Mobile object control method and device

Abstract

The examples of the present invention provide a mobile object control method and device. When it is detected that there has been an abnormality in a work state parameter of a user, a movement plan for inducing said user is identified, and a mobile object ridden by the user is controlled so as to execute the identified movement plan. This being the case, this method of inducement that makes use of movement by the mobile object is more novel, and the user can be given appropriate, effective inducement because a suitable movement plan can be identified in accordance with an adjustment amount for the work state parameter. It is also possible to provide inducement at an appropriate timing because the movement plan is identified and the mobile object is caused to move when it has been detected that there has been an abnormality in the work state parameter of the user. This makes it possible to control the work state parameter of the user to within an appropriate range, and makes it possible to restore or improve the user's work efficiency or to restore or improve efficiency of other activities by the user.

Description

[Technical field]

[0001] The present invention relates to the field of control, and in particular to a method and device for controlling a moving object. [Background technology]

[0002] When a user performs work or other activities in a specific area for a long period of time, the user's work state parameter is likely to become abnormal, which affects the progress of the work or other activities. For example, the work state parameter may be concentration.

[0003] In addition, in today's indoor office environment, employees mostly work in a specific area. The relationship between employee's work efficiency and concentration can usually be explained by the Yerkes-Dodson Law. In other words, if concentration is too low or too high, work efficiency will decrease, but only when concentration is at an appropriate level can work efficiency be optimized.

[0004] As a method for improving the efficiency of a user's work or other activities, the prior art typically involves adjusting work state parameters, such as the user's concentration, by providing stimuli to the user through sound, lighting, smell, vibration, or other physical stimuli using devices in the user's area.

[0005] Patent Document 1 (JP 2019-016028 A) discloses a method for controlling a user's concentration by controlling a vibration device that functions on different parts of the human body in the seat. By providing vibration stimulation to the driver of a vehicle using a vibration device that functions on the back, neck, lower back, buttocks, and inner thighs, the driver can be in a state of appropriate concentration when switching between automatic and manual driving of the vehicle.

[0006] Patent Document 2 (JP Patent Publication 2018-070029A) discloses a method for improving concentration on manual driving. When switching from an autonomous driving mode to a manual driving mode, the driver is given operational instructions and stimuli such as taste, hearing, touch, and sight, thereby enabling the driver to concentrate on manual driving of the vehicle.

[0007] Patent Document 3 (JP Patent Publication No. 5741484) discloses a method for controlling the depth of sleep of the driver. Information such as driving trajectory information, road conditions, and noise outside the vehicle is detected, and based on the information, a stimulating device such as a speaker or a lighting device is controlled, and an appropriate physical stimuli is given to the driver, thereby controlling the depth of sleep of the driver.

[0008] It should be noted that the above technical background introduction is merely provided for the convenience of providing a clearer and more complete description of the technical solution of the present invention, and for the convenience of those skilled in the art to easily understand it, and the mere mention in the background of the present invention does not necessarily mean that the above technical solution is known to those skilled in the art. Summary of the Invention

[0009] However, the inventor has found the following problems. In these conventional methods, the means of providing a stimulus to the user are simpler, and the duration of the resulting stimulating effect is short. Since the types of stimuli provided are limited, once the user becomes accustomed to them, the effect of improving concentration due to the stimuli is greatly reduced. In addition, the timing at which the stimuli are provided by these conventional methods is not necessarily the timing at which the user needs the stimuli, so even if a stimuli is provided, it may not be very effective.

[0010] In order to solve at least one of the above problems, an embodiment of the present invention provides a mobile object control method and device, and when an abnormality is detected in a user's work state parameter, a movement plan for stimulating the user is identified, and the mobile object carrying the user is controlled to execute the identified movement plan. In this way, the stimulation method utilizing the movement of the mobile object is more novel, and an appropriate movement plan can be identified according to the adjustment amount of the work state parameter, so that an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameter, a movement plan can be identified and the mobile object can be moved, so that a stimulation can be given at an appropriate timing. As a result, the user's work state parameter can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0011] In a first aspect of an embodiment of the present invention, a method for controlling a moving object is provided, which includes a step of identifying a movement plan for stimulating a user when an abnormality is detected in a work state parameter of the user, and a step of controlling a moving object carrying the user to execute the identified movement plan.

[0012] In a second aspect of an embodiment of the present invention, a mobile body control device is provided, which includes an identification means for identifying a travel plan to stimulate a user when an abnormality is detected in a user's work state parameters, and a control means for controlling a mobile body carrying the user to execute the identified travel plan.

[0013] In a third aspect of the embodiment of the present invention, a mobile body is provided that includes a mobile body control device described in the second aspect of the embodiment of the present invention, a loading means for carrying at least one user, and a moving means that is linked to the loading means so as to move together and is controlled by the mobile body control device to execute the identified moving plan.

[0014] In a fourth aspect of the embodiment of the present invention, there is provided a server including the mobile object control device according to the second aspect of the embodiment of the present invention.

[0015] In a fifth aspect of the embodiment of the present invention, there is provided an office system including at least one mobile object according to the third aspect of the embodiment of the present invention.

[0016] In a sixth aspect of the embodiment of the present invention, there is provided an office system including a server according to the fourth aspect of the embodiment of the present invention and at least one mobile body, the mobile body comprising a transportation means for carrying at least one user, and a transportation means that links the transportation means to move together and is controlled by the server to execute the identified transportation plan.

[0017] One of the beneficial effects of the embodiment of the present invention is as follows: When an abnormality is detected in the work state parameters of the user, a movement plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified movement plan. In this way, an appropriate and effective stimulation can be given to the user, and when an abnormality is detected in the work state parameters of the user, the stimulation can be given at an appropriate time to move the moving body. As a result, the work state parameters of the user can be controlled within an appropriate range, and the work efficiency of the user can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0018] With reference to the following description and drawings, particular embodiments of the present invention are disclosed in detail and the principles of the present invention are illustrated in practice. It is to be understood that the embodiments of the present invention are not limited thereto, and that the embodiments of the present invention encompass many alterations, modifications and equivalents within the spirit and scope of the appended claims.

[0019] Characteristic information described and shown in one embodiment may be used in the same or similar manner in one or more other embodiments, may be combined with features of the other embodiments, or may be used in place of characteristic information of the other embodiments.

