CN206579821U - A kind of bionic machinery fish system controlled based on brain wave - Google Patents
A kind of bionic machinery fish system controlled based on brain wave Download PDFInfo
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- CN206579821U CN206579821U CN201720013099.8U CN201720013099U CN206579821U CN 206579821 U CN206579821 U CN 206579821U CN 201720013099 U CN201720013099 U CN 201720013099U CN 206579821 U CN206579821 U CN 206579821U
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Abstract
Idiodynamic bionic machinery fish system is based on the utility model discloses one kind, the system can be by the motion of idea control biomimetics machine fish.The system includes brain wave earphone and bionic machine fish；The brain wave earphone is gathered and handles the original E.E.G value of user, obtains focus index, and focus index is sent to bionic machine fish, and focus index is divided into multiple intervals by bionic machine fish, a kind of movement instruction of each interval correspondence bionic machine fish.
Description
Technical field
The utility model belongs to brain-computer interface technology and robot field, specifically relates to a kind of based on the bionical of brain wave control
Machinery fish system.
Background technology
Recently as the development of bionics and robot technology, bio-robot has been made significant headway.Due to fish
Class has the advantages that high propulsive efficiency, mobility, low noise and highly concealed type travelling when, and these advantages have triggered research
The upsurge of the movement mechanism of fish and the imitative fish Shui Zhong robots of exploitation.In successful machine fish material object has been made, according to control
Mode processed can be divided into from principal mode and drone version.Traditional drone version bionic machine fish is mostly based on Wifi or Bluetooth communication, adopts
It is controlled with platforms such as smart mobile phone, PC and handles.But traditional drone version bionic machine fish has following lack
Point：
1st, the specification of remote control and disunity, hardware configuration are complex, it is necessary to special computer for special use.
2nd, remote controller operation interface is complex, it is necessary to which bimanualness, is not easy to while carrying out other work.
3rd, function is more single, is only capable of realizing the control of bionic machine fish.
Utility model content
In view of this, the utility model provides a kind of bionic machinery fish system controlled based on brain wave, can pass through
The motion of brain wave control biomimetics machine fish.
Implement the technical solution of the utility model as follows：
A kind of bionic machinery fish system controlled based on brain wave, the system includes brain wave earphone and bionic machine fish；Institute
State the original E.E.G value that brain wave earphone gathers and handles user, obtain the focus index of user, and by focus index
Send to bionic machine fish, focus index is divided into multiple intervals by bionic machine fish, each interval correspondence bionic machine fish
A kind of movement instruction.
Further, the brain wave earphone includes eeg signal acquisition electrode, EEG Processing module and Bluetooth transmission
Module, eeg signal acquisition electrode and Bluetooth communication modules are connected with EEG Processing module；Eeg signal acquisition electrode
The original E.E.G value for gathering user simultaneously transmits it to EEG Processing module, and EEG Processing module is by original E.E.G
Value carries out processing and obtains focus index, and the packet being made up of focus index is finally passed through Bluetooth transmission mould by brain wave earphone
Block is sent on bionic machine fish in real time.
Further, the bionic machine fish includes head shell, bottom barrel, supporting plate, controller, steering wheel, coiling
Disk, Bluetooth receptions module, battery, fish tail, fish-bone frame and rope；Head shell is the housing of one end open, and bottom barrel is one
The opening matched with the open end of head shell, the round cavity of other end closing are held, and blind end is symmetrical logical provided with two
Hole, fish tail is strip structure of the display provided with through hole in the middle of one, and fish-bone frame is the structure that multipair length is successively decreased successively, each fish-bone
There is a through hole in frame end portion, and head shell is tightly connected with bottom barrel, controller, steering wheel, wire spool, electric Bluetooth receptions module
It is each attached to battery in supporting plate, supporting plate is fixed on bottom barrel；The output shaft of steering wheel is connected with wire spool, and fish tail is
The structure of one PVC board manufacture, one end of fish tail is fixed on the outside of the blind end of bottom barrel, multipair fish-bone frame according to length according to
Secondary successively decrease uniformly is fixed on close on the fish tail of bottom barrel, and the one ends wound of two ropes is simultaneously fixed on wire spool, two
The other end of rope respectively by two apertures on bottom barrel after, sequentially pass through after the through hole of multipair fish-bone frame with end fish
Skeleton is connected firmly；The packet that the focus index of Bluetooth receptions module real-time reception brain wave earphone transmission is constituted, and by the number
Controller is sent to according to bag, controller is divided into multiple intervals after analyzing the packet, based on each interval, controller
Sending corresponding instruct in different intervals controls steering wheel to be rotated, and coiling disc spins is driven when steering wheel rotates, so that fish tail both sides
Rope be respectively at tense and relaxation state so that fish tail bend, realize the side-to-side movement of fish tail；When steering wheel left/right rotation
When dynamic, fish tail then can left and right is uniform swings identical angle, it is achieved thereby that the forward travel of bionic machine fish.
