Man-machine interaction method and system based on magnetic suspension rotor and storage medium

Abstract

The invention provides a man-machine interaction method and system based on a magnetic suspension mover and a storage medium, the man-machine interaction method based on the magnetic suspension mover is applied to a central control system, and a magnetic suspension platform system comprises the magnetic suspension mover and a magnetic suspension stator. The central control system drives the magnetic suspension rotor to move on the magnetic suspension stator by controlling the magnetic suspension stator; the method comprises the steps of determining change data of a magnetic suspension rotor in response to an interaction operation for the magnetic suspension rotor, the change data being used for indicating a change generated by the magnetic suspension rotor under the interaction operation; if the change data meet the preset interaction condition, determining a target process corresponding to the change data; and adjusting the magnetic field of the magnetic suspension stator to enable the magnetic suspension rotor to execute the target process on the magnetic suspension stator. According to the technical scheme, a user can directly carry out instruction interaction with the magnetic suspension rotor, and the interaction experience feeling of the user is improved to a great extent.

Description

Technical Field

[0001] The present application relates to the field of magnetic levitation technology, and in particular to a human-computer interaction method, system and storage medium based on a magnetic levitation mover. Background Art

[0002] With the emergence of new permanent magnetic materials and the urgent need for scientific and technological development, magnetic levitation technology has developed rapidly and has been applied in many fields. For example, magnetic levitation trains in the transportation industry, magnetic levitation spindle systems used in high-performance machine tools, vacuum molecular pumps in the space industry, various flywheels, etc. At the same time, in the field of material transportation, magnetic levitation platforms are valued for their advantages such as no friction, no wear, no lubrication, long life, low power consumption, and no noise, and planar magnetic levitation transportation systems have emerged. This system uses magnets to accurately control the movement of the mover in a plane in a frictionless propulsion manner, completing the task of transporting materials without generating or carrying any pollutants, nor causing mechanical wear caused by friction.

[0003] However, the magnetic levitation actuator of this system is generally controlled through a central control device, resulting in a poor user interaction experience. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present application is to provide a human-computer interaction method for a magnetic levitation mover to improve the user's human-computer interaction experience in order to address the defect of poor user interaction experience.

[0005] In a first aspect, an embodiment of the present application provides a human-computer interaction method based on a magnetic suspension mover, which is applied to a central control system, wherein the central control system is communicatively connected with a magnetic suspension platform system, wherein the magnetic suspension platform system includes a magnetic suspension mover and a magnetic suspension stator, and the central control system controls the magnetic suspension stator to control and drive the magnetic suspension mover to move on the magnetic suspension stator. The method includes:

[0006] In response to an interactive operation of a user on the magnetic levitation mover, determining change data of the magnetic levitation mover, wherein the change data is used to indicate a change of the magnetic levitation mover caused by the interactive operation;

[0007] If the change data meets the preset interaction condition, determining the target process corresponding to the change data;

[0008] The magnetic field of the magnetic suspension stator is adjusted so that the magnetic suspension mover performs the target process on the magnetic suspension stator.

[0009] It can be seen that the human-computer interaction method of a magnetic levitation mover provided in the embodiment of the present application can enable the user to directly interact with the magnetic levitation mover through commands. The central control system receives the signal and regulates the magnetic field of the magnetic levitation stator, thereby controlling the magnetic levitation mover. The user can control the magnetic levitation mover without operating the central control system, which greatly improves the user's interactive experience.

[0010] In a second aspect, an embodiment of the present application provides a central control system, including:

[0011] An instruction response module, used for determining change data of the magnetic levitation mover in response to an interactive operation on the magnetic levitation mover, wherein the change data is used for indicating a change of the magnetic levitation mover caused by the interactive operation;

[0012] An instruction matching module, if the change data meets the preset interaction condition, determines the target process corresponding to the change data;

[0013] The regulating and controlling module is used to adjust the magnetic field of the magnetic suspension stator so that the magnetic suspension mover performs the target process on the magnetic suspension stator.

[0014] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in any method of the first aspect of the embodiment of the present application.

[0015] In a fourth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0016] In a fifth aspect, an embodiment of the present application provides a human-computer interaction system, comprising: a central control system and a magnetic levitation platform system, the central control system being communicatively connected to the magnetic levitation platform system, the magnetic levitation platform system comprising a magnetic levitation mover and a magnetic levitation stator, the central control system driving the magnetic levitation mover to move on the magnetic levitation stator by controlling the magnetic levitation stator; the central control system is used to determine change data of the magnetic levitation mover in response to an interactive operation on the magnetic levitation mover, the change data being used to indicate changes in the magnetic levitation mover under the interactive operation; the central control system is also used to determine a target process corresponding to the change data if the change data meets a preset interactive condition; the central control system is also used to adjust the magnetic field of the magnetic levitation stator so that the magnetic levitation mover executes the target process on the magnetic levitation stator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0018] Figure 1 An architectural diagram of a human-computer interaction system based on a magnetic levitation mover provided in an embodiment of the present application;

[0019] Figure 2 A schematic diagram of a flow chart of a human-computer interaction method based on a magnetic levitation mover provided in an embodiment of the present application;

[0020] Figure 3 A schematic flow chart of another human-computer interaction method based on a magnetic levitation mover provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the functional modules of a central control system provided in an embodiment of the present application;

[0022] Figure 5 is a structural schematic diagram of another central control system provided in an embodiment of the present application;

[0023] Figure 6 It is a block diagram of the functional units of a human-computer interaction system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0026] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "plurality" appearing in the embodiments of the present application refers to two or more.

[0027] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0028] The "connection" that appears in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0029] 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.

[0030] At present, in the field of material transportation, magnetic levitation platforms are valued for their advantages such as no friction, no wear, no need for lubrication, long life, low power consumption, and no noise, and a planar magnetic levitation conveying system has emerged. This planar magnetic levitation conveying system uses magnets to accurately control the movement of the mover in a plane in a frictionless propulsion manner. While completing the task of conveying materials, it does not generate or carry any pollutants, nor does it cause mechanical wear due to friction. However, the magnetic levitation mover of this system generally requires the user to operate the central control device to control the mover, and the user interaction experience is not good.

[0031] In order to solve the above problems, an embodiment of the present application provides a human-computer interaction method for a magnetic levitation mover, which is applied to a central control system. The user can directly interact with the magnetic levitation mover through commands. The central control system receives the signal and regulates the magnetic field of the stator, thereby controlling the mover. The user can control the mover without operating the central control system, which greatly improves the user's interactive experience.

