CN101218897A - Aiming method for robot bird - Google Patents
Aiming method for robot bird Download PDFInfo
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- CN101218897A CN101218897A CNA2008100008864A CN200810000886A CN101218897A CN 101218897 A CN101218897 A CN 101218897A CN A2008100008864 A CNA2008100008864 A CN A2008100008864A CN 200810000886 A CN200810000886 A CN 200810000886A CN 101218897 A CN101218897 A CN 101218897A
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Abstract
The invention discloses a guiding method of a robot bird, which adopts a proper micro-stimulation signal to timely stimulate an abdominal dorsal median nucleus and a robustus archistriatalis of a thalamencephalon of the bird to lead an active escaping behavior of the bird; thereby guiding the flying behavior of the bird. The invention utilizes the active escaping behavior of the bird resulted from using a micro-electricity to simulate a specific nerve nuclei of the bird, namely using a principle of using the micro-electricity to simulate the nerve nuclei to image 'hurt' to guide the behavior of the bird. The method used for guiding the robot bird of the invention has the advantages that as the principle utilizes the appetence of the bird to avoid hurt, the invention has a powerful guiding function; thereby needing not to train the bird in advance; the robot bird has a huge using value; compared with the ground animal, the bird has a larger active space and fast moving speed, thus having a larger application advantage obviously; the realistic and potential application is very wide.
Description
Technical field
The present invention relates to be used for the control method of control system, especially a kind of method of guidance of robot bird.
Background technology
The research of robot animal has caused the extensive concern in the world, but mainly concentrate on mammal, as mouse, monkey etc., because they all are typical laboratory animal, and to the similar research of birds, i.e. the report of method of guidance is not but seen in the research of " robot bird ".Birds because of its wide scope of activities and fast locomitivity have outstanding application advantage, this be we carry out " robot bird " research main cause.At present, the used air navigation aid of research and development robot animal all is based on award mechanism both at home and abroad, thereby control and navigation effect seriously rely on training, and (not only the training need professional finishes, and the training stop after, along with time lengthening, the function that is obtained by training also fails gradually), this has limited the practical application based on the robot animal of award mechanism exploitation to a great extent.Birds and mammiferous differences of Physiological are very big, and existent method also is not suitable for birds.Therefore, develop out a kind of guidance principle and method of robot bird, will have profound significance of crucial importance.
Summary of the invention
The objective of the invention is to overcome the deficiency in existing robot animal navigation technology and the method, provide a kind of and need not the bird precondition, the guidance function is strong, and the use value height helps the method for guidance that the robot animal enters the robot bird of practical stage.For reaching purpose, a kind of method of guidance that is used for robot bird provided by the invention, this method is implemented control by comprising the guidance system that is made of computer-controlled cell site and microstimulation signal generator to the flare maneuver and the direction of robot bird, and this method is carried out following steps:
1) at described robot bird back or crown portion place the microstimulation signal generator;
2) by described by computer-controlled cell site, the microstimulation signal generator entrained to described robot bird sends control instruction;
3) after described microstimulation signal generator receives described control instruction signal, produce corresponding microstimulation signal and described microstimulation signal is transferred to the nerve nucleus position of described robot bird by described control instruction, the nerve nucleus of described robot bird is a DMN nerve nucleus before archistriatum nerve nucleus relevant with fear and the thalamus abdomen that transmits the pain sensation, be respectively applied for the control robot bird take off, fly forward and awing left/turning right becomes heading.
4) repeating step 2) and step 3), finish described by computer-controlled cell site to the difference flight behavior of described robot bird and the guidance of direction.
The present invention is used for the method for guidance of robot bird, the DMN nerve nucleus comprises the preceding DMN nerve nucleus of left side thalamus abdomen of the transmission right side body pain sensation and the preceding DMN nerve nucleus of right side thalamus abdomen of the transmission left side body pain sensation, archistriatum nerve nucleus and right side archistriatum nerve nucleus on the left of described archistriatum nerve nucleus comprises before the wherein said thalamus abdomen.
