CN110743101B - Animal robot movement behavior recording and analyzing method - Google Patents
Animal robot movement behavior recording and analyzing method Download PDFInfo
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/3605—Implantable neurostimulators for stimulating central or peripheral nerve system
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Abstract
The invention discloses a method for recording and analyzing the movement behaviors of an animal robot. The invention can record the original image of the animal for observing and analyzing the actual activity of the animal, can record the behavioral response of the animal after stimulation, can provide time-sharing and zoning data in the aspects of position, angle, distance, movement time and the like, and can carry out preliminary statistical analysis. The invention includes an animal stimulation system and a data analysis system. The animal stimulation system comprises microelectrodes implanted in the animal body, a coding signal generator connected with the microelectrodes, and a remote controller capable of adjusting the stimulation parameters. The recording analysis system comprises a projector, an infrared touch screen and image acquisition analysis software. The method combines the induction of animal movement with the behavior recording, greatly reduces the operation difficulty, and effectively solves the problems of difficult behavior recording and analysis of the animal robot.
Description
Technical Field
The invention relates to a method for recording and analyzing the movement behaviors of an animal robot, in particular to a system for stimulating, observing and recording the animal behavior tracks.
Background
Animal robotics is an emerging discipline formed by the intersection of automation, electronic information, and neurophysiology. It uses the artificially coded electric signals to stimulate specific nerve sites of animals, so as to control and induce the movements and behaviors of animals to make them act according to the expected actions of human. It has many outstanding advantages, such as natural concealment; the system has complete autonomous intelligence, and can autonomously avoid barriers, avoid risks and resist severe environmental interference; has the outstanding advantages of self-movement energy sources and the like. The research of the method has important theoretical and application values in the fields of neuroscience and engineering, disaster relief, animal behaviours and the like, and is a leading-edge research subject which is paid attention to at present. In 2001, the university of tokyo in japan applied an electrical signal to microelectrodes mounted on the heads of cockroaches (with the wings cut off) to control the walking of the cockroaches. In 2002, nature reports that us scientists develop successful robot rats, and that microelectrodes are implanted into the brain of the rats, so that the rats are controlled to advance, turn left and turn right by coded electric signals, and even get across obstacles or climb, and the like, which is an important breakthrough; in addition, the mature animal robot also comprises tobacco moth beetles, robot geckos and robot birds.
In animal robotic studies or other animal behavioral physiology studies, it is often desirable to record, observe and statistically analyze the animal's locomotor activity. For example, in animal robot research, after applying coded electric signals, the motion behaviors such as left turn, right turn and forward movement of an animal are recorded, and the conventional animal motion track analysis method at present can be mainly used for automatically analyzing the motion track of a small animal on a two-dimensional plane and can provide time-sharing and partition statistical data in the aspects of position, distance, motion speed, motion time, rest time and the like; the original image display mode is used for observing and analyzing the actual activities of animals, visual pictures such as activity postures, diet activities, stimulus responses and the like can be provided, and experimenters need to mark different activities. In animal robotic studies, it is often necessary to observe the timely response and behavior of animals after stimulation. Systems that combine the two are not currently known.
The invention aims to enable the animal robot to rapidly record the stress motion track through a system after being electrically stimulated, and obtain information such as the incubation period, the action angle, the speed, the advancing direction and the like of the animal motion under specific stimulation parameters by carrying out data analysis on the track.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a method for recording and analyzing the movement behavior track of an animal robot, which can synchronously observe and record the behavior of an animal after the animal is stimulated and can analyze the behavior at any time. The method is reasonable in design, is suitable for animal robots and other animal behavioural experiments, and provides a scientific research means for animal behavioural research.
