CN211293676U - Circuit device for controlling flying behavior of insects based on electrical stimulation - Google Patents
Circuit device for controlling flying behavior of insects based on electrical stimulation Download PDFInfo
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- CN211293676U CN211293676U CN201921540355.4U CN201921540355U CN211293676U CN 211293676 U CN211293676 U CN 211293676U CN 201921540355 U CN201921540355 U CN 201921540355U CN 211293676 U CN211293676 U CN 211293676U
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Abstract
The utility model discloses a circuit arrangement of insect flight action control based on electro photoluminescence, the device comprise host computer, coordinator, electron knapsack triplex, and wherein the host computer passes through the serial ports and is connected with the coordinator, and the coordinator adopts wireless communication's mode with the electron knapsack to be connected. The upper computer is realized based on a Labview platform and sends a flight instruction to the lower computer through a serial port; the coordinator part mainly comprises a USB/serial port circuit, a first microprocessor and a ceramic antenna, and the coordinator part realizes the connection between a wired network and a wireless network; the electronic backpack consists of an electrical stimulator, a second microprocessor, a ceramic antenna, an analog MEMS microphone, a nine-axis sensor and a micro battery, has small volume and light weight, can be laid on the beetle body, and is an execution device of the whole circuit. The utility model discloses can change the insect flight information that the host computer gathered simultaneously of stimulation signal parameter in real time, and satisfy design requirements such as low cost, high reliability, low-power consumption, multi-functional.
Description
Technical Field
The invention relates to the relevant fields of micro-electro-mechanical systems (MEMS), wireless communication technology, biology and the like, in particular to a circuit device for controlling insect flying behaviors based on electrical stimulation.
Background
Insects are a large variety of organisms with the largest number on earth. They vary in size from less than 1 mm to more than 20 cm, and have remarkable movement ability, and can rapidly traverse complex terrains, and they are small and powerful, thus attracting researchers to research on insect bionic robots, but even the most advanced bionic robots are far inferior to the insect's own movement system in terms of power efficiency and movement controllability, because on one hand, we lack sufficient understanding of the insect movement system, and on the other hand, the existing control technology has limitations, and it is difficult to realize the precise mechanical structure and complex control system required by the bionic robot. In addition, the power consumption required for driving the robot to move is large, but a battery for providing energy has limitations, the working time is short, and the long-time power consumption requirement is difficult to meet.
To solve these problems, some researchers have proposed solutions combining microcomputers with living insects as early as 90 s in the 20 th century. With the continuous emergence of miniaturized, low-power consumption microcontrollers and radio systems in the market, hybrid insect robots are emerging. The robot is mainly based on an insect carrier, and the corresponding motor nerve or muscle of the insect is stimulated through the instruction sent by the micro device embedded on the insect body, so that the aim of utilizing the self-movement system of the insect is fulfilled, the insect sends out the required movement action and behavior, and the movement of the insect is completely or partially controlled. The method of controlling these hybrid robots is accomplished by applying external stimuli, such as electrical stimulation, visual stimulation, thermal stimulation, or chemical injection. Electrical stimulation is the most common method in view of practicality and reliability. In addition, the movement of the device is performed by the insects, so that the power consumption of the electric stimulation is very low, only a few milliwatts are needed, and the limitation of a power supply is solved. The electrodes must be implanted precisely into the corresponding muscle tissue or neurons of the insect before electrical stimulation can be performed. Research on hybrid insect robots has been mostly conducted using moths and beetles because they have advanced in biological research and they have a certain volume and the possibility of being able to carry electronic devices. Early studies of insect movement used tether technology, where the insects under study were either immobilized on a support or loosely immobilized in a confined area for recording or stimulation. However, the tethering experiments limit the movement of insects, possibly resulting in the behavior of tethered insects being different from their natural behavior. The current development of electronics has motivated another approach: the wireless microelectronic backpack is installed on the insect body, which provides a powerful experimental tool for biological experiments.
