CN114047816A - Ultra-light wireless stimulation backpack applied to nerve regulation of small insect robot - Google Patents
Ultra-light wireless stimulation backpack applied to nerve regulation of small insect robot Download PDFInfo
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- 210000003792 cranial nerve Anatomy 0.000 claims abstract description 5
- 230000004007 neuromodulation Effects 0.000 claims description 8
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- 238000003860 storage Methods 0.000 claims description 4
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- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/015—Input arrangements based on nervous system activity detection, e.g. brain waves [EEG] detection, electromyograms [EMG] detection, electrodermal response detection
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Abstract
The invention discloses an ultra-light wireless stimulation backpack applied to nerve regulation of a small insect robot, which comprises a micro millimeter-scale spiral antenna L1, a semi-active RFID signal modulation module U1, a low-power consumption microcontroller module U2 and an energy supply module C1, wherein the micro millimeter-scale spiral antenna, the semi-active RFID signal modulation module U1, the low-power consumption microcontroller module U2 and the energy supply module C1 are integrated on the same PCB substrate by adopting a two-dimensional heterogeneous integration process, and corresponding micro electrical stimulation signals are generated by receiving external RFID signals and are transmitted into insect cranial nerves by micro wire electrodes to modulate insect behaviors. The invention realizes the miniaturization of the semi-active RFID antenna by combining the PCB substrate with high dielectric constant through the discrete grounding technology and the spiral structure design; the semi-active RFID communication mode is adopted, so that the power consumption required by the backpack system is greatly reduced, and the energy required by the backpack system can be met by using an ultra-micro capacitor; the two-dimensional heterogeneous integration process is adopted, so that the integration density is improved, the weight is reduced, and the overall weight and volume of the wireless stimulation backpack are finally reduced.
Description
Technical Field
The invention relates to the field of insect brain-computer interfaces, in particular to an ultra-lightweight wireless stimulation regulation backpack applied to nerve regulation of a small insect robot.
Background
The brain-computer interface has important application value in the aspects of nerve regulation, disease diagnosis and treatment, neuroscience research and the like by establishing a path of a biological cranial nerve and external electronic equipment. The insect robot is used as the leading edge application field of an insect brain-computer interface, insect nerves are regulated and controlled by using micro-electrical stimulation, and then behavior control of insects is achieved. Because the insects have unique advantages in aspects of agility, concealment and the like, the wireless micro-electrical stimulation backpack is combined with the insects to form the insect robot, and the insect robot has important values in applications such as detection and reconnaissance.
Most of the existing researches on insect micro-electrical stimulation backpacks are concentrated in the application of large insects with large volumes of beetles and cockroaches and strong bearing capacity. The hierarchical regulation and control of insect motion is realized through the micro-electric signals with variable frequency, amplitude and duty ratio. Because most insects have small volume and low bearing capacity, the volume and weight of the existing wireless micro-electro-stimulation backpack become important limits for the wide application of the backpack in insects.
The wireless micro-electrical stimulation knapsack of insect receives the control command generated by the upper computer wirelessly and generates the micro-electrical stimulation signal with changeable stimulation parameters. The existing wireless micro-electrical stimulation backpack adopts a radio frequency modulation mode for communication, and in recent years, 2.4GHz radio frequency signals are widely adopted. The large power consumption requirements of the high operating frequencies required for rf modulation make it necessary to have a large battery to meet the operating requirements. This makes the weight of wireless little electricity stimulation knapsack difficult to reduce by a wide margin, and most stay about 1g, is difficult to satisfy small-size insect's load requirement. Therefore, there is a need to develop a small-sized wireless micro-electrical stimulation backpack with low weight by improving a wireless communication mode and a backpack system structure and further reducing the weight and volume of the system by reducing the system power consumption, so as to expand the research field of the insect robot and realize wireless neuromodulation of a wider variety of insects.
Disclosure of Invention
Aiming at the problem that the existing insect robot wireless micro-electrical stimulation backpack is large in weight and size, the invention provides a miniaturized ultra-wireless micro-electrical stimulation backpack system structure which uses a low-power-consumption wireless communication mode and can receive signals sent by an upper computer in real time and configure stimulation parameters, so that the weight and the size of the wireless micro-electrical stimulation backpack are reduced, the ultra-light wireless stimulation backpack which can be applied to the neural regulation of a small insect robot is realized, and the insect robot wireless stimulation backpack system is suitable for various small insects.
