CN101881940A - Method for controlling stop of animal robot - Google Patents
Method for controlling stop of animal robot Download PDFInfo
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- CN101881940A CN101881940A CN 201010182496 CN201010182496A CN101881940A CN 101881940 A CN101881940 A CN 101881940A CN 201010182496 CN201010182496 CN 201010182496 CN 201010182496 A CN201010182496 A CN 201010182496A CN 101881940 A CN101881940 A CN 101881940A
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Abstract
The invention discloses a method for controlling the stop of an animal robot, which comprises the following steps that: (1) a wireless transmitter in a transmitting base station sends a stimulation command for stimulating the animal robot to a wireless receiver in a knapsack circuit through a transmitting antenna; (2) the wireless receiver receives the stimulation command through a receiving antenna, and transmits the received stimulation command to a microcontroller in the knapsack circuit; (3) the microcontroller generates a stimulation pulse signal according to the stimulation command and sends the stimulation pulse signal to a stimulation electrode implanted into the surrounding grey matter of a midbrain aqueduct of the animal robot; and (4) the stimulation electrode stimulates the surrounding grey matter of the midbrain aqueduct of the animal robot according to the stimulation pulse signal to stop the animal robot. The method utilizes the injury defending instinct of the animal, can be used without training, provides more precise control for the animal robot, and has wide application range.
Description
Technical field
The present invention relates to a kind of being used to controls the method that animal robot stops, and relates in particular to be used to control the method that mammal robots such as rat, mouse stop.
Background technology
" animal robot " is meant behavior or moves controlled animal, and it utilizes motion function and the power supply system of animal itself, from the feeling to import into innervation and start with of animal, realizes the motion of animal and the artificial control of some behavior.Animal robot has more obvious advantage mechanical robot more traditional aspect energy resource supply, kinematic dexterity, disguise, maneuverability and the adaptability (or bio-robot).In the realization of animal robot, one of key issue is the accurate control that how to realize animal.At present in animal robot, general by specific nerve nucleus in the electric pulse stimulation animal brain, make animal produce virtual sensation or prompting, thereby attempt to control animal behavior, make it can replace the mankind or conventional machines people under complex environment, to finish some and be difficult to even impossible task.Different with the mechanical robot, in the control to animal robot, because the influence of animal self wish, animal can not hundred-percently accurately be finished for the steering order that the mankind send; And animal is because himself individual difference, for the control of different animals individuality different difference often arranged; Simultaneously, be different from the mechanical robot, the process that animal robot often has a training to strengthen, many human factors of having mixed in this process.Just because of such problem, the control theory of the comparative maturity in mechanical robot's control and the control that technology often can not be transplanted to animal robot effectively.Therefore, the research difficult point and the focus in domestic and international animal robot field the accurate control of animal behavior have now been become.
State University Medical Center professor Chapin in USA New York found electrode is implanted the somatosensory cortex and the medial forebrain bundle (being usually said award district) of rat brain in 2002, and gave suitable stimulation, can make animal used as test according to the contemplated path walking of people; The Su Xuecheng of University Of Science and Technology Of Shandong professor team in 2006 utilize the method for electro photoluminescence, have realized the flight of control robot bird; Professors Zheng Xiaoxiang of Seeking Truth Institute for Advanced Study of Zhejiang University in 2007 etc. utilize the corticocerebral method of electro photoluminescence, have realized that further the control rat walks eight arm labyrinths and the action of passing through complexity such as three-dimensional barrier.
Present technical merit can only control animal robot forward, left, move right, and the band hold function animal robot report is not also arranged, this has limited the practicality of animal robot greatly.Therefore, develop and a kind ofly can control the method that animal robot stops, realizing more accurately control, will have extremely profound significance animal behavior.
Summary of the invention
The object of the present invention is to provide and a kind ofly can control the method that animal robot stops, having remedied the defective that current animal robot can not be realized hold function.
(Periaqueduetal Gray, PAG) as the nerve nucleus site that stimulates, by this nerve nucleus of electro photoluminescence, thereby the control animal robot stops the periaqueductal gray of the present invention by choosing animal.For being realizes above-mentioned purpose, the technological means that the present invention taked is: this is used to control the method that animal robot stops, and it is characterized in that comprising the steps:
(1) wireless launcher in the transmitting base station sends the stimulation order that is used to stimulate animal robot by the wireless receiver of emitting antenna in the knapsack circuit;
(2) wireless receiver receives described stimulation order by receiving antenna, more received stimulation order is passed to the microcontroller in the knapsack circuit;
(3) microcontroller sends to the stimulating electrode in the periaqueductal gray that is implanted to animal robot according to stimulation order generation stimulation pulse signal and with described stimulation pulse signal;
(4) described stimulating electrode makes the animal robot stop motion according to the periaqueductal gray of described stimulation pulse signal stimulation animal robot.
