CN206249101U - Unmanned plane actuation means based on Steady State Visual Evoked Potential - Google Patents
Unmanned plane actuation means based on Steady State Visual Evoked Potential Download PDFInfo
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- CN206249101U CN206249101U CN201621196453.7U CN201621196453U CN206249101U CN 206249101 U CN206249101 U CN 206249101U CN 201621196453 U CN201621196453 U CN 201621196453U CN 206249101 U CN206249101 U CN 206249101U
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Abstract
Steady State Visual Evoked Potential is based on the utility model discloses one kind（Steady State Visual Evoked Potential, SSVEP）Unmanned plane actuation means, belong to Cognitive Neuroscience, information technology and automatically control the technical field for intersecting.The device includes the first manipulation unit, and the first manipulation unit includes：Visual stimulus unit, picture is induced for one group of Steady State Visual Evoked Potential of display simultaneously, and it is abstract by the manipulation instruction of unmanned plane that one group of Steady State Visual Evoked Potential induces picture；EEG Processing unit, processed so as to identify that the Steady State Visual Evoked Potential that manipulator is watched attentively induces picture for watching the EEG signals produced by visual stimulus unit attentively to manipulator, and the manipulation instruction that the Steady State Visual Evoked Potential is induced corresponding to picture is sent to unmanned plane execution.Compared to existing technology, the utility model can effectively improve the manipulation characteristic of unmanned plane, reduce manipulation difficulty.
Description
Technical field
The utility model is related to a kind of unmanned plane actuation means, more particularly to a kind of based on Steady State Visual Evoked Potential
（Steady State Visual Evoked Potential, SSVEP）Unmanned plane actuation means, belong to cognition neural section
Learn, information technology and automatically control the technical field for intersecting.
Background technology
Existing unmanned plane control system generally implements manipulation using remote control.Remote control be commonly equipped with two control lever and
Multiple function buttons.Wherein, a control lever controls unmanned plane advance in the horizontal plane, retreats, Zuo Fei, and the right side flies, another
Control lever controls rise and fall of the unmanned plane in vertical plane, is carried out clockwise in addition with special button control unmanned plane
Or rotate counterclockwise.But so remote control manipulation needs operator to correspond to the horizontal plane and vertical plane where unmanned plane respectively
To two manipulations of control lever, certain flight attitude of unmanned plane need to be resolved into two control lever and function button are divided
Step manipulation, and needs are operated completion by both hands respectively, and the corresponding of complexity is there is between unmanned plane during flying attitude and manipulation process
Relation, operator needs skillfully grasp manipulation skill by a large amount of training.
Utility model content
Technical problem to be solved in the utility model is to overcome prior art not enough, there is provided one kind is based on stable state vision
The unmanned plane actuation means of Evoked ptential, to effectively improve the manipulation characteristic of unmanned plane, reduce manipulation difficulty.
The utility model specifically solves above-mentioned technical problem using following technical scheme：
Following technical scheme can also be obtained according to identical thinking：
Unmanned plane actuation means based on Steady State Visual Evoked Potential, including the first manipulation unit, first manipulation are single
Unit includes：
Visual stimulus unit, picture is induced for one group of Steady State Visual Evoked Potential of display simultaneously, and one group of stable state is regarded
It is abstract by the manipulation instruction of unmanned plane to feel that Evoked ptential induces picture；
EEG Processing unit, is processed for watching the EEG signals produced by visual stimulus unit attentively to manipulator
So as to identify that the Steady State Visual Evoked Potential that manipulator is watched attentively induces picture, and the Steady State Visual Evoked Potential is induced into picture
Manipulation instruction corresponding to face is sent to unmanned plane execution.
Further, the first manipulation unit also includes video acquisition unit, is regarded for Real-time Collection unmanned plane visual angle
Frequently, and using the unmanned plane visual angle transmission of video of Real-time Collection show the stable state as visual stimulus unit to visual stimulus unit
VEP induces display background during picture.
Preferably, the EEG Processing unit includes：
Brain wave acquisition module, is acquired for watching the EEG signals produced by visual stimulus unit attentively to manipulator；
SSVEP sort modules, the EEG signals for being gathered to brain wave acquisition module carry out feature extraction and classification, from
And identify the Steady State Visual Evoked Potential that manipulator is watched attentively and induce picture；
Manipulation signal transmission module, the Steady State Visual Evoked Potential for SSVEP sort modules to be identified induces picture
The corresponding manipulation instruction in face is transferred to unmanned plane.
Preferably, the Steady State Visual Evoked Potential induces picture to be one group has the figure of different flicker frequencies and phase
Mark.
