Method for performance evaluation of a teleoperation system and use thereof

Abstract

The application discloses a performance evaluation method for a teleoperation system and application thereof, and belongs to the technical field of teleoperation, and comprises the following steps: S1, mapping a master end action sequence of the teleoperation system into a target sequence of a slave device according to task requirements, and recording a corresponding slave device output sequence; calculating a distance error matrix between the target sequence and the output sequence; S2, constructing a matching path constraint condition of the target sequence and the output sequence of the teleoperation system under constant targets and switching targets based on kinematic characteristics of the slave device; and S3, performing path search on the distance error matrix under the matching path constraint condition to obtain a distance cumulative value between each target value and a corresponding output value on a shortest matching path. The application considers the influence caused by system motion characteristics, so that the shortest matching path obtained by searching for the mapping of the target sequence and the output sequence can meet an objective motion law of the teleoperation system, and the accuracy of performance evaluation of the teleoperation system is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of teleoperation technology, and more specifically, relates to a performance evaluation method for a teleoperation system and its application. Background Technology

[0002] Teleoperation refers to the remote control of robots by humans to complete dangerous or complex tasks. Its applications are very broad, including telemedicine, disaster relief, and space exploration. A teleoperation system generally consists of three parts: a master domain for collecting operator information, a slave domain for executing operator actions, and a network domain for real-time information transmission between the master and slave domains. The network domain exhibits time-varying characteristics; latency, jitter, packet loss, and other communication metrics can significantly impact the performance of the teleoperation system.

[0003] Accurate measurement of the performance of teleoperation systems under different communication parameters is the foundation for their large-scale application and the theoretical basis for subsequent system improvements. However, most existing teleoperation system performance evaluation schemes rely solely on the numerical difference between input and output signals, without considering the influence of the hardware system's motion characteristics (such as velocity, displacement, and inertia). In the process of calculating performance indicators, there is a problem that the calculated data matching relationship does not conform to the objective motion law of the teleoperation system, resulting in low accuracy of performance evaluation results. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the prior art, the present invention provides a performance evaluation method for a remote operating system and its application, so as to solve the technical problem that the evaluation results are less accurate due to the failure to consider the motion characteristics of the hardware system.

[0005] To achieve the above objectives, the present invention provides a performance evaluation method for a teleoperation system, comprising the following steps:

[0006] S1. Based on the task requirements, map the master action sequence of the remote operating system to the target sequence z of the slave device, and record the corresponding output sequence y of the slave device; calculate the distance error matrix A between the target sequence z and the output sequence y; where the element A(i,j) in the i-th row and j-th column of the distance error matrix A is the i-th target value z in the target sequence. i With the j-th output value y in the output sequence j The distance between them;

[0007] S2. Based on the kinematic characteristics of the slave end, construct matching path constraints between the target sequence and the output sequence of the teleoperation system under constant target and switched target conditions;

[0008] S3. Under the matching path constraint, perform path search on the distance error matrix A to obtain the cumulative distance between each target value and the corresponding output value on the shortest matching path between the target sequence and the output sequence, thereby obtaining the cumulative error evaluation result of the teleoperation system.

[0009] More preferably, the matching path constraints include: constant target constraints and switching target constraints;

[0010] The constant target constraint is: when the target value corresponding to the output value of the slave device at two adjacent time points is the same, the target value and output value at two adjacent time points satisfy: (y i -y i-1 )(y i -z i )≤0 or ||z i -y i ||≤3δ;

[0011] The switching target constraint is: when the target value corresponding to the output value of the slave device at two adjacent time points is different, the target value and output value at two adjacent time points satisfy: (y i -lb)(y i -ub)≤0 or ||y i -z i-1 ||≤||y i -y i-1 ||or||y i -lb||≤3δ or ||y i -ub||≤3δ;

[0012] Where δ is the observation standard deviation of the motion data from the slave end; lb = min(z i-1 , z i y i-1 ), ub = max(z i-1 , z i y i-1 );||·||| represents the norm.

