FIG. 15, the control device 11 may output feedback pointing to 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 pointing to 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 does not have to be limited to one, and may be multiple. For example, the control device 11 may output feedback indicating a direction between the front and the right by vibrating the first vibration motor 131 and the second vibration motor 132 more strongly than the remaining vibration motors (133, 134). Also, for example, the control device 11 may output feedback indicating a direction closer to the front by vibrating the first vibration motor 131 more strongly than the second vibration motor 132, among the first vibration motor 131 and the second vibration motor 132 that are vibrated strongly. As in these examples, the control device 11 may output feedback indicating a direction between the positions where the vibration motors are arranged by vibrating the multiple vibration motors more strongly than the remaining vibration motors. Also, the control device 11 may output feedback indicating a continuous target direction by varying the strength of vibration among the multiple vibration motors that are vibrated strongly.

[0161] In another example, determining the drive pattern according to the direction 57 of the movement The vibration control method may include determining an order in which at least two or more vibration motors of the four vibration motors (131, 132, 133, 134) are vibrated in the direction 57 instructing the movement. The order in which the vibrations are performed may be defined arbitrarily. In one example, determining the order in which the two or more vibration motors are vibrated may be configured by selecting at least two or more vibration motors located along the direction 57 instructing the movement from among the four vibration motors (131, 132, 133, 134), and vibrating the vibration motors located closer to the rear end of the direction 57 instructing the movement earlier than the other vibration motors, and vibrating the vibration motors located closer to the front end of the direction 57 instructing the movement later than the other vibration motors.

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

[0163] The strength (intensity, period, etc.) of vibration of at least two or more vibration motors indicating a direction may be the same or different. In one example, the control device 11 may vibrate a vibration motor located closer to the rear end of the direction 57 instructing movement more weakly and vibrate a vibration motor located closer to the tip end of the direction 57 instructing movement more strongly. This makes it possible to output feedback that emphasizes the tip end of the pointing direction.

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

[0165] (B) Case 8 FIG. 16 is a schematic diagram showing a specific example (eighth case) of the given rule 23 according to the present embodiment. In one example, showing the route 33 to the destination 30 may include showing a distance 521 instructing movement in one direction, and showing a direction 571 instructing further movement after moving the instructed distance 521. The given rule 23 may include determining a drive pattern of the four vibration motors (131, 132, 133, 134) according to the direction 571 instructing 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 motor driven by the determined drive pattern among the four vibration motors (131, 132, 133, 134) according to the distance 521 instructing movement in one direction.

[0166] In response to these, 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) of the change in direction after the travel of the distance 521 by the drive pattern. The distance 521 is an example of the distance 50 of the first rule. The direction 571 is an example of the direction 57 (direction 55). The eighth case is an example of a case in which the first rule and the second rule (seventh case) are applied simultaneously. When the distance 521 is indicated by the vibration frequency, the drive pattern indicating the direction 571 may be a drive pattern other than the drive pattern that logically indicates a direction by the vibration frequency.

[0167] According to one example of this embodiment, the distance 521 for instructing a movement in one direction is determined by the vibration of the vibration motor. The vibration signal is transmitted by at least one of the number of times, the vibration intensity, and the vibration period. The direction of the change in direction after the movement of the distance 521 is transmitted by the drive pattern of the four vibration motors (131, 132, 133, 134). Using these as clues, the user TU can recognize the distance 521 traveled in one direction on the route 33 and the direction (direction 571) to face after the movement of the distance 521. This makes it possible to properly guide at least a part of the route 33 to the destination 30.

[0168] (C) Case 9 FIG. 17 is a schematic diagram showing a specific example (ninth case) of the given rule 23 according to the present embodiment. In one example, displaying the route 33 to the destination 30 may include displaying the number of second branch points 65 that are passed from the current position 20 to the first branch point 60 without changing the traveling direction, and displaying a direction 572 instructing movement at the first branch point 60. The given rule 23 may include determining a driving pattern of the four vibration motors (131, 132, 133, 134) according to the direction 572 instructing movement at the first branch point 60. In addition, the given rule 23 may include determining the number of vibrations of the vibration motors driven in the determined driving pattern according to the number of second branch points 65 that are passed from the current position 20 to the first branch point 60 without changing the traveling direction.

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

[0170] According to one example of this embodiment, the number of branch points (second branch point 65) that will be passed without changing the traveling direction is transmitted by the number of vibrations of the vibration motor. The direction of the turn at the first branch point 60 is transmitted by the drive pattern of the four vibration motors (131, 132, 133, 134). Using these as clues, the user TU can recognize the distance 522 traveled on the route 33 and the direction (direction 572) to face at the first branch point 60. This makes it possible to properly guide at least a part of the route 33 to the destination 30.