[0020] It should be emphasized that the term "comprises" is used in the present text to indicate the presence of one or more other features, integral elements, steps or components, but does not exclude the presence or addition of one or more other features, integral elements, steps or components. [Brief description of the drawings]

[0021] Many aspects of the present invention can be better understood with reference to the following attached drawings. The components shown in the attached drawings are not drawn to scale, but are merely for illustrating the principles of the present invention. For convenience in expressing and describing the various parts of the present invention, the corresponding parts in the attached drawings may be enlarged or reduced in size. Elements or feature information shown in one attached drawing or one embodiment of the present invention may be combined with elements or feature information shown in one or more other attached drawings or embodiments. In addition, in the attached drawings, similar reference numerals indicate corresponding elements in several attached drawings and may also indicate corresponding elements used in one or more embodiments. [Figure 1] 1 is a schematic diagram of a moving object control method according to a first embodiment of the present invention. [Diagram 2] 1 is a schematic diagram of a moving body in a first embodiment of the present invention. [Diagram 3] FIG. 2 is a schematic diagram of a method for implementing step 101 in embodiment 1 of the present invention. [Figure 4] FIG. 2 is a schematic diagram of a method for determining whether there is an abnormality in the work state parameters of the user in the first embodiment of the present invention; [Diagram 5] FIG. 2 is a schematic diagram of a method for identifying an adjustment amount of a work state parameter of the user in the first embodiment of the present invention; [Figure 6] FIG. 2 is a schematic diagram of a method for identifying a movement plan in the first embodiment of the present invention; [Figure 7] FIG. 6 is a schematic diagram of a method for implementing step 601. [Figure 8] FIG. 2 is a schematic diagram for defining a movement operation in the first embodiment of the present invention. [Figure 9] FIG. 2 is a schematic diagram for explaining the principle of some typical movement schemes and body sensation stimulation in the first embodiment of the present invention. [Figure 10] FIG. 2 is a schematic diagram of all candidate moving plans derived from feasible moving actions in the first embodiment of the present invention. [Figure 11] FIG. 11 is another schematic diagram of all moving plan candidates derived from feasible moving actions in Example 1 of the present invention. [Figure 12] 4 is a flowchart of a moving object control method according to the first embodiment of the present invention. [Figure 13] 5 is another flowchart of the moving object control method in the first embodiment of the present invention. [Figure 14] FIG. 11 is a schematic diagram of a moving object control device according to a second embodiment of the present invention. [Figure 15] FIG. 11 is a schematic diagram of a specifying means in the second embodiment of the present invention. [Figure 16] FIG. 11 is a schematic diagram of a first specifying means in Example 2 of the present invention. [Figure 17] FIG. 11 is a schematic diagram of a second specifying means in the second embodiment of the present invention. [Figure 18] FIG. 11 is a schematic diagram of a third specifying means in the second embodiment of the present invention. [Figure 19] FIG. 11 is a schematic diagram of a seventh specifying means in the second embodiment of the present invention. [Figure 20] FIG. 11 is a schematic diagram of a moving body according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0023] <Example 1> A first embodiment of the present invention provides a mobile object control method. Figure 1 is a schematic diagram of the mobile object control method in the first embodiment of the present invention. As shown in Figure 1, the method includes the following steps:

[0024] Step 101: When an abnormality is detected in a user's working state parameter, a movement plan for stimulating the user is identified; and Step 102: Controlling a vehicle carrying the user to execute the identified travel plan.

[0025] Thus, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, an appropriate and effective stimulation can be provided to the user, and the stimulation can be provided at an appropriate time to move the moving body when an abnormality is detected in the user's work state parameters. This allows the user's work state parameters to be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities performed by the user can be restored or improved.

[0026] In an embodiment of the present invention, the method is used to control the movement of a moving object control device. The moving object may be any type of moving object capable of carrying at least one user. For example, the moving object may be a seat. However, in an embodiment of the present invention, the type or variety of the moving object is not limited.

[0027] Fig. 2 is a schematic diagram of a moving body in the first embodiment of the present invention. As shown in Fig. 2, the moving body 200 includes a carrying means 201 for carrying at least one user 300 and a moving means 202 for interlocking the carrying means 201 so as to move together, and the moving means 202 executes the identified moving plan by being controlled by the moving body control device 100 shown in Fig. 1. For example, the moving means 202 includes at least one motor for driving the moving means.

[0028] In an embodiment of the present invention, the carriage means 201 has a space capable of carrying at least one user, and the moving means 202 has, for example, a plurality of rotatable and turnable wheels and a driving member for driving the rotation and turning of those wheels.

[0029] In an embodiment of the present invention, the method may be performed by the mobile entity itself or by a remote server, for example a server of a cloud terminal.

[0030] When the method is executed by a server, for example, the server generates a control signal for executing a movement plan, and then transmits the control signal to the mobile body to cause the mobile body to execute the movement plan.

[0031] In an embodiment of the present invention, the movement plan for stimulating the user is a movement plan for a moving object carrying the user, and an appropriate stimulus is given to the user by the movement of the moving object.

[0032] In an embodiment of the present invention, the user's working state parameters include, for example, the user's concentration, emotional parameters, or fatigue level.

[0033] In the embodiment of the present invention, the working state parameter is specifically described as concentration. Other types of parameters may be implemented in a similar manner. The embodiment of the present invention is not limited to the specific parameter type of the working state parameter.

[0034] 3 is a schematic diagram of a method for implementing step 101 in embodiment 1 of the present invention. As shown in FIG. 3, the method includes the following steps:

[0035] Step 301: Identifying whether or not there is an abnormality in a user's work state parameter according to a result of detection of the user's work state parameter; Step 302: when there is an abnormality in the work state parameter of the user, determining an adjustment amount of the work state parameter of the user according to the abnormality of the work state parameter of the user; and Step 303: Identifying a movement plan for a moving object carrying the user according to the identified adjustment amount of the work state parameter of the user.

[0036] In step 301, whether or not there is an abnormality in the work state parameter of the user is determined according to the result of detection of the work state parameter of the user. The detection of the work state parameter of the user may be realized by various sensors. These sensors may be provided on the mobile body, or some sensors may be provided on the mobile body and other sensors may be provided at appropriate positions in the area where the mobile body is located.

[0037] In an embodiment of the present invention, the detection of the work state parameters of the user may be performed continuously. For example, the detection of the work state parameters of the user may be performed continuously while the user is riding on the vehicle.

