不同立体信息水平下机械臂遥操作过程往复操作与事故的原因分析

Cause Analysis of Reciprocating Operation and Accidents in Manipulator Teleoperation under Different 3D Information Levels

目的基于空间站机械臂遥对接任务,从认知层面揭示其事故原因以及影响因素,为加强遥操作失误的预测、完善信息显示以及开展航天员训练提供参考依据。方法通过对24名志愿者进行基本认知能力测试以及机械臂遥对接模拟任务实验,研究不同空间立体信息水平下遥操作过程往复操作和事故的认知失误原因、失误概率以及各项认知能力与失误的关系。结果感知觉、记忆、空间关系理解和注意资源分配4种失误类型是诱发往复操作和事故的主要因素;局部信息和全局信息在遥操作中的作用不同,对减少认知失误效果明显;操作员的注意能力、运动控制能力、心理旋转能力和记忆能力越强,由于认知失误引发的往复操作以及事故越少。结论完善局部和全局信息的显示,针对性地提高航天员的认知能力,有利于保障在轨机械臂遥操作任务的安全、顺利完成。

Objective To provide a theoretical reference for strengthening the teleoperation error probability prediction and perfecting the system design and astronaut training through the study of the causes of accidents and influencing factors in teleoperation process from cognitive layer based on the manipulator remote docking missions. Method Cognitive ability test and simulation experiment of manipulator remote docking mission were carried out in 24 subjects. Then the human errors that induced reciprocating operation and teleoperation accidents,the probability of error,and the relationship between cognitive ability and errors under different 3D information levels were studied. Results Sense perception,memory,spatial relationship comprehension and attention distribution were the main factors in inducing reciprocating operation error and accident. The effect of local and global information differed in teleoperation and they were effective for reducing the cognitive error.The higher the attention ability,operating control ability,mental rotation ability and memory ability of astronauts,the less the reciprocating operation and accidents induced by cognitive errors. Conclusion To ensure the safety and smoothness of teleoperation mission,it is important to perfect the information display,and improve the astronauts＇ correlative cognitive ability.