Disclosure of Invention
The invention aims to solve the problems and provides a circuit device for controlling flying behavior of insects based on electrical stimulation.
In order to achieve the purpose, the method adopted by the invention is as follows: a circuit device for controlling insect flying behaviors based on electrical stimulation comprises three parts, wherein the front end is an upper computer, the middle end is a coordinator, the rear end is an electronic backpack, the front end is connected with the middle end through a USB/serial port circuit, and the middle end is connected with the rear end in a wireless mode; the upper computer consists of a stimulation parameter selection module, a data processing module, a data file storage module and a serial port; the coordinator consists of a first microprocessor and a first antenna, wherein the first microprocessor consists of a USB/serial port module, an instruction cache module and a data cache module; the electronic backpack is used for carrying insects and consists of a second microprocessor, an electric stimulator, a microphone and a nine-axis sensor, wherein the second microprocessor consists of a second antenna, a power supply module, an instruction-to-excitation signal conversion module, an A/D module and a serial communication module;
the stimulation parameter selection module in the upper computer is connected with the serial port, an electrical stimulation instruction generated by the stimulation parameter selection module is sent to the coordinator through the serial port, and the stimulation parameter selection module consists of four controls of a period, a duty ratio, a pulse number and a stimulation site selection and is used for adjusting the period, the duty ratio, the pulse number and the stimulation site of a stimulation signal; the upper computer is connected with a serial port and a data processing module, and transmits data from the coordinator received by the serial port to the data processing module, the data processing module consists of two controls of data waveform display and microphone data recording and can be used for displaying data waveforms and recording data respectively, and a data file storage module is connected with the serial port and is used for storing coordinator data transmitted by the serial port;
the USB/serial port module in the coordinator realizes the bidirectional connection of a serial port and the USB and is used for transmitting the instruction of the upper computer and the data of the electronic backpack, and a USB interface of the USB/serial port module is connected with the instruction cache module and caches the electrical stimulation instruction from the upper computer into the first microprocessor of the coordinator; the instruction cache module consists of four instruction modules of a period, a duty ratio, a pulse number and a stimulation site and respectively stores corresponding binary code instructions; the system comprises an instruction cache module, a data cache module, a USB/serial port module and an upper computer, wherein the instruction cache module is connected with a first antenna, an instruction is sent to an electronic backpack by the first antenna in a wireless communication mode, the data cache module is connected with the first antenna and used for receiving wirelessly transmitted electronic backpack data, the data cache module consists of two parts, namely microphone data and nine-axis sensor data and used for storing insect flight information acquired by the electronic backpack, the data cache module is connected with the USB/serial port module, and the data cached by the data cache module is transmitted to the upper computer through a serial port;
the second antenna in the electronic backpack is connected with the first antenna in a wireless mode and is used for wireless receiving of instructions and wireless sending of data; the instruction excitation signal conversion module is connected with the second antenna and converts the received instruction from the coordinator into a corresponding excitation level signal; the instruction excitation signal conversion module is connected with the electrical stimulator, the second microprocessor applies the excitation level signal to the electrical stimulator, and the electrical stimulator applies the excitation level signal to the corresponding stimulation site of the insect carrier as a medium. The A/D module arranged in the second microprocessor is connected with the microphone module, analog voltage signals collected by the microphone are converted into digital signals, the A/D module is connected with a second antenna, the digital signals are sent to the coordinator by the second antenna, the serial communication module is connected with the nine-axis sensor module, and the digital signals collected by the nine-axis sensor are transmitted to the second microprocessor, wherein the nine-axis sensor module consists of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is respectively used for collecting linear velocity, angular velocity and direction of insect flight; the second antenna is connected with the serial communication module and wirelessly transmits the digital signal; and the power supply module is connected with the second microprocessor and used for supplying power to the whole electronic backpack system.