[0038] In an embodiment of the present invention, a plurality of sensors may collect user biometric information to determine the detection result of the working state parameter of the user, and the user biometric information may include at least one of the following: facial expression, movement, posture, heart rate, and respiratory rate of the user.

[0039] For example, the user's facial expressions, movements, posture, heart rate, breathing rate, etc. may be collected using sensors such as a face detection camera, a movement detection camera, a sitting position detection sensor, a heart rate sensor, and a breathing rate sensor.

[0040] 4 is a schematic diagram of a method for determining whether there is an abnormality in the working state parameters of the user in the first embodiment of the present invention. As shown in FIG. 4, the method includes the following steps:

[0041] Step 401: Identifying a value of a working state parameter of a user from the collected user biometric information; and Step 402: Comparing the value of the work state parameter of the user with a normal range of the work state parameter of the user, and if the value of the work state parameter of the user is within the normal range, determining that the work state parameter of the user is normal, and if the work state parameter of the user is outside the normal range, determining that there is an abnormality in the work state parameter of the user.

[0042] In step 401, for example, a numerical value of a work state parameter of the user is determined based on at least one of the collected facial expression, movement, posture, heart rate, and respiration rate of the user. This step may be realized by training a model. For example, a model based on a convolutional neural network (CNN) is trained, and at least one of the collected facial expression, movement, posture, heart rate, and respiration rate of the user is input to the model, and the numerical value of the work state parameter of the user is output from the model.

[0043] An example of the user's concentration will be described below. For example, the user's concentration may be expressed as a value between 0 and 100. A higher value indicates a higher level of concentration, whereas a lower value indicates a lower level of concentration.

[0044] In step 402, the value of the working state parameter of the user is compared with the normal range of the working state parameter of the user to identify whether the user is currently in an abnormal state of the working state parameter.

[0045] In an embodiment of the present invention, the normal range of the user's work state parameter may be determined in advance. For example, the normal range of the user's work state parameter may be determined by at least one of the user's attribute information, work information, and first environment information. In this way, the normal range of the work state parameter is set by combining various information including the user's attribute information, and different normal ranges of the work state parameter are set based on the characteristics and other information of each user, thereby ensuring the accuracy of determining whether the work state parameter is abnormal, and further ensuring the appropriateness and necessity of providing stimuli.

[0046] For example, the user's attribute information includes at least one of the user's age, gender, height, weight, lifestyle, wearing habits, and personal habitual actions, the user's work information includes at least one of the user's occupation, job function, years of employment, working hours, and work schedule, and the first environmental information includes at least one of weather conditions, air quality, and surrounding environmental conditions of the mobile object.

[0047] For example, the normal range of concentration may be set to 50 to 70 by combining the user's gender, age, and current work task information. For example, if the current concentration value of the user is identified as 35 or 90, the concentration of the user is considered to be abnormal.

[0048] In step 302, if there is an abnormality in the work state parameter of the user, an adjustment amount of the work state parameter of the user is specified according to the abnormality in the work state parameter of the user.

[0049] 5 is a schematic diagram of a method for identifying an adjustment amount of a user's working state parameter in the first embodiment of the present invention. As shown in FIG. 5, the method includes the following steps:

[0050] Step 501: Calculating the difference between the value of the working state parameter of the user and the upper limit of the normal range of the working state parameter of the user, and the difference between the value of the working state parameter of the user and the lower limit of the normal range of the working state parameter of the user; and Step 502: Identifying an adjustment amount for the user's work state parameter based on the difference.

[0051] An example will be given using the user's concentration. For example, if the user's current concentration value is 35 and the normal range of the user's concentration is 50 to 70, the difference between the current concentration value 35 and the lower limit of the normal range, 50, is 15, and the difference between the upper limit of the normal range, 70, is 35. Then, based on the values ​​15 and 35, the adjustment amount of the user's concentration is identified.

[0052] For example, the adjustment amount may be any one numerical value within a range of 15 to 35. For example, the adjustment amount may be 20.

[0053] In other words, by determining the adjustment amount of the work state parameter of the user based on the normal range of the work state parameter, the adjusted work state parameter is within the normal range of the work state parameter or approaches the normal range of the work state parameter. In the embodiment of the present invention, the specific calculation method is not limited.

[0054] In step 203, a movement plan for the moving object carrying the user is identified according to the amount of adjustment of the identified work state parameter of the user.

[0055] In an embodiment of the present invention, the movement plan may include at least one motion, and the motion may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.

[0056] In an embodiment of the present invention, first, all candidate movement plans that the moving entity can execute are identified, i.e., a set of candidate movement plans is identified, and it is possible to select from the set based on the adjustment amount.

[0057] 6 is a schematic diagram of a method for identifying a movement plan in the first embodiment of the present invention. As shown in FIG. 6, the method includes the following steps:

[0058] Step 601: Identifying a set of candidate movement plans for the moving object and an adjustment amount of an operation state parameter corresponding to each candidate movement plan in the set; and Step 602: According to an adjustment amount of the working state parameter of the user, selecting a candidate movement plan in the set corresponding to the adjustment amount as an identified movement plan.

[0059] In this way, by selecting from all possible candidate movement plans based on the adjustment amount, a suitable movement plan can be identified from a larger selectable range, and the effect of controlling the user's work state parameters within an appropriate range is ensured.

[0060] In the embodiment of the present invention, "a candidate moving plan corresponding to the adjustment amount" means that the adjustment amount of the candidate moving plan is equal to or close to the adjustment amount.

[0061] Similarly, in an embodiment of the present invention, each candidate movement plan in the set may include at least one possible movement action, and the movement action may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.

[0062] Alternatively, in an embodiment of the present invention, a travel plan for the moving object carrying the user may be directly determined according to the determined adjustment amount of the working state parameter of the user. For example, the travel plan may be determined by selecting or combining a plurality of possible travel actions according to the determined adjustment amount.

[0063] In step 601, a set of candidate movement plans for the moving object and an adjustment amount of the working state parameter corresponding to each candidate movement plan in the set are identified. Figure 7 is a schematic diagram of a method for implementing step 601. As shown in Figure 7, the method includes the following steps:

[0064] Step 701: Identifying all candidate movement plans for the moving object based on second environment information and state information of the moving object; and Step 702: Identifying an adjustment amount of the work state parameter corresponding to each of the candidate movement plans according to an adjustment amount of the work state parameter corresponding to the executable movement action included in each of the candidate movement plans.

