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Mobile robot brain-computer cooperative control method and system based on Petri network

A mobile robot and robot system technology, applied in the field of brain-computer collaborative control of mobile robots, to achieve the effect of improving adaptability and safety, and reducing the burden of thinking

Pending Publication Date: 2020-04-03
HUAQIAO UNIVERSITY
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AI Technical Summary

Problems solved by technology

At present, there are few studies on the application of Petri nets to BCI. Fuchun SUN et al. control the manipulator by fusing fuzzy Petri nets, but only use the fuzzy rules of fuzzy Petri nets for the final decision, and do not use Petri nets to describe the entire system. The structure and dynamic characteristics of

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  • Mobile robot brain-computer cooperative control method and system based on Petri network
  • Mobile robot brain-computer cooperative control method and system based on Petri network
  • Mobile robot brain-computer cooperative control method and system based on Petri network

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Embodiment Construction

[0036] The present invention will be further described below through specific embodiments.

[0037] A method for brain-computer collaborative control of mobile robots based on Petri nets, comprising the following steps:

[0038] Step 1: Collect the original EEG signals in the brain-computer interface system, perform preprocessing, feature extraction, and two-level classification, and obtain at least three types of EEG recognition results: idle, left, and right, and control the mobile robot to go straight and turn left respectively. and turn right. Among them, the first-level classification of the two-level classification identifies idle and non-idle EEG signals, and the second-level classification identifies left and right directions from the non-idle EEG signals.

[0039] Step 2. Build a mobile robot system with at least the functions of going straight, turning left, turning right, avoiding obstacles left, avoiding obstacles right, automatic obstacle avoidance, and cycle con...

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Abstract

The invention provides a mobile robot brain-computer cooperative control method and a system based on a Petri network. A sharing control strategy is combined with internal and external information ofa brain-computer interface system, a Petri net model of a brain-controlled robot system is constructed, the cooperation and conflict problems of human intelligence and machine intelligence are solved,and brain-computer cooperative control of the mobile robot is achieved. In Petri net modeling of a brain-controlled robot system, a control library is added to describe external input of the system,and the Petri net modeling process is simplified through a Petri net synthesis method. According to the method, the model of the brain-controlled robot system is established through the Petri networkmethod, the structure and dynamic characteristics of the whole system are described, the method can be used for designing, verifying and executing a shared control strategy, and the applicability of the brain-controlled robot system in a complex environment is improved.

Description

technical field [0001] The invention relates to the field of brain-computer interface, in particular to a method and system for brain-computer collaborative control of a mobile robot based on Petri nets. Background technique [0002] Brain-Computer Interface (BCI) is a new way of human-computer interaction, which can directly control external devices through the brain without language and body movements. The brain-controlled robot system combines the BCI system with the robot system, and controls the robot in real time by collecting the user's EEG signal, which is an important research direction of BCI. Brain-controlled robot technology has important applications in the field of rehabilitation of the disabled, and can provide an effective auxiliary control method for those who have normal thinking ability but have serious problems in motor control. In addition, brain-controlled robot technology has great research significance in military, civilian and entertainment. [000...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221
Inventor 方慧娟尹亮罗继亮
Owner HUAQIAO UNIVERSITY
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