CN112904893A - Unmanned aerial vehicle control system based on portable eye electricity collection system - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle control system based on a portable eye electrical acquisition device, which comprises the eye electrical acquisition device, an eye electrical stimulation module and an unmanned aerial vehicle module, wherein the eye electrical acquisition device consists of a master machine and a slave machine, information transmission is carried out between the master machine and the slave machine in a wireless communication mode, and a near field wireless communication mode comprises Wi-Fi, Bluetooth, ZigBee and NFC; the aircraft is controlled through the eye electric signals, the traditional manual control mode is avoided, the problem that two hands cannot execute a plurality of instructions simultaneously can be solved through a manual control and eye control mode, the flexibility and diversity of control are improved, and people with dyskinesia of the two hands can be benefited by simply adopting the eye control mode; the system has wide application prospect in the fields of flight control, disabled helping and education.
Description
Technical Field
The invention belongs to the technical field of flight control, and particularly relates to an unmanned aerial vehicle control system based on a portable eye charge acquisition device.
Background
The invention patent with the application number of 201710256131.X discloses an aircraft three-dimensional space target searching system and method based on electroencephalogram and electro-oculogram, the aircraft is controlled in a mode of combining electroencephalogram signals and electro-oculogram signals, MI (motor imagery) signals in the electroencephalogram signals serve as a decision making subsystem, blink signals in the electro-oculogram signals serve as an interface conversion subsystem, vertical and horizontal MI task interfaces can be switched through blinking, and then left-right yawing and vertical lifting of the aircraft are controlled through the motor imagery behaviors of the left hand and the right hand. The control mode of the system has better control diversity and scene adaptability, but the control mode is more complex, and a user needs to perform more adaptation work before using the system. Meanwhile, the portability of the system is low due to the adoption of the electrode cap to acquire electroencephalogram and electrooculogram signals.
The invention patent with the application number of 201710298938.X discloses an asynchronous brain-controlled unmanned aerial vehicle system based on a wearable display, wherein steady-state visual evoked stimulus units with different frequencies are used for stimulating a brain to generate SSVEP (steady-state visual evoked potential), an unmanned aerial vehicle control instruction which a user wants to execute is judged according to a detected electric signal, but the human eyes watch a high-frequency flickering interface for a long time to cause great discomfort, and epilepsy can be induced in an extreme case. Meanwhile, the response speed of the control system based on the SSVEP is very limited, and the fast control cannot be realized.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle control system based on a portable electro-oculogram acquisition device, which is used for acquiring an EOG (electro-oculogram) signal and has better portability and comfort compared with the traditional electro-oculogram acquisition equipment based on an electrode cap and an amplifier. Simultaneously, control unmanned aerial vehicle through the eye signal of telecommunication has liberated user's both hands to a certain extent, has improved unmanned aerial vehicle control mode's variety. The interaction of master and slave equipment of the electro-oculogram acquisition device and the receiving and sending of the control command of the unmanned aerial vehicle are both in a wireless communication mode, and the control distance of the system and the adaptability of an application scene are expanded so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle control system based on a portable eye electrical acquisition device comprises the eye electrical acquisition device, an eye electrical stimulation module and an unmanned aerial vehicle module, wherein the eye electrical acquisition device consists of a master machine and a slave machine, information transmission is carried out between the master machine and the slave machine in a wireless communication mode, the short-distance wireless communication mode comprises Wi-Fi, Bluetooth, ZigBee and NFC, and initialization processes including clock initialization, onboard peripheral initialization and initialization of a GAP layer and a GATT layer of Bluetooth are required after the master machine and the slave machine are powered on; then the slave computer enters a broadcasting state, a broadcasting packet is sent in three broadcasting channels of a 2.4GHz frequency band, the broadcasting packet comprises information of the slave computer such as an equipment name, a UUID and an equipment address, and the host computer enters a scanning state, a target device is searched according to a preset opposite end characteristic, and then connection is established between the master computer and the slave computer; the slave computer enters a data acquisition stage after being connected with the host computer, acquires an EOG signal from the head of a user through a high-precision AD chip and a biological electrode, adopts a unipolar lead mode, places a REF reference electrode and an RLD right leg driving electrode behind the ear, places the EOG signal electrode at the forehead, and sets a 10ms timer in the MCU to acquire data at the frequency of 100 Hz; after preprocessing is carried out in the MCU, data are sent to a host computer end through a Bluetooth protocol, and the host computer sends the received data to an electro-oculogram acquisition module through a serial port, so that an electro-oculogram waveform can be drawn according to real-time data;
