CN104216515A - Manned spacecraft noncontact operating and control method based on brain-computer interface - Google Patents
Manned spacecraft noncontact operating and control method based on brain-computer interface Download PDFInfo
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Abstract
The invention discloses a manned spacecraft noncontact operating and control method based on a brain-computer interface. The method is realized through an electroencephalogram signal collector (1), an electroencephalogram amplifier (2), a computer (3), a signal characteristic extraction module (4), a signal characteristic classifying module (5), a display module (6), an output instruction judging module (7) and an instruction output module (8). An astronaut fixes eyes on LED (Light Emitting Diode) instruction keys which flash in different frequencies, the electroencephalogram collection is performed through the electroencephalogram signal collector (1), an electroencephalogram signal is filtered and amplified by the electroencephalogram amplifier (2) and then enters the computer (3), the electroencephalogram signal is identified through the signal characteristic extraction module (4) and the signal characteristic classifying module (5), the identified signal is judged and selected, and a correct instruction is outputted to control a manned spacecraft. According to the method, the remote accurate input of the instruction can be realized, the bottle neck that the astronaut inconveniently operates an instruction bar in a far distance can be broken through, the controllability of the spacecraft can be improved, and the body of the astronaut can be protected.
Description
Technical field
The present invention relates to a kind of manned spaceship control method, particularly the contactless control method of a kind of manned spaceship based on brain-computer interface.
Background technology
Because space environment is abnormal severe, and in the overweight sense that the high acceleration of manned spaceship ascent stage brings, and the state of weightlessness in space environment, this manipulates all to spacefarer's instruction and brings very big inconvenience.At present, spacefarer is still and inputs by the mode of command bar or finger touching the manipulation that airship is carried out in instruction in cabin, and the misuse rate that airship causes instruction to input in the instability of space motion is high, meanwhile, can bring certain actual bodily harm to spacefarer.At present, both at home and abroad temporarily without the literature research of the contactless control method of manned spaceship.
Brain-computer interface technology is a kind of novel man-machine interaction mode, and it is directly processed brain neurological motion signal by computing machine or other electronic equipments, realizes communication and the control of human brain and computing machine or other electronic equipments.Brain-computer interface by gathering cerebral nerve signal, filtering, amplification, identification, classification, convert thereof into brain machine interface system steering order, and the control intention of outside transmission user.
Steady State Visual Evoked Potential is stimulated by mode light or Form Vision change Induced by Stimulation, and can collect obvious signal at corticocerebral occipitalia, and the spectrum signature peak value of signal is obvious, DNA extration is simple.Usual employing multi-frequency flicker stimulates, and the time interval of its stimulating module flicker is less than the time of VEP, and stimulates for each time the response caused to overlap in time.But Steady State Visual Evoked Potential extracts brain signal accuracy rate depends on people's oneself state, environment friendly and man-machine friendly.
Patent (201310542530.4) proposes the Automatic Control Web browser method based on brain-computer interface, utilize the position in P300 brain electric potential control webpage, utilize eye to move to confirm, utilize Steady State Visual Evoked Potential as the index of input, webpage is stirred up and down.Patent (201410103602.x) proposes the robot control method based on stable state vision inducting brain-machine interface, is detected, obtains the real-time control that EEG signals realizes robot by Steady State Visual Evoked Potential.Above method all have employed Steady State Visual Evoked Potential, but its visual stimulus point is less, therefore can ensure accuracy rate.The instruction key of manned spaceship is more, and the simple accuracy rate using Steady State Visual Evoked Potential that EEG signals can be caused to detect declines, and cannot ensure the stability to airship manipulation.
Summary of the invention
The object of the invention is to provide a kind of manned spaceship based on brain-computer interface contactless control method, solves command bar or points the problem that touching mode inputs instruction poor stability.
The contactless control method of manned spaceship based on brain-computer interface, its concrete steps are:
The first step builds the contactless control system in space based on brain-computer interface
The contactless control system in space based on brain-computer interface, comprising: eeg signal acquisition device, eeg amplifier, computing machine, signal characteristic abstraction module, signal characteristic sort module, display module, output order judge module and command output module.Described eeg signal acquisition device, comprising: brain electrode cap and data line.