In order to achieve the above object, the present invention is realized by the following technical scheme:
the animal robot motion behavior track recording and analyzing method is characterized by comprising the following steps:
(1) Implanting microelectrodes into nerve sites in the animal robot body, wherein the microelectrodes are connected with a coding signal generator outside the animal robot body;
(2) The image acquisition analysis software of the signal acquisition analysis system firstly constructs a coordinate grid, and projects the coordinate grid onto an infrared touch screen through a projector connected with the coordinate grid; placing animals on the surface of an infrared touch screen, wherein the infrared touch screen is connected with image acquisition and analysis software;
(3) After receiving the electric stimulation control signal, the coding signal generator generates an electric stimulation signal which is applied to nerve sites in the animal body to stimulate the animal to complete the appointed action; meanwhile, the electric stimulation control signal is transmitted to image acquisition and analysis software in real time through a serial port;
(4) The motion of the animal leaves a touch track on the surface of the infrared touch screen, and the track is displayed and recorded in real time in a coordinate grid in image acquisition and analysis software;
(5) And analyzing the mapping relation between the electric stimulation control signals and animal motions according to the animal stress motion parameters obtained by the image acquisition and analysis software and the electric stimulation control signals acquired in real time.
Further, the system also comprises a camera which is arranged above the infrared touch screen and is connected with image acquisition and analysis software, wherein the camera is used for recording other physiological responses except sports and is used as supplementary information for controlling the influence of signals on animal behaviors.
Further, the microelectrode in the step (1) comprises 3 stimulating electrodes and 1 reference electrode, and the electrodes are made of stainless steel wires with the diameter of 100 mu m.
Further, parameters of the electrical stimulation control signal include time, current, voltage, step size and duty cycle; parameters recorded by the infrared touch screen include time, movement distance and direction angle.
Compared with the prior art, the method has the following advantages: the whole course movement track record can obtain various movement parameters such as the incubation period, movement speed, movement distance, movement angle and the like of animal stress movement; meanwhile, the control signal record, the motion record and the image record can be compared and analyzed, so that the mapping relation between the control signal and the animal motion can be obtained more accurately. In addition, the method can analyze the mapping relation between the control signal and the animal motion in real time through software, and can store records and output the records to other software for analysis. The invention is described in detail below with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
The system comprises a 1-projector, a 2-signal acquisition and analysis main interface, a 3-experimental animal, a 4-infrared touch screen, a 5-camera, a 6-coding signal generator, a 7-remote controller and an 8-receiver.
Detailed Description
The invention is further described below with reference to the specific embodiments in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.
To achieve the above object, the present invention employs an apparatus comprising an animal stimulation module and a record analysis module. The animal stimulation module comprises microelectrodes implanted in the animal body, an external coding signal generator and a remote controller for sending electric stimulation control signals; the recording analysis module comprises a projector, a camera, an infrared touch screen and image acquisition analysis software.
The specific embodiments are different depending on the morphology and physiological characteristics of the animals, and cockroaches are selected as examples only in this example. The microelectrode adopts stainless steel wires (100 mu m), and the remote controller is communicated with the code signal generator through a wireless module. The method of the invention comprises the following specific implementation steps:
(1) One end of 4 stimulating microelectrodes is respectively implanted into antennae and tails on the left side and the right side of the cockroach through operation, one end of 1 reference microelectrode is implanted into the back of the cockroach, and each electrode is adhered and fixed; the other ends of the 5 electrodes are connected with a busbar (1.27), and the busbar is firmly adhered to the chest armor of the cockroach. The cockroaches after the operation are placed freely for 24-48 h, so that the cockroaches nerve tissues fully wrap the electrode.
(2) The pin at the front end of the code signal generator is inserted into the female pin at the chest nail of the cockroach to form electric connection. And a group of test signals are sent to the coded signal generator through the remote controller, and whether the cockroaches perform corresponding movements according to the instructions is observed so as to verify whether the cockroaches nerve tissues are effectively connected with the electrodes. In addition, whether the signal parameters on the remote controller are consistent with the signal parameters received on the signal acquisition and analysis interface is observed.
(3) And the infrared touch screen is connected with image acquisition and analysis software through a data line. And opening image acquisition and analysis software to create a coordinate grid, and projecting the coordinate grid onto an infrared touch screen through a projector connected with the coordinate grid. And the finger slides the infrared touch screen to observe whether a continuous track is formed on the infrared touch screen, and whether the track is recorded by image acquisition and analysis software in real time.
