CN109909977A - A kind of posture based on brain wave follows robot automatically - Google Patents
A kind of posture based on brain wave follows robot automatically Download PDFInfo
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- CN109909977A CN109909977A CN201910212639.9A CN201910212639A CN109909977A CN 109909977 A CN109909977 A CN 109909977A CN 201910212639 A CN201910212639 A CN 201910212639A CN 109909977 A CN109909977 A CN 109909977A
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Abstract
The present invention devises a kind of posture based on brain wave and follows robot automatically, power module is secured in the robot, motor drive module, wireless communication module, motion-control module, acquiring brain waves module, power module is connected with modules, motion controller respectively with double vision module serial ports, communication module communication port, motor drive module serial ports is connected, communication module receives the wireless signal that acquiring brain waves module issues, it is converted into digital signal and sends motion-control module to, PWM output signal, which is converted to, by pid algorithm controls motor movement, the characteristic information that motion-control module passes through identification brain wave module acquisition, human body attitude is followed to realize.
Description
Technical field
The invention belongs to the wearable fields of intelligence, and in particular to a kind of posture based on brain wave follows robot automatically.
Background technique
In daily life, embedded system for tracking can replace people complete it is various be not easy directly operate or
The high work of harm to the human body, to protect the health of human body.So the present invention is puted forth effort to study and a kind of be followed with posture as mesh
Embedded posture follow robot, extracted by acquisition identification to target and human body electroencephalogram's wave characteristic, to control posture
Automatically robot is followed, effectively avoids high radiation, harm of the high-risk environment to human body, preferably protects human health.
Major design posture of the present invention follows robot automatically, the AprilTags of the brain wave carrying by identifying human brain
Target follows human body attitude.It can be applied in places such as nuclear power station, power plant, pharmaceutical factory, mine, high radiation workshops,
It realizes that posture follows automatically with learning by imitation, human body and workbench is separated, effective protection human health.
Technology independently is followed based on embedded brain wave module, the main feature of brain wave can not only be found out, moreover it is possible to find out brain
Electric wave can obtain richer decision information for the specific characteristic of different postures.And brain wave module can not only be used
Signal is acquired, can also be used to identify the corresponding feature of most of brain waves.Currently, in nuclear power station, power plant, high radiation vehicle
Between etc. ground mostly be that human body directly participates in work, not only take time and effort, but also very big to human injury, the appearance based on brain wave module
State follows robot to can replace people to carry out work automatically, is that human body does not have to directly participate in, it is only necessary to participate in completing work, appearance indirectly
The feature that state follows robot that can reach according to human body electroencephalogram's wave table automatically goes to run, to complete work instead of human body.Therefore I
Be made that research for present aspect.
Summary of the invention
, there are open source, at low cost, powerful etc. in the advantages of embedded brain wave module of the present invention.Main identification
Algorithm includes feature extraction, feature detection, mark tracking etc..The embedded ability for following robot to increase identification can be helped,
So being suitble to do the embedded brain wave sensing mechanisms for following robot and other machines.
The embedded external structure composition for following robot is divided into following components: shell 5, brain 6, main body 7, both legs
8, both hands 9, joint 10, more than 11 part of power switch composition.Built-in system perceives identification module 6 by embedded brain wave；Power supply
Module 3；Motion controller module 1；Motor drive module 2；Wireless communication module 4, acquiring brain waves module 12, wear frame 13,
3 several major of power module.Core is embedded brain wave sensing module 6 and motion controller module 1.Embedded brain wave sense
Know module 6 and motion controller module 1, provides very reliable solution for acquisition, identification, tracking.
Using embedded brain wave module 6, by acquiring eeg signal feature, the feature letter of identification target brain wave
Breath writes acquisition and identification of the program realization to target brain wave by python, to obtain the information of target brain wave.It will
The information carries out feature extraction processing analysis, obtains the information that follows of target brain wave, motion platform is issued in packing, to realize
Long-range control of the system to target object.
Using Aduino motion controller as motion platform controller 1, motion platform obtains the feature letter of target brain wave
Breath, is write program by python, is adjusted using PID, make motion platform quick and stable that target be followed to move, and target brain electricity is improved
The quick-acting rates of the identification of wave, it is ensured that real-time.
Program is write, acquiring brain waves device is connect with system wireless, control system run switch, it is different by identification people
Brain wave characteristic information, realize and embedded follow automatic possibility；
Technical solution
Of the invention follows principle, the brain wave information collection of human body is said by acquiring brain waves device, using wireless communication module
Machine people communication is followed, by identifying the feature of eeg signal come remotely controlling posture follows robot with posture.System
Parsed by the study of algorithm level, can recognize any brain wave feature that acquiring brain waves device is sent, send control instruction to
Embedded system realizes that posture follows.
