CN114153159A - Mobile body control method and device - Google Patents

Mobile body control method and device Download PDF

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Publication number
CN114153159A
CN114153159A CN202010934507.XA CN202010934507A CN114153159A CN 114153159 A CN114153159 A CN 114153159A CN 202010934507 A CN202010934507 A CN 202010934507A CN 114153159 A CN114153159 A CN 114153159A
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user
working state
movement
state parameter
moving body
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甘泉
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Daikin Industries Ltd
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Daikin Industries Ltd
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Priority to CN202010934507.XA priority Critical patent/CN114153159A/en
Priority to JP2022547623A priority patent/JPWO2022054834A1/ja
Priority to PCT/JP2021/033023 priority patent/WO2022054834A1/en
Publication of CN114153159A publication Critical patent/CN114153159A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/08—Detecting, measuring or recording devices for evaluating the respiratory organs
    • A61B5/0816—Measuring devices for examining respiratory frequency
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1116—Determining posture transitions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1118—Determining activity level
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2612—Data acquisition interface

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Abstract

The embodiment of the invention provides a moving body control method and device. When the abnormal working state parameters of the user are detected, determining a moving scheme for stimulating the user; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.

Description

Mobile body control method and device
Technical Field
The present invention relates to the field of control, and in particular, to a method and an apparatus for controlling a mobile object.
Background
When the mobile phone works or performs other activities for a long time in a certain area, the working state parameters of the user are easy to be abnormal, thereby influencing the work and performing other activities. For example, the operating condition parameter may be a concentration force.
For example, in today's office environment, most employees work within a certain office area. The relationship between the work efficiency and concentration of employees can generally be described using the Yerkies-Dodson Law. I.e. too low or too high a concentration force will lead to a reduction of the working efficiency, which is optimal only when the concentration force is at a suitable level.
As a method for improving the efficiency of the user's work or other activities, in the prior art, the user is typically stimulated by physical stimuli such as sound, light, smell, vibration, etc. with the device in the area where the user is located, thereby adjusting the user's work state parameters such as concentration.
Patent document 1 discloses a method for realizing user concentrated force control by controlling vibration devices acting on different positions of a human body on a seat. The vibration device acting on the back, the neck, the waist, the hip and the inner sides of the thighs of the human body gives vibration stimulation to a driver of the vehicle, so that the driver can be in a proper concentrated force state when the vehicle is switched between automatic driving and manual driving.
Patent document 2 discloses a method for improving the concentration of manual driving. When the vehicle is about to be changed from the automatic driving mode to the manual driving mode, the driver's concentration force is brought into a state in which the vehicle can be manually driven by providing the driver with an operation instruction and a stimulus such as taste, hearing, touch, vision, or the like.
Patent document 3 discloses a sleep depth control method. The control of the depth of sleep of the driver is realized by detecting information such as travel track information, road surface conditions, and vehicle exterior noise conditions, controlling a stimulus applying device such as a speaker or a lighting device based on the information, and applying an appropriate physical stimulus to the driver.
Patent document 1: japanese patent JP 2019016028A;
patent document 2: japanese patent JP 2018070029A;
patent document 3: japanese patent JP5741484B 2.
It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.
Disclosure of Invention
However, the inventor finds that the stimulation means of the existing methods are simple, the duration of the stimulation effect is short, the types of stimulation which can be brought are few, and once the user adapts to the stimulation, the concentration force improving effect of the stimulation is greatly reduced. In addition, since the timing of applying the stimulation according to these conventional methods is not necessarily the timing at which the user needs the stimulation, the effect of applying the stimulation may be poor.
In order to solve at least one of the above problems, embodiments of the present invention provide a mobile body control method and apparatus, which determine a movement scheme for stimulating a user when detecting that an operating state parameter of the user is abnormal; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
According to a first aspect of embodiments of the present invention, there is provided a moving body control method including: when the abnormal working state parameters of the user are detected, determining a moving scheme for stimulating the user; and controlling a mobile body carrying the user to execute the determined movement scheme.
According to a second aspect of the embodiments of the present invention, there is provided a moving body control device including: a determination unit which determines a movement scheme for stimulating a user when detecting that the working state parameter of the user is abnormal; and a control unit that controls the mobile body that carries the user to execute the determined movement scheme.
According to a third aspect of the embodiments of the present invention, there is provided a moving body including: the mobile body control apparatus according to the second aspect of the embodiment of the present invention; a bearing unit bearing at least one user; and the moving unit drives the bearing unit to move together, and executes a determined moving scheme under the control of the moving body control device.
According to a fourth aspect of the embodiments of the present invention, there is provided a server including the moving body control apparatus according to the second aspect of the embodiments of the present invention.
According to a fifth aspect of embodiments of the present invention, there is provided an office system including at least one mobile body according to the third aspect of embodiments of the present invention.
According to a sixth aspect of embodiments of the present invention, there is provided an office system including: the server according to the fourth aspect of the embodiment of the present invention; and at least one moving body including: a bearing unit bearing at least one user; and the mobile unit drives the bearing unit to move together, and executes the determined movement scheme under the control of the server.
One of the beneficial effects of the embodiment of the invention is as follows: when the abnormal working state parameters of the user are detected, determining a moving scheme for stimulating the user; and controlling a mobile body carrying the user to execute the determined movement scheme, so that an appropriate and effective stimulus can be provided to the user, and since the mobile body is moved when an abnormality in an operating state parameter of the user is detected, the stimulus can be applied at an appropriate timing. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
The feature information described and illustrated with respect to one embodiment may be used in the same or similar manner in one or more other embodiments, in combination with or instead of the feature information in the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
Many aspects of the invention can be better understood with reference to the following drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For convenience in illustrating and describing some parts of the present invention, corresponding parts may be enlarged or reduced in the drawings. Elements and feature information described in one figure or embodiment of the invention may be combined with elements and feature information shown in one or more other figures or embodiments. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views, and may be used to designate corresponding parts for use in more than one embodiment.
