Folding action control method and system for foldable office table

Abstract

The invention provides a folding action control method and system for a foldable office table, and the method comprises the steps: carrying out the desktop load detection of the foldable office table, obtaining the desktop load distribution data, judging whether an unbalance roll event occurs or not, predicting the unbalance roll occurrence attribute, and then adjusting the folding action of the foldable office table; detecting and analyzing state data of objects in the surrounding environment of the office table, and extracting motion state information of the objects possibly interfering with the office table, so as to adjust the folding state of the area, possibly interfering with the office table, of the office table and reduce the probability of collision between the office table and the surrounding objects; and action data of a target person corresponding to the office table is identified and analyzed to obtain relative position relation information between the target person and the office table, so that the folding state of the area, adjacent to the target person, of the office table is adjusted, bearing support is provided for the target person, dynamic folding adjustment is effectively performed on the office table, and the office table is more convenient. And the supporting flexibility of the office table to personnel and the applicability and the use safety of the office table to different scenes are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent office equipment, and in particular to a folding action control method and system for a foldable office desk. Background Art

[0002] As an important office equipment, the office desk is mainly used to carry different types of office tools and provide a stable office platform for office workers. Existing office desks are limited to being able to be raised and lowered to meet the office height requirements of different office workers. However, the desktop of the office desk is fixed and cannot be moved, so that the office desk cannot effectively change the office platform area according to the actual work scene, and cannot be folded and adjusted according to the actual office action requirements of the office worker. It is easy to cause the office desk to occupy too large an area and collide with objects in the surrounding environment, and cannot provide effective and stable support for office workers, reducing the applicability and safety of the office desk in different office scenes. Summary of the invention

[0003] The purpose of the present invention is to provide a folding action control method and system for a foldable office desk, which detects the desktop load of the foldable office desk and obtains desktop load distribution data, thereby judging whether an unbalanced tilting event may occur, and predicts the occurrence properties of the unbalanced tilting, and then adjusts the folding action of the foldable office desk, so that the office desk can be restored to a balanced state through its own folding action under the condition of unbalanced load, thereby reducing the probability of tilting; detects and analyzes the state data of objects in the surrounding environment of the office desk, extracts the motion state information of objects that may interfere with the office desk, thereby adjusting the folding state of the area where the office desk may interfere, reduces the probability of collision between the office desk and surrounding objects, and improves the stability of the office desk; also identifies and analyzes the motion data of a target person corresponding to the office desk, obtains the relative position relationship information between the target person and the office desk, thereby adjusting the folding state of the area adjacent to the target person and providing support for the target person, effectively performing dynamic folding adjustment on the office desk, and improving the supporting flexibility of the office desk for personnel and the applicability and safety of use in different scenarios.

[0004] The present invention is achieved through the following technical solutions:

[0005] A folding action control method for a foldable desk, comprising:

[0006] Performing desktop load detection on the foldable office desk to obtain desktop load distribution data; analyzing the desktop load distribution data to determine whether the foldable office desk will have an unbalanced rollover event, and predicting the unbalanced rollover occurrence attribute information of the foldable office desk, thereby adjusting the folding action state of the foldable office desk;

[0007] Detecting the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyzing the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk; adjusting the folding state of the area where the foldable desk may interfere based on the object motion state information;

[0008] The foldable desk is used to identify a target person and obtain motion data of the target person; the motion data is analyzed to obtain relative position relationship information between the target person and the foldable desk during the motion process; based on the relative position relationship information, the folding state of the area adjacent to the foldable desk and the target person is adjusted to provide support for the target person.

[0009] Optionally, a desktop load detection is performed on the foldable office desk to obtain desktop load distribution data; the desktop load distribution data is analyzed to determine whether the foldable office desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable office desk, so as to adjust the folding action state of the foldable office desk, including:

[0010] Performing a desktop partition load test on the foldable desk to obtain load distribution data of all foldable desktop areas under the foldable desk; wherein the load distribution data refers to the supporting weight distribution data at different positions on the surface of the foldable desktop area;

[0011] Based on the respective distribution positions and load distribution data of all foldable desk areas, determining the offset distance and offset angle of the overall center of gravity of the foldable desk, so as to judge whether the foldable desk will have an unbalanced tilting event;

[0012] When the foldable desk is unbalanced and tilts, the position information of the unbalanced and tilted occurrence of the foldable desk is predicted based on the offset distance and offset angle of the overall center of gravity, so as to adjust the folding action amplitude of the corresponding foldable desktop area of ​​the foldable desk, so as to restore the foldable desk to a state of overall center of gravity balance.

[0013] Optionally, analyzing the desktop load distribution data to determine whether the foldable desk will have an unbalanced tilting event includes:

[0014] Step S1, using the following formula (1), according to the desktop load distribution data, obtain the collinear load data of each desktop load distribution matrix,

[0015]

[0016] In the above formula (1), W(b,a) indicates that the b-th desktop load is the determining value of the collinear load data of the a-th desktop load; R(b,a) indicates the deviation direction value between the b-th desktop load and the a-th desktop load; [X(a),Y(a)] indicates the coordinate value of the a-th desktop load; [X(b),Y(b)] indicates the coordinate value of the b-th desktop load; (x0,y0) indicates the coordinate value of the center point of the desktop; || indicates parallel to; means not parallel to; ∠{,} means the angle between the vectors on the left and right sides of the comma in the brackets; and b≠a;

[0017] Step S2, using the following formula (2), based on each load data in the desktop load distribution matrix and its collinear load data, predict whether the foldable desk will have an unbalanced rollover event at the point corresponding to each load data,

[0018]

