EYEGLASS-TYPE WEARABLE DEVICE AND PICKING METHOD USING THE DEVICE

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2015-173636, filed Sep. 3, 2015, the entire contents of which are incorporated herein by reference.

FIELD

Embodiments described herein relate generally to a working support technique for warehouse management or the like. Specifically, the embodiments may be related to an easy hands-free verification technique used in a storage-item picking operation performed by a warehouse operator or a warehouse worker who wears an eyeglass-type wearable device.

BACKGROUND

In a warehouse storing a large number of items (goods, products, parts, and the like), whereabouts of target items are required to be clear to operators or workers who perform the picking operation (operation to select particular storage items). As a way of practical warehouse management, serial numbers put on racks may be adopted such that the operators or workers can aim to their target racks. However, if a management condition of a warehouse is unstable, a picking operator who is unfamiliar to the warehouse may not easily find a rack with target item. In consideration of such a problem, there is proposed a picking operation support system using eyeglass-type display devices, by which picking operators are guided to storage locations of items.

In this system, a human body communication tag is applied to each storage space with item storage racks, and a server device stores location data of each storage space. When a picking operator approaches a storage space, data read from the human body communication tag of the space are sent to the server device. The server device receives the data of the human body communication tag, and guides the operator to the storage space with picking target items through an eyeglass-type display device of the operator based on a positional relationship between the operator and the storage space. Then, the operator can pick the target items from the racks of the space.

Here, item verification is necessary during a picking operation in a warehouse. A hand-held terminal with a barcode read function may be utilized in the item verification. When such a hand-held terminal is utilized, however, an operator needs to use at least one of his/her hands to hold the terminal, to thereby decrease the efficiency of the picking operation. Therefore, a hands-free item verification is demanded in the picking operation.

Conventional eyeglass-type displays may be useful to guide an operator to a rack storing target items. However, when performing the item verification to determine whether or not desired item(s) (product(s), part(s), etc.) is/are picked from the racks, such conventional displays may not be useful.

On the other hand, operation management systems using a sensor network are proposed for the management of operators.

In this system, motion data and position data of an operator are acquired through a first sensor node, and at least one of condition data and position data of items are acquired by a second sensor node (position data of the first and second sensor nodes can be acquired by a third sensor node). Furthermore, environmental condition data can be acquired by a fourth sensor node. Data detected by the sensor nodes are used for record and analysis of the operation contents.

As sensor nodes SN, conventionally, there are a sensor node MSN which is put on an operator to detect motions of the operator (first sensor node), a sensor node GSN which is put on an item such as a product or a machine to detect motions of the item (second sensor node), a positioning sensor node LSN which is put on a rack storing products to detect the positions of the sensor nodes MSN and GSN (third sensor node), and a environmental measurement sensor node ESN which measures environment conditions such as a temperature and humidity in a warehouse (fourth sensor node).

If such a tool with the sensor nodes is not a hand-held type, the operator can perform hands-free picking operation using the functions of the tool. However, such sensor nodes do not have a function to identify individual items, and the item verification of picking targets is not possible.

As a target of the present application, embodiments present easier and hands-free item verification performed by a warehouse operator during a storage item picking operation.

According to the method of an embodiment, an eyeglass-type wearable device having right and left eye frames can be put on an operator or worker who picks items in a warehouse. The eyeglass-type wearable device includes a display disposed in at least one of the right and left eye frames, a camera which takes an image of a unique pattern (barcode, QR code, or the like), and a sensor which detects a position of the eyeglass-type wearable device in the warehouse or detects a facing direction of the right and left eye frames in the warehouse.

In the method using the eyeglass-type wearable device, data related to an item existing in a line of sight of the operator with the eyeglass-type wearable device are displayed on the display, and the unique pattern (barcode, QR code, or the like) taken by the camera is recognized.

The recognized unique pattern and the data related to the item displayed on the display are compared for the item verification of the item which is a picking target.

A picking operator does not need to handle a hand-held tool such as a hand-held terminal for the item verification of the picking target item. Therefore, the operator can perform a hands-free picking operation without any bother.

BRIEF DESCRIPTION OF THE DRAWINGS

A general architecture that implements the various features of the embodiments will now be described with reference to the drawings. The drawings and the associated descriptions are provided to illustrate the embodiments and not to limit the scope of the invention.

FIG. 1 shows an eyeglass-type wearable device of an embodiment, and shows an example of an arrangement of gesture detection capacitance sensor electrodes (140 to 144).

FIG. 2 shows how to obtain detection voltage signals (Vrxbuf) from a change in a capacitance (Ch) corresponding to gestures.

FIG. 4 shows an eyeglass-type wearable device of a still another embodiment, and shows another example of the arrangement of capacitance sensor electrodes (140 to 144 and 141* to 144*) for the gesture detection.

FIG. 5 shows various examples of eye motion detection electrodes (151a, 151b, 152a, and 152b) provided with nose pads.

FIG. 6 shows an example of how to extract detection signals from the eye motion detection electrodes (151a, 151b, 152a, and 152b) provided with nose pads.

FIG. 7 shows a data processor 11 (integrated circuit including, for example, a processor 11a, nonvolatile memory 11b, main memory 11c, communication processor 11d, and sensor 11e) attachable to the eyeglass-type wearable devices of various embodiments and peripheral devices (such as a display 12, camera 13, gesture detector 14, eye motion detector 15, and power source BAT).

FIG. 8 shows an electro-oculogram (EOG) with respect to a relationship between an eye motion from the front to the above and detection signal levels (Ch0, Ch1, Ch2, and average level Ch1+2 of Ch1 and Ch2) obtained from three analog/digital converters (ADCs) of FIG. 6.

FIG. 9 shows an electro-oculogram (EOG) with respect to a relationship between an eye motion from the front to the below and detection signal levels (Ch0, Ch1, Ch2, and average level Ch1+2 of Ch1 and Ch2) obtained from three ADCs of FIG. 6.

FIG. 11 shows an electro-oculogram (EGG) with respect to a relationship between an eye motion repeating blinks (both eyes) for five times with five second intervals and detection signal levels (Ch0, Ch1, and Ch2) obtained from three ADCs of FIG. 6.

FIG. 12 shows an electro-oculogram (EGG) with respect to a relationship between an eye motion repeating blinks (both eyes) including an eye closing for one second and an eye opening for four seconds for five times and detection signal levels (Ch0, Ch1, and Ch2) obtained from three ADCs of FIG. 6.

FIG. 13 shows an electro-oculogram (BOG) with respect to a relationship between an eye motion repeating blinks (both eyes) for five times and repeating left eye winks (blinks of left eye) for five times with eyes front and detection signal levels (Ch0, Ch1, and Ch2) obtained from three ADCs of FIG. 6.

FIG. 14 shows an electro-oculogram (EOG) with respect to a relationship between an eye motion repeating blinks (both eyes) for five times and repeating right eye winks (blinks of right eye) for five times with eyes front and detection signal levels (Ch0, Ch1, and Ch2) obtained from three ADCs of FIG. 6.

FIG. 15 is a flowchart which shows processes performed by combinations of data inputs by gestures (data input A) and data inputs by eye motions (data input B).

FIG. 16 shows a cooperation of a picking operator (or picking worker) in a warehouse with an eyeglass-type wearable device 100 of an embodiment and a server of storage management system (WMS).

FIG. 17 shows a positional relationship between a picking operator (or picking worker) with an eyeglass-type wearable device 100 of an embodiment and a large number of item storage racks RK in a warehouse.

FIG. 18 exemplifies part of a storage management data base (WMDB) of the storage management system (WMS).

FIG. 19 is a flowchart showing an example of a picking operation performed by a picking operator (or picking worker) with an eyeglass-type wearable device 100 of an embodiment.

DETAILED DESCRIPTION

Hereinafter, various embodiments will be explained with reference to accompanying drawings. These embodiments may relate to various wearable devices including any of an eyeglasses-type wearable device, a glasses-type wearable device, a spectacle-type wearable device, and the like. In this specification (including detailed description and claims) these various wearable devices are simply represented by the term “eyeglasses-type wearable device” unless otherwise noted. In other words, the term “eyeglasses-type wearable device” should be broadly interpreted as a wearable device regarding an eye or eyes.

The term “picking operation (used in the embodiments)” corresponds to a more general term “selection operation (used in the original claims).” The selection operation or picking operation may have the meaning of “order picking” or “order preparation operation.” The order picking or order preparation operation is one of a logistic warehouse's process, and it consists in taking and collecting articles in a specified quantity before shipment to satisfy customer's orders.

The “user” used in this specification may have the meaning of “operator” or “worker” in a warehouse.

FIG. 1 shows an exterior of an eyeglass-type wearable device 100 of an embodiment. In this example, a right eye frame (right rim) 101 and a left eye frame (left rim) 102 are connected by a bridge 103. The right and left eye frames 102 and 101 and the bridge 103 can be formed of a conductive material such as a lightweight metal (e.g., aluminum alloy or titanium). The outer left side of the left eye frame 102 is connected to a left temple bar 106 via a left hinge 104 and a left end cover (left ear pad) 108 is provided with the tip of the left temple bar 106. Similarly, the outer right side of the right eye frame 101 is connected to a right temple bar 107 via a right hinge 105 and a right end cover (right ear pad) 109 is provided with the tip of the right temple bar 107.

