Mobile object control method and device

Abstract

The embodiment of the present invention provides a method and device for controlling a moving body. When it is detected that the working state parameters of a user are abnormal, a movement plan for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement plan. In this way, since the stimulation method of the movement of the moving body is relatively novel, and the appropriate movement plan is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement plan is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at the appropriate time. Therefore, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a mobile object control method and device. Background Art

[0002] When working or doing other activities in a certain area for a long time, the working state parameters of the user are prone to abnormality, thereby affecting the work and other activities. For example, the working state parameter may be concentration.

[0003] For example, in today's indoor office environment, most employees work in a certain office area. The relationship between employee work efficiency and concentration can usually be described by the Yerkes-Dodson Law. That is, too low or too high concentration will lead to reduced work efficiency, and only when the concentration is at an appropriate level can the work efficiency be at its best.

[0004] As a method to improve the efficiency of users' work or other activities, in the prior art, the equipment in the user's area is generally used to stimulate the user through physical stimulation such as sound, light, smell, vibration, etc., so as to adjust the user's work state parameters such as concentration.

[0005] Patent document 1 discloses a method for achieving user concentration control by controlling a vibration device on a seat that acts on different positions of the human body. The vibration device acts on the back, neck, waist, buttocks, and inner thighs of the human body to give the driver of the vehicle a vibration stimulus, so that the driver can be in a suitable state of concentration when the vehicle switches between automatic driving and manual driving.

[0006] Patent document 2 discloses a method for improving manual driving concentration. When a vehicle is about to switch from an automatic driving mode to a manual driving mode, the driver is provided with operation instructions and stimulations such as taste, hearing, touch, and vision, so that the driver's concentration is in a state where the vehicle can be driven manually.

[0007] Patent document 3 discloses a sleep depth control method, which detects information such as driving trajectory information, road conditions, and noise conditions outside the vehicle, controls a stimulus imparting device such as a speaker or lighting device based on the information, and imparts appropriate physical stimulation to the driver, thereby controlling the driver's sleep depth.

[0008] Patent document 1: Japanese patent JP2019016028A;

[0009] Patent document 2: Japanese patent JP2018070029A;

[0010] Patent document 3: Japanese patent JP5741484B2.

[0011] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present invention and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because these solutions are described in the background technology section of the present invention. Summary of the invention

[0012] However, the inventors have found that the stimulation methods of these existing methods are relatively simple, the duration of the stimulation effect is short, and the types of stimulation that can be brought are relatively few. Once the user adapts, the concentration improvement effect brought by these stimulations will be greatly reduced. In addition, the timing of implementing stimulation in these existing methods is not necessarily the time when the user needs stimulation, so the effect of implementing stimulation may not be good.

[0013] In order to solve at least one of the above problems, an embodiment of the present invention provides a mobile body control method and device, which, when detecting that the working state parameters of a user are abnormal, determines a movement plan for stimulating the user; and controls the mobile body carrying the user to execute the determined movement plan. In this way, since the stimulation method of the movement of the mobile body is relatively novel, and the appropriate movement plan is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement plan is determined and the mobile body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at the appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0014] According to a first aspect of an embodiment of the present invention, a mobile body control method is provided, the mobile body control method comprising: when it is detected that a working status parameter of a user is abnormal, determining a mobile scheme for stimulating the user; and controlling a mobile body carrying the user to execute the determined mobile scheme.

[0015] According to a second aspect of an embodiment of the present invention, a mobile body control device is provided, comprising: a determination unit, which determines a movement scheme for stimulating the user when an abnormality is detected in a working status parameter of the user; and a control unit, which controls the mobile body carrying the user to execute the determined movement scheme.

[0016] According to a third aspect of an embodiment of the present invention, a mobile body is provided, comprising: the mobile body control device according to the second aspect of an embodiment of the present invention; a carrying unit, which carries at least one user; and a mobile unit, which drives the carrying unit to move together, and, under the control of the mobile body control device, executes a determined movement plan.

[0017] According to a fourth aspect of the embodiments of the present invention, a server is provided. The server includes the mobile object control device according to the second aspect of the embodiments of the present invention.

[0018] According to a fifth aspect of the embodiments of the present invention, there is provided an office system, the office system comprising at least one mobile object according to the third aspect of the embodiments of the present invention.

[0019] According to a sixth aspect of an embodiment of the present invention, an office system is provided, comprising: a server according to the fourth aspect of an embodiment of the present invention; and at least one mobile body, the mobile body comprising: a carrying unit, which carries at least one user; and a mobile unit, which drives the carrying unit to move together, and, under the control of the server, executes a determined mobile plan.

[0020] One of the beneficial effects of the embodiment of the present invention is that: when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the mobile body carrying the user is controlled to execute the determined movement scheme, so that appropriate and effective stimulation can be provided to the user, and because the mobile body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0021] With reference to the following description and accompanying drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Within the spirit and scope of the appended claims, the embodiments of the present invention include many changes, modifications and equivalents.

[0022] Feature information described and illustrated for one embodiment may be used in one or more other embodiments in the same or similar manner, combined with feature information in other embodiments, or replace feature information in other embodiments.

[0023] It should be emphasized that the term "include / comprises" when used herein refers to the existence of characteristic information, integers, steps or components, but does not exclude the existence or addition of one or more other characteristic information, integers, steps or components. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Many aspects of the present invention may be better understood with reference to the following drawings. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present invention. For the convenience of illustrating and describing some parts of the present invention, corresponding parts in the drawings may be enlarged or reduced. The elements and feature information described in one drawing or one embodiment of the present invention may be combined with the elements and feature information shown in one or more other drawings or embodiments. In addition, in the drawings, similar reference numerals represent corresponding components in several drawings and may be used to indicate corresponding components used in more than one embodiment.