In order to realize the purpose of the invention, the following technical scheme is adopted:
be applied to neural regulation and control's of small-size insect robot super lightweight wireless stimulation knapsack includes:
the micro-electro-stimulation insect pest control system comprises a micro millimeter-scale spiral structure antenna L1, a semi-active RFID signal modulation module U1, a low-power consumption micro-controller module U2 and an energy supply module C1, wherein corresponding micro-electro-stimulation signals are generated by receiving external RFID signals and are transmitted to the cranial nerves of insects by a micro-wire electrode to modulate the behavior of the insects;
the miniature millimeter-scale helical structure antenna L1 consists of a square helical structure coil, the number of turns of the coil is not less than 2 turns and not more than 4 turns, and the miniature millimeter-scale helical structure antenna L1 is used for receiving digital information and energy contained in a radio frequency modulation signal and is used for data transmission and energy supply of a semi-active RFID signal modulation module U1;
the semi-active RFID signal modulation module U1 receives wireless radio frequency energy and wireless communication signals coupled by the micro millimeter-scale spiral structure antenna L1, provides partial energy required by self operation, stores read information in a register, and returns signals through backscattering;
the low-power-consumption microcontroller module U2 is operated by using a low-power-consumption strategy without an external crystal oscillator, and is used for reading data of the wireless communication module modulated by the semi-active RFID signal, generating a corresponding stimulation command and outputting micro-electrical stimulation;
the energy supply module C1 is used for providing energy required by the operation of the low-power-consumption microcontroller module U2 and providing the energy for the operation of the semi-active RFID signal modulation module U1 storage unit;
the micro millimeter-scale spiral structure antenna L1, the semi-active RFID signal modulation module U1, the low-power consumption microcontroller module U2 and the energy supply module C1 are integrated on the same PCB substrate by adopting a two-dimensional heterogeneous integration process.
The invention has the beneficial effects that:
1. the antenna size that the tradition was applied to in semi-active RFID communication is usually at centimeter level size, and big antenna size will cause very big hindrance to insect free motion for traditional RFID communication scheme can not be applied to in the wireless little electric stimulation knapsack of insect. The semi-active RFID antenna provided by the invention can realize good radio frequency signal receiving efficiency under millimeter-scale size by printing by using the PCB substrate with high dielectric constant; by using the discrete grounding technology, the antenna impedance can be adjusted, and good impedance matching with the RFID chip can be realized. The substantial reduction in size of the semi-active RFID antenna allows the backpack size to be reduced.
2. The existing wireless modules applied to nerve modulation of insect robots all adopt AM or 2.4GHz digital frequency modulation communication, relatively large power consumption is needed for generating corresponding modulation frequency, batteries with the weight of hundreds of milligrams are usually needed for providing energy required by backpack operation, and therefore the weight of the existing insect stimulating backpack adopting wireless radio frequency communication is limited to about 1 g. The invention leads the energy required by the wireless communication to be partially provided by the external radio frequency signal by introducing the semi-active RFID communication technology of a backscattering mechanism. The required on-board energy is greatly reduced, so that the overall weight of the system is reduced.
3. Low power microcontroller module usage reduction I2C, the communication mode of the communication speed and the switching between the sleep mode and the low power consumption mode greatly reduce the power consumption required by the MCU during operation, and the energy required by the MCU during operation can be met by only using one ultra-micro capacitor.
4. The encapsulation chip is generally used in the traditional wireless micro-electrical stimulation backpack, the volume and the weight of the chip are increased in the encapsulation process, and the integration density and the weight of the wireless micro-electrical stimulation backpack can not be effectively reduced. The scheme provides a two-dimensional heterogeneous integration technology, which can integrate unpackaged bare chips, packaged chips, passive devices and micro-spiral-structure RFID antennas on the same ultrathin PCB substrate with high dielectric constant, thereby greatly improving the integration density of the system and reducing the weight of the system.
