CN110411506B - Fine operation capability test system facing remote operation - Google Patents
Fine operation capability test system facing remote operation Download PDFInfo
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- CN110411506B CN110411506B CN201910611883.2A CN201910611883A CN110411506B CN 110411506 B CN110411506 B CN 110411506B CN 201910611883 A CN201910611883 A CN 201910611883A CN 110411506 B CN110411506 B CN 110411506B
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Abstract
The invention provides a teleoperation-oriented fine operation capability test system, which comprises: the system comprises a fine operation ability testing subsystem, a related cognitive operation ability testing subsystem and a comprehensive management unit, wherein the fine operation ability testing subsystem, the related cognitive operation ability testing subsystem and the comprehensive management unit are used for managing a directional control module, a fixed point control module, a speed control module, a direction control module and a comprehensive control module so as to test the fine operation ability of discrete motion and continuous motion, and managing a handle operation accuracy testing module, a handle operation stability testing module, a distance/shape perception testing module and a double-hand coordination testing module so as to test cognitive factors closely related to fine operation. The invention can accurately grasp the ability of the operator to execute the teleoperation task in time, intervene and train in a targeted manner, and select proper personnel to execute the teleoperation task, thereby improving the operation efficiency of the operator, reducing the occurrence of accidents and ensuring the successful completion of the task.
Description
Technical Field
The invention relates to the technical field of fine operation capability test, in particular to a fine operation capability test system facing teleoperation.
Background
The fine manipulation ability refers to the ability of an individual to perform fine movements or perform fine tasks with the hand or with a hand-operated tool, and is a comprehensive reaction of mental activities such as controlling the muscular strength of fine movements, coordination and accuracy of movements, sensory perception, attention and spatial perception. The fine operation tasks are of various types, for example, manual control intersection and butt joint belong to a continuous motion type operation task, the mechanical arm teleoperation belongs to a discrete operation type task, and in addition, the type and the operation mode of the operation task are changed at different stages of the task.
The requirements for fine operation control are different for different operation task characteristics, and the requirements for corresponding test methods and evaluation indexes are also different. The current fine operation capability test theory based on the handle is imperfect, the test is mainly based on a tracking task, the test paradigm and indexes are incomplete and have no pertinence, the popularization in use is limited, and the pertinence is insufficient.
At present, no more complete fine operation capability test software or platform based on handle operation exists at home and abroad. In addition, at present, the research on factors influencing the fine operation capability does not go deep into the cognitive level, and related cognitive capability test paradigms are not developed and integrated in a targeted manner.
Disclosure of Invention
The present invention is directed to solving at least one of the above problems.
Therefore, the invention aims to provide a teleoperation-oriented fine operation capability test system, which can timely and accurately grasp the teleoperation task execution capability of an operator, intervene and train in a targeted manner, select proper personnel to execute the teleoperation task, further improve the operation efficiency of the operator, reduce accidents and ensure the successful completion of the task.
In order to achieve the above object, an embodiment of the present invention provides a teleoperation-oriented fine operation capability testing system, including: the fine operation capability test subsystem consists of a directional control module, a fixed point control module, a speed control module, a direction control module and a comprehensive control module; the related cognitive operation capability testing subsystem is composed of a handle operation accuracy testing module, a handle operation stability testing module, a distance/shape perception testing module and a double-hand coordination testing module; and the comprehensive management unit is used for managing the directional control module, the fixed point control module, the speed control module, the direction control module and the comprehensive control module so as to carry out fine operation control capability test on discrete motion and continuous motion, and manage the handle operation accuracy test module, the handle operation stability test module, the distance/shape perception test module and the two-hand coordination test module so as to test cognitive factors closely related to fine operation.
