WO2022054834A1 - Procédé et dispositif de commande d'objet mobile - Google Patents

Procédé et dispositif de commande d'objet mobile Download PDF

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Publication number
WO2022054834A1
WO2022054834A1 PCT/JP2021/033023 JP2021033023W WO2022054834A1 WO 2022054834 A1 WO2022054834 A1 WO 2022054834A1 JP 2021033023 W JP2021033023 W JP 2021033023W WO 2022054834 A1 WO2022054834 A1 WO 2022054834A1
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WIPO (PCT)
Prior art keywords
user
state parameter
work state
moving body
movement plan
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PCT/JP2021/033023
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English (en)
Japanese (ja)
Inventor
泉 甘
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ダイキン工業株式会社
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Priority to JP2022547623A priority Critical patent/JPWO2022054834A1/ja
Publication of WO2022054834A1 publication Critical patent/WO2022054834A1/fr

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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
    • G05B19/0428—Safety, monitoring
    • 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

Definitions

  • the present invention relates to the field of control, and particularly to a moving body control method and device.
  • the working state parameter may be concentration.
  • prior art techniques use devices within the area in which the user is located to stimulate the user with physical stimuli such as voice, lighting, odor, and vibration. It is common to adjust work condition parameters such as user concentration.
  • Patent Document 1 Japanese Unexamined Patent Publication No. 2019-016028 discloses a method for realizing control of the user's concentration by controlling a vibrating device that functions for different parts of the human body in the seat.
  • a vibration device that functions on the back, neck, waist, buttocks, and medial thigh of the human body gives the driver of the vehicle a vibration stimulus to drive the vehicle when switching between automatic driving and manual driving. It is possible that the hand is in a state of proper concentration.
  • Patent Document 2 Japanese Unexamined Patent Publication No. 2018-070029 discloses a method for improving concentration on manual operation.
  • the driver's concentration can be focused on the vehicle by giving the driver stimuli such as operation instructions, taste, hearing, touch, and vision. Make it possible.
  • Patent Document 3 discloses a method for controlling sleep depth. Information such as travel locus information, road conditions, and noise outside the vehicle is detected, and based on the information, for example, a stimulus applying device such as a speaker or a lighting device is controlled, and an appropriate physical stimulus is given to the driver. This allows the driver to control the sleep depth.
  • the inventor discovered the following problems. With these traditional methods, the means of stimulating the user is simpler, and the duration of the stimulating effect resulting from it is short. Since there are few types of stimuli given, once the user gets used to them, the effect of improving concentration by those stimuli is greatly reduced. Further, since the timing at which the stimulus is given by these conventional methods is not always the timing at which the user needs the stimulus, even if the stimulus is given, it may not be very effective.
  • the moving body control method and the apparatus are provided, and when it is detected that there is an abnormality in the working state parameter of the user, the said person concerned.
  • the movement plan for stimulating the user is specified, and the moving body carrying the user is controlled to execute the specified movement plan.
  • the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing.
  • the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • a step of specifying a movement plan for stimulating the user and the user are carried.
  • a moving body control method including a step of controlling a moving body to execute the specified movement plan.
  • the user when it is detected that there is an abnormality in the working state parameter of the user, the user is carried with a specific means for specifying a movement plan for stimulating the user.
  • a mobile body control device including a control means for controlling a mobile body to execute the specified movement plan.
  • the moving body control device according to the second aspect of the embodiment of the present invention, the loading means carrying at least one user, and the loading means are moved together.
  • a moving body including a moving means for executing the specified moving plan by being controlled by the moving body control device is provided.
  • a fourth aspect of the embodiment of the present invention provides a server provided with the mobile control device according to the second aspect of the embodiment of the present invention.
  • a fifth aspect of the embodiment of the present invention provides an office system containing at least one mobile body according to the third aspect of the embodiment of the present invention.
  • a sixth aspect of the embodiment of the invention includes the server according to the fourth aspect of the embodiment of the present invention and at least one mobile body, wherein the mobile body carries at least one user.
  • an office system including a means for carrying and a means for carrying a specified movement plan by interlocking the means for carrying the means to move together and being controlled by the server.
  • One of the beneficial effects of the examples of the present invention is as follows.
  • the movement plan for stimulating the user is specified, and the moving body carrying the user is controlled to identify the movement plan.
