CN110689120A

CN110689120A - Loop control neurogenic experiment system for insect robot

Info

Publication number: CN110689120A
Application number: CN201910917120.0A
Authority: CN
Inventors: 洪慧; 冀士宇
Original assignee: Hangzhou Electronic Science and Technology University
Current assignee: Hangzhou Dianzi University; Hangzhou Electronic Science and Technology University
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-01-14

Abstract

The invention discloses a loop control neurogenic experimental system for an insect robot. The invention comprises a stimulating and collecting backpack, an insect robot nerve signal stimulating and collecting platform and an insect robot behavior recording platform, and is suitable for animal electrical stimulation, nerve signal collection and behavior analysis. For the clock synchronization problem, IEEE1588 is adopted to set master and slave clocks, the deviation of the master and slave clocks is calculated according to the timestamp in the synchronization message and the line delay between the master and slave clocks, and then the corresponding clocks are adjusted; for the data heterogeneous problem, an XML model is adopted to extract data attributes, data classification of different signals is carried out according to the attributes and characteristics, and heterogeneous data from different devices are integrated into the data model in a uniform format. The invention can improve the synchronism of animal behaviors and nerve signals and the real-time control capability of insects, and can complete the accurate remote control and remote measurement and loop control of the insect robot and the data acquisition of the nerve signals and the behavior signals.

Description

Loop control neurogenic experiment system for insect robot

Technical Field

The invention belongs to the technical field of brain-computer interfaces, and particularly relates to a loop control neurogenic experimental system for an insect robot.

Background

The animal robot is a micro-hybrid intelligent robot, and combines the movement capability of animals and the control capability of a micro-electro-mechanical system. The robots can solve the complex problem that some biological or artificial intelligence systems in the general environment cannot be processed independently, and have high flexibility, accuracy and efficiency, so that the animal robots have wide application prospects in the fields of public safety, clinical application, engineering operation and the like. Insect robot size is littleer than animal robot, and flight experiment is harsher to the demand such as weight, the volume of knapsack and battery duration. To realize the accurate control of the insect robot, on one hand, the insect neurons need to be stimulated accurately, and on the other hand, the real-time nerve signals of the insects need to be acquired.

At present, the research of the insect robot is in a starting stage, an experiment scene or a platform for the insect robot experiment is yet to be developed, the experiment platform needs to synchronize a plurality of collected electrophysiological data and animal behavior data and combine the electrophysiological data and the animal behavior data with visual interface data to support the research of the nervous behavior of the insect robot. The existing animal experiment platform has the problems of large backpack volume, asynchrony among multiple devices of data, non-heterogeneous integration of data, poor real-time performance and the like; in addition, the existing insect backpack only has a single neuron stimulation or nerve signal acquisition function, and does not support multiple devices to be unified into one platform, so that the loop control of the insects is difficult to realize.

In order to realize accurate loop control of the insect robot and data acquisition of nerve signals and behavior signals, it is very important to establish an experiment platform with good synchronism, high real-time performance, stable performance, strong expansibility and good compatibility.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a loop control neurogenic experimental system for an insect robot.

The invention provides a small-size and light-weight backpack scheme integrating stimulation and collection, which supports the flight experiment of insects; the experimental system provides an experimental scene for insect neurogenic experiments (such as electrical stimulation, neural signal acquisition and behavior recording); the problems of clock synchronization and data isomerism existing in an experimental platform are solved, and therefore experiments such as loop control of the insect robot and data recording of nerve signals and behavior signals can be well completed.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the invention provides a backpack scheme integrating stimulation and collection, wherein the backpack comprises a flexible PCB (printed circuit board), a nerve stimulation and collection chip, a micro antenna, a battery and the like, and the load restraint and endurance requirements of an insect flight experiment are met.

On the basis, an insect-oriented robot experiment platform is built, and the platform comprises the backpack, the high-speed camera, the radio frequency wireless base station, the microcontroller, the PC and the like, and jointly forms an insect robot loop control experiment system.

Two key problems existing in an experimental platform are solved, and time synchronization is carried out on master and slave equipment in the platform by utilizing an IEEE1588 precision time synchronization algorithm, so that behavior and nerve signals of insects are positioned on the same time axis; and packaging the heterogeneous data from different devices into standardized data in a uniform format by using an XML model for subsequent research.

The invention has the beneficial effects that:

the invention provides an insect backpack scheme integrating stimulation and collection, and provides a foundation for a loop control experiment system of insects;

the invention builds a loop control neurogenic experiment system facing the insect robot, and provides an experiment scene for neurogenic experiments such as insect loop control, insect neural signal acquisition, behavior recording and the like.