[0032] Combine the following Figure 1 The architecture of a human-computer interaction system based on a magnetic levitation mover in an embodiment of the present application is described. Figure 1 An architectural diagram of a human-computer interaction system based on a magnetic levitation mover provided in an embodiment of the present application, the system at least includes a central control system 100 and a magnetic levitation platform system, wherein the central control system 100 is communicatively connected with the magnetic levitation platform system. The magnetic levitation platform system may include at least one magnetic levitation mover 110 and at least one magnetic levitation stator 120. The user can interact with the magnetic levitation mover 110, and the magnetic levitation mover 110 can move by changing the magnetic field of the magnetic levitation stator 120. The central control system 100 and the magnetic levitation stator 120 are in an interconnected state, and the magnetic levitation stator 120 can communicate with the central control system 100.

[0033] In one possible embodiment, when the user applies an interactive operation to the magnetic suspension mover 110, the central control system 100 receives the interactive operation, such as the pressing position, the number of pressing times, the pushing direction, the number of pushing times, etc., determines the preset interactive condition range where the interactive operation is located, and determines the target process corresponding to the interactive operation. Of course, the interactive operation can also be other interactive operations, which are not limited here. The central control system 100 can be a computer, a tablet, etc., or other electronic devices, which are not limited here. In addition, the central control system 100 can also be a component built into an electronic device. The central control system 100 executes the target process to regulate the magnetic field of the magnetic suspension stator 120, and then controls the magnetic suspension mover 110 to move along the moving path to execute the target process. The magnetic suspension stator 120 can be set on a working platform. The magnetic suspension stator 120 is an electromagnet that can generate magnetic force to repel the magnetic suspension mover 110 so that the magnetic suspension mover 110 is suspended on the magnetic suspension stator 120. The specific working principle of the magnetic suspension platform system can be referred to the existing related technology, which will not be repeated here.

[0034] In this way, the user can directly interact with the magnetic levitation mover to make it move according to the moving path of the target process. The user can control the mover without operating the central control system, which greatly improves the user's interactive experience.

[0035] Combine the following Figure 2 A human-computer interaction method based on a magnetic suspension mover in an embodiment of the present application is described. Figure 2 A flow chart of a human-computer interaction method based on a magnetic suspension mover provided in an embodiment of the present application is applied to a central control system and specifically includes the following steps:

[0036] Step 210 : determining change data of the magnetic levitation mover in response to an interactive operation on the magnetic levitation mover.

[0037] The interactive operation may be initiated by the user, and the interactive operation may include pushing, pulling, pressing, tapping, touching, lifting and other operations, which are not specifically limited here. The change data is used to indicate the change of the magnetic levitation mover under the interactive operation, which is caused by the contact between the user and the magnetic levitation mover. The change data of the magnetic levitation mover may include but is not limited to at least one of the gravity change data, displacement data (position change data in the direction of gravity, horizontal direction, etc.), rotation change data (torque change data), touch data (charge change data), etc. of the magnetic levitation mover.

[0038] In a possible embodiment, determining the change data of the magnetic levitation mover includes: determining the gravity change data of the magnetic levitation mover, the gravity change data may include at least one of the number of gravity changes of the magnetic levitation mover within a first preset time period, the gravity change amount of each gravity change, and the gravity change frequency.

[0039] Among them, the magnetic levitation stator can sense the operating state change information of the magnetic levitation mover to infer the gravity change data of the magnetic levitation mover and transmit it to the central control system. For example, the magnetic levitation stator can infer the gravity change data of the magnetic levitation mover based on the displacement of the magnetic levitation mover in the gravity direction; or the operating state change information of the magnetic levitation mover sensed by the magnetic levitation stator can be transmitted to the central control system and the central control system can infer the weight change data of the magnetic levitation mover; the gravity sensor can also be integrated on the magnetic levitation mover, and the gravity sensor can sense the gravity change data and transmit it to the central control system, which is not specifically limited here. The gravity of the magnetic levitation mover will fluctuate when loading and unloading materials, but the gravity of the magnetic levitation mover generally does not change during the transportation process or the static stage, so when the gravity of the magnetic levitation mover changes, the user is very likely to perform interactive operations, such as pressing, and the gravity change data can be used as reference data for subsequent steps. Specifically, since the central control system does not change the magnetic force of the magnetic levitation stator at this time, the magnetic levitation mover can rebound to its original position after being pressed or lifted, and the number of rebounds within the first preset time period can be recorded as the number of gravity changes, and the gravity change amount of each gravity change within the first preset time period can be recorded. The final number of gravity changes can be divided by the first preset time period to obtain the gravity change frequency, or the time interval between each gravity change can be calculated to determine the gravity change frequency. Among them, the number of gravity changes within the first preset time period can be greater than or equal to 1 time. The first preset time period can be set by the user, such as the first preset time period is 1 second.

[0040] In a possible embodiment, determining the change data of the magnetic levitation mover includes: determining the displacement data of the magnetic levitation mover, and the displacement data may include at least one of the number of displacements of the magnetic levitation mover along the plane where the magnetic levitation stator is located within a second preset time period, the displacement amount of each displacement, and the displacement direction of each displacement.

[0041] Among them, the central control system can determine the displacement data of the magnetic levitation mover through the magnetic levitation stator. For example, the magnetic levitation stator can determine the displacement data of the magnetic levitation mover according to the displacement of the magnetic levitation mover in the direction of gravity, or according to the displacement of the magnetic levitation mover in the horizontal direction; or, a displacement sensor can be integrated on the magnetic levitation mover, and the displacement data of the magnetic levitation mover can be sensed by the displacement sensor and transmitted to the central control system, which is not limited here. The magnetic levitation mover is generally in a stationary state during the non-transportation stage, so when the magnetic levitation mover is displaced during the non-transportation stage, the user is very likely to perform interactive operations, such as pushing, pulling or pressing, and the displacement data can be used as reference data for subsequent steps.