In addition, the fine operation capability test system facing the teleoperation according to the above embodiment of the present invention may further have the following additional technical features:
in some examples, the directional control module, the pointing control module, the speed control module, the direction control module, the integrated control module, the handle operation accuracy test module, the handle operation stability test module, the distance/shape perception test module, and the two-hand coordination test module each include: the personal information login interface is used for receiving personal information of a user to enter a corresponding test module; the parameter configuration interface is used for carrying out corresponding parameter setting on the experiment; the guide language interface is used for informing the tested test content and the test method; the training/experiment interface is used for providing a confirmation option for entering a formal experiment after the training of corresponding times is completed according to the parameter configuration condition and is used for formal experiment testing; and the experiment ending interface is used for displaying the experiment ending information.
In some examples, the directional control module, the pointing control module, the speed control module, the direction control module, the integrated control module, the handle operation accuracy test module, the handle operation stability test module, the distance/shape perception test module, and the two-hand coordination test module each include: and the data storage submodule is used for automatically storing the generated data file after each test is finished.
In some examples, the orientation control module is to perform a test of discrete motion orientation fine operation control capabilities, comprising: the controlled object is controlled to move from one side of the path to the other side by operating the handle, and the collision with the boundary of the path is reduced as much as possible.
In some examples, the pointing control module is configured to test for discrete motion pointing fine operation control capability, the pointing control module having: the pattern type of rectangle, triangle, trapezoid, semicircle, horizontal line, vertical line, rectangle, cross, and the positional relationship of up, down, left, right, left up, left down, right up, right down, the position of the pattern is adjusted by up, down, left and right operating handles, the angle of the pattern is adjusted by clockwise and anticlockwise operating handles, so that the pattern reaches the position of the target pattern, and the collision is reduced.
In some examples, the speed control module is for performing a test of fine operational control capability of continuous motion speed, comprising: the acceleration of the tracker is controlled to track the moving target with random acceleration, so that the moving target is kept in the tracker as much as possible.
In some examples, the directional control module is for performing a test of fine operational control capability of a direction of continuous motion, comprising: the controlled target moves at a preset speed, and the real-time moving direction of the controlled target is controlled by the operating handle until the end point of the path is reached.
In some examples, the comprehensive control module is used for testing continuous motion comprehensive fine operation control capacity, and comprises three test modes of one-dimensional test mode, two-dimensional test mode and three-dimensional test mode, wherein the controlled object only performs horizontal or vertical random motion in the one-dimensional test mode; the controlled object does random motion in the plane in the two-dimensional test mode; the controlled object in the three-dimensional test mode does random motion in the plane and also does random motion in the dimension of the vertical plane; in the three test modes, the controlled object is kept in a specified box by controlling the acceleration of the cross mark through the operating handle until reaching a specified time or the controlled object reaches the boundary of the area.
In some examples, the handle operation accuracy testing module is for performing a test of a handle operation accuracy capability, comprising: the controlled object controlled by the handle is positioned in the center of the screen, the target of each trial is a dotted hollow circle which is positioned at a random position on a circumference with the center of the screen as the center of a circle and the radius as the preset radius, the dotted hollow circle and the center of the screen have the position relations of upper, lower, left, right, upper left, lower left, upper right, lower right, upper left 60 degrees, lower left 30 degrees, upper right 60 degrees, lower right 30 degrees and lower right 60 degrees, and the direction and the speed of the controlled object are controlled by operating the handle, so that the controlled object can reach the position of the designated dotted hollow circle as fast as possible and completely enter the range of a target area.
In some examples, the handle operation stability testing module is for performing a test of a handle operation stability capability, comprising: the handle is divided into a plurality of levels of sensitivity through parameter setting, the sensitivity is higher, the task difficulty is higher, the requirement on the stability of the user operation handle is higher, the handle operation stability testing module is provided with a testing interface, the testing interface comprises a solid line target and dotted line scales, the solid line target is positioned in the center of a screen, the dotted line scales with the same number are distributed on two sides of the screen, the solid line target is controlled through the handle to reach the position of a designated scale, and the position of the designated scale is kept.
In some examples, the distance/shape perception test module is used for testing distance/shape perception capability, and has a T-shaped, inverted T-shaped, 90-degree T-shaped, 270-degree T-shaped, horizontal line, vertical line, rectangle and cross-shaped graphic type, and the size of the graphic shape is controlled through the upper, lower, left and right keys of the keyboard to be consistent with the size and shape of the target graphic as much as possible.