In the drawings:
fig. 1 is a schematic view of a mobile body control method according to embodiment 1 of the present invention;
fig. 2 is a schematic view of a mobile body according to embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of a method for implementing step 101 in embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a method for determining whether the working status parameter of the user is abnormal according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of a method for determining an adjustment amount of an operating state parameter of the user according to embodiment 1 of the present invention;
fig. 6 is a schematic diagram of a method of determining a movement scheme according to embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of a method for implementing step 601;
fig. 8 is a schematic diagram illustrating the definition of the movement according to embodiment 1 of the present invention;
FIG. 9 is a schematic diagram of a partial exemplary movement scheme and principle illustration of somatosensory stimulation according to embodiment 1 of the invention;
fig. 10 is a diagram illustrating deriving all candidate motion solutions according to the motion actions performed according to embodiment 1 of the present invention;
fig. 11 is another diagram illustrating deriving all candidate movement schemes according to the executable movement actions according to embodiment 1 of the present invention;
fig. 12 is a flowchart of a mobile body control method of embodiment 1 of the present invention;
fig. 13 is another flowchart of a mobile body control method according to embodiment 1 of the present invention;
fig. 14 is a schematic view of a mobile body control apparatus according to embodiment 2 of the present invention;
FIG. 15 is a schematic view of a determining unit according to embodiment 2 of the present invention;
fig. 16 is a schematic diagram of a first determination unit according to embodiment 2 of the present invention;
fig. 17 is a schematic diagram of a second determination unit of embodiment 2 of the present invention;
fig. 18 is a schematic view of a third determination unit of embodiment 2 of the present invention;
fig. 19 is a schematic diagram of a seventh determining unit of embodiment 2 of the present invention;
fig. 20 is a schematic view of a mobile body according to embodiment 3 of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
Example 1
Embodiment 1 of the present invention provides a mobile body control method. Fig. 1 is a schematic diagram of a mobile body control method according to embodiment 1 of the present invention. As shown in fig. 1, the method includes:
step 101: when the abnormal working state parameters of the user are detected, determining a moving scheme for stimulating the user; and
step 102: and controlling the mobile body bearing the user to execute the determined movement scheme.
Thus, when the working state parameters of the user are detected to be abnormal, a movement scheme for stimulating the user is determined; and controlling a mobile body carrying the user to execute the determined movement scheme, so that an appropriate and effective stimulus can be provided to the user, and since the mobile body is moved when an abnormality in an operating state parameter of the user is detected, the stimulus can be applied at an appropriate timing. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
In an embodiment of the invention, the method is used for controlling the movement of the mobile body control. The mobile body may be various mobile bodies capable of carrying at least one user. For example, the moving body is a seat. However, the embodiment of the present invention does not limit the form and kind of the moving body.
Fig. 2 is a schematic view of a mobile body according to embodiment 1 of the present invention. As shown in fig. 2, the mobile body 200 includes a carrying unit 201 for carrying at least one user 300 and a moving unit 202 for carrying the carrying unit 201 to move together, and the moving unit 202 executes a determined moving scheme under the control of the mobile body control device 100 shown in fig. 1. For example, the mobile unit 202 has at least one motor to drive the mobile unit.
In the embodiment of the present invention, the carrying unit 201 has a space on which at least one user can ride, and the moving unit 202 has, for example, a plurality of wheels that can rotate and turn, and a driving member that drives the wheels to rotate or turn.
In the embodiment of the present invention, the method may be executed by the mobile body itself, or may be executed by a remote server, for example, a server in the cloud.
When the method is executed by a server, for example, the server transmits a control signal for executing a movement scenario to the mobile body after generating the control signal, the movement scenario being executed by the mobile body.
In the embodiment of the present invention, the movement scheme for stimulating the user is a movement scheme of a mobile body carrying the user, and appropriate stimulation is given to the user by the movement of the mobile body.
In an embodiment of the present invention, the working state parameter of the user includes, for example, concentration, emotion parameter or fatigue of the user.
In the embodiment of the present invention, the working state parameter is the concentration of the user as an example. Other types of parameters may also be implemented in a similar manner. The embodiment of the invention does not limit the specific parameter types of the working state parameters.
Fig. 3 is a schematic diagram of a method for implementing step 101 in embodiment 1 of the present invention. As shown in fig. 3, the method includes;
step 301: determining whether the working state parameters of the user are abnormal or not according to the detection result of the working state parameters of the user;
step 302: when the working state parameter of the user is abnormal, determining the adjustment quantity of the working state parameter of the user according to the abnormal condition of the working state parameter of the user; and
step 303: and determining a moving scheme of the moving body bearing the user according to the determined adjustment amount of the working state parameter of the user.
In step 301, it is determined whether the working state parameter of the user is abnormal according to the detection result of the working state parameter of the user. The detection of the operating state parameters by the user may be performed by various sensors, which may be provided on the moving body, or some of the sensors may be provided on the moving body and the other sensors may be provided at appropriate positions in the area where the moving body is located.
In the embodiment of the present invention, the detection of the operating state parameter of the user may be continued, for example, while the user boards the mobile body, the detection of the operating state parameter of the user is continued.
In the embodiment of the invention, the detection result of the working state parameter of the user can be determined by acquiring the biological information of the user through a plurality of sensors. The user biometric information may include at least one of an expression, an action, a posture, a heart rate, and a breathing rate of the user.
For example, the expression, motion, posture, heart rate, respiration rate, and the like of the user may be acquired by a sensor such as an expression detection camera, a motion detection sensor, a sitting posture detection sensor, a heart rate sensor, a respiration rate sensor, and the like.
