A diver emotion-induced diving maneuver simulation system, device and medium

Abstract

The application discloses a submersible emotion-induced submersible control simulation system, equipment and medium, relates to the technical field of submersible simulation, and the system comprises a submersible driving control simulation module configured to simulate the motion state of a submersible and an underwater view; a task management module configured to execute a preset submersible driving simulation task, wherein the preset submersible driving simulation task comprises a limited time length, a limited speed and a preset control task; a fault simulation control module configured to generate a force feedback instruction and send the force feedback instruction to a force feedback control module; the force feedback control module is configured to receive the force feedback instruction; and an emotion evaluation module configured to initiate a preset emotion state self-evaluation questionnaire to a submersible pilot in a preset task timing. The application achieves the purpose of inducing emotion states covering positive, neutral and negative states by adopting the technical means of requiring the submersible pilot to complete the synchronous control of the changing heading and depth within the limited time length in the task management module.

Description

Technical Field

[0001] This application relates to the field of underwater simulation technology, and in particular to an underwater maneuvering simulation system, equipment and medium that induces the emotions of underwater pilots. Background Technology

[0002] The unpredictable nature of underwater submersible operation, coupled with the high difficulty of emergency avoidance and the significant psychological burden of accidents, can easily lead to tension and fear among the submersible pilots. The excitement or tension experienced by the submersible operators in the face of sudden emergencies further increases the rate of emotionally driven errors during emergency response, thus posing a risk to the safety of the equipment and crew.

[0003] Therefore, real-time monitoring and early warning of the emotional state of submariners are crucial. The primary prerequisite for achieving this goal is the ability to effectively and safely induce emotional stress in submariners. However, studying the emotional stress of submariners on a real submersible is risky and costly. Therefore, research on submariner emotional stress is conducted using submarine simulation systems. Existing submarine simulation systems can simulate underwater visuals and submersible movement, providing basic force feedback through a force feedback joystick. By simulating faults, abnormalities in the force feedback joystick can be induced to elicit emotional responses from submariners.

[0004] Existing submarine simulation systems typically only induce a single type of emotion in submariners, such as negative or neutral emotions. Current technology lacks effective submarine control simulation systems that can induce different types of emotions in submariners. Summary of the Invention

[0005] The purpose of this application is to provide a submarine pilot control simulation system, equipment, and medium that induces the emotions of submarine pilots. By employing a technical means in the task management module that requires submarine pilots to complete synchronous control of changes in course and depth within a limited time, this invention solves the technical problem that existing technologies can only induce a single emotion. It achieves the invention objective of effectively inducing emotional states covering positive, neutral, and negative emotions, and ultimately realizes the significant technical effect of enabling the submarine pilot control simulation system to comprehensively evaluate the emotional state of submarine pilots and their control performance under emotional conditions.

[0006] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a submarine pilot emotion-induced underwater maneuvering simulation system, comprising: a submarine piloting simulation module configured to simulate the movement state of the submarine and underwater visual conditions; and a task management module configured to execute preset submarine piloting simulation tasks, wherein the preset submarine piloting simulation tasks include a limited duration, a limited speed, and preset maneuvering tasks, wherein the preset maneuvering tasks are constructed to include multiple different preset command headings and multiple different preset command depths, and wherein the preset submarine piloting simulation tasks require the submarine pilot to complete a preset number of randomly matched preset command headings within a preset heading error range and a preset depth error range, based on the limited duration and limited speed. The system comprises sub-tasks with a preset command depth, each sub-task set to be completed within a preset time to induce positive, neutral, and negative emotional states in the submariner; a fault simulation control module is configured to generate force feedback commands and send them to the force feedback control module based on at least one preset fault event trigger node within the limited time; the force feedback control module is configured to receive the force feedback commands and control the force feedback joystick to execute the force feedback commands to provide the submariner with preset force feedback when a fault occurs in the submarine control system; and an emotion assessment module is configured to initiate a preset self-assessment question-and-answer session on the emotional state of the submariner within the limited time to obtain the submariner's emotional data.

[0007] Optionally, the time limit is between 4 and 6 minutes.

[0008] Optionally, the task management module is further configured to calculate points rewards and deductions based on the submariner's completion and failure of the sub-tasks.

[0009] Optionally, the underwater driving control simulation module is also configured to display a countdown timer for each group of sub-tasks on the user interface.

[0010] Optionally, the step of initiating a preset emotional state self-assessment question and answer with the submariner includes randomly selecting a time point to initiate the preset emotional state self-assessment question and answer with the submariner within a preset time window before and after the preset fault event triggering node in the preset submarine driving simulation task.