[0171] [3] Other The structure of the smart grip 1 is not limited to the examples shown in Figs. 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 a ring shape, and a part of the ring may be configured to be openable and closable by attaching and detaching the ends. As a result, the housing of the smart grip 1 may be configured to replace the handle by receiving the handle portion B11 of the basket B1 in 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 position 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, and may be one, or three or more. Furthermore, 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 the detection sensor, the detection sensor is appropriately placed in a location where it can detect the insertion of the luggage TP. The location of the imaging device 19 may be changed as appropriate depending on the embodiment. The imaging device 19 may be disposed in a location other than the internal space of the first portion 91. At least one of the detection sensor and the imaging device 19 may be omitted.

[0173] The output device 16 may include other output devices (speakers, indicator lights, etc.) in addition to or instead of the display. The arrangement of the other output devices may be determined appropriately depending on the embodiment. The input device 17 may include other input devices (keyboard, controls, microphone, etc.) in addition to or instead of the touch panel. The arrangement of the other input devices may be determined appropriately depending on the embodiment. The components housed in the box 1100 may be changed appropriately. The box 1100 may be placed in a location other than the internal space of the third portion 93. The box 1100 may be omitted.

[0174] In addition, in the haptic 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 a given rule 23 is selected within the range of the first to fourth cases, the vibration motor 130 may be omitted from the haptic feedback module 13. The haptic feedback module 13 may include another actuator together with at least one of the vibration motor 130 and the servo motor 135 or instead 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 haptic feedback module 13 may include another configuration that intuitively indicates a predetermined direction instead of or together with the servo motor 135.

[0175] Also, in the second structure example, if two or more vibration motors are provided, comparison of directions is possible. Therefore, when the haptic feedback module 13 is configured to be able to output feedback intuitively indicating the direction of the target, the number of vibration motors included in the haptic feedback module 13 is not limited to four, and may be two, three, or five or more. That is, the haptic feedback module 13 may be configured to be able to output feedback intuitively indicating the direction instructing the above movement by providing multiple vibration motors. Each of the multiple vibration motors may be disposed in a different direction from a reference point. At least one of the four vibration motors (131, 132, 133, 134) may be omitted. For example, the haptic feedback module 13 may be configured to be able to output feedback intuitively indicating the left and right directions by omitting the first vibration motor 131 and the fourth vibration motor 134. The haptic feedback module 13 may include other actuators in addition to or instead of at least any of the four vibration motors (131, 132, 133, 134).

[0176] In the second structural example, the position of the reference point PO of each vibration motor (131, 132, 133, 134) may not be limited to the center of the second portion 92, and may be appropriately determined according to the embodiment. The position of the reference point PO may be appropriately defined according to the number and arrangement of the vibration motors. In order to easily sense the direction indicated by the vibration of the vibration motor, it is preferable that the reference point PO is set at or near the center of the part that the user TU normally holds. This allows the user TU to easily sense the direction indicated by the haptic feedback module 13 according to the deviation of the vibration from the part that is held. In yet another example, the haptic feedback module 13 may include both a servo motor and a plurality of vibration motors. Accordingly, the haptic feedback module 13 may be configured to output feedback indicating a specific direction by both the servo motor and the vibration motor.

[0177] [Software configuration] FIG. 18 shows the software configuration of the smart grip 1 (control device 11) according to this embodiment. 1 is a schematic diagram showing an example of the smart grip 1. The control device 11 of the smart grip 1 executes instructions included in a program 81 stored in the storage unit 12 by the processor P. As a result, the smart grip 1 (control device 11) operates as a computer including a position acquisition unit 111 and a feedback unit 112 as software modules. That is, 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 a current position 20 measured by the positioning sensor 14. The feedback unit 112 is configured to output haptic feedback 25 according 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.

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

[0180] §3 Example of operation FIG. 19 is a flowchart showing an example of a processing procedure for outputting 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 a computer (control device 11). However, the following processing procedure is merely an example, and each step may be modified as much as possible. Furthermore, steps in the following processing procedure may be omitted, replaced, or added as appropriate depending on the embodiment.

[0181] In step S101, the control device 11 operates as the position acquisition unit 111. The control device 11 acquires the current position 20 measured by the positioning sensor 14. When the current position 20 is acquired, the control device 11 advances the process 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 location 20 and the given rule 23. The feedback 25 is configured to indicate a route 33 to the destination 30. The control device 11 outputs the generated feedback 25 via the haptic feedback module 13 to the user TU.