As an improvement of the invention, the software implementation of the upper computer comprises the following steps:
(1) starting power-on, firstly calling Visa resources of Labview by the system for initialization, and after initialization of the Visa serial port resources is completed, selecting stimulation sites by a user and adjusting the period, duty ratio and pulse number of stimulation signals;
(2) after the stimulation parameters of the user are selected, if the sending instruction button is not pressed, the stimulation parameters can be selected again; if the sending instruction button is pressed, the system opens a Visa dialogue channel and creates a new excel file, wherein the sending instruction presses the created new excel file for storing data transmitted by the coordinator in real time through the serial port;
(3) after the Visa conversation channel is opened successfully, if the serial port receives an instruction of the upper computer, the first microprocessor wirelessly sends the instruction to the second microprocessor; if the serial port does not receive the instruction of the upper computer and receives the data of the second microprocessor, the system can open a Visa conversation channel, and the upper computer stores the received data and displays the data in a oscillogram mode;
(4) in the system operation process, if a user presses a stop button, the system operation is finished; if the user does not press the stop button, the user may return to reselecting stimulation parameters.
As an improvement of the invention, the instruction excitation signal conversion module consists of a period, a duty ratio, the number of pulses and a stimulation site selection module, wherein the stimulation site selection module comprises 6 stimulation sites of left and right longitudinal dorsal muscles, left and right basal muscles and left and right optic nerve leaves; the electric stimulator consists of 6 probes which are respectively connected with corresponding insect muscles or nerves, the first probe is connected with the left back longitudinal muscle, the second probe is connected with the right back longitudinal muscle, the third probe is connected with the left basal muscle, the fourth probe is connected with the right basal muscle, the fifth probe is connected with the left optic nerve leaf, and the sixth probe is connected with the right optic nerve leaf.
As an improvement of the invention, a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and a digital dynamic processor are integrated in the nine-axis sensor, 3 16-bit ADCs are respectively arranged in the three modules of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer, and the three modules can directly convert acquired analog signals into digital signals and send the digital signals to the digital dynamic processor for processing and then send the digital signals to a second microprocessor through a serial communication module.
As an improvement of the invention, the software implementation of the electronic backpack comprises the following steps:
(1) the method comprises the following steps that when power-on is started, a system firstly initializes a stimulation port as an output port, then an electronic backpack sends a network access request for joining a coordinator network through an antenna, if the request does not pass, the joining of the network fails, the electronic backpack continuously sends the network access request, and if the request passes, the joining of the network succeeds;
(2) the second microprocessor can periodically collect data, continuously sends the data to the coordinator in a wireless mode and then is received by the first microprocessor of the coordinator; meanwhile, the second microprocessor of the electronic backpack can judge whether an instruction sent by the coordinator is received, if the second microprocessor successfully receives the instruction sent by the coordinator in a wireless mode, the instruction can be converted into a level sequence pulse through the instruction excitation signal conversion module, a level signal is applied to the electric stimulator, the electric stimulator is used as a medium to apply the excitation level signal to a corresponding stimulation site of the insect carrier, and if the second microprocessor fails to receive the instruction, whether the instruction is received or not can be continuously judged;
(3) if the network condition is good, the system operates normally; if the network is disconnected, the electronic backpack can send out the network access request again, and the system can operate all the time unless the power supply is cut off.
As a modification of the present invention, the second antenna is a ceramic antenna.
As a modification of the present invention, the power module includes a case rechargeable lithium battery.