In some examples, the hand coordination testing module is to perform a test of hand coordination abilities, including: the two handles are operated simultaneously to control the horizontal axis and the vertical axis of the controlled object respectively, so that the controlled object moves from the starting point to the end point, and the deviation of the horizontal axis and the vertical axis and the collision with the path boundary are avoided as much as possible in the process.
According to the fine operation capability test system for the teleoperation, disclosed by the embodiment of the invention, a fine operation capability evaluation model for the teleoperation and a corresponding cognitive operation test are integrated, the system is mainly used for monitoring and evaluating the fine operation capability and the related cognitive operation capability level of an operator when the operator executes a corresponding teleoperation task, the related fine operation capability test model is selected for testing according to different teleoperation task types to obtain a corresponding fine operation capability index, the cognitive operation capability index which possibly influences the fine operation capability is obtained through the cognitive operation capability test, so that the capability of the operator for executing the teleoperation task can be timely and accurately mastered, the intervention and the training are performed in a targeted manner, and the appropriate personnel are selected for executing the teleoperation task, so that the operation efficiency of the operator is improved, the accident occurrence rate is reduced, and the operation efficiency of the operator is improved, And the smooth completion of the task is ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a teleoperation-oriented fine operability testing system according to one embodiment of the invention;
FIG. 2 is a flow diagram illustrating an implementation of a teleoperation-oriented fine operability testing system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the interface relationship of a teleoperation-oriented fine operability test system according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a login interface in a teleoperation-oriented fine operation capability test system in accordance with one embodiment of the present invention;
FIG. 5 is a schematic diagram of an integrated management interface-function selection interface in a teleoperation-oriented fine operation capability testing system in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of an integrated management interface-data viewing interface in a teleoperation-oriented fine operation capability testing system in accordance with an embodiment of the present invention;
FIG. 7 is a schematic diagram of an integrated management interface-modified password interface in a teleoperation-oriented fine operation capability testing system in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of an integrated management interface-experiment selection interface in a teleoperation-oriented fine operational capability testing system, in accordance with an embodiment of the present invention;
FIG. 9 is a schematic diagram of a personal information log-in interface of a directional control module in accordance with one embodiment of the present invention;
FIG. 10 is a schematic view of a parameter setting interface of an orientation control module in accordance with one embodiment of the present invention;
FIG. 11 is a schematic diagram of a director interface of a directional control module in accordance with one embodiment of the present invention;
FIG. 12 is a schematic diagram of a training and experimentation interface of the directional control module in accordance with one particular embodiment of the invention;
FIG. 13 is a schematic diagram of a training and experimentation interface of a set point control module in accordance with a specific embodiment of the invention;
FIG. 14 is a schematic diagram of a training and experimentation interface for a speed control module in accordance with a specific embodiment of the present invention;
FIG. 15 is a schematic diagram of a training and experimentation interface for a directional control module in accordance with a specific embodiment of the invention;
FIG. 16 is a schematic illustration of a training and experimentation interface of the integrated control module according to a specific embodiment of the invention;
FIG. 17 is a schematic view of a training and experimentation interface of a handle operation accuracy test module in accordance with a specific embodiment of the present invention;
FIG. 18 is a schematic illustration of a training and experimentation interface of a handle operation stability test module according to one particular embodiment of the invention;
FIG. 19 is a schematic diagram of a training and experimentation interface of a distance/shape perception test module according to an embodiment of the present invention;
FIG. 20 is a schematic diagram of a training and experimentation interface for a two-hand coordination test module, according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A teleoperation-oriented fine operability test system according to an embodiment of the present invention is described below with reference to the accompanying drawings.
Fig. 1 is a block diagram of a teleoperation-oriented fine operability test system according to an embodiment of the present invention. As shown in fig. 1, the teleoperation-oriented fine operability test system 100 includes: a fine operational capability testing subsystem 110, a related cognitive operational capability testing subsystem 120, and an integrated management unit 130.
