Vague discrete event shared control method of brain-controlled robotic system

Abstract

The invention belongs to the field of a brain machine connector and provides a vague discrete event shared control method of a brain-controlled robotic system. The vague discrete event shared control method of the brain-controlled robotic system utilizes a method of combing a human brain control command and robot autonomous control based on the vague discrete event system to distinguish a motor imagery brain electroencephalogram online and take the motor imagery brain electroencephalogram as a control command with the highest priority degree to control a robot to advance, turn left and turn right. When no brain control command exists, the autonomous control module which is based on the vague discrete event system is operated to blur autonomous control states of obstacle avoidance and traveling close to a wall of the robot and forms the vague discrete event system aiming at the size of a barrier in a route, the length of distance and the like. The vague discrete event shared control method of the brain controlled robotic system makes up the problems that information transmission speed of the brain machine connector is low, distinguish error rate is high, control is delayed and the like through the shared control method and strengthens the adaptive capacity of the robot in a complex environment.

Description

technical field [0001] The invention belongs to the field of brain-computer interface, and relates to a robot shared control method combining EEG control and automatic control technology, in particular to a control method for fuzzy processing of discrete events that drive the state evolution of the brain-computer interface system method. Background technique [0002] Brain-Computer Interface (BCI) is a direct information exchange and control channel established between the human brain and computers or other electronic devices that does not depend on conventional brain output channels (peripheral nerves and muscle tissue). The original intention of BCI research is to provide a way to interact with the outside world for those who have lost some or all of their voluntary muscle control due to disease. However, with the development and maturity of BCI technology, the application of BCI has gradually become more widespread. Brain-controlled robots are One of the research hotspot...

AI Technical Summary

Problems solved by technology

Although the above methods have improved the recognition accuracy to a certain extent, for a robot system with continuous dynamic characteristics, it is difficult to guarantee the real-time performance of its control signals, and the size and mechanical characteristics of the robot are different, and the environment in which it lives They are also different, and even in the same environment, the environment where the sensor can detect the robot is different at all times, which causes the problem that the control command directly controls the robot to achieve the expected control effect.

The Swiss Millan team combined brain control commands with automatic control technology for the first time, using the shared control method to share and interact the control rights of the robot between direct brain control and local autonomous control, and to correct the deviation of the robot system's trajectory. The method proves that However, the current control methods have not done in-depth research and analysis on the time lag and self-adaptability of the system, and there are still problems such as low information transmission rate and time delay.

Therefore, it is necessary to establish an auxiliary shared control method between the human brain and the robot to compensate for the impact of low information transmission rate and system delay.

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