Psychological stress inducing method and system based on VR fused space mission situation

Abstract

The invention provides a psychological stress inducing method and system based on VR fusion aerospace mission situation, and the method comprises the steps: collecting operation data of a tested person in a VR situation of a pre-constructed aerospace manipulator operation task when the tested person is calm; on the basis of guidance words and VR materials, the aerospace accident is presented through the VR technology, and the personal honor feeling after the task of the tested person is successful and the contusion feeling after the task fails are stimulated to perform psychological stress induction; physiological data are collected through a physiological measurement technology, and it is determined that the tested person enters a psychological stress state; collecting operation data in a psychological stress state, and determining operation differences and operation errors of the tested person in combination with the operation data in a calm state; the VR technology is utilized to truly reproduce a spaceflight scene, and personal honor and contusion are stimulated by presenting a spaceflight accident to induce a psychological stress state; physiological data are collected through the physiological measurement technology to analyze the authenticity of the psychological stress response, and data support is provided for exploring the operation condition in the psychological stress state.

Description

Technical Field

[0001] The present invention belongs to the field of VR technology, and in particular relates to a method and system for inducing psychological stress based on VR fusion with aerospace mission scenarios. Background Art

[0002] The space station's robotic arm is a vital extravehicular support device for the space station's in-orbit operation. Astronauts in the space station monitor and control the robotic arm in orbit to complete various extravehicular operations. Robotic arm operation is a very complex cognitive operation task, and human errors may even occur under stress. In order to explore the psychological and physiological characteristics, operation characteristics, and human error characteristics of personnel under stress when operating the robotic arm task, psychological stress induction is required.

[0003] The existing psychological analysis methods cannot truly reproduce the aerospace scenes, and therefore cannot stimulate the real psychological stress state; moreover, the existing psychological analysis methods cannot comprehensively collect the physiological and neural response data of the subjects, which affects the authenticity of the psychological stress response analysis of the subjects; in addition, the aerospace background requires the study of the psychological and physiological characteristics of personnel under stress when operating robotic arm tasks, as well as the personality and cognitive characteristics of personnel, while the existing psychological analysis methods have a single function and cannot meet the diversified needs of psychological analysis of personnel in the aerospace background. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies of the prior art, the present invention proposes a psychological stress inducing method based on VR fusion space mission scenario, comprising:

[0005] Collect operational data of the manipulator operation task in a pre-built VR scenario of aerospace manipulator operation task when the person under test is calm;

[0006] Based on the set instructions and VR materials, the VR technology is used to present space accidents, stimulate the personal honor of the test personnel after the mission is successful, and the frustration after the mission fails, so as to induce psychological stress in the test personnel;

[0007] The physiological data of the person being measured is collected synchronously through physiological measurement technology to determine whether the person being measured has entered a state of psychological stress;

[0008] Collecting the operation data of the manipulator arm operation task performed by the test person in the VR scenario of the aerospace manipulator arm operation task under the psychological stress state, and combining the operation data of the test person when the test person is calm, to determine the operation differences and operation errors of the test person when the test person is calm and under the psychological stress state;

[0009] Among them, the VR scenario of the aerospace robotic arm operation task is constructed using VR technology based on VR materials and operation prompts of the robotic arm operation task; the instructions include sound, image and video.

[0010] Preferably, the method of inducing psychological stress on the tested personnel by presenting a space accident based on the set instructions and VR materials through VR technology, stimulating the tested personnel's sense of personal honor after a successful mission and sense of frustration after a failed mission, includes:

[0011] Based on the material of the aerospace accident in the VR material, the aerospace accident is presented in the VR context of the aerospace robotic arm operation task through VR technology, and the psychological stress of the tested personnel is induced in combination with the set guidance of the aerospace accident;

[0012] Based on the personal honor material after the mission is successful in the VR material, the personal honor after the mission is successful is presented in the VR context of the aerospace mechanical arm operation mission using VR technology, and the personal honor after the mission is successful is stimulated by the personal honor of the tested person in combination with the set instructions after the mission is successful, so as to induce psychological stress in the tested person;

[0013] Based on the personal image loss material after the mission failure in the VR material, the personal image loss after the mission failure is presented in the VR scenario of the aerospace mechanical arm operation mission using VR technology, and the psychological stress of the tested person is induced by stimulating the frustration of the tested person in combination with the set instructions after the mission failure;

[0014] Among them, the VR materials of space accidents include collision sounds of different intensities, explosion sounds, fracture sounds, gas leakage sounds, vibration sounds, gas leakage special effects, space station explosion special effects of different levels, explosion shock wave special effects, collision special effects of different levels, casualty special effects, space station external structure scenes, robotic arms, astronauts wearing extravehicular space suits, cosmic backgrounds, casualty scenes, meteorite fragments scenes, space station internal structure scenes, movable doors, handles and buttons inside the space station;

[0015] The aerospace accident includes one or more of a space station explosion scenario, a meteorite fragment collision, a space station gas leak, and casualties;

[0016] Personal honor after the successful completion of the task, including one or more of respect, praise and commendation for the person being tested;

[0017] The image loss after the failure of the task includes one or more of the blows to the family and colleagues of the person being tested.

[0018] Preferably, the VR material based on the space accident presents the space accident in the VR context of the space robot arm operation task through VR technology, including:

[0019] Based on the explosion sounds of different intensities, vibration sounds, different levels of space station explosion special effects and explosion shock wave special effects, a space station explosion scene is constructed and presented in a VR scenario of the aerospace robotic arm operation task through VR technology;

[0020] Based on the explosion sounds, vibration sounds, collision sounds of different intensities, collision special effects of different levels, space station explosion special effects of different levels, explosion shock wave special effects and meteorite fragment scenes, a meteorite fragment collision scene is constructed and presented in a VR context of the aerospace robotic arm operation task through VR technology;

[0021] Based on the gas leakage special effects, gas leakage sound and fracture sound, a space station gas leakage scene is constructed and presented in a VR scenario of the aerospace robotic arm operation task through VR technology;

[0022] Based on the casualty special effects and casualty scenes, a casualty scene is constructed and presented in a VR context of the aerospace robotic arm operation mission through VR technology.

[0023] Preferably, the synchronous collection of physiological data of the measured person by physiological measurement technology to determine whether the measured person has entered a psychological stress state includes:

[0024] Through eye movement, electrocardiogram and electroencephalogram measurement technology, the physiological data of the tested person when calm and after psychological stress is induced are collected synchronously;

[0025] Determining whether the person under test has entered a state of psychological stress based on the physiological data of the person under test when the person is calm and after psychological stress is induced;

[0026] The physiological data includes electroencephalogram (EEG) data, eye movement data and electrocardiogram (ECG) data.

[0027] Preferably, the construction of the VR scenario of the aerospace manipulator operation task includes:

[0028] Based on the space station's external structure scene, robotic arm, cosmic background, space station's internal structure scene, and movable doors, handles, and buttons inside the space station, VR technology is used to build a VR environment for aerospace robotic arm operations;

[0029] By introducing operation prompts of the manipulator operation task into the VR environment of the aerospace manipulator operation, a VR scenario of the aerospace manipulator operation task is constructed.

[0030] Preferably, the robot arm operation task includes:

[0031] When the target object appears in the camera at the end of the robotic arm or when the end of the robotic arm is aligned with the target, the robotic arm is docked with the target object by operating the robotic arm's displacement in the up, down, left, right, front and back directions, rotation in the left and right directions, pitch in the up and down directions, and yaw in the left and right directions.

[0032] Preferably, the operation data of the robot arm operation task includes:

[0033] One or more of the following: number of successful robot arm operation tasks, success rate of robot arm operation tasks, robot arm position operation deviation, robot arm angle operation deviation, additional displacement distance of the robot arm, additional operation posture of the robot arm, operation time, number of collisions between the robot arm and the space station, total number of collisions between the robot arm, number of robot arm joint limits, number of reciprocating operations of each component of the robot arm in three dimensions, total number of reciprocating operations of the robot arm, docking time between the robot arm and the target object, additional displacement distance of the robot arm docking operation, and additional posture of the robot arm docking operation.