Has the advantages that:
(1) compared with the traditional micro bionic robot, the invention has the characteristics that the complicated mechanical and power system required by the bionic insect robot is not required to be constructed, and only the problems of the micro control module and the interface between the module and the insect are solved. Thus, the following advantages are provided: the structure is simple: the system has flexible biological machine interface, and the mechanical and power structure is simple; the exercise capacity is superior: the insect robot has excellent motion performance. The insect vector evolves and has unique motion capability in the evolution process of thousands of years or even hundreds of millions of years, such as the complex and perfect flying behavior of bees or the rapid jumping behavior of locusts; the system energy consumption is low: the insect robot only needs energy to drive by the electronic control module, so that the energy consumption of the system is greatly reduced compared with that of a bionic robot. Particularly, when optical flow stimulation and chemical stimulation are adopted, the energy consumption of the system is lower; the concealment performance is good: it is common for humans and animals to practice insects and their locomotor activities that occur in nature and in life. Therefore, the bionic robot not only references the pneumatic structure and the movement mechanism of the insect, but also considers the realization of vivid insect appearance encapsulation, and the insect robot has natural insect appearance and meets the requirements of special occasions such as national defense, security and the like.
(2) The invention uses a beetle control upper computer based on Labview to adjust the duty ratio, the period and the pulse number of the stimulation signals through a user panel, and simultaneously generates corresponding instructions which are controlled and sent by a user in real time; the flight information of the insects such as the flapping frequency data collected by the microphone can be displayed on the oscillogram in real time and stored as an excel file (the system can automatically create a new excel file after the stimulation parameters are adjusted and sent every time), so that the efficiency and the accuracy of experimental data collection are greatly improved, the later-stage data processing is facilitated, and the experimental progress is accelerated.
(3) The invention realizes networking by utilizing a mature wireless communication technology and has the advantages of low power consumption, large range, large network capacity and the like. The microprocessor chip is a compatible 8051 kernel provided by TI company, and supports the SCM of IEEE802.15.4/ZigBee protocol, and the structure is simple, and the SCM has radio frequency function, and can meet the requirement of wireless application by only connecting a few circuits, thereby greatly reducing the weight of the electronic backpack and being beneficial to insect back-leaning.
(4) According to the invention, through an electric stimulation mode and through the study on the body structure of the insect, the electric stimulators are implanted at the back longitudinal muscle, the basal muscle and the optic nerve leaf of the insect, and after the optimal electric stimulation parameters are obtained through experiments, the insect is successfully induced to fly, and the success rate is higher.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the software structure of the upper computer;
FIG. 3 is a schematic diagram of the hardware configuration of the electronic backpack;
fig. 4 is a schematic diagram of the software architecture of the electronic backpack.
Detailed Description
For a further understanding of the present invention, reference is made to the following further description taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic diagram of the overall structure of the invention, and the circuit device for controlling the flying behavior of insects based on electrical stimulation is composed of an upper computer, a coordinator and an electronic backpack, wherein the upper computer is connected with the coordinator through a serial port, and the coordinator is in wireless communication with the electronic backpack. The upper computer consists of a stimulation parameter selection module, a data processing module, a data file storage module and a serial port; the coordinator consists of a USB/serial port module, an instruction cache module, a data cache module and a first antenna; the electronic backpack comprises a second antenna, a power supply module, a command-to-excitation signal conversion module, an A/D (analog/digital) module, a serial communication module, an electric stimulator, a microphone and a nine-axis sensor.
Further, a stimulation parameter selection module in the upper computer is connected with the serial port, and an electrical stimulation instruction generated by the stimulation parameter selection module is sent to the coordinator through the serial port. The stimulation parameter selection module consists of four controls of period, duty ratio, pulse number and stimulation site selection and is used for adjusting the period, duty ratio, pulse number and stimulation site of the stimulation signal. And the serial port in the upper computer is connected with the data processing module, and the data from the coordinator received by the serial port is sent to the data processing module. The data processing module consists of two controls of data waveform display and microphone data recording, and can be used for displaying data waveforms and recording data respectively. The data file storage module is connected with the serial port and used for storing the coordinator data transmitted by the serial port.