The invention utilizes an IEEE1588 precise time synchronization algorithm to perform time synchronization on the master device and the slave device in the platform, and improves the synchronism of the insect behavior data and the neural signal data.

The invention utilizes the XML model to package the heterogeneous data in a uniform format, thereby facilitating subsequent display and processing and improving the expandability of the platform and the reusability of the data.

Drawings

Fig. 1 is a structural diagram of an insect backpack integrating stimulation and collection according to the present invention.

Fig. 2 is an overall block diagram of the insect robot loop control experiment system of the present invention.

Fig. 3 is a schematic diagram of IEEE1588 precision time synchronization.

FIG. 4 is a flow chart of XML model data encapsulation.

Detailed Description

In order to make the technical features, objects and effects of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples.

Fig. 1 is a structural diagram of the backpack integrating stimulation and collection, which is disclosed by the invention, and because the particularity and flight constraint of insects are stronger, the backpack design has high requirements on low power consumption, small size, ultra-small power radio frequency transmission and the like. The ultra-light backpack adopts a flexible processing technology, integrates a hundred-microwatt-level low-power-consumption nerve stimulation and acquisition chip, a micro antenna with high emission conversion efficiency, a battery and the like, effectively reduces the size and the weight of the backpack, and greatly improves the cruising ability of the backpack.

In the specific implementation scheme, possible functional modules are combined in a maximized mode and are multiplexed by a core circuit, and the filtering circuit of the analog amplification part and the structural level combination of the amplifying circuit are combined, so that the current consumption is effectively saved; the analog-to-digital conversion part selects the optimal selection SAR ADC with ultra-low power consumption and low and medium speed analog-to-digital conversion to carry out analog-to-digital conversion; the radio frequency transmitting part modulates signals by adopting an on-off keying modulation mode (OOK), thereby saving the circuit bandwidth and reducing the power consumption.

FIG. 2 is an overall block diagram of an insect-robot-oriented loop control experiment system, which is totally divided into two parts, namely an insect robot nerve signal stimulation and acquisition platform mainly responsible for electrically stimulating insects and realizing accurate remote control and remote measurement of an insect robot; weak animal nerve signals are collected, and the nerve signals are recorded; the insect robot behavior recording platform is mainly responsible for shooting and recording animal behaviors, and then researches are carried out by combining collected nerve signals.

The working process of the invention is as follows:

1. the insect robot nerve signal stimulation and acquisition platform work flow comprises the following steps:

the PC end upper computer sends stimulation control signals (including stimulation period, frequency, stimulation number and the like) to the microcontroller STM32 through the USB-CAN, the STM32 controls the radio frequency wireless base station to send instructions by outputting high and low levels after processing the signals, the backpack judges left and right brain signals according to PWM waves after receiving the wireless signals, and outputs corresponding square waves to complete electric stimulation on insects. While electrically stimulating, the backpack will also collect the nerve signals of the insect in the stimulated state. The backpack is connected with an animal through a nerve signal microelectrode, and the acquired weak (mu V level) nerve signals are amplified by about 800 times and then subjected to AD sampling and modulation, and are sent to a microcontroller STM32 in a wireless mode for demodulation, after the demodulation, the nerve signal data are transmitted to a PC-end upper computer, and the visualized upper computer realizes waveform display and data storage of the nerve signals.

2. Insect robot behavior recording platform work flow:

actually, the behavior of the insect under the electric stimulation state is shot and recorded through a high-speed camera, and video data are transmitted to an upper computer at the PC end for displaying and storing.

After the platform is built, aiming at two key problems existing in the platform, the problem of time asynchronism of different devices in the platform is solved by adopting an IEEE1588 precision time synchronization algorithm, the problem of data isomerism of different devices in the platform is solved by adopting an XML model, and the specific implementation scheme is as follows:

fig. 3 is a flowchart of IEEE1588 clock synchronization, which mainly includes the following steps:

1) the master clock periodically sends out the sync message and records the precise sending time t when the sync message leaves the master clock₁；

2) The master clock will send the time t precisely₁Packaging the data into a Follow _ up message and sending the Follow message to a slave clock;

3) recording the precise time of arrival t of the sync message at the slave clock by the slave clock₂；

4) Issuing a delay _ req message from a clock and recording the exact time of transmission t₃；

5) The master clock records the precise arrival time t of the delay _ req message to the master clock₄；

6) Sending out information t carrying accurate time stamp by master clock₄Sending the delay _ resp message to the slave clock;

thus obtaining t from the clock₁，t₂，t₃，t₄Four accurate message transmit-receive times. Slave clock passing t₁，t₂，t₃，t₄Obtaining clock offset (time offset existing between a master clock and a slave clock) and transmission delay (delay brought by message transmission in the network) by using four pieces of accurate timestamp information:

after the offset and the delay are obtained from the clock, the local clock can be corrected to carry out time synchronization, so that the time synchronization is kept among the micro controllers, the electrical stimulation of the insects, the acquisition of the neural signals and the behavior of the insects are ensured to be on the same time axis, and the subsequent research is facilitated.

