CN108536169A - Brain control UAV system based on carbon nanotube high score sub-electrode and control method - Google Patents
Brain control UAV system based on carbon nanotube high score sub-electrode and control method Download PDFInfo
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- CN108536169A CN108536169A CN201810396511.8A CN201810396511A CN108536169A CN 108536169 A CN108536169 A CN 108536169A CN 201810396511 A CN201810396511 A CN 201810396511A CN 108536169 A CN108536169 A CN 108536169A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of brain control UAV system based on carbon nanotube high score sub-electrode, including：Electroencephalogramsignal signal acquisition module instructs corresponding EEG signals by the different operation that umbrella frame shape electrode acquisition operations person independently imagines；EEG signals filtering, feature extraction and tagsort are obtained the optimal characteristics of EEG signals by EEG Processing module；Control instruction is generated searches unmanned aerial vehicle (UAV) control instruction set database, obtains the corresponding unmanned aerial vehicle (UAV) control of the EEG signals and instruct and export with feedback training module according to the optimal characteristics received；UAV system receives unmanned aerial vehicle (UAV) control and instructs and carry out corresponding operation.The present invention also provides a kind of control methods of the brain control UAV system based on carbon nanotube high score sub-electrode.Beneficial effects of the present invention：The mechanical property, noise acoustic ratio characteristic and sensing capability of electrode are improved, is paid close attention in real time without operator and induces signal, the autonomous control to unmanned plane is realized with smaller brain task expense.
Description
Technical field
The present invention relates to air vehicle technique fields, in particular to a kind of brain based on carbon nanotube high score sub-electrode
Control UAV system and control method.
Background technology
Brain electricity is the direct exterior representations of central nervous system command signal, can reflect the work of cerebral cortex different zones
Dynamic state establishes correspondence between EEG signals and specific behavior, i.e., brain power mode identifies, can be used to detect by analysis
The intention that people to be expressed more direct, quickly and accurately can be passed to people by physiology, psychological condition or the motion intention of people
Work intelligence system or other external equipments with executive capability；On the other hand, electro photoluminescence can regulate and control electrical activity of brain pattern, after
And the person of being stimulated experiences this stimulation.This control strategy is such as used for unmanned aerial vehicle (UAV) control, utilizes hand-held distant with current
It is more natural, efficient to control device control unmanned plane.If simultaneously can be by the flight position of unmanned plane, posture or the target checked
Information feeds back to operator by electro photoluminescence, and operator is made just to make a policy to the control of next step.By training, operator is just
It is the same not necessarily like current unmanned aerial vehicle (UAV) control personnel, concentrate whole attentions to be controlled in target homing and to the flight of unmanned plane
On, it is thus only necessary to it spends small part energy to control unmanned plane, makes " 6th sense " and " invisible hand " of operator.
The wearing of traditional brain wave acquisition technology generally use wet electrode technology, this electrode needs other people to assist, cannot
It uses for a long time, these deficiencies limit its application in military aspect；Dry electrode brain is easy to wear, but be easier by movement and
Environmental disturbances, the signal qualities of acquired brain electricity such as contact be not high, it is difficult to provide signal-to-noise ratio higher EEG signals.Research tool
Have with the comparable signal-to-noise ratio of wet electrode but wearing easily dry electrode become brain Denso standbyization vital task.With acquisition system
Development compare, serious by environmental disturbances although EEG signals are faint, the analysis of EEG signals and mode identification technology develop phase
To maturation, accuracy and speed all very high identification and control can be made in laboratory environment.Therefore can wear and use,
Dry electrode with good acquisition capacity is the key core skill that research and development are suitble to battlefield movement environment hypencephalon control weapon or unmanned plane
Art.
In addition, traditional unmanned plane intersection control routine device is huge, need the equipment for carrying and wearing more, operation is multiple
Miscellaneous, needing one to two soldiers, specially identification figure image and control are flown, and are disappeared and are affected operating efficiency and the battlefield existence of soldier
Power.