[0042] Specifically, since the central control system does not change the magnetic force of the magnetic levitation stator at this time, the magnetic levitation mover can rebound to its original position after being pushed, pulled or pressed, and the number of rebounds within the second preset time period can be recorded as the number of displacements, and the displacement amount and displacement direction of each displacement within the second preset time period can be recorded. In a possible embodiment, the frequency of displacement can be obtained by dividing the final number of displacements by the second preset time period, or the time interval of each displacement can be calculated to determine the frequency of displacement, which is not specifically limited here. Among them, the number of displacements within the second preset time period can be greater than or equal to 1 time.

[0043] In a possible embodiment, determining the change data of the magnetic levitation mover includes: determining the rotation change data of the magnetic levitation mover, the rotation change data including at least one of the number of rotations of the magnetic levitation mover within a third preset time period, the rotation angle of each rotation, the rotation direction, and the direction of the rotation axis.

[0044] Among them, the central control system can determine the rotation change data of the magnetic levitation mover through the magnetic levitation stator. For example, the magnetic levitation stator can sense the rotation of the magnetic levitation mover around the vertical axis to determine the rotation change data of the magnetic levitation mover, or it can sense the rotation of the magnetic levitation mover around the horizontal axis to determine the rotation change data of the magnetic levitation mover; or, a torque sensor can be integrated on the magnetic levitation mover, and the torque change data of the magnetic levitation mover can be sensed by the torque sensor and transmitted to the central control system, which is not limited here. The magnetic levitation mover is generally in a stationary state during the non-transportation stage, so when the magnetic levitation mover produces a rotation change during the non-transportation stage, the user is very likely to have performed an interactive operation, such as pressing or lifting, and the rotation change data can be used as reference data for subsequent steps.

[0045] Specifically, since the central control system does not change the magnetic force of the magnetic levitation stator at this time, the magnetic levitation rotor can rebound to its original position after being rotated to change the torque, and the number of rebounds within the third preset time period can be recorded as the number of rotations, and the rotation angle, rotation direction and rotation axis direction of each rotation within the third preset time period can be recorded. Among them, the number of rotations within the third preset time period can be greater than or equal to 1 time. The direction of the rotation axis can be based on the magnetic levitation rotor as a reference, such as the direction of the rotation axis is the axis (vertical axis) perpendicular to the plane of the magnetic levitation rotor and passing through the geometric center of the plane of the magnetic levitation rotor, and / or the direction of the rotation axis is the symmetry axis of the plane of the magnetic levitation rotor (such as the line connecting the midpoints of two opposite sides, the diagonal line). Among them, the direction of the rotation axis can be determined by the rotation direction of the magnetic levitation rotor.

[0046] In a possible embodiment, determining the change data of the magnetic levitation mover includes: determining touch data of the magnetic levitation mover, the touch data including at least one of the number of touches received by the magnetic levitation mover within a fourth preset time period, the number of touch points of each touch, and the touch position.

[0047] Among them, the central control system can determine the touch data of the magnetic levitation mover. The magnetic levitation mover can be embedded with a touch panel, or a sensor, or other devices that can transmit touch data, and the touch data can be used as reference data for subsequent steps. For example, a touch panel is integrated on the magnetic levitation mover. When the user touches the touch panel, the charge changes, thereby sensing the touch operation. The number of touches can be determined by detecting the number of charge changes within the fourth preset time period. The number of touches within the fourth preset time period can be greater than or equal to 1.

[0048] In a possible embodiment, determining the change data of the magnetic levitation mover includes: determining the magnetic field change data of the magnetic levitation mover, the magnetic field change data including but not limited to the intensity change of the magnetic field and / or the magnetic field direction between the magnetic levitation mover and the magnetic levitation stator.

[0049] The magnetic field between the magnetic levitation mover and the magnetic levitation stator can be changed by manually pushing, lifting, taking away or placing the magnetic levitation mover, or by placing a magnetic object near the two to change the magnetic field between the two, which is not limited here.

[0050] Optionally, the magnetic field change data may also include the number of magnetic field changes, the frequency of magnetic field changes, etc., which are not limited here.

[0051] It can be understood that the change data may also be any combination of the gravity change data, displacement data, rotation change data, touch data and magnetic field change data.

[0052] It can be seen that by determining the change data of the magnetic levitation mover, the accurate user interaction operation can be identified to provide data support for subsequent steps.

[0053] Step 220: If the change data meets the preset interaction condition, determine the target process corresponding to the change data.

[0054] The preset interaction conditions can be stored in the database of the central control system. It can be understood that only when the change data meets the preset interaction conditions, the step of determining the target process corresponding to the change data is executed, which can save the amount of calculation and avoid misjudgment caused by user misoperation. The mapping relationship between different change data and target processes can also be pre-stored in the database for subsequent reading.

[0055] In a possible embodiment, the preset interaction conditions in the database may include but are not limited to at least one of a preset range of gravity change times, a preset range of gravity change amounts, and a preset range of gravity change frequencies.

[0056] Among them, the preset range of gravity change times can be freely set, such as the preset range of gravity change times can be set to be greater than or equal to 1 time, and different times can correspond to different target processes. Since the gravity change of the magnetic suspension mover when loading / unloading materials is generally 1 time, setting the preset range of gravity change times to at least two times can eliminate the interference of change data that does not meet the preset interaction conditions and avoid misjudgment.

[0057] Among them, the preset gravity variation range can be freely set, such as the preset gravity variation range can be set to be greater than or equal to 0.5N, and different gravity variations can correspond to different target processes. Optionally, the preset gravity variation range can be divided into multiple intervals, and the target processes corresponding to different intervals can be different. For example, gravity variation interval 1 can be greater than or equal to 0.5N and less than 1N, gravity variation interval 2 can be greater than or equal to 1N and less than 1.5N, gravity variation interval 3 can be greater than or equal to 1.5N and less than 2N, and so on. More or fewer intervals can be divided according to actual needs, and no specific limitation is made here.

[0058] The preset gravity change frequency range can be freely set. For example, the preset gravity change frequency range can be set to be greater than or equal to 1 time / second. Different frequencies can correspond to different target processes.

[0059] In a possible embodiment, if the number of gravity changes is within a preset range of gravity changes, the target process corresponding to the number of gravity changes is determined; and / or, if the gravity change amount of each gravity change is within a preset range of gravity change amount, the target process corresponding to the gravity change amount of each gravity change is determined; and / or, if the gravity change frequency is within a preset range of gravity change frequency, the target process corresponding to the gravity change frequency is determined.

[0060] Among them, the above three situations can appear alone or in any combination, and are not limited here.