[0013] More preferably, step S3 above includes the following steps:

[0014] S31. Construct a cumulative error matrix B with the same size as the distance error matrix A; where the first row and first column element of the cumulative error matrix B is B(1,1) = A(1,1), the first row element excluding B(1,1) is B(1,j) = B(1,j-1) + A(1,j), the first column element excluding B(1,1) is B(i,1) = B(i-1,1) + A(i,1), and all other elements are 0; i = 2, 3, ..., I; j = 2, 3, ..., J; I is the number of target values ​​in the target sequence z, and J is the number of output values ​​in the output sequence y;

[0015] S32. Let i = 2, j = 2;

[0016] S33. Perform path search on the distance error matrix A in the horizontal direction: Determine whether the target value and output value at two adjacent time points on the search path satisfy the constant target constraint condition. If so, denote L = B(i, j-1); otherwise, denote L as infinity.

[0017] For the distance error matrix A, perform a path search in the diagonal direction. Determine whether the target value and output value at two adjacent time points on the search path satisfy the target switching constraint. If so, denote LU = B(i-1, j-1); otherwise, denote LU as infinity.

[0018] Perform a path search on the distance error matrix A in the vertical direction, denoted as U = B(i-1, j);

[0019] S34. Calculate the element B(i,j) = A(i,j) + min(L, LU, U) in the i-th row and j-th column of the cumulative error matrix B.

[0020] S36. Determine whether j is less than or equal to J. If yes, let j = 2 and i = i + 1; otherwise, let j = j + 1.

[0021] S37. Determine whether i is less than or equal to I. If yes, proceed to step S33. Otherwise, the operation ends. At this point, B(I, J) is the cumulative distance between each target value and its corresponding output value on the shortest matching path.

[0022] More preferably, the shortest matching path is obtained based on the cumulative error matrix B, specifically including the following steps:

[0023] A1. Construct a mapping path matrix C with the same size as the cumulative error matrix B; where the element C(1,1) = 1 in the first row and first column of the mapping path matrix C, and all other elements are 0;

[0024] A2. Let i = 1, j = 1;

[0025] A3. Find the minimum value among B(i+1, j+1), B(i, j+1), and B(i+1, j);

[0026] When the minimum value is B(i+1, j+1), let C(i+1, j+1) = 1, i = i+1, j = j+1;

[0027] When the minimum value is B(i, j+1), let C(i, j+1) = 1, j = j+1;

[0028] When the minimum value is B(i+1, j), let C(i+1, j) = 1, i = i+1;

[0029] A4. Determine whether i and j simultaneously satisfy i = I and j = J. If so, the operation ends, and the path formed by the elements with a value of 1 in the mapping path matrix C is the shortest matching path between the target sequence and the output sequence; otherwise, go to step A3.

[0030] More preferably, the performance evaluation indicators of the remote operating system also include: the total number of mapping relationships and the mapping relationship hit rate; the total number of mapping relationships is the number of mapping relationships between the target value and the corresponding output value on the shortest matching path; the mapping relationship hit rate is the ratio of the number of correct mapping relationships between the target value and the corresponding output value on the shortest matching path to the total number of mapping relationships.

[0031] More preferably, in step S1 above, the mapping method for mapping the master action sequence of the teleoperating system to the target sequence of the slave device according to the task requirements includes: joint space mapping, operation space mapping, or joint-operation space hybrid mapping.

[0032] In a second aspect, the present invention provides a performance evaluation device for a remote operating system, comprising: a memory and a processor, wherein the memory stores a computer program, and the processor executes the performance evaluation method provided in the first aspect of the present invention when executing the computer program.

[0033] Thirdly, the present invention provides a remote operating system, comprising: a master device, a slave device, and a performance evaluation device;

[0034] The master device is used to send the master action sequence to the slave operating device;

[0035] The slave device is used to move according to the master device's action sequence;

[0036] The performance evaluation device is used to perform the performance evaluation method provided in the first aspect of the present invention.

[0037] More preferably, the aforementioned remote operating system further includes a communication device for providing wireless communication between the master device and the slave device.