  • an appropriate and effective stimulus can be given to the user, and when it is detected that there is an abnormality in the user's working condition parameter, the moving object is moved, so that the stimulus is given at an appropriate timing. It can also be given with.
  • the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • preparing / including is used in the text to indicate the presence of a feature information, manipulative member, process or member, but one or more other feature information, The presence or addition of manipulative members, processes or members is not excluded.
  • Example 1 of this invention It is a schematic diagram of the moving body in Example 1 of this invention. It is a schematic diagram of the realization method of the process 101 in Example 1 of this invention. It is a schematic diagram of the method for specifying whether or not there was an abnormality in the work state parameter of the said user in Example 1 of this invention. It is a schematic diagram of the method for specifying the adjustment amount of the work state parameter of the said user in Example 1 of this invention. It is a schematic diagram of the method of specifying the movement plan in Example 1 of this invention. It is a schematic diagram of the realization method of a process 601. It is a schematic diagram for defining the moving motion in Example 1 of this invention. It is a schematic diagram for demonstrating a part typical movement plan and the principle of bodily stimulus in Example 1 of this invention.
  • Example 2 of this invention It is a schematic diagram of all the movement plan candidates derived from the feasible movement operation in Example 1 of this invention. It is another schematic diagram of all the movement plan candidates derived from the feasible movement movement in Example 1 of this invention. It is a flowchart of the moving body control method in Example 1 of this invention. It is another flowchart of the moving body control method in Example 1 of this invention. It is a schematic diagram of the mobile body control device in Example 2 of this invention. It is a schematic diagram of the specific means in Example 2 of this invention. It is a schematic diagram of the 1st specific means in Example 2 of this invention. It is a schematic diagram of the 2nd specific means in Example 2 of this invention. It is a schematic diagram of the 3rd specific means in Example 2 of this invention. It is a schematic diagram of the 7th specific means in Example 2 of this invention. It is a schematic diagram of the moving body in Example 3 of this invention.
  • Example 1 in the present invention provides a mobile control method.
  • FIG. 1 is a schematic view of a moving body control method according to the first embodiment of the present invention. As shown in FIG. 1, the method includes the following steps.
  • Step 101 When it is detected that there is an abnormality in the work state parameter of the user, the movement plan for stimulating the user is specified, and the movement plan is specified.
  • Step 102 To control the moving body carrying the user to execute the specified moving plan.
  • the movement plan for stimulating the user is specified, and the moving body carrying the user is controlled to identify the specified movement. Execute the move plan. Then, an appropriate and effective stimulus can be given to the user, and when it is detected that there is an abnormality in the user's working condition parameter, the moving object is moved, so that the stimulus is given at an appropriate timing. It can also be given with.
  • the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • the method is used to control the movement of the mobile control device.
  • the mobile may be various mobiles capable of carrying at least one user.
  • the moving body may be a sheet.
  • the form and type of the moving body are not limited.
  • FIG. 2 is a schematic view of a moving body according to the first embodiment of the present invention.
  • the moving body 200 includes a loading means 201 for mounting at least one user 300 and a moving means 202 for interlocking the loading means 201 so as to move together.
  • the moving means 202 executes the specified moving plan by being controlled by the moving body control device 100 shown in FIG.
  • the moving means 202 includes at least one motor for driving the moving means.
  • the loading means 201 has a space on which at least one user can be placed, and the moving means 202 is, for example, a plurality of wheels that can be rotated / turned and rotation / rotation of those wheels. It has a driving member that drives turning.
  • the method may be performed by the mobile itself or by a remote server.
  • it may be executed by the server of the cloud terminal.
  • the server When the method is executed by the server, for example, the server generates a control signal for executing the movement plan, then transmits the control signal to the moving body, and causes the moving body to execute the moving plan.
  • the movement plan for stimulating the user is a movement plan of a moving body carrying the user, and the movement of the moving body gives an appropriate stimulus to the user.
  • the user's work state parameters include, for example, the user's concentration, emotional parameters, or fatigue.
  • the working state parameter will be specifically described by taking as an example the concentration. Other types of parameters may be carried out in a similar manner. In the embodiment of the present invention, there are no restrictions on the specific parameter types of working state parameters.
  • FIG. 3 is a schematic diagram of a method for realizing step 101 in the first embodiment of the present invention. As shown in FIG. 3, the method includes the following steps.