A data processor 11 (an integrated circuit of a few millimeter square) is embedded in a part of the eye frame 101 near the right hinge 105 (or inside the right temple bar 107). The data processor 11 is an LSI in which a microcomputer, memory, communication processor, and the like are integrated (the data processor 11 will be detailed later with reference to FIG. 7).

Although this is not depicted in FIG. 1, a small battery such as lithium-ion battery (corresponding to BAT in FIG. 3) is embedded in, for example, the left temple bar 106 in the proximity of the left hinge 104 (or inside the end cover 108 or 109) as a power source required for the operation of the eyeglass-type wearable device 100.

A left camera 13L is attached to the end of the left eye frame 102 near the left hinge 104, and a right camera 13R is attached to the end of the right eye frame 101 near the right hinge 105. A micro CCD image sensor can be used for the cameras.

The cameras (13L and 13R) may be used as a stereo camera. Or, an infrared camera (13R) and a laser (13L) may be provided with the camera positions as a distance sensor using a combination of the infrared camera and the laser. The distance sensor may be composed of a micro semiconductor microphone (13R) which collects ultrasonic waves and a micro piezoelectric speaker (13L) which generates ultrasonic waves.

Note that, a center camera (not shown) may be provided with the bridge 103 instead of or in addition to the right and left cameras 13R and 13L. Or, the device may not include any camera at all. (The cameras are shown as a camera 13 in FIG. 7.)

A left display 12L is fit in the left eye frame 102, and a right display 12R is fit in the right eye frame 101. The display is provided with at least one of the right and left eye frames and is formed of film liquid crystal or the like. Specifically, a film liquid crystal display device adopting polymer diffusion liquid crystal (PDLC) without a polarizer can be used as one or both of the right and left displays 12R and 12L (the display is depicted as a display 12 in FIG. 7). Note that, if the display 12R alone is provided with the right eye frame 101, a transparent plastic plate is fit in the left eye frame 102.

The bridge 103 is connected to a transmitter electrode 140 and the transmitter electrode 140 is electrically and mechanically connected to the eye frame 101 (and 102). Four receiver electrodes 141 to 144 are provided with the periphery of the right eye frame 101. Specifically, a north receiver electrode (upper electrode) 141 is disposed at the upper side of the right eye frame 101 via (i.e., insulated from the transmitter electrode) a dielectric layer which is not shown. Similarly, a south receiver electrode (lower electrode) 142 is disposed at the lower side of the right eye frame 101, a west receiver electrode (right electrode) 143 is disposed at the right side of the same, and an east receiver electrode (left electrode) 144 is disposed at the left side of the same. (Generally speaking, the metal bridge 103 which is connected to the transmitter electrode 140 is electrically connected to the entirety of the metal eye frame 101 and the electrodes 141 to 144 face the four parts of the eye frame 101 through a dielectric insulating layer.) The electrodes 140 to 144 are electrically separated from each other and are connected to the data processor 11 through insulating interconnection members (not shown). The electrodes 140 to 144 are used as capacitance sensors and are structural components of a gesture detector 14 shown in FIG. 7.

Note that, the electrodes 141 to 144 are depicted conspicuously in FIG. 1 for easier understanding. However, in an actual product, the electrodes 141 to 144 can be formed more inconspicuously by, for instance, embedding in the eye frames.

Furthermore, capacitance sensor electrodes (141 to 144) are provided with only the right eye frame 101 side in FIG. 1; however, similar electrodes (141* to 144*) may be provided with the left eye frame 102 side as in the example shown in FIG. 3. In other words, the capacitance sensor electrodes (141 to 144/141* to 144*) can be provided with the right eye frame 101 side and/or the left eye frame 102 side.

A nose pad is disposed between the right and left eye frames 101 and 102 and below the bridge 103. The nose pad includes a left nose pad 150L and a right nose pad 150R. Although this is not depicted in FIG. 1, right nose pad electrodes 151a and 151b are provided with the right nose pad 150R, and left nose pad electrodes 152a and 152b are provided with the left nose pad 150L (cf. FIGS. 3 to 6).

The electrodes 151a, 151b, 152a, and 152b are electrically separated from each other and are connected to three AD converters (ADC 1510, 1520, and 1512) via insulating interconnection members (not shown). Outputs from the ADCs have different signal waveforms corresponding to motions of user's eyes adjacent to the right and left eye frames and are supplied to the data processor 11 in FIG. 7 as digital data with contents corresponding to the eye motions of the user. The electrodes 151a, 151b, 152a, and 152b are used as sightline detection sensors, and the electrodes 151a, 151b, 152a, and 152b and three AD converters are components of an eye motion detector 15 of FIG. 7.

The eyeglass-type wearable device 100 of FIG. 1 is mounted on the head of the user (not shown) by the right and left nose pads (150R and 150L), right and left temple bars (106 and 107), and right and left end covers (108 and 109). In the example of FIG. 1, only the right and left nose pads (150R and 150L), right and left temple bars (106 and 107), and right and left end covers (108 and 109) are in direct contact with the head (or face) of the user; however, parts other than the above (nose pads, temple bars, and end covers) may be in contact with the user for, for example, balancing a voltage between the ADCs (FIGS. 3, 4, and 5) and the body of the user.

Note that, if the gesture detection is not used in a picking operation, the capacitance sensor electrodes (141 to 144/141* to 144*) may be omitted. Furthermore, a center electrode may be provided with a part of the bridge 103 in the eyeglass-type wearable device 100 for the picking operation (the center electrode could be felt uncomfortable for some operators but it should be ignored since the device is simply a working tool). In that case, various eye motions of the user can be detected by the electrode at the right nose pad 150R side (for example, 151b in FIG. 6) and the center electrode (not shown) of the bridge 103 connected to the ADC 1510 in FIG. 6, by the electrode at the left nose pad 150L side (for example, 152b in FIG. 6) and the center electrode of the bridge 103 connected to ADC 1520 in FIG. 6, and by the electrodes of the right and left nose pads (151b and 152b in FIG. 6) connected to ADC 1512 in FIG. 6. In the eyeglass-type wearable device 100, the layout of the capacitance sensor electrodes can be determined freely as long as the eye motion detection is performable.

FIG. 2 shows how to obtain detection voltage signals (Vrxbuf) from a change in a capacitance (Ch) corresponding to a gesture (for example, a hand or finger movement of the user). Here, the body of the user who wears the eyeglass-type wearable device 100 in FIG. 1 is at a ground potential (GND). Since a human body is electrically conductive, the hands and fingers of the user are assumed to be the ground potential (GND). The following explanation will be given as a general example of how to obtain the detection signals corresponding to a gesture, in which the electrodes 141 to 144 are at one of the right and left eye frames for simplification.

Here, one receiver electrode (one of 141 to 144, e.g., 141) is between the transmitter electrode 140 and the GND (a hand or finger of the user, for example) and a capacitance between the transmitter electrode 140 and the receiver electrode 141 is Crxtx. Furthermore, a capacitance between the transmitter electrode 140 and the GND is Ctxg, a capacitance between the receiver electrode 141 and the GND is Crxg, and a capacitance between the hand or finger of the user (GND) which performs a gesture to be detected and the receiver electrode is Ch (Ch varies corresponding to a gesture of the user). In consideration of the capacitance Ch made by the hand of the user, Crxg+Ch is the total capacitance between the receiver electrode 141 and the GND. When a high-frequency voltage Vtx is applied between the transmitter electrode 140 and the GND, the signal voltage obtained from the receiver electrode 141 will be expressed as follows.

Vrxbuf=Vtx×{(Crxtx)/(Crxtx+Crxg+Ch)} (1)

The capacitances (Crxtx and Crxg) are different in each of the receiver electrodes 141 to 144, and the capacitance (Ch) varying corresponding to the gesture of the user is different in each of the receiver electrodes 141 to 144. Therefore, the voltage signals (Vrxbuf1 to Vrxbuf4) obtained from respective receiver electrodes 141 to 144 will be different. However, each of the different voltage signals (Vrxbuf1 to Vrxbuf4) can be obtained by the formula (1).

From the four receiver electrodes 141 to 144, four voltage signals (Vrxbuf1 to Vrxbuf4) each varying corresponding to the gesture of the user can be obtained. A change manner in the voltage signals corresponds to a gesture of the user (for example, if the four voltage signals are represented by bar graphs, the heights of the four bars are independent and different from each other but a pattern of changes in the four bar-heights should correspond to the gesture of the user). The four voltage signals (Vrxbuf1 to Vrxbuf4) change corresponding to the movements of a hand or a finger such as up-and-down and right-to-left swings, clockwise or counterclockwise rotations, and movements closer to or distant from the receiver electrodes. Thus, if corresponding relationships between the gesture patterns of users (hand or finger up-and-down movement, rotation, and the like) and change patterns of the four voltage signals (Vrxbuf1 to Vrxbuf4) are checked or examined in advance, the gestures of users can be identified and detected. Consequently, a gesture of swiping up a finger from the below (south side) to the above (north side) can be translated into a command of screen scroll from the below to the above, for example.

Note that, a 3D gesture sensor using the formula (1) is commercially available as MGC3130 (Single-Zone 3D Tracking and Gesture Controller) of Microchip Technology Inc. and its detailed data sheet can be obtained through the Internet. The principle of the 3D gesture sensor using the formula (1) is a publically-known technique. However, the embodiment in which a combination of the 3D gesture sensor and an eye motion sensor is used with an AR display by images IM1/IM2 (cf. FIG. 3) should be novel. (Here, “AR” is an acronym of Augmented Reality and indicates a technology of adding information to the real world viewed through glasses, for example.)

