A method, device, system and electronic device for determining a two-person collaboration capability

Abstract

This invention discloses a method, apparatus, system, and electronic device for determining two-person collaborative ability, relating to the field of collaborative control technology. In a collaborative coloring process involving two participants, the method determines pattern fill rate scores at multiple sampling times. During the collaborative coloring process, the first participant controls the position of a first virtual brush on a first virtual canvas, and the second participant controls the embedding depth of a second virtual brush on a second virtual canvas, applying the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush. Based on the pattern fill rate scores at all sampling times and the time taken for the collaborative coloring process, the two-person collaborative ability is determined, thereby achieving an objective determination of two-person collaborative ability based on force-tactile feedback.

Description

Technical Field

[0001] This invention relates to the field of collaborative control technology, and in particular to a method, apparatus, system and electronic device for determining the collaborative capabilities of two people. Background Technology

[0002] Existing methods for determining two-person collaborative ability are mostly based on subjective evaluation and lack objective quantitative indicators. Furthermore, existing assessments of two-person collaborative ability are based on other audiovisual channels such as language interaction and gesture interaction, and there are no testing and assessment methods based on human tactile interaction channels. However, in daily life, there are still some physical action interaction processes involving force and tactile perception, such as two people working together to move things. These tasks involve the joint control of force and position.

[0003] The force-tactile channel plays a vital role in human cognition and understanding of things, expression of emotions, and maintenance of relationships, making it an effective method for assessing two-person collaborative processes. The unique characteristics of the force-tactile channel place higher demands on the ecological validity of interactive systems and platforms, as well as the practical need for accurate measurement of motor behavior. Currently, due to limitations in realistically simulated two-person human tactile interaction and measurement platforms, there are no systems or methods for assessing collaborative abilities through virtual two-person force-tactile interaction. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, system, and electronic device for determining the collaborative ability of two people, which realizes the objective determination of the collaborative ability of two people based on force and tactile sensation.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A method for determining two-person collaborative ability includes:

[0007] During the collaborative coloring process between two participants, pattern fill rate scores are determined at multiple sampling times. During the collaborative coloring process, the first participant controls the position of the first virtual brush on the first virtual canvas, the second participant controls the embedding depth of the second virtual brush on the second virtual canvas, and applies the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush.

[0008] Based on the pattern fill rate score at all sampling times and the time taken for the collaborative coloring process, the collaborative ability of two people is determined.

[0009] The process of determining the pattern fill rate score for any given sampling time includes:

[0010] Determine whether a collision has occurred between the first virtual pen and the first virtual canvas, and obtain the determination result;

[0011] When the judgment result is yes:

[0012] Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and actual radius of the actual circle center of the trajectory drawn by the first virtual brush;

[0013] Based on the actual center position and the first virtual canvas, determine the standard centerline position, reference radius, and standard fill circle radius;

[0014] The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius.

[0015] Optionally, based on the position of the actual center of the circle and the first virtual canvas, the standard centerline position, reference radius, and standard fill circle radius are determined, specifically including:

[0016] Determine the perpendicular line passing through the actual center of the circle and perpendicular to the side line of the first virtual canvas, as well as the center line of the first virtual canvas;

[0017] The intersection of the perpendicular line and the center line is determined as the position of the standard center line;

[0018] The distance between the foot of the perpendicular line on the side straight line and the actual center of the circle is determined as the reference radius;

[0019] The distance between the perpendicular foot and the standard centerline is determined as the radius of the standard filling circle.

[0020] Optionally, the pattern fill rate score is calculated based on the position of the actual center, the actual radius, the position of the standard centerline, the reference radius, and the radius of the standard fill circle, specifically including:

[0021] Calculate the position error based on the actual center position and the standard centerline position;

[0022] Calculate the radius error based on the actual radius and the reference radius;

[0023] The pattern fill rate score is calculated based on the position error, the radius error, and the standard fill circle radius.

[0024] Optionally, when the determination result is yes, it further includes:

[0025] The first collision response force is determined based on the embedding depth of the first virtual paintbrush into the first virtual canvas, and the first collision response force is fed back to the first participant.

[0026] The second collision response force is determined based on the embedding depth of the second virtual brush into the second virtual canvas, the second collision response force is converted into the actual radius of the stroke of the first virtual brush, and the second collision response force is fed back to the second participant.

[0027] Optionally, during the collaborative coloring process, the coloring trajectory is rendered onto the display screens of the first participant and the second participant.