[0061] Specifically, when the number of gravity changes of the magnetic levitation mover in the first preset time period is within the preset range of gravity changes, the central control system can determine the target process 1 corresponding to the number of gravity changes, and the target process 1 is the process that the user wants the magnetic levitation mover to perform. When the gravity change amount of the magnetic levitation mover is within the preset range of gravity change amount, the central control system can determine the target process 2 corresponding to the gravity change amount. When the gravity change frequency of the magnetic levitation mover is within the preset range of gravity change frequency, the central control system can determine the target process 3 corresponding to the gravity change frequency. When the number of gravity changes of the magnetic levitation mover in the first preset time period is within the preset range of gravity changes, and each gravity change amount is within the preset range of gravity change amount, the central control system can determine the target process 4 corresponding to the number of gravity changes and the gravity change amount, and so on.

[0062] For example, if the user presses the magnetic levitation mover once within 1s to cause a change in gravity of the magnetic levitation mover, the corresponding target process may be to control the magnetic levitation mover to stop moving; if the user presses the magnetic levitation mover twice within 1s, the corresponding target process may be to control the magnetic levitation mover to return to its initial position; if the user presses the magnetic levitation mover once within 1s and the change in gravity is greater than 0.5N, the corresponding target process may be to control the magnetic levitation mover to move to a battery replacement station, and so on.

[0063] In a possible embodiment, the preset interaction condition may include but is not limited to at least one of a preset displacement number range, a preset displacement amount range, a preset displacement direction, and the like.

[0064] The preset displacement times range can be freely set, for example, the preset displacement times range can be set to be greater than or equal to 1 times, and different times can correspond to different target processes.

[0065] Among them, the preset displacement range can be freely set, such as the preset displacement range can be set to be greater than or equal to 2 cm, and different displacements can correspond to different target processes. Optionally, the preset displacement range can be divided into multiple intervals, and the target processes corresponding to different intervals can be different. For example, displacement interval 1 can be greater than or equal to 2 cm and less than 3 cm, displacement interval 2 can be greater than or equal to 3 cm and less than 4 cm, displacement interval 3 can be greater than or equal to 4 cm and less than 5 cm, and so on. More or fewer intervals can be divided according to actual needs, and no specific limitation is made here.

[0066] Among them, the preset displacement direction can be freely set. The displacement direction can be based on the plane of the magnetic levitation stator or the magnetic levitation mover itself, such as dividing the directions by southeast, northwest, front, back, left, right, or vertical / horizontal, which is not limited here. Different displacement directions can correspond to different target processes. In addition, the displacement direction can be a specific direction or an orientation, such as southeast, southwest, etc.

[0067] Among them, the preset interaction conditions may include a preset displacement frequency range. For example, the preset displacement frequency range may be set to be greater than or equal to 1 time / second. Different frequencies may correspond to different target processes, which is not specifically limited here.

[0068] In a possible embodiment, if the number of displacements is within a preset range of displacements, the target process corresponding to the number of displacements is determined; and / or, if the displacement amount of each displacement is within a preset range of displacements, the target process corresponding to the displacement amount of each displacement is determined; and / or, if the displacement direction of each displacement is within a preset displacement direction, the target process corresponding to the displacement direction of each displacement is determined.

[0069] Among them, the above three situations can appear alone or in any combination, and are not limited here.

[0070] Specifically, when the number of displacements of the magnetic levitation mover in the second preset time period is within the preset displacement number range, the central control system can determine the target process 1 corresponding to the number of displacements. When the displacement amount of the magnetic levitation mover is within the preset displacement amount range, the central control system can determine the target process 2 corresponding to the displacement amount. When the displacement direction of the magnetic levitation mover is within the preset displacement direction, the central control system can determine the target process 3 corresponding to the displacement direction. When the number of displacements of the magnetic levitation mover in the second preset time period is within the preset displacement number range, and the displacement amount of each time is within the preset displacement amount range, the central control system can determine the target process 4 corresponding to the number of displacements and the displacement amount. When the displacement amount of the magnetic levitation mover is within the preset displacement amount range, and the displacement direction is within the preset displacement direction, the central control system can determine the target process 5 corresponding to the displacement amount and the displacement direction, and so on.

[0071] For example, if the user pushes the magnetic levitation mover horizontally once within 1 second to cause the magnetic levitation mover to be displaced, the corresponding target process may be to control the magnetic levitation mover to move to the loading position; if the user pushes the magnetic levitation mover horizontally twice within 1 second, the corresponding target process may be to control the magnetic levitation mover to move to the unloading position; if the user pushes the magnetic levitation mover horizontally once within 1 second, and the displacement direction is opposite to the forward direction of the magnetic levitation mover, the corresponding target process may be to control the magnetic levitation mover to return to the initial position, and so on.

[0072] In a possible embodiment, the preset interaction condition may include but is not limited to at least one of a preset rotation number range, a preset rotation angle range, a preset rotation direction, a preset rotation axis direction, and the like.

[0073] The preset range of rotation times can be freely set, for example, the preset range of rotation times can be set to be greater than or equal to 1 time, and different times can correspond to different target processes.

[0074] The preset rotation angle range can be freely set. For example, the preset rotation angle range can be set to be greater than or equal to 5 degrees, such as 5 degrees, 10 degrees, 15 degrees, etc. Different rotation angles can correspond to different target processes. If the magnetic levitation mover rotates around the axis of symmetry, in order to prevent the material on it from tipping over when the magnetic levitation mover rotates, an upper limit value of the rotation angle can be set, such as 30 degrees, 45 degrees, etc.

[0075] The preset rotation direction can be freely set, and the rotation direction can be based on the plane of the magnetic suspension mover as a reference, such as the rotation direction is clockwise / counterclockwise around the symmetry axis of the magnetic suspension mover, or the rotation direction is clockwise / counterclockwise around the vertical axis of the magnetic suspension mover. Different rotation directions can correspond to different target processes.

[0076] The preset rotation axis direction can be freely set, and the rotation axis direction can be based on the plane of the magnetic suspension mover as a reference, such as the rotation axis direction is the extension direction of the symmetry axis of the magnetic suspension mover, or the rotation axis direction is the extension direction of the vertical axis of the magnetic suspension mover; or a three-dimensional coordinate system is established based on the magnetic suspension mover or the magnetic suspension stator, and the preset rotation axis direction can be set to at least one of the z-axis direction, x-axis direction, and y-axis direction in the three-dimensional coordinate system. Different rotation axis directions can correspond to different target processes.