Fig. 4 is a schematic diagram of a method for determining whether the working status parameter of the user is abnormal according to embodiment 1 of the present invention. As shown in fig. 4, the method includes:
step 401: determining a working state parameter value of the user according to the acquired biological information of the user; and
step 402: comparing the working state parameter value of the user with the working state parameter normal range of the user, and determining that the working state parameter of the user is normal when the working state parameter value of the user is in the normal range; and when the working state parameter of the user is out of the normal range, determining that the working state parameter of the user is abnormal.
In step 401, for example, the value of the operating state parameter of the user is determined according to at least one of the collected expression, motion, posture, heart rate and breathing rate of the user. This step may be accomplished by training a model. For example, a Convolutional Neural Network (CNN) based model is trained, and at least one of the collected expression, motion, posture, heart rate and respiration rate of the user is input into the model, and the model outputs the working state parameter values of the user.
The description will be given taking the concentration of the user as an example. For example, the user's concentration value may be expressed by a numerical value of 0 to 100, with a higher numerical value indicating a higher concentration of the user and a lower numerical value indicating a lower concentration of the user.
In step 402, it is determined whether the user is currently in a state with abnormal operating state parameters by comparing the operating state parameter value of the user with the operating state parameter normal range of the user.
In the embodiment of the present invention, the normal range of the operating state parameter of the user may be predetermined, for example, the normal range of the operating state parameter of the user may be determined according to at least one of the attribute information, the operating information, and the first environment information of the user. In this way, by setting the normal range of the operating condition parameters in combination with various information including user attribute information, and setting different normal ranges of the operating condition parameters based on the characteristics of each user and other information, the accuracy of determining whether the operating condition parameters are abnormal can be ensured, thereby ensuring the appropriateness and necessity of performing stimulation.
For example, the attribute information of the user includes: at least one of the user's age, gender, height, weight, lifestyle, wearing, and personal habitual movements; the work information of the user includes: at least one of a job, a job title, a working age, a working time, and a work schedule of the user; the first environment information includes: at least one of weather conditions, air quality, and ambient environmental conditions of the mobile body.
For example, after the gender, age, gender and current work task information of the user are combined, the normal concentration force range is set to be 50-70. For example, when the current concentration value of the user is determined to be 35 or 90, the concentration of the user is considered to be in an abnormal state.
In step 302, when the working state parameter of the user is abnormal, the adjustment amount of the working state parameter of the user is determined according to the abnormal condition of the working state parameter of the user.
Fig. 5 is a schematic diagram of a method for determining an adjustment amount of an operating state parameter of the user according to embodiment 1 of the present invention. As shown in fig. 5, the method includes:
step 501: calculating the difference value between the working state parameter value of the user and the upper limit and the lower limit of the normal range of the working state parameter of the user; and
step 502: and determining the adjustment quantity of the working state parameter of the user according to the difference value.
The description will be given taking the concentration of the user as an example. For example, if the current concentration force value of the user is 35, the normal range of the concentration force of the user is 50-70, the difference between the current concentration force value 35 and the lower limit 50 of the normal range is 15, and the difference between the current concentration force value 35 and the upper limit 70 is 35, and then the adjustment amount of the concentration force of the user is determined according to 15 and 35.
For example, the adjustment amount may be any value of 15 to 35. For example, the adjustment amount is 20.
That is, the adjustment amount of the operating state parameter of the user is determined based on the normal range of the operating state parameter, so that the adjusted operating state parameter is within the normal range of the operating state parameter, or approaches the normal range of the operating state parameter. The embodiment of the invention does not limit the specific calculation mode.
In step 203, a movement plan of the mobile body carrying the user is determined according to the determined adjustment amount of the operating state parameter of the user.
In an embodiment of the present invention, the movement scheme may include at least one action, which may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.
In the embodiment of the present invention, all candidate movement schemes that the mobile body can execute, that is, a set of candidate movement schemes may be determined first, and selection may be made in the set according to the adjustment amount.
Fig. 6 is a schematic diagram of a method for determining a mobility scenario according to embodiment 1 of the present invention. As shown in fig. 5, the method includes:
step 601: determining a set of candidate movement schemes of the moving body and working state parameter adjustment amounts corresponding to the candidate movement schemes in the set; and
step 602: and selecting a candidate movement scheme corresponding to the adjustment amount from the set as a determined movement scheme according to the adjustment amount of the working state parameter of the user.
In this way, by selecting among all possible candidate movement scenarios based on the adjustment amount, it is possible to determine an appropriate movement scenario within a large selectable range, thereby ensuring the effect of controlling the operating state parameters of the user within the appropriate range.
In the embodiment of the present invention, the phrase "candidate movement scenario corresponding to the adjustment amount" means that the adjustment amount of the candidate movement scenario is equal to or close to the adjustment amount.
In the embodiment of the present invention, each candidate movement scenario in the set may include at least one executable movement action, and the movement action may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.
Alternatively, in the embodiment of the present invention, the movement plan of the moving body carrying the user may be directly determined according to the determined adjustment amount of the operating state parameter of the user. For example, a plurality of executable movement actions are selected or combined according to the adjustment amount, thereby determining the movement scheme.
In step 601, a set of candidate movement patterns of the mobile body and an adjustment amount of the operating state parameter corresponding to each candidate movement pattern in the set are determined. Fig. 7 is a schematic diagram of a method for implementing step 601. As shown in fig. 7, the method includes:
step 701: determining all candidate movement schemes of the moving body according to the second environment information and the state information of the moving body; and
step 702: and determining the working state parameter adjustment amount corresponding to each candidate movement scheme according to the working state parameter adjustment amount corresponding to the executable movement action contained in each candidate movement scheme.
For example, the second environment information includes: at least one of obstacles around the moving body and map information of an area in which the moving body is located; the state information of the mobile body includes: at least one of a remaining amount of power of the moving body, a remaining movable distance of the moving body, an operation state of the moving body, and failure information.
In this way, by determining all candidate movement scenarios of the moving body in conjunction with the environmental information and the state information of the moving body, all executable and easily implementable movement scenarios can be obtained.