[0028] A device for determining the collaborative ability of two people includes: a first force feedback device, a second force feedback device, a first display screen, a second display screen, and a host computer, wherein the first force feedback device, the second force feedback device, the first display screen, and the second display screen are all connected to the host computer.

[0029] Both the first display screen and the second display screen display the first virtual brush, the second virtual brush, the first virtual canvas, the second virtual canvas, and the handwriting during the collaborative coloring process;

[0030] The first participant holds the first force feedback device and controls the position of the first virtual pen on the first virtual drawing board through the host computer;

[0031] The second participant holds the second force feedback device and controls the embedding depth of the second virtual brush on the second virtual canvas through the host computer, and applies the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush.

[0032] The host is used for:

[0033] During the collaborative coloring process between two participants, pattern fill rate scores were determined at multiple sampling times.

[0034] Based on the pattern fill rate score at all sampling times and the time taken for the collaborative coloring process, the collaborative ability of two people is determined.

[0035] The process of determining the pattern fill rate score for any given sampling time includes:

[0036] Determine whether a collision has occurred between the first virtual pen and the first virtual canvas, and obtain the determination result;

[0037] When the judgment result is yes:

[0038] Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and actual radius of the actual circle center of the trajectory drawn by the first virtual brush;

[0039] Based on the actual center position and the first virtual canvas, determine the standard centerline position, reference radius, and standard fill circle radius;

[0040] The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius.

[0041] The host is also used for:

[0042] When the judgment result is yes, the first collision response force is determined according to the embedding depth of the first virtual paintbrush into the first virtual canvas, and the first collision response force is fed back to the first participant through the first force feedback device.

[0043] The second collision response force is determined based on the embedding depth of the second virtual brush into the second virtual canvas. The second collision response force is converted into the actual radius of the stroke of the first virtual brush and fed back to the second participant through the second force feedback device.

[0044] A system for determining the collaborative capabilities of two individuals, comprising:

[0045] The pattern fill rate score determination module is used to determine the pattern fill rate score at multiple sampling times during the collaborative coloring process of two participants. During the collaborative coloring process, the first participant controls the position of the first virtual brush on the first virtual canvas, the second participant controls the embedding depth of the second virtual brush on the second virtual canvas, and applies the embedding depth of the second virtual brush to the thickness of the stroke of the first virtual brush.

[0046] The dual-person collaboration capability determination module is used to determine the dual-person collaboration capability based on the pattern fill rate score and the time taken for the collaborative coloring process at all sampling times.

[0047] The process of determining the pattern fill rate score for any given sampling time includes:

[0048] Determine whether a collision has occurred between the first virtual pen and the first virtual canvas, and obtain the determination result;

[0049] When the judgment result is yes:

[0050] Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and actual radius of the actual circle center of the trajectory drawn by the first virtual brush;

[0051] Based on the actual center position and the first virtual canvas, determine the standard centerline position, reference radius, and standard fill circle radius;

[0052] The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius.

[0053] An electronic device, comprising:

[0054] One or more processors;

[0055] A storage device on which one or more programs are stored;

[0056] When the one or more programs are executed by the one or more processors, the one or more processors implement the dual-person collaborative capability determination method as described above.

[0057] Optionally, the storage device is a readable storage medium.

[0058] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0059] This invention discloses a method, apparatus, system, and electronic device for determining two-person collaborative ability. A first participant controls the position of a first virtual brush on a first virtual canvas, and a second participant controls the embedding depth of a second virtual brush on the second virtual canvas. The embedding depth of the second virtual brush is applied to the thickness of the strokes of the first virtual brush, thereby completing collaborative coloring by the two participants. During the collaborative coloring process, the pattern fill rate score at multiple sampling times is first determined, and the two-person collaborative ability is determined based on the pattern fill rate score at all sampling times and the time taken for the collaborative coloring process. This achieves an objective determination of two-person collaborative ability based on force-touch perception. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 This is a schematic diagram of the method for determining the collaborative ability of two people provided in Embodiment 1 of the present invention;

[0062] Figure 2 This is a schematic diagram of the dual-person collaborative ability determination device provided in Embodiment 2 of the present invention;

[0063] Figure 3 This is a schematic diagram of the mission screen;

[0064] Figure 4 Rendering flowchart for a shared visual-haptic experience for two people;

[0065] Figure 5 A schematic diagram illustrating the indicators for determining the collaborative ability of two people.

[0066] Symbol explanation:

[0067] First force feedback device—1, second force feedback device—2, first display screen—3, second display screen—4, main unit—5. Detailed Implementation

[0068] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0069] The purpose of this invention is to provide a method, apparatus, system, and electronic device for determining the collaborative ability of two people, aiming to achieve the objective determination of the collaborative ability of two people based on force and tactile sensation.