[0011] Optionally, the fault simulation control module is further configured to collect the pilot's control intention data and send the control intention data to the underwater driving control simulation module to drive the virtual underwater vehicle to move.

[0012] Optionally, the force feedback joystick is a two-degree-of-freedom force feedback joystick.

[0013] Optionally, the emotion assessment module includes: a voice prompt subunit configured to initiate a self-assessment question-and-answer voice prompt to the pilot; a command interaction subunit configured to receive a start command and an end command initiated by the pilot; an emotion inquiry subunit configured to initiate an inquiry to the pilot regarding the selection of several preset valence keywords, wherein the preset valence keywords include positive, neutral, and negative emotion words; a self-assessment guidance subunit configured to guide the pilot to select an emotional arousal intensity self-assessment value from preset score options corresponding to the valence keywords; and a result processing subunit configured to, if the preset valence keyword or emotional arousal intensity self-assessment value selected by the pilot cannot be obtained, re-inquire about the selection of the preset valence keywords; and if the emotional arousal intensity self-assessment value selected by the pilot can be obtained, then the assessment ends.

[0014] In a second aspect, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the submarine pilot emotion-induced submarine control simulation system described in any one of the above.

[0015] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the submarine pilot emotion-induced submarine control simulation system described in any one of the above-mentioned methods.

[0016] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application provides a submarine pilot emotion-induced simulation system, equipment, and medium. By limiting the time in the task management module, it simulates the time-pressured situation in real submarine operations, constructing a basic stress environment for emotion induction. It requires the submarine pilot to execute preset changes in heading and depth commands, forming a complex cognitive task that requires high concentration. It can induce positive, neutral, and negative emotions. The system also integrates a fault simulation and force feedback module, applying fault force feedback at preset fault event triggering nodes to further enhance the realism and diversity of emotion induction. In addition, the emotion assessment module collects emotion data. The collaborative construction of multiple modules in the submarine pilot operation simulation system creates an emotional stress environment that allows the submarine pilot to naturally experience various emotional states as the task progresses, effectively expanding the spectrum of emotion induction and overcoming the fundamental defect of existing systems with only one type of emotion. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the functional modules of a submarine pilot control simulation system that induces the emotions of a submariner, provided in an embodiment of this application; Figure 2 for Figure 1 A detailed functional module diagram of the underwater driving control simulation module; Figure 3 for Figure 1 A detailed functional module diagram of the emotion assessment module; Figure 4 A flowchart illustrating a submarine pilot control simulation method induced by the emotions of a submariner, provided as an embodiment of this application; Figure 5 A timing diagram of event triggering during a 5-minute underwater driving simulation mission provided in an embodiment of this application; Figure 6 This is a logic diagram for self-evaluation of emotional state question-and-answer provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] In one exemplary embodiment, such as Figure 1 As shown, a submarine pilot emotion-induced submarine control simulation system is provided. The system includes: The underwater driving control simulation module 101 is configured to simulate the motion state of the underwater vehicle and the underwater view. The task management module 102 is configured to execute a preset submersible driving simulation task. The preset submersible driving simulation task includes a limited duration, a limited speed, and preset maneuvering tasks. The preset maneuvering tasks are constructed to include multiple different preset command headings and multiple different preset command depths. The preset submersible driving simulation task requires the submersible pilot to complete a preset number of randomly matched sub-tasks with preset command headings and preset command depths within the limited duration and limited speed, and within the preset heading error range and preset depth error range. Each sub-task is set to be completed within a preset time to induce positive, neutral, and negative emotional states in the submersible pilot. The fault simulation control module 103 is configured to generate a force feedback command and send it to the force feedback manipulation module based on at least one preset fault event triggering node within the limited time period. Force feedback control module 104 is configured to receive the force feedback command and control the force feedback joystick to execute the force feedback command in order to provide the submariner with preset force feedback when a submarine control system failure occurs. The emotion assessment module 105 is configured to initiate a preset self-assessment question and answer session on the submariner's emotional state within the specified time period in order to obtain the submariner's emotional data.