(4) Placing cockroaches on an infrared touch screen, erecting a camera beside the cockroaches, adjusting parameters of the camera to enable the built-in time of the camera to be consistent with the time of image acquisition and analysis software, selecting the cockroaches as focusing objects, and entering an automatic focusing mode.
(5) After receiving the control signal sent by the remote controller, the code signal generator generates an electric stimulation signal which is applied to a specific nerve site in the animal body to stimulate the animal to complete the appointed action; meanwhile, the receiver also receives the signal of the remote controller and transmits the signal to the signal acquisition and analysis interface in real time through the serial port.
(6) Triggering image acquisition analysis software while the remote controller transmits control signals; the motion of the animal leaves a touch trajectory on the infrared touch screen surface, which is displayed and recorded in real time in a coordinate grid in the image acquisition analysis software.
(7) Under the condition of time synchronization, the information acquisition and analysis interface can display the motion trail information obtained by the image acquisition and analysis software, the control signal information of the remote controller and the image information of the camera.
(8) And analyzing the mapping relation between the control signal and the cockroach movement according to the animal stress movement parameters obtained by the image acquisition and analysis software and the remote controller control signal acquired in real time. By referring to the image information of the camera, the movement detail characteristics and stress body response of the cockroaches can be obtained.
(9) According to the mapping relation between the control signal and the cockroach movement, a control program for controlling the cockroach to move in a long distance can be designed.
In this embodiment, the stimulation signal adopts a constant current source, and in this embodiment, the optimal electrical stimulation signal contains 8 biphasic pulses per pulse sequence (pulse train), the pulse amplitude is 50 microamps, each monophasic pulse width is 0.3ms, and the pulse frequency is 50Hz. The cockroaches can complete left turning, right turning and advancing under the timely electric stimulation, and the turning angles and speeds of the animals are different under different stimulation parameters, so that the cockroaches can be recorded through software and can be subjected to statistical analysis.
The specific embodiment can be used for reference and wide application in various different types of ground movement animal robot researches and also can be used in animal behavioural researches. For example, after a specific drug is given, the change of the animal life rule habit can be observed, and as most of the infrared touch screens have a multi-point touch function, the infrared touch screens can be used for recording the movement routes and the behavior tracks of a plurality of animals, and an effective scientific research means is provided for animal behavioural research, so that the infrared touch screens have a certain market application prospect.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The animal robot motion behavior track recording and analyzing method is characterized by comprising the following steps:
(1) Implanting microelectrodes into nerve sites in the animal robot body, wherein the microelectrodes are connected with a coding signal generator outside the animal robot body;
(2) The image acquisition analysis software of the signal acquisition analysis system firstly constructs a coordinate grid, and projects the coordinate grid onto an infrared touch screen through a projector connected with the coordinate grid; placing animals on the surface of an infrared touch screen, wherein the infrared touch screen is connected with image acquisition and analysis software; the camera is arranged above the infrared touch screen and connected with image acquisition and analysis software, and is used for other physiological reactions except sports and used as supplementary information for controlling the influence of signals on animal behaviors;
(3) After receiving the electric stimulation control signal, the coding signal generator generates an electric stimulation signal which is applied to nerve sites in the animal body to stimulate the animal to complete the appointed action; meanwhile, the electric stimulation control signal is transmitted to image acquisition and analysis software in real time through a serial port;
(4) The motion of the animal leaves a touch track on the surface of the infrared touch screen, and the track is displayed and recorded in real time in a coordinate grid in image acquisition and analysis software;
(5) And analyzing the mapping relation between the electric stimulation control signal and animal motion according to the animal stress motion parameters, the image record and the electric stimulation control signal acquired in real time, which are obtained by the image acquisition and analysis software.
2. The method for recording and analyzing the motion behavior trace of the animal robot according to claim 1, wherein the microelectrodes in the step (1) comprise 3 stimulating electrodes and 1 reference electrode, and the electrodes are stainless steel wires with the diameter of 100 μm.
3. The method for recording and analyzing the motion behavior trace of the animal robot according to claim 1, wherein the parameters of the electrical stimulation control signal include time, current, voltage, step size and duty cycle; parameters recorded by the infrared touch screen include time, movement distance and direction angle.
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