[0070] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] Example 1

[0072] Figure 1 This is a schematic flowchart of the method for determining the collaborative ability of two people provided in Embodiment 1 of the present invention. Figure 1 As shown, the method for determining the collaborative ability of two people in this embodiment includes:

[0073] Step 101: During the collaborative coloring process between the two participants, determine the pattern fill rate score at multiple sampling times; during the collaborative coloring process, the first participant controls the position of the first virtual brush on the first virtual canvas, the second participant controls the embedding depth of the second virtual brush on the second virtual canvas, and applies the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush.

[0074] Step 102: Determine the two-person collaborative capability based on the pattern fill rate score and the time taken for the collaborative coloring process at all sampling times.

[0075] The process of determining the pattern fill rate score for any given sampling time includes:

[0076] Determine whether a collision has occurred between the first virtual paintbrush and the first virtual canvas, and obtain the determination result.

[0077] When the judgment result is yes:

[0078] Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and radius of the actual center of the trajectory drawn by the first virtual brush.

[0079] Based on the actual center position and the first virtual drawing board, determine the standard centerline position, reference radius, and standard fill circle radius.

[0080] The pattern fill rate score is calculated based on the actual center position, actual radius, standard centerline position, reference radius and standard fill circle radius. The specific formulas are shown in formulas (1)-(4) in Example 3.

[0081] As an optional implementation, the standard centerline position, reference radius, and standard fill circle radius are determined based on the actual center position and the first virtual drawing board, specifically including:

[0082] Determine the perpendicular line passing through the actual center of the circle and perpendicular to the side line of the first virtual canvas, as well as the center line of the first virtual canvas.

[0083] The intersection of the perpendicular line and the center line is determined as the standard centerline position.

[0084] The distance between the foot of the perpendicular line on the side line and the actual center of the circle is determined as the reference radius.

[0085] The distance between the perpendicular foot and the standard centerline is defined as the radius of the standard filling circle.

[0086] As an optional implementation, the pattern fill rate score is calculated based on the actual center position, actual radius, standard centerline position, reference radius, and standard fill circle radius, specifically including:

[0087] Calculate the positional error based on the actual position of the circle's center and the position of the standard centerline.

[0088] Calculate the radius error based on the actual radius and the reference radius.

[0089] The pattern fill rate score is calculated based on the position error, radius error, and standard fill circle radius.

[0090] As an optional implementation, when the determination result is yes, it further includes:

[0091] The first collision response force is determined based on the embedding depth of the first virtual paintbrush into the first virtual canvas, and the first collision response force is fed back to the first participant.

[0092] The second collision response force is determined based on the embedding depth of the second virtual brush into the second virtual canvas. The second collision response force is converted into the actual radius of the stroke of the first virtual brush and then fed back to the second participant.

[0093] As an optional implementation, during the collaborative coloring process, the coloring trajectory is rendered onto the displays of the first participant and the second participant.

[0094] Example 2

[0095] Figure 2 This is a schematic diagram of the dual-person collaborative ability determination device provided in Embodiment 2 of the present invention. Figure 2 As shown, the dual-person collaborative ability determination device in this embodiment includes: a first force feedback device 1, a second force feedback device 2, a first display screen 3, a second display screen 4, and a host 5. The first force feedback device 1, the second force feedback device 2, the first display screen 3, and the second display screen 4 are all connected to the host 5.

[0096] Both the first display screen 3 and the second display screen 4 display the first virtual brush, the second virtual brush, the first virtual canvas, the second virtual canvas, and the handwriting during the collaborative coloring process.

[0097] The first participant holds the first force feedback device 1 and controls the position of the first virtual pen on the first virtual drawing board through the host 5.

[0098] The second participant holds the second force feedback device 2 and controls the thickness of the strokes on the second virtual canvas with the host 5, and applies the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush.

[0099] Host 5, used for:

[0100] During the collaborative coloring process between two participants, pattern fill rate scores were determined at multiple sampling times.

[0101] The collaborative capability of two people is determined based on the pattern fill rate score at all sampling times and the time taken for the collaborative coloring process.

[0102] The process of determining the pattern fill rate score for any given sampling time includes:

[0103] Determine whether a collision has occurred between the first virtual paintbrush and the first virtual canvas, and obtain the determination result.

[0104] When the judgment result is yes:

[0105] Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and radius of the actual center of the trajectory drawn by the first virtual brush.

[0106] Based on the actual center position and the first virtual drawing board, determine the standard centerline position, reference radius, and standard fill circle radius.