[0022] The submarine pilot emotion-induced submarine control simulation system in this embodiment simulates the time urgency of real submarine operations through a time limit in the task management module 02, creating a basic stress environment for emotion induction. It requires the submarine pilot to complete a randomly combined preset command course and preset command depth within preset course and depth error ranges. This designs a challenging, highly focused, and precise cognitive task. Successful completion of the task may bring a sense of accomplishment, inducing positive emotions such as happiness and excitement; continued challenge may maintain a state of focus, inducing neutral emotions such as calmness and tranquility; while failure or operational errors may bring frustration, inducing tension and anxiety. In addition to negative emotions such as regret, the system also integrates a fault simulation control module 103 and a force feedback manipulation module 104. It provides fault force feedback at preset fault event triggering nodes as a supplement and enhancement to the above-mentioned core emotion induction scenarios. At the same time, the emotion assessment module 105 acquires emotion data during the mission, jointly constructing a dynamic psychological stress environment that can induce a variety of emotions. This allows the submariner to naturally experience a variety of emotional states, from positive to neutral to negative, depending on their own operation and mission progress. This achieves the direct technical effect of effectively inducing the submariner's complete emotional spectrum, solving the fundamental defects of existing submarine simulation systems in terms of single type and incomplete spectrum of emotions.

[0023] Understandably, emotional valence and arousal are among the most mainstream methods for describing and quantifying emotions. In the basic model of emotion research, emotional valence describes the continuous change of emotions from extreme unpleasantness to extreme pleasure. This continuous change includes the negative end (unpleasant), with valence keywords such as fear, anger, and sadness; the positive end (pleasant), with valence keywords such as happiness, excitement, and love; and the neutral end (the middle equilibrium point), with valence keywords such as calmness, focus, and relaxation. Emotional arousal refers to the activation level of an emotion. For example, sadness is a negative valence emotion with high arousal, and it can usually be indicated by an arousal score to show whether it is high or low arousal. Therefore, only a submarine maneuvering simulation system that can induce multiple emotional states—positive, neutral, and negative—can overcome the fundamental deficiency of existing systems that only offer a single emotion type.

[0024] In practice, the preset underwater driving simulation task is a timed command tracking task involving constant speed, change of course, and change of depth maneuver. The task duration is set at 4-6 minutes, with a preferred duration of 5 minutes, imbuing the task with time pressure. The speed is limited to 10 knots. There are 4-6 different preset command headings, with a preferred duration of 5 headings: 20°, 50°, 30°, 60°, and 40°. The preset heading error range is ±0.3°. There are also 4-6 different preset command depths, with a preferred duration of 5 depths: 4953m, 4973m, 4943m, and 4963m. The depth is 4933m, with a preset depth error range of ±1m. Different sub-tasks are randomly matched from the aforementioned five headings and five depths. For example, the first sub-task group has a heading of 20° and a depth of 4953m, the second group has a heading of 50° and a depth of 4963m, and the third group has a heading of 60° and a depth of 4973m. This task requires completing five groups of sub-tasks within a limited time of 5 minutes, with each group set to be completed within 60 seconds. After completing a sub-task within 60 seconds, the current heading and depth are maintained within the error range, and the next sub-task begins at the 60th second. The simulation automatically ends after the total task time reaches 5 minutes. This timed command tracking task for constant speed, change of heading, and change of depth maneuvers simulates the sense of time urgency in real underwater operations, requiring the pilot to complete a randomly combined command heading and depth within preset heading and depth error ranges, forming a composite task that effectively induces various emotional states in the pilot, including positive, neutral, and negative emotions.

[0025] In practice, the underwater driving control simulation module 101 is also configured to display a countdown timer for each sub-task on the user interface. The specific prompt can be presented as a time progress bar, which helps to induce the emotions of the underwater pilot.

[0026] In specific implementation, the task management module 102 is also configured to monitor the heading and depth of the virtual submersible operated by the pilot. When the heading exceeds the preset heading error range (which can be ±0.3°), an alarm background sound command is generated and sent to the submersible driving control simulation module. When the depth exceeds the preset depth error range (which can be ±1m), an alarm background sound command is generated and sent to the submersible driving control simulation module. The submersible driving control simulation module can simulate the alarm background sound to alert the pilot of the heading deviation.

[0027] In its implementation, the task management module 102 is also configured to calculate points rewards and deductions based on the pilot's completion and failure of sub-tasks. Understandably, the initial points for the submersible driving simulation task are 50. During the simulation test, 25 points are awarded for each successful sub-task, and 15 points are deducted for each failed sub-task. If a ship sinks during the test, the test is immediately stopped, and only the rewards and penalties for completed or failed sub-tasks are calculated.

[0028] In practical implementation, the force feedback joystick is a two-degree-of-freedom force feedback joystick. During underwater driving control simulation missions, the force feedback control module 104 detects the real-time longitudinal and lateral rotation signals of the joystick, identifying the range of the pilot's hand movements. The joystick's built-in joint motor continuously outputs corresponding resistance torque based on the rotation signals, simulating the force feedback provided by the joystick in real underwater control. This force feedback allows the pilot to experience a feel similar to real control, enhancing the immersive experience of the simulation. Furthermore, the end handle of the two-degree-of-freedom force feedback joystick is equipped with a force sensor signal amplification module, which can detect the pressure applied by the five fingers. The pilot's five-finger grip strength is collected by the force feedback control module, and this collected grip strength is used as part of the pilot's emotional data.