Further, the present invention is in described knapsack circuit, and described microcontroller also is connected with current source generator, voltage source generator and analog switch, and described current source generator, voltage source generator are connected with analog switch respectively.
Further, to adopt diameter be that 65 microns nickel-cadmium microfilament is made for stimulating electrode of the present invention.
The bi-directional square wave of the curtage form that further, stimulation pulse signal of the present invention is amplitude, pulsewidth, cycle, individual number average is adjustable.
With respect to prior art, the present invention has the following advantages: (1) has realized the hold function that animal robot is controlled first by the electro photoluminescence periaqueductal gray; (2) this method utilizes the defense reaction of animal instinct to realize the function that stops, and need not precondition, and it is convenient to realize; (3) this method has further been expanded the function of animal robot, lays the foundation for animal robot moves towards practicality.
Description of drawings
Fig. 1 is for realizing the theory diagram of control animal robot halt system of the present invention;
Fig. 2 is the workflow diagram of the microcontroller in the control animal robot halt system;
Fig. 3 is the current source generator circuit theory diagrams in the control animal robot halt system;
Fig. 4 is the voltage source generator circuit theory diagrams in the control animal robot halt system;
The stimulation pulse signal synoptic diagram that Fig. 5 produces for the knapsack circuit in the control animal robot halt system.
Embodiment
The present invention is used to control the method that animal robot stops, periaqueductal gray (PAG) nerve nucleus by the electro photoluminescence animal, make animal produce the sensation of virtual fear, thereby bring out active defense reaction, realize the purpose of control animal robot stop motion.
Be the system that realizes that control animal robot of the present invention stops, wireless launcher in the transmitting base station 13 by emitting antenna 121 to placing the knapsack circuit 14 on the animal robot health to send the stimulation order that is used to stimulate animal robot, after wireless receiver in the knapsack circuit 14 receives command signal by receiving antenna 122, again received stimulation order is passed to microcontroller, microcontroller sends to the stimulating electrode 15 in the periaqueductal gray that is implanted to animal robot 16 according to stimulation order generation stimulation pulse signal and with stimulation pulse signal, stimulate this cerebral nerve nuclear group by stimulating electrode 15, make the animal robot stop motion.In Fig. 1, the system that control animal robot of the present invention stops to be made up of transmitting base station 13 and knapsack circuit 14 two parts.Transmitting base station 13 changes serial ports, wireless launcher and emitting antenna 121 by PC 11, USB and forms.PC 11 changes serial ports by USB and sends the stimulation order to wireless launcher, and the stimulation order comprises the parameter of stimulation pulse signal, as amplitude a, pulsewidth b, cycle c, number d; USB changes serial port module and is made up of chip CP2102 and peripheral circuit thereof, but the integrated USB of a kind of height of CP2102 Silicon Labs company research and development changes the UART bridging chip, have characteristics such as price is low, exploitation is simple, energy the simplest enough external circuit and minimum external devices realize the conversion of USB to serial ports easily; Wireless launcher can be made up of hundred meters bluetooth modules of BTM4504C1H (BC04) that golden goblet-national territory company in Chongqing produces, change serial port module with USB and carry out communication by Serial Port Line, hundred meters bluetooth modules of BTM4504C1H (BC04) adopt the BlueCore4-Ext chip of Bluetooth chip supplier CSR, and compatible bluetooth 2.0 standards are supported data and voice transfer fully, the highest 3M modulating mode of supporting, it receives the sensitivity height, and cost is low, and volume is small and exquisite, low in energy consumption, be applicable to the long Distance Transmission of bluetooth.Knapsack circuit 14 comprises receiving antenna 122, wireless receiver, microcontroller, current source generator, voltage source generator and analog switch.Wireless receiver is made of the bluetooth module identical with wireless launcher in the above-mentioned transmitting base station 13, and wireless receiver is electrically connected by serial ports with microcontroller, and the command signal that receives is sent to microcontroller; Microcontroller is made up of C8051F020 chip and peripheral circuit thereof, the C8051F020 chip has all external components of 8052 of standard, comprise counter/timer of 5 16, the I/O mouth of 2 full duplex serial ports, 256 byte inner RAM, 128 byte special function register (SFR) address spaces and 8/4 byte wide, it adopts pipeline organization, compare with 8051 structures of standard, instruction execution speed improves a lot.The workflow diagram of microcontroller as shown in Figure 2, microcontroller is according to the command signal that receives from serial ports, export the stimulation pulse signal of corresponding amplitude a, pulsewidth b, cycle c, number d at its digital-to-analogue (DA) delivery outlet, if do not receive instruction then be in the wait command status of low-power consumption; The digital-to-analogue delivery outlet of microcontroller is connected with current source generator, voltage source generator, current source generator adopts the Hao Lande current source circuit, introduced degree of depth negative feedback, utilize integrated transporting discharging to realize constant current output, as a kind of embodiment of the present invention, as shown in Figure 3, amplifier can adopt LM358, resistance R 12, R14 are 20K ohm, and R13, R15 are 1K ohm; Voltage source generator adopts the forward operation amplifier, and as a kind of embodiment of the present invention, as shown in Figure 4, amplifier adopts LM358, and resistance R 16, R17 are 10K ohm, and capacitor C 12 is 0.1 microfarad.Current source generator and voltage source generator are electrically connected with analog switch respectively, and analog switch is connected with described stimulating electrode 15.The MAX4754 switch chip that analog switch can adopt MAXIM company to produce, it is electrically connected with the digital output of microcontroller, realize the selection of different stimulated path, the curtage stimulation pulse signal is reached stimulating electrode 15, can select different stimulation modes for use at different stimulation sites, to reach optimum effect of stimulation.
The stimulation pulse signal waveform that the present invention realized is the bi-directional square wave of curtage form as shown in Figure 5, wherein the amplitude a of stimulation pulse signal, pulsewidth b, cycle c, number d are all adjustable.Bi-directional square wave can avoid electric charge to accumulate in brain, reduces the loss to animal brain; Parameter is adjustable can carry out the personalizing parameters setting at the different animals robot, to reach optimum effect of stimulation.
As preferred implementation of the present invention, employed stimulating electrode 15 can be that 65 microns nickel-cadmium microfilament is made by diameter, every pair of stimulating electrode 15 is made of two microfilaments, fibril electrode scribbles insulation course, only remove about 0.5 millimeter insulation course at the tip, two microfilaments twine the bipolar stimulation electrode that partners mutually, and this stimulating electrode electric charge coupling effect is good, and less to the animal brain damage.
Implant pair of stimulating electrodes 15 in the periaqueductal gray nerve nucleus of animal robot 16, stimulating electrode 15 is connected the stimulation pulse signal of reception knapsack circuit 15 generations with analog switch in the knapsack circuit.The midbrain stimulation periaqueductal gray matter can make animal bring out defense reaction, shows as freezing of action, acceleration aroused in interest, elevation of blood pressure, and the increase of muscle tone etc., make animal produce the sensation of " virtual fear ", this virtual fear can be used for controlling the animal stop motion.As an example of the present invention, at the medial forebrain bundle (MFB) of animal robot, also implanted pair of stimulating electrodes respectively in left elementary sensory cortex (S1), the right elementary sensory cortex (S1), be respectively applied for the control animal robot and advance, turn left and turn right.Medial forebrain bundle is generally considered to be the part of brain reward system, it connects ventral tegmental area and two nerve nucleus of nucleus accumbens septi, and nucleus accumbens septi is the nerve center of reward system, so the electro photoluminescence medial forebrain bundle can activate nucleus accumbens septi, produce joyful " virtual award ", this award can be used to control animal and advance; The elementary sensory cortex in a left side, right elementary sensory cortex receive extraneous impression, and this zone of electro photoluminescence can make animal feel that there is " virtual haptic " that collides object on left side or right side, and this virtual haptic can be used to control the animal left-hand rotation or turn right.
The stimulating electrode implantation mode that the present invention taked is: the yellow Jackets of use 1% are anaesthetized animal; Utilize fixedly animal head of stereotaxic instrument, utilize described medial forebrain bundle, the elementary sensory cortex in a left side, right elementary sensory cortex, the periaqueductal gray district utilizes the both arms stereotaxic instrument that stimulating electrode 15 is implanted in the animal brains with respect to the distance of animal skull bregma and the posterior location of holing; Fix with dentistry cement after stimulating electrode 15 heeling-ins, the postoperative animal recovers to experimentize in 5 to 7 days.According to the Paxinos-Watson collection of illustrative plates, the coordinate of three brain domains is: medial forebrain bundle is 3.8mm behind the bregma, median line 1.6mm, 8.2mm under the skull surface (AP-3.8, ML+1.6, DV+8.2); The elementary sensory cortex in a left side is 1.8mm behind the bregma, median line 5.0mm, 2.8mm under the skull surface (AP-1.8, ML-5.0, DV+2.8); Right elementary sensory cortex is 1.8mm behind the bregma, median line 5.0mm, 2.8mm under the skull surface (AP-1.8, ML+5.0, DV+2.8); Periaqueductal gray (PAG) coordinate position is skull lambda median line 1.9mm, with 5.1mm under the 16 degree angle skull surface (lambda, ML+1.9, DV+5.1).