In step 702, the working state parameter adjustment amount corresponding to each candidate movement scheme is determined according to the working state parameter adjustment amount corresponding to the executable movement action included in each candidate movement scheme. For example, a plurality of executable movement actions are preset, and the operating state parameter adjustment amounts that can be brought by the executable movement actions are determined, and the operating state parameter adjustment amounts of the actions included in the candidate movement plan are superposed to obtain the operating state parameter adjustment amount corresponding to the candidate movement plan.
In the embodiment of the invention, the adjustment amount of the working state parameters brought by each action can be estimated based on medical experience and/or an artificial intelligence algorithm after deep learning.
Specific examples are described below.
In an embodiment of the present invention, each candidate movement scheme and the movement scheme selected from the candidate movement schemes includes at least one action, and the action may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.
For example, each candidate movement scheme and the movement scheme selected from the candidate movement schemes is one executable movement action or a combination of executable movement actions. For example, a plurality of movement operations are combined in a certain order.
In the embodiment of the present invention, each movement action is defined first. Fig. 8 is a schematic diagram illustrating the definition of the movement according to embodiment 1 of the present invention. As shown in fig. 8, in the polar coordinate system defined with the center of the moving body 200 as the origin O, the target displacement coordinates of the moving body can be defined by (d, θ). The movement motion can be defined by p (d, θ, a, t) as a function of d, θ, a, t, combining the acceleration a of the moving body and the acceleration acting time t.
The set of all executable movement actions may be represented by P ═ { P ═ P1,p2,…,pnIs carried outWherein n is an integer and n.gtoreq.1. Further, the set of candidate movement schemes is defined as act (p) { act ═ s1s2…sm|smE.g. P, m is more than or equal to 1, and the motion scheme act is more than or equal to s1s2…smRepresenting movement according to s1，s2，…,smFor a set of action schemes that are executed sequentially, m ≧ 1, each of which belongs to the set P of executable action.
The amount of focus adjustment for each candidate movement scheme may be viewed as a function of the candidate movement scheme, defined as ε (act). The somatosensory stimulation effect generated when a mobile body executes a certain movement scheme can be divided into two types, namely "stimulation caused by the movement process" and "stimulation caused by the movement destination".
Fig. 9 is a schematic diagram illustrating a part of an exemplary movement scheme and a principle of somatosensory stimulation according to embodiment 1 of the invention. Epsilon (act) can be calculated using the correlation between the movement pattern and the somatosensory stimulation of the human body and the correlation between the somatosensory stimulation and the change in concentration.
In the embodiment of the invention, all the candidate movement schemes of the moving body are determined according to the second environment information and the state information of the moving body. For example, each executable action and the adjustment amount of the operating state parameter that can be brought about are determined based on the second link information and the state information of the mobile body, and all the candidate movement plans and the adjustment amount of the operating state parameter that can be brought about by each candidate movement plan are determined based on each executable action.
For example, the range in which the moving body can move is measured by a laser radar on the moving body, and after the acceleration and the driving time provided by the driving motor are calculated through the residual electric quantity, the executable moving action and all the candidate moving schemes determined by the executable moving action are obtained.
Fig. 10 is a diagram illustrating deriving all candidate motion solutions according to the motion actions that can be performed according to embodiment 1 of the present invention. As shown in fig. 10, each executable movement action corresponds to the amount of concentration force adjustment that can be brought about, and all candidate movement patterns and the amount of concentration force adjustment that can be brought about can be specified by the combination of the executable movement actions.
For example, the normal range of the concentration force of a certain user is 50-70, the concentration force value of the user is determined to be 36 currently through the concentration force detection, and compared with each candidate movement scheme listed in fig. 9, the concentration force value of the user can be quickly adjusted to be within the normal range through continuously repeating the steps of accelerating forward and then accelerating backward for 3 times (the concentration force adjustment amount is +15), and therefore, the candidate movement scheme is selected as the determined movement scheme.
For another example, by detecting the concentration force, the concentration force value of the user is determined to be 82, and comparing the candidate movement schemes listed in fig. 10, the concentration force value of the user can be quickly adjusted to a value close to the normal range by "rotating to an angle not easily seen by the person" (concentration force adjustment amount is-10), and thus this candidate movement scheme is selected as the determined movement scheme.
In the embodiment of the present invention, the movable body may be freely movable, or the movable body may be movable on a fixed track.
For example, the user rides on a moving body that is moving at a constant speed along a fixed trajectory, and the moving body moves along a previously planned trajectory, and the acceleration and the duration of the acceleration can be adjusted and set. When the working state parameter of the user is judged to be abnormal according to the working state parameter detection result, the executable movement action can be expressed as a function p' (a, t) of the acceleration a and the acceleration acting time t.
Fig. 11 is another diagram illustrating deriving all candidate movement schemes according to the executable movement actions according to embodiment 1 of the present invention. As shown in fig. 11, the executable acts are acceleration or deceleration and all candidate movement solutions are determined from the different executable acts. By controlling the acceleration and deceleration of the moving body and controlling the time of the acceleration and deceleration, the effect of increasing the concentration force or reducing the concentration force can be achieved.
In the embodiment of the present invention, as shown in fig. 1, the method may further include:
step 103: determining whether the user's operation state parameters are restored to normal according to the detection result of the user's operation state parameters after controlling the mobile body to execute the determined movement scheme;
when the working state parameters of the user are not recovered to be normal, the movement scheme is determined again and the moving body is controlled to execute the determined movement scheme until the working state parameters of the user are determined to be recovered to be normal. That is, the steps 101 to 102 are repeatedly executed until the working state parameter of the user returns to normal.
Therefore, whether the expected adjusting effect is achieved or not can be confirmed based on the adjusted working state parameter value, and if not, the adjustment is continued, so that the working state parameter of the user is further controlled in a proper range.
In the embodiment of the present invention, the "the working state parameter of the user does not return to normal" is, for example, that the working state parameter value of the user is outside the normal range of the working state parameter of the user, or approaches the normal range of the working state parameter.