  • Step 301 Identifying whether or not there is an abnormality in the work state parameter of the user according to the detection result for the work state parameter of the user.
  • Step 302 When the work state parameter of the user is abnormal, the adjustment amount of the work state parameter of the user is specified according to the abnormality of the work state parameter of the user, and Step 303: To specify the movement plan of the moving body carrying the user according to the adjustment amount of the work state parameter of the specified user.
  • step 301 it is specified whether or not there is an abnormality in the work state parameter of the user according to the detection result for the work state parameter of the user.
  • Detection to work state parameters for the user may be realized by various sensors. These sensors may be provided on the moving body, or some sensors may be provided on the moving body, but other sensors may be provided at appropriate positions in the location region of the moving body. good.
  • the detection for the working state parameter of the user may be continuously performed. For example, while the user is on the moving object, the detection for the working state parameter of the user may be continuously performed.
  • the user's biometric information may be collected by a plurality of sensors to specify the detection result of the working state parameter of the user.
  • the user biometric information may include at least one of the user's facial expression, movement, posture, heart rate, and respiratory rate.
  • the user's facial expression, movement, posture, heart rate, respiratory rate, etc. may be collected by sensors such as a face detection camera, a motion detection camera, a sitting detection sensor, a heart rate sensor, and a respiratory rate sensor.
  • sensors such as a face detection camera, a motion detection camera, a sitting detection sensor, a heart rate sensor, and a respiratory rate sensor.
  • FIG. 4 is a schematic diagram of a method for identifying whether or not there is an abnormality in the working state parameter of the user in the first embodiment of the present invention. As shown in FIG. 4, the method includes the following steps.
  • Step 401 Identifying the numerical value of the work state parameter of the user from the collected user biometric information
  • Step 402 The numerical value of the work state parameter of the user is compared with the normal range of the work state parameter of the user, and if the numerical value of the work state parameter of the user is within the normal range, the work state parameter of the user is determined. Identify that it is normal, and if the user's work status parameter is outside the normal range, identify that the user's work status parameter was abnormal.
  • the numerical value of the working state parameter of the user is specified based on at least one of the collected facial expression, movement, posture, heart rate, and respiratory rate of the user.
  • the process may be realized by training one model. For example, by training a model based on convolutional neural networks (CNN), input at least one of the collected facial expressions, movements, postures, heart rate, and breathing rate of the user into the model.
  • CNN convolutional neural networks
  • the numerical value of the work state parameter of the user is output from the model.
  • the numerical value of the user's concentration may be indicated by 0 to 100. The higher the number, the higher the concentration of the user, and the lower the number, the lower the concentration of the user.
  • step 402 by comparing the numerical value of the work state parameter of the user with the normal range of the work state parameter of the user, it is specified whether or not the user is currently in the abnormal state of the work state parameter.
  • the normal range of the working state parameter of the user may be predetermined.
  • the normal range of the work state parameter of the user may be determined by at least one of the attribute information, the work information, and the first environmental information of the user. Then, the normal range of the work state parameter is set by combining various information including the attribute information of the user, and the normal range of the different work state parameter is set based on the characteristics of each user and other information. , The accuracy of judgment as to whether or not the work state parameter is abnormal is ensured, and the appropriateness and necessity of stimulus application are ensured.
  • the user's attribute information includes at least one of the user's age, gender, height, weight, lifestyle, wearing status, and personal habituation behavior
  • the user's work information is the user's work information.
  • the first environmental information includes at least one of occupation, duties, years of service, working hours, and work schedule, and the first environmental information is at least one of the weather conditions, air quality, and the surrounding environmental conditions of the moving object. Including one.
  • the normal range of concentration may be set to 50 to 70 by combining the user's gender, age, and current work task information. For example, if the current concentration value of the user is specified to be 35 or 90, it is considered that the user's concentration is in an abnormal state.
  • step 302 when there is an abnormality in the work state parameter of the user, the adjustment amount of the work state parameter of the user is specified according to the abnormality of the work state parameter of the user.
  • FIG. 5 is a schematic diagram of a method for specifying the adjustment amount of the work state parameter of the user in the first embodiment of the present invention. As shown in FIG. 5, the method includes the following steps.