[0025] In the attached picture:

[0026] Figure 1 is a schematic diagram of a moving object control method according to Embodiment 1 of the present invention;

[0027] Figure 2 is a schematic diagram of a moving body according to Embodiment 1 of the present invention;

[0028] Figure 3 is a schematic diagram of a method for implementing step 101 of embodiment 1 of the present invention;

[0029] Figure 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;

[0030] Figure 5 is a schematic diagram of a method for determining an adjustment amount of a working status parameter of the user according to Embodiment 1 of the present invention;

[0031] Figure 6 is a schematic diagram of a method for determining a mobile solution according to Embodiment 1 of the present invention;

[0032] Figure 7 is a schematic diagram of a method for implementing step 601;

[0033] Figure 8 is a schematic diagram of defining a moving action according to Embodiment 1 of the present invention;

[0034] Fig. 9 It is a schematic diagram of some typical movement schemes and the principle of somatosensory stimulation according to Embodiment 1 of the present invention;

[0035] Fig.10 is a schematic diagram of deriving all candidate movement schemes according to executable movement actions in embodiment 1 of the present invention;

[0036] Fig.11 is another schematic diagram of deriving all candidate movement schemes according to executable movement actions according to embodiment 1 of the present invention;

[0037] Fig.12is a flow chart of a mobile object control method according to embodiment 1 of the present invention;

[0038] Fig.13 is another flow chart of the mobile object control method according to embodiment 1 of the present invention;

[0039] Fig.14 is a schematic diagram of a mobile body control device according to Embodiment 2 of the present invention;

[0040] Fig.15 is a schematic diagram of a determination unit according to Embodiment 2 of the present invention;

[0041] Fig.16 is a schematic diagram of a first determining unit in Embodiment 2 of the present invention;

[0042] Fig.17 is a schematic diagram of a second determination unit in Embodiment 2 of the present invention;

[0043] Fig.18 is a schematic diagram of a third determination unit in Embodiment 2 of the present invention;

[0044] Fig.19 is a schematic diagram of a seventh determination unit of Embodiment 2 of the present invention;

[0045] Fig. 20 It is a schematic diagram of a moving body of Example 3 of the present invention. DETAILED DESCRIPTION

[0046] Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

[0047] Example 1

[0048] Embodiment 1 of the present invention provides a moving object control method. Figure 1 FIG. 1 is a schematic diagram of a moving object control method according to Embodiment 1 of the present invention. Figure 1 As shown, the method includes:

[0049] Step 101: when it is detected that the working state parameters of the user are abnormal, determining a movement scheme for stimulating the user; and

[0050] Step 102: Control the mobile object carrying the user to execute the determined mobility plan.

[0051] In this way, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the mobile body carrying the user is controlled to execute the determined movement scheme, so that appropriate and effective stimulation can be provided to the user, and since the mobile body is moved when it is detected that the working state parameters of the user are abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the working efficiency of the user or the efficiency of performing other activities can be restored or improved.

[0052] In an embodiment of the present invention, the method is used to control the movement of a moving object. The moving object may be any moving object capable of carrying at least one user. For example, the moving object is a chair. However, the embodiment of the present invention does not limit the form and type of the moving object.

[0053] Figure 2 FIG. 1 is a schematic diagram of a moving body according to Embodiment 1 of the present invention. Figure 2 As shown, the mobile body 200 includes a carrying unit 201 for carrying at least one user 300 and a moving unit 202 for driving the carrying unit 201 to move together, and the moving unit 202 Figure 1 The determined movement plan is executed under the control of the mobile body control device 100. For example, the mobile unit 202 has at least one motor to drive the mobile unit.

[0054] In the embodiment of the present invention, the carrying unit 201 has a space for at least one user to sit on, and the mobile unit 202 has, for example, a plurality of wheels that can rotate and turn, and a driving component that drives the wheels to rotate or turn.

[0055] In the embodiment of the present invention, the method may be executed by the mobile object itself, or by a remote server, for example, by a server in the cloud.

[0056] When the method is executed by a server, for example, after generating a control signal for executing the movement plan, the server sends the control signal to the mobile body, and the mobile body executes the movement plan.

[0057] In the embodiment of the present invention, the movement scheme used to stimulate the user is a movement scheme of a moving body carrying the user, and appropriate stimulation is given to the user through the movement of the moving body.

[0058] In the embodiment of the present invention, the working state parameters of the user include, for example, the user's concentration, emotional parameters or fatigue level.

[0059] In the embodiment of the present invention, the working state parameter is the user's concentration as an example for specific description. Other types of parameters can also be implemented by similar methods. The embodiment of the present invention does not limit the specific parameter type of the working state parameter.

[0060] Figure 3 FIG. 1 is a schematic diagram of a method for implementing step 101 of embodiment 1 of the present invention. Figure 3 As shown, the method includes:

[0061] Step 301: determining whether the user's working state parameters are abnormal according to the detection result of the user's working state parameters;

[0062] Step 302: when the working state parameter of the user is abnormal, determining the adjustment amount of the working state parameter of the user according to the abnormality of the working state parameter of the user; and

[0063] Step 303: Determine a movement plan of a mobile body carrying the user according to the determined adjustment amount of the working status parameter of the user.

[0064] In step 301, it is determined whether the working state parameters of the user are abnormal according to the detection result of the working state parameters of the user. The detection of the working state parameters of the user can be achieved by various sensors, which can be set on the moving body, or some sensors are set on the moving body and other sensors are set at appropriate positions in the area where the moving body is located.

[0065] In the embodiment of the present invention, the detection of the working status parameters of the user may be continuous, for example, the detection of the working status parameters of the user may be continuous while the user is riding on the moving body.

[0066] In an embodiment of the present invention, the user's biological information may be collected by multiple sensors to determine the detection result of the user's working state parameter. The user's biological information may include at least one of the user's expression, movement, posture, heart rate, and breathing rate.

[0067] For example, the user's expressions, movements, postures, heart rates, and breathing rates can be collected through sensors such as expression detection cameras, motion detection sensors, sitting posture detection sensors, heart rate sensors, and breathing rate sensors.