[0077] The preset interaction conditions may also include a force position that triggers the rotation, such as when a user presses any corner of the magnetic levitation mover, different force positions may correspond to different target processes.

[0078] In a possible embodiment, if the number of rotations is within a preset range of the number of rotations, the target process corresponding to the number of rotations is determined; and / or, if the rotation angle is within a preset range of the rotation angle, the target process corresponding to the rotation angle is determined; and / or, if the rotation direction is within a preset rotation direction, the target process corresponding to the rotation direction is determined; and / or, if the rotation axis direction is the preset rotation axis direction, the target process corresponding to the rotation axis direction is determined; and / or, if the force position is within a preset force position range, the target process corresponding to the force position is determined.

[0079] Among them, the above five situations can appear alone or in any combination, and are not limited here.

[0080] Specifically, when the number of rotations of the magnetic levitation mover in the third preset time period is within the preset number of rotations, the central control system can determine the target process 1 corresponding to the number of rotations. When the rotation angle of the magnetic levitation mover is within the preset rotation angle range, the central control system can determine the target process 2 corresponding to the rotation angle. When the rotation direction of the magnetic levitation mover is in the preset rotation direction, the central control system can determine the target process 3 corresponding to the rotation direction. When the rotation axis direction of the magnetic levitation mover is in the preset rotation axis direction, the central control system can determine the target process 4 corresponding to the rotation axis direction. When the force position of the magnetic levitation mover is within the pre-force position range, the central control system can determine the target process 5 corresponding to the force position. When the rotation angle of the magnetic levitation mover is within the preset rotation angle range, and the rotation direction is in the preset rotation direction, the central control system can determine the target process 6 corresponding to the rotation angle and the rotation direction, and so on.

[0081] For example, if the user presses the lower left corner of the magnetic levitation mover once within 1 second to produce rotation, the corresponding target process may be to control the magnetic levitation mover to move to the loading position; if the user presses the lower right corner of the magnetic levitation mover once within 1 second, the corresponding target process may be to control the magnetic levitation mover to move to the unloading position; if the user presses the lower left corner of the magnetic levitation mover once and the rotation angle reaches 5 degrees, the corresponding target process may be to control the magnetic levitation mover to move to the loading position. If the rotation angle is less than 5 degrees, the target process cannot be obtained, and so on.

[0082] In a possible embodiment, the preset interaction condition may include but is not limited to at least one of a preset touch number range, a preset touch point range, and a preset touch position range.

[0083] The preset touch times range can be freely set. For example, the preset touch times range can be set to be greater than or equal to 1 time, and different times can correspond to different target processes.

[0084] The preset touch point range can be freely set, and the preset touch point range can be set to be greater than or equal to 1 touch point, such as single-point interaction or multi-point simultaneous interaction, which is not specifically limited here. In the specific implementation, it is user 1 finger or multi-finger interaction. Different touch points can correspond to different target processes.

[0085] Among them, the preset touch position range can be freely set, for example, the preset touch position range can be set to include preset touch position range 1 as the upper left quarter area of ​​the magnetic levitation mover, preset touch position range 2 as the upper right quarter area of ​​the magnetic levitation mover, preset touch position range 3 as the lower right quarter area of ​​the magnetic levitation mover, preset touch position range 4 as the lower left quarter area of ​​the magnetic levitation mover, etc. More or fewer position ranges can be set according to actual needs, and the specific range is not limited here. Different touch positions can correspond to different target processes.

[0086] In a possible embodiment, if the number of touches is within a preset touch number range, the target process corresponding to the number of touches is determined; and / or, if the number of touch points is within a preset touch point range, the target process corresponding to the number of touch points is determined; and / or, if the touch position is within a preset touch position range, the target process corresponding to the touch position is determined.

[0087] Specifically, when the number of touches of the magnetic levitation mover in the fourth preset time period is within the preset touch number range, the central control system can determine the target process 1 corresponding to the number of touches. When the number of touch points of each touch of the magnetic levitation mover is within the preset touch point range, the central control system can determine the target process 2 corresponding to the touch points. When the touch position of each touch of the magnetic levitation mover is within the preset touch position range, the central control system can determine the target process 3 corresponding to the touch position. When the number of touch points of the magnetic levitation mover is within the preset touch point range, and the touch position is within the preset touch position range, the central control system can determine the target process 4 corresponding to the touch point and touch position, and so on.

[0088] For example, if the user touches the magnetic levitation mover once with a single point within 1 second, the corresponding target process may be to control the magnetic levitation mover to move to the loading position; if the user touches the magnetic levitation mover twice with a single point within 1 second, the corresponding target process may be to control the magnetic levitation mover to move to the unloading position; if the user touches the magnetic levitation mover once with a single point within 1 second, and the touch position is located at the lower left corner of the magnetic levitation, the corresponding target process may be to control the magnetic levitation mover to move to the loading position; if the touch position is located at the lower right corner, the corresponding target process may be to control the magnetic levitation mover to move back to the initial position, etc. It can be understood that when determining the target process corresponding to the change data, the corresponding target process may also be determined based on at least two of the four types of data: gravity change data, displacement data, rotation change data, and touch data, which will not be elaborated here.

[0089] In a possible embodiment, the preset interaction condition may include but is not limited to at least one of a preset intensity variation range and a preset magnetic field direction range.

[0090] The preset interaction condition may also be combined with consideration of a preset number of magnetic field changes and / or a preset magnetic field change frequency per unit time, which is not limited here.

[0091] In a possible embodiment, if the intensity change is within a preset intensity change range, the target process corresponding to the intensity change is determined; or, if the magnetic field direction is within a preset magnetic field direction range, the target process corresponding to the magnetic field direction is determined; or, if the intensity change is within a preset intensity change range and the magnetic field direction is within a preset magnetic field direction range, the corresponding target process is determined based on the intensity change and the magnetic field direction.

[0092] It can be seen that if the change data meets the preset interaction condition, then the target process corresponding to the change data is determined, and an accurate target process can be determined to improve the user experience.

[0093] Step 230: adjust the magnetic field of the magnetic suspension stator so that the magnetic suspension mover performs the target process on the magnetic suspension stator.