  • Step 501 The difference between the numerical value of the work state parameter of the user and the upper limit of the normal range of the work state parameter of the user, and the numerical value of the work state parameter of the user and the lower limit of the normal range of the work state parameter of the user. To calculate the difference, respectively, and Step 502: To specify the adjustment amount of the work state parameter of the user based on the difference.
  • the adjustment amount of the concentration power of the user is specified based on the numerical values 15 and 35.
  • the adjustment amount may be any one of the values in the range of 15 to 35.
  • the adjustment amount may be 20.
  • the adjusted work state parameter is within the normal range of the work state parameter, or the said Get closer to the normal range of working condition parameters.
  • the specific calculation method is not limited.
  • step 203 a movement plan of a moving body carrying the user is specified according to the adjustment amount of the specified work state parameter of the user.
  • the movement plan may include at least one motion, which is at least one of a travel distance, a travel direction, a rotation angle, a travel acceleration, and an acceleration duration. It may be defined by one.
  • all the movement plan candidates that can be executed by the moving body are specified, that is, a set of moving plan candidates is specified, and a set is selected from the set based on the adjustment amount. It is possible.
  • FIG. 6 is a schematic diagram of a method for specifying a movement plan in the first embodiment of the present invention. As shown in FIG. 6, the method includes the following steps.
  • Step 601 Identifying a set of movement plan candidates of the moving body and an adjustment amount of work state parameters corresponding to each movement plan candidate in the set
  • Step 602 According to the adjustment amount of the work state parameter of the user, the movement plan candidate corresponding to the adjustment amount is selected as the specified movement plan in the set.
  • the "movement plan candidate corresponding to the adjustment amount” means that the adjustment amount of the movement plan candidate is equal to or close to the adjustment amount.
  • each movement plan candidate in the set may include at least one feasible movement, and the movement movement includes the movement distance, the movement direction, the rotation angle, and the movement acceleration. , And may be defined by at least one of the acceleration durations.
  • the movement plan of the moving body carrying the user may be directly specified according to the adjustment amount of the specified work state parameter of the user.
  • the movement plan may be specified by selecting or combining a plurality of feasible movement movements according to the adjustment amount.
  • step 601 the set of movement plan candidates of the moving body and the adjustment amount of the work state parameter corresponding to each movement plan candidate in the set are specified.
  • FIG. 7 is a schematic view of a method for realizing the process 601. As shown in FIG. 7, the method includes the following steps.
  • Step 701 Identifying all the movement plan candidates of the moving body from the second environmental information and the state information of the moving body
  • Step 702 To specify the adjustment amount of the work state parameter corresponding to each move plan candidate according to the adjustment amount of the work state parameter corresponding to the executable movement operation included in each move plan candidate.
  • the second environmental information includes at least one of the obstacles around the moving body and the map information of the location area of the moving body, and the state information of the moving body is the power balance of the moving body. Includes at least one of the amount, the remaining travelable distance of the moving body, the operating state of the moving body, and failure information.
  • step 702 the adjustment amount of the work state parameter corresponding to each move plan candidate is specified according to the adjustment amount of the work state parameter corresponding to the executable movement operation included in each move plan candidate. For example, a plurality of feasible movement movements are preset, and the adjustment amount of the work state parameter that can be brought about by the feasible movement movement is also specified. After superimposing the adjustment amount of the work state parameter of the operation included in the move plan candidate, the adjustment amount of the work state parameter corresponding to the move plan candidate is obtained.
  • the adjustment amount of the working state parameter that can be brought about by each movement may be estimated by an artificial intelligence algorithm in which medical experience and / or deep learning is performed.
  • each movement plan candidate and the movement plan selected from the movement plan candidates include at least one movement, and the movement includes the movement distance, the movement direction, the rotation angle, the movement acceleration, and. It may be defined by at least one of the acceleration durations.
  • each move plan candidate and the move plan selected from the move plan candidates may be a combination of one feasible move action or a plurality of feasible move actions.
  • a plurality of moving movements may be combined in a certain order.
  • FIG. 8 is a schematic diagram for defining a moving motion in the first embodiment of the present invention.
  • the target displacement coordinates of the moving body may be defined by (d, ⁇ ).
  • the moving motion may be defined by p (d, ⁇ , a, t) as a function of d, ⁇ , a, t.