Invention content
To solve the above problems, the purpose of the present invention is to provide a kind of brain control based on carbon nanotube high score sub-electrode without
Man-machine system and control method improve the mechanical property, noise acoustic ratio characteristic and sensing capability of electrode, real without controllers
When concern induce signal, the autonomous control to unmanned plane is realized with smaller brain task expense.
The present invention provides a kind of brain control UAV system based on carbon nanotube high score sub-electrode, including：
Electroencephalogramsignal signal acquisition module comprising the umbrella frame shape electrode in attaching and operator's scalp and portable 8 channel
Amplifier, the EEG signals corresponding to different operation instruction independently imagined by the umbrella frame shape electrode acquisition operations person, and
EEG signals are sent into portable 8 channel amplifier to be amplified and A/D conversions；
EEG Processing module, will amplification and the transformed EEG signals of A/D be filtered, feature extraction and feature
Classification is handled, and tells the action intention for causing operator's brain Electrical change, it is corresponding under different operational orders to obtain operator
The optimal characteristics of EEG signals；
Control instruction generates and feedback training module, and the optimal characteristics of EEG signals will be corresponded under different operational orders
It is stored in instruction operation set database, and the unmanned aerial vehicle (UAV) control instruction corresponding to operational order is stored in unmanned aerial vehicle (UAV) control and is referred to
It enables in collection database, acquisition operator's operational order corresponds to pair between the optimal characteristics of EEG signals and unmanned aerial vehicle (UAV) control instruction
It should be related to, and operational order that operator independently imagines and the instruction of corresponding unmanned aerial vehicle (UAV) control and UAV system are executed into control
The implementing result of system instruction feeds back to operator with word and diagrammatic form, corresponding according to the EEG signals for receiving operator
Optimal characteristics, and according to unmanned aerial vehicle (UAV) control instruction set database described in described instruction operation set database lookup, obtain brain electricity
Unmanned aerial vehicle (UAV) control instruction corresponding to signal, and the unmanned aerial vehicle (UAV) control is instructed and is exported；
UAV system is used to receive different unmanned aerial vehicle (UAV) control instructions, and carries out corresponding operation.
As further improvement of the invention, the umbrella frame shape electrode is carbon nanotube macromolecule composite array electrode.
As further improvement of the invention, the preparation method of the carbon nanotube macromolecule composite array electrode is：
Step S1, carbon nano pipe array is immersed in monomer solution to polymerize again and is prepared into carbon nanotube macromolecule composite wood
Material；It is prepared into carbon nano tube compound material or, carbon nano pipe array is directly immersed in Polymer Solution or melt；
Carbon nanotube polymer composite is prepared into multiple by step S2 in conjunction with electrode impedance, elasticity and weight requirements
Film is closed, and according to the orientation texture of carbon nanotube and required composite array thickness of electrode and its surface composition and structure,
It will be deposited on laminated film with the thin metal layer that conductive base is in electrical contact using thin film deposition processes, be prepared into carbon nanotube height
Molecule composite array electrode；
In above-mentioned preparation method, macromolecule absorbs into carbon nanotube gap by physical method, or by chemical anti-
It should be linked to carbon nano tube surface, form carbon nanotube polymer composite；Wherein, for the preparation process of chemical reaction,
By strong acid oxidation or plasma processing techniques, so that carbon nano tube surface is modified certain functional group, then with second group
Part functional group of itself occurs chemical reaction and realizes macromolecule and enter linking for carbon nanotube.
As further improvement of the invention, the EEG Processing module includes：
Preprocessing module, be used to remove after amplification and A/D conversions clutter, the eye electricity, electrocardio of power frequency in EEG signals with
And the artefact of electromyography signal；
Characteristic extracting module, being used to from the EEG signals after removal artefact extract can reflect that operator's difference is transported
Dynamic or thinking mistake area brain electrical feature signal, and it is converted into input of the feature vector as grader；
Tagsort module is used to find one with the discriminant function that feature vector is input, by different brain telecommunications
Number carry out tagsort, obtain the relationship between different movements or thinking mistake area and brain electrical feature signal.
