Dynamic man-machine cooperation allocation method and system for underwater multi-interface tasks

Abstract

The invention discloses a dynamic man-machine cooperation distribution method and system for underwater multi-interface tasks, and relates to the technical field of man-machine cooperation, and the method comprises the steps: calculating the cognitive load and operation capability of an operator; constructing a plurality of dynamic man-machine cooperation allocation schemes of the underwater multi-interface tasks to be processed; respectively implementing each dynamic man-machine cooperation allocation scheme under each cognitive load level, and determining an optimal dynamic man-machine cooperation allocation scheme under each cognitive load level; and determining a final dynamic man-machine cooperation allocation scheme of the underwater multi-interface task to be processed according to the optimal dynamic man-machine cooperation allocation scheme under each cognitive load level and the cognitive load and the operation capability of the operator. The method has low requirements on the environment of an experiment site, and does not interfere with the actual operation condition of the operator; and the adopted optimal dynamic man-machine cooperation allocation scheme is determined through experiments, so that an effective dynamic man-machine cooperation allocation scheme can be provided for a dynamic man-machine function allocation system.

Description

Technical Field

[0001] The present application relates to the field of human-machine collaboration technology, and in particular to a dynamic human-machine collaboration allocation method and system for underwater multi-interface tasks. Background Art

[0002] During underwater navigation, operators mainly monitor and process multiple subtasks of the system by switching windows, which is called underwater multi-interface tasks. Due to the complexity of underwater operation tasks and underwater environment, operators usually face two work scenarios. One is the continuous monitoring task under normal conditions, and the other is short-term multi-tasking under emergency conditions. This change in work scenarios causes operators to experience different degrees of task load. Therefore, it is necessary to adopt a dynamic human-machine function allocation method to solve this problem. However, the existing dynamic human-machine function allocation method has high requirements on the experimental site environment, and this method requires operators to wear physiological equipment, which will affect the actual working conditions of the operators. Moreover, the subjectively set dynamic human-machine collaborative allocation scheme cannot effectively improve the performance of the human-machine system.

[0003] In summary, existing dynamic human-machine function allocation methods result in low overall human-machine system performance. Summary of the invention

[0004] The purpose of this application is to provide a dynamic human-machine collaborative allocation method and system for underwater multi-interface tasks, which has low requirements for the experimental site environment and does not interfere with the actual working conditions of the operators. The optimal dynamic human-machine collaborative allocation scheme adopted is determined through experiments, and can provide an effective dynamic human-machine collaborative allocation scheme for the dynamic human-machine function allocation system.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a dynamic human-machine collaborative allocation method for underwater multi-interface tasks, comprising:

[0007] Calculate operators’ cognitive load and operational capacity;

[0008] Construct multiple dynamic human-machine collaborative allocation schemes for the underwater multi-interface tasks to be processed; the intelligent assistance levels of the dynamic human-machine collaborative allocation schemes are different; the dynamic human-machine collaborative allocation schemes are the subjects for executing each subtask and each operation process in the underwater multi-interface tasks to be processed; the subjects include humans, machines and human-machine combinations;

[0009] Implementing each dynamic human-machine collaboration allocation scheme at each cognitive load level to determine the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level, and a high cognitive load level;

[0010] The final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the operator's cognitive load and operational capability.

[0011] Optional, according to the formula Calculate the operator's cognitive load, where CL is the operator's cognitive load, t i is the time it takes the operator to perform the i-th subtask, T i is the time required for the operator to perform the ith subtask, H i is the task complexity of the i-th subtask, and N is the total number of subtasks.

[0012] Optional, according to the formula Calculate the operator's operating capacity, where WA is the operator's operating capacity, E T is the preset operator error rate, U T is the preset operator cognitive load, e h is the actual error rate of the operator, μ is the task service rate of the operator, T is the total time the operator performs the underwater multi-interface task to be processed, and N is the total number of subtasks.

[0013] Optionally, each dynamic human-machine collaboration allocation scheme is implemented at each cognitive load level to determine the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level, specifically including:

[0014] For any cognitive load level, each dynamic human-machine collaborative allocation scheme is implemented under the cognitive load level to obtain an evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme;

[0015] Taking the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level as a benchmark, according to the evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme, determine the improvement level of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme;

[0016] If there is only one intelligent assistance level with the highest improvement level, determining the dynamic human-machine collaboration allocation scheme corresponding to the intelligent assistance level with the highest improvement level as the optimal dynamic human-machine collaboration allocation scheme for the cognitive load level;

[0017] If there are multiple intelligent assistance levels with the highest improvement levels, the dynamic human-computer collaboration allocation scheme corresponding to the lowest intelligent assistance level among the intelligent assistance levels with the highest improvement levels is determined as the optimal dynamic human-computer collaboration allocation scheme for the cognitive load level.