Preferably, described one group there is different flicker frequencies and the icon of phase to include：Visual stimulus unit is located at respectively
The upper and lower, left and right of display background, upper left, lower-left, upper right, the arrow icon on bottom-right location, be corresponding in turn in unmanned plane to
Front, rear, left and right, it is left front, left back, right before, right back to flight manipulation instruction, and, positioned at visual stimulus unit show carry on the back
Rotate counterclockwise at the underface of scape, upwards, downwards, the arrow icon for turning clockwise, be corresponding in turn in the inverse of unmanned plane
Hour hands rotation, upwards flight, the manipulation instruction flown downwards, turn clockwise.
To lift the robustness and adaptability of unmanned plane control system, further, the device also includes can be with the first behaviour
The second manipulation unit that control unit mutually switches, and for realizing what the first manipulation unit and the second manipulation unit mutually switched
Switching switch.
Compared to existing technology, the utility model has the advantages that：
First, traditional unmanned plane actuation means complete flight manipulation, it is necessary to manipulation instruction is divided by control lever and button
Solve the operation to horizontal plane and vertical plane, and need to operate completions respectively by both hands, unmanned plane position and attitude frame of reference and
There is a process decomposed and convert between control lever coordinate system, corresponding relation is complicated.The utility model proposes manipulation dress
Put, manipulation instruction is induced into picture by the abstract Steady State Visual Evoked Potential for icon represents, and further with unmanned plane visual angle
Shooting picture Overlapping display, manipulation instruction is located at the same coordinate system with unmanned plane position and attitude, and manipulation is more directly perceived easy, subtracts
Few probability without operation, improves handling.
2nd, traditional unmanned plane actuation means flight manipulation is completed by control lever and button, it is necessary to by unmanned plane certain
Individual flight attitude resolves into the substep manipulation to two control lever and function button, between unmanned plane during flying attitude and manipulation process
The corresponding relation of complexity is there is, operator needs skillfully grasp manipulation skill by a large amount of training.In manipulation process
Coordination between the middle coordination for needing eye and hand and both hands, the heavy load of operator.The utility model proposes manipulation
Device, operator need to only watch video attentively just can complete manipulation, and without hand eye coordination and two hands coordination, manipulation is simple directly, nothing
Need to train just can grasp.The muscle power and brain burden of operator mitigate, and are adapted to manipulate for a long time.
3rd, traditional unmanned plane control method is, it is necessary to both hands operate completion respectively.The utility model proposes manipulation dress
Put, only manipulation need to can be completed by watching without both hands, possibility is provided for the disabled carries out manipulation.And for health
Operator, can liberate both hands carries out other more accurate complicated manipulations, is that the more complicated unmanned plane of manipulation function is carried
For possible.
Brief description of the drawings
Fig. 1 is the time-domain signal and corresponding frequency-region signal of SSVEP；
Fig. 2 is that the system of one preferred embodiment of the utility model unmanned plane actuation means constitutes schematic diagram；
Fig. 3 is an example of unmanned plane multi-view video and SSVEP induction picture Overlapping displays in visual stimulus unit；
Fig. 4 is the setting of the frequency and phase of SSVEP induction pictures in visual stimulus unit.
Specific embodiment
The technical solution of the utility model is described in detail below in conjunction with the accompanying drawings：
For the problems of existing unmanned plane manipulation technology, resolving ideas of the present utility model are based on stable state vision
Evoked ptential carries out unmanned plane manipulation, specially：By the manipulation instruction of unmanned plane it is abstract be that one group of Steady State Visual Evoked Potential is lured
Hair picture is simultaneously displayed on visual stimulus unit, by watching to manipulator the EEG signals produced by the visual stimulus unit attentively
Processed so as to identify that the Steady State Visual Evoked Potential that manipulator is watched attentively induces picture, and the stable state vision inducting is electric
The manipulation instruction that position is induced corresponding to picture is sent to unmanned plane execution.
For ease of public understanding, before being described in detail to technical solutions of the utility model, first to the utility model
Involved correlation technique is introduced.
Brain-computer interface（Brain-Computer Interface, BCI）It is the one kind set up between brain and external environment condition
Information exchange and control passage.Using this passage, people need not be by language or limb action, it is possible to carry out brain meaning
Manipulation of the expression or realization of knowledge to external equipment.Existing brain-computer interface normal form mainly includes being based on slow cortical potential（SCP）,
P300 event related potentials, Mental imagery event related potential（MI）, VEP（VEP）Etc. several induction normal forms.