The function of signal characteristic abstraction module is: be weighted summation as signal characteristic to the value at filtered EEG signals fundamental frequency and frequency multiplication place; The function of signal characteristic sort module is: carry out classification identification by the threshold value of setting to signal characteristic; The function of display module is: display spacefarer's EEG signals and instruction output valve; The function of output order judge module is: according to the output valve of display module display, and spacefarer is judged by select button the instruction correctness corresponding to the signal of classification identification and selects; The function of command output module is: export the instruction after selecting.
The electrode of brain electrode cap contacts with the scalp of spacefarer.Brain electrode cap is connected by data line with eeg amplifier, and eeg amplifier is connected by data line with computing machine, and signal characteristic abstraction module, signal characteristic sort module, display module, output order judge module are placed in computing machine.
Second step arranges the flicker frequency of LED instruction key
20 adjacent LED instruction keys are set to one group.Each LED instruction key has the LED of different frequency to glimmer, and using LED instruction key as visual stimulator, the flicker frequency often organizing LED instruction key is set to 6-15.5Hz, each LED instruction key frequency interval 0.5Hz, and adjacent LED instruction key frequency-splitting is set higher than 2Hz, ensures recognition accuracy.
3rd step spacefarer eeg signal acquisition and pre-service
Spacefarer brings brain electrode cap, and squeezes into conductive paste at brain electrode cap occipitalia 13 electrode T7, C3, Cz, C4, T8, P7, P3, Pz, P4, P8, O1, Oz and O2 places.Sight and visual cognitive ability are needing on the LED instruction key corresponding to instruction output by spacefarer.By the eeg signal acquisition of electrode cap to spacefarer, be sent to eeg amplifier from the EEG signals of brain electrode cap collection by data line, utilize the frequency outside bandpass filter removal 5-30Hz; Notch filter is utilized to remove power frequency 50Hz.Amplified by the voltage magnitude of eeg amplifier to EEG signals.
4th step EEG feature extraction
EEG signals, by pre-service and after amplifying, carries out Fast Fourier Transform (FFT).Occur peak value at the fundamental frequency of flicker frequency and frequency multiplication place, these peak values represent signal characteristic.The fundamental frequency of each frequency of stimulation and the value at frequency multiplication place are weighted summation, as the eigenwert of signal characteristic abstraction.
5th step EEG signals tagsort
Threshold value being set in signal characteristic sort module, if the signal characteristic number exceeding threshold value is 0,1 or 2, then reducing threshold value, until there are three signal characteristic values to exceed threshold value, getting these three signal characteristic values as exporting the alternative of judgement; If the number that eigenwert exceedes threshold value is more than or equal to 3, then get 3 signal characteristics that eigenwert is maximum.
6th step output order judge module determination right instructions
Shown on display module by sorted signal characteristic, and set the preferred rank of corresponding instruction key successively according to the size of eigenwert, spacefarer aligns true output order according to preferred rank and determines.
7th step command output module output order
Determine that the instruction corresponding to selection is strong as output order by display module, utilize ACK button to carry out confirmation command, thus carry out instruction output.
So far the contactless manipulation in space based on brain-computer interface is completed.
This method utilizes brain-computer interface technology to solve a difficult problem for spacefarer's manual control order set inconvenience, develop the noncontact instruction control system based on brain-computer interface, by Steady State Visual Evoked Potential system, utilize the flicker of instruction key different frequency, by the interactive training to spacefarer, can EEG signals corresponding to rapid extraction different instruction key, realize the long-range accurate input of instruction, break through spacefarer's teleinstruction lever operation not bottleneck easily.Significantly can promote the handling of airship, spacefarer's health be protected simultaneously.
