CN102419588A - Method and device for controlling target based on brain electrical signal and motion signal - Google Patents
Method and device for controlling target based on brain electrical signal and motion signal Download PDFInfo
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- CN102419588A CN102419588A CN2011104453562A CN201110445356A CN102419588A CN 102419588 A CN102419588 A CN 102419588A CN 2011104453562 A CN2011104453562 A CN 2011104453562A CN 201110445356 A CN201110445356 A CN 201110445356A CN 102419588 A CN102419588 A CN 102419588A
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Abstract
The invention relates to a method for controlling a target based on a brain electrical signal and a limb motion signal. In the method, a signal acquiring and processing end and a target controlling end are involved, wherein the signal acquiring and processing end is used for acquiring and processing the brain electrical signal, an eye electrical signal and the limb motion signal of an operator through a portable multi-signal acquiring and processing device, packaging all data and sending the data in a wireless mode; and the target controlling end is used for receiving the data transmitted by the signal acquiring and processing end and converting the data into a control signal for a controlled target, so that the controlled target can be subjected to real-time motion control, accurate motion control and complicated motion control through a plurality of control parameters. The invention also relates to the portable multi-signal acquiring and processing device which is used for comprehensively acquiring the brain electrical signal, the eye electrical signal and the limb motion signal of the operator, packaging the data and sending the data in the wireless mode.
Description
Technical field
The present invention relates to biomedicine, man-machine interaction and electronic technology field; Relate in particular to and a kind ofly come controlled target to carry out the method for compound movement through synthetical collection human body electroencephalogram signal, electro-ocular signal and limb motion signal, and a kind of portable many signal acquisition and processing apparatus of realizing above-mentioned functions.
Background technology
There are some methods availalbes in the prior art through detecting eeg signal and using these EEG signals target to be controlled as control signal.But mainly have following problem: one of which because EEG signals are extremely faint, has characteristics such as should not measuring, be subject to interference; Therefore most of brain wave acquisition device need be worked in having the laboratory of good environment; And need carry out special processing to head, generally need wear special electrode cap, need on electrode, smear conducting resinl; Thereby have problems such as complicated operation, portable difference, be not suitable in common surroundings, using.Its two, the portable brain electric equipment that can in surroundings, use that exists at present can be gathered EEG signals through straightforward procedure like the method and apparatus that proposes in the patent 200780052261.6 in surroundings; But this method and apparatus only can analyze the signal of the reflection state of mind on basis; Like the notice intensity, the degree of relaxation signal is though these type of EEG signals can be used for controlled target; But its controlled variable quantity is few; And it is bigger that this type of emotional parameters has a signal fluctuation, and the characteristics of real-time difference are not suitable for doing real-time action control, accurately action control and compound action control.As accurately controlled target multi-direction turn to and move, action triggers control such as shooting etc.Its three, exist at present through gathering the equipment of limb motion information as control signal, like the Wii of Nintendo, this kind equipment and method be through gathering acceleration, the angular velocity information of limb motion, feasible can be to the control of target travel direction and speed.Like the game console of mentioning in the patent 200810128346.4, promptly measure the motion of game console through acceleration transducer, and then as control signal.But this kind equipment only limits to detection to human body limb movement (brandishing like arm) as control signal at present.
Thereby can under surroundings, not realize target is carried out equipment and the method that remote complex is controlled through portable set synthetical collection brain electric information, eye electrical information and limb motion information owing to also there is not this type of at present.Thereby need provide a kind of and can gather brain electricity and eye electrical information, the information that can gather limb motion again, thus realize the method for the control of target and the equipment of realizing the method.
Summary of the invention
The objective of the invention is to overcome the defective of existing brain electrical control equipment; Make the user only need wear the motor message that portable set (like hair band, the helmet or cap etc.) can be surveyed EEG signals, electro-ocular signal and limbs simultaneously; And can realize complicacy control, thereby realize a kind of remote object complicated control method that need not manual intervention through this type of signal to controlled object.