[0029] In specific implementation, such as Figure 2 As shown, the underwater driving control simulation module 101 includes a VR simulation unit 1011, a virtual underwater vehicle motion control unit 1012, a virtual underwater vehicle collision detection and early warning unit 1013, and a human-computer interaction data real-time acquisition and storage unit 1014.

[0030] Understandably, the VR simulation unit 1011 is configured to dynamically render the 3D visual scene of the seabed surroundings during deep-sea submersible navigation, provide real-time display of the size and angle changes of the elevator and steering rudder of the virtual submersible, prompt the submersible operator for the required heading, speed, and depth, as well as the real-time heading, speed, and depth values, and display auxiliary information related to the operation such as the task time progress bar, date, time, and temperature in the preset submersible driving simulation task.

[0031] The 3D dynamic rendering of the surrounding underwater environment includes a topographic map simulating the seabed environment and obstacles such as coral reefs, seamounts, and shipwrecks. The perspective and number of the seabed topographic map and obstacles are dynamically updated based on the direction, position, attitude, and speed of the virtual submersible's surfacing and diving, enhancing the sense of presence during submersible operation. Furthermore, to allow the submersible operator to clearly see the terrain and obstacles in the forward field of view from a first-person perspective, camera and lighting controls have been added to the virtual submersible to simulate physical lighting effects. Visually, a searchlight is positioned directly in front of the submersible's hull, and the camera's spatial position can be controlled by adjusting various motion parameters, enabling 3D dynamic visual effects such as translation and rotation.

[0032] Understandably, the virtual submersible motion control unit 1012 is configured to adopt a PID adaptive update control strategy, which detects in real time the magnitude of the longitudinal and lateral rotation angle signals and speed input signals of the two-degree-of-freedom force feedback joystick applied by the pilot, and automatically calculates and adjusts the virtual submersible's direction of travel, spatial position and attitude based on the spatial coordinate transformation formula, so as to realize the simulation of the virtual submersible driving and control process.

[0033] Understandably, the virtual submersible collision detection and early warning unit 1013 is configured to detect the distance between the virtual submersible and the seabed or obstacles in real time. When a potential hazard occurs due to obstacles such as the seabed, coral reefs, or shipwrecks near the virtual submersible, it will continuously provide a warning sound at a specified frequency through a speaker, prompting the pilot to quickly adjust the virtual submersible's buoyancy and movement using the two-degree-of-freedom force feedback joystick to avoid the emergency. If the pilot makes a mistake and causes the virtual submersible to collide with the seabed, the speaker's audio mode will switch to a collision state, providing a loud sound effect feedback of the collision, and locking the virtual submersible's position to prevent it from passing through virtual obstacles. This simulates a submersible losing power and maneuverability due to a collision.

[0034] Understandably, the real-time human-computer interaction data acquisition and storage unit 1014 is configured to monitor and record in real time the magnitude of the longitudinal and lateral deflection angles of the two-degree-of-freedom force feedback joystick, as well as the target heading, speed, depth, and actual heading, speed, and depth data of the submersible pilot during the submersible piloting simulation mission. When the submersible piloting simulation mission is detected to have ended or an accident occurs where the virtual submersible collides with the seabed, the scene rendering of the VR simulation unit 1011 and the data updates for designated serial port transmission and reception cease, and the submersible piloting simulation mission system exits operation.

[0035] In practice, one or more time points within the limited duration of a submarine driving simulation mission are pre-set to trigger fault events. These points are called pre-set fault event triggering points. For example, in a 5-minute submarine driving simulation mission, the first fault event triggering point is set at 100 seconds after the start of the mission, and the second fault event triggering point is set at 120 seconds after the first fault event triggering point. In this 5-minute submarine driving simulation mission, there are two pre-set fault event triggering points.

[0036] In practice, force feedback commands are generated based on each preset fault event triggering node. For example, in the above 5-minute underwater driving simulation mission sequence, force feedback commands are generated at both preset fault event triggering nodes.

[0037] In practice, the force feedback command is received by the force feedback control module, which controls the two-degree-of-freedom force feedback joystick to execute the force feedback command, so as to provide the submariner with the preset force feedback when the submarine control system malfunctions, thereby inducing the submariner's emotional response.

[0038] The force feedback command is a preset fault command for the submersible control system. The faults of the submersible control system based on the two-degree-of-freedom force feedback joystick include transmission failure mode and rudder jamming mode.