[0034] Preferably, before collecting the operation data of the manipulator operation task performed by the measured person in a pre-built VR scenario of the aerospace manipulator operation task when the measured person is calm, the method further includes:

[0035] Based on the rotating graphics and mosaic graphics materials, VR technology is used to construct and present the three-dimensional mental rotation test and three-dimensional graphic mosaic test scenarios, and the three-dimensional mental rotation test and three-dimensional graphic mosaic test are conducted on the subjects, and the test data of the subjects are collected;

[0036] Determining the personality type of the person being tested based on the test data of the person being tested;

[0037] Based on the personality type of the person being tested, instructions and VR materials suitable for the personality type of the person being tested are determined.

[0038] Based on the same inventive concept, the present invention also provides a psychological stress inducing system based on VR fusion space mission context, which is used to implement the psychological stress inducing method based on VR fusion space mission context, including: a psychological testing device based on VR fusion space mission context, a VR device and a physiological data acquisition device;

[0039] The psychological testing device communicates with the VR device and the physiological data acquisition device respectively;

[0040] The psychological testing device collects operation data of the tested person performing a manipulator arm operation task in a pre-constructed VR scenario of a space robot arm operation task when the tested person is calm and under psychological stress, and determines the operation differences and operation errors of the tested person when the tested person is calm and under psychological stress; and determines that the tested person enters a psychological stress state based on the physiological data of the tested person synchronously collected by the physiological data acquisition device;

[0041] The psychological testing device is used to present a space accident through VR technology based on the set instructions and VR materials, and to stimulate the personal honor of the tested person after the mission is successful and the frustration after the mission fails, so as to induce psychological stress in the tested person;

[0042] The physiological data acquisition device is used to synchronously acquire physiological data of the measured person through physiological measurement technology;

[0043] Among them, the VR scenario of the aerospace robotic arm operation task is constructed using VR technology based on space station materials and operation prompts of the robotic arm operation task; the instructions include sound, image and video.

[0044] Preferably, the psychological testing equipment is specifically used for:

[0045] Based on the VR material of the space accident, the VR device is used to present the space accident in the VR scenario of the space robot arm operation task through VR technology, and the psychological stress of the tested personnel is induced in combination with the set guidance of the space accident;

[0046] Based on the VR material after the mission is successful, the VR equipment is used to present the personal honor after the mission is successful in the VR context of the aerospace mechanical arm operation mission through VR technology, and the personal honor of the tested person is stimulated by the set instructions after the mission is successful, so as to induce psychological stress of the tested person;

[0047] Based on the VR material after the mission failure, the VR device is used to present the image loss after the mission failure in the VR scenario of the aerospace mechanical arm operation mission through VR technology, and the set instructions after the mission failure are combined to stimulate the frustration of the tested personnel, so as to induce the psychological stress of the tested personnel;

[0048] Among them, the VR materials of space accidents include collision sounds of different intensities, explosion sounds, fracture sounds, gas leakage sounds, vibration sounds, gas leakage special effects, space station explosion special effects of different levels, explosion shock wave special effects, collision special effects of different levels, casualty special effects, space station external structure scenes, robotic arms, astronauts wearing extravehicular space suits, cosmic backgrounds, casualty scenes, meteorite fragments scenes, space station internal structure scenes, movable doors, handles and buttons inside the space station;

[0049] The aerospace accident includes one or more of a space station explosion scenario, a meteorite fragment collision, a space station gas leak, and casualties;

[0050] Personal honor after the successful completion of the task, including one or more of respect, praise and commendation for the person being tested;

[0051] The image loss after the failure of the task includes one or more of the blows to the family and colleagues of the person being tested.

[0052] Preferably, the physiological data acquisition device includes: an eye movement device, an electrocardiogram device and an electroencephalogram device;

[0053] The eye movement device is specifically used to synchronously collect the eye movement data of the tested person when he is calm and after psychological stress is induced;

[0054] The electrocardiogram equipment is specifically used to synchronously collect electrocardiogram data of the person being tested when the person is calm and after psychological stress is induced;

[0055] The EEG device is specifically used to synchronously collect EEG data of the tested person when he is calm and after psychological stress is induced;

[0056] The physiological data includes electroencephalogram (EEG) data, eye movement data and electrocardiogram (ECG) data.

[0057] Preferably, the psychological testing equipment is also used for:

[0058] Before collecting the operation data of the manipulator arm operation task performed by the test person in a calm state in the VR scenario of the aerospace manipulator arm operation task, based on the rotating graphics and mosaic graphics materials, VR technology is used to construct and present the three-dimensional mental rotation test and three-dimensional graphic mosaic test scenarios, and the three-dimensional mental rotation test and three-dimensional graphic mosaic test of the test person are conducted, and the test data of the test person is collected;

[0059] Determining the personality type of the person being tested based on the test data of the person being tested;

[0060] Based on the personality type of the person being tested, instructions and VR materials suitable for the personality type of the person being tested are determined.

[0061] Compared with the closest prior art, the present invention has the following beneficial effects:

[0062] 1. The present invention provides a method and system for inducing psychological stress based on VR fusion of aerospace mission scenarios, including: collecting operation data of a manipulator arm operation task performed by a test person in a pre-constructed VR scenario of aerospace manipulator arm operation task when the test person is calm; presenting aerospace accidents through VR technology based on set instructions and VR materials, stimulating the personal honor of the test person after the task is successful and the frustration after the task fails, and inducing psychological stress of the test person; synchronously collecting physiological data of the test person through physiological measurement technology to determine that the test person enters a psychological stress state; collecting operation data of the manipulator arm operation task performed by the test person in the VR scenario of the aerospace manipulator arm operation task under the psychological stress state, and combining the test person's The operation data when calm is used to determine the difference in operation between the measured person when calm and when under psychological stress; wherein the VR scenario of the aerospace manipulator arm operation task is constructed by VR technology based on VR materials and the operation prompts of the manipulator arm operation task; the instructions include sound, image and video; the present invention constructs the VR scenario of the aerospace manipulator arm operation task by using VR technology, which can reproduce the aerospace scene realistically, and achieve the effect of inducing the psychological stress state of the measured person by presenting aerospace accidents and stimulating the personal honor and frustration of the measured person; the physiological data of the measured person collected by physiological measurement technology can analyze the authenticity of the measured person's psychological stress response, and provide data support for exploring the operation of the measured person under psychological stress;

[0063] 2. The present invention can explore the impact of the psychological stress state of the tested personnel on individual performance and human errors through the operation tasks of the robotic arm, and reveal its internal mechanism, providing important reference and technical support for the prevention and intervention of human errors, the adaptive regulation of personnel stress, and the subsequent personnel training and selection. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 A flowchart of a psychological stress induction method based on VR fusion of aerospace mission scenarios provided by the present invention;

[0065] Figure 2 A basic structural diagram of a psychological stress inducing system based on VR fusion of aerospace mission scenarios provided by the present invention;

[0066] Figure 3 A schematic diagram of device connection relationships of an embodiment of a psychological stress inducing system based on VR fusion space mission scenarios provided by the present invention;

[0067] Figure 4 The hardware schematic diagram of an embodiment of a psychological stress inducing system based on VR fusion space mission scenario;

[0068] Figure 5A functional schematic diagram of a test platform for an embodiment of a psychological stress inducing system based on VR fusion with a space mission scenario;

[0069] Figure 6 A schematic diagram of data transmission between various devices in an embodiment of a psychological stress inducing system based on VR fusion space mission scenario;

[0070] Figure 7 It is a structural schematic diagram of a psychological stress induction experimental platform based on VR fusion mission context in an embodiment of a psychological stress induction system based on VR fusion space mission context;

[0071] Figure 8 The figure is a schematic diagram of the subordinate relationship of each module of the psychological stress inducing experimental platform based on VR fusion mission context in an embodiment of the psychological stress inducing system based on VR fusion space mission context. DETAILED DESCRIPTION

[0072] The space station robotic arm is a vital extravehicular support device for the space station's in-orbit operation. Astronauts in the space station monitor and control the robotic arm in orbit to complete various extravehicular operations. Robotic arm operation is a very complex cognitive operation task, and human errors may even occur under stress. In order to explore the psychological and physiological characteristics, operation characteristics, and human error characteristics of personnel under stress when operating the robotic arm task, it is necessary to develop psychological stress induction technology and experimental platforms for robotic arm operation tasks.