the eye electrical stimulation module is a PC or a tablet personal computer, upper computer software of a control system is operated, and each flashing button on the eye electrical stimulation interface corresponds to a control instruction of the unmanned aerial vehicle; when the user is in an electro-oculogram training state, any button on an interface can twinkle at intervals of 600ms, the twinkling state and the non-twinkling state have different background colors and character colors, the user needs to carry out synchronous twinkling action along with the twinkling of a key, parameters required by electro-oculogram identification are obtained through at least 10 times of training, and the specific extraction method is as follows; performing band-pass filtering (0.1-20Hz) on the acquired EOG data waveform, extracting a data segment 600ms after key flashing for baseline removal processing, wherein the baseline segment is generally the average value of the data of the first 100 ms; f (t) represents the waveform after the electro-oculogram preprocessing, f' (t) represents the waveform after the first-order difference, and the two waveforms generally present the form of approximate sine wave (the wave crest is in front and the wave trough is in back), and t is usedpeakAnd tvalleyTo represent the time point corresponding to the peak and trough of f' (t); from these parameters, two variables are derived for the decision process: wave crest and troughTime interval t betweenintervalAnd the accumulated energy e between the peaks and troughs;
calculating t for the at least 10 training sessionsintervalAnd E, sorting the data from small to large, selecting the data at 80% of positions (rounding up) in the E data as the value of an energy threshold E, and selecting tintervalData at 10% and 90% of the positions in the data as time threshold TminAnd TmaxThe three thresholds are used as decision factors in the system running state;
after the training is finished, the system enters an operating state, all keys on the stimulation interface continuously flicker according to a clockwise or anticlockwise sequence, and the time interval is 300-; the user can select the corresponding instruction only by blinking along with the blinking of the keys, in order to avoid the false touch operation caused by normal blinking, the same key is continuously selected for 2-3 times and can be judged as the result of correct operation, and the selected key is also normally lighted for a period of time to prompt the user; the decision algorithm for judging the blinking behavior of the user is as follows:
after the corresponding key is selected, the eye electrical stimulation module sends a control instruction of the unmanned aerial vehicle to the unmanned aerial vehicle end through the data transmission module, and the unmanned aerial vehicle can execute corresponding actions; the unmanned aerial vehicle control system comprises a control system, a control system and a control system, wherein the control system is used for controlling the unmanned aerial vehicle to move forward and stop corresponding to a change instruction of the flight state of the unmanned aerial vehicle, ascending and descending indicate the adjustment of the height of the unmanned aerial vehicle in the vertical direction, the yaw angle of the unmanned aerial vehicle is changed by left turning and right turning, and the flying speed of the unmanned aerial vehicle;
the hardware of the unmanned aerial vehicle module consists of a main control board, a sensor, a data transmission module and a rack, the sensor consists of an accelerometer, a gyroscope, a magnetometer and a barometer, the main control board can acquire original data of the sensor through an I2C interface and an SPI (serial peripheral interface), and then current attitude and height information of the unmanned aerial vehicle is acquired through an attitude calculation algorithm; the data transmission module sends a control command to the unmanned aerial vehicle through a PPM transmission format;
the software comprises three parts of filter design, attitude calculation and controller design; the original data output by the sensor contains various noises, and the noises can be removed through a filter, so that the waveform becomes smooth and stable, and the stability and robustness of the controller are improved; the attitude calculation adopts a complementary filtering algorithm and a gradient descent algorithm to complete the update of quaternion, and the filtered sensor data is processed by the attitude calculation algorithm and then subjected to Euler angle transformation to obtain the yaw angle, the pitch angle and the roll angle of the unmanned aerial vehicle; the controller part adopts a PID algorithm, establishes a proportional, integral and differential relation between the Euler angle obtained by the attitude resolving part and the motor rotating speed, and controls the actions of the unmanned aerial vehicle such as left and right yawing, front and back pitching, vertical lifting and the like.
