CN204759349U - Aircraft controlling means based on stable state vision evoked potential - Google Patents
Aircraft controlling means based on stable state vision evoked potential Download PDFInfo
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- CN204759349U CN204759349U CN201520316967.0U CN201520316967U CN204759349U CN 204759349 U CN204759349 U CN 204759349U CN 201520316967 U CN201520316967 U CN 201520316967U CN 204759349 U CN204759349 U CN 204759349U
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Abstract
The utility model discloses an aircraft controlling means based on stable state vision evoked potential. It has six scintillation segments to show on the visual stimulus display screen, the equal difference of flicker frequency of six scintillation segments, portable electroencephalogram acquired equipment is worn the head at operating personnel, the EEG signal that collection module gathered the operating personnel head in the portable electroencephalogram acquired equipment is in proper order through enlargeing, filtering and analog -to -digital conversion are after wireless transmission module sends signal processing module to, signal processing module transmits aircraft control module after with EEG signal analysis processes to, the recurrence goes out the motion of flight control signal control aircraft. The utility model discloses can realize six kinds of motion control in the aircraft according to operating personnel's control intention, realize the nimble control of aircraft, increase the practicality of aircraft control, for the application of brain machine interface provides new mode, the current flight control mode of effective compensation not enough, full play physical disabilities' initiative.
Description
Technical field
The utility model relate to one and flies to control device, especially relate to a kind of flying vehicles control device based on Steady State Visual Evoked Potential.
Background technology
Brain-computer interface (Brain-computerinterface, BCI) is a kind of communication control unit not relying on brain peripheral nerve and the normal output channel of muscle.It is by gathering and analyst's cerebral biological electricity signal, set up with between computing machine or other electronic equipment the passage directly exchanging and control at human brain, such people just can express wish or maneuvering device by brain, and does not need language or extra limb action.Usual BCI system is mainly studied P300 signal, Mental imagery (Motorimagery, MI) and Steady State Visual Evoked Potential (Steady-statevisualevokedpotentials, SSVEP).
Steady State Visual Evoked Potential (Steady-statevisualevokedpotentials, SSVEP) refer to, when the frequency of stimulation of vision is greater than 6Hz, the transient visual induced potential caused is stimulated for each time to overlap in time, the visual cortex of the brain of people can produce one relevant with the fundamental frequency of frequency of stimulation or two frequencys multiplication continuously one and respond, and this response is called as Steady State Visual Evoked Potential.
Compared to other BCI systems, the BCI system tool based on SSVEP has the following advantages:
(1) without the need to training subject, experiment is simple, strong adaptability, can try out for the crowd of all ages and classes, sex and race.
(2) there is significantly periodicity and assimilation of rhythm phenomenon.This phenomenon shows as in tested EEG spectrum is analyzed, and there is very significantly peak value at fundamental frequency and the frequency multiplication place of corresponding frequency of stimulation.Therefore SSVEP concentrates in specific frequency, and its this feature simplifies the feature extracting method of BCI.
(3) there is the transfer rate of higher information, reach application target.
(4) SSVEP has higher signal to noise ratio (S/N ratio), and the electrode of needs is few, has very strong operability.
At present, the manipulation for unmanned plane generally adopts telepilot, and this kind of mode is only applicable to population, and some physical disabilities are difficult to realize the manipulation to unmanned plane, and this mode lacks the effective compensation device to flying vehicles control, can not give full play to its initiative.
Utility model content
In order to solve Problems existing in background technology, the utility model provides a kind of flying vehicles control device based on Steady State Visual Evoked Potential, specifically acquisition operations personnel watch attentively different flicker frequency stimulate under EEG signals, by analyzing the feature of the EEG signals under different frequency stimulation, judge the flicker as which frequency that operating personnel watch attentively, this is controlled to the motion control of aircraft, Cognitive Neuroscience field and areas of information technology are combined, realize the automatic control of aircraft, the utility model method has higher ubiquity.