The present invention discloses a kind of method of target being controlled based on EEG signals, electro-ocular signal and limb motion signal in order to solve the problems of the technologies described above, and said method is as shown in Figure 1, and this method is divided into signal acquisition process end and two parts of target control end.The signal acquisition process end is realized sending through wireless communication mode to the synthetical collection of brain electricity, eye electricity, limb motion signal and with data through portable many signal acquisition and processing apparatus.The target control end then be responsible for to receive all data and is the control signal to target with these data-switching, and concrete steps are following:
A) obtain brain electricity, electro-ocular signal and limb motion signal, with this signal packing, and through wireless
Mode is sent;
B) the target control termination is received the data sent, and is the control signal to controlled object with this data-switching.
Described signal acquisition process end (as shown in Figure 1) obtains brain electricity, electro-ocular signal and limb motion signal through sensor, is transferred to embedded microprocessor, is transferred to the wireless data sending module after the packaged.
Described sensor comprises: dried electrode sensor, attitude sensor, angular-rate sensor and acceleration transducer; Wherein dried electrode sensor obtains operator's brain electricity and electro-ocular signal, and attitude sensor, angular-rate sensor and acceleration transducer obtain operator's limb motion signal.
Described attitude sensor is a kind of sensor that can experience the attitude variation and convert usable output signal to.Can obtain the three-axis attitude data of object through numeral three magnetic force induction devices (like Freescale MAG3110) and digital 3-axis acceleration sensor (like Freescale MMA8452).In coordinate system shown in Figure 3, X, plane, Y axle place are surface level, and the Y axle points to the just north of earth magnetism, and three-axis attitude defines as follows:
A. position angle: around the angle that the Z axle rotates, 0 degree=positive north, 90 degree=due east, 180 degree=due south, 270 degree=just western
B. the angle of pitch: the angle of rotating around the X axle
C. roll angle: the angle of rotating around the Y axle
Described angular-rate sensor is a kind of sensor that can the angular velocity of experiencing be converted to usable output signal.Angular-rate sensor can obtain around X, Y, three rotational angular of Z, can use digital three axis angular rate sensors (like CMR3000) to obtain three axis angular rate data.
Described acceleration transducer is a kind of sensor that can experience the acceleration of object of which movement and convert usable output signal to.Can obtain the data of three axial angular acceleration and linear acceleration through digital 3-axis acceleration sensor (like LSM330DLC).
Described dried electrode sensor is through contacting with operator's forehead skin; Obtain its brain electricity and eye electrical biological signals; Realize amplification, Filtering Processing through brain electricity and electro-ocular signal acquisition process unit to this type of bio signal; Convert this type of bio signal to digital signal, be transferred to embedded microprocessor, be transferred to wireless sending module after the packaged.And said attitude sensor, angular-rate sensor, acceleration transducer obtain operator's limb motion signal, are transferred to embedded microprocessor, are transferred to the wireless data sending module after the packaged.
Target control end (as shown in Figure 1) receives all data that the signal acquisition process end sends through the wireless data module; Give the control end embedded microprocessor with this data transmission; Through the control end embedded microprocessor digital signal is unpacked; Extract brain electricity, eye electricity, the limb motion data that to control controlled object, be transferred to the I/O control interface, produce corresponding I/O control signal.
Described target control end is realized the control to controlled object through the I/O control interface.
Described controlled object comprises: toy, as: aircraft, automobile, tank etc.; Wheelchair or artificial limb; Electronic game; Mouse; Robot is like robot motion's control, action control and expression control etc.
Other can remote control device (TV, lamp, electrically driven curtain) etc.
Another purpose of the present invention provides a kind of portable many signal acquisition and processing apparatus.
Realize portable many signal acquisition and processing apparatus of function of the present invention, this device can be the hair band, cap, headphone or the helmet that are worn on head, can let the user very easily this harvester is worn on head.