[0107] The pattern fill rate score is calculated based on the actual center position, actual radius, standard centerline position, reference radius, and standard fill circle radius.

[0108] Host 5 is also used for:

[0109] When the judgment result is yes, the first collision response force is determined according to the embedding depth of the first virtual paintbrush into the first virtual canvas, and the first collision response force is fed back to the first participant through the first force feedback device 1.

[0110] The second collision response force is determined based on the embedding depth of the second virtual brush into the second virtual canvas. The second collision response force is converted into the actual radius of the stroke of the first virtual brush and fed back to the second participant through the second force feedback device 2.

[0111] When performing a collaborative task (i.e., collaborative coloring) using a dual-person collaborative capability determination device, the two participants obtain visual information reflecting their real-time performance in the collaborative task (i.e., the handwriting during the coloring process) by looking at the display screen in front of them. Subsequently, the two participants decide on their motion control actions for the next moment and manipulate the end effector of their respective force feedback devices. Finally, the motion control behaviors of the two participants are converted into visual information and presented on their respective displays in a visually coupled manner (the visual content presented on the displays of the two participants is the same).

[0112] Specific implementation example: The task requirements for the two-person joint operation task are: two participants need to each hold a force feedback device to control their respective paintbrushes on the display screen and work together to complete the task of coloring the carrot shape on the display screen.

[0113] I. The task flow for using a dual-person collaborative capability determination device to perform a dual-person joint operation task (i.e., collaborative coloring) is as follows:

[0114] (1) Before the task begins, the two participants hold the ends of their respective force feedback devices and wait for the task to begin.

[0115] (2) At the start of the task, such as Figure 3As shown, the display screen shows the visual images of a carrot-shaped virtual canvas (i.e., the first virtual canvas), a disc-shaped virtual canvas (i.e., the second virtual canvas), root brush 1 (i.e., the first virtual brush), and brush 2 (i.e., the second virtual brush). In the virtual space in front of the two participants, the virtual objects of the carrot-shaped canvas and the disc-shaped canvas appear. At the same time, collision detection is activated. If the two participants move the end of the force feedback device, it will control the synchronous movement of the brush. If the virtual brush comes into contact with the virtual canvas, a collision response force (or contact force) will be generated. The collision response force is calculated by the collision detection and response algorithm and then fed back to the participants through the force feedback device. Therefore, it is also called feedback force.

[0116] (3) During the task, participant A (i.e., the first participant) is responsible for controlling the position of pen 1 on the carrot-shaped canvas through force feedback device 1, i.e., the first force feedback device, so that it can touch the canvas from the starting position and draw smoothly to the ending position and then leave. The contact point between pen 1 and the carrot-shaped virtual canvas will determine the drawing position of the trajectory. Participant B (i.e., the second participant) is responsible for controlling the contact force between pen 2 and the disc-shaped virtual canvas at the lower left of the display screen through force feedback device 2, i.e., the second force feedback device. The magnitude of the force applied inward in the direction perpendicular to the disc-shaped virtual canvas determines the thickness of the stroke of the trajectory drawn by pen 1. The stroke is drawn by presenting a fill circle of a specified radius at the current moment. When the vertically applied force increases, the radius of the trajectory fill circle increases proportionally, and the corresponding fill area displayed in the carrot-shaped graphic on the display screen becomes larger. The two participants are required to cooperate to fill the carrot-shaped canvas as quickly as possible by drawing trajectories with varying widths, without exceeding the canvas area.

[0117] (4) The task ends after a certain period of time. The force and position data sampled at 1000Hz high frequency are recorded and the collaborative ability of the two people is objectively quantified. The collaborative ability of the two people can be measured again by restarting or repeating the task.

[0118] Therefore, in order to better complete the above-mentioned joint operation task, participant A needs to keep the position control trajectory as stable as possible on the center line of the pattern, and adjust their own position control in real time according to the force control results of participant B; participant B needs to adjust their own force control in real time according to the position results of A's pen trajectory.

[0119] II. In order to enable the two-person collaborative operation task to simulate a more realistic operation scenario, the operating system in host 5 needs to meet the following three design requirements:

[0120] (1) The ends of the force feedback devices of the two participants are transformed into virtual paintbrushes in the virtual world to realize the real-time synchronous movement of the ends of the force feedback devices in the real space and the virtual paintbrushes in the virtual space. It is necessary to obtain the position and posture information of the ends of the force feedback devices at high frequency and be able to meet the frequency frames of visual continuity, refresh the position and posture of the virtual paintbrushes on the display screen to reflect the synchronous change process of their posture.

