Ground crawler-type unmanned vehicle control method based on arm myoelectric signal

A technology of myoelectric signal and control method, which is applied in the field of ground crawler unmanned vehicle control based on arm myoelectric signal, can solve the problems of being susceptible to external environment interference, equipment complexity, lack of flexibility, etc.

Inactive Publication Date: 2019-05-17
JILIN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the problems of lack of flexibility, equipment complexity, and susceptibility to

Method used

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  • Ground crawler-type unmanned vehicle control method based on arm myoelectric signal
  • Ground crawler-type unmanned vehicle control method based on arm myoelectric signal
  • Ground crawler-type unmanned vehicle control method based on arm myoelectric signal

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Embodiment 1

[0191] The specific implementation process is as follows:

[0192] Firstly, the user wears the myoelectric sensor 1 and the reference electrode 2 correctly, and turns on two first signal processing devices 3-1 and second signal processing devices 3-2 with the same structure. If you want to issue an instruction to move forward, the user needs to make a fist gesture. At this time, the myoelectric sensor 1 and the reference electrode 2 will collect the user's personal myoelectric signal, and the first signal processing device 3-1 will process the collected myoelectric signal. Denoising processing, extracting five types of eigenvalues ​​of the EMG signal, which are the mean absolute value (MAV), standard deviation (SD), root mean square (RMS) in the time domain, mean power frequency (MPF) in the frequency domain, and Median frequency (MF), and then classify the classifier model established by offline data according to the five types of eigenvalues. After classification, it is judg...

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Abstract

The invention discloses a ground crawler-type unmanned vehicle control method based on an arm myoelectric signal, which overcomes the problems of lack of flexibility, equipment complexity and vulnerable to external environmental interferences existing in the prior art. The method comprises the following steps: step 1), correctly wearing an electromyography sensor and performing initialization setting: (1), enabling a user to wear the electromyography sensor in the middle position of the hand and the elbow, so that an electrode is tightly attached to the skin, thus a reference electrode can beattached to the ulnar flexor of wrist, thereby ensuring that the myoelectric signal can be collected; (2), performing an initialization operation, and firstly, initializing the electromyography sensorand a crawler-type unmanned vehicle, thereby testing whether the reliable wireless communication connection is established or not through a signal processing device and the crawler-type unmanned vehicle in a certain area; step 2), collecting the myoelectric signal and identifying different gestures and transmitting the gestures to the crawler-type unmanned vehicle; step 3), parsing a command by the crawler-type unmanned vehicle and executing an action of the command; and step 4), wirelessly transmitting contents shot by a video camera, transmitting the contents back to the signal processing device, and displaying the contents in a computer.

Description

technical field [0001] The invention relates to a control method of a tracked unmanned vehicle, more precisely, the invention relates to a control method of a ground tracked unmanned vehicle based on arm myoelectric signals. Background technique [0002] With the continuous development and innovation of science and technology, human-computer interface technology based on human bioelectrical signals is one of the research hotspots in the fields of human-computer interaction and robot control. In addition, with the great achievements in the field of artificial intelligence, artificial intelligence has been widely used in all walks of life, especially the rapid development of military ground tracked unmanned vehicles, which has brought great convenience to the development of battlefield informatization . [0003] However, the existing technology generally controls the entire system through a computer to realize functions such as route planning, obstacle avoidance, and automati...

Claims

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Application Information

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IPC IPC(8): G05B19/042
Inventor 陈万忠严光君
Owner JILIN UNIV
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