北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (2): 335-343.doi: 10.13700/j.bh.1001-5965.2016.0128

• 论文 • 上一篇    下一篇

空间立体信息缺失对机械臂遥操作任务的影响

唐伟财1, 陈善广1,2, 肖毅1, 姜国华1, 田志强1   

  1. 1. 中国航天员科研训练中心 人因工程重点实验室, 北京 100094;
    2. 中国载人航天工程办公室, 北京 100720
  • 收稿日期:2016-02-07 出版日期:2017-02-20 发布日期:2016-05-23
  • 通讯作者: 陈善广,E-mail:shanguang_chen@126.com E-mail:shanguang_chen@126.com
  • 作者简介:唐伟财,男,硕士研究生。主要研究方向:航天人因可靠性;陈善广,男,博士,研究员,博士生导师,中国载人航天工程副总设计师,国际宇航科学院院士。主要研究方向:航天人因工程。
  • 基金资助:
    国家自然科学基金(71201148,71371174);人因工程重点实验室自主课题(HF2011-Z-Z-A-01);中国航天医学工程预先研究项目(2012SY54A1705)

Influence of loss of three-dimensional information on manipulator teleoperation mission

TANG Weicai1, CHEN Shanguang1,2, XIAO Yi1, JIANG Guohua1, TIAN Zhiqiang1   

  1. 1. National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;
    2. China Manned Space Agency, Beijing 100720, China
  • Received:2016-02-07 Online:2017-02-20 Published:2016-05-23
  • Supported by:
    National Natural Science Foundation of China (71201148,71371174); National Key Laboratory Project of Human Factors Engineering (HF2011-Z-Z-A-01); Advanced Space Medico-Engineer Research Project of China (2012SY54A1705)

摘要: 视觉作为人认知环境的主要信息通道,在空间遥操作任务中有极其重要的作用。本研究面向空间站机械臂遥操作任务,通过对24名被试进行机械臂遥操作模拟平台实验,探索不同程度空间立体信息缺失对机械臂遥操作绩效、脑力负荷、距离感知和情境意识的影响,剖析不同立体信息在遥操作过程中的作用。实验结果表明:局部立体信息对提高遥操作任务完成率、减少撞击操作等指标有重要作用;而全局立体信息更有利于减少机械臂冗余行走距离和限位操作次数;两者对脑力负荷水平的降低有显著影响,而对距离估计偏差和情境意识水平影响不显著。因此,根据不同任务类型选取合适的立体信息补偿,从多个角度完善立体信息的呈现对于保障遥操作任务的顺利进行具有重要意义。

关键词: 遥操作, 空间立体信息, 绩效指标, 脑力负荷, 情境意识, 距离感知

Abstract: As the main information channel via that human cognitive environment, visual information plays an extremely important role in the space teleoperation mission. Aimed at the future station robotics teleoperation mission, twenty four subjects were recruited to finish the simulation task, so as to investigate the effect of different extent of three-dimensional information loss on human performance, mental workload, distance perception and situation awareness, and to study the role of spatial information in teleoperation. The results show that the local stereo information plays an important role in improving the completion rate and reducing collision of the teleoperation mission; the global spatial information are more advantageous to reduce redundant flying distance and the times of limit operation; both the two kinds of information have a significant influence on reducing mental load level, but have few effect on distance estimation error and situation awareness level. Therefore, it is important to select the suitable stereo information compensation type according to the tasks and to optimize the stereo information display with various methods for completing teleoperation task smoothly.

Key words: teleoperation, three-dimensional information, performance indicators, mental workload, situation awareness, distance perception

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