CN112327915A - Idea control method of unmanned aerial vehicle - Google Patents
Idea control method of unmanned aerial vehicle Download PDFInfo
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- CN112327915A CN112327915A CN202011247873.4A CN202011247873A CN112327915A CN 112327915 A CN112327915 A CN 112327915A CN 202011247873 A CN202011247873 A CN 202011247873A CN 112327915 A CN112327915 A CN 112327915A
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- 210000004556 brain Anatomy 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 210000003128 head Anatomy 0.000 claims description 7
- 210000004761 scalp Anatomy 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000010606 normalization Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000003672 processing method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 7
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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Abstract
The invention discloses an idea control method of an unmanned aerial vehicle, which comprises the following steps: establishing communication and signal transmission; receiving an electroencephalogram signal in an analog mode; the Bluetooth module on the handle receives test data; modify the handle and drone code. According to the invention, after the multi-electrode electroencephalogram signal acquisition equipment acquires the electroencephalogram signal of a person, the electroencephalogram signal is converted into a digital signal, the electroencephalogram signal data is transmitted to the Bluetooth module on the handle through the Bluetooth module, the processed electroencephalogram signal data is used for controlling the unmanned aerial vehicle, and the unmanned aerial vehicle flies according to instructions. Because the transmission of EEG signal needs to use two bluetooth module, consider that unmanned aerial vehicle is far away with the people phase, choose to let the handle receive bluetooth data, utilize on the handle and the unmanned aerial vehicle on the wireless communication module carry out indirect data transmission to signal transmission distance has been enlarged. The control instructions received by the unmanned aerial vehicle are control signals sent by the original handle, so that the unmanned aerial vehicle can be controlled to fly more stably and accurately.
Description
Technical Field
The invention relates to an idea control technology, in particular to an idea control method of an unmanned aerial vehicle.
Background
Early several years ago, home and abroad unmanned aerial vehicle manufacturers have just noticed the demand of consumers for more intelligent unmanned aerial vehicles, for example, the "self-timer" unmanned aerial vehicle which can be controlled by an over-energy gesture is released in the Xinjiang. Nowadays, after the modes of handle control, mobile phone screen control and the like, somatosensory interaction and idea interaction are leading unmanned aerial vehicles to control new fashion.
At present, most of the research on unmanned aerial vehicles at home and abroad is to collect electroencephalogram signals of a human body, a computer is used for developing software, and the concentration degree and the blink intensity contained in the extracted electroencephalogram signals are distributed into corresponding output commands and converted into corresponding action instructions of the unmanned aerial vehicles. But the unmanned aerial vehicle can only realize flying and can not accomplish any complicated action function and is single relatively and with higher costs, use single electrode brain electrical signal collection equipment to have the condition such as the unstable unmanned aerial vehicle crash and do not carry out the instruction that leads to of man-machine brain electrical signal transmission, the inaccuracy of instruction unmanned aerial vehicle emergence mistake action scheduling problem is led to the accuracy of will operation and stability not high.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to design the idea control method of the unmanned aerial vehicle, which can complete various complex actions (such as rolling, fixed-height flight, sharp turning and the like), has low cost, can control the flight direction of the unmanned aerial vehicle by means of two modes of idea and head deviation direction, enables the human-computer electroencephalogram signal to be stably transmitted by the multi-electrode electroencephalogram signal acquisition equipment, enables action instructions to be more accurate, and enables the unmanned aerial vehicle to automatically and slowly land after the unmanned aerial vehicle is suspended for a period of time suddenly by the electroencephalogram signal.
In order to achieve the above purpose, the basic idea of the invention is as follows: in order to solve the problem of transmission of electroencephalogram signals, the electroencephalogram signals of a person are acquired by the multi-electrode electroencephalogram signal acquisition equipment, then the electroencephalogram signals are converted into digital signals, the electroencephalogram signal data are transmitted to the Bluetooth module on the handle through the Bluetooth module on the multi-electrode electroencephalogram signal acquisition equipment, the processed electroencephalogram signal data are used for controlling the unmanned aerial vehicle, and the unmanned aerial vehicle flies according to instructions. Because the transmission of EEG signal needs to use two bluetooth module, consider that unmanned aerial vehicle is far away with the people phase, choose to let the handle receive bluetooth data, utilize on the handle and the unmanned aerial vehicle on the wireless communication module carry out indirect data transmission to signal transmission distance has been enlarged.