[0073] The present invention explores the application of VR technology (Virtual Reality) combined with simulated robotic arm operation tasks to develop psychological stress induction technology and construct a psychological stress experimental platform. The platform integrates physiological (electroencephalogram, eye movement, pulse, heartbeat, cortisol, etc.) measurement technology, cognitive methods, and cognitive ability measurement methods to achieve physiological and psychological measurements under stress. It can be applied to the study of cognitive behavioral characteristics and neural mechanism mechanisms of personnel under stressful environments, and can also be applied to personnel stress training and emotional adjustment training. The effectiveness of the psychological stress induction method is verified through behavioral, physiological and psychological related data, and the individual psychological and physiological reactions under more realistic stress states are revealed; combined with complex cognitive operation tasks of robotic arms, the impact of psychological stress states on individual performance and human errors is explored, and its internal mechanism is revealed, which provides important reference and technical support for the prevention and intervention of human errors, the adaptive regulation of personnel stress, and the subsequent personnel training and selection.

[0074] The specific implementation modes of the present invention are further described in detail below with reference to the accompanying drawings.

[0075] Embodiment 1:

[0076] The present invention provides a method for inducing psychological stress based on VR fusion space mission scenarios, and its flow chart is as follows: Figure 1 As shown, including:

[0077] Step 1: Collect the operation data of the manipulator operation task in a pre-built VR scenario of aerospace manipulator operation task when the person under test is calm;

[0078] Step 2: Based on the set instructions and VR materials, the space accident is presented through VR technology to stimulate the personal honor of the test personnel after the mission is successful and the frustration after the mission fails, so as to induce psychological stress of the test personnel;

[0079] Step 3: synchronously collect physiological data of the person being measured through physiological measurement technology to determine whether the person being measured has entered a state of psychological stress;

[0080] Step 4: collecting the operation data of the manipulator operation task performed by the test person in the VR scenario of the aerospace manipulator operation task under the psychological stress state, and combining the operation data of the test person when the test person is calm, to determine the operation difference between the test person when the test person is calm and when the psychological stress state is;

[0081] Among them, the VR scenario of the aerospace robotic arm operation task is constructed using VR technology based on VR materials and operation prompts of the robotic arm operation task; the instructions include sound, image and video.

[0082] Before executing step 1, first conduct a personality test on the person being tested, specifically:

[0083] Based on the rotating graphics and mosaic graphics materials, VR technology is used to construct and present the three-dimensional mental rotation test and three-dimensional graphic mosaic test scenarios, and the three-dimensional mental rotation test and three-dimensional graphic mosaic test are conducted on the subjects, and the test data of the subjects are collected;

[0084] Determining the personality type of the person being tested based on the test data of the person being tested;

[0085] Based on the personality type of the person being tested, instructions and VR materials suitable for the personality type of the person being tested are determined.

[0086] The construction of the VR scenario of the aerospace robotic arm operation task in step 1 includes:

[0087] Based on the space station's external structure scene, robotic arm, cosmic background, space station's internal structure scene, and movable doors, handles, and buttons inside the space station, VR technology is used to build a VR environment for aerospace robotic arm operations;

[0088] By introducing operation prompts of the manipulator operation task into the VR environment of the aerospace manipulator operation, a VR scenario of the aerospace manipulator operation task is constructed.

[0089] First, the existing robot arm operation experimental platform is reconstructed using VR technology. While retaining the original functions of the existing robot arm operation experimental platform, new features such as immersion, interaction, and imagination based on virtual reality are added to make the new experimental platform have better ecological validity. The functions of the original robot arm operation experimental platform include:

[0090] 1) The experimental platform is a computer simulation experimental platform for space manipulators, which is based on the basic configuration and layout of the space station and is designed by combining the key parameters of the manipulator. It includes 3 cabins + 1 node cabin + 1 manipulator. The manipulator has 7 joints, each joint has a limited motion angle of ±270°, and is equipped with 2 docking targets.

[0091] 2) The experimental task is the precise docking task of the robotic arm, that is, controlling the robotic arm to dock with the docking target; a total of 4 camera scenes are set up to assist the operation, namely the robotic arm end camera, cabin camera, robotic arm joint camera, and space station global simulation interface; in addition, the angle information of each joint of the robotic arm is displayed in real time during the operation;

[0092] 3) By setting the initial conditions, ensure that the difficulty of operation in each initial state is at the same level; the specific requirements are: in the initial state of the robot arm, the limit angle of each joint distance is not less than 90 degrees, the end of the robot arm is within 3 to 4 meters away from the target, the posture deviation is within 90°, and the display interface of the end camera can clearly see the target docking mechanism; the condition for successful docking is that the position deviation in each dimension is less than 0.01 meters, and the posture deviation in each dimension is less than 1°; the remote operation of the robot arm mainly includes three stages: large-scale transfer, coarse adjustment of relative posture and fine operation.

[0093] Step 1 specifically includes:

[0094] First, the words "Mission Start" appear, and there is a 5-second countdown. After the countdown ends, the mission officially begins. The foreground and background will appear in the upper part of the mission interface. The foreground is the space station and the robotic arm, and the background is the universe, which includes the earth. There are thumbnails of the robotic arm perspective, the space station perspective, and the third-party perspective in the upper part of the interface.

[0095] After the formal test begins, the system will have a voice prompt, requiring manual operation of the robotic arm to the specified position. The person being tested will operate the robotic arm according to the voice prompts and avoid collisions during operation. The operation is time-limited, and there is a time progress bar in the upper area of ​​the interface. The first third of the formal test time limit is free operation time. During the second third of the formal test time limit, explosions, collisions, or gas leaks are randomly triggered. Normal operation can be performed during the last third. If a collision occurs during the operation or the robot arm joint activity angle is exceeded, the task will be prompted to fail.

[0096] The robot arm operation task mainly includes the following three stages:

[0097] Phase 1 (random joint positions and deflection angles): The person being tested observes the spatial position information of the robot arm and the target, as well as the scene information, and plans the path of the robot arm and the approximate operation steps according to the overall layout, and performs trial operations.

[0098] The second stage (the target appears in the camera at the end of the robotic arm): The person being tested needs to perceive the size, direction, and shape of the target in the video based on the video information in the end camera, and judge the deviation of the robotic arm relative to the target from the three dimensions of roll, yaw, and pitch, and choose the correct posture adjustment method to operate.

[0099] The third stage (the end of the robotic arm is basically aligned with the target): The person being tested perceives the size, direction, shape and depth distance of the target in the video based on the video information in the end camera, and performs fine-tuning of translation and posture operations.

[0100] The operation data of the robot arm operation task includes:

[0101] One or more of the following: number of successful robot arm operation tasks, success rate of robot arm operation tasks, robot arm position operation deviation, robot arm angle operation deviation, additional displacement distance of the robot arm, additional operation posture of the robot arm, operation time, number of collisions between the robot arm and the space station, total number of collisions between the robot arm, number of robot arm joint limits, number of reciprocating operations of each component of the robot arm in three dimensions, total number of reciprocating operations of the robot arm, docking time between the robot arm and the target object, additional displacement distance of the robot arm docking operation, and additional posture of the robot arm docking operation.