[0068] Figure 4 FIG. 1 is a schematic diagram of a method for determining whether the working status parameters of the user are abnormal according to Embodiment 1 of the present invention. Figure 4 As shown, the method includes:

[0069] Step 401: Determine the working status parameter value of the user according to the collected user biometric information; and

[0070] Step 402: Compare the working status parameter value of the user with the normal range of the working status parameter of the user. When the working status parameter value of the user is within the normal range, it is determined that the working status parameter of the user is normal; when the working status parameter of the user is outside the normal range, it is determined that the working status parameter of the user is abnormal.

[0071] In step 401, for example, the working state parameter value of the user is determined based on at least one of the collected user's expression, action, posture, heart rate and breathing rate. This step can be achieved by training a model. For example, a model based on convolutional neural networks (CNN) is trained, at least one of the collected user's expression, action, posture, heart rate and breathing rate is input into the model, and the model outputs the working state parameter value of the user.

[0072] The user's concentration is used as an example for explanation. For example, the user's concentration value can be represented by a value from 0 to 100, where a higher value indicates a higher concentration of the user, and a lower value indicates a lower concentration of the user.

[0073] In step 402, whether the user is currently in an abnormal working state parameter state is determined by comparing the working state parameter value of the user with the normal range of the working state parameter of the user.

[0074] In an embodiment of the present invention, the normal range of the user's working state parameter can be predetermined, for example, the normal range of the user's working state parameter can be determined based on at least one of the user's attribute information, work information, and first environment information. In this way, by combining various information including user attribute information to set the normal range of the working state parameter, and setting different normal ranges of the working state parameter based on the characteristics of each user and other information, the accuracy of judging whether the working state parameter is abnormal can be guaranteed, thereby ensuring the appropriateness and necessity of implementing the stimulation.

[0075] For example, the user's attribute information includes: at least one of the user's age, gender, height, weight, living habits, clothing, and personal habitual actions; the user's work information includes: at least one of the user's occupation, position, years of work, working hours, and work schedule; the first environmental information includes: weather conditions, air quality, and at least one of the surrounding environmental conditions of the mobile object.

[0076] For example, after combining the user's gender, age, sex, and current work task information, the normal range of concentration is set to 50 to 70. For example, when it is determined that the user's current concentration value is 35 or 90, it is considered that the user's concentration is in an abnormal state.

[0077] 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 abnormality of the working state parameter of the user.

[0078] Figure 5 FIG. 1 is a schematic diagram of a method for determining the adjustment amount of the user's working state parameter according to Embodiment 1 of the present invention. Figure 5 As shown, the method includes:

[0079] Step 501: Calculate the difference between the working state parameter value of the user and the upper limit and lower limit of the normal range of the working state parameter of the user; and

[0080] Step 502: Determine the adjustment amount of the user's work status parameter according to the difference.

[0081] Take the user's concentration as an example. For example, the user's current concentration value is 35, and the normal range of the user's concentration is 50-70. Then, the difference between the current concentration value 35 and the lower limit of the normal range of 50 is 15, and the difference with the upper limit of 70 is 35. Then, the adjustment amount of the user's concentration is determined based on 15 and 35.

[0082] For example, the adjustment amount may be any value between 15 and 35. For example, the adjustment amount is 20.

[0083] That is, the adjustment amount of the user's working state parameter is determined based on the normal range of the working state parameter, so that the adjusted working state parameter is within the normal range of the working state parameter, or close to the normal range of the working state parameter. The embodiment of the present invention does not limit the specific calculation method.

[0084] In step 203, a movement plan of a mobile body carrying the user is determined according to the determined adjustment amount of the working status parameter of the user.

[0085] In the embodiment of the present invention, the movement scheme may include at least one action, and the action may be defined by at least one of a moving distance, a moving direction, a rotation angle, a moving acceleration, and an acceleration duration.

[0086] In the embodiment of the present invention, all candidate movement schemes that can be executed by the mobile body, that is, a set of candidate movement schemes, may be determined first, and then selection may be made from the set according to the adjustment amount.

[0087] Figure 6 FIG. 1 is a schematic diagram of a method for determining a mobile solution according to Embodiment 1 of the present invention. Figure 5 As shown, the method includes:

[0088] Step 601: determining a set of candidate movement schemes of the mobile object and an adjustment amount of a working state parameter corresponding to each candidate movement scheme in the set; and

[0089] Step 602: According to the adjustment amount of the working state parameter of the user, a candidate movement scheme corresponding to the adjustment amount is selected from the set as the determined movement scheme.

[0090] In this way, by selecting from all possible candidate movement schemes based on the adjustment amount, an appropriate movement scheme can be determined within a larger optional range, thereby ensuring the effect of controlling the user's work status parameters within an appropriate range.

[0091] In the embodiment of the present invention, “a candidate movement scheme corresponding to the adjustment amount” means that the adjustment amount of the candidate movement scheme is equal to or close to the adjustment amount.

[0092] In the embodiment of the present invention, similarly, each candidate movement scheme 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.

[0093] Alternatively, in the embodiment of the present invention, the movement scheme of the mobile body carrying the user may also be directly determined according to the determined adjustment amount of the user's working state parameter. For example, multiple executable movement actions may be selected or combined according to the adjustment amount to determine the movement scheme.

[0094] In step 601, a set of candidate movement schemes of the mobile body and an adjustment amount of a working state parameter corresponding to each candidate movement scheme in the set are determined. Figure 7 FIG. 6 is a schematic diagram of a method for implementing step 601. Figure 7 As shown, the method includes:

[0095] Step 701: determining all candidate movement schemes of the mobile object according to the second environment information and the state information of the mobile object; and

[0096] Step 702: Determine 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.

[0097] For example, the second environmental information includes: at least one of the surrounding obstacles of the mobile body and the map information of the area where the mobile body is located; the status information of the mobile body includes: the remaining power of the mobile body, the remaining movable distance of the mobile body, the operating status of the mobile body and at least one of the fault information.