In the embodiment of the present invention, the step 103 is an optional step.
Fig. 12 is a flowchart of a mobile body control method according to embodiment 1 of the present invention. As shown in fig. 12, the method includes:
step 1201: judging whether the working state parameter of the user is abnormal, for example, judging according to the detection result of the working state parameter of the user; when the judgment result is yes, the step 1202 is entered, and when the judgment result is no, the step 1201 is returned to;
step 1202: determining the adjustment quantity of the working state parameter of the user according to the abnormal condition of the working state parameter of the user;
step 1203: determining a moving scheme of a moving body bearing the user according to the determined adjustment quantity of the working state parameter of the user;
step 1204: controlling the mobile body to execute the determined movement scheme;
step 1205: judging whether the working state parameters of the user are recovered to be normal or not, for example, judging according to the detection result of the working state parameters of the user; when the judgment result is "yes", the process is ended, and when the judgment result is "no", the process returns to step 1202.
In the embodiment of the present invention, specific implementation manners of steps 1201 to 1205 may refer to implementation manners of each step in fig. 1, and description thereof is not repeated here.
In the embodiment of the present invention, after determining the movement scheme of the moving body carrying the user, the determined movement scheme may be prompted to the user, and whether to control the moving body to execute the determined movement scheme may be determined according to a selection result of the user, and in a case where there are a plurality of the determined movement schemes, the movement scheme to control the moving body to execute may be determined. In addition, it is also possible to acquire feedback information of the user after controlling the mobile body to execute the determined movement scheme; and a method of using the feedback information for training a movement scheme of a mobile body determined to bear the user.
Thus, the moving scheme is executed after the user is confirmed and selected, and the user experience can be further improved. In addition, the method for training and determining the movement scheme of the moving body bearing the user through the feedback information of the user can improve the accuracy of determining the movement scheme, thereby further improving the effectiveness of the movement scheme on the adjustment of the working state parameters.
Fig. 13 is another flowchart of the mobile body control method according to embodiment 1 of the present invention. As shown in fig. 13, the method includes:
step 1301: judging whether the working state parameter of the user is abnormal, for example, judging according to the detection result of the working state parameter of the user; when the judgment result is yes, the step 1202 is entered, and when the judgment result is no, the step 1301 is returned to;
step 1302: determining the adjustment quantity of the working state parameter of the user according to the abnormal condition of the working state parameter of the user;
step 1303: determining a moving scheme of a moving body bearing the user according to the determined adjustment quantity of the working state parameter of the user;
step 1304: prompting the user for the determined movement plan;
step 1305: judging whether the selection result of the user is the execution moving scheme; when the judgment result is yes, the step 1206 is entered, and when the judgment result is no, the process is ended;
step 1306: determining a moving scheme according to a selection result of a user;
step 1307: controlling the mobile body to execute the movement scheme;
step 1308: acquiring feedback information of the user;
step 1309: this feedback information is provided to step 1303 to train the method of determining the movement plan.
In the embodiment of the present invention, the steps of the method for prompting the user of the determined movement scheme and the method for training the determination of the movement scheme of the mobile body bearing the user through the feedback information of the user may be performed in an early stage of applying the method, and after a large amount of feedback information is accumulated, the steps of the method may be performed with reference to the steps of fig. 11 instead of prompting the user of the determination of the movement scheme and requesting the user feedback.
In the embodiment of the present invention, the user is prompted about the determined movement scheme, for example, the movement scheme may be transmitted to a display screen of the mobile body or a mobile terminal used by the user. The user may feed back information through the display screen of the mobile body or the mobile terminal, and the feedback information of the user is, for example: "no change", "increased concentration" or "relaxed", etc.
In the embodiment of the present invention, the mobile body may further carry two or more users, and in the case where the mobile body carries two or more users, priorities may be set for the users in advance, and the operating state parameters may be detected for the users respectively, and the operating state parameter values may be determined according to the weighting of the priorities and the movement scheme may be determined based on the operating state parameter values.
In an embodiment of the present invention, the form of the mobile body is variable, for example, the mobile body can cause a user carried by the mobile body to switch between a sitting posture and a standing posture.
In the embodiment of the present invention, for example, the stimulus to the user may be different when the mobile body rotates clockwise and counterclockwise.
According to the embodiment, when the working state parameters of the user are detected to be abnormal, the movement scheme for stimulating the user is determined; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
Example 2
Embodiment 2 of the present invention provides a mobile body control device corresponding to the mobile body control method described in embodiment 1, and the specific implementation thereof can refer to the implementation of the method described in embodiment 1, and the same or related contents will not be described again.
Fig. 14 is a schematic diagram of a mobile body control apparatus according to embodiment 2 of the present invention, and as shown in fig. 13, the mobile body control apparatus 1400 includes:
a determination unit 1401 which determines a movement pattern for stimulating a user when detecting that the working state parameter of the user is abnormal; and
a control unit 1402 that controls the mobile body carrying the user to execute the determined movement scheme.
Fig. 15 is a schematic diagram of a determining unit according to embodiment 2 of the present invention, and as shown in fig. 15, the determining unit 1401 includes:
a first determination unit 1501 which determines whether the operation state parameter of the user is abnormal according to the detection result of the operation state parameter of the user;
a second determining unit 1502, configured to determine an adjustment amount of the working state parameter of the user according to an abnormal condition of the working state parameter of the user when the working state parameter of the user is abnormal; and
a third determining unit 1503, which determines the moving scheme of the moving body bearing the user according to the determined adjustment amount of the operating state parameter of the user.
Fig. 16 is a schematic diagram of the first determination unit according to embodiment 2 of the present invention. As shown in fig. 16, the first determination unit 1501 includes:
a fourth determining unit 1601, configured to determine a working state parameter value of the user according to the collected biological information of the user; and
a fifth determining unit 1602, comparing the working state parameter value of the user with the working state parameter normal range of the user, and determining that the working state parameter of the user is normal when the working state parameter value of the user is within the normal range; and when the working state parameter of the user is out of the normal range, determining that the working state parameter of the user is abnormal.