FIG. 3 shows an eyeglass-type wearable device of another embodiment, and shows an example of the arrangement of capacitance sensor electrodes (140 to 144 and 141* to 144*) for the gesture detection and an example of the arrangement of eye motion detection electrodes (151a, 151b, 152a, and 152b) provided with a nose pad. In the example of FIG. 3, receiver electrodes (141 to 144 and 141* to 144*) functioning the same as the receiver electrodes 141 to 144 depicted relatively large in FIG. 1 are arranged in the periphery of the eye frames 101 and 102 in an inconspicuous manner. (The receiver electrodes 141 to 144 and the receiver electrodes 141* to 144* in FIG. 3 may, with slight exaggeration, be symmetrically arranged at right and left sides with a positional relationship similar to the electrodes 141 to 144 in FIG. 1.)

Note that, in the example of FIG. 3, a micro CCD camera 13R is disposed in the proximity of the right hinge 105 at the lower part of the eye frame 101, and a micro CCD camera 13L is disposed in the proximity of the left hinge 104 at the lower part of the eye frame 102. Although this is not shown, a micro CCD camera may be disposed with the bridge 103.

In FIG. 3, the receiver electrodes 141 to 144 at the right side are insulated from each other, and are disposed to face the metal part of the frame 101 connected to the transmitter electrode 140 via an insulating material (such as a plastic or a polypropylene film often used in a small capacitor) which is not shown. Similarly, the receiver electrodes 141* to 144* at the left side are insulated from each other, and are disposed to face the metal part of the frame 102 connected to the transmitter electrode 140 via an insulating material which is not shown.

In FIG. 3, right nose pad electrodes 151a and 151b are disposed above and below the right nose pad 150R, and left nose pad electrodes 152a and 152b are disposed above and below the left nose pad 150L. Outputs from the right nose pad electrodes 151a and 151b are supplied to the ADC 1510, and outputs from the left nose pad electrodes 152a and 152b are supplied to the ADC 1520, and outputs from the lower right and left nose pad electrodes 151b and 152b (or outputs from the upper right and left nose pad electrodes 151a and 152a) are supplied to the ADC 1512.

Ch1 signals which change corresponding to up-and-down motions of the right eye of the user can be obtained through the ADC 1510. Ch2 signals which change corresponding to up-and-down motions of the left eye of the user can be obtained through the ADC 1520. Ch0 signals which change corresponding to motions of the right and left eyes of the user can be obtained through the ADC 1512. The up-and-down motions of the right and left eyes of the user can be evaluated by Ch1+2 signals representing an average of outputs of the ADCs 1510 and 1520. (A relationship between signal waveforms of Ch0, Ch1, Ch2, and Ch1+2 and eye motions will be described later with reference to FIGS. 8 to 14.)

Film liquid crystal of the right display 12R in FIG. 3 can display a right display image IM1 including, e.g., an icon group of a ten-keys (numbers, operators, enter-key, and the like), alphabets, and the like. Film liquid crystal of the left display 12L can display a left display image IM2 including, e.g., optional character strings, icons, and the like (contents shown on the displays 12R and 12L are optional). Ten-keys and alphabets shown on the right display 12R (or on the left display 12L) may be used for the input of numbers and letters. Character strings and icons displayed on the right display 12R (or on the left display 12L) may be used for the retrieval of specific data items and the selection/determination of a target item.

The display images IM1 and IM2 can be used to provide the augmented reality (AR) in which data including numbers and letters is added to the real world viewed through the glasses. The contents of the display image IM1 and the contents of the display image IM2 can be the same (IM1=IM2) or different (IM1 IM2) depending on the type of embodiments. Furthermore, the display image IM1 (or IM2) can be displayed in the right display 12R and/or the left display 12L. If the contents of the AR display are required to be shown in a 3D image (with a depth) overlapping the real world viewed through the glasses, the display images IM1 and IM2 are different images for 3D display.

Furthermore, if the displays (12R and 12L) are positioned right and left, the images on the right and left displays (IM1 and IM2) can be shifted in opposite directions by, for example, adjusting an angle of convergence. This will reduce the workload of eyes viewing a target in the real world and the AR display alternately. However, normally, the same images are displayed in the right and left displays (12R and 12L).

The display control of the displays 12R and 12L can be performed by the data processor 11 embedded in the right temple bar 107. (Displaying letters and icons on a display is a well-known technique.) Power required for the operation of the data processor 11 and the like can be obtained from a battery BAT embedded in the left temple bar 106.

Note that, if a designer may wear a test product corresponding to the example of FIG. 3 and feel that a weight balance of the product is inappropriate, one of the reasons causing such inappropriateness may be the battery BAT in the left temple bar 106. In that case, a sinker may be provided with the right temple bar 107 to balance with the battery BAT in the left temple bar 106.

As in the example of FIG. 3, if the sensor electrodes (141 to 144 and 141* to 144*) are provided with the both sides of the device while the data processor 11 is provided with one side, a very-small flat cable (not shown) is passed through the frames 101 and 102 inconspicuously such that the electrodes 141* to 144* at the left side are connected to the data processor 11 at the right side. Similarly, a very-small flat cable (not shown) is passed through the frame 101 inconspicuously such that the electrodes 141 to 144 at the right side are connected to the data processor 11 at the right side. A similar very-small flat cable may be used in the connection of the nose pad electrode (151a, 151b, 152a, and 152b) to the data processor 11.

If two pairs of capacitance sensor electrodes (140 to 144 and 141* to 144*) for the gesture detection are disposed at both right and left sides, the number of the receiver electrodes of capacitance sensor is eight in total at the both sides. Then, eight kinds of detection signals (Vrxbuf) each changing corresponding to 3D gestures of right and left hands (or two or more fingers) are obtained. Data input A (FIG. 7) can be generated by combinations of changes in the detection signals. Various gestures can be detected using the data input A (for example, several sign language patterns may be detected).

Furthermore, with the two pairs of capacitance sensor electrodes (140 to 144 and 141* to 144*) for the gesture detection disposed at both right and left sides, a detectable range of the gesture movement (especially in the horizontal direction) can be increased. For example, in the example of FIG. 3, five gesture sections (right end of the right eye frame 101, center of the right eye frame 101, center of the bridge 103, center of the left eye frame 102, and left end of the left eye frame 102) will be given. In that case, fingers of a right hand can be moved between the right end of the right eye frame and the center of the right eye frame, between the right end of the right eye frame and the center of the bridge, between the right end of the right eye frame and the center of the left eye frame, and between the right end of the right eye frame and the left end of the left eye frame (or to the outside of the left end of the left eye frame).

A section in which a gesture is performed in the five sections can be determined based on a change condition of eight signal levels from the eight receiver electrodes of the capacitance sensors. (For example, if a finger is swung from right to left between the right end of the right eye frame to the left end of the left eye frame, eight electrode signal levels all change individually.) With the gesture movable range divided as above, a section in which a gesture is performed can be identified even if gestures in the same pattern are performed in any sections. Thus, determination results as to the sections in which the gestures are performed can be used to substantially increase the types of the commands input by data input A (as compared to a case where movable range is not identified).

Note that, in the example of FIG. 3 (or FIG. 1), a 3D gesture is detected when a right-handed user uses his/her right hand (right fingers) for the gesture in a 3D space in right front of the user (a space where the user sees the display image IM1) with the electrodes 141 to 144 at the right eye frame 101 side. Furthermore, as in the example of FIG. 3, with the capacitance sensor electrodes 141* to 144* for the gesture detection provided with the left eye frame 102 side (to surround the left display image IM2), a 3D gesture by a left hand in the 3D space in the left front of the user can be detected for improving the operability of a left-hand user.

If the device is made for a left-hand user only, only the electrodes 141* to 144* at the left eye frame 102 side may be used as the capacitance sensors for the gesture detection, and only the display image IM2 may be used for the gesture operation. That is, the electrodes 141 to 144 at the right eye frame 101 side and the display image IM1 may be omitted from a certain embodiment (the display contents of the display image IM2 may be the same as or different from the contents to be displayed by the display image IM1).

FIG. 4 shows an eyeglass-type wearable device of a still another embodiment. In this, example, electrodes (140 to 144) of a capacitance sensor 14 for the gesture detection are provided with the right temple bar 107 side and left electrodes (140* to 144*) of a capacitance sensor 14* for the gesture detection are provided with the left temple bar 106 side. The right face of a user contacting the right temple bar 107 and the left right face of the user contacting the left temple bar 106 are the GND. A plastic tab 14T on which the electrodes 140 to 144 of the capacitance sensor 14 are formed to be electrically insulated from the GND is attached to the right temple bar 107. Similarly, a plastic tab 14T* on which electrodes 140* to 144* of the capacitance sensor 14T* are formed to be electrically insulated from the GND is attached to the left temple bar 106.

Note that, in the example of FIG. 4, a projection to store a micro CCD camera 13R is attached near the right hinge 105 in the upper part of the eye frame 102, and a projection to store a micro CCD camera 13L is attached near the left hinge 104 in the upper part of the eye frame 102. Although this is no depicted, a micro CCD camera may be attached at the upper part of the bridge 103.

Tabs may be attached to the temple bars through the following manners, for example. That is, the tab 14T (or 14T*) may be mechanically fixed to the temple bar 107 (or 106) undetachably. Or, the tab 14T (or 14T*) may be detachably attached to a connector receiver (not shown) provided with the temple bar 107 (or 106) using a snap-lock multipoint connector or the like. A connector which detachable attaches the tab and the temple bar may be a micro USB or a micro HDMI (registered trademark) in consideration of a mechanical design for the sufficient mechanical strength after the connection.