[0038] Fourthly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein the computer program, when executed by a processor, controls the device containing the storage medium to perform the performance evaluation method provided in the first aspect of the present invention.

[0039] In summary, the above-described technical solutions conceived in this invention can achieve the following beneficial effects:

[0040] 1. This invention provides a performance evaluation method for a teleoperation system. Considering the influence of the motion characteristics of the hardware system, by mining the motion characteristics of the teleoperation system, matching path constraints between the target sequence and the output sequence of the teleoperation system under constant target and switching target are constructed. Thus, the matching path constraints are used as additional constraints to perform path search on the distance error matrix, so that the shortest matching path obtained for mapping the target sequence and the output sequence can meet the objective motion law of the teleoperation system, thereby greatly improving the accuracy of the performance evaluation of the teleoperation system.

[0041] 2. This invention provides a performance evaluation method for a teleoperation system. Under constant target constraints and switching target constraints, it can effectively narrow the range of candidate paths during path search, and reduce search complexity while ensuring path matching accuracy.

[0042] 3. The performance evaluation method for remote operating systems provided by this invention has strong compatibility with existing remote operating systems. As long as the data of the master and slave ends can be read, calculations can be performed, making it convenient to use. Attached Figure Description

[0043] Figure 1 This is a flowchart of a performance evaluation method for a teleoperation system provided in Embodiment 1 of the present invention;

[0044] Figure 2 The diagram shows the mapping path matrix C obtained by using the method provided by this invention and the existing DTW method, respectively. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0046] Example 1

[0047] A performance evaluation method for teleoperation systems, such as Figure 1 As shown, it includes the following steps:

[0048] S1. Based on the task requirements, map the master action sequence x of the remote operating system to the target sequence z of the slave device, and record the corresponding output sequence y of the slave device; calculate the distance error matrix A between the target sequence z and the output sequence y; where the element A(i,j) in the i-th row and j-th column of the distance error matrix A is the i-th target value z in the target sequence. iWith the j-th output value y in the output sequence j The distance between them; in this embodiment, Euclidean distance is used, specifically: A(i,j)=||z i -y j ||, where ||·|| represents the 1 norm.

[0049] The mapping methods for mapping the master-side action sequence of the teleoperation system to the target sequence of the slave device according to task requirements include: joint space mapping, operation space mapping, and joint-operation space hybrid mapping. For joint space mapping, a maximum proportion mapping method can be used to sequentially map the joint values ​​of the master device to the operation space of the slave device. Specifically, the aforementioned task requirements can be categorized as: rapid movement of the slave device over a large area, refined operation of the slave device within a small area, and operation with a constant end-effector pose of the slave device.

[0050] S2. Based on the kinematic characteristics of the slave end, construct matching path constraints between the target sequence and the output sequence of the teleoperation system under constant target and switched target conditions;

[0051] Specifically, the matching path constraints include: constant target constraints and switching target constraints;

[0052] Specifically, by analyzing the kinematic characteristics of the slave device, it was found that when the target value corresponding to the output value of the slave device at two adjacent moments is the same, that is, when the output value y of the slave device at two adjacent moments is the same... i and y i-1 The corresponding target value z i Under the same conditions, the slave device will continuously move towards the target value z. i Motion, output value y i The size is between the output value y at the previous time step. i-1 and target value z i Between; due to the limited control precision of the slave device and the inertia of the deceleration process, the current output value y i Ultimately, it will be at the target value z i The fluctuations in the vicinity exhibit a normal distribution characteristic; therefore, the constant target constraint is: when the target value corresponding to the output value of the slave device at two adjacent time points is the same, the target value and output value at two adjacent time points satisfy: (y i -y i-1 )(y i -z i )≤0 or ||z i -y i ||≤3δ; where δ is the observation standard deviation of the motion data from the slave end.