In an embodiment of the present invention, for example, the user biological information includes: at least one of an expression, an action, a posture, a heart rate, and a breathing rate of the user; the normal range of the working state parameter of the user is determined according to at least one of the attribute information, the working information and the first environment information of the user.
In this embodiment of the present invention, for example, the attribute information of the user includes: at least one of the user's age, gender, height, weight, lifestyle, wearing, and personal habitual movements; the work information of the user includes: at least one of a job, a job title, a working age, a working time, and a work schedule of the user; the first environment information includes: at least one of weather conditions, air quality, and ambient environmental conditions of the mobile body.
Fig. 17 is a schematic diagram of a second determination unit according to embodiment 2 of the present invention. As shown in fig. 17, the second determination unit 1502 includes:
a first calculation unit 1701 that calculates the difference between the value of the operating state parameter of the user and the upper and lower limits of the normal range of the operating state parameter of the user; and
a sixth determining unit 1702, which determines the adjustment amount of the working status parameter of the user according to the difference.
Fig. 18 is a schematic diagram of a third determination unit according to embodiment 2 of the present invention. As shown in fig. 18, the third determination unit 1503 includes:
a seventh determining unit 1801, configured to determine a set of candidate movement patterns of the mobile object and an adjustment amount of the operating state parameter corresponding to each candidate movement pattern in the set; and
a first selection unit 1802 that selects, as the determined movement plan, a candidate movement plan corresponding to the adjustment amount in the set, based on the adjustment amount of the operating state parameter of the user.
In an embodiment of the invention, each candidate movement scheme and the determined movement scheme in the set comprises at least one action, which action is defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration and an acceleration duration.
Fig. 19 is a schematic diagram of a seventh determining unit according to embodiment 2 of the present invention. As shown in fig. 19, the seventh determining unit 1801 includes:
an eighth determining unit 1901 that determines all of the candidate movement patterns of the moving body based on the second environment information and the state information of the moving body; and
a ninth determining unit 1902, configured to determine an operating state parameter adjustment amount corresponding to each candidate movement scheme according to the operating state parameter adjustment amount corresponding to the executable movement action included in each candidate movement scheme.
In the embodiment of the present invention, for example, the second environment information includes: at least one of obstacles around the moving body and map information of an area in which the moving body is located; the state information of the mobile body includes: at least one of a remaining amount of power of the moving body, a remaining movable distance of the moving body, an operation state of the moving body, and failure information.
In the embodiment of the present invention, for example, after the control unit 1402 controls the mobile body to execute the determined movement scenario, the determination unit 1401 determines whether the operating state parameters of the user return to normal according to the detection result of the operating state parameters of the user, and when the operating state parameters of the user do not return to normal, the determination unit 1401 and the control unit 1402 determine the movement scenario again and control the mobile body to execute the determined movement scenario until the determination unit 1401 determines that the operating state parameters of the user return to normal.
In an embodiment of the present invention, for example, as shown in fig. 14, the apparatus 1400 may further include:
a presentation unit 1403 that presents the determined movement scheme to the user after determining the movement scheme of the moving body that carries the user; and
a tenth determination unit 1404 that determines whether to control the mobile body to execute the determined movement scheme according to a result of the selection by the user, and determines the movement scheme to control the mobile body to execute in a case where there are a plurality of the determined movement schemes.
In an embodiment of the present invention, for example, as shown in fig. 14, the apparatus 1400 may further include:
an acquisition unit 1405 that acquires feedback information of the user after controlling the mobile body to execute the determined movement scheme;
a training unit 1406, which uses the feedback information for training the determining unit 1401.
In the embodiment of the present invention, the prompt unit 1403, the tenth determination unit 1404, the obtaining unit 1405 and the training unit 1406 are optional components.
In the embodiment of the present invention, the implementation of the functions of the above units can refer to the contents of the relevant steps in embodiment 1, and the description is not repeated here.
According to the embodiment, when the working state parameters of the user are detected to be abnormal, the movement scheme for stimulating the user is determined; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
Example 3
Embodiment 3 of the present invention provides a mobile body including the mobile body control device described in embodiment 2, and a specific implementation thereof may refer to implementation of the methods described in embodiment 2 and embodiment 1, and description of the same or related contents will not be repeated.
Fig. 20 is a schematic view of a mobile body according to embodiment 3 of the present invention, and as shown in fig. 20, the mobile body 2000 includes:
a moving body control device 2001;
a carrying unit 2002 carrying at least one user; and
and a moving unit 2003 for moving the carrying unit together and executing the determined moving scheme under the control of the moving body control device.
In the embodiment of the present invention, the moving body control device 2001 may be the same as the moving body control device 1400 of embodiment 2.
That is, each step of the moving body control method described in embodiment 1 may be executed by the moving body, and the implementation of the function of each unit of the moving body control apparatus may refer to the content of the relevant step in embodiment 1, and will not be described again here.
According to the embodiment, when the working state parameters of the user are detected to be abnormal, the movement scheme for stimulating the user is determined; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
Example 4
Embodiment 4 of the present invention provides a server including the mobile object control device described in embodiment 2, and a specific implementation thereof can refer to implementation of the methods described in embodiment 2 and embodiment 1, and the same or related contents are not described again.
That is, each step of the mobile body control method described in embodiment 1 may be executed by the server, and the implementation of the function of each unit of the mobile body control apparatus may refer to the content of the relevant step in embodiment 1, and will not be described again here.
According to the embodiment, when the working state parameters of the user are detected to be abnormal, the movement scheme for stimulating the user is determined; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
Example 5
Embodiment 5 of the present invention provides an office system including at least one mobile unit according to embodiment 3, and the specific implementation thereof can refer to the implementation of the methods described in embodiment 3 and embodiment 1, and the same or related contents are not repeated.