[0019] In the above formula (2), S(a) represents the predicted value of whether the point corresponding to the a-th desktop load will have an unbalanced rollover event; F(a) represents the force of the a-th desktop load on the desktop; F(b) represents the force of the b-th desktop load on the desktop; || represents the modulus of the orientation vector; n represents the total number of desktop loads; F0 represents the minimum force that causes an unbalanced rollover event when only the load is applied to the corner of the table; D represents the desktop width value;

[0020] If S(a) = 1, it means that the point corresponding to the a-th desktop load is predicted to have an unbalanced rollover event;

[0021] If S(a) = 0, it means that the point corresponding to the a-th desktop load is predicted to have no unbalanced rollover event;

[0022] Step S3, using the following formula (3), based on the prediction of whether an unbalanced rollover event will occur at each point corresponding to the load data of the foldable office desk, a force data set of the predicted unbalanced rollover point is generated, so as to adjust the folding action state of the foldable office desk according to the force data set of the predicted unbalanced rollover point.

[0023]

[0024] In the above formula (3), J(a) represents the force data set of the unbalanced roll prediction point corresponding to the a-th desktop load; represents the empty set; {F(a),[X(a),Y(a)]} represents the set data composed of the value F(a) and the coordinates [X(a),Y(a)].

[0025] Optionally, detecting the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyzing the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk; and adjusting the folding state of an area where the foldable desk may interfere based on the object motion state information, including:

[0026] Perform infrared scanning detection on the surrounding environment of the foldable desk to obtain object motion state data in different azimuth ranges in the surrounding environment; wherein the object motion state data includes object motion trajectory data corresponding to each azimuth range;

[0027] Performing a trajectory position analysis on the object motion trajectory data to extract object motion sub-trajectory data that may collide and interfere with the foldable desk; performing a trajectory direction change analysis on the object motion sub-trajectory data to determine position information of an object located in a corresponding azimuth range that collides and interferes with the foldable desk during movement; and then adjusting the folding direction and folding amplitude of a corresponding foldable area of ​​the foldable desk based on the position information of the collision and interference.

[0028] Optionally, the foldable desk is used to identify a target person and obtain motion data of the target person; the motion data is analyzed to obtain relative position relationship information between the target person and the foldable desk during the motion; and based on the relative position relationship information, the folding state of the foldable desk and the area adjacent to the target person is adjusted to provide support for the target person, including:

[0029] Tracking and photographing a target person at a specific position of the foldable desk to obtain a dynamic image of the target person; identifying the limb contour of the target person in the dynamic image to obtain upper limb motion path data of the target person; analyzing the upper limb motion path data to obtain relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the motion process;

[0030] Based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined; based on the position of the upper limb area that needs to be supported, the folding and flipping angle of the area of ​​the foldable desk adjacent to the target person is adjusted, so as to provide supporting support for the corresponding upper limb area of ​​the target object.

[0031] A folding motion control system for a foldable office desk, comprising:

[0032] A desktop load detection module is used to perform desktop load detection on the foldable office desk to obtain desktop load distribution data;

[0033] A folding action adjustment module is used to analyze the desktop load distribution data, determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk;

[0034] A surrounding environment object motion recognition module is used to detect the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyze the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk;

[0035] A folding state adjustment module, configured to adjust the folding state of the area where the foldable desk may interfere based on the object motion state information;

[0036] A personnel motion recognition module is used to identify a target person on the foldable desk to obtain motion data of the target person; analyze the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion process;

[0037] The folding state adjustment module is further used to adjust the folding state of the area adjacent to the foldable desk and the target person based on the relative position relationship information, so as to provide support for the target person.

[0038] Optionally, the desktop load detection module is used to perform desktop load detection on the foldable office desk to obtain desktop load distribution data, including:

[0039] Performing a desktop partition load test on the foldable desk to obtain load distribution data of all foldable desktop areas under the foldable desk; wherein the load distribution data refers to the supporting weight distribution data at different positions on the surface of the foldable desktop area;

[0040] The folding action adjustment module is used to analyze the desktop load distribution data, determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk, including:

[0041] Based on the respective distribution positions and load distribution data of all foldable desk areas, determining the offset distance and offset angle of the overall center of gravity of the foldable desk, so as to judge whether the foldable desk will have an unbalanced tilting event;

[0042] When the foldable desk is unbalanced and tilts, the position information of the unbalanced and tilted occurrence of the foldable desk is predicted based on the offset distance and offset angle of the overall center of gravity, so as to adjust the folding action amplitude of the corresponding foldable desktop area of ​​the foldable desk, so as to restore the foldable desk to a state of overall center of gravity balance.

[0043] Optionally, the surrounding environment object motion recognition module is used to detect the surrounding environment of the foldable desk to obtain surrounding environment object state data; analyze the surrounding environment object state data to extract object motion state information that may interfere with the foldable desk, including:

[0044] Perform infrared scanning detection on the surrounding environment of the foldable desk to obtain object motion state data in different azimuth ranges in the surrounding environment; wherein the object motion state data includes object motion trajectory data corresponding to each azimuth range;

[0045] Performing trajectory position analysis on the object motion trajectory data, and extracting object motion sub-trajectory data that may collide and interfere with the foldable desk;

[0046] The folding state adjustment module is used to adjust the folding state of the area where the foldable desk may interfere based on the object motion state information, including:

[0047] The trajectory direction change analysis is performed on the sub-trajectory data of the object's motion to determine the position information of the object located in the corresponding azimuth range that collides and interferes with the foldable office desk during the motion; and based on the position information of the collision and interference, the folding direction and folding amplitude of the corresponding foldable area of ​​the foldable office desk are adjusted.