[0094] The central control system adjusts the magnetic field size and / or direction of the magnetic suspension stator according to the target process, so that the magnetic suspension stator drives the magnetic suspension mover to execute the corresponding target process according to the adjusted magnetic field.

[0095] It can be understood that the target process includes not only the moving path but also parameters such as the moving speed. The central control system can adjust the magnetic field of the magnetic levitation stator so that the magnetic levitation mover moves on the moving path corresponding to the target process at the moving speed corresponding to the target process.

[0096] Combine the following Figure 3 Another method of human-machine interaction with a magnetic suspension platform mover in an embodiment of the present application is described. Figure 3 A schematic flow chart of another method for human-computer interaction based on a magnetic levitation platform mover provided in an embodiment of the present application specifically includes the following steps:

[0097] Step 310, receiving a voice interaction operation, identifying keywords in the voice and converting them into text key information.

[0098] Specifically, receiving the user's voice interaction operation and identifying the key words in the voice include: identifying the key words in the voice and converting them into text key information.

[0099] Among them, when the digital audio signal is parsed to obtain text information, that is, when the user says "path 1", "path 1" is the text information finally parsed out as the audio information. Similarly, when the user says "incubator", "plate washer", etc., the corresponding text information can also be recognized. The audio information can be other audio information, which is not limited here. When the audio signal is converted into text information, the central control system can parse the text information and obtain the user intention and command direction contained in the text information. Parsing the "path 1" text information allows the central control system to execute the target process corresponding to path 1.

[0100] Step 320: determining a target process corresponding to the text key information according to the text key information and a preset text information interaction condition.

[0101] The interaction conditions of the preset text information are built into the database of the central control system. The interaction conditions of the preset text information in the database include various instructions, such as "path 1", "path 2", "incubator", "plate washer", etc. By judging the interaction conditions of the preset text information, matching the corresponding target process, and then controlling the magnetic suspension mover to move along the moving path to execute the target process.

[0102] Step 330 , adjusting the magnetic field of the magnetic suspension stator so that the magnetic suspension mover performs the target process corresponding to the text key information on the magnetic suspension stator.

[0103] Among them, the moving path can be to a certain location, or it can be to select a certain path. For example, path 1 can be: multi-channel pipette-storage rack-well plate stack. The specific path can be other, which is not limited here. It can be seen that the central control system can also receive the user's voice. The user directly says the moving path or destination of the magnetic levitation mover. The audio information received by the central control system can be converted into text information and matched with the preset target process, which improves the user's interactive experience and improves the experimental efficiency.

[0104] For steps not described in detail above, see Figure 2 The description of the method in will not be repeated here.

[0105] See also Figure 4 , Figure 4 A block diagram of the functional units of a central control system provided in an embodiment of the present application, which is applied to a terminal device, includes:

[0106] The instruction response module 410 is used to determine the change data of the magnetic levitation mover in response to the user's interactive operation on the magnetic levitation mover, where the change data is used to indicate the change of the magnetic levitation mover caused by the interactive operation;

[0107] The instruction matching module 420 determines the target process corresponding to the change data if the change data meets the preset interaction condition;

[0108] The adjustment and control module 430 is used to adjust the magnetic field of the magnetic suspension stator so that the magnetic suspension mover performs the target process on the magnetic suspension stator.

[0109] In a possible embodiment, in terms of determining the change data of the magnetic levitation mover, the instruction response module 410 is specifically used to: determine the gravity change data of the magnetic levitation mover, and the gravity change data includes at least one of the number of gravity changes of the magnetic levitation mover within a first preset time period, the gravity change amount of each gravity change, and the gravity change frequency.

[0110] In a possible embodiment, in terms of determining the change data of the magnetic levitation mover, the instruction response module 410 is specifically used to: determine the displacement data of the magnetic levitation mover, and the displacement data includes at least one of the number of displacements of the magnetic levitation mover along the plane where the magnetic levitation stator is located within a second preset time period, the displacement amount of each displacement, and the displacement direction of each displacement.

[0111] In a possible embodiment, in terms of determining the change data of the magnetic levitation mover, the command response module 410 is specifically used to: determine the rotation change data of the magnetic levitation mover, and the rotation change data includes the number of rotations of the magnetic levitation mover within a third preset time period, the rotation angle of each rotation, the rotation direction, and at least one of the direction of the rotation axis.

[0112] In a possible embodiment, in terms of determining the change data of the magnetic levitation mover, the instruction response module 410 is specifically used to: determine the touch data of the magnetic levitation mover, and the touch data includes at least one of the number of touches received by the magnetic levitation mover within a fourth preset time period, the number of touch points of each touch, and the touch position.

[0113] In a possible embodiment, in terms of determining the change data of the magnetic levitation mover, the instruction response module 410 is specifically used to: determine the magnetic field change data of the magnetic levitation mover, and the magnetic field change data includes the change in intensity and / or magnetic field direction of the magnetic field between the magnetic levitation mover and the magnetic levitation stator.

[0114] In a possible embodiment, the preset interaction condition includes at least one of a preset range of gravity change times, a preset range of gravity change amounts, and a preset range of gravity change frequencies; in terms of determining the target process corresponding to the change data, the instruction response module 420 is specifically used to: if the number of gravity changes is within the preset range of gravity change times, then determine the target process corresponding to the number of gravity changes; and / or, if the gravity change amount of each gravity change is within the preset range of gravity change amounts, then determine the target process corresponding to the gravity change amount of each gravity change; and / or, if the gravity change frequency is within the preset range of gravity change frequencies, then determine the target process corresponding to the gravity change frequency.

[0115] In a possible embodiment, the preset interaction condition includes at least one of a preset displacement number range, a preset displacement amount range, and a preset displacement direction; in terms of determining the target process corresponding to the change data, the instruction response module 420 is specifically used to: if the displacement number is within the preset displacement number range, then determine the target process corresponding to the displacement number; and / or, if the displacement amount of each displacement is within the preset displacement amount range, then determine the target process corresponding to the displacement amount of each displacement; and / or, if the displacement direction of each displacement is within the preset displacement direction, then determine the target process corresponding to the displacement direction of each displacement.