[0098] In this way, by combining the environmental information and the state information of the mobile body to determine all candidate movement plans of the mobile body, all executable and easy-to-implement movement plans can be obtained.

[0099] In step 702, the working state parameter adjustment amount corresponding to each candidate mobile scheme is determined according to the working state parameter adjustment amount corresponding to the executable mobile action included in each candidate mobile scheme. For example, a plurality of executable mobile actions are pre-set and the working state parameter adjustment amount that can be brought about by the executable mobile action is determined, and the working state parameter adjustment amount corresponding to the candidate mobile scheme is obtained by superimposing the working state parameter adjustment amounts of the actions included in the candidate mobile scheme.

[0100] In an embodiment of the present invention, the amount of adjustment of the working state parameters that can be brought about by each action can be estimated based on medical experience and / or an artificial intelligence algorithm after deep learning.

[0101] A specific exemplary description is given below.

[0102] In the embodiment of the present invention, each candidate movement scheme and the movement scheme selected from the candidate movement schemes include at least one action, and the action can be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.

[0103] For example, each candidate movement scheme and the movement scheme selected from the candidate movement schemes is an executable movement action or a combination of multiple executable movement actions, for example, a combination of multiple movement actions in a certain order.

[0104] In the embodiment of the present invention, each movement action is first defined. Figure 8 FIG. 1 is a schematic diagram of defining a moving action according to Embodiment 1 of the present invention. Figure 8 As shown, in a 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). After combining the acceleration a of the moving body and the acceleration action time t, the moving action can be defined as a function of d, θ, a, t by p(d, θ, a, t).

[0105] The set of all executable movement actions can be represented by P = {p1, p2, ..., p n}, where n is an integer and n≥1. Further, the set of candidate mobility solutions is defined as ACT(P)={act=s1s2…s m |s m ∈P,m≥1}, where the movement scheme act=s1s2…s m Indicates that according to the movement actions s1, s2, ..., s m is a set of actions executed sequentially, m ≥ 1, where each move action belongs to the set P of executable move actions.

[0106] The concentration adjustment amount corresponding to each candidate movement plan can be regarded as a function of the candidate movement plan, defined as ε(act). The somatosensory stimulation effect generated when the moving body executes a certain movement plan can be divided into two types: "stimulation brought by the movement process" and "stimulation brought by the movement destination".

[0107] Fig. 9 It is a schematic diagram of some typical movement schemes and the principle of somatosensory stimulation of the embodiment 1 of the present invention. ε(act) can be calculated by using the correlation between the movement scheme and the somatosensory stimulation of the human body and the correlation between the somatosensory stimulation and the change of concentration.

[0108] In the embodiment of the present invention, all 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, the executable actions and the adjustment amount of the working state parameters that can be brought about are determined according to the second link information and the state information of the moving body, and all candidate movement schemes and the adjustment amount of the working state parameters that can be brought about by each candidate movement scheme are determined according to the executable actions.

[0109] For example, the movable range of the moving object is measured by the laser radar on the moving object, and the acceleration and driving time provided by the drivable motor are calculated by the remaining power, so as to obtain the executable moving action and all the candidate moving plans determined by it.

[0110] Fig.10 FIG. 1 is a schematic diagram of deriving all candidate movement plans according to executable movement actions in Embodiment 1 of the present invention. Fig.10 As shown, each executable movement action corresponds to its own concentration adjustment amount. By combining each executable movement action, all candidate movement schemes and their concentration adjustment amounts can be determined.

[0111] For example, the normal range of a user's concentration is 50 to 70. Through concentration detection, it is determined that the current concentration value of the user is 36. Fig. 9From the candidate movement plans listed in , it can be seen that by “accelerating forward and then accelerating backward, repeating it three times” (the concentration adjustment amount is +15), the user’s concentration value can be quickly adjusted to the normal range, so this candidate movement plan is selected as the final movement plan.

[0112] For example, through the concentration test, it is determined that the current concentration value of the user is 82. Fig.10 From the candidate movement schemes listed in , it can be seen that by “rotating to an angle that is not easily seen by others” (the concentration adjustment amount is -10), the user's concentration value can be quickly adjusted to a value close to the normal range, so this candidate movement scheme is selected as the final movement scheme.

[0113] In the embodiment of the present invention, the moving body can move freely, or the moving body can also move on a fixed track.

[0114] For example, a user is riding on a moving object that is moving at a constant speed along a fixed track. The moving object moves along a pre-planned track and can adjust the acceleration and set the duration of the acceleration. When the user's working state parameter 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 action time t.

[0115] Fig.11 FIG. 1 is another schematic diagram of deriving all candidate movement schemes according to executable movement actions according to Embodiment 1 of the present invention. Fig.11 As shown, the executable action is acceleration or deceleration, and all candidate movement plans are determined according to different executable actions. By controlling the moving body to accelerate or decelerate, and controlling the acceleration and deceleration time, the effect of increasing or reducing concentration can be achieved.

[0116] In the embodiment of the present invention, Figure 1 As shown, the method may also include:

[0117] Step 103: after controlling the moving object to execute the determined moving plan, determining whether the working state parameters of the user have returned to normal according to the detection result of the working state parameters of the user;

[0118] When the working state parameters of the user have not returned to normal, the movement scheme is determined again and the moving body is controlled to execute the determined movement scheme until it is determined that the working state parameters of the user have returned to normal. In other words, steps 101 to 102 are repeatedly executed until the working state parameters of the user have returned to normal.

[0119] In this way, it is possible to confirm whether the expected adjustment effect has been achieved based on the adjusted working state parameter value. If not, the adjustment is continued, thereby further ensuring that the user's working state parameters are controlled within an appropriate range.

[0120] In the embodiment of the present invention, “the user's work status parameter has not returned to normal” means, for example, that the value of the user's work status parameter is outside the normal range of the user's work status parameter, or is close to the normal range of the work status parameter.

[0121] In the embodiment of the present invention, step 103 is an optional step.