As further improvement of the invention, believed to remove myoelectricity using sef-adapting filter in the preprocessing module
Number, electro-ocular signal is removed using independent component analysis, electrocardiosignal and white noise are removed using wavelet analysis, i.e., respectively from frequency
Domain, statistics and time domain and Time-Frequency Analysis Method filter out the electricity of the eye in EEG signals, electrocardio and electromyography signal.
Improved as of the invention further, in the tagsort module using AR models, power spectrum, centre frequency,
One or more combinations in high-order Power estimation or Alpha asymmetry classify to the linear character of EEG signals, use
One or more combinations in approximate entropy, complexity, singular spectrum, Liapunov exponent to the nonlinear characteristics of EEG signals into
Row classification.
The present invention also provides a kind of control method of the brain control UAV system based on carbon nanotube high score sub-electrode, packets
Include following steps：
Step 1, umbrella frame shape electrode is attached on operator's scalp；
Step 2, operator starts independently to imagine operational order；
Step 3, the EEG signals corresponding to operational order that the umbrella frame shape electrode acquisition operations person independently imagines, and will
EEG signals are sent into portable 8 channel amplifier and are amplified and A/D conversions；
Step 4, the EEG Processing module in portable computer will amplify and the transformed EEG signals of A/D carry out
Filtering, feature extraction and tagsort processing tell the action intention for causing operator's brain Electrical change, obtain operator at this
The optimal characteristics of EEG signals are corresponded under operational order；
Step 5, the correspondence between the optimal characteristics corresponding to the operational order and unmanned aerial vehicle (UAV) control instruction,
The control instruction of the portable computer generates and searches unmanned aerial vehicle (UAV) control instruction set database in feedback training module, obtains
Unmanned aerial vehicle (UAV) control instruction corresponding to the EEG signals, and the unmanned aerial vehicle (UAV) control is instructed and is exported；
Step 6, UAV system receives the unmanned aerial vehicle (UAV) control instruction of output, and carries out corresponding operation.
As further improvement of the invention, between optimal characteristics and unmanned aerial vehicle (UAV) control corresponding to operational order instruct
Correspondence is to establish to obtain in advance, specially：
The EEG signals corresponding to different operation instruction that acquisition operations person independently imagines, and by operator in different behaviour
It instructs down, the optimal characteristics of corresponding EEG signals are respectively stored in instruction operation set database；
By operator under different operational orders, corresponding unmanned aerial vehicle (UAV) control instruction is respectively stored in unmanned aerial vehicle (UAV) control and refers to
It enables in collection database；
Respectively by operator under each operational order, corresponding brain electrical feature is corresponding with unmanned aerial vehicle (UAV) control instruction foundation
Relationship.
As further improvement of the invention, step 6 further includes：
The operational order that operator is independently imagined unmanned aerial vehicle (UAV) control instruction corresponding with its and UAV system execute
The implementing result of control instruction feeds back to operator with word and diagrammatic form, operator according to feedback information to operation scheme into
Row is corresponding to be adjusted；
Meanwhile UAV system according to the unmanned aerial vehicle (UAV) control instruction received and the case where different operation person to the side of execution
Case is adjusted accordingly.
Beneficial effects of the present invention are：
1, using can quickly dressing, comfort level is high, is suitble to the carbon nanotube high score sub-electrode used for a long time, compared to
Traditional dry electrode, improves mechanical property, improves the noise acoustic ratio characteristic and sensing capability of electrode, and reduces to operator
The damage of scalp；
2, according to the feature of control signal, corresponding filtering and Denoising Algorithm are devised, by the study of continuous algorithm and
Tested training improves the accuracy of action intention assessment, reduces the time delay of control；
3, acquisition unmanned plane operator is by independently imagining, rather than the common evoked brain potential signal of other brain-computer interfaces is such as
The advantages of P300 or SSVEP flies to control, this brain-computer interface normal form is to pay close attention to induce signal in real time without controllers,
The autonomous control to unmanned plane is realized with smaller brain task expense.
