CN106406297A - Wireless electroencephalogram-based control system for controlling crawler type mobile robot - Google Patents
Wireless electroencephalogram-based control system for controlling crawler type mobile robot Download PDFInfo
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- 230000003340 mental effect Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 3
- 238000002360 preparation method Methods 0.000 abstract description 2
- 238000000605 extraction Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000003287 bathing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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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 belongs to the field of brain computer interface application control of motor imagery, and specifically relates to a wireless electroencephalogram-based control system for controlling a crawler type mobile robot. The wireless electroencephalogram-based control system for controlling the crawler type mobile robot includes eight conductive electrode caps used for detecting brain waves which collect and transmit brain waves, a wireless multi-parameter synchronizer that receives electroencephalogram signals, a mobile computing terminal that processes brain wave signals and sends control signals and the crawler type mobile robot that is wirelessly controlled, wherein the mobile computing terminal runs inside an algorithm analysis program that analyzes brain waves and a control program used for sending the electroencephalogram control signals to the crawler type mobile robot. The control system provided by the invention uses wireless head-mounted few-electrode cap to detect the brain waves, greatly simplifies preparation difficulty of brain wave detection without influencing a brain wave detection effect, and an equipment tester who wears the electrode caps can conveniently and freely rotate the head and neck.
Description
Technical field
The invention belongs to the brain computer interface application control field of Mental imagery is and in particular to a kind of be based on wireless brain electric control
The control system of caterpillar mobile robot.
Background technology
Realize controlling the trial of external equipment a lot of using brain-computer interface and using Mental imagery.But for ensureing to receive
The quality of E.E.G, existing a lot of methods are all based on wired E.E.G acquisition system, using the collection of multichannel E.E.G, therefore may be used
To be absorbed in the identification to E.E.G and sorting algorithm research.Such system actual not done well using scene of distance
Go out adjustment.When outside multivariant sports equipment is controlled by Mental imagery, multichannel E.E.G detecting electrode cap and because
Multi-channel detection and a lot of signal transmssion lines of being connected with analytical equipment can have a strong impact on range of activity and the equipment of the standby person of examination
Use scene.The standby person of examination can only control external equipment by Mental imagery, and is not easy to Real Time Observation external movement equipment
Motion simultaneously makes feedback control at any time, so that whole control becomes opened loop control rather than more stable closed loop control.Especially
It is to control this multivariant sports equipment of caterpillar mobile robot, the standby person of examination needs Real Time Observation mobile robot
State of doing exercises and environment about control the imagination to instruct rather than planned in advance to send to robot at any time
Instruction, the effect of at this moment closed loop control will be far better than opened loop control.
Content of the invention
It is an object of the invention to provide a kind of for the multivariant caterpillar mobile robot of real-time control based on
The control system of wireless brain electric control caterpillar mobile robot.
The object of the present invention is achieved like this：
A kind of control system based on wireless brain electric control caterpillar mobile robot, leads including 8 for detecting E.E.G
Electrode cap is collected brain wave and is sent brain wave, accepts the wireless multiple parameter lock unit of EEG signals, processes eeg signal
And send mobile computing terminal and the caterpillar mobile robot by controlled in wireless of control signal；Described mobile computing terminal
The control to the Algorithm Analysis program of analysis E.E.G with for brain electric control signal being issued caterpillar mobile robot for the internal operation
Processing procedure sequence.
Described eeg signal acquisition device is CM-3817-1035 electroencephalograpcap cap.
Described brain electricity wireless base station apparatus and wireless receiving EEG Amplifier Model are Neusen.W, are derived from for collecting
The EEG signals that electrode cap receives, after basic Filtering Processing, brain wave signal are transferred to wireless multiple parameter by wifi
Lock unit.
The described wireless multiple parameter lock unit model accepting EEG signals is Neusen.Triggerbox for receiving
The EEG signals sending from brain wave signal amplifier, and as eliminating the terminal of signal delay, after treatment, will eliminate wireless
The wireless brain wave data of transmission delay passes to mobile computing terminal through wired USB serial ports.
Described process eeg signal and to send the mobile computing terminal of control signal be one equipped with matlab2014a
The portable computer of above version software.
Described caterpillar mobile robot has two crawler belts in left and right to provide movement and the steering of robot, in front-wheel
Also has the crawler belt of a rotation, it, around front-drive, realizes the movement of complicated landform outside the crawler belt at place.