[0116] In a possible embodiment, the preset interaction condition includes at least one of a preset rotation number range, a preset rotation angle size range, a preset rotation direction, and a preset rotation axis direction; in terms of determining the target process corresponding to the change data, the instruction response module 420 is specifically used to: if the rotation number is within the preset rotation number range, determine the target process corresponding to the rotation number; and / or, if the rotation angle size is within the preset rotation angle size range, determine the target process corresponding to the rotation angle size; and / or, if the rotation direction is within the preset rotation direction, determine the target process corresponding to the rotation direction; and / or, if the rotation axis direction is within the preset rotation axis direction, determine the target process corresponding to the rotation axis direction.

[0117] In a possible embodiment, the preset interaction condition includes at least one of a preset touch number range, a preset touch point range, and a preset touch position range; in terms of determining the target process corresponding to the change data, the instruction response module 420 is specifically used to: if the touch number is within the preset touch number range, determine the target process corresponding to the number; and / or, if the touch points are within the preset touch point range, determine the target process corresponding to the touch points; and / or, if the touch position is within the preset touch position range, determine the target process corresponding to the touch position.

[0118] In a possible embodiment, the preset interaction condition includes at least one of a preset intensity change range and a preset magnetic field direction range; in terms of determining the target process corresponding to the change data, the instruction response module 420 is specifically used to: if the intensity change is within the preset intensity change range, determine the target process corresponding to the intensity change; or, if the magnetic field direction is within the preset magnetic field direction range, determine the target process corresponding to the magnetic field direction; or, if the intensity change is within the preset intensity change range and the magnetic field direction is within the preset magnetic field direction range, determine the corresponding target process according to the intensity change and the magnetic field direction.

[0119] It can be seen that through the above-mentioned central control system, the user can directly interact with the magnetic levitation mover through commands. The central control system receives the signal and regulates the magnetic field of the stator, and then controls the mover. The user no longer needs to operate the central control system to control the mover, which greatly improves the user's interactive experience.

[0120] It should be noted that the specific implementation of each operation can adopt the corresponding description of the method embodiment shown above, and the central control system 400 can be used to execute the above method embodiment of the present application, which will not be repeated here.

[0121] Combine the following Figure 5 The central control system in the embodiment of the present application is described. Figure 5 A structural diagram of another central control system provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the central control system 500 includes one or more processors 510, a memory 520, a communication module 530 and one or more programs 521. The processor 510 is communicatively connected with the memory 520 and the communication module 530 via an internal communication bus.

[0122] The one or more programs 521 are stored in the memory 520 and are configured to be executed by the processor 510. The one or more programs 521 include instructions for executing any step in the method embodiment.

[0123] Among them, the processor 510 can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of this application. The processor 510 can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit can be a communication module 530, a transceiver, a transceiver circuit, etc., and the storage unit can be a memory 520.

[0124] The memory 520 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0125] It is understandable that the central control system 500 may include more or fewer structural elements than those in the above structural block diagram, for example, including a power module, a physical button, a Wi-Fi module, a speaker, a Bluetooth module, a sensor, a display module, a voice receiving module, etc., which are not limited here. It is understandable that the central control system 500 can be applied to the terminal device in the embodiment of the present application.

[0126] It can be seen that through the central control system, users can directly interact with the magnetic levitation mover. The central control system receives signals and regulates the magnetic field of the stator, and then controls the mover. Users no longer need to operate the central control system to control the mover, which greatly improves the user's interactive experience.

[0127] It is understandable that in order to realize the above functions, the central control system includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided in this document, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0128] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0129] See also Figure 6 , Figure 6 A block diagram of the functional units of a human-computer interaction system provided in an embodiment of the present application, the human-computer interaction system includes:

[0130] A central control system and a magnetic levitation platform system, wherein the central control system is communicatively connected with the magnetic levitation platform system, the magnetic levitation platform system comprises a magnetic levitation mover and a magnetic levitation stator, the central control system drives the magnetic levitation mover to move on the magnetic levitation stator by controlling the magnetic levitation stator; the central control system is used to determine change data of the magnetic levitation mover in response to an interactive operation on the magnetic levitation mover, the change data being used to indicate changes of the magnetic levitation mover under the interactive operation; the central control system is also used to determine a target process corresponding to the change data if the change data meets a preset interactive condition; the central control system is also used to adjust the magnetic field of the magnetic levitation stator so that the magnetic levitation mover performs the target process on the magnetic levitation stator.

[0131] Among them, the functions and specific implementations of each module in this system can refer to the corresponding description of the method embodiment shown above, and will not be repeated here.

[0132] It should be noted that, for the above-mentioned various embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should be aware that the present application is not limited by the described order of actions, because some steps in the embodiments of the present application can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions, steps, modules or units involved are not necessarily required by the embodiments of the present application.

[0133] In the above embodiments, the embodiments of the present application have different focuses on the description of each embodiment. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0134] The steps of the method or algorithm described in the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, mobile hard disks, read-only compact disks (CD-ROMs) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a terminal device or a management device. Of course, the processor and the storage medium can also be present in a terminal device or a management device as discrete components.

[0135] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiments of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0136] The modules / units included in the devices and products described in the above embodiments may be software modules / units or hardware modules / units, or may be partially software modules / units and partially hardware modules / units. For example, for the devices and products applied to or integrated in the chip, the modules / units included therein may all be implemented in the form of hardware such as circuits, or at least some of the modules / units may be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits; for the devices and products applied to or integrated in the chip module, the modules / units included therein may all be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (such as a chip, circuit module, etc.) or in different components of the chip module, or at least some of the modules / units may be implemented in the form of software programs. The software programs run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits. It is implemented in the form of a software program, which runs on a processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in hardware such as circuits; for various devices and products applied to or integrated in the terminal equipment, the various modules / units contained therein can be implemented in hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or in different components in the terminal equipment, or, at least some modules / units can be implemented in the form of a software program, which runs on a processor integrated inside the terminal equipment, and the remaining (if any) modules / units can be implemented in hardware such as circuits.

[0137] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above description is only the specific implementation method of the embodiments of the present application and is not intended to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A human-computer interaction method based on a magnetic levitation mover, characterized in that, it is applied to a central control system, the central control system is communicatively connected to a magnetic levitation platform system, the magnetic levitation platform system includes a magnetic levitation mover and a magnetic levitation stator, and the central control system drives the magnetic levitation mover to move on the magnetic levitation stator by controlling the magnetic levitation stator; the method includes: responding to an interaction operation on the magnetic levitation mover, determining change data of the magnetic levitation mover, where the change data is used to indicate the changes generated by the magnetic levitation mover under the interaction operation; if the change data meets a preset interaction condition, determining a target process corresponding to the change data; adjusting the magnetic field of the magnetic levitation stator so that the magnetic levitation mover performs the target process on the magnetic levitation stator.