In the example of FIG. 4, data processors 11 and 11* having the same functions are disposed inside the right temple bar 107 and the left temple bar 106, respectively. Furthermore, a battery BAT is attached inside the thick part of the right end cover 109, and a battery BAT* is attached inside the thick part of the left end cover 108.

In the example of FIG. 4, the right and left temple bars 107 and 106 are mounted partly on the rear sides of the right and left ear tabs (not shown) to be put on the head of the user. In that case, if the upper ends of the rear sides of the ear tabs of the user are considered as fulcrums, the weight balance between the front parts of the fulcrums (the part of the eye frames 101 and 102) and the rear parts of the fulcrums (the part of the end covers 109 and 108) is improved by the weight of the BAT and BAT*. Furthermore, since the BAT and BAT* are arranged at the right and left sides, the right and left weight balance of the eyeglass-type wearable device 100 can be improved as being viewed from the center of the right and left eyes of the user.

Note that, although this is not shown, the structure of two data processors 11 and 11* provided with the right and left temple bars 107 and 106 and/or the structure of the two batteries BAT and BAT* provided with the right and left end covers 109 and 108 can be applied to the example of FIG. 3.

In the example of FIG. 4, representative gestures of a user may be frontward-and-backward and up-and-down movements of a hand or fingers in the proximity of the plastic tab 14T (or 14T*), rotation of the hand and fingers in the proximity of sides of the face, and movements to put the hand and fingers near to or away from the face.

FIGS. 5(a) to 5(e) show various examples of the nose pad electrodes (151a, 151b, 152a, and 152b) for the eye motion detection provided with the nose pads (150R and 105L). FIG. 5(a) shows four nose pad electrodes 151a, 151b, 152a, and 152b provided with the right and left nose pads in a vertically and horizontally symmetrical manner.

FIG. 5(b) shows an example where the four nose pad electrodes 151a, 151b, 152a, and 152b are provide with the right and left nose pads in a horizontally symmetry but vertically asymmetry manner. A down pressing force caused by the weight of the right and left eye frames works on the nose pads (150R and 150L). Thus, the lower nose pad electrodes (151b and 152b) sufficiently contact the skin of the nose of the user even if the area of the electrodes is small while the upper nose pad electrodes (151a and 152a) may not contact well with the skin of the nose of the user. Even if the nose pads (150R and 150L) are pressed down by the weight of the right and left eye frames and the contact of the upper nose pad electrodes (151a and 152a) tend to be insufficient, such insufficient contact of the upper nose pad electrodes (151a and 152a) can be improved by increasing the area of the upper nose pad electrodes (151a and 152a) as in FIG. 5(b).

FIG. 5(c) shows an example where the four nose pad electrodes 151a, 151b, 152a, and 152b are provide with the right and left nose pads in a horizontally and vertically asymmetry manner. The arrangement of FIG. 5(c) can be obtained through about 180° rotation of one of the nose pads of FIG. 5(b) (150R in this example). Depending on a skin condition of the nose of the user, location or posture of the user, or a mount condition of the glasses, better contact of the right and left nose pad electrodes may be obtained in the example of FIG. 5(c) than FIG. 5(b). In such a case, the right and left nose pads (150R and 150L) may be made rotatable such that both the arrangements of FIGS. 5(b) and 5(c) can be selected by the user.

The electrodes 151a, 151b, 152a, and 152b of FIGS. 5(a) to 5 (c) are prepared by, for example, performing a metal evaporation process of a predetermined electrode pattern, printing a conductive paint, or attaching an electrode piece on a nose pad material of an insulating material/dielectric (such as ceramic, plastic, and rubber) formed in a predetermined shape. The electrodes 151a, 151b, 152a, and 152b may be flushed with the surface of the nose pad material, or may be formed as bumps on the surface of the nose pad material.

In the examples of FIGS. 5(d) and 5(e), holes are pierced through certain points on the right and left nose pads 150R and 150L and small metal rings are put in the holes to attach the four nose pad electrodes 151a, 151b, 152a, and 152b. In the examples, ring-shaped nose pad electrodes 151a, 151b, 152a, and 152b are shown; however, no limitation is intended thereby. These nose pad electrodes may be polygonal with rounded corners or may be partly cut such as a letter C, for example.

FIG. 6 shows an example of how to extract detection signals from the eye motion detection electrodes (151a, 151b, 152a, and 152b) provided with the nose pads. A potential difference between the upper electrode 151a and the lower electrode 151b of the right nose pad 150R is received by high input impedance of the ADC 1510 and Ch1 potential difference between the upper and lower electrodes which may vary with time is detected as digital data. A potential difference between the upper electrode 152a and the lower electrode 152b of the left nose pad 150L is received by high input impedance of the ADC 1520 and Ch2 potential difference between the upper and lower electrodes which may vary with time is detected as digital data.

Furthermore, a potential difference between the lower electrode 152b of the left nose pad 150L and the lower electrode 151b of the right nose pad 150R is received by high input impedance of the ADC 1512 and Ch0 potential difference between the right and left electrodes which may vary with time is detected as digital data. (Or, a potential difference between the upper electrode 152a of the left nose pad 150L and upper electrode 151a of the right nose pad 150R may be received by high input impedance of the ADC 1512 and Ch0 potential difference between the right and left electrodes which may vary with time may be detected as digital data.)

Note that ADCs 1510, 1520, and 1512 of FIG. 6 may be an ADC having a working voltage Vdd=3.3 V and a resolution of 24 bit. In that case, the weight of the detection signal level is 3.3 V/(2̂24)=(nearly) 200 nV. In the detection signal level shown in FIGS. 8 to 14, if the amplitude values of Ch1 and Ch2 are represented by 1000, for instance, the detection signal level from the ADCs is approximately 200 μV in voltage.

Types of the eye motion and ranges of eye motion related to the eye motion detection of FIG. 6 are, for example, as follows.

(01) Compensative Eye Motion

Non-voluntary eye motion developed for stabilizing an external image on a retina regardless of motions of the head or body.

(02) Voluntary Eye Motion

Eye motion developed to set a target image to the center of the retina and controlled voluntarily.

(03) Impulsive Eye Motion (Saccade)

Eye motion made when a focus point is changed to see an object (easy to detect).

(04) Slide Eye Motion

Smooth eye motion made when tailing an object moving slowly (hard to detect).

(11) Horizontal Directions

Left direction: 50° or less

Right direction: 50° or less

(12) Vertical Directions

Lower direction: 50° or less

Upper direction: 30° or less

(The range of angles voluntarily movable in the vertical directions is narrower in the upper direction. Since the Bell phenomenon in which eye rotate upward when eyes are closed, the eye motion range in the vertical directions shifts to the upper direction when the eyes are closed.)

(13) Others

Angle of convergence: 20° or less

FIG. 7 shows the data processor 11 attachable to the eyeglass-type wearable devices of various embodiments and peripheral devices. In the example of FIG. 7, the data processor 11 includes a processor 11a, nonvolatile memory 11b, main memory 11c, communication processor 11d, and sensor 11e, for example. The processor 11a is a microcomputer having a computing performance corresponding to a product specification. Various programs executed by the microcomputer and various parameters used in the program execution can be stored in the nonvolatile memory 11b. The work area to execute the programs can be provided by the main memory 11c.

The sensor 11e includes a sensor group to detect a position and/or direction of the eyeglass-type wearable device 100. Specifically, the sensor group includes an acceleration sensor which detects motions in three-axis directions (x-y-z directions), gyro which detects the rotation in the three-axis direction, geomagnetism sensor (compass function) which detects an absolute direction, and beacon sensor which obtains position data and the like by receiving radio waves or infrared. To obtain position data and the like, iBeacon (registered trademark) and Bluetooth (registered trademark) 4.0 can be used.

An LSI used in the data processor 11 is commercially available. For example, TZ1000 series for wearable devices of Toshiba Semiconductor and Storage can be cited. One of the series: TZ1011MBG has a CPU (11a and 11c), flash memory (11b), Bluetooth Low Energy (registered trademark) (11d), sensor group (acceleration sensor, gyro, and geomagnetism sensor) (11e), 24 bit delta sigma ADC, and I/O (USB and the like).

Commands to be executed by the processor 11 can be obtained via the communication processor 11d from an external server (or a personal computer) which is not shown. (For example, a picking command may be sent from a server computer of a storage management system to an eyeglass-type device 100 put on a picking operator). The communication processor 11d can use available communication schemes such as ZigBee (registered trademark), Bluetooth (registered trademark), and Wi-Fi (registered trademark). A process result from the processor 11a can be sent to the storage management server (e.g., WMS server computer 1000 of FIG. 16) or the like through the communication processor 11d.

A system bus of the data processor 11 is connected to a display 12 (12R and 12L of FIGS. 1, 3, and 4), camera 13 (13R and 13L of FIG. 1), gesture detector 14, and eye motion detector 15. Power is supplied to each device (11 to 15) of FIG. 7 by a battery BAT.