Wherein VEP（Visual Evoked Potential, VEP）It is when the eyes of people are subject to visual stimulus
When, the brain electricity of configuration in brain visual cortex top position（EEG）Signal can change, and this brain electric potential is referred to as vision
Evoked ptential.VEP can be divided three classes：Momentary visual Evoked ptential, pseudo noise code VEP, and stable state vision is lured
Generating position.
Steady State Visual Evoked Potential SSVEP is the most frequently used induction normal form in current BCI.When eyes observe a fixed frequency
When the visual stimulus of rate flicker, one can be produced with frequency of stimulation phase in the EEG signal obtained at brain visual cortex
The response of pass（Its time-domain signal and corresponding frequency-region signal are as shown in Figure 1）, i.e., have at the fundamental frequency and frequency multiplication of frequency of stimulation
Energy distribution higher, such response is referred to as Steady State Visual Evoked Potential（Hereinafter referred to as SSVEP signals）.One typical case
SSVEP induce the visual stimulus that is flashed by multiple different frequencies of normal form（SSVEP induces picture）Constitute.When observer watches attentively not
With visual stimulus when, brain electricity（EEG）Signal can show corresponding frequency distribution feature.Using this corresponding relation, can
With according to the frequency distribution feature presented in EEG signal, which kind of visual stimulus push away observer to watch attentively be come counter.If by difference
Visual stimulus be specifically intended to corresponding, observer just can realize specific intended by watching specific visual stimulus attentively
Output.Relative to other induction normal forms（Such as P300, Mental imagery）BCI for, SSVEP induce normal form BCI generally have
There is accuracy and rate of information transmission higher, system and experimental design are easier, and the frequency of training for needing is also fewer,
Therefore it is widely used among BCI systems.
Technical solutions of the utility model are described in detail with a preferred embodiment below.
As shown in Fig. 2 the unmanned plane actuation means in the present embodiment, including the first manipulation unit, the first manipulation list
Unit includes：Video acquisition unit, visual stimulus unit, EEG Processing unit, wherein, video acquisition unit is used to adopt in real time
Collection unmanned plane multi-view video, and using the unmanned plane visual angle transmission of video of Real-time Collection to visual stimulus unit as visual stimulus list
Unit display SSVEP induces display background during picture；Visual stimulus unit is used for one group of SSVEP of display simultaneously and induces picture, institute
It is abstract by the manipulation instruction of unmanned plane for state one group of SSVEP inducing picture；EEG Processing unit, for manipulator
Watch the EEG signals produced by visual stimulus unit attentively to be processed so as to identify that the SSVEP that manipulator is watched attentively induces picture
Face, and the manipulation instruction that the SSVEP is induced corresponding to picture is sent to unmanned plane execution.
As shown in Fig. 2 the EEG Processing unit in the present embodiment includes：
Brain wave acquisition module, is acquired for watching the EEG signals produced by visual stimulus unit attentively to manipulator；
SSVEP sort modules, the EEG signals for being gathered to brain wave acquisition module carry out feature extraction and classification, from
And identify the SSVEP that manipulator is watched attentively and induce picture；
Manipulation signal transmission module, the SSVEP for SSVEP sort modules to be identified induces the corresponding behaviour of picture
Control instruction is transferred to unmanned plane.
The detailed process manipulated to unmanned plane using the device is as follows：
1）Obtain unmanned plane multi-view video：
Video acquisition unit is configured on unmanned plane, is obtained with the video of unmanned plane viewing angles using all-purpose camera
Signal.Existing unmanned plane has been typically equipped with airborne video equipment, and video acquisition unit can be directly existing airborne using these
Video equipment.The vision signal of collection is wirelessly transferred with WiFi or wired mode real-time Transmission is to visual stimulus unit.
2）The display superposition of visual stimulus unit stimulates：
Visual stimulus unit in the present embodiment is by general purpose display（Can be that LCD display, light-emitting diode display or CRT show
Show device etc., it is preferred to use LCD display）Realize stimulating picture to show, operator front is configured at, to facilitate operator to see
Examine.The video pictures of unmanned plane viewing angles are shown over the display as background frame.Overlapping display is used on this background
Picture is induced in SSVEP is induced.In the present embodiment picture is induced by the use of the arrow for representing steer direction as SSVEP.Such as Fig. 3 institutes
Show, in the upper and lower, left and right of the background frame of the video pictures of unmanned plane viewing angles, upper left, lower-left, upper right, bottom right orientation
Upper Overlapping display represent to front, rear, left and right, it is left front, left back, right before, the right side after heading arrow as SSVEP induce picture
Face, above-mentioned arrow is shown with specific frequency and phase scintillation respectively.In the background painting of the video pictures of unmanned plane viewing angles
The underface in face, display represents that rotate counterclockwise, arrow that is upward, downward, turning clockwise induce picture as SSVEP, on
State arrow and shown with specific frequency and phase scintillation respectively.In order to adjacent S SVEP is induced into the EEG signal that picture is induced
Feature difference is maximized to improve classification accuracy rate, and difference is set to except different SSVEP is induced into picture in the present embodiment
Flicker frequency outside, also induce different SSVEP picture and be provided with out of phase, SSVEP induces the frequency+phase of picture
Setting it is as shown in Figure 4.The difference of such frequency+phase can further discriminate between adjacent stimulation SSVEP inductions picture and be lured
The EEG signal feature of hair, so as to improve classification accuracy rate.