[0039] The formula for the feedback torque of a two-degree-of-freedom force feedback joystick is: .in, For feedback torque, this is the final force signal output by the force feedback control stick to the submariner, that is, the torque that the submariner can feel in his hand; The virtual spring stiffness determines the degree of softness or hardness of this virtual spring. The higher the value, the stiffer the spring, meaning that when the control stick is moved by the same angle, the submariner will feel a greater resistance force. The smaller the value, the softer the spring, and the lighter and more sensitive the lever feels; This represents the motor rotation angle, reflecting the current position of the joystick. The greater the amplitude of pushing the joystick, the higher the rotation angle. The larger the value, the better; This is the initial motor rotation angle; This difference represents the degree to which the joystick deviates from the neutral position; the greater the deviation, the greater the deformation and the greater the feedback force. The larger it is; This is a preset motor rotation angle threshold. Specifically, the control stick should provide continuous force feedback during normal underwater driving operations. .

[0040] In the transmission failure mode, the virtual spring stiffness value in the impedance control parameters of the two-degree-of-freedom force feedback lever is used. To set it to zero, make the output resistance torque of the two-degree-of-freedom force feedback joystick zero. The value is zero. This can simulate a mechanical transmission failure in the rudder and elevator of a submersible, manifested as a failure where the joystick can still input but loses force feedback. Therefore, when the two-degree-of-freedom force feedback joystick loses its feedback torque, it can induce an emotional reaction from the submariner.

[0041] In rudder failure mode, the motor angle threshold is set. If the motor rotation angle value in the impedance control parameters of the two-degree-of-freedom force feedback joystick... Greater than the initial rotation angle of the motor And less than the preset motor rotation angle threshold At that time, set the virtual spring stiffness value in the impedance control parameters. If the motor angle value in the impedance control parameters is zero, Greater than or equal to the motor rotation angle threshold When the virtual spring stiffness value is restored to its preset value, the system can simulate a rudder or elevator jamming fault during submersible piloting. This can manifest as the joystick losing force feedback within its free travel within a preset motor angle threshold, and then experiencing a sudden increase in feedback resistance after exceeding the preset motor angle threshold. The motor angle threshold can be 15°. Therefore, when the two-degree-of-freedom force feedback joystick experiences a sudden increase or decrease in feedback resistance, it can induce an emotional response from the pilot.

[0042] Therefore, by synchronously generating force feedback commands at the fault event triggering node, the underwater operation simulation system can transform abstract faults into physical signals that the submariner can directly perceive through touch. In addition, the simulated underwater vehicle motion state and underwater vision generated by the underwater driving control simulation module can effectively break the operator's psychological expectations and induce real and immediate emotional stress response based on this immersive fault simulation based on touch and vision.

[0043] Furthermore, by examining specific behavioral patterns such as increased shaking frequency, delayed reaction, or higher decision-making error rate in the pilot's joystick input, the study reveals the impact of emotions on control.

[0044] In practice, when initiating a pre-set self-assessment question-and-answer session on emotional state for the submariner, the self-assessment questions and answers can include self-assessment questions and answers on emotional valence and arousal intensity. In practice, once the submarine driving simulation mission begins, the simulated driving process is strictly carried out in accordance with the preset submarine driving simulation mission. Random assessments are conducted within a preset time window before and after the fault trigger point without interrupting the driving mission. As a result, the key emotional window of the submariner from normal state to stress generation and post-stress recovery can be covered, and the most realistic and immediate emotional fluctuations can be captured.

[0045] In its implementation, the emotion assessment module 105 is built upon an AI voice model, specifically manifested as a voice interaction between an AI voice assistant and the submariner. The emotion assessment module 105 is not merely a simple voice input or output interface, but plays a crucial role in the emotion assessment process as an initiator, a guide for natural interaction, and a coordinator for multiple tasks. It can collect emotion data in the most efficient and human-centered way, while minimizing interference with primary driving tasks.

[0046] In specific implementation, such as Figure 3 As shown, the emotion assessment module 105 includes a voice prompt subunit 1051, a command interaction subunit 1052, an emotion inquiry subunit 1053, a self-assessment guidance subunit 1054, and a result processing subunit 1055. Among these, The voice prompt subunit 1051 is configured to issue voice prompts to the submariner to conduct a self-assessment question and answer session.

[0047] In practice, voice prompts such as "Please give a very serious self-evaluation answer," "Successful operation will be rewarded, and failure will be punished," and "If you are ready, please say 'Start Test'" can be used. There can be multiple voice prompts, each with a physical button that can be manually activated by the tester. It is understandable that the physical button can be located far away from the submarine driving control simulation site, allowing the tester to remotely press the physical button. This allows the tester and the submarine pilot to be in different rooms, reducing the emotional interference of the tester on the submarine pilot.