[0065] For example, the second environmental information includes at least one of obstacles surrounding the moving body and map information of the area where the moving body is located, and the status information of the moving body includes at least one of the remaining power of the moving body, the remaining distance that the moving body can travel, the operating status of the moving body, and malfunction information.

[0066] Then, by combining environmental information and state information of the moving object, all candidate travel plans for the moving object can be identified, thereby obtaining all travel plans that are feasible and likely to be realized.

[0067] In step 702, the adjustment amount of the work state parameter corresponding to each candidate travel plan is determined according to the adjustment amount of the work state parameter corresponding to the executable travel action included in each candidate travel plan. For example, a plurality of executable travel actions are set in advance, and the adjustment amount of the work state parameter that may be brought about by the executable travel action is also determined. After the adjustment amount of the work state parameter of the action included in the candidate travel plan is superimposed, the adjustment amount of the work state parameter corresponding to the candidate travel plan is obtained.

[0068] In an embodiment of the present invention, the amount of adjustment of the task state parameters that each action may bring about may be estimated by medical experience and / or artificial intelligence algorithms that have undergone deep learning.

[0069] The following provides a specific example.

[0070] In an embodiment of the present invention, each candidate movement plan and a movement plan selected from the candidate movement plans includes at least one movement, which may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.

[0071] For example, each candidate travel plan and a travel plan selected from the candidate travel plans may be one executable travel action or a combination of multiple executable travel actions, for example, multiple travel actions may be combined in a certain order.

[0072] In the embodiment of the present invention, first, each moving operation is defined. Fig. 8 is a schematic diagram for defining a moving operation in the embodiment 1 of the present invention. As shown in Fig. 8, in a polar coordinate system defined with the center of the moving body 200 as the origin O, the target displacement coordinate of the moving body may be defined as (d, θ). By combining the acceleration a of the moving body and the acceleration action time t, the moving operation may be defined as p(d, θ, a, t) as a function of d, θ, a, and t.

[0073] The set of all executable movement actions may be denoted by P = {p1, p2, ..., pn}, where n is an integer and n >= 1. Furthermore, the set of candidate movement plans may be defined as ACT(P) = {act = s1s2 ... sm | sm ∈ P, m >= 1}, where a movement plan act = s1s2 ... sm denotes an action plan in which movement actions are executed in the order s1, s2, ..., sm, where m >= 1, and each movement action belongs to the set P of executable movement actions.

[0074] The concentration adjustment amount corresponding to each candidate movement plan may be regarded as a function of the candidate movement plan, and is defined as (act). The somatic stimulus effect generated when the moving body executes the specified movement plan may be divided into two types: a "stimulus brought about during the movement" and a "stimulus brought about at the destination of the movement."

[0075] 9 is a schematic diagram for explaining the principle of some typical movement plans and body sensory stimuli in the first embodiment of the present invention. Using the association between the movement plan and the human body body sensory stimuli and the association between the body sensory stimuli and the change in concentration, it is possible to calculate (act).

[0076] In an embodiment of the present invention, all candidate movement plans for the moving object are identified from the second environment information and the state information of the moving object. For example, each executable action and an adjustment amount of the work state parameter that can be brought about by the second environment information and the state information of the moving object are identified from the second environment information and the state information of the moving object, and all candidate movement plans and an adjustment amount of the work state parameter that can be brought about by each candidate movement plan are identified according to each executable action.

[0077] For example, a laser radar in the moving body is used to measure the range within which the moving body can move, and the acceleration and driving time that can be provided by driving the motor are calculated from the remaining power, and then the feasible moving actions and all the candidate moving plans identified by them are obtained.

[0078] Fig. 10 is a schematic diagram of all candidate movement plans derived from the feasible movement actions in the first embodiment of the present invention. As shown in Fig. 10, each of the feasible movement actions corresponds to a concentration adjustment amount that can be brought about by each of the feasible movement actions, and by combining each of the feasible movement actions, all of the candidate movement plans and the concentration adjustment amount that can be brought about by each of the feasible movement actions can be identified.

[0079] For example, if the normal range of a user's concentration is 50 to 70, by detecting the concentration, the current concentration value of the user is identified as 36. As can be seen from a comparison with each candidate movement plan shown in FIG. 9, by "accelerating forward and then accelerating backward three times in a row" (the concentration adjustment amount is +15), the concentration value of the user can be quickly adjusted to be within the normal range. Therefore, the candidate movement plan is selected as the identified movement plan.

[0080] Furthermore, for example, by detecting the concentration level, it is identified that the current concentration level of the user is 82. As can be seen from a comparison with each candidate movement plan shown in FIG. 10, the concentration level of the user can be quickly adjusted to a value approaching the normal range by "rotating to an angle where it is difficult for people to see" (the concentration adjustment amount becomes -10). Therefore, this candidate movement plan is selected as the identified movement plan.

[0081] In the embodiment of the present invention, the moving body can move freely, or the moving body can move on a fixed rail.

[0082] For example, when a user is riding on a moving object moving at a constant speed along a certain rail, the moving object is moving along a pre-planned rail, and the acceleration can be adjusted and the duration of the acceleration can be set. If it is determined from the result of the detection of the work state parameters that the user has an abnormality, the executable moving action may be represented by a function p'(a,t) of the acceleration a and the acceleration action time t.

[0083] Fig. 11 is another schematic diagram of all candidate moving plans derived from the feasible moving actions in the first embodiment of the present invention. As shown in Fig. 11, the feasible actions are acceleration or deceleration, and all candidate moving plans are identified according to different feasible actions. By controlling the moving body to accelerate or decelerate, and controlling the acceleration / deceleration time, an effect of increasing or decreasing concentration can be obtained.

[0084] In an embodiment of the present invention, as shown in FIG. 1, the method may further include the following steps:

[0085] Step 103: After controlling the moving object to execute the identified moving plan, determine whether the user's working state parameters have been restored normally according to the detection result for the user's working state parameters.

[0086] If the work state parameters of the user are not restored normally, the movement plan is re-specified and the moving body is controlled to execute the specified movement plan until the work state parameters of the user are restored normally. In other words, steps 101 to 102 are repeatedly executed until the work state parameters of the user are restored normally.