[0018] Optionally, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the cognitive load and operation ability of the operator, specifically including:

[0019] If the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold, determining that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under the medium cognitive load level;

[0020] If the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating ability of the operator is greater than a preset operating ability threshold, determining that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level;

[0021] If the operator's cognitive load is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operator's operating ability is less than or equal to the preset operating ability threshold, then the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-machine collaboration allocation scheme under a high cognitive load level; the second preset cognitive load threshold is greater than the first preset cognitive load threshold;

[0022] If the operator's cognitive load is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operator's operating ability is greater than a preset operating ability threshold, then determining that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a medium cognitive load level;

[0023] If the operator's cognitive load is greater than or equal to a second preset cognitive load threshold, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level.

[0024] In the second aspect, the present application provides a dynamic human-machine collaborative allocation system for underwater multi-interface tasks, including:

[0025] Trigger variable calculation module, used to calculate the operator's cognitive load and work capacity;

[0026] An allocation scheme construction module is used to construct multiple dynamic human-machine collaborative allocation schemes for the underwater multi-interface tasks to be processed; the intelligent assistance levels of the dynamic human-machine collaborative allocation schemes are different; the dynamic human-machine collaborative allocation schemes are the subjects for executing each subtask and each operation process in the underwater multi-interface tasks to be processed; the subjects include humans, machines and human-machine combinations;

[0027] An optimal allocation scheme determination module is used to implement each dynamic human-machine collaborative allocation scheme at each cognitive load level, and determine the optimal dynamic human-machine collaborative allocation scheme at each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level, and a high cognitive load level;

[0028] The allocation scheme determination module is used to determine the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the operator's cognitive load and operational ability.

[0029] Optional, according to the formula Calculate the operator's cognitive load, where CL is the operator's cognitive load, t i is the time it takes the operator to perform the i-th subtask, T i is the time required for the operator to perform the ith subtask, H i is the task complexity of the i-th subtask, and N is the total number of subtasks.

[0030] Optional, according to the formula Calculate the operator's operating capacity, where WA is the operator's operating capacity, E T is the preset operator error rate, U T is the preset operator cognitive load, e h is the actual error rate of the operator, μ is the task service rate of the operator, T is the total time the operator performs the underwater multi-interface task to be processed, and N is the total number of subtasks.

[0031] Optionally, the optimal allocation scheme determination module specifically includes:

[0032] A judgment index determination unit, for implementing each dynamic human-machine collaborative allocation scheme at any cognitive load level to obtain an evaluation index of an intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme;

[0033] An improvement level determination module is used to determine the improvement level of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme based on the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level as a benchmark, and according to the evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme;

[0034] The first optimal allocation scheme determining unit is used to determine the dynamic human-machine collaboration allocation scheme corresponding to the intelligent assistance level with the highest improvement level, as the optimal dynamic human-machine collaboration allocation scheme for the cognitive load level, if there is only one intelligent assistance level with the highest improvement level;

[0035] The second determination unit of the optimal allocation plan is used to determine, if there are multiple intelligent assistance levels with the highest improvement levels, the dynamic human-computer collaboration allocation plan corresponding to the lowest intelligent assistance level among the intelligent assistance levels with the highest improvement levels, as the optimal dynamic human-computer collaboration allocation plan for the cognitive load level.

[0036] Optionally, the allocation scheme determination module specifically includes:

[0037] a first allocation scheme determination unit, configured to determine, if the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold, that the final dynamic human-machine collaboration allocation scheme of the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a medium cognitive load level;

[0038] a second allocation scheme determination unit, configured to determine, if the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating capability of the operator is greater than a preset operating capability threshold, that the final dynamic human-machine collaborative allocation scheme of the underwater multi-interface task to be processed is an optimal dynamic human-machine collaborative allocation scheme under a low cognitive load level;

[0039] a third allocation scheme determination unit, configured to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a high cognitive load level if the cognitive load of the operator is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold; and the second preset cognitive load threshold is greater than the first preset cognitive load threshold;

[0040] a fourth allocation scheme determination unit, configured to determine, if the cognitive load of the operator is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operating capability of the operator is greater than a preset operating capability threshold, that the final dynamic human-machine collaborative allocation scheme of the underwater multi-interface task to be processed is the optimal dynamic human-machine collaborative allocation scheme under a medium cognitive load level;

[0041] The fifth allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level if the cognitive load of the operator is greater than or equal to a second preset cognitive load threshold.