The gesture detector 14 of FIG. 7 includes the electrodes 140 to 144 of capacitance sensors, and circuits to output data based on a change pattern of the above-described four voltage signals (Vrxbuf1 to Vrxbuf4) to the processor 11a. From the change pattern (for example, corresponding to a swiping up motion of a finger) of the four voltage signals (Vrxbuf1 to Vrxbuf4), the processor 11a interprets a command corresponding to the gesture of the user (for example, a command to scroll up the character strings in the image IM2 displayed on the display 12L of FIG. 3), and executes the upward scroll in the display 12. The command is an example of data input A using the gesture detector 14.

The eye motion detector 15 of FIG. 7 includes four eye motion detection electrodes (151a, 151b, 152a, and 152b) which are components of the sightline detection sensor, three ADCs (1510, 1520, and 1512) which extract digital signals corresponding to eye motions from the electrodes, and circuits to output the output data (data corresponding to detection signal waveforms of FIGS. 8 to 14) from ADCs to the processor 11a. From various eye motions (up-and-down, right-and-left, blinks, closed eyes, and the like) of the user, the processor 11a interprets a command corresponding to the eye motion type and executes the command.

Specific commands corresponding to the types of eye motions may be, for example, selecting a data item in the line of sight if the eye motion is closing eyes (similar to a click of a computer mouse), starting a process of the selected data item if the eye motion is continuous blinks or a wink (similar to double clicks of a computer mouse). The command is an example of data input B using the eye motion detector 15.

Now, a method of detecting (estimating) an eyesight direction of a user will be explained. FIG. 8 shows an electro-oculogram (EGG) with respect to a relationship between an eye motion from the front to the above and detection signal levels (Ch0, Ch1, Ch2, and average level Ch1+2 of Ch1 and Ch2) obtained from ADCs (1510, 1520, and 1512) of FIG. 6. The eye motion detection is performed based on the detection signal waveforms in the broken-line frame in the figure. The reference of the detection is a case where there is no eye motion when a user seeing the direct front (in that case, a condition of left outside of the broken line frame of FIG. 8, and output signal waveforms Ch0 to Ch2 from the three ADCs of FIG. 6 are substantially flat while the user staring the direct front without blinking and there is almost no change through time).

The user sees the direct front with his/her both eyes, instantly moves the sight upward and maintain the upward stare for one second, and then instantly returns the stare in the front. This is repeated for five times and changes of the detection signal levels are shown in FIG. 8.

FIG. 9 shows an eye motion detection similar to that of FIG. 8 when the sight moves from the front to the below. From the waveform changes of FIGS. 8 and 9, whether the sight is upward or whether the sight is downward can be detected using the case where the sight is in front as a reference.

FIG. 10 shows an electro-oculogram (EGG) with respect to a relationship between an eye motion from the left to the right and detection signal levels (Ch0, Ch1, Ch2, and average level Ch1+2 of Ch1 and Ch2) obtained from the three ADCs of FIG. 6. With the eye motion from the left to the right, the change of the detection signal waveform of Ch0 through time goes up to the right side (although this is not shown, with the eye motion from the right to the left, the change of the detection signal waveform of Ch0 through time goes down to the right side). From the waveform changes of Ch0, whether the sight is rightward or whether the sight is leftward can be detected using the case where the sight is in front as a reference.

If the detection results of FIGS. 8 to 10 are combined, it can be known that which direction the sight points to the up, down, right, and left directions, using the case where the sight is in front as a reference.

FIG. 11 shows an electro-oculogram (EOG) with respect to a relationship between an eye motion repeating blinks (both eyes) for five times with five second intervals and detection signal levels (Ch0, Ch1, and Ch2) obtained from the three ADCs of FIG. 6. Blinks of both eyes can be detected by pulses in Ch1 and Ch2. Blinks unconsciously performed by a user do not have a periodicity in most cases. Therefore, by detecting a plurality of pulses with certain (roughly constant) intervals as shown in FIG. 11, intentional blinks of a user can be detected. (Generally speaking, one blink motion takes 100 to 150 msec and the sight is blocked by a blink motion for approximately 300 msec.)

FIG. 12 shows an electro-oculogram (EOG) with respect to a relationship between an eye motion repeating blinks (both eyes) of an eye closing for one second and an eye opening for four seconds for five times and detection signal levels (Ch0, Ch1, and Ch2) obtained from the three ADCs of FIG. 6. Closing both eyes can be detected by a wide pulse in Ch1 and Ch2 (if eyes are closed intentionally, it takes longer than a blink and the pulse width detected becomes wider). By detecting the wide pulses of Ch1 and Ch2 shown in FIG. 12, the intentional eye closing of the user can be detected.

Note that, although this is not shown, a wide pulse shows in Ch1 when the user closes the right eye only and a wide pulse shows in Ch2 when the user closes the left eye only. Thus, a right eye closing and a left eye closing can be detected separately.

FIG. 13 shows an electro-oculogram (EOG) with respect to a relationship between an eye motion repeating blinks (both eyes) for five times and repeating left eye winks (blinks of left eye) for five times with eyes front and detection signal levels (Ch0, Ch1, and Ch2) obtained from the three ADCs of FIG. 6.

As shown in FIG. 6, the position of the ADC 1512 of Ch0 is offset lower than a center line of the right and left eyeballs. Because of the offset, negative direction potential changes appear in both + input and − input of the ADC 1512 of FIG. 6 when both eyes blink. Then, if the potential changes (amount and direction) of both + input and − input are substantially the same, these changes are almost canceled and the signal level output from the ADC 1512 of Ch0 may be substantially constant (cf. Ch0 level in a left broken line frame of FIG. 13). On the other hand, one eye (left eye) blink does not substantially change the potential at the − input side of the ADC 1512 and a relatively large negative direction potential change appears at the + input side of the ADC 1512. Then, a cancel amount of the potential changes between + input and − input of the ADC 1512 is reduced and a small pulse (small wave in the signal level) appears in the negative direction in the signal levels output from the ADC 1512 of Ch0 (cf. Ch0 level in a right broken line frame of FIG. 13). From the polarity of the small wave in the signal level (pulse in the negative direction), a left eye wink can be detected (an example of left wink detection using Ch0).

Note that, if the potential change of the + input and − input of the ADC 1512 cannot be set even because of the distortion of the face of the user or the skin condition, a calibration to set the output of the ADC of Ch0, detected when the user wears the eyeglass-type wearable device 100 and brinks both eyes, to minimum (to set a cancel amount between + input components and − input components maximum) should be performed in advance.

Furthermore, if a peak ratio SL1a/SL2a of the detection signals Ch1/Ch2 at the time of a both eye wink is used as a reference, a peak ratio SL1b/SL2b at the time of a left eye wink changes (SL1b/SL2b is not equal to SL1a/SL2a). From this point, a left wink can be detected.

FIG. 14 shows an electro-oculogram (EGG) with respect to a relationship between an eye motion repeating blinks (both eyes) for five times and repeating right eye winks (blinks of right eye) for five times with eyes front and detection signal levels (Ch0, Ch1, and Ch2) obtained from the three ADCs of FIG. 6.

As stated above, the position of the ADC 1512 of FIG. 6 is offset lower than a center line of the right and left eyeballs. Because of the offset, negative direction potential changes appear in both + input and − input of the ADC 1512 of FIG. 6 when both eyes blink. Then, if the potential changes (amount and direction) of both + input and − input are substantially the same, these changes are almost canceled and the signal level output from the ADC 1512 of Ch0 may be substantially constant (cf. Ch0 level in a left broken line frame of FIG. 14). On the other hand, one eye (right eye) blink does not substantially change the potential at the + input side of the ADC 1512 and a relatively large negative direction potential change appears at the − input side of the ADC 1512. Then, a cancel amount of the potential changes between + input and − input of the ADC 1512 is reduced and a small pulse (small wave in the signal level) appears in the positive direction in the signal levels output from the ADC 1512 of Ch0 (cf. Ch0 level in a right broken line frame of FIG. 14). From the polarity of the small wave in the signal level (pulse in the negative direction), a right eye wink can be detected (an example of right wink detection using Ch0).

Furthermore, if a peak ratio SR1a/SR2a of the detection signals Ch1/Ch2 at the time of a both eye wink is used as a reference, a peak ratio SR1b/SR2b at the time of a right eye wink changes (SR1b/SR2b is not equal to SR1a/SR2a). Furthermore, the peak ratio SL1b/SL2b of a left wink and the peak ratio SR1b/SR2b of a right wink may be different (how different they are can be confirmed by an experiment).

From this point, a right wink can be detected separately from the left wink (an example of right and left wink detections using Ch1 and Ch2).

Using Ch0 or Ch1/Ch2 for detecting the right and left winks can be arbitrarily determined by a device designer. Results of right and left wink detections using Ch0 to Ch2 can be used as operation commands.

FIG. 15 is a flowchart which shows processes performed by combinations of gesture data inputs (data input A) and eye motion data inputs (data input B) when the eyeglass-type wearable device of FIG. 3 is used, for example.

For example, the eyeglass-type wearable device 100 of FIG. 3 with the data processor 11 of FIG. 7 is wirelessly connected to a server (not shown).

If an item list related to a plurality of items is sent from a server to the device 100 through, for example, Wi-Fi, data of the item list are stored in the memory 11c of FIG. 7. A program executed in the processor 11a displays an image IM1 (or IM2) of at least part of item data from the data of the items included in the stored item list on the right display 12R (or the left display 12L) (ST10 of FIG. 15). The image display may be performed in the right display 12R in default. However, there may be a user who does not prefer a gesturing finger is seen moving ahead of the right display, and thus, the image display may be performed in the left display 12L at which a finger of the right hand is not easily seen if the user choose so (optionally).