Furthermore, the USB/serial port module in the coordinator realizes the bidirectional connection between the serial port and the USB and is used for transmitting the instruction of the upper computer and the data of the electronic backpack. And a USB interface of the USB/serial port module is connected with the instruction cache module, and the electrical stimulation instruction from the upper computer is cached into the first microprocessor of the coordinator. The instruction cache module consists of four instruction modules of period, duty ratio, pulse number and stimulation site, and respectively stores corresponding binary code instructions. The instruction cache module is connected with the first antenna, and the instruction is sent to the electronic backpack by the first antenna in a wireless communication mode. The data cache module is connected with the first antenna and used for receiving the electronic backpack data transmitted wirelessly. The data cache module consists of two parts, namely microphone data and nine-axis sensor data, and is used for storing the insect flight information acquired by the electronic backpack. The data cache module is connected with the USB/serial port module, and the data cached by the data cache module is transmitted to the upper computer through the serial port.
Further, a second antenna in the electronic backpack is wirelessly connected with the first antenna, and the second antenna is used for wirelessly receiving instructions and wirelessly transmitting data. And the instruction excitation signal conversion module is connected with the second antenna and is used for converting the received instruction from the coordinator into a corresponding excitation level signal. The instruction excitation signal conversion module is connected with the electrical stimulator, the second microprocessor applies the excitation level signal to the electrical stimulator, and the electrical stimulator applies the excitation level signal to the corresponding stimulation site of the insect carrier as a medium. And the A/D module arranged in the second microprocessor is connected with the microphone module and converts the analog voltage signal collected by the microphone into a digital signal. The A/D module is connected with the second antenna, and the second antenna sends the digital signal to the coordinator. The serial communication module is connected with the nine-axis sensor module, and transmits digital signals acquired by the nine-axis sensor to the second microprocessor, wherein the nine-axis sensor module consists of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is respectively used for acquiring the linear velocity, the angular velocity and the direction of insect flight. The second antenna is connected with the serial communication module, and the digital signal is wirelessly transmitted by the second antenna. And the power supply module is connected with the second microprocessor and used for supplying power to the whole electronic backpack system.
Fig. 2 is a schematic diagram of the upper computer software structure, when power-on starts, the system first calls the Visa resource of Labview to initialize, and after initialization of the Visa serial port resource is completed, a user can select a stimulation site and adjust the period, duty ratio and pulse number of the stimulation signal. After the stimulation parameters of the user are selected, if the sending instruction button is not pressed, the stimulation parameters can be selected again; if the send command button is pressed, the system opens the Visa dialogue channel and creates a new excel file. And sending an instruction to press the created new excel file for storing the data transmitted by the coordinator in real time through the serial port. After the Visa conversation channel is opened successfully, if the serial port receives an instruction of the upper computer, the first microprocessor wirelessly sends the instruction to the second microprocessor; if the serial port does not receive the instruction of the upper computer and receives the data of the second microprocessor, the system can open a Visa conversation channel, and the upper computer stores the received data and displays the data in a oscillogram mode. In the system operation process, if a user presses a stop button, the system operation is finished; if the user does not press the stop button, the user may return to reselecting stimulation parameters.