  • sm ⁇ P, m ⁇ 1 ⁇ , here, the move plan act s1s2 -> sm is moved. An operation plan is shown in which the operations are executed in the order of s1, s2, ..., Sm, where m ⁇ 1, and each movement operation belongs to the set P of the feasible movement operations.
  • the amount of concentration adjustment corresponding to each move plan candidate may be regarded as a function of the move plan candidate, and is defined by (act).
  • the sensational stimulating effect generated when the moving body executes the specified movement plan may be divided into two types, “stimulation brought about during movement” and “stimulation brought about at the moving destination”.
  • FIG. 9 is a schematic diagram for explaining a part of the typical movement plan and the principle of bodily stimulus in the first embodiment of the present invention. It is possible to calculate (act) using the relationship between the movement plan and the human body sensation stimulus and the relationship between the sensation stimulus and the change in concentration.
  • all the movement plan candidates of the moving body are specified from the second environmental information and the state information of the moving body. For example, from the second environment information and the state information of the moving object, each action that can be performed and the adjustment amount of the work state parameter that can be brought about by the action are specified, and all the movement plan candidates are specified according to each action that can be performed. And identify the amount of work condition parameter adjustments that can be brought about in each move proposal candidate.
  • a laser radar in a moving body measures the range in which the moving body can move, and after calculating the acceleration and driving time that can be provided by driving the motor from the remaining electric power, it is possible to perform a moving operation. All the movement plan candidates identified by it are acquired.
  • FIG. 10 is a schematic diagram of all movement proposal candidates derived from the feasible movement movement in the first embodiment of the present invention. As shown in FIG. 10, each feasible movement movement corresponds to the amount of concentration adjustment that can be brought about by each, and by combining each feasible movement movement, all movement plan candidates and them are combined. It is possible to identify the amount of concentration adjustment that can be brought about in.
  • the move plan candidate is selected as the specified move plan.
  • the current concentration value of the user is 82.
  • the concentration of the user is increased by "rotating to an angle that is difficult for humans to see” (the adjustment amount of the concentration is -10).
  • the numerical value can be quickly adjusted to a value approaching the normal range. Therefore, the move plan candidate is selected as the specified move plan.
  • the moving body can move freely, or the moving body can also move on a certain rail.
  • the moving object is moving along a pre-planned rail and may adjust the acceleration. You can set the duration of the acceleration. If it is determined from the results of detection for the work state parameter that there is an abnormality in the work state parameter of the user, the feasible movement motion is indicated by the function p'(a, t) of the acceleration a and the acceleration action time t. May be done.
  • FIG. 11 is another schematic diagram of all the movement proposal candidates derived from the feasible movement movement in the first embodiment of the present invention.
  • the feasible movements are acceleration or deceleration, and all possible movement proposals are specified according to different feasible movements.
  • the method may further include the following steps.
  • Step 103 After controlling the moving object to execute the specified movement plan, whether or not the working state parameter of the user is normally restored according to the result of detection for the working state parameter of the user. Identify.
  • the move plan specified by controlling the mover by respecifying the move plan is respecified until the work state parameter of the user is restored normally. To do it. That is, steps 101 to 102 are repeatedly executed until the work state parameter of the user is restored to normal.
  • "when the work state parameter of the user is not restored normally" is, for example, when the numerical value of the work state parameter of the user is outside the normal range of the work state parameter of the user. Alternatively, it refers to the case where the working condition parameter approaches the normal range.
  • the step 103 is a selectable step.
  • FIG. 12 is a flowchart of the moving body control method according to the first embodiment of the present invention. As shown in FIG. 12, the method includes the following steps.
  • Step 1201 It is determined whether or not there is an abnormality in the work state parameter of the user, for example, it is determined according to the result of detection for the user's work state parameter, and if the result of the determination is "YES", the process proceeds to step 1202. However, if the result of the judgment is "NO", the process returns to step 1201.
  • Step 1202 Specifying the adjustment amount of the work state parameter of the user according to the abnormality of the work state parameter of the user.
  • Step 1203 Identifying the movement plan of the moving body carrying the user according to the adjustment amount of the specified work state parameter of the user.
  • Step 1204 Controlling the moving object to execute the specified movement plan
  • Step 1205 It is determined whether or not the work state parameter of the user has been restored normally, for example, it is determined according to the result of detection for the user's work state parameter, and if the result of the determination is "YES", the process is executed. If the result of the judgment is "NO”, the process returns to step 1202.