Description of the drawings
Fig. 1 is a kind of control of brain control UAV system based on carbon nanotube high score sub-electrode described in the embodiment of the present invention
The flow diagram of method processed.
Specific implementation mode
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the present invention.
Embodiment 1, a kind of brain control UAV system based on carbon nanotube high score sub-electrode of the embodiment of the present invention, packet
It includes：
Electroencephalogramsignal signal acquisition module comprising the umbrella frame shape electrode in attaching and operator's scalp and portable 8 channel
Amplifier, the corresponding EEG signals of the different operation instruction independently imagined by umbrella frame shape electrode acquisition operations person, and by brain
Electric signal is sent into portable 8 channel amplifier and is amplified and A/D conversions；
EEG Processing module, will amplification and the transformed EEG signals of A/D be filtered, feature extraction and feature
Classification is handled, and tells the action intention for causing operator's brain Electrical change, it is corresponding under different operational orders to obtain operator
The optimal characteristics of EEG signals；
Control instruction generates and feedback training module, and the optimal characteristics of EEG signals will be corresponded under different operational orders
It is stored in instruction operation set database, and the unmanned aerial vehicle (UAV) control instruction corresponding to operational order is stored in unmanned aerial vehicle (UAV) control and is referred to
It enables in collection database, acquisition operator's operational order corresponds to pair between the optimal characteristics of EEG signals and unmanned aerial vehicle (UAV) control instruction
It should be related to, and operational order that operator independently imagines and the instruction of corresponding unmanned aerial vehicle (UAV) control and UAV system are executed into control
The implementing result of system instruction feeds back to operator with word and diagrammatic form, when receiving a certain EEG signals of operator, root
According to instruction operation set database lookup unmanned aerial vehicle (UAV) control instruction set database, the unmanned aerial vehicle (UAV) control corresponding to the EEG signals is obtained
Instruction, and the unmanned aerial vehicle (UAV) control is instructed and is exported；
UAV system is used to receive different unmanned aerial vehicle (UAV) control instructions, and carries out corresponding operation.
Traditional dry electrode device is to be based on the materials such as metal, big by electromagnetic interference；Without elasticity, connect with scalp hardness
It touches, electrode impedance is high, wearing can be sayed without comfort；Young modulus of material is big, hardness is high, is worn under the helmet, battlefield surroundings
Under be easy to press against brokenly or even embedded soldier's scalp；Density of material is high, weight is big, it is difficult to lightweight.In the present invention, umbrella frame shape electrode is
Carbon nanotube macromolecule composite array electrode.Novel carbon nano tube sensor, by the excellent mechanical property of carbon nanotube, high
Table body ratio characteristic and good electrical characteristics are combined with polymer, itself is flexible good, is flexible contact with scalp, have big connect
Table body ratio is touched, impedance is low；Size is small, light-weight.The electrode structure of umbrella frame dress arrangement can be in a thin slice when receiving pressure
Shape is attached on scalp, can be damaged to scalp utmostly reducing the when of being impacted by the helmet.
The preparation method of carbon nanotube macromolecule composite array electrode is：
Step S1, carbon nano pipe array is immersed in monomer solution to polymerize again and is prepared into carbon nanotube macromolecule composite wood
Material；It is prepared into carbon nano tube compound material or, carbon nano pipe array is directly immersed in Polymer Solution or melt；
Carbon nanotube polymer composite is prepared into multiple by step S2 in conjunction with electrode impedance, elasticity and weight requirements
Film is closed, and according to the orientation texture of carbon nanotube and required composite array thickness of electrode and its surface composition and structure,
It will be deposited on laminated film with the thin metal layer that conductive base is in electrical contact using thin film deposition processes, be prepared into carbon nanotube height
Molecule composite array electrode；
In above-mentioned preparation method, macromolecule absorbs into carbon nanotube gap by physical method, or by chemical anti-
It should be linked to carbon nano tube surface, form carbon nanotube polymer composite；Wherein, for the preparation process of chemical reaction,
By strong acid oxidation or plasma processing techniques, so that carbon nano tube surface is modified certain functional group, then with second group
Part functional group of itself occurs chemical reaction and realizes macromolecule and enter linking for carbon nanotube.
