CN101861836B - Method for controlling movement of woundless rat robot - Google Patents
Method for controlling movement of woundless rat robot Download PDFInfo
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- CN101861836B CN101861836B CN2010101602999A CN201010160299A CN101861836B CN 101861836 B CN101861836 B CN 101861836B CN 2010101602999 A CN2010101602999 A CN 2010101602999A CN 201010160299 A CN201010160299 A CN 201010160299A CN 101861836 B CN101861836 B CN 101861836B
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Abstract
The invention discloses a method for controlling movement of a woundless rat robot. The conventional animal robot has the defects of difficult development process and low success rate by adopting a creative movement control mode. The invention adopts a mode of integrating ultrasonic stimulation with epidermal electrode stimulation and LED light auxiliary stimulation, wherein the ultrasonic stimulation is used for stimulating sense of hearing; the epidermal electrode stimulation is used for stimulating sense of pain; and the LED light auxiliary stimulation is used for stimulating sense of vision to make the rat robot have active escape behavior so as to control the movement of the rat robot. The method for controlling movement by adopting a woundless rat movement control mode has the advantages of solving the problems of neurolysis, difficult operation and the like in creative stimulation control, accelerating practical process, along with no need of craniotomy on the rat, short development cycle, and wide development potential in aspects of personnel search and rescue, military activities, and acquisition of physiological parameters of organisms in the future.
Description
Technical field
The present invention relates to be used to the control method of the system that controls, especially a kind of method of not having the motion of wound control mouse.
Background technology
Biorobot's's (being different from bio-robot) research starts from the nineties in last century; Be different from the conditional electronic robot; The biorobot has the environment survival ability of long-term natural selection, and its active driven by energy ability that has can reduce the power consumption of robot significantly.The biorobot has just obtained the extensive concern of various countries because of its huge advantage from being born.From current research; Various countries have carried out biorobots' such as mouse, cockroach, green turtle, gecko, ape and monkey research in succession; Begin early wherein because of mouse can adapt to various complex environments, and to the research of its cerebral nervous system, relatively perfect in biorobot's art.The method that their motion control is adopted is based on that the neural controlling mechanism of biological motion accomplishes; Motion control need be opened the implant surgery of cranium electrode to organism; Belong to wound property movement control mode, the relevant report of promptly not seeing no wound motion control method are arranged.The woundless rat motion control has and need not out the implant surgery of cranium electrode, and is easy to operate, equipment is rapid, non-invasive and characteristics such as success rate height, helps to move towards practicability.Therefore, develop a kind of method of not having the wound motion control, will have extremely profound significance.
Summary of the invention
The present invention has overcome the deficiency that wound property animal robot airmanship and method are arranged, and provides a kind of easy to operate, and success rate is high, helps the woundless rat biorobot motion control method that the biorobot gets into the practical stage.
For realizing the purpose of woundless rat motion control; This method is through comprising by the head-shield that is used to shield external environment; Be used to carry the vest that receives controller, computer-controlled command generator and the system that receives controller four parts composition are carried out AT advancing to mouse; About turn to and control, this method is carried out following steps:
1, put on head-shield to mouse, settle wireless camera at the head-shield top;
2, settle the reception controller at described mouse back;
3, through described computer-controlled command generator, the reception controller that carries to said mouse sends control instruction;
4; After described reception controller receives described control instruction; Dispatch stimulator respectively according to said control instruction and stimulate the corresponding position of mouse; Described stimulator has comprised ultrasonic stimulation device, epidermis electrode stimulating device and LED light secondary stimulus device, and described ultrasonic stimulation device is used to stimulate moving ahead of its sense of hearing, control mouse; Epidermis electrode stimulating device is used to stimulate its pain sensation, and LED light secondary stimulus device is used to stimulate its vision, the left-right rotation of control mouse;
5, repeating step 3 and 4 is accomplished the no wound motion control of described computer-controlled command generator to mouse, thereby arrives the purpose of desired location.