Fig. 3 is a schematic diagram showing a hardware structure of an electronic backpack, which is composed of an electrical stimulator, a second microprocessor, a ceramic antenna, an analog MEMS microphone, a nine-axis sensor and a rechargeable lithium battery and can be carried on a beetle. The ceramic antenna is connected with the first antenna in a wireless mode and used for wirelessly receiving instructions and wirelessly transmitting data. And the instruction excitation signal conversion module is connected with the ceramic antenna and converts the received instruction from the coordinator into a corresponding excitation level signal. The instruction excitation signal conversion module is connected with the electrical stimulator, the second microprocessor applies the excitation level signal to the electrical stimulator, and the electrical stimulator applies the excitation level signal to the corresponding stimulation site of the insect carrier as a medium. The instruction excitation signal conversion module consists of a period, a duty ratio, the number of pulses and a stimulation site selection module, wherein the stimulation site selection module comprises 6 stimulation sites including left and right longitudinal dorsal muscles, left and right basal muscles and left and right optic nerve leaves. The electric stimulator consists of 6 probes which are respectively connected with corresponding insect muscles or nerves, the first probe 1 is connected with the left longitudinal dorsal muscle, the second probe 2 is connected with the right longitudinal dorsal muscle, the third probe 3 is connected with the left basal muscle, the fourth probe 4 is connected with the right basal muscle, the fifth probe 5 is connected with the left optic nerve leaf, and the sixth probe 6 is connected with the right optic nerve leaf. Furthermore, an A/D module arranged in the second microprocessor is connected with the microphone module, and converts the analog voltage signal collected by the microphone into a digital signal. The A/D module is connected with the second antenna, and the second antenna sends the digital signal to the coordinator. And the serial communication module is connected with the nine-axis sensor module and transmits the digital signals acquired by the nine-axis sensor to the second microprocessor. The three modules of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are internally provided with 3 16-bit ADCs, and can directly convert the acquired analog signals into digital signals to be sent to the digital dynamic processor (DMP) for processing and then sent to the second microprocessor by the serial communication module. The nine-axis sensor can be used for collecting the flying attitude of the insect so as to dynamically observe the flying track of the beetle. Further, the serial communication module is connected with the ceramic antenna, and the ceramic antenna wirelessly transmits the digital signal to the coordinator. And the power supply module is connected with the second microprocessor and used for supplying power to the whole electronic backpack system. The whole design is finished, the total weight of the electronic backpack can be strictly controlled, and the requirement of carrying insects is met.
Fig. 4 is a schematic diagram of the software structure of the electronic backpack, and when power-on starts, the system first initializes the stimulation port as the output port, and then the electronic backpack sends out a network access request for joining the coordinator network through the antenna. If the request is not passed, the network joining is failed, the electronic backpack can continue to send a network joining request, if the request is passed, the network joining is successful, the second microprocessor can periodically collect data, continuously sends the data to the coordinator in a wireless mode, and then the data is received by the first microprocessor of the coordinator; meanwhile, the second microprocessor of the electronic backpack can judge whether the instruction sent by the coordinator is received, if the second microprocessor successfully receives the instruction sent by the coordinator in a wireless mode, the instruction can be converted into level sequence pulses through the instruction excitation signal conversion module, level signals are applied to the electric stimulator, the electric stimulator is used as a medium to apply the excitation level signals to corresponding stimulation sites of the insect carrier, and if the second microprocessor fails to receive the instruction, whether the instruction is received or not can be continuously judged. If the network condition is good, the system operates normally; if the network is disconnected, the electronic backpack can send out the network access request again, and the system can operate all the time unless the power supply is cut off.
Claims (5)
1. The utility model provides a circuit arrangement of insect flight behavior control based on electro photoluminescence, comprises the triplex, and the front end is host computer, the middle-end is the coordinator, the rear end is electronic backpack, its characterized in that: the front end is connected with the middle end through a USB/serial port circuit, and the middle end is connected with the rear end in a wireless mode; the upper computer consists of a stimulation parameter selection module, a data processing module, a data file storage module and a serial port; the coordinator consists of a first microprocessor and a first antenna, wherein the first microprocessor consists of a USB/serial port module, an instruction cache module and a data cache module; the electronic backpack is used for carrying insects and consists of a second microprocessor, an electric stimulator, a microphone and a nine-axis sensor, wherein the second microprocessor consists of a second antenna, a power supply module, an instruction-to-excitation signal conversion module, an A/D module and a serial communication module;