That is, each step of the moving body control method described in embodiment 1 may be executed by the moving body.
According to the embodiment, when the working state parameters of the user are detected to be abnormal, the movement scheme for stimulating the user is determined; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
Example 6
Embodiment 6 of the present invention provides an office system including the server and at least one mobile object described in embodiment 4, and specific implementation thereof can refer to implementation of the methods described in embodiment 4 and embodiment 1, and description of the same or related parts will not be repeated.
That is, each step of the mobile body control method described in embodiment 1 may be executed by the server.
In an embodiment of the present invention, the moving body may include: a bearing unit bearing at least one user; and the mobile unit drives the bearing unit to move together, and executes the determined movement scheme under the control of the server.
According to the embodiment, when the working state parameters of the user are detected to be abnormal, the movement scheme for stimulating the user is determined; and controlling the moving body carrying the user to execute the determined movement scheme, so that the stimulation mode of the movement of the moving body is novel, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameter, so that the appropriate and effective stimulation can be provided for the user, and the stimulation can be implemented at an appropriate time because the movement scheme is determined and the moving body is moved when the working state parameter abnormality of the user is detected. Therefore, the working state parameters of the user can be controlled within a proper range, and the working efficiency of the user or the efficiency of performing other activities can be recovered or improved.
The above apparatuses and methods according to the embodiments of the present invention may be implemented by hardware, or may be implemented by hardware in combination with software. The present invention relates to a computer-readable program which, when executed by a logic section, enables the logic section to realize the above apparatus or constituent section, or to realize the above various methods or steps.
The embodiment of the invention also relates to a storage medium for storing the program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory and the like.
While the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that these descriptions are illustrative and not intended to limit the scope of the invention. Various modifications and alterations of this invention will become apparent to those skilled in the art based upon the spirit and principles of this invention, and such modifications and alterations are also within the scope of this invention.

Claims (32)

1. A moving body control method characterized by comprising:
when the abnormal working state parameters of a user are detected, determining a movement scheme for stimulating the user; and
controlling a mobile body carrying the user to execute the determined movement scheme.
2. The moving body control method according to claim 1, wherein the determining a movement pattern for stimulating a user when an abnormality in an operating state parameter of the user is detected includes:
determining whether the working state parameters of the user are abnormal or not according to the detection result of the working state parameters of the user;
when the working state parameters of the user are abnormal, determining the adjustment quantity of the working state parameters of the user according to the abnormal conditions of the working state parameters of the user; and
and determining the moving scheme according to the determined adjustment quantity of the working state parameters of the user.
3. The moving body control method according to claim 1, wherein the determining whether the operation state parameter of the user is abnormal or not based on the detection result of the operation state parameter of the user includes:
determining a working state parameter value of the user according to the collected biological information of the user; and
comparing the working state parameter value of the user with the working state parameter normal range of the user, and determining that the working state parameter of the user is normal when the working state parameter value of the user is in the normal range; and when the working state parameter of the user is out of the normal range, determining that the working state parameter of the user is abnormal.
4. The moving body control method according to claim 3,
the user biological information includes: at least one of an expression, an action, a posture, a heart rate, and a breathing rate of the user;
and the normal range of the working state parameters of the user is determined according to at least one of the attribute information, the working information and the first environment information of the user.
5. The moving body control method according to claim 4, wherein,
the attribute information of the user includes: at least one of an age, a gender, a height, a weight, a lifestyle, a wearing condition, and a personal habitual action of the user;
the work information of the user includes: at least one of a job, a job title, a working age, a working time, and a work schedule of the user;
the first environment information includes: at least one of a weather condition, an air quality, and a surrounding environmental condition of the moving body.
6. The moving body control method according to claim 3, wherein the determining the adjustment amount of the operating state parameter of the user based on the abnormality of the operating state parameter of the user when the operating state parameter of the user is abnormal, comprises:
calculating the difference value between the working state parameter value of the user and the upper limit and the lower limit of the normal range of the working state parameter of the user; and
and determining the adjustment quantity of the working state parameters of the user according to the difference value.
7. The moving body control method according to claim 2, wherein the determining a movement pattern of the moving body on which the user is mounted, based on the determined adjustment amount of the operating state parameter of the user, includes:
determining a set of candidate movement schemes of the moving body and working state parameter adjustment amounts corresponding to the candidate movement schemes in the set; and
and selecting a candidate movement scheme corresponding to the adjustment amount in the set as a determined movement scheme according to the adjustment amount of the working state parameter of the user.
8. The moving body control method according to claim 7,
each candidate movement scheme and the determined movement scheme in the set comprises at least one executable movement action,
the movement motion is defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.
9. The moving body control method according to claim 7, wherein the determining the set of candidate movement patterns of the moving body and the adjustment amount of the operating state parameter corresponding to each candidate movement pattern in the set includes:
determining all candidate movement schemes of the moving body according to the second environment information and the state information of the moving body; and
and determining the working state parameter adjustment amount corresponding to each candidate movement scheme according to the working state parameter adjustment amount corresponding to the executable movement action contained in each candidate movement scheme.
10. The moving body control method according to claim 9, wherein,
the second environment information includes: at least one of obstacles around the moving body and map information of an area in which the moving body is located;
the state information of the mobile body includes: at least one of a remaining amount of power of the mobile body, a remaining movable distance of the mobile body, an operation state of the mobile body, and failure information.
11. The moving body control method according to claim 1, characterized by further comprising:
determining whether the user's operation state parameters are restored to normal according to a detection result of the user's operation state parameters after controlling the mobile body to execute the determined movement scheme; and
when the working state parameters of the user are not recovered to be normal, the movement scheme is determined again and the moving body is controlled to execute the determined movement scheme until the working state parameters of the user are determined to be recovered to be normal.