[0121] (2) Achieve a realistic collision effect between the virtual paintbrush and the virtual canvas in the virtual space.

[0122] The basic principle is to determine whether a collision has occurred by detecting the relative position between the virtual pen and the virtual canvas. The position of the deepest point of collision between the virtual pen and the virtual canvas surface (i.e., the midpoint of the line connecting the centers of the two colliding spheres) is used as the embedding point. The vertical distance of the embedding point relative to the virtual canvas surface is calculated to obtain the embedding depth of the virtual pen into the virtual canvas. The feedback force is then calculated and transmitted to both users via a force feedback device. Based on the calculated diameter of the drawing trajectory circle (partner B's collision response force) and the center position (partner A's embedding point on the virtual canvas), the graphics are rendered. In other words, based on the calculated diameter and center position of the drawing trajectory circle, the drawing trajectory is displayed on the screen in real time, achieving visual sharing between two users.

[0123] When a collision occurs, two things happen: First, on the force feedback thread, the collision response force is calculated and fed back to the user via a force feedback device, allowing the user to feel the pressure from the collision. The purpose of transmitting the feedback force to both users is to give them the realistic feeling of pressing a paintbrush on a canvas; otherwise, it lacks realism and cannot be considered a visual-touch fusion virtual reality. Second, on the visual thread, upon detecting a collision, the brush diameter (partner B's collision response force) and position (partner A's collision position) are calculated, and a coloring trajectory is drawn (according to the task design, a coloring trajectory will only appear when both users collide). When there is no collision, no work is required; only the pose of the virtual paintbrush on the display screen needs to be refreshed in a timely manner.

[0124] (3) The operating system needs to support two-person collaborative operation while ensuring that its visual refresh rate and force refresh rate meet minimum requirements to make the virtual space experience more realistic. Therefore, the software system framework containing the key components of visual rendering and force rendering is as follows: Figure 4 As shown ( Figure 4The operator in this context is the participant, and the virtual tool is the virtual paintbrush. The visual rendering thread needs to refresh at a visual frequency of 30Hz to ensure visual continuity. The force feedback thread primarily controls two force feedback devices, using two force feedback frames to independently implement collision detection and response between the two virtual paintbrushes and their respective canvases. Because human tactile resolution is much higher than visual resolution, the force feedback thread needs to refresh at a frequency of 1kHz.

[0125] Visual thread rendering primarily refers to the real-time display and refresh of virtual pens and virtual canvases. The virtual canvas has a fixed display position, while the position and posture of the virtual pen move synchronously with the user's actions in physical space. The development process is as follows: First, the required 3D models of the virtual pens and virtual canvases need to be constructed in 3D modeling software, and their triangular facet model files are obtained. These are then imported into the visual thread. The triangular facet format file contains information such as the vertex coordinates and vertex normals of the model, enabling the virtual pen and virtual canvas to draw graphics and output them to the display screen within the visual thread.

[0126] The rendering process for the force feedback thread requires the creation of sphere-tree models for the virtual paintbrush and virtual canvas. Two parallel force feedback frames are used to independently implement the force feedback rendering process for a single participant, enabling collaborative operation between participant A and participant B. In each force feedback frame, the following rendering process is completed: After acquiring the pose of the current force feedback device's end in physical space (the force feedback device exists in the real world, and its position refers to its location in the real world), this pose is mapped to the coordinates of the virtual paintbrush sphere-tree model in virtual space. Collision detection is then performed between the sphere-model virtual paintbrush and the virtual canvas. If no collision is detected, the process continues to wait for the next force feedback frame. If a collision occurs, the feedback force is calculated and ultimately transmitted to the two participants through the two force feedback devices, allowing them to experience the realistic contact force of manipulating the virtual paintbrush on the virtual canvas. Then, the process continues to wait for the next force feedback frame.

[0127] The visual thread and the force thread are not independent of each other. When the virtual brush needs to draw graphics in the visual frame, the real-time pose information and the collision response force calculated by the collision response will be obtained from the force rendering thread.

[0128] Furthermore, in order to achieve a realistic force feedback effect when the virtual pen and the virtual canvas come into contact at any position, a force rendering algorithm based on multi-point contact is used, which includes four force rendering stages: modeling based on a hierarchical ball tree model, virtual pen pose acquisition, collision detection, and collision response.