Preferably, the preprocessing performed in the MCU may be mean filtering or kalman filtering.
Preferably, the frame adopts a quad-rotor unmanned aerial vehicle structure.
Preferably, the specific transmission mode of the data transmission module for issuing the control instruction to the unmanned aerial vehicle through the PPM transmission format is Wi-Fi or Bluetooth, and data transmission can also be performed through a wireless transceiver module working at a 2.4-2.5GHz frequency band, such as NRF24L 01.
Compared with the prior art, the invention has the beneficial effects that: the invention controls the unmanned aerial vehicle through the portable electro-oculogram acquisition device, solves the problems that the traditional electro-oculogram acquisition equipment is not easy to carry and is complex to operate, and can realize the high-efficiency control of the unmanned aerial vehicle by combining the provided electro-oculogram training and recognition algorithm.
The invention controls the aircraft through the eye electric signal, gets rid of the traditional manual control mode, solves the problem that two hands cannot execute a plurality of instructions simultaneously through a manual control and eye control mode, improves the flexibility and diversity of control, and benefits people with dyskinesia of two hands by simply adopting the eye control mode; the system has wide application prospect in the fields of flight control, disabled helping, education and the like.
Drawings
FIG. 1 is a communication block diagram of a master and slave machine of the present invention;
FIG. 2 is a schematic diagram of an electro-oculogram acquisition electrode distribution according to the present invention;
FIG. 3 is a schematic diagram of an electrical ophthalmic stimulation interface of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1 to 3, the present invention provides a technical solution: an unmanned aerial vehicle control system based on a portable eye electrical acquisition device comprises the eye electrical acquisition device, an eye electrical stimulation module and an unmanned aerial vehicle module, wherein the eye electrical acquisition device consists of a master part and a slave part, information transmission is carried out between the master part and the slave part in a wireless communication mode, common near-field wireless communication protocols comprise Wi-Fi, Bluetooth, ZigBee, NFC and the like, and the Bluetooth communication mode is taken as an example for explanation; the flow of establishing connection and data communication between the master and the slave is shown in fig. 1; the processing chip of the master and the slave take the model number of CC2640 as an example, and the processing chip need to perform initialization processes after being powered on, wherein the initialization processes comprise clock initialization, onboard peripheral initialization, initialization of a GAP layer and a GATT layer of Bluetooth and the like. Then the slave computer enters a broadcasting state, a broadcasting packet is sent in three broadcasting channels of a 2.4GHz frequency band, the broadcasting packet comprises information of the slave computer such as an equipment name, a UUID and an equipment address, and the host computer enters a scanning state, a target device is searched according to a preset opposite end characteristic, and then connection is established between the master computer and the slave computer; the slave computer enters a data acquisition stage after being connected with the host computer, an EOG signal is acquired from the head of a user through a high-precision AD chip and a biological electrode, the electrode is placed in a single-pole lead mode as shown in figure 2, a REF reference electrode and an RLD right leg driving electrode are both placed behind the ear, an EOG signal electrode is placed at the forehead, and a 10ms timer is generally arranged in an MCU (microprogrammed control unit) to acquire data at the frequency of 100 Hz; after simple preprocessing (such as mean filtering, Kalman filtering and the like) is carried out in the MCU, data are sent to a host end through a Bluetooth protocol, and the host sends the received data to an electro-oculogram acquisition module (usually a PC or a tablet personal computer) through a serial port, so that an electro-oculogram waveform can be drawn according to real-time data;
the electro-ocular stimulation module is usually a PC or a tablet computer, and runs an upper computer software of a control system, the electro-ocular stimulation interface is as shown in fig. 3, and each flashing button corresponds to a control instruction of the unmanned aerial vehicle; when the device is in an electro-oculogram training state, any button on an interface can twinkle at intervals of 600ms, a twinkling state and a non-twinkling state have different background colors and character colors, a user needs to carry out synchronous twinkling action along with twinkling of keys, parameters required by electro-oculogram recognition are obtained through training for at least 10 times, and the specific extraction method is as follows: performing band-pass filtering (0.1-20Hz) on the acquired EOG data waveform, extracting a data segment 600ms after key flashing for baseline removal processing, wherein the baseline segment is generally the average value of the data of the first 100 ms; f (t) represents the waveform after the electro-oculogram preprocessing, f' (t) represents the waveform after the first-order difference, and the two waveforms generally present the form of approximate sine wave (the wave crest is in front and the wave trough is in back), and t is usedpeakAnd tvalleyTo represent the time point corresponding to the peak and trough of f' (t); from these parameters, two variables are derived for the decision process: time interval t between wave crest and wave troughintervalAnd the accumulated energy e between the peaks and troughs;