[0048] Optionally, the personnel motion recognition module is used to identify a target person on the foldable desk to obtain motion data of the target person; and analyze the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion, including:

[0049] Tracking and photographing a target person at a specific position of the foldable desk to obtain a dynamic image of the target person; identifying the limb contour of the target person in the dynamic image to obtain upper limb motion path data of the target person; analyzing the upper limb motion path data to obtain relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the motion process;

[0050] The folding state adjustment module is used to adjust the folding state of the area of ​​the foldable desk adjacent to the target person based on the relative position relationship information, so as to provide support for the target person, including:

[0051] Based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined; based on the position of the upper limb area that needs to be supported, the folding and flipping angle of the area of ​​the foldable desk adjacent to the target person is adjusted, so as to provide supporting support for the corresponding upper limb area of ​​the target object.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] The folding action control method and system of the foldable office desk provided in the present application detect the desktop load of the foldable office desk, obtain desktop load distribution data, thereby judging whether an unbalanced tilting event is likely to occur, and predicting the occurrence properties of the unbalanced tilting, and then adjusting the folding action of the foldable office desk, so that the office desk can be restored to a balanced state through its own folding action under the condition of unbalanced load, thereby reducing the probability of tilting; detecting and analyzing the state data of objects in the surrounding environment of the office desk, extracting the motion state information of objects that may interfere with the office desk, thereby adjusting the folding state of the area where the office desk may interfere, reducing the probability of collision between the office desk and surrounding objects, and improving the stability of the office desk; also identifying and analyzing the motion data of the target person corresponding to the office desk, obtaining the relative position relationship information between the target person and the office desk, thereby adjusting the folding state of the area adjacent to the target person and providing support for the target person, effectively performing dynamic folding adjustment on the office desk, and improving the support flexibility of the office desk for personnel and the applicability and safety of use in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0055] Figure 1 A schematic flow chart of a folding action control method for a foldable office desk provided by the present invention.

[0056] Figure 2 A schematic structural diagram of a folding action control system for a foldable office desk provided by the present invention. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0058] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0059] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] See also Figure 1 As shown, a folding action control method of a foldable desk provided in an embodiment of the present application. The folding action control method of a foldable desk includes:

[0061] Performing desktop load detection on the foldable desk to obtain desktop load distribution data; analyzing the desktop load distribution data to determine whether the foldable desk will have an unbalanced tilting event, and predicting the unbalanced tilting attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk;

[0062] Detecting the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyzing the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk; and adjusting the folding state of the area where the foldable desk may interfere based on the object motion state information;

[0063] The foldable desk is used to identify a target person and obtain motion data of the target person; the motion data is analyzed to obtain relative position relationship information between the target person and the foldable desk during the motion process; based on the relative position relationship information, the folding state of the area adjacent to the foldable desk and the target person is adjusted to provide support for the target person.

[0064] The beneficial effects of the above embodiments are as follows: the folding action control method of the foldable office desk detects the desktop load of the foldable office desk and obtains desktop load distribution data, thereby judging whether an unbalanced tilting event is likely to occur, and predicts the occurrence attributes of the unbalanced tilting, and then adjusts the folding action of the foldable office desk, so that the office desk can be restored to a balanced state through its own folding action under the condition of unbalanced load, thereby reducing the probability of tilting; detects and analyzes the state data of objects in the surrounding environment of the office desk, extracts the motion state information of objects that may interfere with the office desk, thereby adjusting the folding state of the area where the office desk may interfere, reduces the probability of collision between the office desk and surrounding objects, and improves the stability of the office desk; also identifies and analyzes the motion data of the target person corresponding to the office desk, obtains the relative position relationship information between the target person and the office desk, thereby adjusting the folding state of the area adjacent to the target person and providing support for the target person, effectively performing dynamic folding adjustment on the office desk, and improving the support flexibility of the office desk for personnel and the applicability and safety of use in different scenarios.

[0065] In another embodiment, a desktop load detection is performed on a foldable desk to obtain desktop load distribution data; the desktop load distribution data is analyzed to determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk, including:

[0066] Performing a desktop partition load test on the foldable desk to obtain the load distribution data of all foldable desktop areas under the foldable desk; wherein the load distribution data refers to the supporting weight distribution data at different positions on the surface of the foldable desktop area;

[0067] Based on the distribution positions and load distribution data of all foldable desk areas, the offset distance and offset angle of the overall center of gravity of the foldable desk are determined to determine whether the foldable desk will have an unbalanced tilting event;

[0068] When the foldable desk is unbalanced and tilts, the position information of the unbalanced and tilting occurrence of the foldable desk is predicted based on the offset distance and offset angle of the overall center of gravity, so as to adjust the folding action amplitude of the corresponding foldable desktop area of ​​the foldable desk, so as to restore the foldable desk to the overall center of gravity balance state.