[0053] Furthermore, if the target values ​​corresponding to the output values ​​of the slave device at two adjacent moments are different, the slave device will move towards the latest target value, based on the actual output value y of the slave device at the previous moment. i-1 The endpoint may not have yet reached the target value z from the previous moment. i-1 Or it has already reached the target value z from the previous moment. i-1 And it is moving towards the latest target value z i During the movement process, the slave device may move in one direction (e.g., moving 1 cm to the left in the previous moment and continuing to move 1 cm to the left in the current moment, i.e., the direction of movement is the same) or the direction of movement of the slave device may change (e.g., moving 1 cm to the left in the previous moment, but the current instruction is to move 2 cm to the right, i.e., the direction of movement is inconsistent). However, the control precision of the slave device is limited, and there is inertia during deceleration, which may prevent it from reaching the corresponding target value. To avoid these situations, the target constraint condition is: when the target value corresponding to the output value of the slave device at two adjacent moments is different, the target value and output value at two adjacent moments satisfy: (y...) i -lb)(y i -ub)≤0 or ||y i -z i-1 ||≤||y i -y i-1 ||or||y i -lb||≤3δ or ||y i -ub||≤3δ;where lb=min(z i-1 , z i y i-1 ), ub = max(z i-1 , z i y i-1 );||·|| represents the norm, and any norm can be selected. In this embodiment, the second norm is used.

[0054] S3. Under the matching path constraint, a path search is performed on the distance error matrix A to obtain the shortest matching path between the target sequence and the output sequence. The cumulative distance between each target value and its corresponding output value on the shortest matching path is the cumulative error evaluation result of the teleoperation system. It should be noted that the cumulative difference between each target value in the target sequence and its corresponding output value in the output sequence is minimized under the shortest matching path found.

[0055] Specifically, step S3 includes the following steps:

[0056] S31. Construct a cumulative error matrix B with the same size as the distance error matrix A; where the first row and first column element of the cumulative error matrix B is B(1,1) = A(1,1), the first row element excluding B(1,1) is B(1,j) = B(1,j-1) + A(1,j), the first column element excluding B(1,1) is B(i,1) = B(i-1,1) + A(i,1), and all other elements are 0; i = 2, 3, ..., I; j = 2, 3, ..., J; I is the number of target values ​​in the target sequence z, and J is the number of output values ​​in the output sequence y;

[0057] S32. Let i = 2, j = 2;

[0058] S33. Perform path search on the distance error matrix A in the horizontal direction: Determine whether the target value and output value at two adjacent moments on the search path satisfy the constant target constraint condition. If so, denote L = B(i, j-1); otherwise, denote L as infinity. It should be noted that this situation is equivalent to deleting the path where the target value and output value at two adjacent moments do not satisfy the constant target constraint condition when the target value corresponding to the output value at two adjacent moments of the slave device are the same.

[0059] For the distance error matrix A, perform a path search in the diagonal direction. Determine whether the target value and output value at two adjacent time points on the search path satisfy the target switching constraint. If so, denote LU = B(i-1, j-1); otherwise, denote LU as infinity.

[0060] Perform a path search on the distance error matrix A in the vertical direction, denoted as U = B(i-1, j);

[0061] S34. Calculate the element B(i,j) = A(i,j) + min(L, LU, U) in the i-th row and j-th column of the cumulative error matrix B.

[0062] S36. Determine whether j is less than or equal to J. If yes, let j = 2 and i = i + 1; otherwise, let j = j + 1.

[0063] S37. Determine whether i is less than or equal to I. If yes, proceed to step S33. Otherwise, the operation ends. At this point, B(I, J) is the cumulative distance between each target value and its corresponding output value on the shortest matching path.

[0064] Specifically, the shortest matching path mentioned above is obtained based on the cumulative error matrix B, and includes the following steps:

[0065] A1. Construct a mapping path matrix C with the same size as the cumulative error matrix B; where the element C(1,1) = 1 in the first row and first column of the mapping path matrix C, and all other elements are 0;

[0066] A2. Let i = 1, j = 1;

[0067] A3. Find the minimum value among B(i+1, j+1), B(i, j+1), and B(i+1, j);

[0068] When the minimum value is B(i+1, j+1), let C(i+1, j+1) = 1, i = i+1, j = j+1;

[0069] When the minimum value is B(i, j+1), let C(i, j+1) = 1, j = j+1;

[0070] When the minimum value is B(i+1, j), let C(i+1, j) = 1, i = i+1;

[0071] A4. Determine whether i and j simultaneously satisfy i = I and j = J. If so, the operation ends, and the path formed by the elements with a value of 1 in the mapping path matrix C is the shortest matching path between the target sequence and the output sequence; otherwise, go to step A3.