[0048] The password interaction subunit 1052 is configured to receive start and end passwords initiated by the submariner.

[0049] In practice, start commands include "Ready" and "Test Start", while end commands include "Test End" and "Test End".

[0050] The emotion inquiry subunit 1053 is configured to initiate a question to the submariner regarding the selection of several preset valence keywords, which include positive, neutral, and negative emotion words.

[0051] In practice, the preset valence keywords include joy, excitement, calmness, tension, and regret. It is understandable that valence keywords must include words with positive, neutral, and negative emotions.

[0052] In practice, the AI ​​voice assistant lists preset valence keywords for the submariner and asks the submariner to select one of them. For example, the AI ​​voice assistant asks the submariner, "Are you happy, excited, calm, nervous or regretful at this moment?"

[0053] Self-assessment guidance subunit 1054 is configured to guide the pilot to select the emotional arousal intensity self-assessment value from the preset score options of the corresponding valence keywords.

[0054] In practice, the self-rating score for emotional arousal intensity can be one to three points, such as two points for tension and one point for calmness.

[0055] The result processing subunit 1055 is configured to, if it fails to obtain the preset valence keywords or emotional arousal intensity self-rating value selected by the pilot, re-inquire about the preset valence keyword selection; if it can obtain the emotional arousal intensity self-rating value selected by the pilot, the assessment ends.

[0056] In practice, if the result processing subunit 1055 fails to obtain the emotional intensity self-rating value, the AI ​​voice assistant will ask the pilot again, for example, "Are you happy, excited, calm, nervous or regretful at this moment?"

[0057] In practice, the dialogue for valence keywords can also be activated manually by testers, i.e., by remotely pressing physical buttons.

[0058] In practice, if the result processing subunit 1055 obtains the emotional arousal intensity self-score, the AI ​​voice assistant will initiate a voice, such as "I understand". At this time, the submariner can issue an end command, such as "Test over", or the submariner can press the ESC key on the keyboard. At this time, the emotion assessment module 104 ends the emotional state self-assessment question and answer.

[0059] In practice, if the AI ​​voice assistant is not triggered in time during the test, the tester can manually activate the voice dialogue and ask for the valence status keyword selection again. If it is triggered normally, the process continues.

[0060] In practice, the emotional data includes the submariner's five-finger grip strength, valence keywords, and self-rated emotional arousal intensity. The five-finger grip strength is collected by a force sensor signal amplification module mounted on the end handle of the two-degree-of-freedom force feedback joystick. The valence keywords and self-rated emotional arousal intensity are collected by an emotion assessment module. It is understood that the submariner's emotion-induced submarine control simulation system also includes a storage module to store the submariner's emotional data. Specifically, the collected emotional data can also be stored in real-time on the computer's local disk. Furthermore, a pre-programmed program can communicate with an AI voice assistant via serial port to record the semantic information, precise timing, and emotional data of the voice dialogues during each test task for each subject submariner in TXT file format. Specifically, the pre-programmed program can be a Python program.

[0061] In practice, a pre-set program is used to batch process the raw data files obtained from emotion assessments. The program automatically reads the aforementioned TXT data files, extracts experimental data according to the subjects and task categories, and categorizes and statistically analyzes the proportions of negative, neutral, and positive emotions based on task type and success / failure. The data from different dimensions is then transferred to a spreadsheet file, and a Gantt chart is drawn to show the emotional state of each subject over time in different tasks, using color to highlight the most frequently induced emotion categories.

[0062] In an exemplary embodiment, a method for simulating submarine control based on the pilot's emotions is also provided to implement the aforementioned submarine control simulation system. The solution provided by this method is similar to the implementation described in the system above. Therefore, the specific limitations of one or more embodiments of the submarine control simulation method based on pilot's emotions provided below can be found in the limitations of the submarine control simulation system based on pilot's emotions described above, and will not be repeated here.

[0063] For example, such as Figure 4 As shown, a simulation method for submarine pilot control induced by the pilot's emotions is provided, including the following steps: S11, set the preset underwater driving simulation mission.

[0064] In practice, the preset underwater driving simulation task includes a limited duration, a limited speed, and a preset maneuvering task. Specifically, it can be a timed command tracking task of a constant speed, change of direction, and change of depth maneuver with a time limit of 5 minutes, which will not be elaborated here.

[0065] S12, before the start of the preset underwater driving simulation mission, set at least one preset event trigger node within a limited time.