[0087] Then, based on the value of the adjusted working state parameter, it can be checked whether the expected adjustment effect is achieved, and if not, the adjustment will be continued, thereby ensuring that the user's working state parameter is controlled within an appropriate range.

[0088] In an embodiment of the present invention, "when the work state parameter of the user is not restored normally" refers to, for example, when the numerical value of the work state parameter of the user is outside the normal range of the work state parameter of the user, or when the numerical value of the work state parameter is approaching the normal range of the work state parameter of the user.

[0089] In an embodiment of the present invention, step 103 is an optional step.

[0090] 12 is a flowchart of a moving object control method in the first embodiment of the present invention. As shown in FIG. 12, the method includes the following steps.

[0091] Step 1201: Determine whether there is an abnormality in the working state parameters of the user, for example, based on the detection result of the working state parameters of the user. If the result of the determination is "YES", proceed to step 1202, but if the result of the determination is "NO", return to step 1201; Step 1202: Identifying an adjustment amount of the work state parameter of the user according to the abnormality of the work state parameter of the user; Step 1203:: Identifying a movement plan for a moving object carrying the user according to the identified adjustment amount of the work state parameter of the user; Step 1204: Controlling the moving object to execute the identified moving plan; Step 1205: Determine whether the user's working state parameters have been restored normally, for example, based on the detection results for the user's working state parameters. If the result of the determination is "YES", terminate the process, but if the result of the determination is "NO", return to step 1202.

[0092] In the embodiment of the present invention, the specific implementation method of steps 1201 to 1205 may be implemented by referring to each step in Fig. 1. The description will be omitted here.

[0093] In an embodiment of the present invention, after identifying a travel plan for the mobile body carrying the user, the identified travel plan can be presented to the user, and whether or not to control the mobile body to execute the identified travel plan is identified according to the result of the user's selection, and when there are multiple identified travel plans, the travel plan to be executed by controlling the mobile body is identified. In addition, after controlling the mobile body to execute the identified travel plan, feedback information from the user can be obtained, and the feedback information can be used to train a specific method for the travel plan for the mobile body carrying the user.

[0094] Thus, the travel plan is executed after the user confirms or selects it, thereby further improving the user experience. Moreover, the feedback information from the user is used to train a specific method for the travel plan of the vehicle carrying the user, thereby improving the accuracy of identifying the travel plan, thereby further improving the effectiveness of the travel plan for adjusting the working state parameters.

[0095] 13 is another flowchart of the moving object control method in the first embodiment of the present invention. As shown in FIG. 13, the method includes the following steps.

[0096] Step 1301: Determine whether there is an abnormality in the working state parameters of the user, for example, based on the detection result of the working state parameters of the user. If the result of the determination is "YES", proceed to step 1202, but if the result of the determination is "NO", return to step 1301; Step 1302: Identifying an adjustment amount of the work state parameter of the user according to the abnormality of the work state parameter of the user; Step 1303: Identifying a movement plan for a moving object carrying the user according to the identified adjustment amount of the work state parameter of the user; Step 1304: Presenting the identified travel proposal to a user; Step 1305: Determine whether the result of the user's selection is a movement plan to be executed, and if the result of the determination is "YES", proceed to step 1306, but if the result of the determination is "NO", end the process; Step 1306: Identifying a travel proposition as a result of the user selection; Step 1307: Controlling the moving object to execute the movement plan; Step 1308: Obtaining feedback information from the user; and Step 1309: Providing the feedback information to step 1303 to train a particular strategy for the movement proposition.

[0097] In an embodiment of the present invention, the steps of presenting the identified travel suggestions to the user and using the feedback information from the user to train a specific method for travel suggestions for the vehicle carrying the user may be performed at an early stage of use of the method. After a large amount of feedback information has been accumulated, the method may be performed without presenting the identified travel suggestions to the user and without requesting feedback from the user, with reference to the steps shown in FIG. 11.

[0098] In an embodiment of the present invention, in order to present the identified travel plan to the user, for example, the travel plan may be transmitted to a display screen of the mobile body or a mobile terminal used by the user. The user may use the display screen of the mobile body or the mobile terminal to provide feedback on information, and the feedback information from the user may be, for example, "no change", "improved concentration", or "relaxed".

[0099] In an embodiment of the present invention, the moving body may carry two or more users. When the moving body carries two or more users, the moving body may set priorities for these users in advance, detect the working state parameters of these users, and determine the values ​​of the working state parameters according to the weights of the priorities, thereby determining a travel plan.

[0100] In an embodiment of the present invention, the shape of the vehicle may be variable, for example the vehicle may be capable of allowing a user riding on it to switch between a standing and sitting position.

[0101] In an embodiment of the present invention, for example, the moving body may provide different stimuli to the user when rotating clockwise or counterclockwise.

[0102] As can be seen from the above embodiment, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, the stimulation method utilizing the movement of the moving body is more novel, and since an appropriate travel plan can be identified according to the adjustment amount of the work state parameters, an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameters, a travel plan is identified and the moving body is moved, so that a stimulation can be given at an appropriate time. As a result, the user's work state parameters can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0103] <Example 2> Example 2 of the present invention provides a mobile object control device corresponding to the mobile object control method described in Example 1, and for specific implementation thereof, reference may be made to the implementation of the method described in Example 1, and explanations of the same or related contents will be omitted.

[0104] FIG. 14 is a schematic diagram of a mobile object control device in the second embodiment of the present invention. As shown in FIG. 14, the mobile object control device 1400 includes: A determination means 1401 for determining a movement plan for stimulating the user when an abnormality is detected in the working state parameter of the user; and The vehicle is provided with a control means 1402 for controlling a vehicle carrying the user to execute the identified travel plan.

[0105] FIG. 15 is a schematic diagram of a determination unit in the second embodiment of the present invention. As shown in FIG. 15, the determination unit 1401 includes: A first determination means 1501 for determining whether or not there is an abnormality in the work state parameter of the user according to a result of detection of the work state parameter of the user; a second determination means for determining an amount of adjustment of the work state parameter of the user in accordance with the abnormality of the work state parameter of the user when the work state parameter of the user is abnormal; and a third identification means 1503 for identifying a movement plan for the moving object carrying the user in accordance with the identified adjustment amount of the work state parameter of the user.