In order to achieve the purpose, the technical scheme of the invention is as follows: an idea control method of an unmanned aerial vehicle comprises the following steps:
A. establishing communication and signal transmission
A1, wearing a multi-electrode electroencephalogram signal acquisition device by a user closely attached to the scalp, and avoiding the violent shaking of the head and the shaking of the skin of the head in the using process.
A2, setting the baud rate and the pairing password of the Bluetooth module on the handle and the Bluetooth module on the multi-electrode electroencephalogram signal acquisition equipment to be consistent;
a3, setting a Bluetooth module on a handle as a host, and setting a Bluetooth module on multi-electrode electroencephalogram signal acquisition equipment as a slave, wherein when the two Bluetooth modules are powered on, the two Bluetooth modules are automatically matched to establish communication connection;
a4, the Bluetooth module on the multi-electrode electroencephalogram signal acquisition equipment sends an electroencephalogram signal to the Bluetooth module on the handle of the unmanned aerial vehicle;
a5, receiving data by a Bluetooth module on a handle of the unmanned aerial vehicle;
B. analog receiving brain electrical signal
In order to ensure that a Bluetooth module on a handle of the unmanned aerial vehicle continuously receives electroencephalograms collected by the multi-electrode electroencephalogram signal collecting equipment, firstly, a process of receiving the electroencephalograms is simulated on a computer, and the method comprises the following specific steps:
b1, connecting the Bluetooth module on the handle of the unmanned aerial vehicle with a computer by using a Bluetooth string converting tool, and waiting for the connection between the Bluetooth module on the handle and the Bluetooth module on the multi-electrode electroencephalogram signal acquisition device to be successful;
b2, opening serial port assistant software on the computer, and observing whether normal data are continuously received; if so, turning to the step C; otherwise, turning to the step B;
C. the Bluetooth module on the handle receives the test data
C1, modifying the code of the handle of the unmanned aerial vehicle to make it possible to: if the Bluetooth module on the handle normally receives data, the light-emitting diode flickers;
c2, extracting a section of normal electroencephalogram signal by a computer, and then connecting the Bluetooth module on the handle of the unmanned aerial vehicle and the Bluetooth of the mobile phone in a matching manner;
c3, simulating multi-electrode electroencephalogram signal acquisition equipment through serial port tool software on the mobile phone, and manually sending the extracted electroencephalogram signals to a Bluetooth module on the handle of the unmanned aerial vehicle;
c4, observing whether the light emitting diode on the handle flickers or not, and if the light emitting diode flickers continuously, indicating that the data is normally received;
D. modifying handles and drone codes
D1, simulating the extracted electroencephalogram signals on a computer, simulating the process of processing the original electroencephalogram signals by a handle, and adjusting parameters, wherein the specific method comprises the following steps: respectively judging whether each received bit data accords with the format according to the format of the useful data packet, if so, receiving correct and available data, and otherwise, discarding the data;
d2, according to the successful method on the computer, modifying the code of the handle and the unmanned aerial vehicle, realizing the normalization processing and the filtering processing of the brain electrical signal on the handle, the processing method is the same as the step D1, and converting the brain electrical signal into the input signal for controlling the unmanned aerial vehicle;
d3, debugging codes through a simulation debugger, and finally actually observing the flight state of the unmanned aerial vehicle;
d4, simulating multi-electrode electroencephalogram signal acquisition equipment through serial port tool software on the mobile phone, manually sending the intercepted partial electroencephalogram signals, observing the flight state of the unmanned aerial vehicle, and adjusting the flight height, jitter, motor speed and direction control actually generated in flight;
d5, finally, the multi-electrode electroencephalogram signal acquisition equipment is used for autonomously sending electroencephalogram signals, a user imagines takeoff and related flight states of the unmanned aerial vehicle in the brain, and the flight condition of the unmanned aerial vehicle is actually observed; the flying state comprises up-down, left-right and back-and-forth movement.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the unmanned aerial vehicle flight control system, a user wears the multi-electrode electroencephalogram signal acquisition equipment to send acquired electroencephalogram signals to the handle of the unmanned aerial vehicle, the model on the handle of the unmanned aerial vehicle carries out relevant processing on received original electroencephalogram signals, the processed electroencephalogram signals are converted into action instruction data of the unmanned aerial vehicle on the handle, and control instructions received by the unmanned aerial vehicle are control signals sent by the original handle, so that the unmanned aerial vehicle can be controlled to fly more stably and accurately, complex action instructions such as rolling, high-altitude flight, sharp turning and the like can be completed, and even the flight direction of the unmanned aerial vehicle can be controlled through the deviation direction of the head.