calculating t for the at least 10 training sessionsintervalAnd E, sorting the data from small to large, selecting the data at 80% of positions (rounding up) in the E data as the value of an energy threshold E, and selecting tintervalData at 10% and 90% of the positions in the data as time threshold TminAnd TmaxThe three thresholds are in the same rangeThe system is used as a decision factor in a system running state;
after the training is finished, the system enters an operating state, all keys on the stimulation interface continuously flicker according to a clockwise or anticlockwise sequence at time intervals of 300-; the user can select the corresponding instruction only by blinking along with the blinking of the keys, in order to avoid the false touch operation caused by normal blinking, the same key is continuously selected for 2-3 times and can be judged as the result of correct operation, and the selected key is also normally lighted for a period of time to prompt the user; the decision algorithm for judging the blinking behavior of the user is as follows:
after the corresponding key is selected, the eye electrical stimulation module sends a control instruction of the unmanned aerial vehicle to the unmanned aerial vehicle end through the data transmission module, and the unmanned aerial vehicle can execute corresponding actions; the unmanned aerial vehicle control system comprises a control system, a control system and a control system, wherein the control system is used for controlling the unmanned aerial vehicle to move forward and stop corresponding to a change instruction of the flight state of the unmanned aerial vehicle, ascending and descending indicate the adjustment of the height of the unmanned aerial vehicle in the vertical direction, the yaw angle of the unmanned aerial vehicle is changed by left turning and right turning, and the flying speed of the unmanned aerial vehicle;
the hardware of the unmanned aerial vehicle module generally comprises a main control board, a sensor, a data transmission module and a rack, wherein the main control board adopts STM32 high-performance series of processors, typically STM32F4 and STM32F7 series of processors, can reach processor main frequency above 180MHz, and is provided with abundant peripheral interfaces for function expansion, such as interfaces I2C, UART, SPI and the like; the sensor consists of an accelerometer, a gyroscope, a magnetometer and a barometer, the main control board can acquire the original data of the sensor through an I2C and SPI interface, and then the current attitude and height information of the unmanned aerial vehicle is acquired through an attitude calculation algorithm; the data transmission module sends a control command to the unmanned aerial vehicle through a PPM transmission format, the specific transmission mode can be Wi-Fi, Bluetooth and the like, and data transmission can also be carried out through a wireless transceiver module of NRF24L01 working at a 2.4-2.5GHz frequency band; the frame adopts a four-rotor unmanned aerial vehicle structure, the frame comprises F330, F360, F450 and other types, and the number specifically refers to the distance between the four-rotor unmanned aerial vehicle frame and the midpoint of a diagonal motor;
the software mainly relates to three parts of filter design, attitude calculation and controller design, the original data output by the sensor usually contains a plurality of noises, if the original data are presented in the form of a waveform diagram, a large amount of burrs are found, the noises can be removed through Kalman filtering, the waveform becomes smooth and stable, and the stability and the robustness of the controller are favorably improved; the attitude calculation adopts a complementary filtering algorithm and a gradient descent algorithm to complete the update of quaternion, and the filtered sensor data is processed by the attitude calculation algorithm and then subjected to Euler angle transformation to obtain the yaw angle, the pitch angle and the roll angle of the unmanned aerial vehicle; the controller part adopts a PID algorithm, establishes a proportional, integral and differential relation between the Euler angle obtained by the attitude resolving part and the motor rotating speed, and controls the actions of the unmanned aerial vehicle such as left and right yawing, front and back pitching, vertical lifting and the like.