[0106] FIG. 16 is a schematic diagram of a first determination unit in the second embodiment of the present invention. As shown in FIG. 16, the first determination unit 1501 A fourth determination means 1601 for determining a value of a working state parameter of the user from the collected user biometric information; and a fifth identification means 1602 for comparing the numerical value of the work state parameter of the user with a normal range of the work state parameter of the user, and identifying that the work state parameter of the user is normal if the numerical value of the work state parameter of the user is within the normal range, and identifying that there is an abnormality in the work state parameter of the user if the work state parameter of the user is outside the normal range.

[0107] In an embodiment of the present invention, for example, the user biometric information includes at least one of the user's facial expression, movement, posture, heart rate, and respiratory rate, and the normal range of the user's work state parameter is determined by at least one of the user's attribute information, work information, and first environmental information.

[0108] In an embodiment of the present invention, for example, the user's attribute information includes at least one of the user's age, sex, height, weight, lifestyle, wearing status, and personal habitual actions, the user's work information includes at least one of the user's occupation, job, years of service, working hours, and work schedule, and the first environmental information includes at least one of weather conditions, air quality, and surrounding environmental conditions of the mobile object.

[0109] FIG. 17 is a schematic diagram of a second determination unit in the second embodiment of the present invention. As shown in FIG. 17, the second determination unit 1502 a first calculation means 1701 for respectively calculating a difference between the value of the user's work state parameter and the upper limit of the normal range of the user's work state parameter, and a difference between the value of the user's work state parameter and the lower limit of the normal range of the user's work state parameter; and a sixth determination means 1702 for determining an adjustment amount of the working state parameter of the user based on the difference.

[0110] FIG. 18 is a schematic diagram of a third determination unit in the second embodiment of the present invention. As shown in FIG. 18, the third determination unit 1503 includes: A seventh identification means 1801 that identifies a set of candidate movement plans for the moving object and an adjustment amount of the work state parameter corresponding to each candidate movement plan in the set; and a first selecting means 1802 for selecting, according to an adjustment amount of a working state parameter of the user, a candidate moving plan in the set that corresponds to the adjustment amount as an identified moving plan.

[0111] In an embodiment of the present invention, each candidate movement plan in the set and each identified movement plan includes at least one movement, which may be defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration.

[0112] FIG. 19 is a schematic diagram of a seventh determination means in the second embodiment of the present invention. As shown in FIG. 19, the seventh determination means 1801 includes: an eighth identification means 1901 for identifying all candidate movement plans for the moving object based on the second environment information and state information of the moving object; and a ninth identification means 1902 that identifies an adjustment amount of the work state parameter corresponding to each candidate movement plan in accordance with an adjustment amount of the work state parameter corresponding to each executable movement action included in each candidate movement plan.

[0113] In an embodiment of the present invention, for example, the second environmental information includes at least one of obstacles surrounding the moving body and map information of the area where the moving body is located, and the status information of the moving body includes at least one of the remaining power of the moving body, the remaining travelable distance of the moving body, the operating status of the moving body, and malfunction information.

[0114] In an embodiment of the present invention, for example, after the control means 1402 controls the moving body to execute the identified movement plan, the identification means 1401 determines whether the work state parameters of the user have been normally restored according to the detection result for the user's work state parameters, and if the work state parameters of the user have not been normally restored, the identification means 1401 and the control means 1402 re-identify the movement plan and control the moving body to execute the identified movement plan until the work state parameters of the user are normally restored.

[0115] In an embodiment of the present invention, for example as shown in FIG. 14, the apparatus 1400 further comprises: a presenting means 1403 for presenting the identified travel plan to the user after identifying the travel plan for the vehicle carrying the user; The method may also include a tenth determination means 1404 for determining whether or not to control the moving body to execute the identified travel plan depending on the result of the user's selection, and, if there are multiple identified travel plans, for determining which travel plan to control the moving body to execute.

[0116] In an embodiment of the present invention, for example as shown in FIG. 14, the apparatus 1400 further comprises: an acquiring means 1405 for acquiring feedback information from the user after controlling the moving object to execute the identified moving plan; and training means 1406 for using the feedback information to train the identifying means 1401 .

[0117] In an embodiment of the present invention, the presenting means 1403, the tenth identifying means 1404, the obtaining means 1405 and the training means 1406 are selectable members.

[0118] In the embodiment of the present invention, the functions of the above-mentioned means may be implemented by referring to the contents of the related steps in the first embodiment, and the description thereof will be omitted here.

[0119] As can be seen from the above embodiment, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, the stimulation method utilizing the movement of the moving body is more novel, and since an appropriate travel plan can be identified according to the adjustment amount of the work state parameters, an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameters, a travel plan is identified and the moving body is moved, so that a stimulation can be given at an appropriate time. As a result, the user's work state parameters can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0120] <Example 3> Example 3 of the present invention provides a mobile body including the mobile body control device described in Example 2, and for specific implementation thereof, reference may be made to the implementation of the methods described in Examples 2 and 1, and explanations of the same or related contents will be omitted.

[0121] FIG. 20 is a schematic diagram of a moving body according to a third embodiment of the present invention. As shown in FIG. 20, a moving body 2000 includes: A mobile object control device 2001, A boarding means 2002 carrying at least one user; and a moving means 2003 that links the carrying means to move together and is controlled by the moving body control device to execute the identified moving plan.

[0122] In the embodiment of the present invention, the mobile object control device 2001 may be the same as the mobile object control device 1400 in the second embodiment.

[0123] That is, all of the steps of the moving body control method described in the first embodiment may be executed by the moving body, and the functions of the respective means of the moving body control device may be realized by referring to the contents of the related steps in the first embodiment. The description will be omitted here.

[0124] As can be seen from the above embodiment, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, the stimulation method utilizing the movement of the moving body is more novel, and since an appropriate travel plan can be identified according to the adjustment amount of the work state parameters, an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameters, a travel plan is identified and the moving body is moved, so that a stimulation can be given at an appropriate time. As a result, the user's work state parameters can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0125] <Example 4> Example 4 of the present invention provides a server including the mobile control device described in Example 2, and for specific implementation thereof, reference may be made to the implementation of the methods described in Examples 2 and 1, and explanations of the same or related contents will be omitted.