The utility model realizes by the following technical solutions:
The utility model comprises the visual stimulus display screen connected successively, portable brain electric collecting device, signal processing module, wireless transport module and flying vehicles control module, flying vehicles control module is installed on board the aircraft, visual stimulus display screen, portable brain electric collecting device and signal processing module are installed in ground, visual stimulus display screen shows six flicker segments, the flicker frequency of six flicker segments is all different, portable brain electric collecting device is worn on the head of operating personnel, the EEG signals produced when watching visual stimulus display screen attentively for acquisition operations personnel, portable brain electric collecting device comprises acquisition module, amplification module, filtration module and analog-to-digital conversion module, successively through amplification module, filtration module and analog-to-digital conversion module after the EEG signals of acquisition module acquisition operations person head, signal processing module is sent to again through wireless transport module, signal processing module is transferred to flying vehicles control module by after electroencephalogramsignal signal analyzing process, and flying vehicles control module sends the motion that flight control signal controls aircraft.
The flicker segment of described six corresponds respectively to six kinds of motions upwards, downwards, left, to the right, forward and backward of aircraft.
Described signal processing module can adopt computing machine, computing machine can be adopted to build signal processing software process in concrete enforcement.
Described portable brain electric collecting device has 14 leads, and wears according to international standard 10-20 frame of reference of leading.
Compared with prior art, the beneficial effects of the utility model are:
In the control device of existing aircraft, not yet there is the correlation technique controlled based on SSVEP, therefore the utility model is a brand-new direction, also for the application of brain-computer interface provides new field.
The utility model can realize six kinds of motion controls upwards, downwards, left, to the right, forward and backward to aircraft according to the control intention of operating personnel, achieves the flexible control of aircraft, adds the Practical Performance of flying vehicles control.
The utility model not only provides a kind of new method to the control mode of aircraft, the more important thing is that also having opened up BCI applies new field.Be directed to some physical disabilities, operating grip is quite difficult simultaneously, the utility model to the control method of aircraft can effective compensation device not enough, give full play to its initiative.
Accompanying drawing explanation
Fig. 1 is the overall connection block diagram of the utility model system.
Fig. 2 is signal processing flow figure of the present utility model.
Fig. 3 is the flicker segment schematic diagram of the utility model visual stimulus display screen.
Fig. 4 is the placement location figure of electrode on scalp in embodiment portable brain electric collecting device.
Embodiment
Hereinafter with reference to accompanying drawing, preferred embodiment of the present utility model is described in detail.Should be appreciated that preferred embodiment only in order to the utility model is described, instead of in order to limit protection domain of the present utility model.
Ultimate principle of the present utility model is that operating personnel will control aircraft upwards, downwards, left, to the right, forward and backward during six kinds of actions, any limb action and language need not be carried out, eye gaze is only needed actuating signal flicker segment corresponding on visual stimulus display screen, the brain of people will produce corresponding SSVEP signal, notebook receives this signal and carries out frequency-domain analysis to this signal, identify the frequency of stimulation producing SSVEP signal, the frequency that frequency of stimulation and visual stimulus display screen provide is in close scope, then export corresponding control signal to controller of aircraft, thus the control realized aircraft.
Embodiment of the present utility model and detailed process as follows:
As shown in Figure 3, the background colour of visual stimulus display screen is black, and interface has 6 pictures by different frequency flicker, operating personnel watch different flicker segments attentively can produce different SSVEP signals.Wherein " on Up/ " represents that aircraft moves upward, " under Down/ " represents that aircraft moves downward, and " Left/ is left " represents that aircraft is to left movement, and " Right/ is right " represents that aircraft moves right, " before Front/ " represents that aircraft advances, and " after Back/ " represents that aircraft retreats.Operating personnel, according to the control intention of oneself, watch the corresponding action control of flicker segment realization to aircraft attentively.
The utility model uses the electroencephalogramsignal signal collection equipment of any port number that can gather the SSVEP signal that cerebral cortex occipital region produces.The present embodiment adopt portable brain electric collecting device be EmotivEpoc, it has 14 brain wave acquisition passages and 2 reference electrodes, according to international standard lead 10-20 frame of reference place.And EmotivEpoc has analog-to-digital conversion module, wireless transport module and the filter function of 14.Because the response of SSVEP mainly comes across cerebral cortex occipital region, so electrode is mainly placed on these 4 positions of P7, P8, O1, O2 in embodiment, as shown in Figure 4.