The working principle and the using process of the invention are as follows: a user wears slave equipment of the electro-oculogram acquisition device, three bioelectrodes are placed according to the form of a figure 2, host equipment of the electro-oculogram acquisition device is connected to a PC or a tablet personal computer through a USB interface, and the step (1) is finished by successfully establishing a data transmission channel by the master equipment and the slave equipment;
the user enters a training mode according to the prompt on the eye electrical stimulation module, a random key is flickered at a time interval of 600ms on a stimulation interface, the user needs to follow the key to blink synchronously, and the step (2) is finished after more than 10 times of training;
the eye electrical stimulation module prompts the user to enter an operation mode, all buttons on the stimulation interface flicker at time intervals of 300-500ms, and the flickering sequence is in a clockwise or counterclockwise mode. Assuming that the user needs to let the drone perform the "up" operation, the "up" key needs to be blinked synchronously in two consecutive blinks, and if the key is successfully selected, the key will be constantly on for a while to prompt the user that the operation is successful. Then, the unmanned aerial vehicle module executes corresponding actions after receiving the instruction transmitted by the data transmission module; and (4) repeating the step (3) until the system stops working.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides an unmanned aerial vehicle control system based on portable eye electricity collection system which characterized in that: the system comprises an electro-oculogram acquisition device, an electro-oculogram stimulation module and an unmanned aerial vehicle module, wherein the electro-oculogram acquisition device is composed of a master machine and a slave machine, information transmission is carried out between the master machine and the slave machine in a wireless communication mode, the close-range wireless communication mode comprises Wi-Fi, Bluetooth, ZigBee and NFC, and initialization processes including clock initialization, onboard peripheral initialization and initialization of a GAP layer and a GATT layer of Bluetooth are required after the master machine and the slave machine are powered on; then the slave computer enters a broadcasting state, a broadcasting packet is sent in three broadcasting channels of a 2.4GHz frequency band, the broadcasting packet comprises information of the slave computer such as an equipment name, a UUID and an equipment address, and the host computer enters a scanning state, a target device is searched according to a preset opposite end characteristic, and then connection is established between the master computer and the slave computer; the slave computer enters a data acquisition stage after being connected with the host computer, acquires an EOG signal from the head of a user through a high-precision AD chip and a biological electrode, adopts a unipolar lead mode, places a REF reference electrode and an RLD right leg driving electrode behind the ear, places the EOG signal electrode at the forehead, and sets a 10ms timer in the MCU to acquire data at the frequency of 100 Hz; after preprocessing is carried out in the MCU, data are sent to a host computer end through a Bluetooth protocol, and the host computer sends the received data to an electro-oculogram acquisition module through a serial port, so that an electro-oculogram waveform can be drawn according to real-time data;
the eye electrical stimulation module is a PC or a tablet personal computer, upper computer software of a control system is operated, and each flashing button on the eye electrical stimulation interface corresponds to a control instruction of the unmanned aerial vehicle; when in the electro-oculogram training state, any button on the interface will flash at 600ms intervals, and the flash state and the non-flash state have different backgroundsThe method comprises the following steps that color and character color are obtained, a user needs to carry out synchronous blinking actions along with blinking of keys, parameters needed by electro-oculogram recognition are obtained through training for at least 10 times, and the specific extraction method is as follows; performing band-pass filtering (0.1-20Hz) on the acquired EOG data waveform, extracting a data segment 600ms after key flashing for baseline removal processing, wherein the baseline segment is generally the average value of the data of the first 100 ms; f (t) represents the waveform after the electro-oculogram preprocessing, f' (t) represents the waveform after the first-order difference, and the two waveforms generally present the form of approximate sine wave (the wave crest is in front and the wave trough is in back), and t is usedpeakAnd tvalleyTo represent the time point corresponding to the peak and trough of f' (t); from these parameters, two variables are derived for the decision process: time interval t between wave crest and wave troughintervalAnd the accumulated energy e between the peaks and troughs;