The experimentation that the present invention controls the animal robot method of shutting down is: four functional areas that the heeling-in of four pairs of stimulating electrodes difference arrived animal brain: medial forebrain bundle, left elementary sensory cortex, right elementary sensory cortex and periaqueductal gray crowd.Behind the surgery recovery at first the animal training robot advance, turn left, turn right, begin the test that stops after the Zoological Society.With the parameter modification that stimulates is amplitude ± 5V, pulsewidth 1ms, cycle 20ms, number 50, giving periaqueductal gray when the free activity of animal stimulates, observe the rest time of animal,, then suitably increase amplitude a, pulsewidth b, cycle c, the number d of stimulation pulse signal if rest time is too short; If rest time is oversize, then suitably reduce above-mentioned parameter, repeat said process, finally determine the optimal stimulus parameter of this animal; After the order of advancing, turn left, turn right, carry out above-mentioned same experiment, determine best stimulation parameter.Like this, this animal robot is realized the function of knowing clearly and stopping on original basis of advancing, turn left, turning right.
The present invention is not only applicable to rodents such as rat, mouse, also is applicable to other mammal.
Claims (4)
1. one kind is used to control the method that animal robot stops, and it is characterized in that comprising the steps:
(1) wireless launcher in the transmitting base station (13) sends the stimulation order that is used to stimulate animal robot by the wireless receiver of emitting antenna (121) in knapsack circuit (14);
(2) wireless receiver receives described stimulation order by receiving antenna (122), more received stimulation order is passed to the microcontroller in the knapsack circuit (14);
(3) microcontroller sends to the stimulating electrode (15) in the periaqueductal gray that is implanted to animal robot (16) according to stimulation order generation stimulation pulse signal and with described stimulation pulse signal;
(4) described stimulating electrode (15) makes the animal robot stop motion according to the periaqueductal gray of described stimulation pulse signal stimulation animal robot (16).
2. according to claim 1ly be used to control the method that animal robot stops, it is characterized in that: in described knapsack circuit (14), described microcontroller also is connected with current source generator, voltage source generator and analog switch, and described current source generator, voltage source generator are connected with analog switch respectively.
3. according to claim 1 and 2 being used to controlled the method that animal robot stops, and it is characterized in that: described stimulating electrode (15) employing diameter is that 65 microns nickel-cadmium microfilament is made.
4. according to claim 1 and 2 being used to controlled the method that animal robot stops, and it is characterized in that: the bi-directional square wave of the curtage form that described stimulation pulse signal is amplitude, pulsewidth, cycle, individual number average is adjustable.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010182496 CN101881940A (en) | 2010-05-25 | 2010-05-25 | Method for controlling stop of animal robot |
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| CN 201010182496 CN101881940A (en) | 2010-05-25 | 2010-05-25 | Method for controlling stop of animal robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103593048A (en) * | 2013-10-28 | 2014-02-19 | 浙江大学 | Voice navigation system and method of animal robot system |
| CN103885445A (en) * | 2014-03-20 | 2014-06-25 | 浙江大学 | Brain-controlling animal robot system and brain-controlling method of animal robot |
| CN104679028A (en) * | 2013-11-29 | 2015-06-03 | 浙江大学 | Method for controlling animal robot to turn on basis of ventral posterior medial nucleus electrical stimulation |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103593048A (en) * | 2013-10-28 | 2014-02-19 | 浙江大学 | Voice navigation system and method of animal robot system |
| CN103593048B (en) * | 2013-10-28 | 2017-01-11 | 浙江大学 | Voice navigation system and method of animal robot system |
| CN104679028A (en) * | 2013-11-29 | 2015-06-03 | 浙江大学 | Method for controlling animal robot to turn on basis of ventral posterior medial nucleus electrical stimulation |
| CN103885445A (en) * | 2014-03-20 | 2014-06-25 | 浙江大学 | Brain-controlling animal robot system and brain-controlling method of animal robot |
| CN103885445B (en) * | 2014-03-20 | 2016-05-11 | 浙江大学 | The brain control method of a kind of brain control animal robot system and animal robot |
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Application publication date: 20101110 |