5. Most of the existing insect robots are built by large insects such as cockroaches, beetles or moths mainly due to the limitation of the volume and weight of the wireless micro-electrical stimulation backpack. Through the combination of miniature millimeter level helical structure antenna, semi-active RFID communication technology and two-dimensional heterogeneous integrated technology for the size and the weight of wireless little electric stimulation knapsack can reduce by a wide margin, can be applicable to such as the less miniature insect such as honeybee, dragonfly, provide the neuroscience research tool of more miniaturized light weight, expanded insect robot's research field.
Drawings
The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.
Fig. 1 shows the structure of the ultra-lightweight wireless stimulation backpack microsystem applied to the neural regulation of a small insect robot.
Fig. 2 shows a schematic diagram of an ultra lightweight wireless stimulation backpack embodying examples of the present invention.
Fig. 3 shows a flow chart of the two-dimensional heterogeneous integration process proposed by the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings, where the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments.
Be applied to little insect robot neural regulation and control's super lightweight wireless stimulation knapsack, including miniature millimeter level helical structure antenna L1, semi-active RFID signal modulation module U1, low-power consumption microcontroller module U2, energy supply module C1. By receiving an external RFID signal, a corresponding micro-electrical stimulation signal is generated and is transmitted to the cranial nerves of the insects by the micro-wire electrode, so that the insect behaviors are modulated.
The miniature millimeter-scale spiral structure antenna L1 is used for receiving digital information and energy contained in the radio frequency modulation signal and used for data transmission and energy supply of the semi-active RFID wireless communication module;
the semi-active RFID signal modulation module U1 is used for receiving wireless radio frequency energy and wireless communication signals coupled by the micro millimeter-scale spiral structure antenna L1 and returning the signals through backscattering;
the low-power-consumption microcontroller module U2 is used for reading data of the wireless communication module modulated by the semi-active RFID signal, generating a corresponding stimulation command and outputting micro-electrical stimulation;
the energy supply module C1 is used for providing energy required by the operation of the low-power-consumption microcontroller module U2 and providing the energy for the operation of the semi-active RFID signal modulation module U1 storage unit;
the two-dimensional heterogeneous integration process is used for integrating the micro millimeter-scale spiral structure antenna L1, the semi-active RFID signal modulation module U1, the low-power consumption microcontroller module U2 and the energy supply module C1 on the same PCB substrate, so that the electrical connection of the ultra-light-weight micro-electrical stimulation backpack micro system applied to the neural regulation of the small insect robot is realized.
Further, still including the high dielectric constant PCB base plate that is used for miniature millimeter level helical structure antenna L1 to print, the dielectric constant of PCB base plate is not less than 4.7 for improve antenna radiation efficiency, realize antenna structure's miniaturization.
Further, the energy supply module C1 is also included to provide the energy source for the low power microcontroller module die U2 to operate using the micro supercapacitor CPH3225A and the energy source for the semi-active RFID signal modulation module U1 to store data.
Further, the system also comprises a low-power-consumption microcontroller module U2 for turning on the I through interruption2And the bus is switched between the sleep mode and the low power consumption mode to reduce the running power consumption and realize a program running strategy of the system working under the low power consumption.
Further, the low-power consumption microcontroller module U2 reads the data of the semi-active RFID signal modulation module U1, performs PWM configuration, and sends micro electrical stimulation signals to the micro-wire electrodes through the I/O port.
Furthermore, the method also comprises bonding wire materials used in the two-dimensional heterogeneous integration process, processing temperature and production and processing flows of heterogeneous integration.