[0042] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0043] The present application provides a method and system for dynamic human-machine collaborative allocation for underwater multi-interface tasks. The existing dynamic human-machine function allocation method is difficult to meet the needs of complex dynamic scenes, because complex dynamic scenes pose higher challenges to the cognitive needs and operational capabilities of operators. However, the existing dynamic human-machine function allocation method mainly adopts trigger variables based on physiological parameters (trigger variables refer to entities or agents in the human-machine system that determine whether reallocation is required). By preprocessing physiological signals (such as EEG, ECG, and eye movements, etc.), then extracting physiological signal features, and finally using a support vector machine classifier to output personnel evaluation results, this method has high requirements for the experimental site environment and cannot be applied to a real working environment. In addition, this method requires operators to wear physiological equipment, which will affect the actual working conditions of operators. The present application is directly determined based on the operator's cognitive load (cognitive load is the level of psychological resources required by the brain to process information when completing a task) and operational capabilities (operational capabilities refer to the ability of operators in terms of physiological and psychological needs during work), and has low requirements for the experimental site environment, and does not require wearing equipment, and does not interfere with the actual working conditions of operators. Existing dynamic human-machine function allocation methods lack a process for comprehensively evaluating dynamic human-machine collaboration allocation schemes, because the dynamic human-machine collaboration allocation schemes adopted by existing dynamic human-machine function allocation methods are mainly set subjectively, and no pre-experimental evaluation is carried out in specific work scenarios. As a result, the dynamic human-machine collaboration allocation schemes with subjective settings cannot effectively improve the performance of the human-machine system. The optimal dynamic human-machine collaboration allocation scheme adopted in this application is determined through experiments, and can provide an effective dynamic human-machine collaboration allocation scheme for the dynamic human-machine function allocation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 This is an application environment diagram of a dynamic human-machine collaborative allocation method for underwater multi-interface tasks in one embodiment of the present application;

[0046] Figure 2 A flowchart of a dynamic human-machine collaborative allocation method for underwater multi-interface tasks provided in one embodiment of the present application;

[0047] Figure 3 A schematic diagram of the intelligent assistance level design and evaluation process provided in one embodiment of the present application;

[0048] Figure 4An operation flow chart of combing underwater multi-interface tasks based on personnel's cognitive stage provided in an embodiment of the present application;

[0049] Figure 5 A flow chart of determining a final dynamic human-machine collaboration allocation scheme in a dynamic human-machine collaboration allocation method for underwater multi-interface tasks provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0053] The dynamic human-machine collaborative allocation method for underwater multi-interface tasks provided in the embodiments of the present application can be applied to Figure 1In the application environment shown, the terminal 102 communicates with the server 104 through a network. The data storage system can store data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the underwater multi-interface task to be processed to the server 104. After the server 104 receives the underwater multi-interface task to be processed, the server 104 calculates the cognitive load and operating capacity of the operator for the underwater multi-interface task to be processed; constructs multiple dynamic human-machine collaborative allocation schemes for the underwater multi-interface task to be processed; the intelligent assistance levels of each dynamic human-machine collaborative allocation scheme are different; the dynamic human-machine collaborative allocation scheme is the subject that executes each subtask and each operating process in the underwater multi-interface task to be processed; the subject includes a person, a machine and a human-machine combination; implements each dynamic human-machine collaborative allocation scheme at each cognitive load level, and determines the optimal dynamic human-machine collaborative allocation scheme at each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level and a high cognitive load level; according to the optimal dynamic human-machine collaborative allocation scheme at each cognitive load level and the cognitive load and operating capacity of the operator, the final dynamic human-machine collaborative allocation scheme for the underwater multi-interface task to be processed is determined. The server 104 can feed back the final dynamic human-machine collaborative allocation scheme of the underwater multi-interface task to be processed to the terminal 102. In addition, in some embodiments, the dynamic human-machine collaborative allocation method for underwater multi-interface tasks can also be implemented independently by the server 104 or the terminal 102. For example, the terminal 102 can directly perform dynamic human-machine collaborative allocation for the underwater multi-interface tasks to be processed, or the server 104 can obtain the underwater multi-interface tasks to be processed from the data storage system and perform dynamic human-machine collaborative allocation for the underwater multi-interface tasks to be processed.

[0054] The terminal 102 may be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers, or may be a cloud server.

[0055] In an exemplary embodiment, Figure 2 As shown, a dynamic human-machine collaborative allocation method for underwater multi-interface tasks is provided. The method is executed by a computer device, and can be executed by a computer device such as a terminal or a server alone, or by a terminal and a server together. In the embodiment of the present application, the method is applied to Figure 1 The server 104 in the example is used as an example to illustrate the method, which includes the following steps. Among them:

[0056] Step 201, calculating the operator's cognitive load and operational capacity.

[0057] Step 202, construct multiple dynamic human-machine collaboration allocation schemes for the underwater multi-interface tasks to be processed; the intelligent assistance levels between the dynamic human-machine collaboration allocation schemes are different; the dynamic human-machine collaboration allocation scheme is the main body for executing each subtask and each operation process in the underwater multi-interface tasks to be processed; the main body includes humans, machines and human-machine combinations.