[0072] Specifically, the mapping path matrix C is used to represent the shortest matching path between the target sequence and the output sequence; where, if C(i,j)=1, it indicates that the j-th slave action data may be collected when the action corresponding to the i-th master operation data is executed; if C(i,j)=0, it indicates that the j-th slave action data cannot be collected when the action corresponding to the i-th master operation data is executed.

[0073] Furthermore, the performance evaluation metrics of the remote operating system also include: the total number of mapping relationships and the mapping relationship hit rate; the total number of mapping relationships is the number of mapping relationships between the target value and the corresponding output value on the shortest matching path; the mapping relationship hit rate is the ratio of the number of correct mapping relationships between the target value and the corresponding output value on the shortest matching path to the total number of mapping relationships.

[0074] To further illustrate the accuracy of the performance evaluation method for teleoperation systems provided by this invention, the mapping path matrix C obtained by the method provided by this invention is compared with the mapping path matrix C obtained by the existing Dynamic Time Warping (DTW) method, as shown below. Figure 2 The results are shown. From Figure 2 As can be seen, compared to the shortest matching path obtained by the existing Dynamic Time Warping (DTW) algorithm, the shortest matching path between the target sequence and the output sequence obtained by the method provided in this invention is closer to the correct mapping path. Therefore, the performance evaluation method for teleoperation systems provided in this invention can reduce the probability of unreasonable matching pairs, improve the matching accuracy, and thus greatly improve the accuracy of the evaluation results.

[0075] Furthermore, this invention considers the motion state of the teleoperation system during actual use and conducts performance tests under different time-varying transmission delays, obtaining the results shown in Table 1. The results show that, compared with existing dynamic time warping algorithms, this invention can improve the success rate of master-slave data matching while reducing the probability of unclear classification.

[0076] Table 1

[0077]

[0078] In summary, this invention addresses the problem of signal matching relationships not conforming to reality caused by existing methods by mining the motion characteristics of the teleoperation system and adding additional matching path constraints when calculating the cumulative error matrix. This significantly improves the accuracy of teleoperation system performance evaluation and can be further used to compare the performance of different teleoperation systems and guide the improvement of teleoperation systems.

[0079] Example 2

[0080] A performance evaluation device for a remote operating system includes a memory and a processor. The memory stores a computer program, and the processor executes the performance evaluation method provided in Embodiment 1 of the present invention when executing the computer program.

[0081] The relevant technical solutions are the same as in Embodiment 1, and will not be repeated here.

[0082] Example 3

[0083] A remote operating system includes: a master device, a slave device, and a performance evaluation device;

[0084] The master device is used to send the master action sequence to the slave operating device;

[0085] The slave device is used to move according to the master device's action sequence;

[0086] The performance evaluation device is used to perform the performance evaluation method provided in Embodiment 1 of the present invention.

[0087] The relevant technical solutions are the same as in Embodiment 1, and will not be repeated here.

[0088] Example 4

[0089] A computer-readable storage medium includes a stored computer program, wherein the computer program, when executed by a processor, controls the device where the storage medium is located to execute the performance evaluation method provided in Embodiment 1 of the present invention.

[0090] The relevant technical solutions are the same as in Embodiment 1, and will not be repeated here.