Portable many signal acquisition and processing apparatus mainly comprise dried electrode sensor, brain electricity and electro-ocular signal acquisition processing module, motor message acquisition process, wireless sending module and the hair band or the helmet; Wherein comprise at least one wireless sending module in this device.
Described brain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module link to each other with wireless sending module respectively; The EEG Processing module all is fixed on the hair band or the helmet; Wireless sending module is fixed in hair band or the helmet or limb motion position; The motor message acquisition processing module is fixed in operator's limb motion position, realizes the Long-distance Control to controlled object through head movement in advance like the operator, then need the motor message acquisition processing module be fixed on the hair band or the helmet; Motion realization through hand or other limbs position then need be fixed in hand or corresponding limbs position gets final product with the motor message acquisition processing module to the Long-distance Control of controlled object in advance like the operator.
Further; Portable many signal acquisition and processing apparatus also comprise at least one embedded microprocessor; Its midbrain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module link to each other with same embedded microprocessor; Perhaps link to each other with separately embedded microprocessor respectively, separately signal is transferred to same wireless sending module or different wireless sending modules.
Described dried electrode sensor adopts two at least, is used to gather the brain electricity and the electro-ocular signal at forehead position.Wherein have at least a dried electrode sensor to be positioned at the forehead position, other be positioned in forehead or ear-lobe position.
As shown in Figure 2; Portable many signal acquisition and processing apparatus all are fixed in brain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module and wireless sending module on the hair band, control the motion of remote object through EEG signals, electro-ocular signal and head pose variation and motor message; Its midbrain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module are sent to same embedded microprocessor with signal, are transferred to same wireless data sending module after the packaged again.
The beneficial effect of technical scheme of the present invention: at first; The present invention adopts the portable set that has embedded multiple sensors to realize the control to remote object; This equipment can be a hair band, the helmet, headphone or cap form, adopts dried electrode sensor to carry out EEG signals and surveys, and need on electrode, not smear conducting resinl; Thereby have and wear simple, simple to operate, advantage such as be easy to carry, can in common surroundings, use.Secondly, the present invention not only can measure cerebral electric signal and electro-ocular signal, can also measure the limb motion signal, has overcome that the controlled variable quantity that exists in the existing brain electric control technology is few, the shortcoming of real-time difference.Therefore, the invention provides a kind of function of controlling through the brain electricity of both can having realized, can also combine other motion control parameter to carry out more real-time action control, accurately action control and compound action control.
The present invention can be used for the parameter that target is controlled is comprised following type:
1) brain electrical quantity: comprise parameters such as the focus that reflects the state of mind, allowance, tensity, fatigue strength
2) eye electrical quantity: comprise parameters such as intensity nictation, nictation frequency, eye movement
3) limbs attitude parameter: the limb motion position comprises the attitude parameter of position angle, the angle of pitch, roll angle in X, Y, Z three-axis reference
4) limb motion angular velocity and acceleration parameter: the limb motion position is around the angular velocity and the angular acceleration parameter of X, Y, the motion of Z three direction of principal axis; The linear acceleration parameter of moving along X, Y, Z three direction of principal axis in the limb motion position.
Description of drawings
Fig. 1 carries out the process flow diagram of complicated control to target based on EEG signals, electro-ocular signal, limb motion signal for the inventive method;
Fig. 2 is the synoptic diagram of portable many signal acquisition and processing apparatus;
Fig. 3 is a coordinate system, is the basis with this coordinate system, measures three direction of principal axis attitude angle, angular velocity, angular acceleration and three direction of principal axis linear accelerations.
Embodiment
Below in conjunction with accompanying drawing principle of the present invention and characteristic are described, institute gives an actual example and only is used to explain the present invention, is not to be used to limit scope of the present invention.