  • steps 1201 to 1205 may be realized with reference to each step in FIG. Please omit the explanation here.
  • the specified movement plan can be presented to the user, and the specified movement plan can be presented to the user according to the result of selection by the user.
  • feedback information from the user is acquired, and the feedback information is used as a specific method for the moving plan of the moving body carrying the user. May be used for training.
  • the user experience can be further improved by executing the move plan after the confirmation and selection by the user are obtained. Moreover, by using the feedback information from the user to train a specific method for the movement plan of the moving body carrying the user, the accuracy for identifying the movement plan can be improved, thereby increasing the accuracy. Further improve the effectiveness of the move plan for adjusting work condition parameters.
  • FIG. 13 is another flowchart of the moving body control method according to the first embodiment of the present invention. As shown in FIG. 13, the method includes the following steps.
  • Step 1301 It is determined whether or not there is an abnormality in the work state parameter of the user, for example, it is determined according to the result of detection for the user's work state parameter, and if the result of the determination is "YES", the process proceeds to step 1202. However, if the result of the judgment is "NO", the process returns to step 1301.
  • Step 1302 Specifying the adjustment amount of the work state parameter of the user according to the abnormality of the work state parameter of the user.
  • Step 1303 To specify the movement plan of the moving body carrying the user according to the adjustment amount of the specified work state parameter of the user.
  • Step 1304 Presenting the identified move plan to the user
  • Step 1305 Judges whether the result of the user's selection is a move plan to be executed, and if the result of the judgment is "YES", the process proceeds to step 1306, but if the result of the judgment is "NO", the process is terminated.
  • Step 1306 Identifying the move plan according to the result of the user's choice
  • Step 1307 Controlling the moving body to execute the moving plan
  • Step 1308 Obtaining feedback information from the user
  • Step 1309 The feedback information is provided to Step 1303 to train a particular method for the proposed move.
  • the process of presenting the specified movement plan to the user and the step of using the feedback information from the user to train a specific method for the movement plan of the moving body carrying the user are , May be carried out in the early stages when the method is used. After a large amount of feedback information has accumulated, the method is executed with reference to the process shown in FIG. 11 without presenting the specified movement plan to the user and without requesting feedback from the user. You may.
  • the movement plan in order to present the specified movement plan to the user, for example, the movement plan may be transmitted to the display screen of the moving body or the mobile terminal used by the user. good.
  • the user can feed back information using the display screen of the moving object or the mobile terminal, and the feedback information from the user is, for example, "no change", “improved concentration”, or. , "Relaxed” and so on.
  • the moving body may carry two or more users.
  • the priority is set in advance for these users, each work state parameter is detected for these users, and the weight of the priority is used as the basis.
  • the numerical value of the work state parameter may be specified, thereby specifying the movement plan.
  • the form of the moving body is variable, for example, the moving body allows a user on the moving body to switch between a standing position and a sitting position. There may be.
  • the moving body may give different stimuli to the user when rotating clockwise or counterclockwise.
  • a movement plan for stimulating the user is specified, and the moving body carrying the user is controlled. Then, the specified transfer plan is executed. Then, the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing. Thereby, the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • the second embodiment of the present invention provides a mobile control device corresponding to the mobile control method described in the first embodiment, and for specific implementation thereof, the implementation of the method described in the first embodiment may be referred to. Often, please omit the explanation for the same or related contents.
  • FIG. 14 is a schematic view of a mobile control device according to a second embodiment of the present invention.
  • the mobile control device 1400 is When it is detected that there is an abnormality in the work state parameter of the user, the identification means 1401 for specifying the movement plan for stimulating the user, and the identification means 1401 and A control means 1402 is provided for controlling the moving body carrying the user to execute the specified movement plan.
  • FIG. 15 is a schematic view of the specific means according to the second embodiment of the present invention.
  • the specific means 1401 is The first specifying means 1501 for specifying whether or not there is an abnormality in the working state parameter of the user according to the detection result for the working state parameter of the user, and When there is an abnormality in the work state parameter of the user, the second specifying means 1502 for specifying the adjustment amount of the work state parameter of the user according to the abnormality state of the work state parameter of the user, and A third specific means 1503 for specifying a movement plan of a moving body carrying the user according to the adjustment amount of the specified work state parameter of the user is included.