[0069] The beneficial effect of the above embodiment is that the desktop of the foldable office desk is provided with a plurality of desktop extension parts extending outwards, and each desktop extension part can perform an independent folding action to achieve the extension and expansion of the desktop area of ​​the foldable office desk, and provide corresponding support for the body parts of the office worker, and by adjusting the folding action state of different desktop extension parts (such as the folding action flip angle and flip direction, etc.), the center of gravity position of the foldable office desk is adjusted, and the safety problem such as the foldable office desk tilting is effectively avoided. In actual use, office equipment of different weights (such as computers, printers, and telephones, etc.) will be placed at different positions on the desktop of the foldable office desk, and the office equipment at different positions will have different load effects on the office desk, so that the office desk will have a tilting effect at the corresponding position. When the tilting effect on the office desk at a certain position exceeds the preset maximum tolerable effect, it will cause the office desk to be unbalanced and tilt. In order to restore the center of gravity of the office desk to a balanced state, a desktop partition load test is performed on the foldable office desk to obtain the load distribution data of all the foldable desktop areas under the foldable office desk, and the offset state trend of the overall center of gravity of the foldable office desk is identified in combination with the distribution positions and load distribution data of all the foldable desktop areas, and the offset distance and offset angle of the overall center of gravity of the foldable office desk are determined; when the offset distance of the overall center of gravity of the foldable office desk exceeds a preset distance threshold or the offset angle exceeds a preset angle threshold, it is determined that the foldable office desk will have an unbalanced tilting event; otherwise, it is determined that the foldable office desk will not have an unbalanced tilting event, and the balance of the foldable office desk is accurately judged. In addition, when the foldable office desk is about to become unbalanced and tilt, the information about the location where the unbalanced and tilting event occurs is predicted based on the offset distance and offset angle of the overall center of gravity, so as to facilitate the subsequent adjustment of the folding action amplitude of the corresponding foldable desktop area of ​​the foldable office desk (for example, performing an adaptive folding action on the foldable desktop area corresponding to the location opposite to the location where the unbalanced and tilting event occurs of the foldable office desk), thereby restoring the foldable office desk to a state of overall center of gravity balance, effectively preventing the foldable office desk from tilting and improving the stability of the foldable office desk.

[0070] In another embodiment, analyzing the desktop load distribution data to determine whether the foldable desk will have an unbalanced tilting event includes:

[0071] Step S1, using the following formula (1), according to the desktop load distribution data, obtain the collinear load data of each desktop load distribution matrix,

[0072]

[0073] In the above formula (1), W(b,a) indicates that the b-th desktop load is the determining value of the collinear load data of the a-th desktop load; R(b,a) indicates the deviation direction value between the b-th desktop load and the a-th desktop load; [X(a),Y(a)] indicates the coordinate value of the a-th desktop load; [X(b),Y(b)] indicates the coordinate value of the b-th desktop load; (x0,y0) indicates the coordinate value of the center point of the desktop; || indicates parallel to; means not parallel to; ∠{,} means the angle between the vectors on the left and right sides of the comma in the brackets; and b≠a;

[0074] Step S2, using the following formula (2), based on each load data in the desktop load distribution matrix and its collinear load data, predict whether the foldable desk will have an unbalanced rollover event at the point corresponding to each load data,

[0075]

[0076] In the above formula (2), S(a) represents the predicted value of whether the point corresponding to the a-th desktop load will have an unbalanced rollover event; F(a) represents the force of the a-th desktop load on the desktop; F(b) represents the force of the b-th desktop load on the desktop; || represents the modulus of the orientation vector; n represents the total number of desktop loads; F0 represents the minimum force that causes an unbalanced rollover event when only the load is applied to the corner of the table; D represents the desktop width value;

[0077] If S(a) = 1, it means that the point corresponding to the a-th desktop load is predicted to have an unbalanced rollover event;

[0078] If S(a) = 0, it means that the point corresponding to the a-th desktop load is predicted to have no unbalanced rollover event;

[0079] Step S3, using the following formula (3), based on the prediction of whether an unbalanced rollover event will occur at each point corresponding to the load data of the foldable office desk, a force data set of the predicted unbalanced rollover point is generated, so as to adjust the folding action state of the foldable office desk according to the force data set of the predicted unbalanced rollover point.

[0080]

[0081] In the above formula (3), J(a) represents the force data set of the unbalanced roll prediction point corresponding to the a-th desktop load; represents the empty set; {F(a),[X(a),Y(a)]} represents the set data composed of the value F(a) and the coordinates [X(a),Y(a)].

[0082] The beneficial effect of the above embodiment is that the collinear load data of each desktop load distribution matrix is ​​obtained according to the desktop load distribution data by using the above formula (1), so that the collinear loads are screened out, which is convenient for subsequent calculation and control; then the above formula (2) is used to predict whether the foldable office desk will have an unbalanced rollover event at the point corresponding to each load data according to each load data in the desktop load distribution matrix, so that the collinear forces are calculated to ensure the accuracy of subsequent predictions; then the above formula (3) is used to generate a force data set of the unbalanced rollover prediction point according to the prediction of whether the foldable office desk will have an unbalanced rollover event at the point corresponding to each load data, so that the folding action state of the foldable office desk is adjusted according to the force data set of the unbalanced rollover prediction point, so as to quantify the actual problem and facilitate the control and adjustment of the folding action state of the foldable office desk.

[0083] In another embodiment, the surrounding environment of the foldable desk is detected to obtain state data of objects in the surrounding environment; the state data of objects in the surrounding environment is analyzed to extract motion state information of objects that may interfere with the foldable desk; and based on the object motion state information, the folding state of the area where the foldable desk may interfere is adjusted, including:

[0084] Perform infrared scanning detection on the surrounding environment of the foldable desk to obtain object motion state data in different azimuth ranges in the surrounding environment; wherein the object motion state data includes object motion trajectory data corresponding to each azimuth range;

[0085] The object motion trajectory data is subjected to trajectory position analysis to extract the object motion sub-trajectory data that may collide and interfere with the foldable desk; the object motion sub-trajectory data is subjected to trajectory direction change analysis to determine the position information of the object located in the corresponding azimuth range that collides and interferes with the foldable desk during the motion; and based on the position information of the collision and interference, the folding direction and folding amplitude of the corresponding foldable area of ​​the foldable desk are adjusted.