This method adopts the mancarried device collection to comprise the multiple signal of brain electricity, eye electricity, limb motion.This device can be hair band, cap, headphone or a helmet on form, and the user can easily be worn on head with this device.As an example, can adopt the device of hair band form shown in Figure 2.This device mainly comprises the hair band and the battery of dried electrode sensor, brain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module, wireless sending module, flexible material; Wherein, adopt three dried electrode sensors to gather brain electricity and electro-ocular signal, two are positioned at the forehead position, and another one is positioned at the ear-lobe position.
Attitude sensor, angular-rate sensor, acceleration transducer and brain electricity and electro-ocular signal acquisition process unit are transferred to embedded microprocessor with the limb motion signal that obtains, EEG signals, electro-ocular signal through I2C (Inter-Integrated Circuit) interface or SPI (Serial Peripheral Interface) interface or UART (Universal Asynchronous Receiver/Transmitter) interface.
Embedded microprocessor is sent to the wireless data sending module through UART (Universal Asynchronous Receiver/Transmitter) interface with all data.The wireless data sending module sends these data through Radio Link after receiving the data that embedded microprocessor transmits.Wireless communication mode can adopt bluetooth communication agreement, Zigbee communications protocol, protocol of wireless local area network (802.11a/b/g/n), radio frequency communication and other home control network communication protocol.
Adopt numeral three magnetometric sensors (like Freescale MAG3110) and digital 3-axis acceleration sensor (like Freescale MMA8452) to obtain the three-axis attitude data of head.Adopt digital three axis angular rate sensors (like CMR3000) to obtain the angular velocity data of head around three-axis moving.Adopt digital 3-axis acceleration sensor (like LSM330DLC) to obtain head three axial acceleration informations.
The following embodiment device as shown in Figure 2 for the operator wears realized the control to remote object through brain electricity and electro-ocular signal, cephalomenia micromotion signal.
If the motor message acquisition processing module is fixed in other positions of health, can realize control equally to remote object like hand, shank etc.Wherein at this moment; Brain electricity and electro-ocular signal acquisition processing module and motor message acquisition processing module can link to each other with same embedded microprocessor or respectively with independent embedded microprocessor; Signal is transferred to same wireless sending module, perhaps signal is transferred to independent wireless sending module.
Embodiment 1: controlling toy helicopter with the user is example; Integrated wireless data reception module in the telepilot of toy helicopter; The aircraft telepilot is converted into the control signal to toy airplane with the brain electricity, eye electricity and the head movement signal that receive, and control mode can adopt but be not limited to following strategy:
Focus brain electrical quantity: control aircraft flight height flies highly more as being absorbed in high more aircraft
Allowance brain electrical quantity: control aircraft degree of stability, as loosening more, aircraft stability is good more
Single is blinked: the control aircraft weapon is opened fire
Head turns left: the control aircraft is turned left
Head is turned right: the control aircraft bends to right
Head tilts to the left: control aircraft side to the left flies
Head tilts to the right: control aircraft side to the right flies
Upwards come back: aircraft advances
Bow downwards: aircraft is retreated.
The controlled object of this method can be remote-control toys such as tank, automobile, steamer.
Embodiment 2: with role in the recreation of user's control computer is example.Computing machine receives brain electricity, eye electricity and head movement signal through wireless mode (like bluetooth communication), and these signals are used for controlling the role play of recreation, and control mode can adopt but be not limited to following strategy:
Tensity brain electrical quantity: control role gait of march walks slow more as tensity is high more
Focus, allowance, fatigue strength brain electrical quantity: control role's technical ability, acquire a certain degree like focus or allowance and can put certain technical ability to good use, the fatigue strength height then limits putting to good use of technical ability
Single is blinked: the control weapon is opened fire
Secondary is blinked continuously: the control role is switched weapon
Head turns left: the control role turns left curved, the speed control role of the head rotation speed of turning wherein, the target location that the position control role of head rotation turns
Head is turned right: the control role bends to right, the speed that the speed control role of head rotation turns, the target location that the position control role of head rotation turns
Head tilts to the left: the control role marches forward
Head tilts to the right: the control role retreats
Upwards come back: the control role jumps, the Acceleration Control role that comes back of the head strength of jumping wherein, promptly head lift sooner (acceleration is big more) jump highly more.