[0058] Step 203, respectively implement each dynamic human-machine collaboration allocation scheme at each cognitive load level to determine the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level, and a high cognitive load level.

[0059] Step 204 , determining a final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed according to the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level and the cognitive load and operational capability of the operator.

[0060] Cognitive load is related to the time the operator takes to perform the subtask, the specified time the operator takes to perform the subtask, and the task complexity of the subtask. Therefore, in another exemplary embodiment of the present application, according to the formula Calculate the operator's cognitive load, where CL is the operator's cognitive load, t i is the time it takes the operator to perform the i-th subtask, T i is the time required for the operator to perform the ith subtask, H i is the task complexity of the i-th subtask, and N is the total number of subtasks.

[0061] The operating capacity is related to the operator's task service rate, the operator's actual error rate and the operator's specified error rate. Therefore, in another exemplary embodiment of the present application, according to the formula Calculate the operator's operating capacity, where WA is the operator's operating capacity, E T is the preset operator error rate, U T is the preset operator cognitive load, e h is the actual error rate of the operator, μ is the task service rate of the operator, T is the total time the operator performs the underwater multi-interface task to be processed, and N is the total number of subtasks.

[0062] In another exemplary embodiment of the present application, each dynamic human-computer collaboration allocation scheme is implemented at each cognitive load level, and the optimal dynamic human-computer collaboration allocation scheme at each cognitive load level is determined, specifically including:

[0063] For any cognitive load level, each dynamic human-machine collaborative allocation scheme is implemented respectively under the cognitive load level to obtain an evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme.

[0064] Taking the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level as a benchmark, the improvement level of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme is determined according to the evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme. For any dynamic human-machine collaborative allocation scheme, if the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme is increased by a value within the range corresponding to the low improvement level compared with the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level, the improvement level of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme is determined to be a low improvement level.

[0065] If there is only one intelligent assistance level with the highest improvement level, the dynamic human-computer collaboration allocation scheme corresponding to the intelligent assistance level with the highest improvement level (optimal intelligent assistance level) is determined as the optimal dynamic human-computer collaboration allocation scheme for the cognitive load level.

[0066] If there are multiple intelligent assistance levels with the highest improvement levels, the dynamic human-computer collaboration allocation plan corresponding to the lowest intelligent assistance level (optimal intelligent assistance level) among the intelligent assistance levels with the highest improvement levels is determined as the optimal dynamic human-computer collaboration allocation plan for the cognitive load level.

[0067] In another exemplary embodiment of the present application, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined according to the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level and the cognitive load and operation ability of the operator, specifically including:

[0068] If the operator's cognitive load is less than or equal to a first preset cognitive load threshold, and the operator's operating ability is less than or equal to a preset operating ability threshold, the final dynamic human-computer collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-computer collaboration allocation scheme under a medium cognitive load level.

[0069] If the operator's cognitive load is less than or equal to a first preset cognitive load threshold, and the operator's operating ability is greater than the preset operating ability threshold, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level.

[0070] If the operator's cognitive load is greater than the first preset cognitive load threshold and less than the second preset cognitive load threshold, and the operator's operating ability is less than or equal to the preset operating ability threshold, then the final dynamic human-computer collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-computer collaboration allocation scheme under a high cognitive load level; the second preset cognitive load threshold is greater than the first preset cognitive load threshold.

[0071] If the operator's cognitive load is greater than the first preset cognitive load threshold and less than the second preset cognitive load threshold, and the operator's operating ability is greater than the preset operating ability threshold, then the final dynamic human-computer collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-computer collaboration allocation scheme under the medium cognitive load level.

[0072] If the operator's cognitive load is greater than or equal to a second preset cognitive load threshold, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level.

[0073] In actual applications, the first preset cognitive load threshold, the second preset cognitive load threshold and the preset work ability threshold are set by the accuracy and performance transition point. When the cognitive load is less than or equal to the first preset cognitive load threshold, the cognitive load level is a low cognitive load level, when the cognitive load is greater than the first preset cognitive load threshold and less than the second preset cognitive load threshold, the cognitive load level is a medium cognitive load level, and when the cognitive load is greater than or equal to the second preset cognitive load threshold, the cognitive load level is a high cognitive load level. When the work ability is less than or equal to the preset work ability threshold, the work ability level is a low work ability level, and when the work ability is greater than the preset work ability threshold, the work ability level is a medium work ability level or a high work ability level.