The present invention is used for the method for guidance of robot bird, wherein said microstimulation signal generator is provided with wireless receiving module, microprocessor and some microelectrodes, described wireless receiving module receives the described instruction control signal of being sent by computer-controlled cell site and transfers to described microprocessor, and described microprocessor produces corresponding microstimulation signal and is connected to each described microelectrode respectively.
The present invention is used for the method for guidance of robot bird, and it is the pulse train of 1-4Hz that the wherein said instruction control signal of being sent by computer-controlled cell site adopts frequency.
The present invention is used for the method for guidance of robot bird, wherein said microstimulation signal adopts the diphasic pulse sequence, and its parameter area is: each pulse train is 5-15 diphasic pulse, and pulse amplitude is the 70-90 microampere, each single-phase pulsewidth is 0.2-0.5ms, and pulse frequency is 50-150Hz.
The advantage that the present invention is used for the method for guidance of robot bird is: owing to utilized above-mentioned nerve nucleus by micro-electrical stimulation bird brain to cause its initiatively escape behavior its motor behavior of controlling and navigate, promptly utilized bird to escape the instinct of injury, so its guidance function is strong, thereby need not bird is carried out precondition.The huge use value that robot bird has, birds are compared with ground animals, and bigger activity space, movement velocity are faster arranged, and bigger application advantage is obviously arranged, and the reality and potentiality purposes is very widely.For example, the bird that has a particular microchannel sensor can be used for the collection of scenery, declaration and environmental parameter etc. in specific (or target) zone and passback etc.; Can be used for special article sent to or be thrown into destination or the like.When flying distance exceeds " sighting distance ", then can be by its flight path of GPS navigation.Because flight is the physical efficiency by birds self, so its flight time and flying distance just are subjected to the restriction of self-contained energy ability unlike the microminiature unmanned plane.Obviously, the mobile robot compares with electromechanical, and the robot bird that obtains according to the present invention will have huge advantage.
The present invention is described in detail with reference to accompanying drawing below in conjunction with embodiment.
Description of drawings
Fig. 1 is the guidance system schematic diagram of robot bird among the present invention;
Fig. 2 is used for the schematic diagram of the method for guidance robot bird of robot bird in interior space flight for the present invention;
Fig. 3 is used for the method for guidance robot bird of robot bird along the schematic diagram of setting the straight line path walking for the present invention;
Fig. 4 is used for the method for guidance robot bird of robot bird along the schematic diagram of setting the walking of square frame thread path for the present invention;
Fig. 5 is used for the method for guidance robot bird of robot bird along the schematic diagram of setting the walking of " 8 " word line path for the present invention.
The present invention will be described below in conjunction with accompanying drawing.
Embodiment
The method of guidance of robot bird of the present invention adopts the specific nerve nucleus of brain by micro-electrical stimulation robot animal (robot bird) to cause its initiatively escape behavior its motor behavior of controlling and navigate, overcome the deficiency in existing robot animal navigation technology and the method, the application of robot animal is pushed to higher, the more wide practical stage.
This method of guidance, take suitable microstimulation signal, in time stimulate preceding DMN (the thalamicnucleus dorsalis intermedius ventralis anterior of thalamus abdomen of bird, DIVA) with archistriatum (archistriatum), cause its initiatively escape behavior, thus flight behavior and the direction of control bird.
Nerve nucleus comprises the DIVA and the archistriatum nerve nucleus relevant with mood that transmits the pain sensation.Wherein the DIVA nerve nucleus comprises left side DIVA that transmits the right side body pain sensation and the right side DIVA that transmits the left side body pain sensation, and the archistriatum nerve nucleus comprises left side archistriatum nerve nucleus and right side archistriatum nerve nucleus.
Each position has corresponding relation on " nuclear group " in the cerebral nerve (often also claiming " site ") and the animal body.Confirm on the science that the right side of brain is corresponding with the body right side with left side corresponding, brain, body left side, promptly left brain control right side limbs, right brain control left limb; And what the feeling of right side body reached left side brain, left side body feels to reach the right side brain.
In the method for guidance of robot bird of the present invention, with reference to Fig. 1, take to send command signal by computer-controlled cell site 1, pass to the back of the body at the bird back or the microstimulation signal generator 2 that contains microprocessor and wireless receiving module of head term portion, microstimulation signal generator 2 is provided with wireless receiving module, microprocessor and microelectrode 3, wireless receiving module receives the control instruction signal that is sent by computer-controlled cell site and transfers to microprocessor, and microprocessor produces corresponding microstimulation signal and is connected to each microelectrode 3 respectively.