[0129] (1) Modeling of the ball tree model

[0130] In the force detection thread, an octagonal sphere-tree model needs to be built for the virtual canvas and virtual paintbrush. This model has a multi-level structure. In the first level, the virtual canvas is modeled as a large sphere surrounding it; in the second level, its shape is fitted with 8 smaller spheres; and in the third level, its shape is fitted with 64 even smaller spheres. The higher the level of the sphere-tree, the more realistically the shape of the virtual canvas can be simulated and approximated. Considering computational speed, a four-level sphere-tree model is used here. Following this method, sphere-tree models for the virtual paintbrush and virtual canvas are built for the next step of collision detection.

[0131] (2) Virtual pen pose acquisition

[0132] Whether it's a virtual canvas or a virtual paintbrush, the visual model (triangular facet model) and tactile model (ball-tree model) need to be in the same position in the virtual space to provide users with a consistent visual-tactile experience. Based on this, the host device 5 calls the SDK program included with the force feedback device to acquire end-effector information (including six-dimensional information of spatial position and orientation) from both force feedback devices at a frequency of 1kHz. This information is then bound to the motion of the triangular facet model of the virtual paintbrush, which in turn is bound to its ball-tree model. This allows two participants to control their respective paintbrushes on the screen as they move their own force feedback device ends, with the paintbrush's ball-tree model moving simultaneously, facilitating collision detection between the virtual paintbrush and the virtual canvas.

[0133] (3) Collision detection

[0134] After modeling the virtual brush and virtual canvas, a collision detection algorithm is used to determine whether a collision has occurred between the virtual brush and the virtual canvas. The detection principle follows the process below:

[0135] The sphere tree models for both the virtual paintbrush and the virtual canvas are composed of multi-level spheres. At each level, based on the sphere's coordinates, the criterion for determining whether a collision has occurred is whether the distance between two spheres in the virtual paintbrush and virtual canvas is less than the sum of their radii. Following this premise, the first level of spheres in the virtual paintbrush and virtual canvas is checked to determine if they intersect. If they do not intersect, it means they have not collided; otherwise, the second level is checked. If they do not intersect, the third level is checked for intersecting spheres. During this process, spheres that have not intersected are discarded, and only intersecting spheres are checked again at the next level until the lowest level. Information on all spheres that collided during this process is saved. Based on this data, the number of collision points (how many spheres collided) and the position of each collision point (the midpoint of the line connecting the centers of the two colliding spheres) can be obtained, and then collision response can be performed.

[0136] In collision detection, participant A only detects the collision between their virtual paintbrush and the carrot-shaped virtual canvas, while participant B only detects the collision between their virtual paintbrush and the disc-shaped virtual canvas. That is, when participant A moves their virtual paintbrush to the position of the disc-shaped virtual canvas, no collision detection or response occurs.

[0137] (4) Collision response

[0138] The purpose of collision response is to calculate the feedback force and transmit it to the hands of two participants through two force feedback devices, so that the two users can feel the real contact force experience of manipulating the virtual paintbrush to move on the virtual drawing board.

[0139] When a collision occurs, the embedding depth of the virtual canvas and virtual pen needs to be determined. The embedding point is taken as the location of the deepest point of impact relative to the virtual canvas surface (i.e., the midpoint of the line connecting the centers of the two colliding spheres). The perpendicular distance of this embedding point relative to the virtual canvas surface is calculated to determine the feedback force. Assuming a spring connection between the virtual canvas and the virtual pen, according to Hooke's Law, the product of the embedding depth and the virtual stiffness of the virtual canvas is the feedback force generated by the collision. The deeper participant B's virtual pen (pen) embeds into the virtual canvas (disc-shaped canvas), the greater the feedback force, and the thicker the trajectory drawn by participant A. Finally, the device sends a feedback force command to output the specified feedback force magnitude, completing a full collision response process.

[0140] III. Objective quantification of two-person collaborative ability.

[0141] The two-person collaborative ability Performance is determined by formula (1) based on the pattern fill rate score based on all sampling times and the time taken for the collaborative coloring process.

[0142]

[0143] Among them, Score p This represents the pattern fill rate score obtained at the p-th sampling time (i.e., the visual frame, where the pattern fill rate is calculated once per frame), where n represents the number of sampling times, and Time represents the time taken for the collaborative coloring process, i.e., the time from when the position control touches the virtual canvas at the starting position to when it leaves the virtual canvas at the ending position.

[0144] Score p The calculation method is shown in formula (2). The pattern fill rate score at each sampling time is determined by the position error P of the virtual pen point. error (Controlled by participant A) and force error F error (Controlled by participant B, since the magnitude of participant B's force is represented by the radius of the circle of the pen trajectory, the force error is the radius error R) errorThe position error and radius error are determined by the formulas (3) and (4) respectively.