[0074] In another exemplary embodiment of the present application, taking the underwater multi-interface task to be processed including the attitude control subtask (the attitude control subtask is to adjust the amount of water inside the hull and the balance of the hull according to the range of the inclination angle of the hull), the water injection subtask, the equipment subtask, the regeneration subtask, the air conditioning subtask and the fire fighting subtask as an example, multiple dynamic human-machine collaboration allocation schemes for constructing the underwater multi-interface task to be processed are implemented respectively at each cognitive load level, and the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level is determined. According to the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level and the cognitive load and operation ability of the operator, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined, and a detailed description is given:

[0075] Step 1: Construct multiple dynamic human-machine collaboration allocation schemes for the underwater multi-interface tasks to be processed, implement each dynamic human-machine collaboration allocation scheme at each cognitive load level, and determine the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level. Figure 3 As shown, a subtask includes multiple operation processes. First, this application sorts out the operation processes of the underwater multi-interface tasks to be processed based on the cognitive stages of personnel (sensation, perception, decision-making and action implementation). Then, the cognitive stage of each interface task (subtask) of the underwater multi-interface task to be processed is assigned to humans, machines or a combination of humans and machines, and different implementation subjects at different cognitive stages are combined to obtain the final N dynamic human-machine collaboration allocation schemes. Each dynamic human-machine collaboration allocation scheme corresponds to an intelligent assistance level (intelligent assistance level refers to the level of auxiliary operation that the machine can provide in the human-machine system). Finally, a pre-experimental method is used to evaluate N intelligent assistance levels under multiple cognitive load levels to obtain the optimal intelligent assistance level under different cognitive load levels, and then the optimal dynamic human-machine collaboration allocation scheme is obtained.

[0076] (1) Sort out the underwater multi-interface task operation process based on the personnel's cognitive stage, such as Figure 4 As shown, each operation process of each subtask is divided according to the cognitive stage, and the cognitive stage to which each operation process of each subtask belongs is obtained.

[0077] (2) The cognitive stage of each interface task (subtask) of the underwater multi-interface task to be processed is assigned to humans, machines, or a combination of humans and machines, and different implementation subjects at different cognitive stages are combined to obtain the final N dynamic human-machine collaboration allocation schemes. Specifically, the cognitive stage is assigned to humans, machines, or a combination of humans and machines, and different implementation subjects at different cognitive stages are combined, as shown in Table 1. Because each cognitive stage includes an operation process, it is equivalent to assigning a subject to each operation process, so the final N dynamic human-machine collaboration allocation schemes are obtained.

[0078] Table 1 Intelligent assistance level settings

[0079]

[0080] (3) The pre-experimental method is used to evaluate N intelligent assistance levels under multiple cognitive load levels, and the optimal intelligent assistance level under different cognitive load levels is obtained, and then the optimal dynamic human-computer collaboration allocation scheme is obtained. Specifically, the evaluation indicators of intelligent assistance level (subjective load (obtained by filling in the scale), work performance (real-time recording by computer), situational awareness (obtained by filling in the scale), eye movement (obtained by eye tracker) and electrocardiogram (obtained by electrocardiogram) and other dimensions) are used for evaluation to obtain the optimal intelligent assistance level under different cognitive load levels (the optimal intelligent assistance level under low cognitive load level is intelligent assistance 2, the optimal intelligent assistance level under medium cognitive load level is intelligent assistance 5, and the optimal intelligent assistance level under high cognitive load level is intelligent assistance 7), and then the optimal dynamic human-computer collaboration allocation scheme under each cognitive load level is obtained (the optimal dynamic human-computer collaboration allocation scheme under low cognitive load level is the dynamic human-computer collaboration allocation scheme corresponding to intelligent assistance 2, the optimal dynamic human-computer collaboration allocation scheme under medium cognitive load level is the dynamic human-computer collaboration allocation scheme corresponding to intelligent assistance 5, and the optimal dynamic human-computer collaboration allocation scheme under high cognitive load level is the dynamic human-computer collaboration allocation scheme corresponding to intelligent assistance 7). Figure 4 The feedback operation refers to the improvement of the overall indicators of operators under different cognitive loads at different automation levels.

[0081] Step 2: Determine the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed based on the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the operator's cognitive load and operational capability.

[0082] Combining the trigger variables and the proposed automation level, the dynamic human-machine function allocation rules are formulated. And, according to the formulated dynamic human-machine function allocation rules, the dynamic human-machine function allocation system is built.

[0083] (1) Combining the trigger variables and the proposed automation level, the following dynamic human-machine function allocation rules are formulated:

[0084] When the operator is at a low cognitive load level, if the operating ability is at a medium operating ability level or a high operating ability level, the optimal dynamic human-machine collaboration allocation scheme under the low cognitive load level is adopted, that is, the dynamic human-machine collaboration allocation scheme corresponding to intelligent assistance 2 Figure 5 In the figure, it is shown as LOA2; if the operator's operating ability is low, it is adjusted to the optimal dynamic human-machine collaboration allocation scheme under the medium cognitive load level, that is, the dynamic human-machine collaboration allocation scheme corresponding to intelligent assistance 5. Figure 5When the operator is at a medium cognitive load level, if the operating ability is at a medium operating ability level or a high operating ability level, the optimal dynamic human-machine collaboration allocation scheme under the medium cognitive load level, that is, the dynamic human-machine collaboration allocation scheme corresponding to intelligent assistance 5, is adopted; if the operator's operating ability is at a low operating ability level, the optimal dynamic human-machine collaboration allocation scheme under the high cognitive load level, that is, the dynamic human-machine collaboration allocation scheme corresponding to intelligent assistance 7, is adopted. Figure 5 When the operator is at a high cognitive load level, the optimal dynamic human-machine collaboration allocation scheme under the high cognitive load level, that is, the dynamic human-machine collaboration allocation scheme corresponding to intelligent assistance 7, is adopted.