If currently necessary item data (name of the item and an ID code thereof) are not being displayed in the displayed list, the user with the device 100 moves, for example, his/her right index finger swiping up in front of the right eye frame 12R with the electrodes (141 to 144) of the gesture detector 14. Then, the type of the motion (one of the gestures) is determined (ST12), and the data input A corresponding to the motion is generated in the gesture detector 14 (ST14). The data input A is sent to the processor 11a through the system bus of FIG. 7. Then, the program executed in the processor 11a scrolls up the item data in the image IM1 (or IM2) displayed in the right display 12 (or the left display 12L) (ST16). By repeating the finger swiping up gesture, the item data in the image IM1 (or IM2) can be scrolled up to the end.

If desired item data are not found through the scroll, the right index finger, for example, is swiped down. The type of the motion (one of the gestures) is determined (ST12), and data input A corresponding to the motion is generated in the gesture detector 14 (ST14). The data input A is sent to the processor 11a, and the item data in the image IM1 (or IM2) displayed in the right display 12R (or in the left display 12L) are scrolled downward (ST16). By repeating the finger swiping down gesture, the item data in the image IM1 (or IM2) can be scrolled down to the end.

If a plurality of item lists are displayed in the image IM (or IM2), the item list seen by the user can be detected by the sightline detection sensor of the eye motion detector 15. Now, for a simplified explanation, a case where three item data lines (upper, middle, and lower lines) are displayed in the image IM1 (or IM2) is given.

When the user stares in front and stays still, signal waveforms of the three ADCs (Ch0 to Ch2) of FIG. 6 are all substantially flat. Then, the sightline of the user is determined to be directed to the middle item data displayed in the image IM1 (or IM2) (or the user is estimated to see the item data in the middle line).

When the user stares in front and looks up, signal waveforms of the three ADCs (Ch0 to Ch2) of FIG. 6 show upward pulses (FIG. 8). Then, the sightline of the user is determined to be directed to the upper item data displayed in the image IM1 (or IM2) (or the user is estimated to see the item data in the upper line).

When the user stares in front and looks down, signal waveforms of the three ADCs (Ch0 to Ch2) of FIG. 6 show downward pulses (FIG. 9). Then, the sightline of the user is determined to be directed to the lower item data displayed in the image IM1 (or IM2) (or the user is estimated to see the item data in the lower line).

When the user stares in front and closes both eyes for a short period (0.5 to 1.0 seconds), upward pulses having waveforms different from that of FIG. 8 show (FIG. 12). Then, the item data displayed in the center of the image IM1 (or IM2) are determined to be selected by the user (similar to one click by a computer mouse). Similarly, if the user looks up and closes both eyes, the item data in the upper line are determined to be selected, and if the user looks down and closes both eyes, the item data in the lower line are determined to be selected.

After the selection of the item data, if the user looks in front and instant blinks (0.2 to 0.3 seconds) for a few times by both eyes, a few sharp pulses occur (FIG. 11). Then, the selection of the item data displayed in the center of the image IM1 (or IM2) is determined to be decided by the user (similar to double clicks by a computer mouse). Similarly, if the user looks up and blinks for a few times by both eyes, the selection of the item data in the upper line is determined to be decided, while if the user looks down and blinks for a few times by both eyes, the selection of the item data in the lower line is determined to be decided.

After the selection of the item data, if a left wink is performed (FIG. 13), an operation corresponding to the wink can be performed. For example, if the user looks in front and winks the left eye, a cursor (not shown) in the character strings of the item data displayed in the center of the image IM1 (or IM2) can be moved to the left. Conversely, if a right wink is performed, the cursor (not shown) in the character strings of the item data displayed in the center of the image IM1 (or IM2) can be moved to the right.

As can be understood from the above, the eye motions of the user including the eye direction of the user (up-and-down and right-and-left motions, blinks, closed eyes, winks, and the like) can be determined using combination of various signal waveforms obtained from the sightline detection sensor of the eye motion detector 15 (ST22).

After the determination of the eye motion of the user including the eye direction of the user (ST22), a data input B corresponding a determination result is generated by the eye motion detector 15 (ST 24). The data input B is sent to the processor 11a, and the processor 11a performs the process corresponding to the data input B (ST26). For example, the processor 11a determines that an item (not shown) corresponding to the selected item data is picked up by the user from the storage rack in the warehouse, and modifies the item list stored in the memory 11c. Then, the modified list is informed to the server (not shown) through Wi-Fi (ST26). Or, the user can add a desired value code or the like to the selected item data using a ten-key in the image IM1 (or IM2) displayed in the right display 12R (or left display 12L) of FIG. 3, for example (ST26).

The process of FIG. 15 is repeated while either the process based on data input A or the process based on data input B is performed (NO in ST28). The process of FIG. 15 is terminated if both the process based on data input A and the process based on data input B are finished (YES in ST28).

Steps ST12 to ST16 of FIG. 15 (the process based on data input A) are performed by a gesture of the user (for example, hand or finger motion) and steps ST22 to ST26 (the process based on data input B) are performed by an eye motion of the user. The process of the data input A and the process of the data input B are in cooperation but independent as operations of the user. Therefore, eye strain is small as compared to a case where the data input is performed by the eye motion only. On the other hand, if a gesture input cannot be performed when using both hands, data input by eye motion only can be performed.

Furthermore, the eyeglass-type wearable device 100 of the embodiments can be operated without touching by hands, and even if fingers are dirty, data input can be performed without dirtying the device 100.

Note that the device may be structured such that the user can touch any of the electrodes 141 to 144 (with clean fingers). In that case, the capacitance sensor 14 can be used as a pointing device like a touch pad (a variation of ST12 to ST16 of FIG. 15). For example, in the structure of FIG. 3, a ten-key and a cursor are shown in the display 12R, and the cursor can be moved by touching any of the electrodes 141 to 144 of the capacitance sensor 14 by a finger. Then, the closed-eyes, blinks, and (right and left) winks detected by the sightline detection sensor 15 are prepared as commands, and a value (character) on which the cursor is positioned can be selected or decided (entered). As above, using a method other than a gesture, data input A from the capacitance sensor 14 and data input B from the sightline detection sensor 15 can be combined and various data inputs can be achieved.

In the combination data input operation (combination of data input A and data input B), an image process of an image taken by a camera or a recognition process of audio caught by a microphone can be unnecessary. Therefore, even in a dark environment unsuitable for a proper image process or in a noisy environment unsuitable for a proper audio input, various data inputs can be performed without touching a specific object. In other words, various data inputs can be performed regardless of the brightness or the darkness of the operation environment or of the noise of the operation environment.

Furthermore, the eyeglass-type wearable device of an embodiment includes a plurality of eye motion detection electrodes 151a, 151b, 152a, and 152b directly contacting the user, but these electrodes are only provided with the nose pads (150R and 150L) (the electrodes 140 to 144 of the gesture detector do not directly contact the user). Since the nose pads are used in ordinary glasses, the eyeglass-type wearable device of the embodiment can be worn by a person who wears glasses ordinarily without feeling uncomfortable. (If a directly-touching detection electrode is provided with a part which does not conventionally contact a user such as a bridge part between the right and left eye frames, some user may feel uncomfortable or may be irritated. However, since the detection electrodes are provided with only the part which contacts the user in the ordinary glasses (with the nose pads or the temple bars), the eyeglass-type wearable device of the embodiments can be worn without feeling uncomfortable.)

FIG. 16 shows a cooperation of a picking operator (picking worker) PW in a warehouse and a server computer 1000 of storage management system (WMS), where the operator wears the eyeglass-type wearable device 100 of the embodiment of, e.g., FIG. 1. The camera equipped eyeglass-type wearable device 100 is wirelessly connected to the WMS server computer 1000 through, for example, Wi-Fi. The picking operator PW with the device 100 can move freely among a large number of racks RK in the warehouse while pushing a picking cart CRT.

FIG. 17 shows a positional relationship between a picking operator PW with the camera equipped eyeglass-type wearable device 100 and a large number of item storage racks RK in a warehouse. Each rack RK (A1 to A3, and B1 to B3) is divided in sections (sections 1 to 3) each having upper, middle, and lower steps (steps 1 to 3), and image markers MK indicative of the position (A311 to A313, and the like) are provided. (Markers MK may be communication nodes or beacons for position detection.) If the marker MK is taken by the camera of the eyeglass-type wearable device 100 and is subjected to an image recognition process (or if receiving a beacon), the current location of the operator PW can be recognized. The current location can be informed to the WMS server computer 1000 through Wi-Fi.

FIG. 18 shows an example of part of a storage management data base (WMDB) of a storage management system (WMS). Here, the example of the storage management data relates to the items stored in the steps (1 to 3) of sections 1 to 3 of rack number A3.

For example, in the storage management data of FIG. 18, a marker (beacon) code of code A311 is arranged to the first step (upper step) of section 1 of rack number A3 (corresponding to the section at the left end of FIG. 17), and 20 table cloths with management coded 001, 50 table napkins with management code 002, and 40 towels with management code 003 are described in the step as the current storage data. Management codes 001 to 003 correspond to the barcodes or QR codes (two-dimensional barcode) attached to the items or packages of the items. Additional data corresponding to the items (notice for handling or the like) can be added arbitrarily. Furthermore, the latest in-storage date and the latest out-of-storage date (picking date) are described. (For the simplification, management codes are indicated by three digits; however, actual barcodes corresponding to the management codes may have, for example, thirteen digits.)