Further, eeg signal acquisition electrode is using two electrodes, and one is clipped in user's ear as reference electrode
On, another is affixed on forehead collection signal as acquisition electrode.
Further, steering wheel uses Power HD-9001MG steering wheels.
Further, Bluetooth receptions module and Bluetooth communication modules use HC-06 modules.
Further, controller uses STM32 chips；Battery uses 18650 lithium ion batteries.
Beneficial effect：
1st, the system is realized based on EEG signals and the brain wave of bionic machine fish is controlled, and can both be used as a kind of toy
To improve and develop children's intelligence, a kind of instrument that can be trained again as focus, thinking skills training is focused on.
2nd, the utility model is creative connects the EEG signals and bionic machine fish of people, devises one and is based on
The bionic machinery fish system of brain wave control, realizes the motion by brain wave control biomimetics machine fish.
3rd, the hardware configuration of the control device of the utility model design：Device is simple, is only made up of, has no brain wave earphone
The complicated remote control being made up of numerous buttons.
4th, the convenience of manipulation：Manipulation is easier, liberates both hands.
Brief description of the drawings
Fig. 1 is overall composition frame chart of the present utility model；
Fig. 2 is the overall structure of bionic machine fish；
Fig. 3 is the internal structure of bionic machine fish；
Fig. 4 is the program flow diagram of the bionic machine fish controlled based on brain wave；
Fig. 5 realizes advance schematic diagram for the motion of bionic machine fish；
Fig. 6 realizes left-hand rotation schematic diagram for the motion of bionic machine fish；
Fig. 7 realizes right-hand rotation schematic diagram for the motion of bionic machine fish.
Wherein, 1- head shells；2- bottom barrels；3- supporting plates；4- controllers；5- steering wheels；6- wire spools；7- bluetooths connect
Receive module；8- batteries；9- fish tails；10- fish-bones frame-；11- ropes；12- through holes；13- rubber rings.
Embodiment
With reference to the accompanying drawings and examples, the utility model is described in detail.
The utility model provides a kind of bionic machinery fish system controlled based on brain wave, and the system includes brain electric ear
Machine, two parts of bionic machine fish；Wherein, brain wave earphone includes eeg signal acquisition electrode, EEG Processing module and indigo plant
Tooth transport module, eeg signal acquisition electrode and Bluetooth communication modules are connected with EEG Processing module.
Earphone gathers and handles EEG signals and send treated EEG signals to bionical machine by bluetooth module
Device fish, real-time command bionic machine fish realizes brain wave control biomimetics machine fish；The bionic machine fish, can by servo driving
The motion such as advance and turning is realized in water.
EEG Processing module can use the TGAM chips of NeuroSky companies, and eeg signal acquisition motor can be adopted
With two electrodes, one is clipped on user's ear as reference electrode, and another is affixed on forehead collection letter as acquisition electrode
Number.The original E.E.G value of acquisition electrode acquisition operations person simultaneously transmits it to TGAM chips, the original E.E.G value of TGAM chips processing
Obtain focus index.TGAM chips are finally passed to the packet being made up of focus index by Bluetooth transmission module in real time
On bionic machine fish.