DIVA transmits the pain sensation.Know according to above-mentioned, if use with animal body in microstimulation signal stimulus left side DIVA like the telecommunications, the skin and flesh that then can form the right side body of oneself in the bird brain has been subjected to " sensation " of " damage " and has felt " bitterly ", and for keeping away " bitterly ", bird is just hidden left; In like manner, stimulate right side DIVA, then controlled its hide to the right.It is worthy of note that at this moment the pain of feeling in the bird brain is " virtual " sensation, does not in fact injure its skin and flesh, is the erroneous judgement of brain, thereby can implements repeatedly.
Archistriatum is the nerve nucleus relevant with fear, an archistriatum is each side arranged in the bird brain, and the two has same function, so in theory, no matter stimulate one, or stimulate two simultaneously, can both make bird feel probably all.Be to improve success rate, in the practicality, we implant the archistriatum of both sides respectively with two pairs of electrodes, if experimental results show that to have only one of them control effect better, that just use preferably that; If experimental results show that two all effective, then can only select one of them for use.So-called " effectively " even uses microstimulation signal stimulus archistriatum, then can form fear in the bird brain, and bird will take off lest fearing or quicken and fly forward.It is pointed out that " fear " felt in the bird brain at this moment is the sensation of " virtual " equally, in fact do not exist to make its produce frightened condition and environment, is the erroneous judgement of brain.Because this operation does not produce the skin and flesh injury to bird, thereby can implement repeatedly.
Adopt the key of microstimulation signal controlling animal to have two:
1. the correct nerve nucleus of choosing the plan stimulation.Because of thousands of nerve nucleus are arranged in the brain, and each nerve nucleus all has function separately, must choose corresponding nuclear group according to the control needs.
2. choose the suitable stimulation signal of telecommunication.Transmission information all is the signal of telecommunication in the various animals, its nervous system, and the basic waveform of these signals of telecommunication or an exactly independent waveform all are impulse waveforms, and for various animals, its basic configuration all is the same.And how animal nervous system is distinguished and utilize these information, and this is mainly by 2 points, the one, and signal is from where (for example be head or pin, or the like), and the 2nd, the difference of train of pulse (as pulse frequency, impulse amplitude, pulse number, pulsewidth degree etc.).About " from where ", this has considered " 1. ", about " train of pulse ", then uses " pulse parameter " to describe.
In the method for guidance of robot bird of the present invention, the instruction control signal employing frequency of being sent by computer-controlled cell site is the pulse train of 0.5-4Hz.The microstimulation signal adopts the diphasic pulse sequence, and its parameter area is: each pulse train is 5-15 diphasic pulse, and pulse amplitude is the 70-90 microampere, and each single-phase pulsewidth is 0.2-0.5ms, and pulse frequency is 50-150Hz.The guidance application of robot bird of the present invention is described with embodiment below.
Embodiment one
Select for use pigeon as robot bird, on the pigeon head or back install one and have microprocessor, remote-controlled microstimulation signal generator 2.According to long-range control command, microstimulation generator 2 can produce the coding microstimulation signal of telecommunication and put on corresponding D IVA or archistriatum through microelectrode 3 respectively.The microstimulation signal of telecommunication of coding is the diphasic pulse sequence, the parameter area of pulse is: each pulse train (train of pulse) is 5,6,7,8,9,10,11,12,13,14 or 15 diphasic pulses, pulse amplitude is 70,75,80,85 or 90 microamperes, each single-phase pulsewidth is 0.2,0.3,0.4 or 0.5ms, and pulse frequency is 50,60,70,80,90,100,110,120,130,140 or 150Hz; When frequency raise, pulsewidth should suitably narrow down thereupon.The parameter of above-mentioned pulse all is by the wireless microstimulation generator 2 that sends to by computer-controlled cell site 1.The transmission frequency of pulse train is 1,2,3 or 4Hz.The control experiment shows, pigeon has relation to the frequency of number, pulse width even the pulse train of pulse in reaction (response) intensity of micro-electrical stimulation and impulse amplitude, pulse frequency, each pulse train etc., and is wherein the most remarkable with impulse amplitude, pulse frequency influence especially.