[0102] Step 2 specifically includes:

[0103] Based on the material of the aerospace accident in the VR material, the aerospace accident is presented in the VR context of the aerospace robotic arm operation task through VR technology, and the psychological stress of the tested personnel is induced in combination with the set guidance of the aerospace accident;

[0104] Based on the personal honor material after the mission is successful in the VR material, the personal honor after the mission is successful is presented in the VR context of the aerospace mechanical arm operation mission using VR technology, and the personal honor after the mission is successful is stimulated by the personal honor of the tested person in combination with the set instructions after the mission is successful, so as to induce psychological stress in the tested person;

[0105] Based on the personal image loss material after the mission failure in the VR material, the personal image loss after the mission failure is presented in the VR scenario of the aerospace mechanical arm operation mission using VR technology, and the psychological stress of the tested person is induced by stimulating the frustration of the tested person in combination with the set instructions after the mission failure;

[0106] Among them, the VR materials of space accidents include collision sounds of different intensities, explosion sounds, fracture sounds, gas leakage sounds, vibration sounds, gas leakage special effects, space station explosion special effects of different levels, explosion shock wave special effects, collision special effects of different levels, casualty special effects, space station external structure scenes, robotic arms, astronauts wearing extravehicular space suits, cosmic backgrounds, casualty scenes, meteorite fragments scenes, space station internal structure scenes, movable doors, handles and buttons inside the space station;

[0107] The aerospace accident includes one or more of a space station explosion scenario, a meteorite fragment collision, a space station gas leak, and casualties;

[0108] Personal honor after the successful completion of the task, including one or more of respect, praise and commendation for the person being tested;

[0109] The image loss after the failure of the task includes one or more of the blows to the family and colleagues of the person being tested.

[0110] Stress-inducing scenarios (i.e., space accidents), see Table 1 (including, but not limited to the following).

[0111] Table 1 VR stress-inducing scenarios

[0112]

[0113]

[0114] Based on the set instructions, and combined with the possible collision between the robotic arm and the space station and the resulting accident, the accident scene is presented through VR (such as VR sound, video, etc.), including explosions, leaks, casualties, sound and vibration images, etc., to present the serious consequences of the accident in an all-round and three-dimensional manner, and to induce the psychological stress response of the subjects to the maximum extent. In addition, the following scenes are presented through VR: after success, people will respect you and praise you for various honors. If you fail, there will be negative consequences, including but not limited to blows to your family and colleagues, so as to stimulate the stress response of the subjects through these VR-based immersive social evaluation scenes. Based on the above methods, before the experiment begins, guide the subjects into a responsible and stressful stress scene and state.

[0115] Step 3 specifically includes:

[0116] Through eye movement, electrocardiogram and electroencephalogram measurement technology, the physiological data of the tested person when calm and after psychological stress is induced are collected synchronously;

[0117] Determining whether the person under test has entered a state of psychological stress based on the physiological data of the person under test when the person is calm and after psychological stress is induced;

[0118] The physiological data includes electroencephalogram (EEG) data, eye movement data and electrocardiogram (ECG) data.

[0119] The present invention uses VR technology to construct a VR scenario of a space robot arm operation task, which can realistically reproduce the space scene, and achieve the effect of inducing the psychological stress state of the measured person by presenting a space accident and stimulating the personal honor and frustration of the measured person; by collecting the physiological data of the measured person through physiological measurement technology, the authenticity of the measured person's psychological stress reaction can be analyzed, and data support can be provided for exploring the operation status of the measured person under the psychological stress state; the present invention can explore the influence of the measured person's psychological stress state on individual performance and human error through the operation task of the robot arm, and reveal its internal mechanism, so as to provide important reference and technical support for the prevention and intervention of human error, the adaptive regulation of personnel stress, and the subsequent personnel training and selection.

[0120] Embodiment 2:

[0121] Based on the same inventive concept, the present invention also provides a psychological stress inducing system based on VR fusion aerospace mission context, which is used to implement a psychological stress inducing method based on VR fusion aerospace mission context as described in Example 1. The basic structural diagram is shown in FIG. Figure 2 As shown, it includes: psychological testing equipment based on VR fusion space mission scenarios, VR equipment and physiological data acquisition equipment;

[0122] The psychological testing device communicates with the VR device and the physiological data acquisition device respectively;

[0123] The psychological testing device collects operation data of the tested person performing a manipulator arm operation task in a pre-constructed VR scenario of a space robot arm operation task when the tested person is calm and under psychological stress, and determines the operation differences and operation errors of the tested person when the tested person is calm and under psychological stress; and determines that the tested person enters a psychological stress state based on the physiological data of the tested person synchronously collected by the physiological data acquisition device;

[0124] The psychological testing device is used to present a space accident through VR technology based on the set instructions and VR materials, and to stimulate the personal honor of the tested person after the mission is successful and the frustration after the mission fails, so as to induce psychological stress in the tested person;

[0125] The physiological data acquisition device is used to synchronously acquire physiological data of the measured person through physiological measurement technology;

[0126] Among them, the VR scenario of the aerospace robotic arm operation task is constructed using VR technology based on space station materials and operation prompts of the robotic arm operation task; the instructions include sound, image and video.

[0127] Preferably, the psychological testing equipment is specifically used for:

[0128] Based on the explosion sounds, vibration sounds, space station explosion special effects and explosion shock wave special effects of different intensities, the VR device is cooperated to construct and present the space station explosion scene in the VR context of the aerospace robotic arm operation task through VR technology; based on the explosion sounds, vibration sounds, collision sounds, collision special effects of different levels, space station explosion special effects of different levels, explosion shock wave special effects and meteorite fragment scenes of different intensities, the VR device is cooperated to construct and present the meteorite fragment collision scene in the VR context of the aerospace robotic arm operation task through VR technology; based on the gas leakage special effects, gas leakage sounds and fracture sounds, the VR device is cooperated to construct and present the space station gas leakage scene in the VR context of the aerospace robotic arm operation task through VR technology; based on the casualty special effects and casualty scenes, the VR device is cooperated to construct and present the casualty scene in the VR context of the aerospace robotic arm operation task through VR technology;

[0129] Based on the VR material after the mission is successful, the VR equipment is used to present the personal honor after the mission is successful in the VR context of the aerospace mechanical arm operation mission through VR technology, and the personal honor of the tested person is stimulated by the set instructions after the mission is successful, so as to induce psychological stress of the tested person;

[0130] Based on the VR material after the mission failure, the VR device is used to present the image loss after the mission failure in the VR scenario of the aerospace mechanical arm operation mission through VR technology, and the set instructions after the mission failure are combined to stimulate the frustration of the tested personnel, so as to induce the psychological stress of the tested personnel;

[0131] Among them, the VR materials of space accidents include collision sounds of different intensities, explosion sounds, fracture sounds, gas leakage sounds, vibration sounds, gas leakage special effects, space station explosion special effects of different levels, explosion shock wave special effects, collision special effects of different levels, casualty special effects, space station external structure scenes, robotic arms, astronauts wearing extravehicular space suits, cosmic backgrounds, casualty scenes, meteorite fragments scenes, space station internal structure scenes, movable doors, handles and buttons inside the space station;

[0132] The aerospace accident includes one or more of a space station explosion scenario, a meteorite fragment collision, a space station gas leak, and casualties;

[0133] Personal honor after the successful completion of the task, including one or more of respect, praise and commendation for the person being tested;

[0134] The image loss after the failure of the task includes one or more of the blows to the family and colleagues of the person being tested.

[0135] Preferably, the physiological data acquisition device includes: an eye movement device, an electrocardiogram device and an electroencephalogram device;

[0136] The eye movement device is specifically used to synchronously collect the eye movement data of the tested person when he is calm and after psychological stress is induced;

[0137] The electrocardiogram equipment is specifically used to synchronously collect electrocardiogram data of the person being tested when the person is calm and after psychological stress is induced;

[0138] The EEG device is specifically used to synchronously collect EEG data of the tested person when he is calm and after psychological stress is induced;

[0139] The physiological data includes electroencephalogram (EEG) data, eye movement data and electrocardiogram (ECG) data.