Visual stimulus display screen is provided, for generation of event related potential by the LCDs of notebook computer.Stimulate on interface and have 6 according to the gridiron pattern of different frequency flicker, 6 different frequencies are respectively 6.5Hz, 7.5Hz, 8.5Hz, 10Hz, 12Hz, 15Hz.
Specific implementation process is as follows:
1) choose 5 healthy subjects, label is S1 to S5, and experiment is divided into 5 groups to carry out, and often organizes experimental subjects carries out aircraft maneuvers successively control according to prompting, often organizes test 20 times;
2) experimenter S1 is according to prompting, watches " on Up/ " on visual stimulus display screen, " under Down/ ", " Left/ is left ", " Right/ is right ", " before Front/ ", " after Back/ " this group flicker segment successively attentively.For the LCDs of 60Hz refreshing frequency, the flicker frequency of 6 flicker segments on visual stimulus display screen selects 6.5Hz, 7.5Hz, 8.5Hz, 10Hz, 12Hz, 15Hz respectively;
3) experimenter No. S1 makes annotating visual stimulus display screen successively, the EEG signals of portable brain electric collecting device Real-time Collection experimenter No. S1, and the EEG signals collected is amplified, filtering, analog to digital conversion, then by the wireless transport module that carries, the data after process are transferred to signal processing module;
4) signal processing module carries out wavelet reconstruction, the extraction of AR model spectra analytical characteristic and classification to EEG signals after the corresponding data receiving experimenter S1, and the result of classification is transferred to the control module of aircraft by wireless transport module;
5) after flying vehicles control module receives classification results, control aircraft carry out upwards successively, left, downwards, forward, to the right, six kinds of action controls backward;
6) experimenter S1 repeats above-mentioned steps 2) to step 5) 20 times and record number of success;
7) after experimenter S1 completes experiment, experimenter S2 repeats above-mentioned experiment to experimenter S5, and every experimenter carries out 20 times, and records the number of times of Success in Experiment.
Experiment statistics is as follows:
Table 1 experimental data is added up:
| Subject number | S1 | S2 | S3 | S4 | S5 |
| Number of success | 18 | 19 | 18 | 20 | 16 |
Experiment finds, for the LCDs of refreshing frequency 60Hz, system can detect SSVEP signal effectively, and detection accuracy can reach 91%.
The present embodiment step 4) in adopt signal processing module for signal treatment scheme as shown in Figure 2, its detailed process is as follows:
(1) pre-service, the sample frequency f of portable brain electric collecting device in embodiment
sfor 128Hz, select db6 small echo as wavelet basis function.In order to remove the signal of high and low frequency section, embodiment carries out 5 layers of decomposition by Mallat wavelet analysis to EEG signals, obtains 5 frequency ranges after decomposing and is respectively: 0 ~ 4Hz, 4 ~ 8Hz, 8 ~ 16Hz, 16 ~ 32Hz, 32 ~ 64Hz.By the component zero setting of the low-frequency range after wavelet decomposition and high band, and then carry out small echo 5 layers reconstruct, obtain the signal only retaining 4 ~ 32Hz frequency range.
(2) carry out the analysis of AR model spectra to the EEG signals after reconstruct, analyze the peak value on frequency domain, fundamental frequency and its two frequency multiplication have obvious crest to occur, then this fundamental frequency is the frequency of stimulation of SSVEP signal.
In calculating, AR model order p calculates in the following ways: by the method for covariance to AR model coefficient a
kcarry out estimation and obtain AR model coefficient estimated value, and determine to obtain AR model order p in conjunction with AIC (Akaikeinformationcriterion) criterion.Test successively in AR model order p adjacent ranges by experiment in embodiment, find there is obvious peak value at two frequency multiplication places of SSVEP signal, also can determine the frequency of stimulation of SSVEP signal with this.