[0122] Fig.12 FIG. 1 is a flow chart of a mobile body control method according to Embodiment 1 of the present invention. Fig.12 As shown, the method includes:

[0123] Step 1201: determine whether the working state parameters of the user are abnormal, for example, determine according to the detection result of the working state parameters of the user; when the determination result is "yes", proceed to step 1202, when the determination result is "no", return to step 1201;

[0124] Step 1202: determining an adjustment amount of the user's work status parameter according to the abnormality of the user's work status parameter;

[0125] Step 1203: determining a movement plan of a mobile body carrying the user according to the determined adjustment amount of the working state parameter of the user;

[0126] Step 1204: Control the moving object to execute the determined moving plan;

[0127] Step 1205: Determine whether the user's work status parameters have returned to normal, for example, based on the detection results of the user's work status parameters; when the judgment result is "yes", end the process, when the judgment result is "no", return to step 1202.

[0128] In the embodiment of the present invention, the specific implementation of step 1201 to step 1205 can refer to Figure 1 The implementation of each step in will not be repeated here.

[0129] In the embodiment of the present invention, after determining the movement plan of the mobile body carrying the user, the determined movement plan can also be prompted to the user, and according to the user's selection result, it is determined whether to control the mobile body to execute the determined movement plan, and when there are multiple determined movement plans, the movement plan to control the mobile body to execute is determined. In addition, after controlling the mobile body to execute the determined movement plan, feedback information of the user can be obtained; and the feedback information can be used to train the method for determining the movement plan of the mobile body carrying the user.

[0130] In this way, the mobile plan is executed after the user's confirmation and selection, which can further improve the user experience. In addition, the user's feedback information is used to train the method for determining the mobile plan of the mobile body carrying the user, which can improve the accuracy of the mobile plan determination, thereby further improving the effectiveness of the mobile plan for adjusting the working state parameters.

[0131] Fig.13 FIG. 1 is another flow chart of the mobile object control method according to the first embodiment of the present invention. Fig.13 As shown, the method includes:

[0132] Step 1301: determine whether the working state parameters of the user are abnormal, for example, determine according to the detection result of the working state parameters of the user; when the determination result is "yes", proceed to step 1202, when the determination result is "no", return to step 1301;

[0133] Step 1302: determining an adjustment amount of the user's work status parameter according to the abnormality of the user's work status parameter;

[0134] Step 1303: determining a movement plan of a mobile body carrying the user according to the determined adjustment amount of the working state parameter of the user;

[0135] Step 1304: Prompt the user to determine the moving plan;

[0136] Step 1305: Determine whether the user's selection result is to execute the mobile solution; when the determination result is "yes", proceed to step 1206; when the determination result is "no", end the process;

[0137] Step 1306: Determine a moving plan according to the user's selection result;

[0138] Step 1307: Control the moving object to execute the moving plan;

[0139] Step 1308: Obtain feedback information from the user;

[0140] Step 1309: Provide the feedback information to step 1303 to train the method for determining the movement plan.

[0141] In the embodiment of the present invention, the steps of prompting the user to determine the movement plan and using the user's feedback information to train the method for determining the movement plan of the mobile body carrying the user can be performed in the early stage of applying the method. After accumulating a large amount of feedback information, the user can no longer be prompted to determine the movement plan and the user feedback is required, but the method can be referred to. Fig.11 The method is executed by the steps of

[0142] In the embodiment of the present invention, the user is prompted with a determined movement plan, for example, by sending the movement plan to a display screen of a mobile object or a mobile terminal used by the user. The user can provide feedback information through the display screen of the mobile object or the mobile terminal, and the feedback information provided by the user is, for example, "no change", "improved concentration" or "relaxed".

[0143] In an embodiment of the present invention, the mobile body can also carry two or more users. When the mobile body carries two or more users, priorities can be set for these users in advance, and working status parameters can be detected for these users respectively, and the working status parameter values ​​can be determined according to the weighting of the priorities and the mobile plan can be determined based on this.

[0144] In the embodiment of the present invention, the shape of the mobile body is changeable. For example, the mobile body can enable the user carried by the mobile body to switch between a sitting position and a standing position.

[0145] In the embodiment of the present invention, for example, the stimulation to the user may be different when the moving body rotates clockwise and counterclockwise.

[0146] As can be seen from the above embodiments, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement scheme. In this way, since the movement of the moving body is a relatively novel stimulation method, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement scheme is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0147] Example 2

[0148] Embodiment 2 of the present invention provides a mobile body control device, which corresponds to the mobile body control method described in Embodiment 1. Its specific implementation can refer to the implementation of the method described in Embodiment 1, and the same or related contents will not be repeated.

[0149] Fig.14 is a schematic diagram of a mobile body control device according to Embodiment 2 of the present invention, Fig.13 As shown, the mobile body control device 1400 includes:

[0150] A determination unit 1401, which determines a movement scheme for stimulating the user when detecting that the working state parameters of the user are abnormal; and

[0151] The control unit 1402 controls the mobile body carrying the user to execute the determined mobile plan.

[0152] Fig.15 is a schematic diagram of a determination unit according to Embodiment 2 of the present invention, Fig.15 As shown, the determining unit 1401 includes:

[0153] A first determining unit 1501, which determines whether the working state parameters of the user are abnormal according to the detection result of the working state parameters of the user;

[0154] A second determining unit 1502, which determines an adjustment amount of the user's work status parameter according to the abnormality of the user's work status parameter when the user's work status parameter is abnormal; and

[0155] The third determining unit 1503 determines a moving plan of the mobile body carrying the user according to the determined adjustment amount of the working state parameter of the user.

[0156] Fig.16 is a schematic diagram of a first determination unit in Embodiment 2 of the present invention. Fig.16 As shown, the first determining unit 1501 includes:

[0157] A fourth determining unit 1601, which determines a working status parameter value of the user according to the collected biological information of the user; and

[0158] The fifth determination unit 1602 compares the working status parameter value of the user with the normal range of the working status parameter of the user. When the working status parameter value of the user is within the normal range, it is determined that the working status parameter of the user is normal; when the working status parameter of the user is outside the normal range, it is determined that the working status parameter of the user is abnormal.