Traditional unmanned plane intersection control routine device is huge, needs the equipment for carrying and wearing more, complicated for operation, needs
One to two soldiers specially recognize figure image and control is flown, and disappear and affect the operating efficiency and battlefield viability of soldier.It compares
Under, the brain control unmanned plane of the application, it is ensured that the freely activity at any time of hand, the burst thing that timely processing may occur at any time
Part；Compared with traditional operation, brain control output has more Timing Advances, can oppose one soon on fast changing battlefield
Step, reaches preemptive effect.
Specifically, when realizing, EEG Processing module includes：
Preprocessing module, be used to remove after amplification and A/D conversions clutter, the eye electricity, electrocardio of power frequency in EEG signals with
And the artefact of electromyography signal；
Characteristic extracting module, being used to from the EEG signals after removal artefact extract can reflect that operator's difference is transported
Dynamic or thinking mistake area brain electrical feature signal, and it is converted into input of the feature vector as grader；
Tagsort module is used to find one with the discriminant function that feature vector is input, by different brain telecommunications
Number carry out tagsort, obtain the relationship between different movements or thinking mistake area and brain electrical feature signal.
EEG signals be usually quite it is faint, amplitude it is minimum in 10 microvolts hereinafter, therefore extraneous and internal noise all
It will influence normal bio electric signal to obtain, or even the signal between different lead can also influence each other noise each other.EEG signals are adopted
Also include the interference signals such as blink, eye electricity, myoelectricity, electrocardio other than the EEG signals for analysis during collection, these
Interference signal has with EEG signals overlapping on time-domain and frequency-domain, how to be effectively removed noise to follow-up point of EEG signals
Analysis has direct meaning.
In the present invention, basic FIR filtering, wavelet analysis, wavelet packet analysis, isolated component point are utilized in preprocessing module
The scheduling algorithms such as analysis, adaptive-filtering, regression model filter out the noise of aliasing in corresponding EEG signals.For example, using adaptive
Filter is answered to remove electromyography signal, electro-ocular signal is removed using independent component analysis, electrocardiosignal is removed using wavelet analysis
And white noise, i.e., respectively from frequency domain, statistics and time domain and Time-Frequency Analysis Method filter out the eye in EEG signals electricity, electrocardio and
Electromyography signal.
Using in AR models, power spectrum, centre frequency, high-order Power estimation or Alpha asymmetry in tagsort module
One or more combinations classify to the linear character of EEG signals, using approximate entropy, complexity, singular spectrum, Li Yapu
One or more combinations in promise husband's index classify to the nonlinear characteristic of EEG signals.
Control instruction is generated with feedback training module, and after signal processing, unmanned plane operator is intended by dynamic
Work is intended to be parsed out, these are intended to need to be converted to control signal, are operated and are controlled to unmanned plane.Turning
It when changing, needs to be designed according to the actual needs situation of operator, the control signal of output, will also be done because of unmanned plane
Difference acts difference.If desired various control signal is generated, to carry out the manipulation of compound action to it, it is necessary to carry out
Experimental exploration, finding more can identified brain electrical feature and combinations thereof.It is operational order in a certain action of operator's imagination
While, portable computer collects its eeg data and carries out background process.For example, can confirm behaviour with blink to represent
Make.Correspondence between this operational order for just needing to establish operator and unmanned aerial vehicle (UAV) control instruction.On this basis, with number
One-to-one relationship is set up according between the optimal characteristics obtained after processing and unmanned aerial vehicle (UAV) control instruction.The present invention needs to establish two
A database：Instruct operation set database and unmanned aerial vehicle (UAV) control instruction set database.Instruct operation set database purchase operator
Under different operational orders, the optimal characteristics of corresponding EEG signals.Unmanned aerial vehicle (UAV) control instruction set database is directed to different nothings
Human-machine Control instructs, and stores corresponding data, such as advance, retrogressing, the up and down operations to unmanned plane may be implemented.