The crucial part of the method for guidance of robot bird of the present invention is correctly to choose the site of exciting nerve.Choosing of the site of exciting nerve, the nerve nucleus of choosing should be when being upset, it is frightened that pigeon is produced, cause it that initiatively escape behavior takes place, as take off from inactive state and/or awing fly forward, left/right is adjusted heading etc., thereby reach " control and navigation " (being called for short " guidance ") to the flight of pigeon.Here, provide one group of certified nerve nucleus: ventral anterior nucleus (DIVA) and archistriatum (archistriatum) in the thalamus back of the body of bird with above-mentioned functions.DIVA is the sense of touch of peripheral stimulation of pigeon and main " transfer " nerve nucleus that pain sensation information uploads to brain, the DIVA of the thalamus left/right by using the micro-electrical stimulation pigeon respectively, coming the injury of its right side of virtual outer bound pair/left side body, wing and pawl (only is virtual, and in fact the skin and flesh of pigeon is had no injury, so can carry out repeatedly), can in brain, producing " sense of touch " and " pain sensation " that body is driven in the right side/left side, force effectively pigeon take off or/and awing left for hiding/right-hand rotation changes direction.The archistriatum of birds is the key nuclear group of fear reaction, stimulates it can cause the pigeon fear, forces it to take off alarmedly and awing flies forward fast.Though this two nucleoids group can both cause pigeon initiatively to escape, stimulating DIVA mainly is in order to make its left side/right turn, and next is only takes off; Stimulating archistriatum then mainly is for it " being taken off " and " forward ".This two nucleoids group compares, and the latter can more effectively force pigeon to take off and " forward " flies.
The method of guidance of robot bird of the present invention is used in outdoor the time, also is provided with the GPS navigation system that is combined as a whole in the microstimulation signal generator, the GPS navigation system with link to each other by computer-controlled cell site is wireless, can realize that the guidance of distance is used.
Embodiment two: indoor flight guidance.In an enough open room, we are 80 microamperes microstimulation signal guidance pigeon flight with amplitude, and purpose is the feasibility and the applicability of check " robot bird (dove) " in horizon range.
At first force pigeon to take off.For pigeon on one's feet, no matter be unilateral stimulation (left side/right side) or the archistriatum that stimulates both sides simultaneously, pigeon all can take off certainly; But for pigeon on one's feet, stimulate a left side/right side DIVA respectively, in most cases it also can be left/and right direction takes off.Comparatively speaking, the reliability that stimulates archistriatum to force pigeon to take off is higher, thereby stimulates archistriatum as the main method of forcing pigeon to take off.
Then aloft pigeon is guided.In the pigeon flight course, if stimulate the archistriatum of the pigeon left and right sides or a certain side at the same time or separately, its flight forward fast alarmedly, but if stimulate its left side/right DIVA respectively, then can make delicately it correspondingly left/turn right to become heading, stimulate continuously to make it hover in the air.The schematic diagram that the guidance pigeon of putting in order according to picture recording flies is referring to Fig. 2.
In above-mentioned control, pigeon is not trained in advance, this explanation by suitable, stimulate DIVA and archistriatum timely, we can realize need not just can control effectively and the navigate flight of (promptly guiding) pigeon of precondition.Forcing and take off and change direction forward and awing, is to guarantee that robot bird can move to the necessary condition of re-set target along setting path, and Neither of the two can be dispensed.Need to prove especially, force pigeon to take off and fly forward, essential for practical application, can prevent pigeon bait overlong time like this, only depend on and regulate the pigeon heading and can't guarantee that pigeon in time arrives the destination.Why can reliably realize above-mentioned guidance function, mainly be that the nerve nucleus of selecting for use has comprised the pain sensation and frightened function, thereby stimulate these nuclear groups can forcibly change the behavior of birds.