[0085] (2) Based on the above rules, the final dynamic human-machine collaborative allocation scheme is determined in the dynamic human-machine collaborative allocation method for underwater multi-interface tasks as follows: Figure 5 shown.

[0086] This application calculates the operator's cognitive load and operating ability in real time by collecting parameters such as the accuracy, reaction time, task frequency, and task complexity of the human-machine system in real time to determine the state of the human-machine system. The use of cognitive load parameters and operating ability parameters can evaluate the state of the human-machine system of underwater multi-interface tasks in real time, laying the foundation for timely intervention in the human-machine system. In order to give full play to the effectiveness of intelligence, underwater multi-interface tasks are sorted out, and dynamic human-machine collaboration allocation schemes corresponding to N levels of intelligent assistance are designed. Through experiments, the dynamic human-machine collaboration allocation scheme corresponding to the optimal intelligent assistance level under different cognitive load levels is measured from multiple dimensions. The effective level of automation is adopted to conduct timely human-machine intervention, and finally improve the overall performance of the human-machine system. Finally, the dynamic human-machine function allocation rule base is obtained by combining the trigger variables and the dynamic human-machine collaboration allocation scheme corresponding to the optimal intelligent assistance level, and a dynamic human-machine function allocation method is designed.

[0087] Based on the same inventive concept, the embodiment of the present application also provides a dynamic human-machine collaborative allocation system for underwater multi-interface tasks for implementing the above-mentioned dynamic human-machine collaborative allocation method for underwater multi-interface tasks. The implementation scheme for solving the problem provided by the system is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more embodiments of the dynamic human-machine collaborative allocation system for underwater multi-interface tasks provided below can be referred to the above limitations on the dynamic human-machine collaborative allocation method for underwater multi-interface tasks, and will not be repeated here.

[0088] In an exemplary embodiment, Figure 5 As shown, a dynamic human-machine collaborative allocation system for underwater multi-interface tasks is provided, including:

[0089] The trigger variable calculation module is used to calculate the operator's cognitive load and work capacity.

[0090] An allocation scheme construction module is used to construct multiple dynamic human-machine collaborative allocation schemes for the underwater multi-interface tasks to be processed; the intelligent assistance levels of the dynamic human-machine collaborative allocation schemes are different; the dynamic human-machine collaborative allocation scheme is the main body for executing each subtask and each operation process in the underwater multi-interface tasks to be processed; the main body includes humans, machines and human-machine combinations.

[0091] The optimal allocation scheme determination module is used to implement each dynamic human-computer collaboration allocation scheme under each cognitive load level and determine the optimal dynamic human-computer collaboration allocation scheme under each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level and a high cognitive load level.

[0092] The allocation scheme determination module is used to determine the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the operator's cognitive load and operational ability.

[0093] In another exemplary embodiment of the present application, according to the formula Calculate the operator's cognitive load, where CL is the operator's cognitive load, t i is the time it takes the operator to perform the i-th subtask, T i is the time required for the operator to perform the ith subtask, H i is the task complexity of the i-th subtask, and N is the total number of subtasks.

[0094] In another exemplary embodiment of the present application, according to the formula Calculate the operator's operating capacity, where WA is the operator's operating capacity, E T is the preset operator error rate, U T is the preset operator cognitive load, e h is the actual error rate of the operator, μ is the task service rate of the operator, T is the total time the operator performs the underwater multi-interface task to be processed, and N is the total number of subtasks.

[0095] In another exemplary embodiment of the present application, the optimal allocation scheme determination module specifically includes:

[0096] The judgment index determination unit is used to implement each dynamic human-machine collaborative allocation scheme under any cognitive load level to obtain an evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme.

[0097] The improvement level determination module is used to determine the improvement level of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme based on the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level, and according to the evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme.

[0098] The first optimal allocation scheme determination unit is used to determine the dynamic human-computer collaboration allocation scheme corresponding to the intelligent assistance level with the highest improvement level if there is only one intelligent assistance level with the highest improvement level, which is the optimal dynamic human-computer collaboration allocation scheme for the cognitive load level.