[0066] In practical implementation, in the aforementioned timed instruction tracking task of a constant-speed, change-of-direction, and depth-departure maneuver with a time limit of 5 minutes, two preset fault event triggering nodes are set. The occurrence time of the two fault events can be randomly spaced between 20 and 150 seconds. Specifically, it can be as follows: Figure 5 The event triggering sequence diagram shown in the underwater driving simulation mission indicates that the first fault event is triggered 100 seconds after the mission begins, and the second fault event is triggered 120 seconds after the first fault event. The first fault event can be set as a transmission failure mode, and the second fault event as a rudder jamming mode. Furthermore, the moment the control stick returns to continuous force feedback is randomized within 40 seconds. It is understandable that... Figure 5As shown, the first transmission failure mode randomly occupies 20 seconds within 40 seconds, so the second rudder jamming failure mode has an extra 20 seconds. Therefore, the second rudder jamming failure mode can randomly restore the continuous force feedback state within 60 seconds, so that the entire underwater driving simulation mission time sequence is kept within 5 minutes.

[0067] In practice, if a 10-minute underwater driving simulation task is set, the time interval between adjacent failure events can be randomly set, and the random time range for the joystick to return to continuous force feedback state can be adjusted according to a preset ratio.

[0068] S13 generates force feedback commands at event triggering nodes during the preset underwater driving simulation mission.

[0069] S14 collects the pilot's control intention data and sends the control intention data to the underwater driving control simulation module to drive the virtual underwater vehicle movement.

[0070] S15: Receive force feedback command, control the force feedback joystick to execute the force feedback command, so as to provide the submariner with preset force feedback when a malfunction of the submarine control system occurs.

[0071] S16. Within a preset time window before and after the event triggering node, randomly select a time point to initiate a preset self-assessment question and answer session on the submariner's emotional state in order to obtain the submariner's emotional data.

[0072] In practice, during the timed instruction tracking task of a constant speed change and depth maneuver with a time limit of 5 minutes, the AI ​​voice assistant will be activated randomly within 20 to 30 seconds before and after each fault event triggering node, and will prompt the submariner to conduct a preset self-assessment of emotional state questions and answers without interrupting the driving operation simulation task.

[0073] In practice, the logic of the self-assessment question-and-answer format for emotional states is as follows: Figure 6 As shown, the self-assessment question-and-answer logic includes: The tester can manually activate the voice dialogue at any time, issuing voice prompts to the submariner for self-assessment questions, such as "If you are ready, please say start." Specifically, not limited to rule prompts, after the submariner says the start command, such as "Test start command," the AI ​​voice assistant receives the start command from the submariner and provides the submariner with several preset valence keyword selection questions, such as "Are you happy, excited, calm, nervous, or regretful at this moment?" Specifically, the valence keyword selection question dialogue can also be manually activated by the tester, and can also be activated remotely via physical buttons (e.g., Figure 6 The pilot selects one of the valence keywords by pressing the keyboard key "4" (or "4"). Figure 6In the self-assessment of valence, the pilot then selects a self-assessment score for emotional arousal intensity from the preset score options corresponding to the valence keywords. Specifically, a score of one to three points can be given. Figure 6 The test involves a self-assessment of arousal intensity. If an emotional arousal intensity self-assessment score is not obtained, the test proceeds again with a pre-selected valence keyword query. If an emotional arousal intensity self-assessment score is obtained, the test ends. Furthermore, if the AI ​​voice assistant fails to trigger in a timely manner during the test, the tester manually activates the voice dialogue. If it triggers normally, the test continues.

[0074] By limiting the time, the simulation creates a sense of time urgency in real underwater operations, establishing a basic stress environment for emotional induction. It requires pilots to complete randomly combined, pre-defined changes in commanded heading and depth within preset heading and depth error ranges. This design presents a challenging, highly focused, and precise cognitive task. Furthermore, it provides fault force feedback at preset fault event trigger points, supplementing and enhancing the core emotional induction scenario. Emotional data is acquired during the task, collectively constructing a dynamic psychological stress environment capable of inducing multiple emotions. This allows pilots to naturally experience a range of emotional states—positive, neutral, and negative—depending on their actions and task progress. This achieves the direct technical effect of effectively inducing a complete emotional spectrum in pilots, overcoming the fundamental deficiency of existing underwater simulation systems in terms of limited emotional types and incomplete spectrums.

[0075] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 7 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores a submarine pilot emotion-induced submarine handling simulation system. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the submarine pilot emotion-induced submarine handling simulation system.

[0076] Those skilled in the art will understand that Figure 7The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0077] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described system embodiments.

[0078] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps described in the system embodiments above.