Embodiment three: robot bird " walking " guidance on the ground.Very fast in view of the speed of pigeon in-flight, be difficult for seeing clearly the guidance function of microstimulation signal, for fully showing and clear observation pigeon does the moment behavior of time spent at the microstimulation signal, further checking effect that the pigeon behavior is guided.The big plumage of part of pigeon wing is tied up, it can not be circled in the air and can only walk on the ground, use stimulus sequence (50 to 70 μ A) control than low amplitude and navigation pigeon to arrive predeterminated target ground then along the route (the wide red adhesive tape of 6cm is attached to ground as set path) of expection.Here reducing the reason of current amplitude, is because closely related with current amplitude to the micro-electrical stimulation reaction pigeon.Electric current hour, pigeon still can be escaped in the mode of walking; When electric current is big, then no longer walking, but fly up rapidly.
Control shows, stimulate respectively the DIVA on a left side/right side of pigeon can make effectively it left/right turn; (or difference) stimulates the archistriatum of pigeon left and right sides (or a certain side) simultaneously, and its can be gone ahead alarmedly fast.Experiment also shows repeatedly, if pigeon is placed consciously the default red line in ground certain " starting point ", then as required, in time stimulate corresponding above-mentioned nerve nucleus, make its forward/left/right, generally final " impact point/target area " that arrives (or passing through) expection can both be advanced along setting circuit roughly.The schematic diagram of several representative picture recordings is referring to Fig. 3-5.Therefrom can clearly find out the guidance function of microstimulation signal: when pigeon is departed from " desired path (red line) " to pigeon, apply required guidance signal in good time, the signal lamp of controller shows, received guidance signal in pigeon " turning " preceding moment just, make pigeon to advance along setting the circuit complications, roughly arrive the destination along desired path, this fully shows validity of the present invention.Although guidance is effectively, pigeon is departed from " desired path " sometimes, and this mainly is because due to the vision and the interference of information such as the sense of hearing of pigeon around also being subjected to simultaneously in the process of advancing.
The method of guidance utilization of robot bird of the present invention causes its initiatively escape behavior its motor behavior of controlling and navigate by the above-mentioned nerve nucleus of micro-electrical stimulation bird brain.Because this principle has utilized bird to escape the instinct of injury, so its guidance is powerful, thereby need not bird is carried out precondition.The huge use value that robot bird has, birds are compared with ground animals, and bigger activity space, movement velocity are faster arranged, and bigger application advantage is obviously arranged, and the reality and potentiality purposes is very widely.For example, the bird that has a particular microchannel sensor can be used for the collection of scenery, declaration and environmental parameter etc. in specific (or target) zone and passback etc.; Can be used for special article sent to or be thrown into destination or the like.When flying distance exceeds " sighting distance ", then can be by its flight path of GPS navigation.Because flight is the physical efficiency by birds self, so its flight time and flying distance just are subjected to the restriction of self-contained energy ability unlike the microminiature unmanned plane.Obviously, the mobile robot compares with electromechanical, and the robot bird that obtains according to the present invention will have huge advantage.The present invention is applicable to all birds.
Above-described embodiment is described preferred implementation of the present invention; be not that scope of the present invention is limited; do not breaking away under the prerequisite that the present invention relates to spirit; various distortion and improvement that the common engineers and technicians in this area make technical scheme of the present invention all should fall in the definite protection domain of claims of the present invention.
Claims (5)
1. method of guidance that is used for robot bird, this method is by comprising the guidance system that is made of computer-controlled cell site (1) and microstimulation signal generator (2), flare maneuver and direction to robot bird are implemented control, and it is characterized in that: this method is carried out following steps:
1) at described robot bird back or crown portion place microstimulation signal generator (2);
2) by described by computer-controlled cell site (1), the microstimulation signal generator (2) entrained to described robot bird sends control instruction;
3) after described microstimulation signal generator (2) receives described control instruction signal, produce corresponding microstimulation signal and described microstimulation signal is transferred to the nerve nucleus position of described robot bird by described control instruction, the nerve nucleus of described robot bird is a DMN nerve nucleus before archistriatum nerve nucleus relevant with fear and the thalamus abdomen that transmits the pain sensation, be respectively applied for the control robot bird take off, fly forward and awing left/turning right becomes heading.
4) repeating step 2) and step 3), finish described by computer-controlled cell site (1) to the difference flight behavior of described robot bird and the guidance of direction.