2. The invention adopts the multi-electrode electroencephalogram signal acquisition equipment with the non-invasive computer-machine interface, and the electrodes which are tightly attached to the scalp are used for acquiring the electroencephalogram signals of a user, so that the mental state, psychological commands and facial expressions of the human brain can be more comprehensively acquired.
3. The invention carries out simulation processing on the original electroencephalogram signal on the handle of the unmanned aerial vehicle, as the multi-electrode electroencephalogram signal acquisition equipment can send 513 data packets per second, but the number of the data packets is only 6, and the data packets have obvious format difference with other data packets, respectively judges whether each received data conforms to the format according to the format of the useful data packet, if so, the correct and available data is received, otherwise, the data is abandoned, thereby achieving the effects of electroencephalogram signal normalization processing and filtering processing, removing the noise of the original electroencephalogram signal to the greatest extent, and overcoming the instability of retransmission of computer processed data.
4. The electroencephalogram signals are processed and converted into action instructions of the unmanned aerial vehicle and sent by the handle, so that the stability and accuracy of signal transmission and idea control are guaranteed.
5. The original code of the handle is fully utilized, only the mode of acquiring the flight control data is changed, and the structure of the original flight control data is not changed; and receiving Bluetooth data by using a serial port interrupt function, and screening useful data from 513 data packets every second.
6. The unmanned aerial vehicle is small in size, convenient, light and portable. The code of the unmanned aerial vehicle is open, so that the code can be conveniently modified and secondarily developed; modules such as a camera can be welded on the circuit board of the unmanned aerial vehicle. The adopted components are easy to obtain and low in cost.
Drawings
FIG. 1 is a diagram of an electroencephalogram signal received by a serial port.
Fig. 2 is a concentration and relaxation number value in the brain electrical signal.