As shown in Figures 3 and 4, the bionic machine fish includes head shell 1, bottom barrel 2, supporting plate 3, controller 4, rudder
Machine 5, wire spool 6, Bluetooth receptions module 7, battery 8, fish tail 9, fish-bone frame 10 and rope 11；Head shell 1 is one end open
Housing, bottom barrel 2 is the opening that one end is matched with the open end of head shell 1, the round cavity of other end closing, and closing
End is provided with two symmetrical through holes 12, and fish tail 9 is strip structure of the display provided with through hole in the middle of one, and fish-bone frame 10 is multipair length
There is a through hole structure successively decreased successively, each end of fish-bone frame 10, and head shell is close by rubber ring 13 with bottom barrel 2
Envelope connection, controller 4, steering wheel 5, wire spool 6, electric Bluetooth receptions module 7 and battery 8 are each attached in supporting plate 3, supporting plate 3
It is fixed on bottom barrel 2；The output shaft of steering wheel is connected with wire spool, and one end of fish tail is fixed on outside the blind end of bottom barrel
Side, multipair fish-bone frame 10 successively decreases successively according to length to be uniformly fixed on close on the fish tail 9 of bottom barrel 2, two ropes 11
One ends wound is simultaneously fixed on wire spool, the other ends of two ropes 11 respectively by two apertures on bottom barrel 2 after, according to
Connected firmly after the secondary through hole through multipair fish-bone frame 10 with end fish-bone frame 10.So, the output shaft of steering wheel 5 rotate when can drive around
Drum rotates, and then allows the rope of fish tail both sides to be respectively at the state for tensing and relaxing, and then causes fish tail bending；Work as steering wheel
When 5 output shafts carry out back rotation, the shape sheet material of fish tail 9 will swing back and forth, so as to realize the motion of bionic machine fish.Implemented
Journey is as follows：When using fish tail axis, as offside center line, controller controls each rotation M1 of steering wheel opposite sides center line or so, imitates
Raw machine fish realizes forward travel；When using the line for being M2 with angle on the left of the axis, as to side axle, controller controls steering wheel
Opposite sides axle or so respectively rotation M2, realize counterclockwise motion, using with the axis on the right side of angle as M3 line as to side axle, rudder
Machine or so respectively rotates M3 to realize right turn movements；Wherein, M3=M2+M1.
Wherein, fish tail 9 can use PVC board, and it has pliability good, easy processing shaping, not absorb water, it is not easy to plasticity
Deformation, the features such as being easily connected with fish-bone frame；Fish-bone frame can be integrally formed using 3D printing, easy to process, durable, be held
Easily connection.
In terms of waterproof, head shell 1 and the junction of bottom barrel 2 carry out waterproof using rubber ring, advantage be convenient dismounting,
Good airproof performance；Bottom barrel through rope aperture using vertex of a cone rubber stopper carry out waterproof, can effectively waterproof simultaneously maximum limit
The obstruction that the reduction of degree is moved to rope.
As illustrated in figs. 5-7, the realization of the motion of bionic machine fish：Using axis as offside center, steering wheel or so respectively 30 ° of rotation
To realize forward travel；It is that to side axle, counterclockwise motion is realized in 15 ° of each rotation of steering wheel or so with 15 ° on the left of axis；It is right with axis
15 ° of side is that to side axle, right turn movements are realized in 15 ° of each rotation of steering wheel or so.
As shown in Fig. 2 control aspect：
Bionic machine fish includes controller, Bluetooth receptions module, steering wheel and power supply, and steering wheel can use Power HD-
9001MG steering wheels, bluetooth module can use HC-06 modules, and controller can use STM32 chips, and battery can be used
18650 lithium ion batteries.The packet that the focus index of Bluetooth receptions module real-time reception brain wave earphone transmission is constituted, and pass
Controller is delivered to, controller is analyzed packet, answer different instructions to control steering wheel to enter different focus exponent pairs
Row rotation, so as to realize the various motions of bionic machine fish.
Specifically, focus index can be divided into several intervals, a kind of fortune of each interval correspondence bionic machine fish
Dynamic instruction, current focus index belongs to a certain interval, then bionic machine fish performs corresponding movement instruction.