[0183] In one example, the given rule 23 may include at least one of the above first to third rules. When the first structural example is adopted for the structure of the smart grip 1, the given rule 23 may include at least one of the above first to sixth cases. When the second structural example is adopted for the structure of the smart grip 1, the given rule 23 may include at least one of the above seventh to ninth cases.

[0184] The search for the route 33 may be performed at any timing before the processing of step S102. The timing of performing the processing of step S102 is not limited to the example of FIG. 19. In another example, the control device 11 may perform the processing of step S102 in response to determining that the acquired current position 20 satisfies a predetermined condition after repeating the processing of step S101 multiple times. After outputting the feedback 25, the control device 11 proceeds to the next step S103.

[0185] In step S103, the control device 11 judges whether or not to end the process. The judgment criteria may be set arbitrarily. In one example, the control device 11 may judge not to end the process until an end instruction is given. On the other hand, when an end instruction is given, the control device 11 may judge to end the process. The end instruction may be given by any method. In another example, the smart grip 1 may be used in a facility. In response to this, if the target user (user TU) is present in the facility, the control device 11 may judge not to end the process. On the other hand, if the target user is not present in the facility (has left the facility), the control device 11 may judge to end the process. Whether or not the target user is present in the facility may be appropriately judged according to the measurement result (current position 20) of the positioning sensor 14, etc.

[0186] If it is determined not to end the process, the control device 11 returns the process to step S101 and executes the process again from step S101. If it is determined to end the process, the control device 11 ends the process procedure related to the output of the feedback 25 according to this operation example. Note that the timing of ending the process is not limited to this example. The control device 11 may end the process procedure related to the output of the feedback 25 at any timing. Note that, in one example, the control device 11 may execute a series of processes from step S101 to step S103 in real time.

[0187] According to this embodiment, the smart grip 1 can be held together with the basket B1, so that the effort of holding the user terminal separately from the basket B1 can be at least partially reduced. Also, according to this embodiment, the process of step S102 provides guidance on the route 33 to the destination 30 as tactile feedback 25. This makes it possible to at least partially reduce the work of checking visual information. Therefore, according to this embodiment, it is expected that the effort of the user TU can be reduced when the route 33 to the destination 30 is guided to the user TU.

[0188] § 4 Variations Although the embodiment of the present disclosure has been described in detail above, the above description is merely an example of the present disclosure in every respect. The processes and means described in the present disclosure can be freely combined and implemented as long as no technical contradiction occurs. In addition, various improvements or modifications may be made to the above embodiment 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 embodiment, and the description of the same points as those in the above embodiment is omitted as appropriate.

[0189] <4.1> The above embodiment is configured as a smart grip 1. However, the embodiment of the present disclosure may not be limited to the above smart grip 1. The embodiment of the present disclosure may be a component of a basket, or may be a basket (including a cart) itself. The type of basket is not particularly limited and may be appropriately selected depending on the embodiment. For example, the basket may include a shopping basket, a shopping cart, a baggage cart used at an airport, etc.

[0190] (First Modification) FIG. 20 is a schematic diagram showing another example of a situation to which the present disclosure is applied. In the example shown in FIG. 20, the embodiment of the present disclosure is a basket 1A. The basket 1A includes a basket body 102A, a haptic feedback module 13, a positioning sensor 14, and a control device 11. The haptic 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 executes acquiring a current position 20 measured by the positioning sensor 14, and outputting haptic feedback 25 according to the acquired current position 20 and a given rule 23 to a user TU via the haptic feedback module 13. The feedback 25 may be configured to indicate a route 33 to the destination 30.

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

[0192] Like the smart grip 1, the basket 1A may further include a memory 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 further include a detection sensor and an imaging device 19. In the case where the detection sensor and the imaging device 19 are provided, the control device 11 may acquire an image captured by the imaging device 19 when the detection sensor detects the insertion of a commodity, and identify the commodity inserted into the basket body 102A by performing image analysis on the acquired image.

[0193] The location where the computer part of the basket 1A (the control device 11 to the input device 17, the detection sensor and the imaging device 19) is arranged is not limited to the grip 100A. At least a part of the computer part of the basket 1A may be arranged at any location other than the grip 100A. In another example, when a load sensor is used as the detection sensor, the detection sensor may be arranged on the bottom surface of the storage part of the basket body 102A. The imaging device 19 may be arranged on the edge of the opening of the basket body 102A with the imaging unit 191 facing toward the storage part of the basket body 102A. The haptic feedback module 13 may be arranged at any location where the motion can be transmitted to the part held by the user TU (the grip 100A in this modified example). If the motion can be transmitted, the haptic feedback module 13 may be arranged at a location other than the grip 100A. However, from the viewpoint of the transmission of the motion, it is preferable that the haptic feedback module 13 is provided in the grip 100A.