Bow downwards: the control role squats down.
The controlled object of this method can also be role and the scene that comprises in all kinds of electronic games such as computer game, mobile phone games, panel computer recreation, electronic game machine game.
Embodiment 3: with user's control computer mouse is example, and computing machine receives brain electricity, eye electricity and head movement signal through wireless mode (like bluetooth communication), and these signals are used for the operation of mouse beacon, and control mode can adopt but be not limited to following strategy:
Focus brain electrical quantity: the mouse beacon mobile accuracy, high precision is high more more like focus
Single is blinked: left mouse button is clicked
Secondary is blinked continuously: left mouse button is double-clicked
Blink continuously for three times: right mouse button is clicked
Head turns left: mouse beacon laterally is moved to the left, the speed that the speed control mouse of head rotation moves
Head is turned right: mouse beacon laterally moves right, the speed that the speed control mouse of head rotation moves
Upwards come back: mouse vertically moves up, the speed that the speed control mouse of head rotation moves
Bow downwards: mouse vertically moves down, the speed that the speed control mouse of head rotation moves
Embodiment 4: controlling light with the user is example; Integrated controller in the lamp dimmer with wireless data receiving function; Controller is converted into the control signal to lamp with the brain electricity, eye electricity and the head movement signal that receive, and control mode can adopt but be not limited to following strategy:
The brain electrical quantity: the change color of control light, trend towards blueness more like the high more light coloring of allowance, the low more light coloring of allowance trends towards purple more.
Secondary is blinked continuously: the power switch that turns on the light
Blink continuously for three times: the power switch of closing lamp
Head turns left: increase the brightness of light
Head is turned right: reduce the brightness of light
The controlled object of this method can also be a Smart Home, like the control to household electrical appliance (TV), electrically driven curtain.
Embodiment 5: controlling wheelchair with the user is example; Integrated controller in the wheelchair with wireless data receiving function; Controller is converted into the control signal to wheelchair with the brain electricity, eye electricity and the head movement signal that receive, and control mode can adopt but be not limited to following strategy:
Focus brain electrical quantity: control wheelchair gait of march
Head turns left: the control wheelchair is turned left
Head is turned right: the control wheelchair bends to right
Head tilts to the left: the control wheelchair advances
Head tilts to the right: the control wheelchair is retreated
Single is blinked: the wheelchair normal braking
Blink continuously for three times: the wheelchair emergency brake
The controlled object of this method can also be artificial limb or phone dialer.
Embodiment 6: with user's control robot is example; The integrated controller of robot with wireless data receiving function; Controller is converted into the brain electricity, eye electricity and the head movement signal that receive to the ROBOT CONTROL signal, and control mode can adopt but be not limited to following strategy:
Brain electrical quantitys such as focus, allowance, tensity, fatigue strength: the various expression controls of robot
Single is blinked: robot advances
Secondary is blinked continuously: robot is retreated
Blink continuously for three times: robot stops
Head turns left: control robot is turned left
Head is turned right: control robot bends to right
Head tilts to the left: control robot is lifted left hand
Head tilts to the right: control robot is lifted the right hand
Eyeball is moved to the left: control robot is lifted left leg
Eyeball moves right: control robot is lifted right leg
Upwards come back: control robot is jumped
Bow downwards: control robot is squatted down.
Embodiment 7: the signal pickup assembly that this method is mentioned is integrated in pilot's the helmet, and on-board controller receives brain electricity, eye electricity and head movement signal and realizes the control to aircraft through wireless mode, and control mode can adopt but be not limited to following strategy:
Brain electrical quantity: detect pilot's state of consciousness, under the pilot loses state of consciousness, carry out specific action, as switch to automatic driving.