  • FIG. 16 is a schematic view of a first specific means according to the second embodiment of the present invention.
  • the first specific means 1501 From the collected user biometric information, a fourth specific means 1601 for specifying the numerical value of the work state parameter of the user, and Compare the numerical value of the work status parameter of the user with the normal range of the work status parameter of the user, and if the numerical value of the work status parameter of the user is within the normal range, the work status parameter of the user is normal.
  • a fifth specifying means 1602 which identifies that and identifies that the user's work state parameter was abnormal when the user's work state parameter is outside the normal range.
  • the user biometric information comprises at least one of the user's facial expression, movement, posture, heart rate, and respiratory rate
  • the normal range of the user's working condition parameters is , Determined by at least one of the user's attribute information, work information, and first environmental information.
  • the attribute information of the user includes at least one of the user's age, gender, height, weight, lifestyle, wearing status, and personal habituation behavior.
  • the user's work information includes at least one of the user's occupation, duties, years of service, working hours, and work schedule, and the first environmental information includes weather conditions, air quality, and the movement. Includes at least one of the body's surrounding environmental conditions.
  • FIG. 17 is a schematic view of a second specific means according to the second embodiment of the present invention.
  • the second specifying means 1502 The difference between the numerical value of the work state parameter of the user and the upper limit of the normal range of the work state parameter of the user, and the difference between the numerical value of the work state parameter of the user and the lower limit of the normal range of the work state parameter of the user.
  • FIG. 18 is a schematic view of a third specific means according to the second embodiment of the present invention.
  • the third specific means 1503 is A seventh specific means 1801 for specifying a set of movement plan candidates of the moving body and an adjustment amount of a working state parameter corresponding to each moving plan candidate in the set, and A first selection means 1802 for selecting a movement plan candidate corresponding to the adjustment amount as a specified movement plan in the set according to the adjustment amount of the work state parameter of the user is included.
  • each movement plan candidate and the specified movement plan in the set includes at least one movement, and the movement includes the movement distance, the movement direction, the rotation angle, the movement acceleration, and the acceleration. It may be defined by at least one of the durations.
  • FIG. 19 is a schematic view of a seventh specific means according to the second embodiment of the present invention.
  • the seventh specific means 1801 From the second environmental information and the state information of the moving body, the eighth specifying means 1901 for specifying all the movement plan candidates of the moving body, and Ninth specific means 1902 for specifying the adjustment amount of the work state parameter corresponding to each move plan candidate according to the adjustment amount of the work state parameter corresponding to the executable movement operation included in each move plan candidate. including.
  • the second environmental information includes at least one of the map information of the surrounding obstacle of the moving body and the location area of the moving body, and the state information of the moving body is , The remaining power of the moving body, the remaining movable distance of the moving body, the operating state of the moving body, and at least one of failure information.
  • the specifying means 1401 responds to the result of detection for the user's working state parameter. , It is specified whether or not the work state parameter of the user has been restored normally, and when the work state parameter of the user has not been restored normally, the specific means 1401 and the control means 1402 have the work state parameter of the user. Until it is restored to normal, the move plan is respecified and the move body is controlled to execute the specified move plan.
  • the device 1400 is further populated.
  • the presentation means 1403 that presents the specified movement plan to the user, and Depending on the result of selection by the user, it is specified whether or not to control the moving object to execute the specified moving plan, and if there are a plurality of specified moving plans, the moving body is controlled.
  • a tenth specific means 1404 for specifying a movement plan to be executed may be included.
  • the device 1400 is further populated.
  • An acquisition means 1405 that acquires feedback information from the user after controlling the moving object to execute the specified movement plan, and
  • the feedback information may include training means 1406, which is used to train the particular means 1401.
  • the presentation means 1403, the tenth specific means 1404, the acquisition means 1405, and the training means 1406 are selectable members.
  • a movement plan for stimulating the user is specified, and the moving body carrying the user is controlled. Then, the specified transfer plan is executed. Then, the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing. Thereby, the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • Example 3 of the present invention provides a mobile body including the mobile body control device according to the second embodiment, and for specific implementation thereof, refer to the implementation of the method described in the second embodiment and the first embodiment. Also, please omit the explanation for the same or related contents.