The fine operation capability test subsystem 110 is composed of a directional control module 111, a fixed point control module 112, a speed control module 113, a direction control module 114, and a comprehensive control module 115.
The related cognitive operation capability testing subsystem 120 is composed of a handle operation accuracy testing module 121, a handle operation stability testing module 122, a distance/shape perception testing module 123 and a two-hand coordination testing module 124.
The integrated management unit 130 is configured to manage the orientation control module 111, the fixed-point control module 112, the speed control module 113, the direction control module 114, and the integrated control module 115 to perform a fine operation control capability test on discrete motion and continuous motion, and manage the grip operation accuracy test module 121, the grip operation stability test module 122, the distance/shape perception test module 123, and the two-hand coordination test module 124 to test cognitive factors closely related to the fine operation.
In the specific implementation embodiment, it can be understood that the fine operation capability test system 100 for remote operation according to the embodiment of the present invention is used for testing the fine operation capability of a person in a handle operation mode, and is composed of two major parts, namely hardware and software, and the interface relationship is as shown in fig. 3, that is, the system includes fine operation capability test software and hardware devices such as a computer, a handle, a mouse, and a keyboard.
The software part mainly comprises two parts, namely a fine operation ability test item and a related cognitive operation ability test item. The fine operation ability test items are mainly divided into fine operation control ability tests of two types of discrete movement and continuous movement, and the related cognitive operation ability test items mainly test cognitive factors closely related to fine operation.
The fine operation capability test project mainly relates to 5 modules including a discrete motion orientation control module 111, a fixed point control module 1112, a continuous motion speed control module 113, a direction control module 114 and a comprehensive control module 115; the relevant cognitive operation ability test items mainly relate to 4 modules including a handle operation accuracy test module 121, a handle operation stability test module 122, a distance/shape perception test module 123 and a two-hand coordination test module 124. The 9 modules are comprehensively managed through the comprehensive management unit 130, the comprehensive management unit 130 has a comprehensive management interface, and any module can be selected for testing after entering the comprehensive management interface.
Therefore, the system covers the fine operation types related to different teleoperation task processes and the cognitive operation factors possibly influencing as much as possible, on one hand, the control principle of the handle is improved and programmed by a computer by combining the principle of the traditional paper pen testing method and the teleoperation task characteristics, and the universal testing technology is converted into the specialized testing technology and integrated; on the other hand, for the fine operation capability type which is not covered by the traditional test, a new fine operation capability test paradigm is constructed by performing task analysis on the corresponding teleoperation task and extracting fine operation stages and characteristics, and in addition, by performing task analysis on teleoperation, cognitive operation type factors which are likely to influence are identified, and a related cognitive capability test paradigm is constructed by combining the characteristics of handle operation control.
In an embodiment of the present invention, the orientation control module 111, the fixed point control module 112, the speed control module 113, the direction control module 114, the integrated control module, the handle operation accuracy test module 121, the handle operation stability test module 122, the distance/shape perception test module 123, and the two-hand coordination test module 124 each include: the system comprises a personal information login interface, a parameter configuration interface, a guidance language interface, a training/experiment interface and an experiment ending interface. That is, each module is provided with 5 interfaces, including: personal information login interface, parameter configuration interface, guidance interface, training/experiment interface and experiment ending interface.
Specifically, the personal information login interface is used for receiving the personal information of the user to enter the corresponding test module. That is, each user needs to input information including user name, age, sex, handedness, experience of operation with or without handle, number, test for the second time, and select the operator for experimental test when entering the corresponding test module.
The parameter configuration interface is used for carrying out corresponding parameter setting on the experiment. After the personal information is input, a confirming key is clicked to enter a parameter configuration interface of each test module, and corresponding parameter setting is carried out on the experiment according to the requirement. Configuration interface information may also be edited via a configuration file.