[0086] The beneficial effect of the above embodiment is that the foldable desk is located in an office scene, and there will be different people and / or objects moving around the desk. These people and / or objects may collide and interfere with the desk during the movement. At this time, it is necessary to fold and store the corresponding desktop extension of the desk according to the movement range of the people and / or objects to avoid collision incidents. For this purpose, the surrounding environment of the foldable desk is subjected to infrared scanning detection to obtain the object motion state data in different azimuth ranges in the surrounding environment, so as to determine the motion trajectory of the object corresponding to each azimuth range around the desk. The object motion trajectory data is also subjected to trajectory position analysis to extract the object motion sub-trajectory data that may collide and interfere with the foldable desk, wherein the object motion sub-trajectory data refers to the object motion trajectory data within the range corresponding to the preset distance threshold when the distance between the object and the desk during the movement is less than the preset distance threshold. The trajectory direction change analysis is then performed on the object's motion sub-trajectory data to determine the position information of the object located in the corresponding azimuth range that collides and interferes with the foldable desk during movement. Based on the position information of the collision and interference, the folding direction and folding amplitude of the corresponding foldable area (i.e., the corresponding desktop extension) of the foldable desk are adjusted to achieve accurate storage of the foldable desk and improve the safety of the desk.

[0087] In another embodiment, the foldable desk is used to identify a target person and obtain motion data of the target person; the motion data is analyzed to obtain relative position relationship information between the target person and the foldable desk during the motion; based on the relative position relationship information, the folding state of the area adjacent to the foldable desk and the target person is adjusted to provide support for the target person, including:

[0088] Tracking and photographing a target person at a specific position of the foldable desk to obtain a dynamic image of the target person; identifying the limb contour of the target person on the dynamic image to obtain upper limb motion path data of the target person; analyzing the upper limb motion path data to obtain the relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the motion process;

[0089] Based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined; based on the position of the upper limb area that needs to be supported, the folding and flipping angle of the area of ​​the foldable desk adjacent to the target person is adjusted, so as to provide supporting support for the corresponding upper limb area of ​​the target object.

[0090] The beneficial effect of the above embodiment is that office workers will operate the computer located on the foldable desk during the office work process. The upper limbs (especially hands and arms) of office workers will move within the corresponding space range during the operation of the computer. If the upper limbs of office workers are suspended for a long time during the activity, the workload of office workers will be increased. For this purpose, the target person located at a specific position of the foldable desk is tracked and photographed to obtain a dynamic image of the target person; the limb contour of the target person is identified on the dynamic image to obtain the upper limb motion path data of the target person, and the upper limb motion path data can characterize the upper limb motion coverage of the target person, and the upper limb motion path data is analyzed to obtain the relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the action, so as to provide accurate basis for the subsequent accurate support of the upper limb of the target person during the activity. In addition, based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined, so that the folding and flipping angle of the area adjacent to the target person (i.e., the corresponding desktop extension) of the foldable desk is adjusted, thereby providing support for the corresponding upper limb area of ​​the target object and providing effective and safe protection for the target object working on the desk.

[0091] See also Figure 2 As shown, a folding motion control system of a foldable desk provided in one embodiment of the present application. The folding motion control system of the foldable desk includes:

[0092] A desktop load detection module is used to perform desktop load detection on the foldable office desk to obtain desktop load distribution data;

[0093] A folding action adjustment module is used to analyze the desktop load distribution data, determine whether the foldable desk will have an unbalanced tilting event, and predict the unbalanced tilting attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk;

[0094] A surrounding environment object motion recognition module is used to detect the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyze the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk;

[0095] A folding state adjustment module, used for adjusting the folding state of the area where interference may occur on the foldable desk based on the motion state information of the object;

[0096] A personnel motion recognition module is used to identify a target person on the foldable desk and obtain motion data of the target person; analyze the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion process;

[0097] The folding state adjustment module is further used to adjust the folding state of the area adjacent to the foldable desk and the target person based on the relative position relationship information, so as to provide support for the target person.

[0098] The beneficial effects of the above embodiments are as follows: the folding action control system of the foldable office desk detects the desktop load of the foldable office desk and obtains desktop load distribution data, thereby judging whether an unbalanced tilting event is likely to occur, and predicts the occurrence attributes of the unbalanced tilting, and then adjusts the folding action of the foldable office desk, so that the office desk can be restored to a balanced state through its own folding action under the condition of unbalanced load, thereby reducing the probability of tilting; detects and analyzes the state data of objects in the surrounding environment of the office desk, extracts the motion state information of objects that may interfere with the office desk, thereby adjusting the folding state of the area where the office desk may interfere, reducing the probability of collision between the office desk and surrounding objects, and improving the stability of the office desk; also identifies and analyzes the motion data of the target person corresponding to the office desk, obtains the relative position relationship information between the target person and the office desk, thereby adjusting the folding state of the area adjacent to the target person and providing support for the target person, effectively performing dynamic folding adjustment on the office desk, and improving the support flexibility of the office desk for personnel and its applicability and safety in different scenarios.

[0099] In another embodiment, the desktop load detection module is used to perform desktop load detection on the foldable office desk to obtain desktop load distribution data, including:

[0100] Performing a desktop partition load test on the foldable desk to obtain the load distribution data of all foldable desktop areas under the foldable desk; wherein the load distribution data refers to the supporting weight distribution data at different positions on the surface of the foldable desktop area;

[0101] The folding action adjustment module is used to analyze the desktop load distribution data, determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk, including:

[0102] Based on the distribution positions and load distribution data of all foldable desk areas, the offset distance and offset angle of the overall center of gravity of the foldable desk are determined to determine whether the foldable desk will have an unbalanced tilting event;

[0103] When the foldable desk is unbalanced and tilts, the position information of the unbalanced and tilting occurrence of the foldable desk is predicted based on the offset distance and offset angle of the overall center of gravity, so as to adjust the folding action amplitude of the corresponding foldable desktop area of ​​the foldable desk, so as to restore the foldable desk to the overall center of gravity balance state.