[0145]

[0146]

[0147] R error =|R act -R refer |=|C F2R ×F act -R refer | (4).

[0148] Among them, such as Figure 5 As shown, the drawing board plane is defined as the XY plane, where P act = (x1, y1) is the coordinate of the projection position of participant A's tool embedding point on the canvas surface (XY plane) at the current sampling time, that is, the center of the actual circle of the current trajectory (the position of the actual center); R act It is the fill radius of the pen trajectory at the current sampling moment, i.e., the actual radius.

[0149] Standard midline position P std =(x s ,y s ), dynamically changing reference radius R refer With standard fill circle radius R std The definition is as follows:

[0150] Pass P act Draw a straight line perpendicular to the side line of the target fill pattern. The intersection point of this line and the center line of the target fill pattern (i.e., the dashed line connecting the start and end positions) is P. std P act The distance between the foot of the perpendicular from the above perpendicular line is R. refer P std The distance between the perpendicular feet mentioned above is R. std .

[0151] Position error P error The position P is taken from the actual center of the circle. act Corresponding standard centerline position P std Distance, force error F error This is reflected in the radius error of the color-filled circle, defined as R. error This value is taken from the actual fill radius R at the current sampling time. act With dynamically changing reference radius R refer The difference between them.

[0152] C F2R For actual force F actWith standard fill circle radius R std The transformation coefficients between them are used to ensure that the final force control range is 0-3N, therefore C is... F2R The constant value is set to 8.

[0153] According to formula (2), in the process of calculating the pattern fill rate score at each sampling time, the standard radius R of the fill circle when the position error is 0, that is, when the position is at the center line of the pattern, is taken as the standard radius R. std Based on this standard, the score is calculated using the ratio of the absolute values ​​of force error and position error. This yields an objective score for the collaborative ability of two people under this evaluation standard. Therefore, only when position control is closer to the pattern centerline and force control (reflected in the displayed radius of the fill circle) is closer to the actual reference dynamic standard radius can the fill rate score achieve a better result, demonstrating stronger collaborative ability and better performance.

[0154] The above formulas and the behavioral indicator Performance can be used to objectively evaluate the collaborative ability of two people.

[0155] Example 3

[0156] The dual-person collaborative ability determination system in this embodiment includes:

[0157] The pattern fill rate score determination module is used to determine the pattern fill rate score at multiple sampling times during the collaborative coloring process of two participants. During the collaborative coloring process, the first participant controls the position of the first virtual brush on the first virtual canvas, and the second participant controls the embedding depth of the second virtual brush on the second virtual canvas, and applies the embedding depth of the second virtual brush to the thickness of the stroke of the first virtual brush.

[0158] The dual-person collaboration capability determination module is used to determine the dual-person collaboration capability based on the pattern fill rate score and the time taken for the collaborative coloring process at all sampling times.

[0159] The process of determining the pattern fill rate score for any given sampling time includes:

[0160] Determine whether a collision has occurred between the first virtual paintbrush and the first virtual canvas, and obtain the determination result.

[0161] When the judgment result is yes:

[0162] Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and radius of the actual center of the trajectory drawn by the first virtual brush.

[0163] Based on the actual center position and the first virtual drawing board, determine the standard centerline position, reference radius, and standard fill circle radius.

[0164] The pattern fill rate score is calculated based on the actual center position, actual radius, standard centerline position, reference radius, and standard fill circle radius.

[0165] Example 4

[0166] An electronic device, comprising:

[0167] One or more processors.

[0168] A storage device on which one or more programs are stored.

[0169] When one or more programs are executed by one or more processors, the one or more processors implement the method for determining the two-person collaborative capability as in Example 1.

[0170] As an optional implementation, the storage device is a readable storage medium.

[0171] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0172] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for determining a two-person coordination ability, characterized by, The method includes: During the collaborative coloring process between two participants, pattern fill rate scores are determined at multiple sampling times. During the collaborative coloring process, the first participant controls the position of the first virtual brush on the first virtual canvas, the second participant controls the embedding depth of the second virtual brush on the second virtual canvas, and applies the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush. Based on the pattern fill rate score at all sampling times and the time taken for the collaborative coloring process, the collaborative ability of two people is determined. The process of determining the pattern fill rate score for any given sampling time includes: Determine whether a collision has occurred between the first virtual pen and the first virtual canvas, and obtain the determination result; When the judgment result is yes: Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and actual radius of the actual circle center of the trajectory drawn by the first virtual brush; Based on the actual center position and the first virtual canvas, determine the standard centerline position, reference radius, and standard fill circle radius; The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius.