In whole E.E.G control system, the standby person of examination controls the linear rows of caterpillar mobile robot using Mental imagery
Walk, left and right turn and the rotation rotation of crawler belt and stopping.
The beneficial effects of the present invention is：
1st, detect E.E.G using the few electrodes cap of wireless head-band, big in the case of not affecting E.E.G Detection results
Simplify greatly the preparation difficulty of E.E.G detection, make the examination wearing electrode cap convenient can rotate incidence freely for person.
The detection E.E.G of few electrode also makes whole signal detection quality be easier control.
2nd, the feature extraction to discretization E.E.G information and classification are using the algorithm being specifically designed for few electrode brain wave signal.Pin
Make few electrode detection E.E.G system acceptable accurate, fast on the premise of reducing brain wave electrode the brain electric-examination method of determining and calculating of few electrode
Identify each action of Mental imagery fastly, reduce the peripheral equipment control based on E.E.G detection and transport in real work production
Difficulty.
3rd, the present invention can be used in remotely ground environment detection in real time it is possible to overcome complex ground face ring
Border.In addition, the present invention can be also used for supplemental training, for improving the Motor execution ability of trainer.
Brief description
Fig. 1 is the overall theory diagram of the present invention；
Fig. 2 is the external interface figure of the present invention final link caterpillar mobile robot.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings.
The invention discloses a kind of control system based on wireless brain electric control caterpillar mobile robot.System includes
EEG signal collecting unit, signal processing control unit and caterpillar mobile robot.EEG signal collecting unit includes 8 and leads brain electricity
Cap, EEG amplifier.Signal processing control unit includes wireless multiple parameter lock unit, mobile computing terminal.Left by Mental imagery
The movement combination of the right hand and left and right foot controls the rotation of the start and stop, left/right rotation and the rotatable crawler belt of front-wheel of caterpillar mobile robot
Turn.The present invention can be used in remotely ground environment detection in real time it is possible to overcome complex ground environment.In addition originally
Invention, because identifying the Mental imagery of 4 limbs, can be used for the executive capability of supplemental training human motion.
A kind of control system based on wireless brain electric control caterpillar mobile robot, including EEG signal collecting unit, believes
Number processing system, and caterpillar mobile robot.The wear-type brain electricity that described EEG signal collecting unit includes one 8 leading is adopted
Collection cap and a wireless EEG amplifier.Described signal processing system includes a wireless multiple parameter lock unit and a mobile meter
Calculate terminal.
Wear-type brain wave acquisition cap is led in described 8, and its outward appearance is similar to common bathing cap, in corresponding eeg signal acquisition
Position is provided with the wet electrode for gathering EEG signals.The 8 brain electric analoging signals leading the standby person of wear-type brain wave acquisition cap collection examination,
And signal is reached EEG amplifier by shorter wireline interface.
Described EEG amplifier, is positioned over 8 rear ends leading wear-type brain wave acquisition cap, and in examination, standby person correctly wears brain electricity
During collection cap, EEG amplifier is located at the back side of head portion of the standby person of examination.EEG amplifier uses Neusen.W model.The EEG of this species
Amplifier has small volume, lightweight, fast operation and the high feature of operational precision, and it uses at wireless wifi transmission
EEG signals to be sent after reason.The simulation EEG signals being gathered by brain wave acquisition cap are transferred in EEG amplifier, amplifier
It is carried out with denoising, amplifies and discretization, the brain wave digital quantity of final output numerical discretization, and passed through wifi signal
It is sent to wireless multiple parameter lock unit.
Described wireless multiple parameter lock unit, using Neusen.Triggerbox model.Inside this wireless multiple parameter lock unit
There is router feature, as the transmitting focus of wifi, send in real time wifi signal, in order to EEG amplifier by the brain of discretization
Electric signal transmission is to wireless multiple parameter lock unit.In addition, unlimited multiparameter lock unit can be after simulation EEG signals arrive, to it
Compensation is made in the delay of signal, to ensure to try the Visual Observations Observations point of standby person and the EEG signals in corresponding moment coupling.