The present invention is used for the method for woundless rat robot motion control, and wherein said vest is made by camouflage fatigue or other cloth and formed, and after mouse is put on vest, makes a pocket at mouse body back and is used to place described reception controller.
The present invention is used for the method for woundless rat robot motion control; Wherein said computer-controlled command generator is that the transmitter of core is formed by PC host computer, interface chip AU9254A21 with based on little process chip ARMS3C2410 and wireless transmission chip CC1000 mainly; Directly utilize the power supply of PC USB interface; Send the control instruction of long-range RS232 signal by the PC host computer; AU9254A21 makes RS232 be converted into the TTL signal through the USB interface chip, through the little process chip of main control chip ARMS3C2410 stimulus signal is discerned then, through wireless transmission chip CC1000 signal is launched again.
The present invention is used for the method for woundless rat robot motion control, and wherein said reception controller mainly is made up of little process chip ARMS3C2410, wireless receiving chip CC1000, stimulator and image acquisition device, is acp chip with the little process chip of ARMS3C2410; Entire controller is by the 12V dry cell power supply; Size is 60mm * 25mm * 20mm, and weight is 85g, and receiving chip adopts CC1000; Receiving chip is after obtaining the command signal that command generator sends; Through the instruction checking of the little process chip of master controller ARMS3C2410, in case judge that effectively starting corresponding stimulator stimulates; Simultaneously, start image acquisition device and carry out real time image collection with the motion of modulation mouse.
The present invention is used for the method for woundless rat robot motion control; Base chip NE555 was a main control chip when wherein said stimulator was selected for use; Ultrasonic stimulation device output frequency is the 18-30KHZ adjustable signal, and epidermis electrode stimulating device output pulse is the low-frequency pulse of 90hz-120hz.
The present invention is used for the method for woundless rat robot motion control; Wherein said head-shield is used for shielding and the fixing of various stimulators and the laying of camera of mouse vision, the sense of hearing and the sense of taste, and described head-shield adopts skeleton construction, utilizes the gypsum plated film to form; At the head-shield bottom perforated; Inner air and outer air is communicated, select for use sponge film to be separated by inside and outside making simultaneously, can also play the effect of gas defence with adsorption function.
Description of drawings:
Figure one is the system schematic of woundless rat robot motion control method among the present invention;
Figure two is host computer process control charts of woundless rat robot motion control method among the present invention;
Figure three is host computer surface charts of woundless rat robot motion control method among the present invention;
Table one is the motion control chart of woundless rat robot motion control method among the present invention.
Embodiment:
The method that the invention provides the auxiliary stimulation of a kind of ultrasonic stimulation fusion epidermis electrode stimulating and LED light realizes the motion control of woundless rat.The ultrasonic frequency that generally is meant is higher than the signal of 2Khz.Research shows that mouse links up with ultrasonic, and very responsive to ultrasonic, they can judge the source of sound in the dark, and powerful high-power ultrasonic impulse stimulation meeting is produced incompatible sense, is embodied in planless poking one's nose everywhere.Borrow in this, designed a head-shield, be used to shield the impression of mouse, comprise vision, the sense of hearing and the sense of taste surrounding environment for mouse.When mouse is put on head-shield, the vision of mouse, the sense of hearing and sense of taste conductively-closed, mouse to around environment be in uncertainty; Then keep inactive state; Ultrasound stimulator is placed within the head-shield, and utilize the ultrasonic stimulation mouse this moment, the control mouse by inactive state to move (advancing); Simultaneously, ear does not have the hair-fields and respectively places an epidermis electrode in the left and right sides of mouse, respectively both sides is stimulated, and makes mouse produce pain and tries to take shelter and flee from, and controls turning to about it; In addition, above the right and left eyes of mouse, respectively place a LED lamp, when the LED lamp was opened, unexpected light made mouse feel that the led light source direction is dangerous and avoid rapidly, plays the effect of regulating the mouse direction of motion.Whole system is accomplished the control to the no wound motor behavior of mouse through the synergy of ultrasonic stimulation, epidermis electrode stimulating and light secondary stimulus.