Accompanying drawing explanation
In the contactless control method of a kind of manned spaceship based on brain-computer interface of Fig. 1, LED instruction key flicker frequency is arranged;
In the contactless control method of a kind of manned spaceship based on brain-computer interface of Fig. 2, head occipital region brain electrode is arranged;
Based on the schematic diagram of the contactless control system in space based on brain-computer interface in the contactless control method of a kind of manned spaceship based on brain-computer interface of Fig. 3.
1. eeg signal acquisition device 2. eeg amplifier 3. computing machine 4. signal characteristic abstraction module 5. signal characteristic sort module 6. display module 7. output order judge module 8. command output module.
Embodiment
The contactless control method of manned spaceship based on brain-computer interface, its concrete concrete steps are:
The first step builds the contactless control system in space of brain-computer interface
The contactless control system in space based on brain-computer interface, comprising: eeg signal acquisition device 1, eeg amplifier 2, computing machine 3, signal characteristic abstraction module 4, signal characteristic sort module 5, display module 6, output order judge module 7 and command output module 8.Described eeg signal acquisition device 1, comprising: brain electrode cap and data line.
The function of signal characteristic abstraction module 4 is: be weighted summation as signal characteristic to the value at filtered EEG signals fundamental frequency and frequency multiplication place; The function of signal characteristic sort module 5 is: carry out classification identification by the threshold value of setting to signal characteristic; The function of display module 6 is: display spacefarer's EEG signals and instruction output valve; The function of output order judge module 7 is: the output valve shown according to display module 6, and spacefarer is judged by select button the instruction correctness corresponding to the signal of classification identification and selects; The function of command output module 8 is: export the instruction after selecting.
The electrode of brain electrode cap contacts with the scalp of spacefarer.Brain electrode cap is connected by data line with eeg amplifier 2, and eeg amplifier 2 is connected by data line with computing machine 3, and signal characteristic abstraction module 4, signal characteristic sort module 5, display module 6, output order judge module 7 are placed in computing machine 3.
Second step arranges the flicker frequency of LED instruction key 1
LED instruction key 1 is set to 20 often groups, and carries out region segmentation according to different groups.Each LED instruction key 1 has the LED of different frequency to glimmer, and it can be used as visual stimulator, the flicker frequency often organizing LED instruction key 1 is set to 6-15.5Hz, each LED instruction key 1 frequency interval 0.5Hz, and adjacent LED instruction key 1 frequency-splitting is not less than 2Hz, ensure recognition accuracy, as shown in Figure 1.
3rd step spacefarer eeg signal acquisition and pre-service
Spacefarer brings brain electrode cap, and squeezes into conductive paste at electrode cap occipitalia 13 electrode T7, C3, Cz, C4, T8, P7, P3, Pz, P4, P8, O1, Oz and O2 places, as shown in Figure 2.Sight and visual cognitive ability are needing on the LED instruction key corresponding to instruction output by spacefarer.By the eeg signal acquisition of electrode cap to spacefarer, the EEG signals from brain electrode cap collection is sent in eeg amplifier 4 by data line, utilizes the frequency outside bandpass filter removal point 5-30Hz; Notch filter is utilized to remove power frequency 50Hz.Amplified by eeg amplifier 4 pairs of EEG signals voltage magnitudes.
4th step EEG feature extraction
EEG signals, by pre-service and amplification, carries out Fast Fourier Transform (FFT) to it in signal characteristic abstraction module 6.There will be obvious peak value at the fundamental frequency of frequency of stimulation and frequency multiplication place, these peak values represent frequency of stimulation.The fundamental frequency of each frequency of stimulation and the value at frequency multiplication place are weighted summation, can as the eigenwert of signal characteristic abstraction.
5th step EEG signals tagsort
Threshold value being set in signal characteristic sort module 7, if the signal characteristic number exceeding threshold value is 0,1 or 2, then reducing threshold value, until there are three signal characteristic values to exceed threshold value, getting these three as exporting the alternative of judgement; If the number that eigenwert exceedes threshold value is more than or equal to 3, then get 3 signal characteristics that eigenwert is maximum.
6th step output order judge module 7 determines right instructions
Shown on display module 6 by sorted signal characteristic, and set the preferred rank of corresponding instruction key successively according to the size of eigenwert, spacefarer aligns true output order according to preferred rank and determines.