According to instruction operation set database lookup unmanned aerial vehicle (UAV) control instruction set database, and then the behaviour of brain control UAV system may be implemented
Make.
For the performance of Optimal Control System, its applicability is improved, the present invention generates and feedback training mould in control instruction
Feedback regulation unit is added in block.Some parameters of control command and the executive condition of order are fed back to operation in real time
In face of member.In this way, being conducive to operator according to oneself state and command execution results, operation scheme is adjusted.Meanwhile nothing
Some parameters can also accordingly be adjusted according to the case where different operation person in man-machine control system, make operator and nobody
Machine can be adapted to each other, to promote the performance of whole system.
For different operators, the result that information merges can slightly have difference, therefore, brain control of the invention nobody
Machine system formulates some operation standards firstly the need of to operator in use, and the model established to system does training, in training
The parameter of system model is adjusted in the process, is adapted to each other so as to reach between operator and unmanned plane.Feedback regulation unit
After result is transferred to operator with information such as word, charts, operator can be adjusted the operation of oneself according to result.Behaviour
The advantages of needing to know which kind of idea can control the movement of unmanned plane whichaway, feedback is added as member：1, duration is encouraged
The power of experiment, the experiment that can't see result is depressing, and constantly seeing oneself can manipulate unmanned plane with idea and be moved towards destination
It is dynamic to be undoubtedly a kind of huge excitation；2, the attention for inhaling operator, constantly has progressed, operator can be made interested again, paid attention to
Power is not easy to disperse；3, signal processing module is provided feedback to, the stability and accuracy of entire brain control system are enhanced.
Embodiment 2, a kind of control of brain control UAV system based on carbon nanotube high score sub-electrode of the embodiment of the present invention
Method processed, as shown in Figure 1, including the following steps：
Step 1, umbrella frame shape electrode is attached on operator's scalp；
Step 2, operator starts independently to imagine operational order；
Step 3, the EEG signals corresponding to operational order that umbrella frame shape electrode acquisition operations person independently imagines, and brain is electric
Signal is sent into portable 8 channel amplifier and is amplified and A/D conversions；
Step 4, the EEG Processing module in portable computer will amplify and the transformed EEG signals of A/D carry out
Filtering, feature extraction and tagsort processing tell the action intention for causing operator's brain Electrical change, obtain operator at this
The optimal characteristics of EEG signals are corresponded under operational order；
Step 5, the correspondence between the optimal characteristics corresponding to the operational order and unmanned aerial vehicle (UAV) control instruction,
The control instruction of portable computer generates and searches unmanned aerial vehicle (UAV) control instruction set database in feedback training module, obtains the brain
Unmanned aerial vehicle (UAV) control instruction corresponding to electric signal, and the unmanned aerial vehicle (UAV) control is instructed and is exported；
Step 6, UAV system receives the unmanned aerial vehicle (UAV) control instruction of output, and carries out corresponding operation.
Wherein, the correspondence between the optimal characteristics corresponding to operational order and unmanned aerial vehicle (UAV) control instruction is to establish in advance
It obtains, namely is obtained by many experiments data, specially：
The EEG signals corresponding to different operation instruction that acquisition operations person independently imagines, and by operator in different behaviour
It instructs down, the optimal characteristics of corresponding EEG signals are respectively stored in instruction operation set database；
By operator under different operational orders, corresponding unmanned aerial vehicle (UAV) control instruction is respectively stored in unmanned aerial vehicle (UAV) control and refers to
It enables in collection database；
Respectively by operator under each operational order, corresponding brain electrical feature is corresponding with unmanned aerial vehicle (UAV) control instruction foundation
Relationship.