In the woundless rat biorobot motion control method of the present invention,, take to send the control instruction of long-range RS232 signal by computer-controlled command generator with reference to Fig. 1; AU9254A21 makes RS232 be converted into the TTL signal through the USB interface chip; Through the little process chip of main control chip ARMS3C2410 stimulus signal is discerned then, through wireless transmission chip CC1000 signal is launched, the receiving chip CC1000 that receives controller obtains the command signal that command generator sends; Instruction checking through the little process chip of master controller ARMS3C2410; In case judge that effectively starting corresponding stimulator stimulates, simultaneously; Start the remote image collection device and carry out real time image collection, be used for the adjusting of mouse motion control direction.
Adopt the method for the auxiliary stimulation of ultrasonic stimulation fusion epidermis electrode stimulating and LED light to realize that the key of the motion control of woundless rat has two:
1. the design of stimulator.Base chip NE555 was a main control chip when stimulator was selected for use.Its inside is integrated two high-accuracy voltage comparators and a rest-set flip-flop.Existing analog functuion has logic function again.Its operating voltage is 4.5V-18V, has advantages such as EDM Generator of Adjustable Duty Ratio, the compatible TTL circuit of output circuit.Ultrasound stimulator is made up of astable multivibrator, emitter following converter, voltage controlled oscillator (VCO), driving amplifying circuit and ultra loudness piezoelectric ceramic loudspeaker BL five parts.Because of the most responsive frequency range of the mouse sense of hearing is the swept-frequency signal of 18KHZ-30KHZ, the swept-frequency signal that output frequency is 18-30KHZ is set, and the ultrasonic of this band frequency is harmless; Epidermis electrode stimulating device is made up of microcontroller, pulse shaping circuit, output control circuit.The output pulse is set to the low-frequency pulse of 90hz-120hz; This pulse feels the prick to the organism tool, and stimulating electrode is elected SMD Ag-AgCL electrode as, and it is big that the Ag-AgCL electrode has an exchange current density; Be difficult for polarization; The advantage that impedance is low, electrode potential is stable, and can be used for transmitting electric excitation signal is a kind of electric stimulation electrode of the most common and extensive use.Be suitable as the epidermis electrode stimulating; LED light stimulator circuitry is made up of timing oscillator and LED lighting control circuit.Behind the energized switch, the 3 pin output high level of time base chip NE555, its normally open contact is connected, and adds to the transistorized base stage of C8050, makes the intermittent conducting of C8050 and ends, and drives intermittently adhesive or release of relay, and the LED lamp just can synchronous light-emitting.
2. the shielding of mouse vision, the sense of hearing and the sense of taste.Timid because of mouse, the sealing of head-shield can receive the interference of external sound, smell and light inadequately well.Head-shield adopts skeleton construction, utilizes the gypsum plated film to form, and sealing is good, and skeleton head-shield is easy to the laying of camera of epidermis electrode stimulating source and LED light stimulus source line.Stimulate line directly to be bound on the inner support of head-shield on LED lamp and epidermal patch plate electrode, the LED lamp just in time is positioned at directly over the left and right sides eyes of mouse; Settle the remote image collection camera at the head-shield top; At the head-shield bottom perforated, inner air and outer air is communicated, select for use sponge film to be separated by inside and outside making simultaneously with adsorption function, prevent that mouse from smelling the smell of extraneous food, when carrying out special duty, can also play the effect of gas defence like this.
The application of this woundless rat robot motion control method is described with embodiment below:
Select a broad vacant lot, the host computer remote control table of utilizing C# to set up is tested (as shown in Figure 3), and this host computer platform has contained file, editor, view, test submenu and date, time regulator.Can accomplish stimulus remote scheduling, real-time remote image collection and editor easily.