A kind of bionic machine fish method controlled based on brain wave, shows comprising the following steps that for biomimetic robot fish movement：
1st step；Open brain wave earphone and bionic machine fish is opened, and bionic machine fish is initialized；
2nd step：By two electrodes of eeg signal acquisition electrode, one is clipped on user's ear as reference electrode,
Another is affixed on forehead as acquisition electrode, and the original E.E.G value of the eeg signal acquisition electrode collection user is simultaneously passed
Transport to EEG Processing module；
3rd step：Original E.E.G value is carried out processing and obtains focus index by EEG Processing module, and brain wave earphone is last
The packet being made up of focus index is sent on bionic machine fish in real time by Bluetooth communication modules；
4th step：What the focus index of the Bluetooth receptions module real-time reception brain wave earphone transmission of bionic machine fish was constituted
Packet, and the packet that the note degree index is constituted is sent to controller；
5th step：The focus index threshold value interval with setting is compared by controller, due to the scope of focus index
Between 0 to 100, so setting：When focus index is less than or equal to 100 and is more than 75, bionic machine fish advances；When special
When note degree index is less than or equal to 75 and is more than 50, bionic machine fish is turned right；When focus index is less than or equal to 50 and is more than 25,
Bionic machine fish turns left；When focus index is less than or equal to 25 and is more than or equal to 0, bionic machine fish stops；
6th step：When a focus index is completed, the focus that controller receives brain wave earphone input next time again refers to
Number is circulated, untill power supply disconnects.
In summary, preferred embodiment of the present utility model is these are only, is not intended to limit of the present utility model
Protection domain.It is all it is of the present utility model spirit and principle within, any modification, equivalent substitution and improvements made etc. all should be wrapped
It is contained within protection domain of the present utility model.
Claims (8)
1. a kind of bionic machinery fish system controlled based on brain wave, it is characterised in that the system includes brain wave earphone and bionical
Machine fish；The brain wave earphone gathers and handles the original E.E.G value of user, obtains the focus index of user, and will be special
Note degree index is sent to bionic machine fish, and focus index is divided into multiple intervals by bionic machine fish, and each interval correspondence is bionical
A kind of movement instruction of machine fish.
2. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 1, it is characterised in that the brain electric ear
Machine includes eeg signal acquisition electrode, EEG Processing module and Bluetooth communication modules, eeg signal acquisition electrode and bluetooth
Transport module is connected with EEG Processing module；Eeg signal acquisition electrode collection user original E.E.G value and by its
Transmit to EEG Processing module, original E.E.G value is carried out processing and obtains focus index, brain by EEG Processing module
Electric ear machine is last to be sent to the packet being made up of focus index on bionic machine fish by Bluetooth communication modules in real time.
3. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 1, it is characterised in that the bionical machine
Device fish includes head shell (1), bottom barrel (2), supporting plate (3), controller (4), steering wheel (5), wire spool (6), bluetooth and connect
Receive module (7), battery (8), fish tail (9), fish-bone frame (10) and rope (11)；Head shell (1) is the housing of one end open, bottom
Portion's cylinder (2) is the opening that one end is matched with the open end of head shell (1), the round cavity of other end closing, and blind end
Provided with two symmetrical through holes (12), fish tail (9) is strip structure of the display provided with through hole in the middle of one, and fish-bone frame (10) is multipair
There is a through hole structure that length is successively decreased successively, each fish-bone frame (10) end, and head shell is sealed with bottom barrel (2) to be connected
Connect, controller (4), steering wheel (5), wire spool (6), electric Bluetooth receptions module (7) and battery (8) are each attached in supporting plate (3),
Supporting plate (3) is fixed on bottom barrel (2)；The output shaft of steering wheel (5) is connected with wire spool, and fish tail (9) is a PVC board system
The structure made, one end of fish tail (9) is fixed on the outside of the blind end of bottom barrel, and multipair fish-bone frame (10) is passed successively according to length
Subtract and be uniformly fixed on close on the fish tail (9) of bottom barrel (2), the one ends wound of two ropes (11) is simultaneously fixed on wire spool
On, the other ends of two ropes (11) respectively by two apertures on bottom barrel (2) after, sequentially pass through multipair fish-bone frame
(10) connected firmly after through hole with end fish-bone frame (10)；The focus of Bluetooth receptions module (7) real-time reception brain wave earphone transmission
The packet that index is constituted, and the packet is sent to controller (4), controller (4) is analyzed the packet
After be divided into multiple intervals, based on each interval, controller sends the corresponding instruction control steering wheel (5) in different intervals and rotated,
Wire spool (6) rotation is driven when steering wheel (5) rotates, so that the rope (11) of fish tail (9) both sides is respectively at what is tensed and relax
State so that fish tail (9) is bent, and realizes the side-to-side movement of fish tail (9)；When steering wheel (5) left-right rotation, fish tail (9) then can
Left and right uniformly swings identical angle, it is achieved thereby that the forward travel of bionic machine fish.
4. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 2, it is characterised in that EEG signals are adopted
Colelctor electrode is using two electrodes, and one is clipped on user's ear as reference electrode, and another is affixed on volume as acquisition electrode
Head collection signal.
5. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 3, it is characterised in that steering wheel (5) is adopted
With Power HD-9001MG steering wheels.
6. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 3, it is characterised in that Bluetooth receptions mould
Block (7) and Bluetooth communication modules use HC-06 modules.
7. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 3, it is characterised in that controller (4)
Using STM32 chips；Battery (8) uses 18650 lithium ion batteries.
8. a kind of bionic machinery fish system controlled based on brain wave as claimed in claim 3, it is characterised in that bionic machine fish
Head shell (1) and bottom barrel (2) coordinate after length and fish tail (9) length ratio be 1：1, and in head shell (1)
Add 50%-60% counterweight.
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| CN201720013099.8U CN206579821U (en) | 2017-01-06 | 2017-01-06 | A kind of bionic machinery fish system controlled based on brain wave |
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| CN201720013099.8U CN206579821U (en) | 2017-01-06 | 2017-01-06 | A kind of bionic machinery fish system controlled based on brain wave |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741775A (en) * | 2017-01-06 | 2017-05-31 | 吕梁学院 | A kind of bionic machinery fish system and method based on brain wave control |
| CN108068127A (en) * | 2018-02-07 | 2018-05-25 | 深圳市宏智力科技有限公司 | Spider robot device and system based on brain wave control |
| CN108519811A (en) * | 2018-03-13 | 2018-09-11 | 广东欧珀移动通信有限公司 | Screenshot method and Related product |
| CN109110095A (en) * | 2018-08-09 | 2019-01-01 | 哈尔滨工业大学 | A kind of tensioning monoblock type swing propulsive mechanism |
| CN109515670A (en) * | 2018-12-17 | 2019-03-26 | 贵州理工学院 | A kind of flexible bionic machine fish design method and machine fish by rope redundant drive |
-
2017
- 2017-01-06 CN CN201720013099.8U patent/CN206579821U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741775A (en) * | 2017-01-06 | 2017-05-31 | 吕梁学院 | A kind of bionic machinery fish system and method based on brain wave control |
| CN108068127A (en) * | 2018-02-07 | 2018-05-25 | 深圳市宏智力科技有限公司 | Spider robot device and system based on brain wave control |
| CN108519811A (en) * | 2018-03-13 | 2018-09-11 | 广东欧珀移动通信有限公司 | Screenshot method and Related product |
| CN108519811B (en) * | 2018-03-13 | 2021-04-09 | Oppo广东移动通信有限公司 | Screenshot method and related product |
| CN109110095A (en) * | 2018-08-09 | 2019-01-01 | 哈尔滨工业大学 | A kind of tensioning monoblock type swing propulsive mechanism |
| CN109515670A (en) * | 2018-12-17 | 2019-03-26 | 贵州理工学院 | A kind of flexible bionic machine fish design method and machine fish by rope redundant drive |
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| GR01 | Patent grant | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20171024 Effective date of abandoning: 20181228 |
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| AV01 | Patent right actively abandoned |