[0104] The beneficial effect of the above embodiment is that the desktop of the foldable office desk is provided with a plurality of desktop extension parts extending outwards, and each desktop extension part can perform an independent folding action to achieve the extension and expansion of the desktop area of ​​the foldable office desk, and provide corresponding support for the body parts of the office worker, and by adjusting the folding action state of different desktop extension parts (such as the folding action flip angle and flip direction, etc.), the center of gravity position of the foldable office desk is adjusted, and the safety problem such as the foldable office desk tilting is effectively avoided. In actual use, office equipment of different weights (such as computers, printers, and telephones, etc.) will be placed at different positions on the desktop of the foldable office desk, and the office equipment at different positions will have different load effects on the office desk, so that the office desk will have a tilting effect at the corresponding position. When the tilting effect on the office desk at a certain position exceeds the preset maximum tolerable effect, it will cause the office desk to be unbalanced and tilt. In order to restore the center of gravity of the office desk to a balanced state, a desktop partition load test is performed on the foldable office desk to obtain the load distribution data of all the foldable desktop areas under the foldable office desk, and the offset state trend of the overall center of gravity of the foldable office desk is identified in combination with the distribution positions and load distribution data of all the foldable desktop areas, and the offset distance and offset angle of the overall center of gravity of the foldable office desk are determined; when the offset distance of the overall center of gravity of the foldable office desk exceeds a preset distance threshold or the offset angle exceeds a preset angle threshold, it is determined that the foldable office desk will have an unbalanced tilting event; otherwise, it is determined that the foldable office desk will not have an unbalanced tilting event, and the balance of the foldable office desk is accurately judged. In addition, when the foldable office desk is about to become unbalanced and tilt, the information about the location where the unbalanced and tilting event occurs is predicted based on the offset distance and offset angle of the overall center of gravity, so as to facilitate the subsequent adjustment of the folding action amplitude of the corresponding foldable desktop area of ​​the foldable office desk (for example, performing an adaptive folding action on the foldable desktop area corresponding to the location opposite to the location where the unbalanced and tilting event occurs of the foldable office desk), thereby restoring the foldable office desk to a state of overall center of gravity balance, effectively preventing the foldable office desk from tilting and improving the stability of the foldable office desk.

[0105] In another embodiment, the surrounding environment object motion recognition module is used to detect the surrounding environment of the foldable desk to obtain surrounding environment object state data; analyze the surrounding environment object state data to extract object motion state information that may interfere with the foldable desk, including:

[0106] Perform infrared scanning detection on the surrounding environment of the foldable desk to obtain object motion state data in different azimuth ranges in the surrounding environment; wherein the object motion state data includes object motion trajectory data corresponding to each azimuth range;

[0107] Performing trajectory position analysis on the object motion trajectory data, and extracting object motion sub-trajectory data that may collide and interfere with the foldable desk;

[0108] The folding state adjustment module is used to adjust the folding state of the area where the foldable desk may interfere based on the motion state information of the object, including:

[0109] The trajectory direction change analysis is performed on the sub-trajectory data of the object's motion to determine the position information of the object located in the corresponding azimuth range that collides and interferes with the foldable office desk during the motion; and based on the position information of the collision and interference, the folding direction and folding amplitude of the corresponding foldable area of ​​the foldable office desk are adjusted.

[0110] The beneficial effect of the above embodiment is that the foldable desk is located in an office scene, and there will be different people and / or objects moving around the desk. These people and / or objects may collide and interfere with the desk during the movement. At this time, it is necessary to fold and store the corresponding desktop extension of the desk according to the movement range of the people and / or objects to avoid collision incidents. For this purpose, the surrounding environment of the foldable desk is subjected to infrared scanning detection to obtain the object motion state data in different azimuth ranges in the surrounding environment, so as to determine the motion trajectory of the object corresponding to each azimuth range around the desk. The object motion trajectory data is also subjected to trajectory position analysis to extract the object motion sub-trajectory data that may collide and interfere with the foldable desk, wherein the object motion sub-trajectory data refers to the object motion trajectory data within the range corresponding to the preset distance threshold when the distance between the object and the desk during the movement is less than the preset distance threshold. The trajectory direction change analysis is then performed on the object's motion sub-trajectory data to determine the position information of the object located in the corresponding azimuth range that collides and interferes with the foldable desk during movement. Based on the position information of the collision and interference, the folding direction and folding amplitude of the corresponding foldable area (i.e., the corresponding desktop extension) of the foldable desk are adjusted to achieve accurate storage of the foldable desk and improve the safety of the desk.

[0111] In another embodiment, the personnel motion recognition module is used to identify a target person on the foldable desk to obtain motion data of the target person; and analyze the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion, including:

[0112] Tracking and photographing a target person at a specific position of the foldable desk to obtain a dynamic image of the target person; identifying the limb contour of the target person on the dynamic image to obtain upper limb motion path data of the target person; analyzing the upper limb motion path data to obtain the relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the motion process;

[0113] The folding state adjustment module is used to adjust the folding state of the area of ​​the foldable desk adjacent to the target person based on the relative position relationship information, so as to provide support for the target person, including:

[0114] Based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined; based on the position of the upper limb area that needs to be supported, the folding and flipping angle of the area of ​​the foldable desk adjacent to the target person is adjusted, so as to provide supporting support for the corresponding upper limb area of ​​the target object.

