基于虚拟现实的遥控型无人特种车辆交互设计研究

目的 探索虚拟现实技术下遥控型无人特种车辆交互范式，提升遥控型无人特种车辆作业效率和用户体验。方法 通过eGOMS模型分别对虚拟现实场景和真实场景的遥控型无人特种车辆交互流程进行建模，并对所得模型进行操作时间的预测与分析，采用RoboMaster平台对用户在两种不同场景下开展绩效实验与NASA-TLX问卷访谈。结合主客观两个方面，对交互过程进行综合评价。结果 量化作业绩效实验数据与用户脑负荷问卷感受数据对比结果同时呈现虚拟现实交互更具有优势，但具体作业时间与模型预测有差异;实验的结果显示，无论是虚拟现实还是真实场景，基于eGOMS模型预测的交互操作时间均大于用户实际交互操作时间。结论 虚拟现实技术可以有效提升遥控型无人特种车辆交互的用户体验与作业效率，提升车辆控制交互系统的易学性;研究也进一步发现eGOMS模型中的标定与插入规则需要适当更新以适应专家用户。虚拟现实技术将有效地提升遥控型无人特种车辆的作业效能，大幅降低高危岗位人员的作业风险，从而促进遥控型无人特种车辆在消防、抢险救灾、国防等领域的普及应用。

Interaction Design of Remote-controlled Unmanned Special Vehicles Based on Virtual Reality

The work aims to explore the interaction paradigm of remote-controlled unmanned special vehicles (RCUSVs) under virtual reality, and finally improve the working efficiency and user experience of RCUSVs. The interaction process of RCUSVs in a virtual reality scene and a real scene was modeled by eGOMS model, and a stimulated test was organized. The results of user performance and user evaluation were generally consistent with prediction, showing that virtual reality interaction was more advantageous. However, the stimulated test results showed that whether it was a virtual reality or real scene, the interaction operation time predicted by the eGOMS model was greater than the actual interaction operation time of the user. The results of NASA-TLX questionnaires indicated that virtual reality can effectively improve the user experience and operational efficiency of RCUSVs. The study further revealed that the calibration and insertion rules in the eGOMS model need to be updated appropriately for expert users. Virtual reality will effectively improve the operational efficiency of RCUSVs, greatly reduce operational risks, and thus promote the popularization and application of RCUSVs in firefighting, rescue and disaster relief, national defense, and other fields.