7th step command output module 8 output order
Determine that the instruction corresponding to selection is strong as output order by display module 6, utilize ACK button to carry out confirmation command, thus carry out instruction output.
So far the contactless manipulation in space based on brain-computer interface is completed.
Claims (1)
1., based on the contactless control method in space of brain-computer interface, it is characterized in that concrete steps are:
The first step builds the contactless control system in space based on brain-computer interface
The contactless control system in space based on brain-computer interface, comprising: eeg signal acquisition device (1), eeg amplifier (2), computing machine (3), signal characteristic abstraction module (4), signal characteristic sort module (5), display module (6), output order judge module (7) and command output module (8); Described eeg signal acquisition device (1), comprising: brain electrode cap and data line;
The function of signal characteristic abstraction module (4) is: be weighted summation as signal characteristic to the value at filtered EEG signals fundamental frequency and frequency multiplication place; The function of signal characteristic sort module (5) is: carry out classification identification by the threshold value of setting to signal characteristic; The function of display module (6) is: display spacefarer's EEG signals and instruction output valve; The function of output order judge module (7) is: the output valve shown according to display module (6), is judged by select button and selects the instruction correctness corresponding to the signal of classification identification; The function of command output module (8) is: export the instruction after selecting;
The electrode of brain electrode cap contacts with the scalp of spacefarer; Brain electrode cap is connected by data line with eeg amplifier (2), eeg amplifier (2) is connected by data line with computing machine (3), and signal characteristic abstraction module (4), signal characteristic sort module (5), display module (6), output order judge module (7) are placed in computing machine (3);
Second step arranges the flicker frequency of LED instruction key
20 adjacent LED instruction keys are set to one group; Each LED instruction key has the LED of different frequency to glimmer, and using LED instruction key as visual stimulator, the flicker frequency often organizing LED instruction key is set to 6-15.5Hz, each LED instruction key frequency interval 0.5Hz, and adjacent LED instruction key frequency-splitting is set higher than 2Hz, ensures recognition accuracy;
3rd step spacefarer eeg signal acquisition and pre-service
Spacefarer brings brain electrode cap, and squeezes into conductive paste at brain electrode cap occipitalia 13 electrode T7, C3, Cz, C4, T8, P7, P3, Pz, P4, P8, O1, Oz and O2 places; Sight and visual cognitive ability are being needed on the LED instruction key corresponding to instruction output; By the eeg signal acquisition of electrode cap to spacefarer, be sent to eeg amplifier (2) by data line from the EEG signals of brain electrode cap collection, utilize the frequency outside bandpass filter removal 5-30Hz; Notch filter is utilized to remove power frequency 50Hz; Amplified by eeg amplifier (2) voltage magnitude to EEG signals;
4th step EEG feature extraction
EEG signals, by pre-service and after amplifying, carries out Fast Fourier Transform (FFT); Occur peak value at the fundamental frequency of flicker frequency and frequency multiplication place, these peak values represent signal characteristic; The fundamental frequency of each frequency of stimulation and the value at frequency multiplication place are weighted summation, as the eigenwert of signal characteristic abstraction;
5th step EEG signals tagsort
Threshold value being set in signal characteristic sort module (5), if the signal characteristic number exceeding threshold value is 0,1 or 2, then reducing threshold value, until there are three signal characteristic values to exceed threshold value, getting these three signal characteristic values as exporting the alternative of judgement; If the number that eigenwert exceedes threshold value is more than or equal to 3, then get 3 signal characteristics that eigenwert is maximum;
6th step output order judge module (7) determines right instructions
By sorted signal characteristic in the upper display of display module (6), and set the preferred rank of corresponding instruction key successively according to the size of eigenwert, spacefarer aligns true output order according to preferred rank and determines;
7th step command output module (8) output order
Determine that the instruction corresponding to selection is strong as output order by display module (6), utilize ACK button to carry out confirmation command, thus carry out instruction output;
So far the contactless manipulation in space based on brain-computer interface is completed.
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