Similarly, a marker (beacon) code of code A312 is arranged to the second step (middle step) of section 1 of rack number A3, and 5 sets of wine glasses with management coded 011, 3 wine servers with management code 012, and 30 coffee cups with management code 013 are described in the step as the current storage data. Management codes 011 to 013 correspond to the barcodes or QR codes attached to the items or packages of the items. Additional data (fragile, this side up, or the like) can be added arbitrarily or optionally. Furthermore, the latest in-storage date and the latest out-of-storage date (picking date) are described. As to items which are not at all shipped out after the storage, shipping-out date is blanked.

Similarly, a marker (beacon) code of code A313 is arranged to the third step (lower step) of section 1 of rack number A3, and 20 cushions with management coded 021, 10 blankets with management code 022, and 10 pairs of slippers with management code 023 are described in the step as the current storage data. Management codes 021 to 023 correspond to the barcodes or QR codes attached to the items or packages of the items. Additional data can be added arbitrarily. Furthermore, the latest in-storage date and the latest out-of-storage date (picking date) are described. As to items which are not at all shipped out after the storage, shipping-out date is blanked.

The storage management data of section 2 of rack number A3 (corresponding to the second section from the left end of FIG. 17) and the storage management data of section 3 of rack number A3 (corresponding to the third section from the left end of FIG. 17) are described in the same manner as in section 1 of rack number A3.

FIG. 19 is a flowchart showing an example of a picking operation performed by the picking operator PW with the eyeglass-type wearable device 100. Hereinafter, a specific example of the picking operation will be described with reference to the examples of FIGS. 16 to 19 and the others.

Before starting the picking operation, data related to the picking (a list of picking target items corresponding to an outgoing slip) are sent from the WMS server computer 1000 to the data processor 11 of the camera equipped eyeglass-type wearable device 100 through Wi-Fi or the like. The data correspond to a part of the storage data stored in the storage management data base WMDB of FIG. 16. (A part of the storage data stored in the data base WMDB is exemplified in FIG. 18.)

The data sent from the WMS server computer 1000 to the device 100 include data items such as names of picking target items (abbreviation if the name is long), storage location (rack number, section, step, and the like), additional data (notice for handling or the like), and stored number. The data items are downloaded to the memory 11b in the data processor 11 of the device 100. The downloaded data items can be arbitrarily displayed in the display 12 of the device 100.

The operator PW receives in the device 100 the data related to the picking from the WMS server computer 1000, and moves with a cart to the location of the rack containing the target items based on the list of the picking target items (outgoing slip) displayed on the display 12 of the device 100, using a rack number, etc. as a guide (ST100).

For example, if the picking target items are 10 table cloths and 5 pairs of wine glasses shown in FIG. 18, the picking operator PW may use information on the rack section 1 of rack number A3 displayed in the display 12 of the device 100, so that he/she (PW) can reach the rack steps 1 and 2 (the upper and middle steps of rack section 1 at the left end of rack A3 of FIG. 17) on which the picking target items are placed.

The picking operator PW sees the image marker MK of step 1 and/or step 2 through the eyeglass-type wearable device 100, the marker A311 and/or A312 is recognized by the camera 13 (13R/13L) of the device 100 (or a beacon indicative of the position of A311 and/or A312 is received by the data processor 11 of the device 100). Thereby, the current location of the picking operator PW in the proximity of marker A311 and/or A312 can be detected (ST102).

If the operator PW in the current locations faces the front (sight of the operator PW is parallel to the floor surface), the position of the eyeglass-type device of the operator may be used as a reference position. The movement of the eyeglass-type device 100 from the reference position in the three-axis direction (x-y-z directions) can be detected by the acceleration sensor, the rotation thereof in the three-axis directions can be detected by the gyro, and an absolute direction thereof can be freely detected by the geomagnetism sensor. (The acceleration sensor, gyro, and geomagnetism sensor are included in the sensor 11e of the data processor 11.)

The reference position may be, although it depends on a height of an operator or worker, assumed to be 150±20 cm from the floor surface. If the current reference position of the operator is given 160 cm from the floor surface and the head is lowered by 40 cm by a position change, the acceleration sensor can detect the eye height of the operator now being 120 cm. Or, if the operator looks down to check the lower step of the rack without changing the reference position, the degree of looking down (a change in a solid angle) can be detected by the gyro. The direction of the face of the operator when the operator does not move from the reference position (when either the acceleration sensor or the gyro does not detect anything) can be detected by the geomagnetism sensor. If the reference position and the movement from the reference position (changed in position and/or angle) are known, the direction of the face of the operator PW (or the viewing direction of the operator) can be calculated geometrically.

That is, how much the eyeglass-type device 100 moves and rotates from the reference position detected by the marker(s) and/or by beacon(s) (i.e., to which direction the surface of the display 12 (12R/12L) of the eyeglass-type device 100 faces in a third-dimensional space in a warehouse) can be detected. From the result of detection, what part of the rack (A3) is currently viewed by the operator with the eyeglass-type device 100 is estimated (ST104).

From the estimation result as to what part of the rack is viewed by the operator with the eyeglass-type device 100, data of the items (data of table cloths, table napkins, and towels, and/or wine glass sets, wine servers, and coffee cups in the example of FIG. 18) to be in a specific area (the first step of rack section 1 and/or the second step of rack section 1) of specific rack (A3) estimated to be viewed by the operator are extracted from the storage management data base storing the whole storage data (WMDB of FIG. 16). The extracted item data are downloaded in the memory 11b of the data processor 11 (ST106).

The data downloaded here are narrowed down to the data of the item to be in the specific area (the first step of rack section 1 and/or the second step of rack section 1 of rack A3). If the operator PW looks the first step and the second step of rack section 1 at the same time standing slightly apart from rack A3, the specific area is widened, and data of the items to be in the widened specific area (the first and second steps of section 1 of rack A3) is downloaded in the memory 11b. If the operator looks only the first step of section 1 standing close to rack A3, the specific area is narrowed, and data of the items to be in the narrowed specific area (the first step of section 1 of rack A3) is downloaded (overwriting in the memory 11b).

The specific area is narrowed steeply in proportion to a square number of a distance change between the area and the device 100 of the operator PW. That is, when the operator PW approaches closer to the specific area, extracted data of the items to be in the specific area decreases steeply.

Items to be in a narrowed specific area are relatively less, the data of the items to be downloaded decrease accordingly. Then, right data of picking target items can be narrowed in a small data frame (narrow down of data). By using the item data in a small data frame, the possibility of success of the item verification of the picking target items can be high, and time required for the item verification can be reduced. (The image reading accuracy in the same distance becomes high corresponding to the degree of the narrow down of data).

If the operator PW reaches much closer to the specific area (such that the sight of the operator PW is filled with the item image), the data of the picking item targets is narrowed to only one. In that case, the item in front of the eyes is selected as a picking target item without any specific selection by the operator PW.

Note that the part currently being viewed by the operator PW can be estimated by detecting the movement from the reference position when the operator PW stares in a specific area (the first step of rack section 1 and/or the second step of rack section 1 of rack A3) (cf. ST104).

Based on the data downloaded in ST106, candidates of picking target items are displayed in the display 12 (12R and/or 12L) of the eyeglass-type device 100 facing a specific area of a specific rack (the first step and/or the second step of rack section 1 of rack A3). Here, the candidates are narrowed to the number easily recognizable and are displayed in the AR (Augmented Reality) in the display image IM1 and/or IM2 (ST108).

Through the AR display, the operator PW can see the items of picking targets over the display images (IM1 and/or IM2) in which the candidates of the items to be verified are displayed.

The picking operator PW sees a management code (a unique pattern such as barcode or QR code) of a specific item in a specific area in a specific rack, and takes an image of the management code of the item by the camera 13 of the eyeglass-type device. (For example, a left wink of the operator detected by the sightline detection sensor 15 may be used as a trigger to take a picture of the management code). The taken management code (barcode or QR code) can be converted into management code data by a known image recognition process, and the management code is temporarily stored in the memory 11b of the data processor 11 (ST110).

Note that, if a barcode cannot be recognized because, for example, a barcode label is broken or a barcode image is unclear to be read in a dim environment, the operator PW approaches the item and arbitrarily fix the barcode label (or lights up the barcode part by a headlight which is not shown), and again takes the image by the camera. If the barcode cannot be recognized still, the picking of the item may be aborted as unverifiable. Furthermore, if there is no target item in the rack, the picking is stopped. The item out of the picking target may be displayed in the display 12 (12R/12L) with a display indicative of picking abortion (although not shown, indicated by letters or an icon for the picking abortion).

If the eye balls of the picking operator PW face one of the candidates of the item data displayed in the AR in the eyeglass-type device 100, item data of the one candidate in the eyesight direction of the eyeballs is selected by the sightline detection sensor 15 (ST112).

Note that, item data candidates can be arbitrarily changed by eye motions within the display screen by the eye motion and the display screen scroll based on the commands using the eye motion (data selection and display control of using the eye motion are described above with reference to FIGS. 6 to 15).

The selected management code of the item data candidates is compared to temporarily stored management code data of the image recognition result (image recognition result from barcode, QR code, and the like) (ST114). The comparison operation can be started by detecting, for example, a right wink of the operator by the sightline detection sensor 15.

As a result of the comparison, if the codes do not match (NO in ST116), a different candidate displayed in the AR of the eyeglass-type device 100 is selected (ST112), and the same comparison is performed.