Continuous five nictation: start the brain control and drive
Head fine rotation: course, roll angle and the angle of pitch that can control aircraft respectively
Double nictation: reduce throttle
Continuous three nictation: open the throttle
The controlled object of this method can also be used under special occasions (health is under state in bond, or space of living in is narrow and small, and health can't move) or emergency (as losing under the situation of ability to act) to the control of target.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
- One kind based on EEG signals and limb motion signal to the control method of target, the steps include:Step 1: obtaining brain electricity, electro-ocular signal and limb motion signal, is digital signal with said conversion of signals, and send through wireless mode the packing back;Step 2: receive the digital signal that said wireless mode sends, and convert said digital signal into control signal to controlled object.
- 2. method according to claim 1; It is characterized in that; Said step 1 is obtained operator's limb motion signal through attitude sensor, angular-rate sensor and acceleration transducer, is transferred to embedded microprocessor, is transferred to the wireless data sending module after the packaged.
- 3. method according to claim 1 and 2; It is characterized in that; Said step 1 is to obtain operator's brain electricity and electro-ocular signal through dried electrode sensor, through brain electricity and electro-ocular signal acquisition process unit, converts bio signal to digital signal; Be transferred to embedded microprocessor, be transferred to wireless sending module after the packaged.
- 4. method according to claim 1 and 2; It is characterized in that; Said step 2 specifically comprises: through the control end embedded microprocessor digital signal that the reception wireless mode sends is unpacked; Extract the brain electricity, eye electricity, attitude and the exercise data that can be used for target is controlled, and convert corresponding I/O control signal to.
- 5. method according to claim 1 and 2 is characterized in that, described target control end is realized the control to controlled object through the I/O control interface.
- 6. portable many signal acquisition and processing apparatus comprise: brain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module, hair band or the helmet and wireless sending module; Wherein, Brain electricity and electro-ocular signal acquisition processing module, motor message acquisition processing module link to each other with wireless sending module respectively; The EEG Processing module is fixed on the hair band or the helmet; The motor message acquisition processing module is fixed in operator's limb motion position, and wireless sending module is fixed in hair band or the helmet or limb motion position.
- 7. device according to claim 6; It is characterized in that; Portable many signal acquisition and processing apparatus also comprise first embedded microprocessor, and said brain electricity and electro-ocular signal acquisition processing module mainly comprise dried electrode sensor, brain electricity and electro-ocular signal Acquisition Processor; Wherein dried electrode sensor obtains brain electricity, eye electrical biological signals, through brain electricity and electro-ocular signal Acquisition Processor, converts bio signal to digital signal, is transferred to first embedded microprocessor, is transferred to wireless sending module after the packaged.
- 8. device according to claim 7 is characterized in that, described motor message acquisition processing module comprises attitude sensor, angular-rate sensor, acceleration transducer;Wherein obtain the limb motion signal, be transferred to first embedded microprocessor, be transferred to the wireless data sending module after the packaged again through attitude sensor, angular-rate sensor, acceleration transducer; Perhaps portable many signal acquisition and processing apparatus also comprise second embedded microprocessor; Obtain the limb motion signal through attitude sensor, angular-rate sensor, acceleration transducer; Be transferred to second embedded microprocessor, be transferred to the wireless data sending module after the packaged again.
- 9. device according to claim 7 is characterized in that, described dried electrode sensor has two at least, and one of them is positioned at the forehead position, and all the other are positioned at forehead or ear-lobe position.
- 10. device according to claim 6 is characterized in that, portable many signal acquisition and processing apparatus also comprise first embedded microprocessor, and said motor message acquisition processing module comprises attitude sensor, angular-rate sensor, acceleration transducer; Wherein obtain the limb motion signal, be transferred to first embedded microprocessor, be transferred to the wireless data sending module after the packaged again through attitude sensor, angular-rate sensor, acceleration transducer.
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