Choose Wister rat (15), heavily about 250g.At first carry out the anesthesia of mouse, select animal sedative carbrital (Pentobarbital Sodium) for use, every kilogram of 25mg carries out abdominal vein and slightly injects; With righting reflex loss as the successful standard of anesthesia; After waiting for that mouse is anaesthetized successfully, put on vest, put on head-shield to mouse, the piezoelectric ceramic loudspeaker of ultrasonic stimulation device is embedded in the head-shield; Ear does not have the hair-fields to epidermal patch plate electrode card in the mouse left and right sides, and the LED lamp is positioned at directly over the mouse right and left eyes; After waiting for about 35 minutes, this moment, mouse recovered clear-headed, and mouse keeps inactive state; Carry out the stimulus stimulation test then, according to the stimulation protocol shown in the table 1 (every mouse threshes 10 times, and the single stimulating exercise time is 20 minutes), detecting ultrasonic stimulation, epidermis electrode stimulating, LED light respectively stimulates the reaction to mouse.Consider the homogeneity (control left-right rotation) of epidermis electrode stimulating and LED light stimulus function, stimulation is opened in the epidermis electrode stimulating and the LED light stimulus of homonymy simultaneously, test once more 10 times; A destination is set then, and this position is 50m apart from mouse, carries out the Long-distance Control mouse and arrives this destination, write down (every experiment on mice 4 times, write down mean value) consuming time.Experimental result shows: mouse is to ultrasonic, and epidermis electrode and LED light stimulus all have tangible reaction, but there is difference in reaction.From the reaction time, mouse is the sensitiveest to the reaction of ultrasonic stimulation, and least sensitivity is that LED light stimulates.After ultrasonic was opened, 15 mouse of experiment at first all showed as the behavior of running forward immediately, then casual nondirectional motion everywhere.Under the epidermis electrode stimulating, mouse can realize 80% success rate about turn to.Under the LED light stimulus, mouse can realize 70% success rate about turn to.Under the situation of opening simultaneously in the epidermis electrode stimulating and the LED light stimulus source of homonymy, mouse can realize 90% success rate about turn to.And long-term ultrasonic stimulation and LED light stimulus do not find that mouse produces effect tired out, and epidermis electrode stimulating mouse have effect tired out.The mouse Long-distance Control arrives the destination experiment; According to the reaction of mouse to three stimulus; Employing is provided with the epidermis electrode stimulating of opening homonymy after ultrasonic is opened immediately simultaneously and controls the mode that turns to about it with the LED light stimulus and carry out, through training repeatedly, all successful arrival of 15 mouse as a result the designated destination; That wherein time spent mean value is the shortest is 102s, and that time spent mean value is the longest is 213s.
Obviously, the present invention has set up complete long-range woundless rat motion control and the image capturing system of a cover.Progress from current mouse robot; The characteristics of native system mainly show: the non-invasive control mode that has proposed the mouse motion control; Utilize the mouse stimulated in vitro of ultrasonic and epidermis electrode and LED light, need not mouse is carried out operation of opening cranium, electrode is implanted has the wound sexual stimulus; Construction cycle is short, and can improve greatly simultaneously has wound to stimulate problems such as neurolysis in the control, operability difficulty; Adopt the vest and the head-shield system of Wearable, in the time of need executing the task, assembling is easy to operate immediately, in following personnel's search and rescue, military activity, has very big development prospect, and no wound motion control has quickened to move towards the process of practicability; Utilize C# to set up friendly long-range motion control interface, the graftibility of C# language is strong, carries the api function class libraries, and is easy to operate.This software design not only can be long-range the realization ultrasonic, the scheduling of epidermis electrode and LED light stimulus, and can carry out view data and transfer to host computer through Internet and carry out real time image collection; Non-invasive biorobot motion control helps to gather more accurately the physiological parameter of organism.