[0079] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0080] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0081] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A submarine pilot emotion-induced submarine control simulation system, characterized in that, include: The underwater driving control simulation module is configured to simulate the motion state of the underwater vehicle and the underwater view; The task management module is configured to execute a preset submersible driving simulation task. The preset submersible driving simulation task includes a limited duration, a limited speed, and preset maneuvering tasks. The preset maneuvering tasks are constructed to include multiple different preset command headings and multiple different preset command depths. The preset submersible driving simulation task requires the submersible pilot to complete a preset number of randomly matched sub-tasks with preset command headings and preset command depths within the limited duration and limited speed, and within the preset heading error range and preset depth error range. Each sub-task is set to be completed within a preset time to induce positive, neutral, and negative emotional states in the submersible pilot. The fault simulation control module is configured to generate a force feedback command and send it to the force feedback manipulation module based on at least one preset fault event triggering node within the defined time period. The force feedback control module is configured to receive the force feedback command and control the force feedback joystick to execute the force feedback command, so as to provide the submariner with preset force feedback when a submarine control system failure occurs; the force feedback command is a preset submarine control system failure command, and the submarine control system failure based on the two-degree-of-freedom force feedback joystick includes transmission failure mode and rudder jamming failure mode. The force feedback joystick is a two-degree-of-freedom force feedback joystick. In the underwater driving control simulation mission, the force feedback control module detects the real-time rotation angle signal of the joystick in the longitudinal and lateral directions, identifies the range of the control movements of the submariner's hands, and the joint motor built into the joystick will continuously output the corresponding resistance torque according to the rotation angle signal, simulating the force feedback provided by the joystick in real underwater control. The emotion assessment module is configured to initiate a preset self-assessment question and answer session on the submariner's emotional state within the specified time period in order to obtain the submariner's emotional data.

2. The submarine pilot emotion-induced submarine control simulation system according to claim 1, characterized in that, The time limit is between 4 and 6 minutes; the speed limit is 10 knots; the different preset command headings are 20°, 50°, 30°, 60° and 40°, with a preset heading error range of ±0.3°; the different preset command depths are 4953m, 4973m, 4943m, 4963m and 4933m, with a preset depth error range of ±1m.

3. The submarine pilot emotion-induced submarine control simulation system according to claim 1, characterized in that, The task management module is also configured to calculate points rewards and deductions based on the submariner's completion and failure of the sub-tasks; if a ship sinks during the test, the test is immediately stopped, and only the rewards and penalties for the completed or failed sub-tasks are calculated.

4. The submarine pilot emotion-induced submarine control simulation system according to claim 1, characterized in that, The underwater driving control simulation module is also configured to display a countdown timer for each group of sub-tasks on the user interface; the underwater driving control simulation module includes a VR simulation unit, a virtual submersible motion control unit, a virtual submersible collision detection and early warning unit, and a human-computer interaction data real-time acquisition and storage unit.

5. The submarine pilot emotion-induced submarine control simulation system according to claim 1, characterized in that, The step of initiating a preset emotional state self-assessment question and answer with the submariner includes randomly selecting a time point to initiate the preset emotional state self-assessment question and answer with the submariner within a preset time window before and after the preset fault event triggering node in the preset submarine driving simulation task.

6. The submarine pilot emotion-induced submarine control simulation system according to claim 1, characterized in that, The fault simulation control module is also configured to collect the pilot's control intention data and send the control intention data to the underwater driving control simulation module to drive the virtual submersible to move.

7. The submarine pilot emotion-induced submarine control simulation system according to claim 1, characterized in that, The emotion assessment module includes: The voice prompt subunit is configured to initiate self-assessment question-and-answer voice prompts to the submariner. There are multiple voice prompts, and each voice prompt is equipped with a physical button, which is manually activated by the tester. The password interaction subunit is configured to receive the start and end passwords initiated by the submariner; The emotion inquiry subunit is configured to initiate a query to the submariner on the selection of several preset valence keywords, the preset valence keywords including positive, neutral and negative emotion words; The self-assessment guidance subunit is configured to guide the submariner to select an emotional arousal intensity self-assessment value from the preset score options of the corresponding valence keywords. The emotional arousal intensity self-assessment value is one to three points. The result processing subunit is configured to, if it fails to obtain the preset valence keyword or emotional arousal intensity self-rating value selected by the pilot, re-query the preset valence keyword selection; if it can obtain the emotional arousal intensity self-rating value selected by the pilot, the assessment ends.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement a submarine pilot emotion-induced submarine control simulation system according to any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the submarine pilot control simulation system that induces the emotions of the submarine pilot as described in any one of claims 1-7.

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