3）Operating personnel select manipulation instruction：
Operator watches the display screen of visual stimulus unit attentively, and the video for observing unmanned plane viewing angles understands unmanned plane institute
Place position and attitude.Unmanned plane can be carried out in the horizontal plane centered on current position to front, rear, left and right, it is left front,
Before left back, right, the right side after, dextrorotation, turn rotate counterclockwise flight, and in vertical plane upper and lower flight manipulation.According to behaviour
Control needs, and operator need to persistently watch corresponding SSVEP attentively and induce picture more than 2 seconds.
4）SSVEP signal acquisitions：
Unmanned plane operator watches the picture that the display screen of visual stimulus unit is presented attentively, by being worn on operator's head
The brain wave acquisition module collection of portion occipital region induces the SSVEP signals that picture induces generation by SSVEP.Brain electricity in the present embodiment
Acquisition module is made up of EEG electrodes, head hoop, radio transmitting device.Because SSVEP signals are produced by brain visual area, therefore
It is to configure EEG electrodes at head occipital region to obtain preferable signal in the top of brain visual area, EEG electrode configurations are in O1-
Obtaining optimum signal around Oz-O2.It is preferred that using dry type EEG electrodes to improve wearing comfort and convenience.By dry type EEG
Electrode is fixed on elastic head hoop inner side, and head hoop is worn on head and realizes wearing for EEG electrodes by operator.Collect
SSVEP signals are transmitted to SSVEP sort modules by radio transmitting device.
5）SSVEP Modulation recognitions：
SSVEP sort modules are placed in unmanned controller, using wireless mode（Also wired mode can be used）Receive
From the SSVEP signals that brain wave acquisition module is collected, and SSVEP signals to being received carry out feature extraction and classification, from
And identify the SSVEP that manipulator is watched attentively and induce picture.The utility model can use existing various SSVEP Modulation recognitions skills
Art, such as minimum absolute retract and selection opertor (least absolute shrinkage and selection
Operator, LASSO, Y. Zhang, J. Jin, X.Y. Qing, B. Wang, and X.Y. Wang, " LASSO
based stimulus frequency recognition model for SSVEP BCIs,” Biomed. Signal
Proces., vol. 7, no. 2, pp. 104-111, Feb. 2012), PLS（partial least
squares, PLS, L.J. Trejo, R. Rosipal, and B. Matthews, “Brain-computer
interfaces for 1-D and 2-D cursor control: designs using volitional control
of the EEG spectrum or steady-state visual evoked potentials,” IEEE Trans.
Neural Syst. Rehabil. Eng., vol. 14, no. 2, pp. 225–229, Jun. 2006.）, Dian Xingxiang
Close analysis（Canonical correlation analysis, CCA, Z.L. Lin, C.S. Zhang, W. Wu, and
X.R. Gao, “Frequency recognition based on canonical correlation analysis for
SSVEP-based BCIs,” IEEE Trans. Biomed. Eng., vol. 54, no. 6, pp. 1172–1176,
Jun. 2007.）Deng.Canonical correlation analysis is used in the present embodiment（Canonical correlation analysis, CCA）
Method carries out feature extraction and classification to SSVEP signals, judges the species of the SSVEP induction pictures that operator is watched attentively,
And be converted to corresponding manipulation instruction.When operator does not watch SSVEP inductions picture or SSVEP attentively in certain time window
Signal quality is bad when causing CCA to be calculated maximum correlation coefficient less than 0.3, then set this time window correspondence and refers to without manipulation
Order.