Described mobile computing terminal is used for locating the dispersion number value EEG signals that reason wireless multiple parameter lock unit transmits.Move
Dynamic computing terminal is a portable computer, and computer internal operation is used for detecting and identify the algorithm routine of brain wave signal.Algorithm
Brain wave signal is carried out, after preliminary feature extraction, its feature being classified by program, draws the imagination of the standby person's Mental imagery of examination
Action.Imaginary Movement can be realized to crawler belt according to combining of action with the sequence incoming command control algolithm program of action
The real-time control of formula each kinestate of mobile robot.Sorting algorithm in the present invention can sort out both legs and both hands four
The Mental imagery of limbs, therefore compound mode are enriched with composite sequence, can control the equipment of multi-dimensional movement degree of freedom.
Described caterpillar mobile robot has four crawler belts, including every side respectively by the active force of two motor wheel drive
Crawler belt and by the rotatable crawler belt coaxially turning to wheel drive with front-wheel.Active force crawler belt is used for driving the advance of mobile robot,
Turn left and turn right；Rotatable crawler belt is used for reply needs to raise the complicated landform on mobile robot chassis, simultaneously as follower
Part coordinates the steering of active force crawler belt.The control instruction of caterpillar mobile robot it has been specified that it is stipulated that：One effectively controls
Instruction must be O (xxxx, yyyy, zzzz) form, and an above control instruction effectively and becomes a control bag.Wherein, institute
Instruction is had to be that the packet header in one effective control bag is capitalization English letter O with ASCII character communication.The symbol in bag is controlled to include
Number and comma be English DBC case.Xxxx, yyyy, zzzz are the kinestate of caterpillar robot different motion dimension respectively
Vertically.Xxxx is mobile robot straight-line travelling speed controlling numerical value, and scope is -038 to 0038, and on the occasion of for advancing forward, 0 is
Stop motion, negative value is to travel rearwardly.Yyyy controls numerical value for mobile robot turning velocity, and scope is -180 to 180, positive number
Represent and turn right, negative represents, absolute value is bigger, the corresponding turning velocity turning to is bigger.Zzzz is to control front-wheel rotatable
Crawler belt rotating speed controls numerical value, and scope is -115 to 114, vertical positive and negative represents different direction of rotation.Rotary speed controls
The PWM of command mappings to rotary electric machine drive module controls dutycycle, and absolute value is bigger, and the corresponding turning velocity turning to is faster.
Signal processing control unit uninterruptedly sends control instruction to outside every 500ms.Resting state or the without motion imagination control
During operation, signal processing control unit sends O (0000,0000, -001) to outside.
Based on the control system of wireless brain electric control caterpillar mobile robot, 8 lead E.E.G gathers the standby person's of cap collection examination
Mental imagery signal, collects original simulation brain wave signal, and be transferred to by physical signal line be fixed on brain electricity cap rear
EEG amplifier.After EEG amplifier accepts original analog EEG signals, it is filtered, by signal of blinking, invalid noise
Filter, subsequently filtering signal is amplified.Signal discrete finally will be amplified, wireless multiple parameter will be transferred to by wifi synchronous
Device.
Unlimited multiparameter lock unit accepts the discretization numerical value from EEG amplifier as wifi hotspot, according to set
The EEG signals that sequential is caused because transmitting brain wave data using wireless wifi with frequency compensation postpone skew.Wireless multiple parameter is same
Step device will gather, and the imagination of the brain wave data after filtering and discretization and examination standby person react to compensate and arrived after the agreement moment, just will mend
EEG signals after repaying pass through USB transmission wire transmission to mobile computing terminal.
Run, in mobile computing terminal, the sorting algorithm having exclusively for the brain wave acquisition Design of Signal under few passage, do not affect
On the premise of nicety of grading, the discrete EEG signals after compensating are carried out pretreatment, feature extraction and classification.Finally identify examination
Standby person's real-time Mental imagery action and Imaginary Movement sequence, and become control signal to be sent to control the information extracting to refer to
Make program.
The Mental imagery signal that the acceptance of control instruction program is gone out by sorting algorithm taxonomic revision, and according to following algorithm controls
For：
Left lower limb->Left hand, caterpillar mobile robot turns left；
Left lower limb->The right hand, caterpillar mobile robot is turned right；
Right lower limb->Left hand, the rotatable crawler belt of caterpillar mobile robot rotates forward；
Right lower limb->The right hand, the rotatable crawler belt of caterpillar mobile robot rotates backward；
Left lower limb->Right lower limb->Left lower limb->Right lower limb ..., i.e. continuous alternately imagination left and right lower limb motion, caterpillar mobile robot
Just march forward.