[0194] The basket 1A according to this modification can provide the user TU with feedback 25, similar to the smart grip 1. Therefore, according to this modification, it is expected that the effort of the user TU can be reduced when guiding the route 33 to the destination 30. The configuration of the basket 1A may be appropriately changed 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 handle portions 101A. The haptic feedback module 13 may be arranged at any location where the motion can be transmitted to at least one of the pair of handle portions 101A.

[0195] FIG. 21 is a schematic diagram of another example of a scene to which the present disclosure is applied. In the example of FIG. 21, the embodiment of the present disclosure is a basket 1B. The basket 1B corresponds to an embodiment in which the basket 1A is further provided with one or more wheels 103B, thereby forming a cart. That is, the basket 1B includes a basket body 102B, a haptic 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 a current position 20 measured by the positioning sensor 14, and to output haptic feedback 25 according to the acquired current position 20 and a given rule 23 to a user TU via the haptic 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 according to an embodiment. In a typical example, the basket 1B may include four wheels 103B. The basket 1B may be used as a shopping cart, a luggage cart, and the like.

[0196] The arrangement of each wheel 103B and the configuration for supporting the basket body 102B may be appropriately determined according to the embodiment. In one example, the basket 1B may include a grip 100B and a base 101B. The base 101B may include a leg 1011B and a support 1012B. The leg 1011B may be disposed below the basket body 102B. Each wheel 103B may be attached to the leg 1011B. The support 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 1012B. The grip 100B may be attached to the upper end of the support 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 changed as appropriate depending on the embodiment. For example, the basket 1B may have a configuration similar to other types of carts such as a silver cart. Furthermore, when adopting these configurations, in one example, the basket 1B may be constructed by using the above-mentioned smart grip 1 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, the basket 1B may further include a memory 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 further include a detection sensor and an imaging device 19. Similar to the first modified example, when the basket 1B includes the detection sensor and the imaging device 19, the control device 11 may execute a product identification process by image analysis.

[0199] The location where the computer part of the basket 1B (the control device 11 to the input device 17, the detection sensor, and the imaging device 19) are arranged is not limited to the grip 100B. At least a part of the computer part of the basket 1B may be arranged at any location other than the grip 100B. In another example, when a load sensor is used as the detection sensor, the detection sensor may be arranged on the bottom surface of the storage part of the basket body 102B. The imaging device 19 may be arranged on the edge of the opening of the basket body 102B or in the area of ​​the support part 1012B from the upper end of the basket body 102B to the grip 100B, with the imaging unit 191 facing toward the storage part of the basket body 102B. The haptic feedback module 13 may be arranged at any location where it can transmit motion to the part held by the user TU (the grip 100B in this modified example). As long as it is possible to transmit motion, the haptic feedback module 13 may be arranged at a location other than the grip 100B. However, from the viewpoint of motion transmission, it is preferable that the haptic feedback module 13 is provided in the grip 100B.

[0200] The basket 1B according to this modification can provide the user TU with feedback 25, similar to the smart grip 1. Therefore, according to this modification, it is expected that the effort of the user TU can be reduced when guiding the route 33 to the destination 30. The basket body 102B may be used as a basket receiver. In this case, other baskets may be placed in the basket body 102B, and luggage TP (products, etc.) may be put into the other baskets. The detection sensor may be appropriately placed so as to be able to detect the putting of products into other baskets. Detecting the putting of products into the basket body 102B may include detecting the putting of products into other baskets placed in the basket body 102B. Furthermore, the leg 1011B may be configured to receive luggage. In this case, the detection sensor may be further placed in the leg 1011B. When the identification of products by image analysis is also performed in the leg 1011B, the imaging device 19 may be further placed in the leg 1011B. Also, the basket body 102B may be omitted. In this case, the legs 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 includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the given rule includes determining a number of vibrations of the haptic feedback module in accordance with the number of second branch points that are passed from the current position to the first branch point without changing a traveling direction. Smart grip.

2. A haptic feedback module. Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor; The servo motor includes a shaft and an arm attached to the shaft. The given rule is: Determining the number of times to swing the arm of the servo motor according to the distance to be moved in one direction; and determining a direction in which to swing the arm of the servo motor according to a direction instructing further movement after the instructed distance has been moved; Including, Smart grip.

3. A haptic feedback module. Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor; The servo motor includes a shaft and an arm attached to the shaft. the given rule includes determining the number of times to swing the arm of the servo motor in accordance with the number of second branch points that are passed from the current position to the first branch point without changing the traveling direction; Smart grip.