[0140] Preferably, the construction of the VR scenario of the aerospace manipulator arm operation task in the psychological testing equipment includes:

[0141] Based on the space station's external structure scene, robotic arm, cosmic background, space station's internal structure scene, and movable doors, handles, and buttons inside the space station, VR technology is used to build a VR environment for aerospace robotic arm operations;

[0142] By introducing operation prompts of the manipulator operation task into the VR environment of the aerospace manipulator operation, a VR scenario of the aerospace manipulator operation task is constructed.

[0143] Preferably, the robot arm operation tasks in the psychological testing equipment include:

[0144] When the target object appears in the camera at the end of the robotic arm or when the end of the robotic arm is aligned with the target, the robotic arm is docked with the target object by operating the robotic arm's displacement in the up, down, left, right, front and back directions, rotation in the left and right directions, pitch in the up and down directions, and yaw in the left and right directions.

[0145] Preferably, the operation data of the robot arm operation task in the psychological testing device includes:

[0146] One or more of the following: number of successful robot arm operation tasks, success rate of robot arm operation tasks, robot arm position operation deviation, robot arm angle operation deviation, additional displacement distance of the robot arm, additional operation posture of the robot arm, operation time, number of collisions between the robot arm and the space station, total number of collisions between the robot arm, number of robot arm joint limits, number of reciprocating operations of each component of the robot arm in three dimensions, total number of reciprocating operations of the robot arm, docking time between the robot arm and the target object, additional displacement distance of the robot arm docking operation, and additional posture of the robot arm docking operation.

[0147] Preferably, the psychological testing equipment is also used for:

[0148] Before collecting the operation data of the manipulator arm operation task performed by the test person in a calm state in the VR scenario of the aerospace manipulator arm operation task, based on the rotating graphics and mosaic graphics materials, VR technology is used to construct and present the three-dimensional mental rotation test and three-dimensional graphic mosaic test scenarios, and the three-dimensional mental rotation test and three-dimensional graphic mosaic test of the test person are conducted, and the test data of the test person is collected;

[0149] Determining the personality type of the person being tested based on the test data of the person being tested;

[0150] Based on the personality type of the person being tested, instructions and VR materials suitable for the personality type of the person being tested are determined.

[0151] The present invention uses VR technology to construct a VR scenario of a space robot arm operation task, which can realistically reproduce the space scene, and achieve the effect of inducing the psychological stress state of the measured person by presenting a space accident and stimulating the personal honor and frustration of the measured person; by collecting the physiological data of the measured person through physiological measurement technology, the authenticity of the measured person's psychological stress reaction can be analyzed, and data support can be provided for exploring the operation status of the measured person under the psychological stress state; the present invention can explore the influence of the measured person's psychological stress state on individual performance and human error through the operation task of the robot arm, and reveal its internal mechanism, so as to provide important reference and technical support for the prevention and intervention of human error, the adaptive regulation of personnel stress, and the subsequent personnel training and selection.

[0152] Embodiment 3:

[0153] The present invention also provides an embodiment of a psychological stress inducing system based on VR fusion space mission scenario. The device connection relationship diagram of the system in this embodiment is as follows: Figure 3 As shown, it includes: a psychological testing device based on a VR fusion task scenario (also called a psychological stress induction experimental platform or a psychological testing device based on a VR fusion task scenario), a VR head display, a VR handle, a joystick, an electroencephalogram sensor (also called an electroencephalogram device), an electrocardiogram sensor (also called a heart rate device), and an eye movement sensor (the eye movement sensor is set in the VR head display, also called an eye movement device or an eye tracker, not marked in the figure);

[0154] The psychological testing equipment communicates with the VR head display, VR handle, joystick, electrocardiogram sensor, electroencephalogram sensor and eye movement sensor respectively.

[0155] The hardware required for the operation of the psychological testing device based on VR fusion task scenario is as follows: Figure 4 As shown, it includes: desktop computer, joystick, VR / eye tracking equipment, EEG equipment and heart rate equipment.

[0156] The minimum standards for the hardware operating environment are shown in Table 2:

[0157] Table 2 Minimum standards for hardware operating environment

[0158]

[0159] The minimum standards for the hardware development environment are shown in Table 3:

[0160] Table 3 Hardware development environment

[0161]

[0162] The hardware of the VR-based robotic arm task experiment platform includes 1 desktop computer, 2 joysticks, 1 VR / eye tracking device, 1 EEG device, and 1 heart rate device, including:

[0163] The desktop computer is the operating and data storage device for the psychological stress induction experimental platform software based on VR fusion task scenarios. It has the function of information transmission and can transmit timestamp instructions to EEG devices and heart rate devices through the parallel port. The desktop computer can also store eye movement data from VR / eye movement devices.

[0164] The joystick is an input device for the psychological stress-inducing experimental platform software based on VR fusion mission scenarios, which is used to simulate the operation of the joystick of the space station's robotic arm;

[0165] The VR / eye-tracking device is a virtual reality presentation device based on the psychological stress-inducing experimental platform software of the VR fusion task scenario, which is used to simulate the operation scene of the space station's robotic arm;

[0166] The EEG device is a sensor and storage device for the EEG information of the tested person based on the psychological stress-inducing experimental platform software of VR fusion task scenarios, which is used to sense and record the EEG information of the tested person during the test;

[0167] The heart rate device is a sensor and storage device for the ECG information of the person being tested based on the psychological stress-inducing experimental platform software of the VR fusion task scenario. It is used to sense and record the ECG information of the person being tested during the test.

[0168] The psychological stress induction experimental platform based on VR fusion task scenarios has two functions: Figure 5 As shown, it includes: completing robot arm operation and psychological stress induction tasks in a VR virtual 3D environment; and completing cognitive ability and style test tasks in a VR virtual 3D environment. The trainee-related data is obtained by using VR equipment to complete psychological stress, mental rotation and training subjects in a virtual 3D space.

[0169] Among them, the main function of the robot arm operation and psychological stress induction tasks is to simulate the robot arm operation in a 3D environment. The tasks of inducing stress through special events. Special events include explosions, leaks, collisions, deaths of personnel, etc. that may occur in the space station;

[0170] The main function of the 3D cognitive ability task is to combine the cognitive ability test with the space station in a virtual 3D space to test the psychological indicators related to the cognitive ability of the tested person. This is mainly a test of mental rotation;

[0171] The main function of the 3D cognitive ability task is to combine the style test with the space station in a virtual 3D space to test the psychological indicators related to the cognitive ability of the subjects.

[0172] System external interface requirements:

[0173] Data recording should meet scientific research needs and reserve sufficient data interfaces. The data interface transmits timestamp instructions to external EEG devices and heart rate devices. After receiving the timestamp instruction, the external device adds it to its own database. The system also connects with the joystick and VR device through the USB and DP interfaces to obtain or exchange data. The data synchronization interface mainly involves synchronization interface instructions related to task parameters and operations, including: sending synchronization instructions at the start and end of VR-based robotic arm operation tasks; sending synchronization instructions at the start and end of VR-based experimental instructions; sending synchronization instructions at the start and end of VR-based scene stress; EEG, near-infrared and eye movement synchronization interface, EEG devices, near-infrared and eye trackers, synchronized with VR's robotic arm experiment software platform through this synchronization interface; synchronization requirements: synchronization instructions are easy to distinguish and identify, and the synchronization error is no more than 10 milliseconds.

[0174] Based on the above structure and function, a schematic diagram of data transmission between devices in the system is designed, as shown in Figure 6 As shown, operation data is generated by clicking on screen options with the VR handle, eye movement data is generated by the eye tracker and automatically stored in the VR device; EEG data is generated by the EEG sensor and automatically stored in the EEG device host; ECG data is generated by the ECG sensor and automatically stored in the ECG device host; the VR device uses a psychological stress induction experimental platform based on VR fusion task scenarios (VR-side software), and the psychological stress induction experimental platform based on VR fusion task scenarios (computer-side software) timestamps the data stored in the EEG device host and the ECG device host; (VR-side software) and (computer-side software) automatically store data with each other; commands are input to the (computer-side software) through the joystick; (computer-side software) generates data and automatically stores it in the desktop computer, and the desktop computer uses (computer-side software).