  • FIG. 20 is a schematic view of a moving body according to the third embodiment of the present invention.
  • the mobile body 2000 is Mobile control device 2001 and Carrying means 2002 with at least one user, It includes a moving means 2003 that executes the specified moving plan by interlocking the carrying means so as to move together and being controlled by the moving body control device.
  • the mobile control device 2001 may be the same as the mobile control device 1400 in the second embodiment.
  • a movement plan for stimulating the user is specified, and the moving body carrying the user is controlled. Then, the specified transfer plan is executed. Then, the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing. Thereby, the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • Example 4 of the present invention provides a server including the mobile control device according to the second embodiment, and for specific implementation thereof, the implementation of the method described in the second embodiment and the first embodiment may be referred to. Often, please omit the explanation for the same or related contents.
  • a movement plan for stimulating the user is specified, and the moving body carrying the user is controlled. Then, the specified transfer plan is executed. Then, the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing. Thereby, the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • Example 5 of the present invention provides an office system including at least one mobile body according to Example 3, and for specific implementation thereof, refer to the implementation of the method described in Example 3 and Example 1. However, please omit the explanation for the same or related contents.
  • all the steps of the mobile control method described in the first embodiment may be executed by the server.
  • a movement plan for stimulating the user is specified, and the moving body carrying the user is controlled. Then, the specified transfer plan is executed. Then, the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing. Thereby, the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • Example 6 of the present invention provides an office system including the server described in Example 4 and at least one mobile body, and the specific implementation thereof is the implementation of the method described in Example 4 and Example 1. It may be referred to, and the description should be omitted for the same or related contents.
  • all the steps of the mobile control method described in the first embodiment may be executed by the server.
  • the moving body is linked so that the carrying means carrying at least one user and the carrying means are moved together, and the movement specified by the server is controlled. It may include a means of transportation to carry out the proposal.
  • a movement plan for stimulating the user is specified, and the moving body carrying the user is controlled. Then, the specified transfer plan is executed. Then, the stimulus method that utilizes the movement by the moving body is more novel, and the appropriate movement plan can be specified according to the adjustment amount of the work state parameter. Therefore, the user can obtain an appropriate and effective stimulus. Can be given to.
  • the movement plan is specified and the moving object is moved, so that the stimulus can be given at an appropriate timing. Thereby, the user's work state parameters can be controlled within an appropriate range, the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved. ..
  • the device or method in the embodiment of the present invention may be realized by hardware or may be realized by a combination of hardware and software.
  • the present invention relates to a computer-readable program such as the following.
  • the logic unit can be made to realize the above-mentioned devices or components, or the logic unit can be made to realize the above-mentioned various methods or processes.
  • An embodiment of the present invention relates to a storage medium for storing the above program, and relates to, for example, a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like.
  • JP-A-2019-016028 Japanese Unexamined Patent Publication No. 2018-070029 Japanese Patent No. 5714484

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Abstract

La présente invention porte, dans des exemples, sur un procédé et sur un dispositif de commande d'objet mobile. Lorsqu'il est détecté qu'il y a une anomalie dans un paramètre d'état de travail d'un utilisateur, un plan de mouvement pour inciter ledit utilisateur est identifié, et un objet mobile utilisé par l'utilisateur est commandé de sorte à exécuter le plan de mouvement identifié. C'est pourquoi ce procédé d'incitation qui utilise le mouvement par l'objet mobile est plus nouveau et l'utilisateur peut recevoir une incitation appropriée et efficace parce qu'un plan de mouvement approprié peut être identifié en fonction d'une quantité de réglage pour le paramètre d'état de travail. Il est également possible de fournir une incitation à un moment approprié car le plan de mouvement est identifié et l'objet mobile est amené à se déplacer lorsqu'il a été détecté qu'il y a une anomalie dans le paramètre d'état de travail de l'utilisateur. Ceci permet de commander le paramètre d'état de travail de l'utilisateur à l'intérieur d'une plage appropriée et permet de restaurer ou d'améliorer l'efficacité de travail de l'utilisateur ou de restaurer ou d'améliorer l'efficacité d'autres activités par l'utilisateur.
PCT/JP2021/033023 2020-09-08 2021-09-08 Procédé et dispositif de commande d'objet mobile WO2022054834A1 (fr)

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