[0115] The beneficial effect of the above embodiment is that office workers will operate the computer located on the foldable desk during the office work process. The upper limbs (especially hands and arms) of office workers will move within the corresponding space range during the operation of the computer. If the upper limbs of office workers are suspended for a long time during the activity, the workload of office workers will be increased. For this purpose, the target person located at a specific position of the foldable desk is tracked and photographed to obtain a dynamic image of the target person; the limb contour of the target person is identified on the dynamic image to obtain the upper limb motion path data of the target person, and the upper limb motion path data can characterize the upper limb motion coverage of the target person, and the upper limb motion path data is analyzed to obtain the relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the action, so as to provide accurate basis for the subsequent accurate support of the upper limb of the target person during the activity. In addition, based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined, so that the folding and flipping angle of the area adjacent to the target person (i.e., the corresponding desktop extension) of the foldable desk is adjusted, thereby providing support for the corresponding upper limb area of ​​the target object and providing effective and safe protection for the target object working on the desk.

[0116] In general, the folding action control method and system of the foldable office desk detects the desktop load of the foldable office desk and obtains desktop load distribution data, thereby judging whether an unbalanced tilting event is likely to occur, and predicting the occurrence properties of the unbalanced tilting, and then adjusting the folding action of the foldable office desk, so that the office desk can be restored to a balanced state through its own folding action under the condition of unbalanced load, thereby reducing the probability of tilting; detecting and analyzing the state data of objects in the surrounding environment of the office desk, extracting the motion state information of objects that may interfere with the office desk, thereby adjusting the folding state of the area where the office desk may interfere, reducing the probability of collision between the office desk and surrounding objects, and improving the stability of the office desk; also identifying and analyzing the motion data of the target person corresponding to the office desk, obtaining the relative position relationship information between the target person and the office desk, thereby adjusting the folding state of the area adjacent to the target person and providing support for the target person, effectively performing dynamic folding adjustment on the office desk, and improving the support flexibility of the office desk for personnel and the applicability and safety of use in different scenarios.

[0117] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A method for controlling the folding action of a foldable desk, characterized in that: include: Conduct desktop load detection on the foldable office desk to obtain desktop load distribution data; Analyze the desktop load distribution data to determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk; Detecting the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyzing the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk; adjusting the folding state of the area where the foldable desk may interfere based on the object motion state information; Performing target person identification on the foldable desk to obtain motion data of the target person; analyzing the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion process; Based on the relative position relationship information, the folding state of the area of ​​the foldable desk adjacent to the target person is adjusted to provide support for the target person.

2. The folding action control method of the foldable office desk according to claim 1, characterized in that: Performing desktop load detection on the foldable office desk to obtain desktop load distribution data; analyzing the desktop load distribution data to determine whether the foldable office desk will have an unbalanced rollover event, and predicting the unbalanced rollover occurrence attribute information of the foldable office desk, thereby adjusting the folding action state of the foldable office desk, including: Performing a desktop partition load test on the foldable desk to obtain load distribution data of all foldable desktop areas under the foldable desk; wherein the load distribution data refers to the supporting weight distribution data at different positions on the surface of the foldable desktop area; Based on the respective distribution positions and load distribution data of all foldable desk areas, determining the offset distance and offset angle of the overall center of gravity of the foldable desk, so as to judge whether the foldable desk will have an unbalanced tilting event; When the foldable desk is unbalanced and tilts, the position information of the unbalanced and tilted occurrence of the foldable desk is predicted based on the offset distance and offset angle of the overall center of gravity, so as to adjust the folding action amplitude of the corresponding foldable desktop area of ​​the foldable desk, so as to restore the foldable desk to a state of overall center of gravity balance.

3. The folding action control method of the foldable office desk according to claim 1, characterized in that: Analyzing the desktop load distribution data to determine whether the foldable desk will have an unbalanced tilting event includes: Step S1, using the following formula (1), according to the desktop load distribution data, obtain the collinear load data of each desktop load distribution matrix, In the above formula (1), W(b,a) indicates that the b-th desktop load is the determined value of the collinear load data of the a-th desktop load; R(b,a) indicates the deviation direction value between the b-th desktop load and the a-th desktop load; [X(a),Y(a)] indicates the coordinate value of the a-th desktop load; [X(b),U(b)] indicates the coordinate value of the b-th desktop load; (x0,y0) indicates the coordinate value of the center point of the desktop; ∥ indicates parallel to; means not parallel to; ∠{,} means the angle between the vectors on the left and right sides of the comma in the brackets; and b≠a; Step S2, using the following formula (2), based on each load data in the desktop load distribution matrix and its collinear load data, predict whether the foldable desk will have an unbalanced rollover event at the point corresponding to each load data, In the above formula (2), S(a) represents the predicted value of whether the point corresponding to the a-th desktop load will have an unbalanced rollover event; F(a) represents the force of the a-th desktop load on the desktop; F(b) represents the force of the b-th desktop load on the desktop; | | represents the modulus of the orientation vector; n represents the total number of desktop loads; F0 represents the minimum force that causes an unbalanced rollover event when only the load is applied to the corner of the table; D represents the desktop width value; If S(a) = 1, it means that the point corresponding to the a-th desktop load is predicted to have an unbalanced rollover event; If S(a) = 0, it means that the point corresponding to the a-th desktop load is predicted to have no unbalanced rollover event; Step S3, using the following formula (3), based on the prediction of whether an unbalanced rollover event will occur at each point corresponding to the load data of the foldable office desk, a force data set of the predicted unbalanced rollover point is generated, so as to adjust the folding action state of the foldable office desk according to the force data set of the predicted unbalanced rollover point. In the above formula (3), J(a) represents the force data set of the unbalanced roll prediction point corresponding to the a-th desktop load; represents the empty set; {F(a),[X(a),Y(a)]} represents the set data composed of the value F(a) and the coordinates [X(a),Y(a)].