[0159] In an embodiment of the present invention, for example, the user's biometric information includes: at least one of the user's expression, movement, posture, heart rate, and breathing rate; the normal range of the user's working status parameters is determined based on at least one of the user's attribute information, work information, and first environmental information.

[0160] In an embodiment of the present invention, for example, the user's attribute information includes: at least one of the user's age, gender, height, weight, living habits, clothing conditions, and personal habitual actions; the user's work information includes: at least one of the user's occupation, position, years of work, working hours, and work schedule; the first environmental information includes: weather conditions, air quality, and at least one of the surrounding environmental conditions of the mobile object.

[0161] Fig.17 FIG. 2 is a schematic diagram of a second determining unit in Embodiment 2 of the present invention. Fig.17 As shown, the second determining unit 1502 includes:

[0162] A first calculation unit 1701 calculates the difference between the value of the user's working state parameter and the upper limit and the lower limit of the normal range of the user's working state parameter; and

[0163] The sixth determining unit 1702 determines the adjustment amount of the working state parameter of the user according to the difference.

[0164] Fig.18 FIG. 2 is a schematic diagram of the third determining unit of Embodiment 2 of the present invention. Fig.18 As shown, the third determining unit 1503 includes:

[0165] A seventh determining unit 1801 is configured to determine a set of candidate movement schemes of the mobile object and an adjustment amount of a working state parameter corresponding to each candidate movement scheme in the set; and

[0166] The first selection unit 1802 selects, according to the adjustment amount of the working state parameter of the user, a candidate movement scheme corresponding to the adjustment amount in the set as the determined movement scheme.

[0167] In an embodiment of the present invention, each candidate movement scheme in the set and the determined movement scheme include at least one action, and the action is defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.

[0168] Fig.19 FIG. 2 is a schematic diagram of the seventh determination unit of Embodiment 2 of the present invention. Fig.19 As shown, the seventh determining unit 1801 includes:

[0169] An eighth determining unit 1901, which determines all candidate movement schemes of the mobile object according to the second environment information and the state information of the mobile object; and

[0170] The ninth determining unit 1902 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.

[0171] In an embodiment of the present invention, for example, the second environmental information includes: at least one of the surrounding obstacles of the mobile body and map information of the area where the mobile body is located; the status information of the mobile body includes: at least one of the remaining power of the mobile body, the remaining movable distance of the mobile body, the operating status of the mobile body and fault information.

[0172] In an embodiment of the present invention, for example, after the control unit 1402 controls the mobile body to execute the determined mobile plan, the determination unit 1401 determines whether the working status parameters of the user have returned to normal based on the detection results of the user's working status parameters. When the working status parameters of the user have not returned to normal, the determination unit 1401 and the control unit 1402 determine the mobile plan again and control the mobile body to execute the determined mobile plan until the determination unit 1401 determines that the working status parameters of the user have returned to normal.

[0173] In an embodiment of the present invention, for example, Fig.14 As shown, the apparatus 1400 may further include:

[0174] a prompting unit 1403, which prompts the user with the determined mobile plan after determining the mobile plan of the mobile body carrying the user; and

[0175] The tenth determining unit 1404 determines whether to control the mobile body to execute the determined movement scheme according to the user's selection result, and determines the movement scheme to be controlled to execute by the mobile body when there are multiple determined movement schemes.

[0176] In an embodiment of the present invention, for example, Fig.14 As shown, the apparatus 1400 may further include:

[0177] An acquiring unit 1405, which acquires feedback information of the user after controlling the moving object to execute the determined moving plan;

[0178] The training unit 1406 uses the feedback information to train the determining unit 1401 .

[0179] In the embodiment of the present invention, the prompting unit 1403, the tenth determining unit 1404, the acquiring unit 1405 and the training unit 1406 are optional components.

[0180] In the embodiment of the present invention, the implementation of the functions of the above-mentioned units can refer to the contents of the relevant steps in Example 1, and will not be repeated here.

[0181] As can be seen from the above embodiments, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement scheme. In this way, since the movement of the moving body is a relatively novel stimulation method, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement scheme is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0182] Example 3

[0183] Embodiment 3 of the present invention provides a mobile body, which includes the mobile body control device described in Embodiment 2. Its specific implementation can refer to the implementation of the method described in Embodiment 2 and Embodiment 1, and the same or related contents will not be repeated.

[0184] Fig. 20 is a schematic diagram of a moving body according to Embodiment 3 of the present invention, Fig. 20 As shown, the mobile body 2000 includes:

[0185] Mobile body control device 2001;

[0186] A bearing unit 2002, which bears at least one user; and

[0187] The moving unit 2003 drives the carrying unit to move together, and executes a determined moving plan under the control of the moving body control device.

[0188] In the embodiment of the present invention, the mobile body control device 2001 may be the same as the mobile body control device 1400 of the second embodiment.

[0189] That is to say, each step of the mobile body control method described in Example 1 can be executed by the mobile body, and the implementation of the functions of each unit of the mobile body control device can refer to the contents of the relevant steps in Example 1, which will not be repeated here.

[0190] As can be seen from the above embodiments, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement scheme. In this way, since the movement of the moving body is a relatively novel stimulation method, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement scheme is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0191] Example 4

[0192] Embodiment 4 of the present invention provides a server, and the mobile body includes the mobile body control device described in Embodiment 2. Its specific implementation can refer to the implementation of the method described in Embodiment 2 and Embodiment 1, and the same or related contents will not be repeated.

[0193] That is to say, each step of the mobile body control method described in Example 1 can be executed by the server, and the implementation of the functions of each unit of the mobile body control device can refer to the contents of the relevant steps in Example 1, which will not be repeated here.