the stimulation parameter selection module in the upper computer is connected with the serial port, an electrical stimulation instruction generated by the stimulation parameter selection module is sent to the coordinator through the serial port, and the stimulation parameter selection module consists of four controls of a period, a duty ratio, a pulse number and a stimulation site selection and is used for adjusting the period, the duty ratio, the pulse number and the stimulation site of a stimulation signal; the upper computer is connected with a serial port and a data processing module, and transmits data from the coordinator received by the serial port to the data processing module, the data processing module consists of two controls of data waveform display and microphone data recording and can be used for displaying data waveforms and recording data respectively, and a data file storage module is connected with the serial port and is used for storing coordinator data transmitted by the serial port;
the USB/serial port module in the coordinator realizes the bidirectional connection of a serial port and the USB and is used for transmitting the instruction of the upper computer and the data of the electronic backpack, and a USB interface of the USB/serial port module is connected with the instruction cache module and caches the electrical stimulation instruction from the upper computer into the first microprocessor of the coordinator; the instruction cache module consists of four instruction modules of a period, a duty ratio, a pulse number and a stimulation site and respectively stores corresponding binary code instructions; the system comprises an instruction cache module, a data cache module, a USB/serial port module and an upper computer, wherein the instruction cache module is connected with a first antenna, an instruction is sent to an electronic backpack by the first antenna in a wireless communication mode, the data cache module is connected with the first antenna and used for receiving wirelessly transmitted electronic backpack data, the data cache module consists of two parts, namely microphone data and nine-axis sensor data and used for storing insect flight information acquired by the electronic backpack, the data cache module is connected with the USB/serial port module, and the data cached by the data cache module is transmitted to the upper computer through a serial port;
the second antenna in the electronic backpack is connected with the first antenna in a wireless mode and is used for wireless receiving of instructions and wireless sending of data; the instruction excitation signal conversion module is connected with the second antenna and converts the received instruction from the coordinator into a corresponding excitation level signal; the instruction excitation signal conversion module is connected with the electrical stimulator, the second microprocessor applies the excitation level signal to the electrical stimulator, and the electrical stimulator applies the excitation level signal to a corresponding stimulation site of the insect carrier as a medium;
the A/D module arranged in the second microprocessor is connected with the microphone module, analog voltage signals collected by the microphone are converted into digital signals, the A/D module is connected with a second antenna, the digital signals are sent to the coordinator by the second antenna, the serial communication module is connected with the nine-axis sensor module, and the digital signals collected by the nine-axis sensor are transmitted to the second microprocessor, wherein the nine-axis sensor module consists of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is respectively used for collecting linear velocity, angular velocity and direction of insect flight; the second antenna is connected with the serial communication module and wirelessly transmits the digital signal; and the power supply module is connected with the second microprocessor and used for supplying power to the whole electronic backpack system.
2. An electrical stimulation based circuit arrangement for insect flight behavior control as claimed in claim 1, wherein:
the instruction excitation signal conversion module consists of a period, a duty ratio, a pulse number and a stimulation site selection module, wherein the stimulation site selection module comprises 6 stimulation sites including left and right longitudinal dorsal muscles, left and right basal muscles and left and right optic nerve leaves; the electric stimulator consists of 6 probes which are respectively connected with corresponding insect muscles or nerves, the first probe is connected with the left back longitudinal muscle, the second probe is connected with the right back longitudinal muscle, the third probe is connected with the left basal muscle, the fourth probe is connected with the right basal muscle, the fifth probe is connected with the left optic nerve leaf, and the sixth probe is connected with the right optic nerve leaf.
3. An electrical stimulation based circuit arrangement for insect flight behavior control as claimed in claim 1, wherein: the nine-axis sensor is internally integrated with a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and a digital dynamic processor, the three modules of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are internally provided with 3 16-bit ADCs, and can directly convert acquired analog signals into digital signals to be sent to the digital dynamic processor for processing, and then the digital signals are sent to the second microprocessor through the serial communication module.
4. An electrical stimulation based circuit arrangement for insect flight behavior control as claimed in claim 1, wherein: the second antenna is a ceramic antenna.
5. An electrical stimulation based circuit arrangement for insect flight behavior control as claimed in claim 1, wherein: the power module comprises a shell rechargeable lithium battery.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| 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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