6）Manipulation signal transmission：
Manipulation signal transmission module is placed in unmanned controller.In the module, store to front, rear, left and right,
Before left front, left back, right, behind the right side, rotate counterclockwise, upwards, downwards, the operating parameter that turns clockwise, hover.Manipulation signal is passed
The manipulation instruction that SSVEP sort modules are identified is converted into defeated module the corresponding operating parameter preserved in module, using wireless
Or wire signal transmission means realizes the manipulation to unmanned plane.Wherein, correspondence when SSVEP sort modules are judged as without manipulation instruction
Manipulation for hovering.
To lift the robustness and adaptability of unmanned plane control system, the utility model no-manned machine distant control device is except using
The first above-mentioned manipulation unit, outside implementing to manipulate by SSVEP signals, can also retain traditional utilization control lever and button
Implement the manipulation unit of manipulation or increase other control modes, changed by switching switch between various control modes.
Claims (6)
1. the unmanned plane actuation means based on Steady State Visual Evoked Potential, including the first manipulation unit, it is characterised in that described the
One manipulation unit includes：
Visual stimulus unit, picture is induced for one group of Steady State Visual Evoked Potential of display simultaneously, and one group of stable state vision is lured
It is abstract by the manipulation instruction of unmanned plane that generating position induces picture；
EEG Processing unit, for manipulator is watched attentively the EEG signals produced by visual stimulus unit carry out treatment so as to
Identify that the Steady State Visual Evoked Potential that manipulator is watched attentively induces picture, and the Steady State Visual Evoked Potential is induced into picture institute
Corresponding manipulation instruction is sent to unmanned plane execution.
2. unmanned plane actuation means as claimed in claim 1, it is characterised in that the first manipulation unit also includes video acquisition
Unit, for Real-time Collection unmanned plane multi-view video, and gives visual stimulus list by the unmanned plane visual angle transmission of video of Real-time Collection
Unit shows the display background during Steady State Visual Evoked Potential induction picture as visual stimulus unit.
3. unmanned plane actuation means as claimed in claim 1, it is characterised in that the EEG Processing unit includes：
Brain wave acquisition module, is acquired for watching the EEG signals produced by visual stimulus unit attentively to manipulator；
SSVEP sort modules, the EEG signals for being gathered to brain wave acquisition module carry out feature extraction and classification, so as to know
Do not go out the Steady State Visual Evoked Potential induction picture that manipulator is watched attentively；
Manipulation signal transmission module, the Steady State Visual Evoked Potential for SSVEP sort modules to be identified induces picture phase
Corresponding manipulation instruction is transferred to unmanned plane.
4. unmanned plane actuation means as claimed in claim 1, it is characterised in that the Steady State Visual Evoked Potential induces picture and is
One group of icon with different flicker frequencies and phase.
5. unmanned plane actuation means as claimed in claim 4, it is characterised in that described a group has different flicker frequencies and phase
Icon include：Respectively positioned at upper and lower, left and right, upper left, lower-left, upper right, the bottom-right location of visual stimulus unit display background
On the arrow icon, be corresponding in turn in unmanned plane to front, rear, left and right, it is left front, left back, right before, right back to flight manipulation
Instruction, and, rotate counterclockwise at the underface of visual stimulus unit display background, upwards, downwards, turn clockwise
The arrow icon, be corresponding in turn to the rotate counterclockwise in unmanned plane, flight, the manipulation flying downwards, turn clockwise refer to upwards
Order.
6. unmanned plane actuation means as described in any one of Claims 1 to 5, it is characterised in that the device also includes can be with first
The second manipulation unit that manipulation unit mutually switches, and for realizing that the first manipulation unit mutually switches with the second manipulation unit
Switching switch.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487988A (en) * | 2020-03-03 | 2020-08-04 | 天津大学 | Brain-controlled unmanned aerial vehicle method based on steady-state visual evoked potential brain-computer interface |
| CN113434040A (en) * | 2021-06-07 | 2021-09-24 | 西北工业大学 | Brain-computer interface technical method based on augmented reality induction |
-
2016
- 2016-11-07 CN CN201621196453.7U patent/CN206249101U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487988A (en) * | 2020-03-03 | 2020-08-04 | 天津大学 | Brain-controlled unmanned aerial vehicle method based on steady-state visual evoked potential brain-computer interface |
| CN111487988B (en) * | 2020-03-03 | 2022-04-15 | 天津大学 | Brain-controlled unmanned aerial vehicle method based on steady-state visual evoked potential brain-computer interface |
| CN113434040A (en) * | 2021-06-07 | 2021-09-24 | 西北工业大学 | Brain-computer interface technical method based on augmented reality induction |
| CN113434040B (en) * | 2021-06-07 | 2024-01-05 | 西北工业大学 | Brain-computer interface technical method based on augmented reality induction |
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