4. The given rule further includes determining a direction to swing the arm of the servo motor according to a direction of movement instructed at the first branch point. The smart grip according to claim 3.

5. A haptic feedback module. Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor and a vibration motor; The servo motor includes a shaft and an arm attached to the shaft. The given rule is: determining a number of vibrations of the vibration motor according to the number of second branch points that the vehicle passes through from the current position to the first branch point without changing its travel direction; and determining a direction in which the arm of the servo motor is to be swung according to a direction of movement instructed at the first branch point; Including, Smart grip.

6. A haptic feedback module. Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor and a vibration motor; The servo motor includes a shaft and an arm attached to the shaft. The given rule is: determining at least one of the number of vibrations, the vibration strength, and the vibration period of the vibration motor according to the distance to be instructed to move in one direction; and determining a direction in which to swing the arm of the servo motor according to a direction instructed for further movement after the arm has moved a distance instructed by the vibration motor; Including, Smart grip.

7. A haptic feedback module. Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a plurality of vibration motors; Indicating a route to the destination Indicating distances to indicate movement in one direction; and indicating a direction for further movement after the indicated distance has been traveled; Including, The given rule is: determining a drive pattern of the plurality of vibration motors according to a direction instructing the further movement; and determining at least one of a vibration frequency, a vibration intensity, and a vibration period of a vibration motor, among the plurality of vibration motors, that is driven in the determined drive pattern, according to a distance instructed to move in one direction; Including, Smart grip.

8. Basket body, Haptic feedback module, Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the given rule includes determining a number of vibrations of the haptic feedback module in accordance with the number of second branch points that are passed from the current position to the first branch point without changing a traveling direction. Basket.

9. A basket body, Haptic feedback module, Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor; The servo motor includes a shaft and an arm attached to the shaft. The given rule is: Determining the number of times to swing the arm of the servo motor according to the distance to be moved in one direction; and determining a direction in which to swing the arm of the servo motor according to a direction instructing further movement after the instructed distance has been moved; Including, Basket.

10. A basket body, Haptic feedback module, Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor; The servo motor includes a shaft and an arm attached to the shaft. the given rule includes determining the number of times to swing the arm of the servo motor in accordance with the number of second branch points that are passed from the current position to the first branch point without changing the traveling direction; Basket.

11. The given rule further includes determining a direction to swing the arm of the servo motor according to a direction of movement indicated at the first branch point. A basket as claimed in claim 10.

12. A basket body, Haptic feedback module, Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor and a vibration motor; The servo motor includes a shaft and an arm attached to the shaft. The given rule is: determining a number of vibrations of the vibration motor according to the number of second branch points that the vehicle passes through from the current position to the first branch point without changing its travel direction; and determining a direction in which the arm of the servo motor is to be swung according to a direction of movement instructed at the first branch point; Including, Basket.

13. A basket body, Haptic feedback module, Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run the haptic feedback module comprises a servo motor and a vibration motor; The servo motor includes a shaft and an arm attached to the shaft. The given rule is: determining at least one of the number of vibrations, the vibration strength, and the vibration period of the vibration motor according to the distance to be instructed to move in one direction; and determining a direction in which to swing the arm of the servo motor according to a direction instructed for further movement after the arm has moved a distance instructed by the vibration motor; Including, Basket.

14. A basket body, Haptic feedback module, Positioning sensor, and Control device Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and providing haptic feedback according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination, to the haptic feedback device; outputting the result to the user via the check module; configured to run the haptic feedback module comprises a plurality of vibration motors; Indicating a route to the destination Indicating distances to indicate movement in one direction; and indicating a direction for further movement after the indicated distance has been traveled; Including, The given rule is: determining a drive pattern of the plurality of vibration motors according to a direction instructing the further movement; and determining at least one of a vibration frequency, a vibration intensity, and a vibration period of a vibration motor, among the plurality of vibration motors, that is driven in the determined drive pattern, according to a distance instructed to move in one direction; Including, Basket.

15. By further providing one or more wheels, it is configured as a cart. A cage according to any one of claims 8 to 14.

16. A haptic feedback module. Positioning sensor, A control device, and Chassis Equipped with The control device includes: Obtaining a current position measured by the positioning sensor; and outputting, via the haptic feedback module, haptic feedback to a user according to the obtained current location and given rules, the feedback being configured to indicate a route to a destination; configured to run The housing accommodates the haptic feedback module, the positioning sensor, and the control device, and has one or more grooves for hooking a handle provided on a basket. Smart grip.

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