Target brain wave recognition principle acquires the brain wave of human body difference posture by acquiring brain waves robot, establishes
Corresponding feature database.Therefore the characteristic information for establishing target brain wave, is the basis that embedded posture follows robot.
Posture follows principle, carries out feature according to the brain wave characteristic information of extraction and follows.Feature follows can be effective
The all information of the eeg signal is restored, and follows robot to realize long-range control by embedded posture, makes embedded appearance
State system for tracking promptly follows the brain wave wish of people and changes.Embedded posture follows robot to follow in realization feature
Cheng Zhong, since human body electroencephalogram's wave is in faint variable condition always, to achieve the purpose that follow, posture follows robot also to need
Optimization processing is carried out in signal identification, is consistent with target brain wave.
Internal system module includes embedded brain wave sensing module 6: using embedded brain wave module, it is by one
Based on the micromachine brain wave sensing module that STM32F4 embedded scm and electromagnetic wave receiving module form, by 5V power supply
Power supply.Motion-control module 1: using Arduino processor as motion controller.Motor driving module 2: full bridge motor is used
Driving chip, electric current highest 5A, voltage use 24V power supply power supply.Wireless communication module 4: using the bluetooth communication mould of low-power consumption
Block, using the ESP8266-11 model in ESP8266, operating voltage 3.3V in the design.Power module 3: system
Using 24V can charge-discharge lithium battery power supply, and the power supply as motor drive module provided by voltage conversion chip for system
The power supply of 3.3V and 5V.
Brain wave posture follows the software design of robot to initialize first to I/O port, PWM, SPI etc. automatically, and
Initialize UDP network communication protocol.Judge whether acquiring brain waves device connects the Bluetooth signal of system, if having connected, enters
Standby mode waits the operating instruction of host computer, receives the data that UDP is sent, judges whether system unlocks.It is unlocked when being judged as
When, serial ports piece selects embedded controller, and a eeg signal is obtained, judges whether contain posture feature in the brain wave, when
It is judged as containing sometimes, parses the brain wave information, is moved according to corresponding following algorithm driving motor, follow embedded posture
Robot follows automatically, and movement includes advancing, retreating, moving left and right.
Detailed description of the invention
Fig. 1 is embedded to follow robot architecture to scheme
Fig. 2 collector structure chart
In Fig. 1: 1-motion controller；2-motor drive modules；3-power modules；4-wireless communication modules；6-is embedded
Brain wave module；8-both legs；9-both hands；5-brains；7-main bodys；11-power switches；10-joints；
In Fig. 2: 12-acquiring brain waves devices；13-wear frame；3-power supplys；4-wireless communication modules.
Specific embodiment
External system connection: main body 7 and brain 5, both legs 7, both hands 8 form hardware motion platform, fix on the platform
Each circuit module, embedded brain wave module 6 are fixed on 7 inside brain, and motion controller 1 is fixed on each of the robot
Joint 10, power switch 11 are mounted on the side of main body 7.Motor drive module is fixed on inside main body 7, and power module 3 is fixed
Inside main body 7.
Built-in system connection: power module is connected with modules, the serial ports of motion controller 1 and embedded brain wave
The serial ports of module 6 is connected, and the communication port of motion controller 1 is connected with communication module 4, the serial ports of motor drive module 2 with
The serial ports of motion controller 1 is connected.Communication module receives the wireless signal that acquiring brain waves device issues, and is converted into digital signal
It sends motion-control module to, PWM output signal is converted to by pid algorithm and controls motor movement.
By commissioning test, independently follow embedded system can steady operation, it is steady with the communication of the wireless blue tooth of host computer
It is fixed.It is higher to the discrimination of target, it can stablize and follow marker motion, and keep within the scope of 15M.
Claims (2)
1. a kind of posture based on embedded brain wave follows robot, which is characterized in that the robot brain (9), both legs
(7), both hands (8) and main body (10) form hardware motion platform, on the platform fixedly embedded formula brain wave sensing module (6),
Motion controller module (1), motor driving module (2), power conversion module (3), wireless communication module (4), power switch (12)
It is mounted on the side of shell (5)；Motion-control module (1) serial ports is connected with embedded brain wave sensing module (6) serial ports, fortune
Movement controller (1) communication port is connected with wireless communication module (4), and communication module (4) receives acquiring brain waves device (13) and issues
Wireless signal, be converted into digital signal and send motion-control module (1) to, PWM output signal control is converted to by pid algorithm
Motor movement processed.
2. the state according to claim 1 based on embedded brain wave appearance follows robot, which is characterized in that described
Embedded acquiring brain waves module, by system features library, identifies that the brain wave is believed by acquiring the information of human body difference posture
Number feature for including, sends motion-control module to.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084843A (en) * | 2021-04-29 | 2021-07-09 | 上海建桥学院有限责任公司 | Brain wave service robot device |
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