[0194] As can be seen from the above embodiments, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement scheme. In this way, since the movement of the moving body is a relatively novel stimulation method, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement scheme is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0195] Example 5

[0196] Embodiment 5 of the present invention provides an office system, which includes at least one mobile body described in Embodiment 3. Its specific implementation can refer to the implementation of the method described in Embodiment 3 and Embodiment 1, and the same or related contents will not be repeated.

[0197] That is to say, each step of the moving object control method described in Embodiment 1 can be executed by the moving object.

[0198] As can be seen from the above embodiments, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement scheme. In this way, since the movement of the moving body is a relatively novel stimulation method, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement scheme is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0199] Example 6

[0200] Embodiment 6 of the present invention provides an office system, which includes the server described in Embodiment 4 and at least one mobile body. Its specific implementation can refer to the implementation of the method described in Embodiment 4 and Embodiment 1, and the same or related contents will not be repeated.

[0201] That is to say, each step of the mobile object control method described in Example 1 can be executed by the server.

[0202] In the embodiment of the present invention, the mobile body may include: a bearing unit, which bears at least one user; and a mobile unit, which drives the bearing unit to move together, and executes a determined mobile plan under the control of the server.

[0203] As can be seen from the above embodiments, when it is detected that the working state parameters of the user are abnormal, a movement scheme for stimulating the user is determined; and the moving body carrying the user is controlled to execute the determined movement scheme. In this way, since the movement of the moving body is a relatively novel stimulation method, and the appropriate movement scheme is determined based on the adjustment amount of the working state parameters, it is possible to provide appropriate and effective stimulation to the user, and since the movement scheme is determined and the moving body is moved when the working state parameters of the user are detected to be abnormal, the stimulation can be implemented at an appropriate time. Thus, the working state parameters of the user can be controlled within an appropriate range, and the user's work efficiency or the efficiency of performing other activities can be restored or improved.

[0204] The above devices and methods of the embodiments of the present invention can be implemented by hardware, or by hardware combined with software. The present invention relates to such a computer-readable program, which, when executed by a logic component, enables the logic component to implement the above devices or components, or enables the logic component to implement the above methods or steps.

[0205] The embodiments of the present invention also relate to a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, etc.

[0206] The present invention has been described above in conjunction with specific embodiments, but it should be clear to those skilled in the art that these descriptions are exemplary and are not intended to limit the scope of protection of the present invention. Those skilled in the art may make various modifications and variations to the present invention based on the spirit and principles of the present invention, and these modifications and variations are also within the scope of the present invention.

Claims

1. A mobile object control method in an office system, characterized in that: The office system includes a mobile body carrying a user, and the mobile body control method includes: Determining whether the working state parameters of the user are abnormal according to the detection result of the working state parameters of the user; When the working state parameter of the user is abnormal, determining the adjustment amount of the working state parameter of the user according to the abnormal situation of the working state parameter of the user; Determine a set of candidate movement schemes of the mobile body and an adjustment amount of a working state parameter corresponding to each candidate movement scheme in the set; According to the adjustment amount of the working state parameter of the user, selecting a candidate movement scheme corresponding to the adjustment amount from the set as the determined movement scheme for stimulating the user; controlling the mobile object carrying the user to execute the determined mobile plan; and When the working state parameters of the user have not returned to normal, the movement scheme is determined again and the moving body is controlled to execute the determined movement scheme until it is determined that the working state parameters of the user have returned to normal, The movement scheme includes controlling the moving body to move and / or rotate, The somatosensory stimulation generated when the moving object executes the determined moving plan includes: stimulation brought by the moving destination.

2. The moving object control method according to claim 1, characterized in that: The step of determining whether the working state parameter of the user is abnormal according to the detection result of the working state parameter of the user includes: Determining a working status parameter value of the user based on the collected user biometric information; and Compare the working status parameter value of the user with the normal range of the working status parameter of the user. When the working status parameter value of the user is within the normal range, determine that the working status parameter of the user is normal; when the working status parameter of the user is outside the normal range, determine that the working status parameter of the user is abnormal.

3. The moving object control method according to claim 2, characterized in that: The user biometric information includes: at least one of the user's expression, movement, posture, heart rate, and breathing rate; The normal range of the user's work status parameter is determined according to at least one of the user's attribute information, work information, and first environment information.

4. The moving object control method according to claim 3, characterized in that: The user's attribute information includes: at least one of the user's age, gender, height, weight, living habits, clothing conditions, and personal habitual actions; The user's work information includes: at least one of the user's occupation, position, years of work experience, working hours, and work schedule; The first environmental information includes at least one of weather conditions, air quality, and surrounding environmental conditions of the mobile object.

5. The moving object control method according to claim 2, characterized in that: When the working state parameter of the user is abnormal, determining the adjustment amount of the working state parameter of the user according to the abnormality of the working state parameter of the user includes: Calculating the difference 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 An adjustment amount of the user's working status parameter is determined according to the difference.

6. The moving object control method according to claim 1, characterized in that: Each candidate movement scheme in the set and the determined movement scheme include at least one executable movement action, The moving action is defined by at least one of a moving distance, a moving direction, a turning angle, a moving acceleration, and an acceleration duration.

7. The moving object control method according to claim 1, characterized in that: The step of determining a set of candidate movement schemes of the mobile body and an adjustment amount of a working state parameter corresponding to each candidate movement scheme in the set includes: Determining all candidate movement schemes of the mobile object according to the second environment information and the state information of the mobile object; and The adjustment amount of the working state parameter corresponding to each candidate movement scheme is determined according to the adjustment amount of the working state parameter corresponding to the executable movement action included in each candidate movement scheme.

8. The moving object control method according to claim 7, characterized in that: The second environmental information includes: at least one of obstacles around the moving object and map information of the area where the moving object is located; The state information of the mobile object includes at least one of the remaining power of the mobile object, the remaining movable distance of the mobile object, the operating state of the mobile object, and fault information.