The guide language interface is used for informing the tested content and the tested method. Namely, after the parameter configuration is finished, a confirm key is clicked to enter a guide language interface of each test. The guide words are used for informing information such as tested content, testing method and the like, and are concise and clear and can be explained in a text-text mode if necessary.
The training/experiment interface is used for providing a confirmation option for entering a formal experiment after the training of corresponding times is completed according to the parameter configuration condition, and is used for formal experiment testing. That is, after reading the guidance, the user enters the training/experiment interface by clicking the mouse or determining the button. After entering the experiment interface, the training of corresponding times is completed according to the parameter configuration condition, then, the screen displays that 'clicking a mouse or pressing a key to enter the formal experiment', and a user starts the formal experiment by clicking the mouse or determining the key.
The experiment ending interface is used for displaying experiment ending information. Namely, after the experiment is finished, the screen displays "the experiment is finished", and the program is automatically exited.
In an embodiment of the present invention, the orientation control module 111, the fixed point control module 112, the speed control module 113, the direction control module 114, the integrated control module, the handle operation accuracy test module 121, the handle operation stability test module 122, the distance/shape perception test module 123, and the two-hand coordination test module 124 all include data storage sub-modules, which can perform a data storage function. Specifically, the data storage submodule is used for automatically storing the generated data file after each test is completed. In other words, each module corresponds to one data storage submodule, and after each test is completed, the generated data file is automatically stored in the corresponding folder.
As a specific example, fig. 2 shows an operation flow of the system, which is summarized as: double-click starts the fine operation capability test software, and enters a comprehensive management interface; double-click starts the corresponding module to test, and enters a personal information login interface; the single machine determines that the case enters a parameter configuration interface; clicking a confirming key to enter a language-aware interface; the key enters a test countdown (training/experiment interface) to start the experiment; completing corresponding times of training according to the configuration parameters; the screen displays 'clicking a mouse or pressing a key to enter a formal experiment'; completing corresponding times of formal experiments according to the configuration parameters; and entering an experiment ending interface after the experiment is ended, and automatically exiting the program. For example, fig. 4 to 8 respectively show schematic diagrams of a personal information login interface, a function selection interface, a data viewing interface, a password modification interface, and an experiment selection interface corresponding to each module.
In a specific embodiment, the system can be developed based on C + +, and supports Windows XP and above operating systems. Compared with the existing fine operation capability test software, on one hand, the teleoperation task is divided into two discrete operation control types and two continuous operation control types, including 5 fine operation capability test paradigms such as directional control, fixed point control, direction control, speed control and comprehensive control, and the test of various fine operation capabilities facing teleoperation is more completely integrated; on the other hand, 4 cognitive operation capability test paradigms such as operation stability, operation accuracy, distance/shape perception and double-hand coordination are included, and related tests which may influence fine operation capability are integrated from the cognitive operation level. Therefore, the evaluation of the fine operation capability of the facing teleoperation and the test of the influence factors such as the cognitive operation capability are realized.
In one embodiment of the present invention, the orientation control module 111 is used to perform a discrete motion orientation fine operation control capability test, as shown in fig. 9-12, including: the controlled object is controlled to move from one side of the path to the other side by operating the handle, and the collision with the boundary of the path is reduced as much as possible. The user can set parameters such as times, time, difficulty and the like of the test according to the requirement. In addition, the instruction interface may also display a corresponding instruction to prompt the user how to operate, as shown in fig. 11. That is, the orientation control module 111 performs a test of the orientation control capability (discrete motion orientation fine operation control capability), controls the green ball (i.e., the controlled object) to move from the left side to the right side (or from the right side to the left side) of the path by operating the handle, and minimizes the collision with the boundary of the path, as shown in fig. 12.
It should be noted that the personal information login, parameter setting, and phrase interface of the other modules are similar to the directional control module 111, and will not be described in detail.
In one embodiment of the present invention, the fixed point control module 112 is used to test the capability of discrete motion fixed point fine operation control, the fixed point control module 112 having: the position of the graph is adjusted through the upper, lower, left and right operating handles, the angle of the graph is adjusted through clockwise and anticlockwise operating handles, the graph reaches the position of a target graph, and collision is reduced. . For example, as shown in FIG. 13, a training and experimentation interface for the fixed point control module 112 is presented.