2. The method according to claim 1, characterized in that, the determining the change data of the magnetic levitation mover includes: determining gravity change data of the magnetic levitation mover, where the gravity change data includes at least one of the number of gravity changes of the magnetic levitation mover within a first preset time period, the amount of gravity change for each gravity change, and the gravity change frequency.

3. The method according to claim 1, characterized in that, the determining the change data of the magnetic levitation mover includes: determining displacement data of the magnetic levitation mover, where the displacement data includes at least one of the number of displacements of the magnetic levitation mover along the plane where the magnetic levitation stator is located within a second preset time period, the amount of displacement for each displacement, and the displacement direction for each displacement.

4. The method according to claim 1, characterized in that, the determining the change data of the magnetic levitation mover includes: determining rotation change data of the magnetic levitation mover, where the rotation change data includes at least one of the number of rotations of the magnetic levitation mover within a third preset time period, the magnitude of the rotation angle for each rotation, the rotation direction, and the rotation axis direction.

5. The method according to claim 1, characterized in that, the determining the change data of the magnetic levitation mover includes: determining touch data of the magnetic levitation mover, where the touch data includes at least one of the number of touches received by the magnetic levitation mover within a fourth preset time period, the number of touch points for each touch, and the touch position.

6. The method according to claim 1, characterized in that, the determining the change data of the magnetic levitation mover includes: determining magnetic field change data of the magnetic levitation mover, where the magnetic field change data includes the amount of change in the magnetic field strength and / or the magnetic field direction between the magnetic levitation mover and the magnetic levitation stator.

7. The method according to claim 2, characterized in that, the preset interaction condition includes at least one of a preset range of the number of gravity changes, a preset range of the amount of gravity change, and a preset range of the gravity change frequency; the if the change data meets the preset interaction condition, then determining the target process corresponding to the change data includes: if the number of gravity changes is within the preset range of the number of gravity changes, determining the target process corresponding to the number of gravity changes; And / or, if the amount of gravity change for each gravity change is within the preset range of gravity change amounts, determine the target process corresponding to the amount of gravity change for each gravity change; and / or, if the gravity change frequency is within the preset range of gravity change frequencies, determine the target process corresponding to the gravity change frequency.

8. The method according to claim 3, wherein, the preset interaction conditions include at least one of a preset range of displacement times, a preset range of displacement amounts, and a preset displacement direction; the step of determining the target process corresponding to the change data if the change data meets the preset interaction conditions includes: if the number of displacements is within the preset range of displacement times, determine the target process corresponding to the number of displacements; and / or, if the displacement amount for each displacement is within the preset range of displacement amounts, determine the target process corresponding to the displacement amount for each displacement; and / or, if the displacement direction for each displacement is within the preset displacement direction, determine the target process corresponding to the displacement direction for each displacement.

9. The method according to claim 4, wherein, the preset interaction conditions include at least one of a preset range of rotation times, a preset range of rotation angle magnitudes, a preset rotation direction, and a preset rotation axis direction; the step of determining the target process corresponding to the change data if the change data meets the preset interaction conditions includes: if the number of rotations is within the preset range of rotation times, determine the target process corresponding to the number of rotations; and / or, if the rotation angle magnitude is within the preset range of rotation angle magnitudes, determine the target process corresponding to the rotation angle magnitude; and / or, if the rotation direction is within the preset rotation direction, determine the target process corresponding to the rotation direction; and / or, if the rotation axis direction is within the preset rotation axis direction, determine the target process corresponding to the rotation axis direction.

10. The method according to claim 5, wherein, the preset interaction conditions include at least one of a preset range of touch times, a preset range of touch point numbers, and a preset touch position range; the step of determining the target process corresponding to the change data if the change data meets the preset interaction conditions includes: if the number of touches is within the preset range of touch times, determine the target process corresponding to the number of touches; and / or, if the number of touch points is within the preset range of touch point numbers, determine the target process corresponding to the number of touch points; and / or, if the touch position is within the preset touch position range, determine the target process corresponding to the touch position.

11. The method according to claim 6, wherein, the preset interaction conditions include at least one of a preset range of intensity change amounts and a preset magnetic field direction range; the step of determining the target process corresponding to the change data if the change data meets the preset interaction conditions includes: If the intensity change amount is within the preset intensity change amount range, determine the target process corresponding to the intensity change amount; or, if the magnetic field direction is within the preset magnetic field direction range, determine the target process corresponding to the magnetic field direction; or, if the intensity change amount is within the preset intensity change amount range and the magnetic field direction is within the preset magnetic field direction range, determine the corresponding target process according to the intensity change amount and the magnetic field direction.

12. A central control system Characterized in that It includes: An instruction response module, configured to respond to an interaction operation on the magnetic levitation mover, and determine change data of the magnetic levitation mover, where the change data is used to indicate the change generated by the magnetic levitation mover under the interaction operation; An instruction matching module, if the change data meets a preset interaction condition, determine the target process corresponding to the change data; An adjustment control module, configured to adjust the magnetic field of the magnetic levitation stator so that the magnetic levitation mover performs the target process on the magnetic levitation stator.

13. A central control system Characterized in that It includes: A memory and a processor, the memory stores a computer program and one or more programs; the one or more programs are stored in the memory and are configured to be executed by the processor, and it is characterized in that: when the processor executes the computer program, the steps of the method according to any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium, on which a computer program is stored Characterized in that The computer storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 11.

15. A human-computer interaction system Characterized in that It includes: A central control system and a magnetic levitation platform system, the central control system is communicatively connected to the magnetic levitation platform system, the magnetic levitation platform system includes a magnetic levitation mover and a magnetic levitation stator, and the central control system drives the magnetic levitation mover to move on the magnetic levitation stator by controlling the magnetic levitation stator; The central control system is configured to respond to an interaction operation on the magnetic levitation mover, and determine change data of the magnetic levitation mover, where the change data is used to indicate the change generated by the magnetic levitation mover under the interaction operation; The central control system is further configured to, if the change data meets a preset interaction condition, determine the target process corresponding to the change data; The central control system is further configured to adjust the magnetic field of the magnetic levitation stator so that the magnetic levitation mover performs the target process on the magnetic levitation stator.

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