If the codes match (YES in ST116), the items of which management code matches are removed from the rack to the cart CRT by the number described in the list (outgoing slip) of the picking target items (for example, 10 table cloths) and the contents of the picking target item list are updated (ST118). By this update, the data of the items after the picking process are erased from the memory 11b (or switched to be a ghost display without erasing the data from the memory 11b).

If the item data after the picking process are erased from the memory 11b (or all the item data are displayed in ghost), whether or not the picking process of all target items is completed except unverifiable items or unavailable items on a rack. If the picking operation of all target items except the unverifiable and unavailable items is not completed (NO in ST120), the process returns to the start (ST100) and is repeated (for example, a picking operation of the other items is performed moving to rack B3).

If the picking operation of all target items except the unverifiable and unavailable items is completed (YES in ST120), picking operation data (updated picking target item list) are sent to the storage management system (ST122). A trigger of the start of the transmission is performed by detecting an intentional eye motion (for example, continuous eye closing for a few times) by the sightline detection sensor 15.

CONCLUSION OF THE EMBODIMENTS AND NOTES

There may be a case where an accurate pattern recognition cannot be performed during the item verification because an image is taken in a dark environment and a camera has a low image contrast. In that case, an auto gain controller (AGC) which amplifies the CCD sensor output to the level required for the accurate pattern recognition may be provide with the amplifier circuit of the CCD sensor output.

Furthermore, there may be a case where an accurate pattern recognition cannot be performed during the item verification because a unique pattern (barcode or QR code) taken by the camera is too small. In that case, an electrical zoom-up process is performed in the CCD sensor output. (For example, if a small pattern is in the display area of 1600×900 pixels, the display area is switched to 800×450, and the small image of the unique pattern is doubled (four times in area).) Instead of the electrical zoom-up, or in addition to the electrical zoom-up, an optical zoom-up performed by the operator PW closing to the unique pattern can be used.

There may be a possibility that the eyeglass-type wearable device may become too large and heavy by gathering all various functions in a single device (including a battery). In that case, the processes such as communication/item verification/location detection can be performed in an external processor having a size of a smartphone or the like. The necessary processes are handled by an application of a smartphone of each operator PW. If a large amount of data processing is performed, data are sent from the device 100 to the server computer 1000 to perform the necessary processes therein. Data performed by each eyeglass-type wearable device 100 are gathered in the server computer 1000 for storage management as to what item has been picked up from which rack by how many.

Conventional techniques such as Bluetooth, Wi-Fi, and ZigBee are used for the communication of the eyeglass-type wearable device 100. For example, the location data of the operator PW can be obtained using Bluetooth or iBeacon arranged in each rack. Furthermore, based on the movement, rotation, and direction of the eyeglass-type wearable device 100 and the location data of the operator, data of candidates of the picking target items to be in the visual of the operator PW are obtained form the server computer 1000 of the storage management system through, for example, Wi-Fi.

If the acceleration sensor, gyro, and geomagnetism sensor are provide with the eyeglass-type wearable device 100, the facing direction of the eyeglass-type wearable device can be estimated by measuring a movement in the XYZ directions by the acceleration sensor, detecting the rotation with respect to the XYZ axes by the gyro, and measuring the orientation by the geomagnetism sensor.

From the location data of the operator PW, the direction of the eyeglass-type wearable device 100 (the direction of the face of the operator PW), and arrangement data in a warehouse managed by the server computer 1000 of the storage management system, a range of the picking target items can be narrowed down to the sight of the eyeglass-type wearable device 100. (The location data of the operator can be obtained by taking an image of an image marker MK attached to each step of each rack and subjecting the marker to an image recognition process, or the location data of the operator can be obtained by receiving a beacon provide with each step of each rack.) That is, based on the location data of the operator PW, the data of the direction of the eyeglass-type wearable device 100 (the eyesight direction of the operator PW), and arrangement data in the warehouse (data of warehouse management system: WMS), the area in which the target items will be stored can be limited to the sight of the eyeglass-type wearable device 100 even in a wide warehouse. Thereby, reading accuracy of the identification data (unique pattern such as barcode and two-dimensional barcode) in the area of the sight can be improved.

If the eyeglass-type wearable device 100 includes the gesture detector 14 of FIG. 7, movements of the right and/or left hands and fingers of the picking operator PW can be used in the operation of the device 100.

If the eyeglass-type wearable device 100 includes the eye motion detector 15 of FIG. 7, motions of the right and/or left eyes of the picking operator PW can be used in the operation of the device 100.

[1] According to an embodiment, an eyeglass-type wearable device (100) having right and left eye frames can be put on an operator or worker (PW) who picks an item(s) in a warehouse. The eyeglass-type wearable device includes a display (12 or 12R/12L) disposed in at least one of the right and left eye frames (101 and 102), a camera (13 or 13R/13L) which takes an image of a unique pattern (barcode, QR code, or the like), and a sensor (11e) which detects a position of the eyeglass-type wearable device in the warehouse or detects a facing direction of the right and left eye frames in the warehouse.

The data (part of FIG. 18) related to an item(s) existing in a line of sight of the operator with the eyeglass-type wearable device is displayed on the display (that is, only the data of an item(s) highly possible to be a picking target(s) is extracted for the display from the huge amount of data of storage items).

The unique pattern (barcode, QR code, or the like) taken by the camera is recognized. The unique pattern recognition can be done by a known pattern recognition method.

The recognized unique pattern and the data related to the item displayed on the display are compared for the item verification of the item which is a picking target. Thereby, the item verification of the picking target item can be performed in a hands-free manner.

[2] The eyeglass-type wearable device (100 of FIGS. 1, 3, 4 and 16), may further comprise a communication processor (11d) wirelessly connected to a server (1000) with a data base (WMDB) related to the item(s), wherein the data displayed on the display are extracted from the data base.

[3] The data base (WMDB of FIG. 16) conclusively includes data of the item(s) managed by the server (1000) (which are partly indicated in FIG. 18), and data extracted from the data base are narrowed down to data related to the item(s) existing in a line of sight of the operator (PW). (In other words, only the data of an item(s) which is(are) highly possible to be a picking target is extracted from the huge amount of item data in the data base.)

[4] A rack(s) with an image marker(s) (MK of FIGS. 16 and 17) is(are) placed in the warehouse and the item(s) is(are) stored in the rack(s), and the image marker taken by the camera is recognized to detect the position of the eyeglass-type wearable device in the warehouse.

[5] The sensor (11e of FIG. 7) may comprise a beacon sensor to detect a position of the eyeglass-type wearable device in the warehouse. (Specifically, Bluetooth 4.0 and/or iBeacon can be used, for example.)

[6] The sensor (11e of FIG. 7) may comprise one or more of an acceleration sensor, a gyro, and a geomagnetism sensor for detecting the facing direction of the right and left eye frames (surfaces of 101 and 102 including the frames) in the warehouse.

[7] The eyeglass-type wearable device (100) may further comprise an eye motion detector (15 of FIG. 7, 150R/150L of FIG. 6, etc.) which detects an eye motion of the operator with the eyeglass-type wearable device.

[8] The eyeglass-type wearable device (100) may further comprise a gesture detector (14 of FIGS. 7, 140 to 144 of FIG. 1, etc.) which detects a gesture of the operator with the eyeglass-type wearable device.

[9] According to a method of an embodiment (FIG. 19), an eyeglass-type wearable device (100) having right and left eye frames is used, which device can be put on an operator or worker who picks item(s) in a warehouse. The eyeglass-type wearable device includes a display (12R/12L) disposed in at least one of the right and left eye frames (101 and 102), a camera (13R/13L) which takes an image of a unique pattern (barcode, QR code, or the like), and a sensor (11e) which detects a position of the eyeglass-type wearable device in the warehouse or detects a facing direction of the right and left eye frames in the warehouse.

In the method using the eyeglass-type wearable device (100) (FIG. 19), data related to an item(S) existing in a line of sight of the operator with the eyeglass-type wearable device is displayed on the display (ST106 to ST108).

The unique pattern (barcode, QR code, or the like) taken by the camera is recognized (ST110).

While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. Indeed, the novel embodiments described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the embodiments described herein may be made without departing from the spirit of the inventions.

For example, the embodiments are described to be used in the eyeglass-type wearable device having a frame shape of ordinary glasses. However, the embodiments can be applied to devices having a shape and structure other than such a frame shape of ordinary glasses. Specifically, a gesture detector and an eye motion detector can be provided with eyeglass-type wearable devices such as goggles used in skiing or snowboarding for blocking harmful ultraviolet and securing visibility in rough conditions. Or, goggles may be used to cover the eyeglass-type wearable device of the embodiments as shown, e.g., in FIG. 3. Furthermore, the scope of the inventions includes providing a member or an electrode (whether or not it contacts the brow of a user is irrelevant) with any optional part of the glasses such as a bridge as long as the structures recited in the claims are maintained. (In, for example, a goggle, right and left frames may be continuously formed in a single frame, and such a case should also be considered as a device with right and left frames. Even if the right and left frames are not structurally distinguished, the parts in front of the right and left eyes of a user can be interpreted as the right and left frames.)

The embodiments and their variations are encompassed by the scope and outline of the invention and by the inventions recited in claims and their equality. Note that a part or the whole of an embodiment of the disclosed embodiments combined to a part or the whole of another embodiment of the disclosed embodiments will be encompassed by the scope and outline of the invention.

EYEGLASS-TYPE WEARABLE DEVICE AND PICKING METHOD USING THE DEVICE

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