[0175] The overall performance requirements of the above software system include:

[0176] The software CPU usage rate does not exceed 30%. If multiple software configuration items are running on the same machine, this indicator applies to the CPU usage rate requirement when all software configuration items on the machine are running at the same time.

[0177] The total memory usage of software configuration items running separately should not exceed 50% of the total;

[0178] The time required for preprocessing and calculation of various data responses is less than 2 seconds.

[0179] The installation and operation requirements of the software include:

[0180] Installation testing needs to ensure that no abnormal situations occur during the installation of the software, such as insufficient space, lack of permissions, etc., to ensure that the software can run smoothly after successful installation.

[0181] Software environment requirements include:

[0182] The overall software architecture is written in C# language. Considering the compatibility between the task simulation platform and other devices, the development environment to be used is Unity, MYSQL and Visual Studio.

[0183] Operating system: Compatible with Windows 7 and Windows 10 operating systems.

[0184] The psychological stress induction experimental platform based on VR fusion task scenarios includes VR-based robotic arm operation and psychological stress induction tasks as well as VR-based cognitive ability and style test tasks. The VR-based robotic arm operation task is a reconstruction of the VR scene based on the existing robotic arm task, and VR-based psychological stress induction is added to the task, providing a random immersive stress induction scene for the robotic arm operation task, so as to better stimulate the stress response of the tested personnel.

[0185] The structural diagram of the psychological stress induction experimental platform based on VR fusion task scenarios is as follows: Figure 7 As shown, it includes: user login / exit module, task selection and parameter setting module, operation prompt module, robotic arm operation and psychological stress inducing task module, 3D cognitive ability task module, 3D style test task module, task result presentation module, task data processing and storage module, external system timestamp instruction transmission module, sound effect library module, special effect library module, internal scene library module and external scene library module.

[0186] like Figure 8The figure shows the subordinate relationship of each module of the psychological stress induction experimental platform based on VR fusion task scenario. Among them, the user (i.e. the person under test) uses the user login / exit module, the task selection and parameter setting module and the task result presentation module; the task selection and parameter setting module includes the robot arm operation and psychological stress induction task module, the 3D cognitive ability task module and the 3D style test task module; the three task modules all include the operation prompt module, the sound effect library module, the special effect library module, the internal scene library module and the external scene library module; the task result presentation module includes the task data processing and storage module; the task data processing and storage module includes the external system timestamp instruction transmission module. The person under test mainly chooses the corresponding account to log in, and then performs the robot arm operation and psychological stress induction tasks, 3D cognitive ability and 3D style test tasks, and presents the task results. The psychological stress induction experimental platform based on VR fusion task scenario will also comprehensively process and save the data generated by the training. The user clicks on the icon of the psychological stress induction experimental platform based on VR fusion task scenario to display the user login or exit page. On the user login or logout page, if the user chooses to log out, the program will exit. If the user enters relevant information, selects a training task, and confirms login, the relevant training task will be entered. During the training task, the user can log out at any time. If the logout is confirmed, no data will be saved. After the training task is completed, the training result page will be displayed, and then the data will be processed and saved.

[0187] The main modules are introduced below:

[0188] 1. Robotic arm operation and psychological stress induction task module

[0189] (1) Functional description

[0190] Robotic arm manipulation and psychological stress-induced task-related functions.

[0191] (2) Preconditions

[0192] Select tasks and set task pre-parameters.

[0193] (3) Main process

[0194] After the robot arm operation and psychological stress induction task module trial operation are completed, jump to the task virtual scene. The scene background is a cosmic background composed of the universe, the earth and other elements, and the user appears in the cabin of the space station. After the scene is loaded, a 5-second countdown begins. The user performs corresponding operations according to the task content. If you exit during the task, the result will not be presented, but the score will be recorded; if you complete the tasks in sequence, you will enter the task result presentation scene after the task is completed, and the score will be recorded.

[0195] 1) The experimental platform is a computer simulation experimental platform for space manipulators, which is based on the basic configuration and layout of the space station and is designed by combining the key parameters of the manipulator. It includes 3 cabins + 1 node cabin + 1 manipulator. The manipulator has 7 joints, each joint has a limited motion angle of ±270°, and is equipped with 2 docking targets.

[0196] 2) The experimental task is the precise docking task of the robotic arm, that is, controlling the robotic arm to dock with the docking target; a total of 4 camera scenes are set up to assist the operation, namely the robotic arm end camera, cabin camera, robotic arm joint camera, and space station global simulation interface; in addition, the angle information of each joint of the robotic arm is displayed in real time during the operation;

[0197] 3) By setting the initial conditions, ensure that the difficulty of operation in each initial state is at the same level; the specific requirements are: in the initial state of the robot arm, the limit angle of each joint distance is not less than 90 degrees, the end of the robot arm is within 3 to 4 meters away from the target, the posture deviation is within 90°, and the display interface of the end camera can clearly see the target docking mechanism; the condition for successful docking is that the position deviation in each dimension is less than 0.01 meters, and the posture deviation in each dimension is less than 1°; the remote operation of the robot arm mainly includes three stages: large-scale transfer, coarse adjustment of relative posture and fine operation.

[0198] 4) The person being tested switches the main perspective by operating the VR handle. The third-party perspective can be customized by operating the handle, and the robotic arm is operated by operating the two joysticks.

[0199] The robot arm operation task mainly includes the following three stages:

[0200] Phase 1 (random joint positions and deflection angles): The person being tested observes the spatial position information of the robot arm and the target as well as the scene information, and plans the path of the robot arm and the approximate operation steps according to the overall layout, and conducts trial operations. In this phase, the software platform needs to implement the following functions:

[0201] In line with the existing robotic arm tasks, the left handle is responsible for translation and adjusting the relative displacement deviation along three coordinate axes and six directions (up and down, left and right, front and back, specifically x, y, z, a, b and c directions); the right hand is responsible for controlling the posture and adjusting the relative roll (left and right rotation), pitch (front end up and down), and yaw (left and right swing) angle deviation;

[0202] Setting of operation delay variation parameters (0-10 seconds, within 4 seconds, small delay interval, 5 seconds and then 1 second interval), recording, and visual presentation;

[0203] Gain change: When the operating handle moves, the speed of the robot arm, and the corresponding adjustment ratio of the operating handle and the robot arm should be consistent with the current robot arm task;

[0204] The time, amount of change, and direction (delay increase or decrease) of the operational delay mutation can be set within a range, but each experiment is random.

[0205] The second stage (the target appears in the camera at the end of the robot arm): The person being tested needs to perceive the size, direction, and shape of the target in the video based on the video information in the end camera, and judge the deviation of the robot arm relative to the target from the three dimensions of roll, yaw, and pitch, select the correct attitude adjustment method, and operate the attitude handle correctly. In this stage, the software platform needs to implement the following functions:

[0206] Reading and recording of target movement direction and speed;

[0207] The spatial range for successful docking can be set;

[0208] Record the relationship between the target and the successful docking space range after n seconds (or other time units) (such as the direction of deflection), n can be set;

[0209] Record and judge whether the responses of the persons being tested are correct or not.

[0210] The third stage (the end of the robotic arm is basically aligned with the target): The person being tested perceives the size, direction, shape and depth of the target in the video based on the video information in the end camera, and fine-tunes the translation and posture handles.

[0211] At this stage, the software platform needs to implement the following functions:

[0212] Determine and record the deviation between the actual movement result of the target and the successful docking.

[0213] Determine and record the correctness of the behavioral decisions taken by the person being tested.

[0214] 5) Experimental instructions can be divided into different virtual scene categories such as images, sounds and videos. During the experiment, the instructions can be selected, replaced and combined according to the needs of the experiment.