Further, present invention adds feedback step, step 6 further includes：
The operational order that operator is independently imagined unmanned aerial vehicle (UAV) control instruction corresponding with its and UAV system execute
The implementing result of control instruction feeds back to operator with word and diagrammatic form, operator according to feedback information to operation scheme into
Row is corresponding to be adjusted；
Meanwhile UAV system according to the unmanned aerial vehicle (UAV) control instruction received and the case where different operation person to the side of execution
Case is adjusted accordingly.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of brain control UAV system based on carbon nanotube high score sub-electrode, which is characterized in that including：
Electroencephalogramsignal signal acquisition module comprising umbrella frame shape electrode and portable 8 channel in attaching and operator's scalp amplify
Device, the corresponding EEG signals of the different operation instruction independently imagined by the umbrella frame shape electrode acquisition operations person, and by brain
Electric signal is sent into portable 8 channel amplifier and is amplified and A/D conversions；
EEG Processing module, will amplification and the transformed EEG signals of A/D be filtered, feature extraction and tagsort
The action intention for causing operator's brain Electrical change is told in processing, is obtained operator and is corresponded to brain electricity under different operational orders
The optimal characteristics of signal；
Control instruction generates and feedback training module, and the optimal characteristics that EEG signals will be corresponded under different operational orders store
It is stored in unmanned aerial vehicle (UAV) control instruction set in instructing operation set database, and by the unmanned aerial vehicle (UAV) control instruction corresponding to operational order
In database, acquisition operator's operational order corresponds to the corresponding pass between the optimal characteristics of EEG signals and unmanned aerial vehicle (UAV) control instruction
System, and operational order that operator independently imagines and the instruction of corresponding unmanned aerial vehicle (UAV) control and UAV system are executed into control and referred to
The implementing result of order feeds back to operator with word and diagrammatic form, corresponding optimal according to the EEG signals for receiving operator
Feature, and according to unmanned aerial vehicle (UAV) control instruction set database described in described instruction operation set database lookup, obtain the EEG signals
Corresponding unmanned aerial vehicle (UAV) control instruction, and the unmanned aerial vehicle (UAV) control is instructed and is exported；
UAV system receives different unmanned aerial vehicle (UAV) control instructions, and carries out corresponding operation.
2. brain control UAV system according to claim 1, which is characterized in that the umbrella frame shape electrode is that carbon nanotube is high
Molecule composite array electrode.
3. brain control UAV system according to claim 2, which is characterized in that the carbon nanotube macromolecule composite array
The preparation method of electrode is：
Step S1, carbon nano pipe array is immersed in monomer solution to polymerize again and is prepared into carbon nanotube polymer composite；
It is prepared into carbon nano tube compound material or, carbon nano pipe array is directly immersed in Polymer Solution or melt；
Carbon nanotube polymer composite is prepared into THIN COMPOSITE by step S2 in conjunction with electrode impedance, elasticity and weight requirements
Film, and according to the orientation texture of carbon nanotube and required composite array thickness of electrode and its surface composition and structure, use
Thin film deposition processes will be deposited on the thin metal layer that conductive base is in electrical contact on laminated film, be prepared into carbon nanotube macromolecule
Composite array electrode；
In above-mentioned preparation method, macromolecule absorbs into carbon nanotube gap by physical method, or by chemically reacting chain
It is connected to carbon nano tube surface, forms carbon nanotube polymer composite；Wherein, for the preparation process of chemical reaction, pass through
Strong acid aoxidizes or plasma processing techniques, and carbon nano tube surface is made to be modified certain functional group, then certainly with the second component
The functional group of body occurs chemical reaction and realizes macromolecule and enter linking for carbon nanotube.