2. the method for guidance that is used for robot bird according to claim 1, it is characterized in that: the DMN nerve nucleus comprises the preceding DMN nerve nucleus of left side thalamus abdomen of the transmission right side body pain sensation and the preceding DMN nerve nucleus of right side thalamus abdomen of the transmission left side body pain sensation, archistriatum nerve nucleus and right side archistriatum nerve nucleus on the left of described archistriatum nerve nucleus comprises before the wherein said thalamus abdomen.
3. the method for guidance that is used for robot bird according to claim 1 and 2, it is characterized in that: wherein said microstimulation signal generator (2) is provided with wireless receiving module, microprocessor and some microelectrodes (3), described wireless receiving module receives the described instruction control signal of being sent by computer-controlled cell site and transfers to described microprocessor, and described microprocessor produces corresponding microstimulation signal and is connected to each described microelectrode (3) respectively.
4. the method for guidance that is used for robot bird according to claim 3 is characterized in that: it is the pulse train of 1-4Hz that the wherein said instruction control signal of being sent by computer-controlled cell site (1) adopts frequency.
5. according to the described method of guidance that is used for robot bird of claim 4, it is characterized in that: wherein said microstimulation signal adopts the diphasic pulse sequence, its parameter area is: each pulse train is 5-15 diphasic pulse, pulse amplitude is the 70-90 microampere, each single-phase pulsewidth is 0.2-0.5ms, and pulse frequency is 50-150Hz.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101815211A (en) * | 2010-04-08 | 2010-08-25 | 山东科技大学 | Method and device for monitoring animal behaviors in natural environment through video |
| CN101861836A (en) * | 2010-04-30 | 2010-10-20 | 重庆大学 | Method for controlling movement of woundless rat robot |
| WO2012119324A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Intelligent wireless remote control stimulating device for animal memory training system |
| CN104199446A (en) * | 2014-09-18 | 2014-12-10 | 山东科技大学 | Robot bird flying controllability evaluation system and evaluation method |
| CN104199461A (en) * | 2014-08-29 | 2014-12-10 | 山东科技大学 | Bird robot autonomous navigation system and navigation method |
| CN104679028A (en) * | 2013-11-29 | 2015-06-03 | 浙江大学 | Method for controlling animal robot to turn on basis of ventral posterior medial nucleus electrical stimulation |
| CN107422352A (en) * | 2016-08-18 | 2017-12-01 | 山东科技大学 | A kind of animal robot autonomous navigation system and method |
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2008
- 2008-01-25 CN CN200810000886A patent/CN100583180C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101815211A (en) * | 2010-04-08 | 2010-08-25 | 山东科技大学 | Method and device for monitoring animal behaviors in natural environment through video |
| CN101861836A (en) * | 2010-04-30 | 2010-10-20 | 重庆大学 | Method for controlling movement of woundless rat robot |
| CN101861836B (en) * | 2010-04-30 | 2012-05-23 | 重庆大学 | Method for controlling movement of woundless rat robot |
| WO2012119324A1 (en) * | 2011-03-07 | 2012-09-13 | 沈阳医学院 | Intelligent wireless remote control stimulating device for animal memory training system |
| CN104679028A (en) * | 2013-11-29 | 2015-06-03 | 浙江大学 | Method for controlling animal robot to turn on basis of ventral posterior medial nucleus electrical stimulation |
| CN104199461A (en) * | 2014-08-29 | 2014-12-10 | 山东科技大学 | Bird robot autonomous navigation system and navigation method |
| CN104199446A (en) * | 2014-09-18 | 2014-12-10 | 山东科技大学 | Robot bird flying controllability evaluation system and evaluation method |
| CN104199446B (en) * | 2014-09-18 | 2017-01-25 | 山东科技大学 | Robot bird flying controllability evaluation system and evaluation method |
| CN107422352A (en) * | 2016-08-18 | 2017-12-01 | 山东科技大学 | A kind of animal robot autonomous navigation system and method |
| CN107422352B (en) * | 2016-08-18 | 2021-01-26 | 山东科技大学 | Autonomous navigation system and method for animal robot |
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| CN100583180C (en) | 2010-01-20 |
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