[0215] 6) The type, number and test time of simulated induced stress events can be configured through the configuration file (i.e. calling the sound effect library, special effect library, internal scene library and external scene library). Induced stress events are divided into: explosion, collision, leakage and casualties. The number of induced stress events can be configured through parameters. The test time can also be configured through parameters.

[0216] (4) Postconditions

[0217] Record relevant data during user operations.

[0218] 2.3D Cognitive Ability Task Module

[0219] (1) Functional description

[0220] 3D cognitive ability task-related functions.

[0221] (2) Preconditions

[0222] Select tasks and set task pre-parameters.

[0223] (3) Main process

[0224] After the trial operation of the 3D cognitive ability task module is completed, jump to the task virtual scene. The scene background is a cosmic background composed of the universe, the earth and other elements, and the user appears in the cabin of the space station. After the scene is loaded, a 5-second countdown begins. The user performs corresponding operations according to the task content. If you exit during the task, the result will not be presented, but the score will be recorded; if you complete the task in sequence, you will enter the task result presentation scene after the task is completed, and the score will be recorded.

[0225] The 3D cognitive ability task is the mental rotation task. Mental rotation is a cognitive psychology term. It is the process of imagining that people use images to rotate objects in two or three dimensions in their minds. Cognitive psychology believes that images are the reproduction of abstract analogs of objects. They are the images of objects that appear in people's minds when the objects are not in front of them: images are analogs of real objects; images are abstract reproductions of real objects. When the subjects are asked to compare two pictures and judge whether they represent different aspects of the same object or two different objects, most of the subjects have to imagine turning the two objects in the same direction in their minds to compare whether they are the same. Moreover, the greater the angle of rotation of the image in the mind, the longer the reaction time to make a judgment. This experiment is to list two pictures and let the subjects judge whether they are the same or different after rotation to test the mental rotation ability.

[0226] (4) Postconditions

[0227] Record relevant data during user operations.

[0228] 3.3D style test task module

[0229] (1) Functional description

[0230] 3D style test task related functions.

[0231] (2) Preconditions

[0232] Select tasks and set task pre-parameters.

[0233] (3) Main process

[0234] After the 3D style test task module trial operation is completed, jump to the task virtual scene. The scene background is a cosmic background composed of the universe, the earth and other elements, and the user appears in the cabin of the space station. After the scene is loaded, a 5-second countdown begins. The user performs corresponding operations according to the task content. If you exit during the task, the result will not be presented, but the score will be recorded; if you complete the task in sequence, you will enter the task result presentation scene after the task is completed, and the score will be recorded.

[0235] (4) Postconditions

[0236] Record relevant data during user operations.

[0237] 4. Sound Effect Library Module

[0238] Functional description:

[0239] The sound effect library module is a module that stores special effect sound files and voice prompt text libraries. Special effect sounds refer to collision, explosion, fracture, and vibration sound files. The text content of human voice prompts in the system is stored in the voice prompt text library. The system reads the sound files in the sound effect library module and plays the sound through hardware to simulate special effect sounds. The system reads the text content of the voice prompt text library and converts the text into human voice to realize the voice prompt function.

[0240] Users can directly change the sound files in the sound effect library module to quickly change the special effect sound. They can also change the text content in the voice prompt text library to change the system prompt voice content.

[0241] 5. Special effects library module

[0242] Functional description:

[0243] The special effects library module is a module that stores various special effects. It includes gas leakage, space station explosion (three levels of large, medium and small), collision (three levels of large, medium and small), blood splatter, explosion shock wave special effects, and personnel being torn apart special effects.

[0244] 6. Internal scene library module

[0245] Functional description:

[0246] The internal scene library is the internal overall model and movable model of the space station. The internal overall model is based on the interior of the space station to build a 3D model and construct materials. The movable model is the 3D model of the movable doors, handles, buttons and other operable and movable parts inside the space station.

[0247] 7. External scene library module

[0248] Functional description:

[0249] The external scene library module must include the space station's external structure model, the robotic arm model, the astronaut model wearing an extravehicular space suit, the broken limb model, the meteorite and fragment model, and the cosmic background model.

[0250] In this embodiment, the experimental data includes personal information input by the user and parameters set by the user. The data is recorded, stored and an experimental report (test report) is generated; specifically, it includes the basic information of the person being tested, including age, gender, education, major (the more detailed the better), left-handedness, vision, and personality characteristics; a record of the basic situation of the experiment, including the experimental time, location, task, experimental settings, etc.

[0251] This embodiment can achieve the following effects:

[0252] (1) Integrate VR stress-inducing experimental platform with complex operation tasks to build effective stress-inducing methods and stimulate stress effects more realistically;

[0253] (2) Construct an effective portable multi-physiological acquisition method in a VR environment to record the physiological and neural responses of the subjects in a multi-modal manner while performing simulated operations, and more effectively explain the underlying causal mechanisms;

[0254] (3) Reveal the human error characteristics of the robot arm task under VR stress state, provide a reliable reference for robot arm operation, and thus help improve performance in future aviation training;

[0255] (4) Reveal the characteristics of human errors in basic cognitive tasks under VR stress and apply them to more experimental scenarios and VR applications.

[0256] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0257] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0258] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0259] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0260] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that after reading the present invention, those skilled in the art can still make various changes, modifications or equivalent substitutions to the specific implementation methods of the invention, but these changes, modifications or equivalent substitutions are all within the protection scope of the pending claims of the invention.

Claims

1. A psychological stress induction method based on VR fusion space mission scenario, characterized in that: include: Collect operational data of the manipulator operation task in a pre-built VR scenario of aerospace manipulator operation task when the person under test is calm; Based on the set instructions and VR materials, the VR technology is used to present space accidents, stimulate the personal honor of the test personnel after the mission is successful, and the frustration after the mission fails, so as to induce psychological stress in the test personnel; The physiological data of the person being measured is collected synchronously through physiological measurement technology to determine whether the person being measured has entered a state of psychological stress; Collecting the operation data of the manipulator arm operation task performed by the test person in the VR scenario of the aerospace manipulator arm operation task under the psychological stress state, and combining the operation data of the test person when the test person is calm, to determine the operation difference between the test person when the test person is calm and when the psychological stress state is; Among them, the VR scenario of the aerospace robotic arm operation task is constructed using VR technology based on VR materials and operation prompts of the robotic arm operation task; the instructions include sound, image and video.

2. The method according to claim 1, characterized in that The above-mentioned method, based on the set instructions and VR materials, presents aerospace accidents through VR technology, stimulates the personal honor of the test personnel after the mission is successful and the frustration after the mission fails, and induces psychological stress of the test personnel, including: Based on the material of the aerospace accident in the VR material, the aerospace accident is presented in the VR context of the aerospace robotic arm operation task through VR technology, and the psychological stress of the tested personnel is induced in combination with the set guidance of the aerospace accident; Based on the personal honor material after the mission is successful in the VR material, the personal honor after the mission is successful is presented in the VR context of the aerospace mechanical arm operation mission using VR technology, and the personal honor after the mission is successful is stimulated by the personal honor of the tested person in combination with the set instructions after the mission is successful, so as to induce psychological stress in the tested person; Based on the personal image loss material after the mission failure in the VR material, the personal image loss after the mission failure is presented in the VR scenario of the aerospace mechanical arm operation mission using VR technology, and the psychological stress of the tested person is induced by stimulating the frustration of the tested person in combination with the set instructions after the mission failure; Among them, the VR materials of space accidents include collision sounds of different intensities, explosion sounds, fracture sounds, gas leakage sounds, vibration sounds, gas leakage special effects, space station explosion special effects of different levels, explosion shock wave special effects, collision special effects of different levels, casualty special effects, space station external structure scenes, robotic arms, astronauts wearing extravehicular space suits, cosmic backgrounds, casualty scenes, meteorite fragments scenes, space station internal structure scenes, movable doors, handles and buttons inside the space station; The aerospace accident includes one or more of a space station explosion scenario, a meteorite fragment collision, a space station gas leak, and casualties; Personal honor after the successful completion of the task, including one or more of respect, praise and commendation for the person being tested; The image loss after the failure of the task includes one or more of the blows to the family and colleagues of the person being tested.