2. The method of claim 1, wherein, Based on the actual center position and the first virtual drawing board, the standard centerline position, reference radius, and standard fill circle radius are determined, specifically including: Determine the perpendicular line passing through the actual center of the circle and perpendicular to the side line of the first virtual canvas, as well as the center line of the first virtual canvas; The intersection of the perpendicular line and the center line is determined as the position of the standard center line; The distance between the foot of the perpendicular line on the side straight line and the actual center of the circle is determined as the reference radius; The distance between the perpendicular foot and the standard centerline is determined as the radius of the standard filling circle.

3. The method of claim 2, wherein, The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius, specifically including: Calculate the position error based on the actual center position and the standard centerline position; Calculate the radius error based on the actual radius and the reference radius; The pattern fill rate score is calculated based on the position error, the radius error, and the standard fill circle radius.

4. The method of claim 1, wherein, When the judgment result is yes, it also includes: The first collision response force is determined based on the embedding depth of the first virtual paintbrush into the first virtual canvas, and the first collision response force is fed back to the first participant. The second collision response force is determined based on the embedding depth of the second virtual brush into the second virtual canvas, the second collision response force is converted into the actual radius of the stroke of the first virtual brush, and the second collision response force is fed back to the second participant.

5. The method of claim 1, wherein, During the collaborative coloring process, the coloring trajectory is rendered onto the display screens of the first participant and the second participant.

6. A two-person collaboration ability determination apparatus characterized by comprising: The device includes: a first force feedback device, a second force feedback device, a first display screen, a second display screen, and a host computer, wherein the first force feedback device, the second force feedback device, the first display screen, and the second display screen are all connected to the host computer. Both the first display screen and the second display screen display the first virtual brush, the second virtual brush, the first virtual canvas, the second virtual canvas, and the handwriting during the collaborative coloring process; The first participant holds the first force feedback device and controls the position of the first virtual pen on the first virtual drawing board through the host computer; The second participant holds the second force feedback device and controls the embedding depth of the second virtual brush on the second virtual canvas through the host computer, and applies the embedding depth of the second virtual brush to the thickness of the strokes of the first virtual brush. The host is used for: During the collaborative coloring process between two participants, pattern fill rate scores were determined at multiple sampling times. Based on the pattern fill rate score at all sampling times and the time taken for the collaborative coloring process, the collaborative ability of two people is determined. The process of determining the pattern fill rate score for any given sampling time includes: Determine whether a collision has occurred between the first virtual pen and the first virtual canvas, and obtain the determination result; When the judgment result is yes: Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and actual radius of the actual circle center of the trajectory drawn by the first virtual brush; Based on the actual center position and the first virtual canvas, determine the standard centerline position, reference radius, and standard fill circle radius; The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius. The host is also used for: When the judgment result is yes, the first collision response force is determined according to the embedding depth of the first virtual paintbrush into the first virtual canvas, and the first collision response force is fed back to the first participant through the first force feedback device. The second collision response force is determined based on the embedding depth of the second virtual brush into the second virtual canvas. The second collision response force is converted into the actual radius of the stroke of the first virtual brush and fed back to the second participant through the second force feedback device.

7. A two-person collaboration ability determination system characterized by comprising: The system includes: The pattern fill rate score determination module is used to determine the pattern fill rate score at multiple sampling times during the collaborative coloring process of two participants. During the collaborative coloring process, the first participant controls the position of the first virtual brush on the first virtual canvas, the second participant controls the embedding depth of the second virtual brush on the second virtual canvas, and applies the embedding depth of the second virtual brush to the thickness of the stroke of the first virtual brush. The dual-person collaboration capability determination module is used to determine the dual-person collaboration capability based on the pattern fill rate score and the time taken for the collaborative coloring process at all sampling times. The process of determining the pattern fill rate score for any given sampling time includes: Determine whether a collision has occurred between the first virtual pen and the first virtual canvas, and obtain the determination result; When the judgment result is yes: Obtain the embedding depth of the first virtual brush into the first virtual canvas, as well as the position and actual radius of the actual circle center of the trajectory drawn by the first virtual brush; Based on the actual center position and the first virtual canvas, determine the standard centerline position, reference radius, and standard fill circle radius; The pattern fill rate score is calculated based on the actual center position, the actual radius, the standard centerline position, the reference radius, and the standard fill circle radius.

8. An electronic device, characterized in that, include: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining two-person collaborative capabilities as described in any one of claims 1 to 5.

9. The electronic device of claim 8, wherein, The storage device is a readable storage medium.

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