[0099] The second determination unit of the optimal allocation plan is used to determine, if there are multiple intelligent assistance levels with the highest improvement levels, the dynamic human-computer collaboration allocation plan corresponding to the lowest intelligent assistance level among the intelligent assistance levels with the highest improvement levels, as the optimal dynamic human-computer collaboration allocation plan for the cognitive load level.

[0100] In another exemplary embodiment of the present application, the allocation scheme determination module specifically includes:

[0101] The first allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme of the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under the medium cognitive load level if the cognitive load of the operator is less than or equal to the first preset cognitive load threshold and the operating ability of the operator is less than or equal to the preset operating ability threshold.

[0102] The second allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme of the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level if the cognitive load of the operator is less than or equal to a first preset cognitive load threshold and the operating ability of the operator is greater than a preset operating ability threshold.

[0103] The third allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a high cognitive load level if the cognitive load of the operator is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold; the second preset cognitive load threshold is greater than the first preset cognitive load threshold.

[0104] The fourth allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under the medium cognitive load level if the cognitive load of the operator is greater than the first preset cognitive load threshold and less than the second preset cognitive load threshold, and the operating capacity of the operator is greater than the preset operating capacity threshold.

[0105] The fifth allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level if the cognitive load of the operator is greater than or equal to a second preset cognitive load threshold.

[0106] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store and construct underwater multi-interface tasks to be processed. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a dynamic human-computer collaborative allocation method for underwater multi-interface tasks is implemented.

[0107] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the above-mentioned method embodiments when executing the computer program.

[0108] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the above-mentioned method embodiments are implemented.

[0109] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the above-mentioned method embodiments are implemented.

[0110] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0111] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0112] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0113] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A dynamic human-machine collaborative allocation method for underwater multi-interface tasks, characterized in that: The dynamic human-machine collaborative allocation method for underwater multi-interface tasks includes: Calculate operators’ cognitive load and operational capacity; Construct multiple dynamic human-machine collaborative allocation schemes for the underwater multi-interface tasks to be processed; the intelligent assistance levels of the dynamic human-machine collaborative allocation schemes are different; the dynamic human-machine collaborative allocation schemes are the subjects for executing each subtask and each operation process in the underwater multi-interface tasks to be processed; the subjects include humans, machines and human-machine combinations; Implementing each dynamic human-machine collaboration allocation scheme at each cognitive load level to determine the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level, and a high cognitive load level; The final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the operator's cognitive load and operational capability.

2. The method for dynamic human-machine collaborative allocation for underwater multi-interface tasks according to claim 1 is characterized in that: According to the formula Calculate the operator's cognitive load, where CL is the operator's cognitive load, t i is the time it takes the operator to perform the i-th subtask, T i is the time required for the operator to perform the ith subtask, H i is the task complexity of the i-th subtask, and N is the total number of subtasks.

3. The dynamic human-machine collaborative allocation method for underwater multi-interface tasks according to claim 1 is characterized in that: According to the formula Calculate the operator's operating capacity, where WA is the operator's operating capacity, E T is the preset operator error rate, U T is the preset operator cognitive load, e h is the actual error rate of the operator, μ is the task service rate of the operator, T is the total time the operator performs the underwater multi-interface task to be processed, and N is the total number of subtasks.

4. The dynamic human-machine collaborative allocation method for underwater multi-interface tasks according to claim 1 is characterized in that: Implement each dynamic human-machine collaboration allocation scheme at each cognitive load level, and determine the optimal dynamic human-machine collaboration allocation scheme at each cognitive load level, specifically including: For any cognitive load level, each dynamic human-machine collaborative allocation scheme is implemented under the cognitive load level to obtain an evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme; Taking the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level as a benchmark, according to the evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme, determine the improvement level of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme; If there is only one intelligent assistance level with the highest improvement level, determining the dynamic human-machine collaboration allocation scheme corresponding to the intelligent assistance level with the highest improvement level as the optimal dynamic human-machine collaboration allocation scheme for the cognitive load level; If there are multiple intelligent assistance levels with the highest improvement levels, the dynamic human-computer collaboration allocation scheme corresponding to the lowest intelligent assistance level among the intelligent assistance levels with the highest improvement levels is determined as the optimal dynamic human-computer collaboration allocation scheme for the cognitive load level.

5. The method for dynamic human-machine collaborative allocation for underwater multi-interface tasks according to claim 1 is characterized in that: The final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the cognitive load and operation ability of the operator, including: If the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold, determining that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under the medium cognitive load level; If the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating ability of the operator is greater than a preset operating ability threshold, determining that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level; If the operator's cognitive load is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operator's operating ability is less than or equal to the preset operating ability threshold, then the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-machine collaboration allocation scheme under a high cognitive load level; the second preset cognitive load threshold is greater than the first preset cognitive load threshold; If the operator's cognitive load is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operator's operating ability is greater than a preset operating ability threshold, then determining that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a medium cognitive load level; If the operator's cognitive load is greater than or equal to a second preset cognitive load threshold, the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is determined to be the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level.