In one embodiment of the present invention, the speed control module 113 is used to perform a test of fine operational control capability of continuous motion speed, comprising: the acceleration of the tracker is controlled to track the moving target with random acceleration, so that the moving target is kept in the tracker as much as possible. For example, as shown in fig. 14, a handle-screw operation test interface is shown, which tracks a small ball (i.e., moving object) with random acceleration by controlling the acceleration of a gray tracker so that the small ball (moving object) is kept in the tracker as much as possible. In addition, the test is also divided into three test modes of left and right operation, front and back operation and screwing operation of the handle.
In one embodiment of the present invention, the directional control module 114 is used to perform a test of fine operational control capability of the direction of continuous motion, including: the controlled target moves at a preset speed, and the real-time moving direction of the controlled target is controlled by the operating handle until the end point of the path is reached. That is, the direction control module 114 is similar to the orientation control module 111 except that the small ball (i.e., the controlled object) of the direction control module 114 is moved at a predetermined speed, and the real-time moving direction of the small ball is controlled by operating the handle until the end of the path is reached, as shown in fig. 15, for example.
In an embodiment of the present invention, the integrated control module 115 is configured to perform a continuous motion integrated fine operation control capability test, and includes three test modes, i.e., a one-dimensional test mode, a two-dimensional test mode, and a three-dimensional test mode, where a controlled object only performs a horizontal or vertical random motion in the one-dimensional test mode; the controlled object does random motion in a plane in a two-dimensional test mode; in the three-dimensional test mode, the controlled object moves randomly in the vertical plane in addition to the plane, and a three-dimensional test interface is shown in combination with fig. 16, in which the controlled object is a small ball. In the three test modes, the controlled object (such as a small ball) is kept in a specified box by controlling the acceleration of the cross-shaped target through the operating handle until reaching a specified time or the controlled object reaches the boundary of the area.
In one embodiment of the present invention, the handle operation accuracy testing module 121 is used for performing a test of the handle operation accuracy capability, and includes: the controlled object controlled by the handle is located in the center of the screen and is a solid circle, the target of each trial is a dotted hollow circle located at a random position on a circumference with the center of the screen as the center and the radius as the preset radius R, the dotted hollow circle and the center of the screen have 16 position relationships of up, down, left, right, left up, left down, right up, left down, left up 30 degrees, left down 60 degrees, right up 30 degrees, right up 60 degrees, right down 30 degrees, and right down 60 degrees, and the direction and the speed of the controlled object are controlled by operating the handle to reach the position of the designated dotted hollow circle as fast as possible and completely enter the range of the target area, for example, as shown in fig. 17, a training and experimental interface of the handle operation accuracy testing module 121 is shown, wherein the controlled object is a solid sphere.
In one embodiment of the present invention, the handle operation stability testing module 122 is used for testing the handle operation stability capability, and comprises: the handle is divided into a plurality of levels of sensitivity through parameter setting, the higher the sensitivity is, the higher the task difficulty is, and the higher the requirement on the stability of the user operation handle is. The handle operation stability test module 122 has a test interface including a solid line target and a dotted line scale, the solid line target is located at the center of the screen, the dotted line scales (determined by the handle sensitivity level) are distributed on both sides of the solid line target in equal number, and the solid line target is controlled by the handle to reach the designated scale position and is maintained at the designated scale position. Specifically, as shown in fig. 18, the handle can be divided into 2-7 levels of sensitivity through parameter setting, and the higher the sensitivity is, the higher the task difficulty is, and the higher the requirement for the stability of the user operating the handle is. In addition, the test is also divided into three test modes of left and right operation, front and back operation and screwing operation of the handle. FIG. 18 shows a handle left and right operation test interface with 5 degrees of sensitivity.