[0126] That is, all of the steps of the mobile object control method described in the first embodiment may be executed by the server, and the functions of the respective means of the mobile object control device may be realized by referring to the contents of the related steps in the first embodiment. The description will be omitted here.

[0127] As can be seen from the above embodiment, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, the stimulation method utilizing the movement of the moving body is more novel, and since an appropriate travel plan can be identified according to the adjustment amount of the work state parameters, an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameters, a travel plan is identified and the moving body is moved, so that a stimulation can be given at an appropriate time. As a result, the user's work state parameters can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0128] <Example 5> Example 5 of the present invention provides an office system including at least one mobile object described in Example 3, and for its specific implementation, reference may be made to the implementation of the methods described in Examples 3 and 1, and description of the same or related content will be omitted.

[0129] In other words, all of the steps of the mobile object control method described in the first embodiment may be executed by the server.

[0130] As can be seen from the above embodiment, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, the stimulation method utilizing the movement of the moving body is more novel, and since an appropriate travel plan can be identified according to the adjustment amount of the work state parameters, an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameters, a travel plan is identified and the moving body is moved, so that a stimulation can be given at an appropriate time. As a result, the user's work state parameters can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0131] <Example 6> Example 6 of the present invention provides an office system including the server described in Example 4 and at least one mobile object, and for specific implementation thereof, reference may be made to the implementation of the methods described in Examples 4 and 1, and explanations of the same or related contents will be omitted.

[0132] In other words, all of the steps of the mobile object control method described in the first embodiment may be executed by the server.

[0133] In an embodiment of the present invention, the mobile object may include a transportation means for carrying at least one user, and a transportation means that links the transportation means to move together and is controlled by the server to execute the identified transportation plan.

[0134] As can be seen from the above embodiment, when an abnormality is detected in the user's work state parameters, a travel plan for stimulating the user is identified, and the moving body carrying the user is controlled to execute the identified travel plan. In this way, the stimulation method utilizing the movement of the moving body is more novel, and since an appropriate travel plan can be identified according to the adjustment amount of the work state parameters, an appropriate and effective stimulation can be given to the user. In addition, when an abnormality is detected in the user's work state parameters, a travel plan is identified and the moving body is moved, so that a stimulation can be given at an appropriate time. As a result, the user's work state parameters can be controlled within an appropriate range, and the user's work efficiency can be restored or improved, or the efficiency of other activities by the user can be restored or improved.

[0135] The above-mentioned devices and methods in the embodiments of the present invention may be realized by hardware or a combination of hardware and software. The present invention relates to a computer-readable program as follows. When the program is executed by a logic unit, the logic unit can realize the above-mentioned devices or components, or can realize the above-mentioned various methods or steps.

[0136] The embodiment of the present invention relates to a storage medium for storing the above-mentioned program, such as a hard disk, a magnetic disk, an optical disk, a DVD, or a flash memory.

[0137] The present invention has been described above in conjunction with specific embodiments. However, those skilled in the art should understand that the descriptions are merely illustrative and do not limit the scope of protection of the present invention. Those skilled in the art can make various modifications and alterations to the present invention based on the spirit and principle of the present invention, and these modifications and alterations are also within the scope of the present invention. [Prior art documents] [Patent documents]

[0138] [Patent Document 1] JP 2019-016028 A [Patent Document 2] JP 2018-070029 A [Patent Document 3] Patent No. 5741484

Claims

1. A mobile object control method executed by a mobile object control device, comprising: identifying a movement plan for stimulating the user when an abnormality is detected in a working state parameter of the user while the user is in a working state in a specific section of an indoor office environment; and controlling a vehicle carrying the user to execute the identified travel plan; The moving object is a wheelchair moving within an office. A method for controlling a moving object.

2. The step of identifying a movement plan for stimulating the user when an abnormality in the user's work state parameters is detected includes: According to the result of the detection on the user's work state parameter, determining whether the user's work state parameter has an abnormality; When an abnormality occurs in the work state parameter of the user, determining an adjustment amount of the work state parameter of the user according to the abnormality in the work state parameter of the user; and and determining the movement plan according to the determined adjustment amount of the user's work state parameter. The moving object control method according to claim 1 .

3. The step of determining whether or not there is an abnormality in the user's work state parameter according to the detection result of the user's work state parameter includes: Identifying a value of a working state parameter of the user from the collected user biometric information; and comparing a value of the user's work state parameter with a normal range of the user's work state parameter, and determining that the user's work state parameter is normal if the value of the user's work state parameter is within the normal range, and determining that the user's work state parameter is abnormal if the user's work state parameter is outside the normal range. The moving object control method according to claim 1 .

4. The user biometric information includes at least one of a facial expression, a movement, a posture, a heart rate, and a respiratory rate of the user; The normal range of the user's work state parameter is determined by at least one of the user's attribute information, work information, and first environmental information. The moving object control method according to claim 3.

5. The user's attribute information includes at least one of the user's age, sex, height, weight, lifestyle, wearing status, and personal habitual behavior; The user's work information includes at least one of the user's occupation, job, years of employment, working hours, and work schedule; The first environmental information includes at least one of a weather condition, an air quality, and a surrounding environmental condition of the moving object. The moving object control method according to claim 4.

6. When an abnormality occurs in the work state parameter of the user, the step of specifying an adjustment amount of the work state parameter of the user in accordance with the abnormality of the work state parameter of the user includes: Calculating a difference between the value of the user's working state parameter and an upper limit of a normal range of the user's working state parameter, and a difference between the value of the user's working state parameter and a lower limit of a normal range of the user's working state parameter, respectively; and determining an adjustment amount of the user's work state parameter based on the difference, The moving object control method according to claim 3.

7. The step of identifying a movement plan for a moving body carrying the user in accordance with the identified adjustment amount of the work state parameter of the user includes: identifying a set of candidate movement plans for the moving object and an adjustment amount of an operation state parameter corresponding to each candidate movement plan in the set; and According to an adjustment amount of the user's working state parameter, selecting a candidate movement plan in the set corresponding to the adjustment amount as a identified movement plan, The moving object control method according to claim 2.

8. Each candidate movement plan identified in the set includes at least one executable movement action; The movement motion is defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration. The moving object control method according to claim 7.