12. The moving body control method according to claim 1, characterized by further comprising:
after determining a movement scheme of a mobile body carrying the user, prompting the determined movement scheme to the user; and
determining whether to control the mobile body to execute the determined movement scheme according to a selection result of a user, and determining a movement scheme to control the mobile body to execute in a case where there are a plurality of the determined movement schemes.
13. The moving body control method according to claim 12, characterized by further comprising:
acquiring feedback information of the user after controlling the mobile body to execute the determined movement scheme; and
using the feedback information for training a method of determining a movement scheme of a mobile body carrying the user.
14. The moving body control method according to any one of claims 1 to 13,
the working state parameters of the user comprise the concentration force, the emotion parameters or the fatigue degree of the user.
15. A mobile body control device characterized by comprising:
a determination unit which determines a movement scheme for stimulating a user when detecting that a working state parameter of the user is abnormal; and
a control unit that controls a mobile body that carries the user to execute the determined movement scheme.
16. The moving body control device according to claim 15, wherein the determination unit includes:
a first determination unit which determines whether the working state parameter of the user is abnormal according to the detection result of the working state parameter of the user;
a second determining unit, which determines the adjustment amount of the working state parameter of the user according to the abnormal condition of the working state parameter of the user when the working state parameter of the user is abnormal; and
and the third determining unit is used for determining the moving scheme according to the determined adjustment quantity of the working state parameter of the user.
17. The moving body control device according to claim 16, wherein the first determination unit includes:
the fourth determining unit is used for determining the working state parameter value of the user according to the collected biological information of the user; and
the fifth determining unit is used for comparing the working state parameter value of the user with the working state parameter normal range of the user, and determining that the working state parameter of the user is normal when the working state parameter value of the user is in the normal range; and when the working state parameter of the user is out of the normal range, determining that the working state parameter of the user is abnormal.
18. The movable body control apparatus according to claim 17,
the user biological information includes: at least one of an expression, an action, a posture, a heart rate, and a breathing rate of the user;
and the normal range of the working state parameters of the user is determined according to at least one of the attribute information, the working information and the first environment information of the user.
19. The movable body control apparatus according to claim 18,
the attribute information of the user includes: at least one of an age, a gender, a height, a weight, a lifestyle, a wearing condition, and a personal habitual action of the user;
the work information of the user includes: at least one of a job, a job title, a working age, a working time, and a work schedule of the user;
the first environment information includes: at least one of a weather condition, an air quality, and a surrounding environmental condition of the moving body.
20. The moving body control device according to claim 16, wherein the second determination unit includes:
the first calculating unit is used for calculating the difference value between the working state parameter value of the user and the upper limit and the lower limit of the normal range of the working state parameter of the user; and
and the sixth determining unit is used for determining the adjustment quantity of the working state parameter of the user according to the difference value.
21. The moving body control device according to claim 16, wherein the third determination unit includes:
a seventh determining unit that determines a set of candidate movement patterns of the mobile body and an adjustment amount of the operating state parameter corresponding to each candidate movement pattern in the set; and
and a first selection unit which selects a candidate movement scheme corresponding to the adjustment amount in the set as a determined movement scheme according to the adjustment amount of the working state parameter of the user.
22. The movable body control apparatus according to claim 21,
each candidate movement scheme and the determined movement scheme in the set comprises at least one executable movement action,
the movement motion is defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.
23. The moving body control device according to claim 21, wherein the seventh determination unit includes:
an eighth determining unit that determines all of the candidate movement patterns of the moving body based on the second environment information and the state information of the moving body; and
and a ninth determining unit which determines the working state parameter adjustment amount corresponding to each candidate movement scheme according to the working state parameter adjustment amount corresponding to the executable movement action included in each candidate movement scheme.
24. The movable body control apparatus according to claim 23,
the second environment information includes: at least one of obstacles around the moving body and map information of an area in which the moving body is located;
the state information of the mobile body includes: at least one of a remaining amount of power of the mobile body, a remaining movable distance of the mobile body, an operation state of the mobile body, and failure information.
25. The movable body control apparatus according to claim 15,
the determination unit determines whether the operating state parameter of the user returns to normal according to a detection result of the operating state parameter of the user after controlling the mobile body to execute the determined movement scheme,
when the working state parameters of the user do not return to normal, the determining unit and the control unit respectively determine the movement scheme and control the moving body to execute the determined movement scheme again until the determining unit determines that the working state parameters of the user return to normal.
26. The moving body control apparatus according to claim 15, characterized in that the apparatus further comprises:
a presentation unit that presents the determined movement plan to a user after determining a movement plan of a mobile body that carries the user; and
a tenth determination unit that determines whether to control the mobile body to execute the determined movement scheme according to a selection result of a user, and determines a movement scheme to control the mobile body to execute in a case where there are a plurality of the determined movement schemes.
27. The movable body control apparatus according to claim 26, characterized in that the apparatus further comprises:
an acquisition unit that acquires feedback information of the user after controlling the mobile body to execute the determined movement scheme;
a training unit that uses the feedback information for training the determination unit.
28. The movable body control apparatus according to any one of claims 15 to 27,
the working state parameters of the user comprise the concentration force, the emotion parameters or the fatigue degree of the user.
29. A movable body characterized by comprising:
the moving body control apparatus according to any one of claims 15 to 27;
a bearing unit bearing at least one user; and
and the moving unit drives the bearing unit to move together and executes a determined moving scheme under the control of the moving body control device.
30. A server characterized by comprising the mobile body control apparatus according to any one of claims 15 to 27.
31. An office system, characterized in that it comprises at least one mobile body according to claim 29.
32. An office system, comprising:
the server of claim 30; and
at least one moving body for moving the moving body,
the moving body includes:
a bearing unit bearing at least one user; and
and the mobile unit drives the bearing unit to move together, and executes the determined movement scheme under the control of the server.
CN202010934507.XA 2020-09-08 2020-09-08 Mobile body control method and device Pending CN114153159A (en)

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