[0091] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A performance evaluation method for a teleoperation system, characterized in that, Includes the following steps: S1. Map the master action sequence of the remote operating system to the target sequence of the slave device according to the task requirements. And record the corresponding output sequence of the slave device. ; Calculate the target sequence and output sequence Distance error matrix between The distance error matrix The Middle i Line number j Column elements For the first in the target sequence i Target values With the first in the output sequence j Output values The distance between them; S2. Based on the kinematic characteristics of the slave end, construct matching path constraints between the target sequence and the output sequence of the teleoperation system under constant target and switched target conditions; S3. Under the matching path constraint, the distance error matrix... Path search is performed to obtain the cumulative distance between each target value and the corresponding output value on the shortest matching path between the target sequence and the output sequence, thereby obtaining the cumulative error evaluation result of the teleoperation system; The matching path constraints include: constant target constraints and switching target constraints; The constant target constraint is as follows: when the target value corresponding to the output value of the slave device at two adjacent time points is the same, the target value and the output value at two adjacent time points satisfy the following: or ; The switching target constraint is as follows: when the target values ​​corresponding to the output values ​​of the slave device at two adjacent moments are different, the target value and the output value at two adjacent moments satisfy the following: or or or ; in, The standard deviation of the observed motion data from the slave end; , ; Represents the norm.

2. The performance evaluation method according to claim 1, characterized in that, Step S3 includes the following steps: S31. Construct the distance error matrix. Cumulative error matrices of the same size The cumulative error matrix first row and first column element ,remove The first row of elements other than ,remove The first column element other than All other elements are 0; ; ; I For the target sequence Number of target values J For the output sequence The number of output values ​​contained in; S32, Order , ; S33, regarding the distance error matrix Path search is performed in the horizontal direction: It is determined whether the target value and output value at two adjacent time points on the search path satisfy the constant target constraint condition. If so, then... Otherwise, remember It is infinite; For the distance error matrix Perform a path search in the diagonal direction, and determine whether the target value and output value at two adjacent time points on the search path satisfy the switching target constraint condition. If so, record... Otherwise, remember It is infinite; For the distance error matrix Perform a path search in the vertical direction, and record... ; S34. Calculate the cumulative error matrix. No. i Line number j Column elements ; S36, Judgment j Is it less than or equal to? If so, then let , Otherwise, let ; S37, Judgment i Is it less than or equal to? If yes, proceed to step S33; otherwise, the operation ends. This is the cumulative distance between each target value and its corresponding output value on the shortest matching path.

3. The performance evaluation method according to claim 2, characterized in that, The shortest matching path is based on the cumulative error matrix. To obtain it, the specific steps include: A1. Construct the cumulative error matrix. Mapping path matrices of the same size The mapping path matrix The element in the first row and first column All other elements are 0; A2, Order , ; A3, Obtain , and The minimum value in; When the minimum value is season , , ; When the minimum value is ,make , ; When the minimum value is season , ; A4. Judgment i and j Do they satisfy simultaneously? and If so, the operation ends, and the mapping path matrix... The path formed by the elements with a value of 1 is the shortest matching path between the target sequence and the output sequence; otherwise, proceed to step A3.

4. The performance evaluation method according to any one of claims 1-3, characterized in that, The performance evaluation metrics of the remote operating system also include: the total number of mapping relationships and the mapping relationship hit rate; the total number of mapping relationships is the number of mapping relationships between the target value and the corresponding output value on the shortest matching path; the mapping relationship hit rate is the ratio of the number of correct mapping relationships between the target value and the corresponding output value on the shortest matching path to the total number of mapping relationships.

5. The performance evaluation method according to claim 1, characterized in that, In step S1, the mapping method for mapping the master action sequence of the teleoperation system to the target sequence of the slave device according to the task requirements includes: joint space mapping, operation space mapping, or joint-operation space hybrid mapping.

6. A performance evaluation device for a teleoperation system, characterized in that, include: A memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the performance evaluation method according to any one of claims 1-5.

7. A teleoperation system, characterized in that, include: Master-end equipment, slave-end equipment, and performance evaluation device; The master device is used to send the master action sequence to the slave operating device; The slave device is used to move according to the master device's action sequence; The performance evaluation device is used to perform the performance evaluation method according to any one of claims 1-5.

8. The teleoperation system according to claim 7, characterized in that, It also includes communication equipment for providing wireless communication between master and slave devices.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein when the computer program is run by a processor, it controls the device where the storage medium is located to perform the performance evaluation method according to any one of claims 1-5.

Images