4. The folding action control method of a foldable office desk according to claim 1, characterized in that: Detecting the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyzing the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk; Based on the object motion state information, adjusting the folding state of the area where the foldable desk may interfere includes: Perform infrared scanning detection on the surrounding environment of the foldable desk to obtain object motion state data in different azimuth ranges in the surrounding environment; wherein the object motion state data includes object motion trajectory data corresponding to each azimuth range; Performing a trajectory position analysis on the object motion trajectory data to extract object motion sub-trajectory data that may collide and interfere with the foldable desk; performing a trajectory direction change analysis on the object motion sub-trajectory data to determine position information of an object located in a corresponding azimuth range that collides and interferes with the foldable desk during movement; and then adjusting the folding direction and folding amplitude of a corresponding foldable area of ​​the foldable desk based on the position information of the collision and interference.

5. The folding action control method of a foldable office desk according to claim 1, characterized in that: Performing target person identification on the foldable desk to obtain motion data of the target person; analyzing the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion process; Based on the relative position relationship information, adjusting the folding state of the foldable desk and the area adjacent to the target person, thereby providing support for the target person, includes: Tracking and photographing a target person at a specific position of the foldable desk to obtain a dynamic image of the target person; identifying the limb contour of the target person in the dynamic image to obtain upper limb motion path data of the target person; analyzing the upper limb motion path data to obtain relative distance and relative orientation relationship information between the upper limb of the target person and the foldable desk during the motion process; Based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined; based on the position of the upper limb area that needs to be supported, the folding and flipping angle of the area of ​​the foldable desk adjacent to the target person is adjusted, so as to provide supporting support for the corresponding upper limb area of ​​the target object.

6. A folding motion control system for a foldable desk, characterized in that: include: A desktop load detection module is used to perform desktop load detection on the foldable office desk to obtain desktop load distribution data; A folding action adjustment module is used to analyze the desktop load distribution data, determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk; A surrounding environment object motion recognition module is used to detect the surrounding environment of the foldable desk to obtain state data of objects in the surrounding environment; analyze the state data of objects in the surrounding environment to extract motion state information of objects that may interfere with the foldable desk; A folding state adjustment module, configured to adjust the folding state of the area where the foldable desk may interfere based on the object motion state information; A personnel motion recognition module is used to identify a target person on the foldable desk to obtain motion data of the target person; analyze the motion data to obtain relative position relationship information between the target person and the foldable desk during the motion process; The folding state adjustment module is further used to adjust the folding state of the area adjacent to the foldable desk and the target person based on the relative position relationship information, so as to provide support for the target person.

7. The folding motion control system of the foldable office desk according to claim 6, characterized in that: The desktop load detection module is used to perform desktop load detection on the foldable office desk to obtain desktop load distribution data, including: Performing a desktop partition load test on the foldable desk to obtain load distribution data of all foldable desktop areas under the foldable desk; wherein the load distribution data refers to the supporting weight distribution data at different positions on the surface of the foldable desktop area; The folding action adjustment module is used to analyze the desktop load distribution data, determine whether the foldable desk will have an unbalanced rollover event, and predict the unbalanced rollover occurrence attribute information of the foldable desk, so as to adjust the folding action state of the foldable desk, including: Based on the respective distribution positions and load distribution data of all foldable desk areas, determining the offset distance and offset angle of the overall center of gravity of the foldable desk, so as to judge whether the foldable desk will have an unbalanced tilting event; When the foldable desk is unbalanced and tilts, the position information of the unbalanced and tilted occurrence of the foldable desk is predicted based on the offset distance and offset angle of the overall center of gravity, so as to adjust the folding action amplitude of the corresponding foldable desktop area of ​​the foldable desk, so as to restore the foldable desk to a state of overall center of gravity balance.

8. The folding motion control system of the foldable office desk according to claim 6, characterized in that: The surrounding environment object motion recognition module is used to detect the surrounding environment of the foldable desk to obtain the surrounding environment object state data; analyze the surrounding environment object state data to extract the object motion state information that may interfere with the foldable desk, including: Perform infrared scanning detection on the surrounding environment of the foldable desk to obtain object motion state data in different azimuth ranges in the surrounding environment; wherein the object motion state data includes object motion trajectory data corresponding to each azimuth range; Performing trajectory position analysis on the object motion trajectory data, and extracting object motion sub-trajectory data that may collide and interfere with the foldable desk; The folding state adjustment module is used to adjust the folding state of the area where the foldable desk may interfere based on the object motion state information, including: The trajectory direction change analysis is performed on the sub-trajectory data of the object's motion to determine the position information of the object located in the corresponding azimuth range that collides and interferes with the foldable office desk during the motion; and based on the position information of the collision and interference, the folding direction and folding amplitude of the corresponding foldable area of ​​the foldable office desk are adjusted.

9. The folding motion control system of the foldable office desk according to claim 6, characterized in that: The personnel motion recognition module is used to identify the target personnel on the foldable desk and obtain the motion data of the target personnel; The motion data is analyzed to obtain the relative position relationship information between the target person and the foldable desk during the motion process, including: tracking and shooting the target person at a specific position of the foldable desk to obtain a dynamic image of the target person; identifying the limb contour of the target person in the dynamic image to obtain the upper limb motion path data of the target person; analyzing the upper limb motion path data to obtain the relative distance and relative position relationship information between the upper limb of the target person and the foldable desk during the motion process; The folding state adjustment module is used to adjust the folding state of the area of ​​the foldable desk adjacent to the target person based on the relative position relationship information, so as to provide support for the target person, including: Based on the relative distance and the relative orientation relationship information, the position of the upper limb area of ​​the target person that needs to be supported during the action is determined; based on the position of the upper limb area that needs to be supported, the folding and flipping angle of the area of ​​the foldable desk adjacent to the target person is adjusted, so as to provide supporting support for the corresponding upper limb area of ​​the target object.

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