Fig. 3 is a flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following related operations are completed according to the flow in fig. 3. Firstly, pairing two Bluetooth modules according to the step A of the invention (the Bluetooth modules are connected with a computer through a parameter frame, the baud rate, the pairing password and the master-slave machine are modified under the condition that the Bluetooth modules are successfully paired through serial assistant software on the computer, and the Bluetooth module on the handle of the master machine actively searches the Bluetooth module on the slave multi-electrode electroencephalogram signal acquisition equipment to pair after being powered on). The process of analog receiving of brain electrical signals is performed according to step B of the present invention, as shown in FIG. 1. Then testing the data received by the handle according to the step C of the invention; when the handle receives data normally, the light emitting diode flickers, and the continuous flicking represents that the data is received normally. Codes of the unmanned aerial vehicle and the handle can be modified according to the step D of the invention, the received electroencephalogram signals are processed to be attentive and loose as shown in figure 2, and finally, the multi-electrode electroencephalogram signal acquisition equipment is worn, the electrodes are tightly attached to the scalp of a user, and the shaking of the head and the shaking of the skin of the face are avoided in the using process, so that experiments are carried out.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (1)
1. The utility model provides an unmanned aerial vehicle's idea control method which characterized in that: the method comprises the following steps:
A. establishing communication and signal transmission
A1, wearing a multi-electrode electroencephalogram signal acquisition device by a user closely attached to the scalp, and avoiding the violent shaking of the head and the shaking of the skin of the head in the use process;
a2, setting the baud rate and the pairing password of the Bluetooth module on the handle and the Bluetooth module on the multi-electrode electroencephalogram signal acquisition equipment to be consistent;
a3, setting a Bluetooth module on a handle as a host, and setting a Bluetooth module on multi-electrode electroencephalogram signal acquisition equipment as a slave, wherein when the two Bluetooth modules are powered on, the two Bluetooth modules are automatically matched to establish communication connection;
a4, the Bluetooth module on the multi-electrode electroencephalogram signal acquisition equipment sends an electroencephalogram signal to the Bluetooth module on the handle of the unmanned aerial vehicle;
a5, receiving data by a Bluetooth module on a handle of the unmanned aerial vehicle;
B. analog receiving brain electrical signal
In order to ensure that a Bluetooth module on a handle of the unmanned aerial vehicle continuously receives electroencephalograms collected by the multi-electrode electroencephalogram signal collecting equipment, firstly, a process of receiving the electroencephalograms is simulated on a computer, and the method comprises the following specific steps:
b1, connecting the Bluetooth module on the handle of the unmanned aerial vehicle with a computer by using a Bluetooth string converting tool, and waiting for the connection between the Bluetooth module on the handle and the Bluetooth module on the multi-electrode electroencephalogram signal acquisition device to be successful;
b2, opening serial port assistant software on the computer, and observing whether normal data are continuously received; if so, turning to the step C; otherwise, turning to the step B;
C. the Bluetooth module on the handle receives the test data
C1, modifying the code of the handle of the unmanned aerial vehicle to make it possible to: if the Bluetooth module on the handle normally receives data, the light-emitting diode flickers;
c2, extracting a section of normal electroencephalogram signal by a computer, and then connecting the Bluetooth module on the handle of the unmanned aerial vehicle and the Bluetooth of the mobile phone in a matching manner;
c3, simulating multi-electrode electroencephalogram signal acquisition equipment through serial port tool software on the mobile phone, and manually sending the extracted electroencephalogram signals to a Bluetooth module on the handle of the unmanned aerial vehicle;
c4, observing whether the light emitting diode on the handle flickers or not, and if the light emitting diode flickers continuously, indicating that the data is normally received;
D. modifying handles and drone codes
D1, simulating the extracted electroencephalogram signals on a computer, simulating the process of processing the original electroencephalogram signals by a handle, and adjusting parameters, wherein the specific method comprises the following steps: respectively judging whether each received bit data accords with the format according to the format of the useful data packet, if so, receiving correct and available data, and otherwise, discarding the data;
d2, according to the successful method on the computer, modifying the code of the handle and the unmanned aerial vehicle, realizing the normalization processing and the filtering processing of the brain electrical signal on the handle, the processing method is the same as the step D1, and converting the brain electrical signal into the input signal for controlling the unmanned aerial vehicle;
d3, debugging codes through a simulation debugger, and finally actually observing the flight state of the unmanned aerial vehicle;
d4, simulating multi-electrode electroencephalogram signal acquisition equipment through serial port tool software on the mobile phone, manually sending the intercepted partial electroencephalogram signals, observing the flight state of the unmanned aerial vehicle, and adjusting the flight height, jitter, motor speed and direction control actually generated in flight;
d5, finally, the multi-electrode electroencephalogram signal acquisition equipment is used for autonomously sending electroencephalogram signals, a user imagines takeoff and related flight states of the unmanned aerial vehicle in the brain, and the flight condition of the unmanned aerial vehicle is actually observed; the flying state comprises up-down, left-right and back-and-forth movement.
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Application publication date: 20210205 |