Fig. 4 is a heterogeneous data integration flow chart, and the behavior control and acquisition system of the insect robot needs to receive heterogeneous data from different devices and realize standardized data encapsulation for subsequent display and processing. Before data integration, data attribute extraction is carried out on metadata, data of different signals are classified according to the attributes and the characteristics, heterogeneous data from different devices are integrated into a metadata model in a uniform format, and then the metadata are mapped into corresponding XML documents to be stored. The system adopts a method based on heterogeneous data integration to improve the expandability of the platform and the reusability of data.

In the insect robot neurogenic experiment, the system can complete real-time to-the-forehead loop control on insects, perform electrical stimulation and simultaneously realize neural signal acquisition, behavior recording and the like, and after the system improves the problems existing in a platform by adopting a time synchronization and data isomerism method, the synchronism of insect behavior data and neural signal data is greatly improved, and the expandability of the platform and the reusability of the data are also improved.

Claims

1. An insect robot-oriented loop control neurogenic experimental system, comprising:

the backpack integrating stimulation and collection is loaded on the insect body to complete the electrical stimulation and neural signal collection of the insect robot;

the insect robot behavior recording platform is used for shooting and recording behavior actions of insects under an electric stimulation state and displaying the behavior actions at the PC end;

the insect robot experiment platform is used for sending an electrical stimulation control command to control the insect robot, simultaneously collecting the nerve signals of the insects in real time and displaying the nerve signals at the PC end, and integrally realizing an insect robot loop control experiment system;

the insect robot experiment platform adopts an IEEE1588 precision time synchronization algorithm to set master and slave clocks, calculates the deviation of the master and slave clocks according to the timestamp in the synchronization message and the line delay between the master and slave clocks, completes the synchronization of the master and slave clocks and realizes the precise synchronization of insect behaviors and nerve signals;

the insect robot experiment platform adopts an XML model, carries out data attribute extraction on the collected electrophysiological data and video data in the platform, classifies data of different signals according to the attributes and characteristics, and integrates the data into the model in a uniform format.

2. The insect robot-oriented loop control neurogenic experimental system of claim 1, wherein:

the backpack integrating stimulation and collection is an ultra-light backpack, and a flexible processing technology is adopted to integrate the nerve stimulation and collection chip, the miniature antenna and the battery, so that the load restraint and endurance requirements of an insect flight experiment are met;

the backpack carries out maximized combination and core circuit multiplexing on the functional module, and specifically comprises the following steps: the structure level combination of the filter circuit and the amplifying circuit of the analog amplifying part is used for saving current consumption; the analog-to-digital conversion part selects the optimal selection SAR ADC with ultra-low power consumption and low and medium speed analog-to-digital conversion to carry out analog-to-digital conversion; the radio frequency transmitting part modulates signals by adopting an on-off keying modulation mode, and is used for saving circuit bandwidth and reducing power consumption.

3. The insect robot-oriented loop control neurogenic experimental system of claim 1, wherein:

the insect robot experiment platform comprises:

the control window and the insect nerve signal display window are sent to an electric stimulation command of the insect robot by the PC end, and the window also comprises a frequency of the electric stimulation signal and a stimulation number selection and adjustment button;

the micro controller is mainly used for completing the conversion and transmission of stimulation instructions in the stimulation process, completing the demodulation of nerve signals in the nerve signal acquisition process, and transmitting the signals to the PC (personal computer) end for displaying the nerve signals;

the radio frequency wireless base station is mainly used as a signal transmission transfer station, transmits the stimulation instruction of the PC end to the backpack in a wireless mode, and sends the nerve signal acquired by the backpack to the microcontroller to form loop control of the insect robot;

the PC end sends left and right electroencephalogram stimulation instructions, the instructions are sent to the backpack through the microcontroller and the radio frequency wireless base station, and the backpack outputs corresponding square waves to complete stimulation on insects; when the electrical stimulation is carried out, the backpack collects, amplifies, AD samples and modulates insect nerve signals in a stimulation state, the insect nerve signals are sent to the microcontroller in a wireless mode to be demodulated, after the demodulation, nerve signal data are transmitted to the PC end, and the waveform display and data storage of the nerve signals are realized by the visual PC end.