4. brain control UAV system according to claim 1, which is characterized in that the EEG Processing module includes：
Preprocessing module is used to remove clutter, eye electricity, electrocardio and the flesh of amplification and power frequency in EEG signals after A/D conversions
The artefact of electric signal；
Characteristic extracting module, be used for from removal artefact after EEG signals in extract can reflect operator's different motion or
The brain electrical feature signal of thinking mistake area, and it is converted into input of the feature vector as grader；
Tagsort module, be used for find one with feature vector be input discriminant function, by different EEG signals into
Row tagsort obtains the relationship between different movements or thinking mistake area and brain electrical feature signal.
5. brain control UAV system according to claim 4, which is characterized in that using adaptive in the preprocessing module
Filter removes electromyography signal, and electro-ocular signal is removed using independent component analysis, using wavelet analysis removal electrocardiosignal and
White noise filters out the electricity of the eye in EEG signals, electrocardio and flesh from frequency domain, statistics and time domain and Time-Frequency Analysis Method respectively
Electric signal.
6. brain control UAV system according to claim 4, which is characterized in that use AR moulds in the tagsort module
The line of one or more combinations in type, power spectrum, centre frequency, high-order Power estimation or Alpha asymmetry to EEG signals
Property feature is classified, using one or more combinations in approximate entropy, complexity, singular spectrum, Liapunov exponent to brain
The nonlinear characteristic of electric signal is classified.
7. a kind of control method of the brain control UAV system based on carbon nanotube high score sub-electrode, which is characterized in that including with
Lower step：
Step 1, umbrella frame shape electrode is attached on operator's scalp；
Step 2, operator starts independently to imagine operational order；
Step 3, the EEG signals corresponding to operational order that the umbrella frame shape electrode acquisition operations person independently imagines, and brain is electric
Signal is sent into portable 8 channel amplifier and is amplified and A/D conversions；
Step 4, the EEG Processing module in portable computer will amplify and the transformed EEG signals of A/D are filtered
Wave, feature extraction and tagsort processing tell the action intention for causing operator's brain Electrical change, obtain operator in the behaviour
Instruct the optimal characteristics of lower corresponding EEG signals；
Step 5, the correspondence between the optimal characteristics corresponding to the operational order and unmanned aerial vehicle (UAV) control instruction, described
The control instruction of portable computer generates and searches unmanned aerial vehicle (UAV) control instruction set database in feedback training module, obtains the brain
Unmanned aerial vehicle (UAV) control instruction corresponding to electric signal, and the unmanned aerial vehicle (UAV) control is instructed and is exported；
Step 6, UAV system receives the unmanned aerial vehicle (UAV) control instruction of output, and carries out corresponding operation.
8. control method according to claim 7, which is characterized in that the optimal characteristics corresponding to operational order and unmanned plane
Correspondence between control instruction is to establish to obtain in advance, specially：
The EEG signals corresponding to different operation instruction that acquisition operations person independently imagines, and operator is referred in different operations
Under order, the optimal characteristics of corresponding EEG signals are respectively stored in instruction operation set database；
By operator under different operational orders, corresponding unmanned aerial vehicle (UAV) control instruction is respectively stored in unmanned aerial vehicle (UAV) control instruction set
In database；
Respectively by operator under each operational order, corresponding brain electrical feature is corresponding with unmanned aerial vehicle (UAV) control instruction foundation to close
System.
9. control method according to claim 7, which is characterized in that step 6 further includes：
Operational order unmanned aerial vehicle (UAV) control corresponding with its that operator independently imagines is instructed and UAV system executes control
The implementing result of instruction feeds back to operator with word and diagrammatic form, and operator carries out phase according to feedback information to operation scheme
The adjusting answered；
Meanwhile UAV system according to the unmanned aerial vehicle (UAV) control instruction received and the case where different operation person to carry into execution a plan into
Row is corresponding to be adjusted.
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