In an embodiment of the present invention, the distance/shape perception test module 123 is used for testing distance/shape perception capability, and has 8 graphic types of T-shape, inverted T-shape, 90-degree T-shape, 270-degree T-shape, horizontal line, vertical line, rectangle, and cross, and controls the size of the graphic shape by the up, down, left, and right keys of the keyboard to make it conform to the size and shape of the target graphic as much as possible. For example, as shown in fig. 19, vertical line, rectangular, inverted T, and cross shaped test interfaces are shown.
In one embodiment of the present invention, the two-hand coordination testing module 124 is used for testing the two-hand coordination capability, and includes: the two handles are operated simultaneously to control the horizontal axis and the vertical axis of the controlled object respectively, so that the controlled object moves from the starting point to the end point, and the deviation of the horizontal axis and the vertical axis and the collision with the path boundary are avoided as much as possible in the process. Referring to fig. 20, the user operates the two handles simultaneously to control the horizontal axis and the vertical axis of the cross (controlled object) respectively, so that the cross moves from the starting point to the ending point, and the deviation of the horizontal axis and the vertical axis and the collision with the path boundary are avoided as much as possible.
In summary, the fine operation capability test system for remote operation according to the embodiment of the present invention integrates the fine operation capability evaluation model for remote operation and the corresponding cognitive operation test, and is mainly used for monitoring and evaluating the fine operation capability and the related cognitive operation capability level of the operator when executing the corresponding remote operation task, selecting the related fine operation capability test model for testing according to different remote operation task types, obtaining the corresponding fine operation capability index, and obtaining the cognitive operation capability index which may affect the fine operation capability through the cognitive operation capability test, so as to accurately grasp the capability of the operator to execute the remote operation task in time, and perform targeted intervention and training to select the appropriate personnel to execute the remote operation task, thereby improving the operation efficiency of the operator, reducing the occurrence of accidents, improving the performance of the operators, and improving the performance of the operators, And the smooth completion of the task is ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (12)
1. A teleoperation-oriented fine operability test system, comprising:
the fine operation capability test subsystem consists of a directional control module, a fixed point control module, a speed control module, a direction control module and a comprehensive control module;
the related cognitive operation capability testing subsystem is composed of a handle operation accuracy testing module, a handle operation stability testing module, a distance/shape perception testing module and a double-hand coordination testing module;
a comprehensive management unit for managing the directional control module, the fixed point control module, the speed control module, the direction control module and the comprehensive control module to perform fine operation control capability test on discrete motion and continuous motion, and managing the handle operation accuracy test module, the handle operation stability test module, the distance/shape perception test module and the two-hand coordination test module to test cognitive factors closely related to fine operation, wherein the fine operation control capability test comprises a directional control, a fixed point control, a direction control, a speed control and comprehensive control fine operation capability test paradigm, and integrates various fine operation capability tests facing remote operation, and the cognitive factor test comprises an operation stability, an operation accuracy, a distance/shape perception and a two-hand coordination cognitive operation capability test paradigm, to integrate relevant tests from the cognitive operational level that impact fine operational capability.
2. The teleoperation-oriented fine operation capability testing system according to claim 1, wherein the orientation control module, the fixed-point control module, the speed control module, the direction control module, the comprehensive control module, the handle operation accuracy testing module, the handle operation stability testing module, the distance/shape perception testing module, and the two-hand coordination testing module each comprise:
the personal information login interface is used for receiving personal information of a user to enter a corresponding test module;
the parameter configuration interface is used for carrying out corresponding parameter setting on the experiment;
the guide language interface is used for informing the tested test content and the test method;
the training/experiment interface is used for providing a confirmation option for entering a formal experiment after the training of corresponding times is completed according to the parameter configuration condition and is used for formal experiment testing;
and the experiment ending interface is used for displaying the experiment ending information.
3. The teleoperation-oriented fine operation capability testing system according to claim 1, wherein the orientation control module, the fixed-point control module, the speed control module, the direction control module, the comprehensive control module, the handle operation accuracy testing module, the handle operation stability testing module, the distance/shape perception testing module, and the two-hand coordination testing module each comprise:
and the data storage submodule is used for automatically storing the generated data file after each test is finished.
4. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the orientation control module is used for testing the control capability of the discrete motion orientation fine operation, and comprises the following components: the controlled object is controlled to move from one side of the path to the other side by operating the handle, and the collision with the boundary of the path is reduced as much as possible.
5. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the fixed point control module is used for testing the control capability of discrete motion fixed point fine operation, and the fixed point control module is provided with: the pattern type of rectangle, triangle, trapezoid, semicircle, horizontal line, vertical line, rectangle, cross, and the positional relationship of up, down, left, right, left up, left down, right up, right down, the position of the pattern is adjusted by up, down, left and right operating handles, the angle of the pattern is adjusted by clockwise and anticlockwise operating handles, so that the pattern reaches the position of the target pattern, and the collision is reduced.
6. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the speed control module is used for testing the fine operation control capability of the continuous movement speed, and comprises the following steps: the acceleration of the tracker is controlled to track the moving target with random acceleration, so that the moving target is kept in the tracker as much as possible.
7. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the direction control module is used for testing the fine operation control capability of the continuous movement direction and comprises the following steps: the controlled target moves at a preset speed, and the real-time moving direction of the controlled target is controlled by the operating handle until the end point of the path is reached.
8. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the comprehensive control module is used for testing the control capability of the continuous motion comprehensive fine operation and comprises three test modes of one dimension, two dimension and three dimension, wherein,
the controlled object only does horizontal or vertical random motion in the one-dimensional test mode;
the controlled object does random motion in the plane in the two-dimensional test mode;
the controlled object in the three-dimensional test mode does random motion in the plane and also does random motion in the dimension of the vertical plane;
in the three test modes, the controlled object is kept in a specified box by controlling the acceleration of the cross mark through the operating handle until reaching a specified time or the controlled object reaches the boundary of the area.
9. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the handle operation accuracy testing module is used for testing the accuracy and the capability of the handle operation, and comprises: the controlled object controlled by the handle is positioned in the center of the screen, the target of each trial is a dotted hollow circle which is positioned at a random position on a circumference with the center of the screen as the center of a circle and the radius as the preset radius, the dotted hollow circle and the center of the screen have the position relations of upper, lower, left, right, upper left, lower left, upper right, lower right, upper left 60 degrees, lower left 30 degrees, upper right 60 degrees, lower right 30 degrees and lower right 60 degrees, and the direction and the speed of the controlled object are controlled by operating the handle, so that the controlled object can reach the position of the designated dotted hollow circle as fast as possible and completely enter the range of a target area.
10. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the handle operation stability test module is used for testing the handle operation stability performance, and comprises: the handle is divided into a plurality of levels of sensitivity through parameter setting, the sensitivity is higher, the task difficulty is higher, the requirement on the stability of the user operation handle is higher, the handle operation stability testing module is provided with a testing interface, the testing interface comprises a solid line target and dotted line scales, the solid line target is positioned in the center of a screen, the dotted line scales with the same number are distributed on two sides of the screen, the solid line target is controlled through the handle to reach the position of a designated scale, and the position of the designated scale is kept.
11. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
the distance/shape perception test module is used for testing distance/shape perception capability, has T-shaped, inverted T-shaped, 90-degree T-shaped, 270-degree T-shaped, horizontal line, vertical line, rectangle and cross-shaped graphic types, and controls the size of the graphic shape through the upper, lower, left and right keys of the keyboard so that the graphic shape is as consistent as possible with the size and shape of a target graphic.
12. Teleoperation-oriented fine operability testing system according to any of the claims 1-3,
both hands harmony test module is used for carrying out the test of both hands harmony ability, include: the two handles are operated simultaneously to control the horizontal axis and the vertical axis of the controlled object respectively, so that the controlled object moves from the starting point to the end point, and the deviation of the horizontal axis and the vertical axis and the collision with the path boundary are avoided as much as possible in the process.
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