6. A dynamic human-machine collaborative allocation system for underwater multi-interface tasks, characterized in that: The dynamic human-machine collaborative allocation system for underwater multi-interface tasks includes: Trigger variable calculation module, used to calculate the operator's cognitive load and work capacity; An allocation scheme construction module is used to construct multiple dynamic human-machine collaborative allocation schemes for the underwater multi-interface tasks to be processed; the intelligent assistance levels of the dynamic human-machine collaborative allocation schemes are different; the dynamic human-machine collaborative allocation schemes are the subjects for executing each subtask and each operation process in the underwater multi-interface tasks to be processed; the subjects include humans, machines and human-machine combinations; An optimal allocation scheme determination module is used to implement each dynamic human-machine collaborative allocation scheme at each cognitive load level, and determine the optimal dynamic human-machine collaborative allocation scheme at each cognitive load level; the cognitive load level includes a low cognitive load level, a medium cognitive load level, and a high cognitive load level; The allocation scheme determination module is used to determine the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed according to the optimal dynamic human-machine collaboration allocation scheme under each cognitive load level and the operator's cognitive load and operational ability.

7. The dynamic human-machine collaborative allocation system for underwater multi-interface tasks according to claim 6 is characterized in that: According to the formula Calculate the operator's cognitive load, where CL is the operator's cognitive load, t i is the time it takes the operator to perform the i-th subtask, T i is the time required for the operator to perform the ith subtask, H i is the task complexity of the i-th subtask, and N is the total number of subtasks.

8. The dynamic human-machine collaborative allocation system for underwater multi-interface tasks according to claim 6 is characterized in that: According to the formula Calculate the operator's operating capacity, where WA is the operator's operating capacity, E T is the preset operator error rate, U T is the preset operator cognitive load, e h is the actual error rate of the operator, μ is the task service rate of the operator, T is the total time the operator performs the underwater multi-interface task to be processed, and N is the total number of subtasks.

9. The dynamic human-machine collaborative allocation system for underwater multi-interface tasks according to claim 6 is characterized in that: The optimal allocation scheme determination module specifically includes: A judgment index determination unit, for implementing each dynamic human-machine collaborative allocation scheme at any cognitive load level to obtain an evaluation index of an intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme; An improvement level determination module is used to determine the improvement level of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme based on the evaluation index of the intelligent assistance level corresponding to the dynamic human-machine collaborative allocation scheme with the lowest intelligent assistance level as a benchmark, and according to the evaluation index of the intelligent assistance level corresponding to each dynamic human-machine collaborative allocation scheme; The first optimal allocation scheme determining unit is used to determine the dynamic human-machine collaboration allocation scheme corresponding to the intelligent assistance level with the highest improvement level, as the optimal dynamic human-machine collaboration allocation scheme for the cognitive load level, if there is only one intelligent assistance level with the highest improvement level; The second determination unit of the optimal allocation plan is used to determine, if there are multiple intelligent assistance levels with the highest improvement levels, the dynamic human-computer collaboration allocation plan corresponding to the lowest intelligent assistance level among the intelligent assistance levels with the highest improvement levels, as the optimal dynamic human-computer collaboration allocation plan for the cognitive load level.

10. The dynamic human-machine collaborative allocation system for underwater multi-interface tasks according to claim 6, characterized in that: The allocation scheme determination module specifically includes: a first allocation scheme determination unit, configured to determine, if the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold, that the final dynamic human-machine collaboration allocation scheme of the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a medium cognitive load level; a second allocation scheme determination unit, configured to determine, if the cognitive load of the operator is less than or equal to a first preset cognitive load threshold, and the operating capability of the operator is greater than a preset operating capability threshold, that the final dynamic human-machine collaborative allocation scheme of the underwater multi-interface task to be processed is an optimal dynamic human-machine collaborative allocation scheme under a low cognitive load level; a third allocation scheme determination unit, configured to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a high cognitive load level if the cognitive load of the operator is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operating ability of the operator is less than or equal to a preset operating ability threshold; and the second preset cognitive load threshold is greater than the first preset cognitive load threshold; a fourth allocation scheme determination unit, configured to determine, if the cognitive load of the operator is greater than a first preset cognitive load threshold and less than a second preset cognitive load threshold, and the operating capability of the operator is greater than a preset operating capability threshold, that the final dynamic human-machine collaborative allocation scheme of the underwater multi-interface task to be processed is the optimal dynamic human-machine collaborative allocation scheme under a medium cognitive load level; The fifth allocation scheme determination unit is used to determine that the final dynamic human-machine collaboration allocation scheme for the underwater multi-interface task to be processed is the optimal dynamic human-machine collaboration allocation scheme under a low cognitive load level if the cognitive load of the operator is greater than or equal to a second preset cognitive load threshold.

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