Referring to fig. 1, the method is applied to small insectsIn the robot nerve-controlled ultra-lightweight wireless stimulation backpack microsystem, an upper computer generates a radio frequency modulation signal through an RFID modulator, and the radio frequency modulation signal is sent by an RFID transmitting antenna. The micro millimeter-scale helical structure antenna L1 transmits the received radio frequency modulation signal and energy to the semi-active RFID signal modulation module U1 connected with the micro millimeter-scale helical structure antenna L1. The semi-active RFID signal modulation module U1 demodulates the received rf energy, reads the information contained therein, and writes the information into its memory unit. A low power consumption microcontroller module U2 through I connected to a semi-active RFID signal modulation module U12And the bus C is used for reading the register, identifying left and right stimulation instructions and parameters such as frequency, duty ratio, pulse number and the like of the micro-electrical stimulation signals according to the numerical values stored in the register, and sending corresponding PWM waves to the micro-wire electrode through the I/O port, wherein the micro-wire electrode is inserted into the brain of the insect to modulate the nervous activity of the insect so as to influence the movement behavior of the insect. The energy supply module C1 is used for providing energy for the low-power consumption microcontroller module U2 to work and providing semi-active RFID signal modulation module U1 storage unit working energy.
Referring to fig. 2, in the ultra-lightweight wireless stimulation backpack schematic diagram according to the embodiment of the present invention, the micro millimeter-scale helical antenna L1 performs impedance adjustment by using a discrete grounding technique, performs impedance matching with the semi-active RFID signal modulation module U1, and is combined with the high-dielectric-constant thin PCB substrate to realize a 915MHz center frequency in a UHF band. The semi-active RFID signal modulation module U1 adopts a modulation chip SL3S 4011. In the RFID general waveband, most of RFID read-write modules on the market can be used for wireless communication. The low power microcontroller module U2 uses an EM78P468N die, which weighs only 3mg, typically a few tens of milligrams for a packaged chip. EM78P468N through I2The C bus reads and writes a register in the SL3S4011, reads register data in a low power consumption mode, configures PWM waves, and sends micro electrical stimulation signals through micro wire electrodes. The low-power consumption microcontroller module U2 adopts the program operation strategy of ultra-low power consumption operation and intermittently turns on the I2C bus in sleep mode and low power modeTo reduce operating power consumption. Namely, after the signal transmission is finished, the sleep mode is entered, and after a certain time interval, the register reading is entered again. By using an external resistance adjustable RC resonance, a 32kHz frequency is generated for system operation. The system does not need an external crystal oscillator, so that the volume and the weight of the backpack are reduced. The ultra-light wireless micro-electrical stimulation backpack micro-system integrally operates at the level of microwatts, the energy supply module C1 can meet the power supply requirement only by selecting one micro super capacitor CPH3225A, and a lithium battery required by a traditional wireless stimulator is removed, so that the weight of the backpack micro-system is greatly reduced.
Referring to fig. 3, the two-dimensional heterogeneous integration process method adopted in the present invention integrates the micro millimeter-scale helical antenna L1, the package chip, the MCU die, and the passive device on the same PCB substrate. The antenna is used for integrating the micro millimeter-scale spiral structure antenna L1, the semi-active RFID signal modulation module U1, the low-power consumption microcontroller module bare chip U2 and the energy supply module C1 on the same PCB substrate, and the dielectric constant of the PCB substrate is not less than 4.7.
Firstly, according to the spiral antenna structure obtained through simulation, a miniature millimeter-scale spiral structure antenna, a device bonding pad, a wiring and a bonding wire bonding pad are printed on a PCB substrate with the thickness of 1 mm.
And secondly, mounting the passive device, the packaging chip SL3S4011 and the MCU die EM78P468N on the PCB substrate.
And thirdly, performing wire bonding at 150 ℃ by using 5ppm copper-doped gold wires, and connecting the MCU bare chip and the bonding pad together.
And fourthly, covering the MCU bare chip and the bonding wires by using epoxy resin, and curing at 80 ℃ for 20 minutes.
And fifthly, cooling at normal temperature to form the miniaturized wireless micro-electrical stimulation backpack with the whole weight of 100 mg.
The foregoing is merely a preferred embodiment of this invention and is not intended to be exhaustive or to limit the invention to the precise form disclosed. It will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the scope of the invention.