9. The moving object control method according to claim 1, characterized in that: The method further comprises: After controlling the moving body to execute the determined moving plan, determining whether the working state parameters of the user return to normal according to the detection result of the working state parameters of the user.

10. The moving object control method according to claim 1, characterized in that: The method further comprises: After determining the movement plan of the mobile body carrying the user, prompting the user with the determined movement plan; and According to the selection result of the user, it is determined whether to control the mobile body to execute the determined movement plan, and when there are multiple determined movement plans, the movement plan to be executed by controlling the mobile body is determined.

11. The moving object control method according to claim 10, characterized in that: The method further comprises: After controlling the moving object to execute the determined moving plan, obtaining feedback information from the user; and The feedback information is used to train a method for determining a movement plan of a mobile body carrying the user.

12. The moving object control method according to any one of claims 1 to 11, characterized in that: The user's working status parameters include the user's concentration, emotional parameters or fatigue level.

13. A mobile body control device in an office system, characterized in that: The office system includes a mobile body carrying a user, and the mobile body control device includes: A first determining unit, which determines whether the working state parameters of the user are abnormal according to the detection result of the working state parameters of the user; a second determining unit, which, when the working state parameter of the user is abnormal, determines an adjustment amount of the working state parameter of the user according to the abnormality of the working state parameter of the user; and a seventh determining unit, which determines a set of candidate movement schemes of the mobile body and an adjustment amount of a working state parameter corresponding to each candidate movement scheme in the set; and a first selection unit, which selects, according to the adjustment amount of the working state parameter of the user, a candidate movement scheme corresponding to the adjustment amount from the set as the determined movement scheme for stimulating the user; and a control unit, which controls the mobile body carrying the user to execute the determined movement plan, When the first determining unit determines that the working state parameters of the user have not returned to normal, the second determining unit, the seventh determining unit, and the first selecting unit determine the movement scheme again, and the control unit controls the moving body to execute the determined movement scheme until the first determining unit determines that the working state parameters of the user have returned to normal. The movement scheme includes controlling the moving body to move and / or rotate, The somatosensory stimulation generated when the moving object executes the determined moving plan includes: stimulation brought by the moving destination.

14. The mobile body control device according to claim 13, characterized in that: The first determining unit includes: a fourth determining unit, which determines a working status parameter value of the user according to the collected biological information of the user; and a fifth determination unit, which compares the working status parameter value of the user with the normal range of the working status parameter of the user, and determines that the working status parameter of the user is normal when the working status parameter value of the user is within the normal range; and determines that the working status parameter of the user is abnormal when the working status parameter of the user is outside the normal range.

15. The mobile body control device according to claim 14, characterized in that: The user biometric information includes: at least one of the user's expression, movement, posture, heart rate, and breathing rate; The normal range of the user's work status parameter is determined according to at least one of the user's attribute information, work information, and first environment information.

16. The mobile body control device according to claim 15, characterized in that: The user's attribute information includes: at least one of the user's age, gender, height, weight, living habits, clothing conditions, and personal habitual actions; The user's work information includes: at least one of the user's occupation, position, years of work experience, working hours, and work schedule; The first environmental information includes at least one of weather conditions, air quality, and surrounding environmental conditions of the mobile object.

17. The mobile body control device according to claim 13, characterized in that: The second determining unit includes: A first calculation unit, which calculates the difference 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 A sixth determining unit is configured to determine an adjustment amount of the working status parameter of the user according to the difference.

18. The mobile body control device according to claim 13, characterized in that: Each candidate movement scheme in the set and the determined movement scheme include at least one executable movement action, The moving action is defined by at least one of a moving distance, a moving direction, a turning angle, a moving acceleration, and an acceleration duration.

19. The mobile body control device according to claim 13, characterized in that: The seventh determining unit includes: an eighth determining unit, which determines all candidate movement schemes of the mobile object according to the second environment information and the state information of the mobile object; and A ninth determining unit determines the adjustment amount of the working state parameter corresponding to each candidate movement scheme according to the adjustment amount of the working state parameter corresponding to the executable movement action included in each candidate movement scheme.

20. The mobile body control device according to claim 19, characterized in that: The second environmental information includes: at least one of obstacles around the moving object and map information of the area where the moving object is located; The state information of the mobile object includes at least one of the remaining power of the mobile object, the remaining movable distance of the mobile object, the operating state of the mobile object, and fault information.

21. The mobile body control device according to claim 13, characterized in that: After controlling the moving body to execute the determined moving plan, the first determining unit determines whether the working state parameters of the user return to normal according to a detection result of the working state parameters of the user.

22. The mobile body control device according to claim 13, characterized in that: The device also includes: a prompting unit, which prompts the user of the determined movement plan after determining the movement plan of the mobile body carrying the user; and A tenth determining unit determines whether to control the mobile body to execute the determined movement plan according to the user's selection result, and determines the movement plan to be controlled to execute by the mobile body when there are multiple determined movement plans.

23. The mobile body control device according to claim 22, characterized in that: The device also includes: an acquisition unit, which acquires feedback information of the user after controlling the moving object to execute the determined moving plan; A training unit uses the feedback information to train the determination unit.

24. The mobile body control device according to any one of claims 13 to 23, characterized in that: The user's working status parameters include the user's concentration, emotional parameters or fatigue level.

25. A mobile object, characterized in that: The mobile body comprises: The mobile body control device according to any one of claims 13 to 24; A bearing unit, which bears at least one user; and The moving unit drives the carrying unit to move together, and executes a determined moving plan under the control of the moving body control device.

26. A server, characterized in that: The server includes the mobile body control device according to any one of claims 13-24.

27. An office system, characterized in that: The office system includes at least one mobile body according to claim 25.

28. An office system, characterized in that: The office system includes: The server according to claim 26; and at least one moving body, The mobile body comprises: A bearing unit, which bears at least one user; and The mobile unit drives the carrying unit to move together, and executes a determined movement plan under the control of the server.

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