(3) 6 frequencies that extracting the frequency of stimulation of SSVEP signal and visual stimulus display screen provides are compared, with one of them comparison difference in threshold range, and two frequencys multiplication of this frequency have an obvious crest then to export corresponding control signal in the frequency domain of SSVEP signal, otherwise, then wait for that the signal of subsequent time arrives.
As can be seen here, when operating personnel are when observing the flicker segment on visual stimulus display screen, extracted by the SSVEP signal produced operating personnel's brain, and after frequency-domain analysis, identification, classification are carried out to this signal, corresponding control signal is sent to flying vehicles control module thus realizes six kinds of motion controls upwards, downwards, left, to the right, forward and backward to aircraft, achieve the flexible control of aircraft, add the Practical Performance of flying vehicles control.
Claims (4)
1. the flying vehicles control device based on Steady State Visual Evoked Potential, it is characterized in that: comprise the visual stimulus display screen connected successively, portable brain electric collecting device, signal processing module, wireless transport module and flying vehicles control module, flying vehicles control module is installed on board the aircraft, visual stimulus display screen, portable brain electric collecting device and signal processing module are installed in ground, visual stimulus display screen shows six flicker segments, the flicker frequency of six flicker segments is all different, portable brain electric collecting device is worn on the head of operating personnel, the EEG signals produced when watching visual stimulus display screen attentively for acquisition operations personnel, portable brain electric collecting device comprises acquisition module, amplification module, filtration module and analog-to-digital conversion module, successively through amplification module, filtration module and analog-to-digital conversion module after the EEG signals of acquisition module acquisition operations person head, signal processing module is sent to again through wireless transport module, signal processing module is transferred to flying vehicles control module by after electroencephalogramsignal signal analyzing process, and flying vehicles control module sends the motion that flight control signal controls aircraft.
2. a kind of flying vehicles control device based on Steady State Visual Evoked Potential according to claim 1, is characterized in that: the flicker segment of described six corresponds respectively to six kinds of motions upwards, downwards, left, to the right, forward and backward of aircraft.
3. a kind of flying vehicles control device based on Steady State Visual Evoked Potential according to claim 1, is characterized in that: described signal processing module adopts computing machine.
4. a kind of flying vehicles control device based on Steady State Visual Evoked Potential according to claim 1, is characterized in that: described portable brain electric collecting device has 14 leads, and wears according to international standard 10-20 frame of reference of leading.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104914994A (en) * | 2015-05-15 | 2015-09-16 | 中国计量学院 | Aircraft control system and fight control method based on steady-state visual evoked potential |
| CN107111372A (en) * | 2016-12-22 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned suite, unmanned aerial vehicle (UAV) control device and control method |
| CN110123313A (en) * | 2019-04-17 | 2019-08-16 | 中国科学院深圳先进技术研究院 | A kind of self-training brain machine interface system and related training method |
| CN114138107A (en) * | 2021-10-19 | 2022-03-04 | 杭州回车电子科技有限公司 | Brain-computer interaction device, system and method |
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- 2015-05-15 CN CN201520316967.0U patent/CN204759349U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104914994A (en) * | 2015-05-15 | 2015-09-16 | 中国计量学院 | Aircraft control system and fight control method based on steady-state visual evoked potential |
| CN107111372A (en) * | 2016-12-22 | 2017-08-29 | 深圳市大疆创新科技有限公司 | Unmanned suite, unmanned aerial vehicle (UAV) control device and control method |
| WO2018112847A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle suite, unmanned aerial vehicle control device and control method |
| CN110123313A (en) * | 2019-04-17 | 2019-08-16 | 中国科学院深圳先进技术研究院 | A kind of self-training brain machine interface system and related training method |
| CN110123313B (en) * | 2019-04-17 | 2022-02-08 | 中国科学院深圳先进技术研究院 | Self-training brain-computer interface system and related training method |
| CN114138107A (en) * | 2021-10-19 | 2022-03-04 | 杭州回车电子科技有限公司 | Brain-computer interaction device, system and method |
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