calculating t for the at least 10 training sessionsintervalAnd E, sorting the data from small to large, selecting the data at 80% of positions (rounding up) in the E data as the value of an energy threshold E, and selecting tintervalData at 10% and 90% of the positions in the data as time threshold TminAnd TmaxThe three thresholds are used as decision factors in the system running state;
after the training is finished, the system enters an operating state, all keys on the stimulation interface continuously flicker according to a clockwise or anticlockwise sequence, and the time interval is 300-; the user can select the corresponding instruction only by blinking along with the blinking of the keys, in order to avoid the false touch operation caused by normal blinking, the same key is continuously selected for 2-3 times and can be judged as the result of correct operation, and the selected key is also normally lighted for a period of time to prompt the user; the decision algorithm for judging the blinking behavior of the user is as follows:
after the corresponding key is selected, the eye electrical stimulation module sends a control instruction of the unmanned aerial vehicle to the unmanned aerial vehicle end through the data transmission module, and the unmanned aerial vehicle can execute corresponding actions; the unmanned aerial vehicle control system comprises a control system, a control system and a control system, wherein the control system is used for controlling the unmanned aerial vehicle to move forward and stop corresponding to a change instruction of the flight state of the unmanned aerial vehicle, ascending and descending indicate the adjustment of the height of the unmanned aerial vehicle in the vertical direction, the yaw angle of the unmanned aerial vehicle is changed by left turning and right turning, and the flying speed of the unmanned aerial vehicle;
the hardware of the unmanned aerial vehicle module consists of a main control board, a sensor, a data transmission module and a rack, the sensor consists of an accelerometer, a gyroscope, a magnetometer and a barometer, the main control board can acquire original data of the sensor through an I2C interface and an SPI (serial peripheral interface), and then current attitude and height information of the unmanned aerial vehicle is acquired through an attitude calculation algorithm; the data transmission module sends a control command to the unmanned aerial vehicle through a PPM transmission format;
the software comprises three parts of filter design, attitude calculation and controller design; the original data output by the sensor contains various noises, and the noises can be removed through a filter, so that the waveform becomes smooth and stable, and the stability and robustness of the controller are improved; the attitude calculation adopts a complementary filtering algorithm and a gradient descent algorithm to complete the update of quaternion, and the filtered sensor data is processed by the attitude calculation algorithm and then subjected to Euler angle transformation to obtain the yaw angle, the pitch angle and the roll angle of the unmanned aerial vehicle; the controller part adopts a PID algorithm, establishes a proportional, integral and differential relation between the Euler angle obtained by the attitude resolving part and the motor rotating speed, and controls the actions of the unmanned aerial vehicle such as left and right yawing, front and back pitching, vertical lifting and the like.
2. The unmanned aerial vehicle control system based on portable eye electricity collection system of claim 1, characterized in that: the preprocessing performed in the MCU may be mean filtering or kalman filtering.
3. The unmanned aerial vehicle control system based on portable eye electricity collection system of claim 1, characterized in that: the frame adopts four rotor unmanned aerial vehicle structures.
4. The unmanned aerial vehicle control system based on portable eye electricity collection system of claim 1, characterized in that: the specific transmission mode of the data transmission module for giving the control instruction to the unmanned aerial vehicle through the PPM transmission format is Wi-Fi or Bluetooth, and data transmission can also be carried out through a wireless transceiver module working at a 2.4-2.5GHz frequency band, namely NRF24L 01.
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| CN113867378A (en) * | 2021-09-30 | 2021-12-31 | 江苏集萃脑机融合智能技术研究所有限公司 | Aircraft control method and system based on electro-oculogram and flight device |
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