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Multi-modal neuro-decoding control system and method for on-orbit operation of space manipulator

A space robotic arm and neural decoding technology, applied in the field of multi-modal neural decoding control system, can solve the problems of single biological information and few tasks, achieve good human-computer interaction effect, improve stability and reliability, and reduce errors. The effect of the possibility of operation

Active Publication Date: 2021-03-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, the biological information involved is relatively simple, and the tasks to be achieved are few

Method used

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  • Multi-modal neuro-decoding control system and method for on-orbit operation of space manipulator
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  • Multi-modal neuro-decoding control system and method for on-orbit operation of space manipulator

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Embodiment Construction

[0040] Below, the present invention will be described in further detail in conjunction with the accompanying drawings.

[0041] The invention applies the brain-eye tracking technology to the attitude stabilization control of the space manipulator in the weightless environment. Brain-eye movement control, as a new type of control method, gets rid of the requirements for body movements, breaks through the limitations of relying on astronauts to operate mouse keyboards, joysticks and other traditional manual controls, and eliminates the physical inconvenience caused by the weightlessness of space. Or the input obstacles encountered when interacting with the space manipulator due to reasons such as limited environment, realize two-way multi-mode human-computer interaction, complete the capture of failed satellites by the space manipulator in space, or complete the equipment operation of the space station, and enhance our country’s ability in space. advantages in the field.

[004...

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Abstract

The invention discloses a multi-modal neuro-decoding control system and method for on-orbit operation of a space manipulator. The method comprises the following steps of collecting electroencephalogram signals and electro-oculogram signals by using an EmotivEpoc+ electroencephalograph and collecting voice signals by means of a microphone of a computer; carrying out fusion decoding, by a mode recognition module, on four types of electroencephalogram signals and four types of electro-oculogram signals to recognize conscious blinking signals; and transferring, by a control module, a fusion decoding result of the electroencephalogram signals and the voice signals as well as the conscious blinking signals to a constructed unity environment by UDP network communications and converting the fusiondecoding result into a control signal, and controlling the space manipulator in a virtual environment to move and grab a target article. Aiming at a condition of weightless of an astronaut in outer space, a task of moving a pointed target is accomplished by adopting the method of controlling the space manipulator to move in the virtual environment by means of biological information, so that a better human-machine interaction effect is achieved.

Description

technical field [0001] The invention relates to human-computer interaction intelligent control technology, in particular to a multi-modal neural decoding control system and method for on-orbit operation of a space manipulator. Background technique [0002] As a space station, a space station is a giant satellite placed in space and fixed in orbit for a long time to carry out various space activities and form a multi-purpose space center. In actual operation, the space station can dock with multiple spacecraft at the same time to form a large orbital complex. The various advantages of the space station are not only used in scientific experiments, but also in the military field. It has unique military application functions. The space robot arm plays a huge role in the normal operation of the space station. [0003] Early space manipulators were controlled through keyboards, buttons, and teaching boxes, and the operations were complex and could only complete simple tasks. In ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1697B25J9/1664
Inventor 曲思霖王从庆展文豪李建亮
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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