Finally, Mental imagery signal is converted into the control instruction to caterpillar mobile robot, and system will by serial ports
Control instruction is sent to bluetooth sending module.Bluetooth receptions module in bluetooth sending module and caterpillar mobile robot is
Pairing.Therefore, the bluetooth of caterpillar mobile robot installation that what bluetooth sending module will continue be sent to control instruction connects
Receive module.
Match with bluetooth sending module in signal processing system equipped with one inside caterpillar mobile robot
Bluetooth receptions module.This Bluetooth receptions Module-embedding in caterpillar mobile robot, in real time etc. to be received from bluetooth transmission
The control instruction of module, parses control instruction according to control protocol, and sends the PWM control of corresponding dutycycle to motor drive module
Signal processed, from real-time control caterpillar mobile robot.
Claims (7)
1. a kind of control system based on wireless brain electric control caterpillar mobile robot it is characterised in that：Including for detecting
The conductive polar cap in the 8 of E.E.G is collected brain wave and is sent brain wave, accepts the wireless multiple parameter lock unit of EEG signals, processes brain
Electric wave signal simultaneously sends mobile computing terminal and the caterpillar mobile robot by controlled in wireless of control signal；Described movement
Computing terminal internal operation is to the Algorithm Analysis program of analysis E.E.G with for brain electric control signal is issued crawler-type mobile machine
The control program of device people.
2. a kind of control system based on wireless brain electric control caterpillar mobile robot according to claim 1, it is special
Levy and be：Described eeg signal acquisition device is CM-3817-1035 electroencephalograpcap cap.
3. a kind of control system based on wireless brain electric control caterpillar mobile robot according to claim 1, it is special
Levy and be：Described brain electricity wireless base station apparatus and wireless receiving EEG Amplifier Model are Neusen.W, for collecting from electricity
The EEG signals that polar cap receives, after basic Filtering Processing, brain wave signal are transferred to wireless multiple parameter by wifi same
Step device.
4. a kind of control system based on wireless brain electric control caterpillar mobile robot according to claim 1, it is special
Levy and be：The described wireless multiple parameter lock unit model accepting EEG signals is Neusen.Triggerbox for receiving
The EEG signals sending from brain wave signal amplifier, and as eliminating the terminal of signal delay, after treatment, will eliminate wireless
The wireless brain wave data of transmission delay passes to mobile computing terminal through wired USB serial ports.
5. a kind of control system based on wireless brain electric control caterpillar mobile robot according to claim 1, it is special
Levy and be：Described process eeg signal and to send the mobile computing terminal of control signal be one equipped with matlab2014a
The portable computer of above version software.
6. a kind of control system based on wireless brain electric control caterpillar mobile robot according to claim 1, it is special
Levy and be：Described caterpillar mobile robot has two crawler belts in left and right to provide movement and the steering of robot, in front-wheel
Also has the crawler belt of a rotation, it, around front-drive, realizes the movement of complicated landform outside the crawler belt at place.
7. a kind of control system based on wireless brain electric control caterpillar mobile robot according to claim 1, it is special
Levy and be：In whole E.E.G control system, the standby person of examination controls the straight line moving of caterpillar mobile robot using Mental imagery,
The rotation of left and right turn and rotation crawler belt and stopping.
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| CN108498094A (en) * | 2018-03-29 | 2018-09-07 | 广东欧珀移动通信有限公司 | Brain wave information transmission and control method and Related product |
| CN108498094B (en) * | 2018-03-29 | 2021-06-01 | Oppo广东移动通信有限公司 | Brain wave information transmission control method and related product |
| CN112315744A (en) * | 2020-11-24 | 2021-02-05 | 中国医学科学院生物医学工程研究所 | Multi-degree-of-freedom cooperative movement upper limb exoskeleton instruction method based on motor imagery |
| CN114536361A (en) * | 2022-02-22 | 2022-05-27 | 上海睿触科技有限公司 | Brain-computer interface robot motion control method |
| CN115005780A (en) * | 2022-04-22 | 2022-09-06 | 北京秋满实医疗科技有限公司 | Control system based on wireless multifunctional monitor |
| CN115714832A (en) * | 2022-10-24 | 2023-02-24 | 南京航空航天大学 | Operation method of telephone dialing system based on steady-state visual evoked potential |
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