提出了一种复杂遥操作任务的统一描述结构，使对复杂遥操作任务建模简单易行。该结构将遥操作系统划分为任务规划层和动作仿真层两个层次，运用动作研究理论，对遥操作任务进行任务划分和分解。操作者与遥操作系统在任务规划层进行人机交互，由遥操作系统对复杂任务进行规划，利用操作者输入的参数实现遥操作作业。%A uniform structure of the complex teleoperation task is established to facilitate easy modeling of it. This structure divides the teleoperation system into two layers, one of which is task programming layer, and the other is operation simulation layer. Operation research method is used in task dividing. The operator interacts with the teleoperation system in task-level layer, and the complex teleoperation task is programmed and executed by teleoperation system based on the parameters input by the operator.
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