3. The method according to claim 2, characterized in that The VR material based on the space accident presents the space accident in the VR scenario of the space robot arm operation task through VR technology, including: Based on the explosion sounds of different intensities, vibration sounds, different levels of space station explosion special effects and explosion shock wave special effects, a space station explosion scene is constructed and presented in a VR scenario of the aerospace robotic arm operation task through VR technology; Based on the explosion sounds, vibration sounds, collision sounds of different intensities, collision special effects of different levels, space station explosion special effects of different levels, explosion shock wave special effects and meteorite fragment scenes, a meteorite fragment collision scene is constructed and presented in a VR context of the aerospace robotic arm operation task through VR technology; Based on the gas leakage special effects, gas leakage sound and fracture sound, a space station gas leakage scene is constructed and presented in a VR scenario of the aerospace robotic arm operation task through VR technology; Based on the casualty special effects and casualty scenes, a casualty scene is constructed and presented in a VR context of the aerospace robotic arm operation mission through VR technology.

4. The method according to claim 1, characterized in that The synchronous collection of physiological data of the measured person by physiological measurement technology to determine whether the measured person has entered a psychological stress state includes: Through eye movement, electrocardiogram and electroencephalogram measurement technology, the physiological data of the tested person when calm and after psychological stress is induced are collected synchronously; Determining whether the person under test has entered a state of psychological stress based on the physiological data of the person under test when the person is calm and after psychological stress is induced; The physiological data includes electroencephalogram (EEG) data, eye movement data and electrocardiogram (ECG) data.

5. The method according to claim 2, characterized in that The construction of the VR scenario of the aerospace manipulator operation task includes: Based on the space station's external structure scene, robotic arm, cosmic background, space station's internal structure scene, and movable doors, handles, and buttons inside the space station, VR technology is used to build a VR environment for aerospace robotic arm operations; By introducing operation prompts of the manipulator operation task into the VR environment of the aerospace manipulator operation, a VR scenario of the aerospace manipulator operation task is constructed.

6. The method according to claim 1, characterized in that The robot arm operation tasks include: When the target object appears in the camera at the end of the robotic arm or when the end of the robotic arm is aligned with the target, the robotic arm is docked with the target object by operating the robotic arm's displacement in the up, down, left, right, front and back directions, rotation in the left and right directions, pitch in the up and down directions, and yaw in the left and right directions.

7. The method according to claim 1, characterized in that The operation data of the robot arm operation task includes: One or more of the following: number of successful robot arm operation tasks, success rate of robot arm operation tasks, robot arm position operation deviation, robot arm angle operation deviation, additional displacement distance of the robot arm, additional operation posture of the robot arm, operation time, number of collisions between the robot arm and the space station, total number of collisions between the robot arm, number of robot arm joint limits, number of reciprocating operations of each component of the robot arm in three dimensions, total number of reciprocating operations of the robot arm, docking time between the robot arm and the target object, additional displacement distance of the robot arm docking operation, and additional posture of the robot arm docking operation.

8. The method according to claim 1, characterized in that Before collecting the operation data of the manipulator arm operation task performed by the measured person in a pre-built VR scenario of the aerospace manipulator arm operation task when the measured person is calm, the method further includes: Based on the rotating graphics and mosaic graphics materials, VR technology is used to construct and present the three-dimensional mental rotation test and three-dimensional graphic mosaic test scenarios, and the three-dimensional mental rotation test and three-dimensional graphic mosaic test are conducted on the subjects, and the test data of the subjects are collected; Determining the personality type of the person being tested based on the test data of the person being tested; Based on the personality type of the person being tested, instructions and VR materials suitable for the personality type of the person being tested are determined.

9. A psychological stress inducing system based on VR fusion space mission scenario, used to implement a psychological stress inducing method based on VR fusion space mission scenario as described in any one of claims 1 to 8, characterized in that: include: Psychological testing equipment, VR equipment and physiological data collection equipment based on VR-integrated space mission scenarios; The psychological testing device communicates with the VR device and the physiological data acquisition device respectively; The psychological testing device collects operation data of the tested person performing a manipulator arm operation task in a pre-constructed VR scenario of a space robot arm operation task when the tested person is calm and under psychological stress, and determines the operation difference between the tested person when the tested person is calm and under psychological stress; and determines that the tested person enters a psychological stress state based on the physiological data of the tested person synchronously collected by the physiological data acquisition device; The psychological testing device is used to present a space accident through VR technology based on the set instructions and VR materials, and to stimulate the personal honor of the tested person after the mission is successful and the frustration after the mission fails, so as to induce psychological stress in the tested person; The physiological data acquisition device is used to synchronously acquire physiological data of the measured person through physiological measurement technology; Among them, the VR scenario of the aerospace robotic arm operation task is constructed using VR technology based on space station materials and operation prompts of the robotic arm operation task; the instructions include sound, image and video.

10. The system according to claim 9, characterized in that The psychological testing equipment is specifically used for: Based on the VR material of the space accident, the VR device is used to present the space accident in the VR scenario of the space robot arm operation task through VR technology, and the psychological stress of the tested personnel is induced in combination with the set guidance of the space accident; Based on the VR material after the mission is successful, the VR equipment is used to present the personal honor after the mission is successful in the VR context of the aerospace mechanical arm operation mission through VR technology, and the personal honor of the tested person is stimulated by the set instructions after the mission is successful, so as to induce psychological stress of the tested person; Based on the VR material after the mission failure, the VR device is used to present the image loss after the mission failure in the VR scenario of the aerospace mechanical arm operation mission through VR technology, and the set instructions after the mission failure are combined to stimulate the frustration of the tested personnel, so as to induce the psychological stress of the tested personnel; Among them, the VR materials of space accidents include collision sounds of different intensities, explosion sounds, fracture sounds, gas leakage sounds, vibration sounds, gas leakage special effects, space station explosion special effects of different levels, explosion shock wave special effects, collision special effects of different levels, casualty special effects, space station external structure scenes, robotic arms, astronauts wearing extravehicular space suits, cosmic backgrounds, casualty scenes, meteorite fragments scenes, space station internal structure scenes, movable doors, handles and buttons inside the space station; The aerospace accident includes one or more of a space station explosion scenario, a meteorite fragment collision, a space station gas leak, and casualties; Personal honor after the successful completion of the task, including one or more of respect, praise and commendation for the person being tested; The image loss after the failure of the task includes one or more of the blows to the family and colleagues of the person being tested.

11. The system according to claim 9, characterized in that The physiological data acquisition equipment includes: eye movement equipment, electrocardiogram equipment and electroencephalogram equipment; The eye movement device is specifically used to synchronously collect the eye movement data of the tested person when he is calm and after psychological stress is induced; The electrocardiogram equipment is specifically used to synchronously collect electrocardiogram data of the person being tested when the person is calm and after psychological stress is induced; The EEG device is specifically used to synchronously collect EEG data of the tested person when he is calm and after psychological stress is induced; The physiological data includes electroencephalogram (EEG) data, eye movement data and electrocardiogram (ECG) data.

12. The system according to claim 9, characterized in that The psychological testing equipment is also used for: Before collecting the operation data of the manipulator arm operation task performed by the test person in a calm state in the VR scenario of the aerospace manipulator arm operation task, based on the rotating graphics and mosaic graphics materials, VR technology is used to construct and present the three-dimensional mental rotation test and three-dimensional graphic mosaic test scenarios, and the three-dimensional mental rotation test and three-dimensional graphic mosaic test of the test person are conducted, and the test data of the test person is collected; Determining the personality type of the person being tested based on the test data of the person being tested; Based on the personality type of the person being tested, instructions and VR materials suitable for the personality type of the person being tested are determined.

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