Claims (6)
1. the method for a woundless rat robot motion control; This method is through comprising by the head-shield that is used to shield external environment; Be used to carry the vest that receives controller, computer-controlled command generator and the system that receives controller four parts composition are carried out AT advancing to mouse; About turn to and control, this method is carried out following steps:
1) puts on head-shield to mouse, settle wireless camera at the head-shield top;
2) settle the reception controller at described mouse back;
3) through described computer-controlled command generator, the reception controller that carries to said mouse sends control instruction;
4) after described reception controller receives described control instruction; Dispatch stimulator respectively according to said control instruction and stimulate the corresponding position of mouse; Described stimulator has comprised ultrasonic stimulation device, epidermis electrode stimulating device and LED light secondary stimulus device, and described ultrasonic stimulation device is used to stimulate moving ahead of its sense of hearing, control mouse; Epidermis electrode stimulating device is used to stimulate its pain sensation, and LED light secondary stimulus device is used to stimulate its vision, the left-right rotation of control mouse;
5) repeating step 3 and 4 is accomplished the no wound motion control of described computer-controlled command generator to mouse, thereby arrives the purpose of desired location.
2. the method for woundless rat robot motion control according to claim 1; It is characterized in that: wherein said vest is made by camouflage fatigue or other cloth and is formed; After mouse is put on vest, make a pocket at mouse body back and be used to place described reception controller.
3. the method for woundless rat robot motion control according to claim 1; It is characterized in that described computer-controlled command generator is that the transmitter of core is formed by PC host computer, interface chip AU9254A21 with based on little process chip ARMS3C2410 and wireless transmission chip CC1000 mainly; Directly utilize the power supply of PC USB interface; Send the control instruction of long-range RS232 signal by the PC host computer; AU9254A21 makes RS232 be converted into the TTL signal through the USB interface chip, through the little process chip of main control chip ARMS3C2410 stimulus signal is discerned then, through wireless transmission chip CC1000 signal is launched again.
4. the method for woundless rat robot motion control according to claim 1 is characterized in that described reception controller mainly is made up of little process chip ARMS3C2410, wireless receiving chip CC1000, stimulator and image acquisition device, is acp chip with the little process chip of ARMS3C2410; Entire controller is by the 12V dry cell power supply; Size is 60mm * 25mm * 20mm, and weight is 85g, and receiving chip adopts CC1000; Receiving chip is after obtaining the command signal that command generator sends; Through the instruction checking of the little process chip of master controller ARMS3C2410, in case judge effectively, starting the described corresponding stimulator of claim 1 stimulates; Simultaneously, start image acquisition device and carry out real time image collection with the motion of modulation mouse.
5. according to the method for claim 1 or 4 described woundless rat robot motion controls; Base chip NE555 is a main control chip when it is characterized in that described stimulator is selected for use; Ultrasonic stimulation device output frequency is the 18KHZ-30KHZ adjustable signal, and epidermis electrode stimulating device output pulse is the low-frequency pulse of 90hz-120hz.
6. the method for woundless rat robot motion control according to claim 1; It is characterized in that described head-shield is used for shielding and the fixing of various stimulators and the laying of camera of mouse vision, the sense of hearing and the sense of taste, described head-shield adopts skeleton construction, utilizes the gypsum plated film to form; At the head-shield bottom perforated; Inner air and outer air is communicated, select for use sponge film to be separated by inside and outside making simultaneously, can also play the effect of gas defence with adsorption function.
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CN105091900B (en) * | 2015-08-11 | 2018-12-18 | 上海交通大学 | A kind of human body automated navigation system and method reducing thinking load |
CN112171672B (en) * | 2020-09-24 | 2021-11-23 | 山东科技大学 | System and method for monitoring and controlling movement behaviors of insect robot |
CN115300815B (en) * | 2022-07-29 | 2024-03-01 | 燕山大学 | Closed-loop ultrasonic visual stimulation device and experimental method |
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