9. The step of identifying a set of candidate movement plans for the moving object and an adjustment amount of an operation state parameter corresponding to each candidate movement plan in the set includes: Identifying all candidate movement plans for the moving object from second environmental information and state information of the moving object; and determining an adjustment amount of a work state parameter corresponding to each candidate travel plan in accordance with an adjustment amount of a work state parameter corresponding to an executable travel action included in each candidate travel plan, The moving object control method according to claim 7.

10. the second environmental information includes at least one of surrounding obstacles of the moving object and map information of a location area of ​​the moving object; The status information of the moving body includes at least one of a remaining power amount of the moving body, a remaining movable distance of the moving body, an operating state of the moving body, and malfunction information. The moving object control method according to claim 9.

11. After controlling the moving body to execute the identified moving plan, determining whether the user's working state parameter has been restored to normal according to a detection result of the user's working state parameter; and If the user's working state parameters are not restored to normal, the method further includes a step of re-specifying the moving plan and controlling the moving body to execute the specified moving plan until the user's working state parameters are restored to normal. The moving object control method according to claim 1 .

12. identifying a travel plan for the moving object carrying the user, and then presenting the identified travel plan to the user; and The method further includes a step of determining whether to control the moving body to execute the identified movement plan according to a result of a user selection, and, if a plurality of the identified movement plans are present, determining which movement plan to control the moving body to execute. The moving object control method according to claim 1 .

13. obtaining feedback information from the user after controlling the moving object to execute the identified moving plan; and The method further includes using the feedback information to train a specific method for a moving method of a moving object carrying the user. The moving object control method according to claim 12.

14. The user's work state parameters include a user's concentration, emotional parameters, or fatigue level. A moving object control method according to any one of claims 1 to 13.

15. A determination means for determining a movement plan for stimulating the user when an abnormality is detected in a working state parameter of the user while the user is in a working state in a specific section of an indoor office environment; and A control means for controlling a moving body carrying the user to execute the identified moving plan, The moving object is a wheelchair moving within an office. Characterized in that Mobile control device.

16. The identification means is a first determination means for determining whether or not there is an abnormality in the user's work state parameter according to a result of the detection of the user's work state parameter; a second determination means for determining an adjustment amount of the user's work state parameter in accordance with an abnormality state of the user's work state parameter when the user's work state parameter is abnormal; and a third determination means for determining the movement plan according to the determined adjustment amount of the user's work state parameter. The mobile object control device according to claim 15.

17. The first specifying means includes: a fourth determination means for determining a value of a working state parameter of the user from the collected user biometric information; and a fifth determination means for comparing the value of the user's work state parameter with a normal range of the user's work state parameter, and determining that the user's work state parameter is normal if the value of the user's work state parameter is within the normal range, and determining that the user's work state parameter is abnormal if the user's work state parameter is outside the normal range. The mobile object control device according to claim 16.

18. The user biometric information includes at least one of a facial expression, a movement, a posture, a heart rate, and a respiratory rate of the user; The normal range of the user's work state parameter is determined by at least one of the user's attribute information, work information, and first environmental information. The mobile object control device according to claim 17.

19. The attribute information of the user includes at least one of the user's age, sex, height, weight, lifestyle, wearing status, and personal habitual action; The user's work information includes at least one of the user's occupation, job, years of employment, working hours, and work schedule; The first environmental information includes at least one of a weather condition, an air quality, and a surrounding environmental condition of the moving object. The mobile object control device according to claim 18.

20. The second specifying means includes: a first calculation means for calculating a difference between a value of the user's working state parameter and an upper limit of a normal range of the user's working state parameter, and a difference between a value of the user's working state parameter and a lower limit of a normal range of the user's working state parameter; and a sixth determination means for determining an adjustment amount of the user's work state parameter based on the difference. The mobile object control device according to claim 16.

21. The third specifying means includes: a seventh identification means for identifying a set of candidate movement plans for the moving object and an adjustment amount of the work state parameter corresponding to each candidate movement plan in the set; and a first selection means for selecting, according to an adjustment amount of the user's working state parameter, a candidate moving plan in the set that corresponds to the adjustment amount as a identified moving plan. The mobile object control device according to claim 16.

22. Each candidate movement plan identified in the set includes at least one executable movement action; The movement motion is defined by at least one of a movement distance, a movement direction, a rotation angle, a movement acceleration, and an acceleration duration. The mobile object control device according to claim 21.

23. The seventh specifying means is an eighth identification means for identifying all candidate movement plans for the moving object based on the second environmental information and state information of the moving object; a ninth identification means for identifying an adjustment amount of the work state parameter corresponding to each candidate travel plan in accordance with an adjustment amount of the work state parameter corresponding to each candidate travel plan, The mobile object control device according to claim 21.

24. the second environmental information includes at least one of surrounding obstacles of the moving object and map information of a location area of ​​the moving object; The status information of the moving body includes at least one of a remaining power amount of the moving body, a remaining movable distance of the moving body, an operating state of the moving body, and malfunction information. The moving object control method according to claim 23.

25. The determination means determines whether the user's work state parameter has been restored to normal according to a detection result of the user's work state parameter after controlling the moving object to execute the determined movement plan; When the user's working state parameters are not restored to normal, the identifying means and the control means respectively re-identify the moving plan and control the moving body to execute the identified moving plan until the user's working state parameters are restored to normal. The mobile object control device according to claim 15.

26. a presentation means for identifying a travel plan for the moving object carrying the user and then presenting the identified travel plan to the user; and a tenth determination means for determining whether or not to control the moving body to execute the identified travel plan according to a result of a user selection, and, when a plurality of travel plans are identified, for determining which travel plan to control the moving body to execute. The mobile object control device according to claim 15.

27. an acquisition means for acquiring feedback information from the user after controlling the moving object to execute the identified moving plan; and a training means for using the feedback information to train the identifying means. The mobile object control device according to claim 26.

28. The user's work state parameters include a user's concentration, emotional parameters, or fatigue level. A mobile object control device according to any one of claims 15 to 27.

29. A mobile object control device according to any one of claims 15 to 27, A means for carrying at least one user; A moving means for linking the loading means to move together and executing the specified moving plan by being controlled by the moving body control device, Mobile body.

30. A mobile object control device according to any one of claims 15 to 27, server.

31. The vehicle according to claim 29, characterized in that it includes at least one moving object. Office system.

32. A server according to claim 30; At least one moving object; The moving body is A means for carrying at least one user; A moving means that links the boarding means to move together and executes the specified moving plan by being controlled by the server, Office system.

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