Claims (8)
1. Be applied to wireless amazing knapsack of super lightweight of neural regulation and control of small-size insect robot, its characterized in that:
the micro-electro-stimulation insect pest control system comprises a micro millimeter-scale spiral structure antenna L1, a semi-active RFID signal modulation module U1, a low-power consumption micro-controller module U2 and an energy supply module C1, wherein corresponding micro-electro-stimulation signals are generated by receiving external RFID signals and are transmitted to the cranial nerves of insects by a micro-wire electrode to modulate the behavior of the insects;
the miniature millimeter-scale helical structure antenna L1 consists of a square helical structure coil, the number of turns of the coil is not less than 2 turns and not more than 4 turns, and the miniature millimeter-scale helical structure antenna L1 is used for receiving digital information and energy contained in a radio frequency modulation signal and is used for data transmission and energy supply of a semi-active RFID signal modulation module U1;
the semi-active RFID signal modulation module U1 receives wireless radio frequency energy and wireless communication signals coupled by the micro millimeter-scale spiral structure antenna L1, provides partial energy required by self operation, stores read information in a register, and returns signals through backscattering;
the low-power-consumption microcontroller module U2 is operated by using a low-power-consumption strategy without an external crystal oscillator, and is used for reading data of the wireless communication module modulated by the semi-active RFID signal, generating a corresponding stimulation command and outputting micro-electrical stimulation;
the energy supply module C1 is used for providing energy required by the operation of the low-power-consumption microcontroller module U2 and providing the energy for the operation of the semi-active RFID signal modulation module U1 storage unit;
the micro millimeter-scale spiral structure antenna L1, the semi-active RFID signal modulation module U1, the low-power consumption microcontroller module U2 and the energy supply module C1 are integrated on the same PCB substrate by adopting a two-dimensional heterogeneous integration process.
2. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 1, wherein:
the dielectric constant of PCB base plate is not less than 4.7, and miniature millimeter level helical structure antenna L1 prints on the PCB base plate for reduce miniature millimeter level helical structure antenna L1's size.
3. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 1, wherein:
the semi-active RFID signal modulation module U1 adopts a modulation chip SL3S4011, and the low-power-consumption microcontroller module U2 adopts an EM78P468N bare chip.
4. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 3, wherein:
i is adopted between the semi-active RFID signal modulation module U1 and the low-power consumption microcontroller module U22And C, bus communication.
5. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 4, wherein:
the low-power consumption microcontroller module U2 turns on I through interruption2And the C bus is used for switching between the sleep mode and the low power consumption mode so as to reduce the running power consumption.
6. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 1, wherein:
and the low-power-consumption microcontroller module U2 reads the data of the semi-active RFID signal modulation module U1, performs PWM configuration and sends a micro-electrical stimulation signal to the micro-wire electrode through an I/O port.
7. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 1, wherein:
the energy supply module C1 employs a miniature supercapacitor CPH 3225A.
8. The ultra-lightweight wireless stimulation backpack applied to small insect robot neuromodulation as claimed in claim 1, wherein:
the two-dimensional heterogeneous integration process is characterized in that printing of the micro millimeter-scale spiral structure antenna L1, chip mounting of a package, MCU bare chip lead bonding and epoxy resin covering and curing for protecting a bonding wire are realized on the same PCB substrate.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101185789A (en) * | 2007-11-06 | 2008-05-28 | 浙江大学 | Implantation type nerve micro-stimulus and gathering remote-controlled chip |
| CN110658753A (en) * | 2019-09-17 | 2020-01-07 | 东南大学 | Circuit device for controlling flying behavior of insects based on electrical stimulation |
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2021
- 2021-10-12 CN CN202111186371.XA patent/CN114047816A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101185789A (en) * | 2007-11-06 | 2008-05-28 | 浙江大学 | Implantation type nerve micro-stimulus and gathering remote-controlled chip |
| CN110658753A (en) * | 2019-09-17 | 2020-01-07 | 东南大学 | Circuit device for controlling flying behavior of insects based on electrical stimulation |
Non-Patent Citations (2)
| Title |
|---|
| 张东;姜岩峰;生晓坤;: "RFID中天线的优化设计", 电子测量与仪器学报, no. 07, 15 July 2011 (2011-07-15), pages 56 - 59 * |
| 陈臣: "应用于昆虫的无线微型刺激系统关键技术的研究", 中国硕士学位论文全文数据库信息科技辑, no. 02, 15 February 2018 (2018-02-15), pages 12 - 42 * |
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