Processing method and device, control method and device, VR glasses, equipment, medium

Abstract

The present disclosure provides a method for processing an EEG signal, comprising: receiving an initial EEG signal; determining an acquisition channel corresponding to the initial EEG signal according to an acquisition position of the initial EEG signal; performing modulation processing on the received initial EEG signal to obtain a target EEG signal having an orthogonal frequency division multiplexing OFDM symbol; fitting the target EEG signal with a carrier signal corresponding to the acquisition channel of the target EEG signal to obtain an uplink EEG signal; transmitting the uplink EEG signal, wherein carrier signals corresponding to different acquisition channels are orthogonal signals. The present disclosure also provides a signal processing device, a control method for an electronic device, a control method for VR glasses, a control device, a VR glasses, an electronic device, and a computer-readable storage medium.

Description

Technical Field

[0001] The present disclosure relates to the field of virtual reality (VR) technology, and in particular, to a method for processing electroencephalogram signals, a signal processing device, a method for controlling electronic equipment, a method for controlling VR glasses, a control device, VR glasses, an electronic equipment and a computer-readable storage medium. Background Art

[0002] Virtual reality technology is the ultimate application form of multimedia technology. It mainly relies on the development of many key technologies such as three-dimensional real-time graphics display, three-dimensional positioning tracking, tactile and olfactory sensing technology, artificial intelligence technology, parallel computing technology and human behavior research.

[0003] VR glasses are three-dimensional simulation display devices. When users put on VR glasses, they can have the sensory experience of being in a three-dimensional visual world.

[0004] The combination of virtual reality technology and brain-computer interface (BCI) has formed a new brain-computer interface technology based on virtual reality (i.e., BCI-VR). This technology mainly generates control signals for controlling electronic devices (e.g., drones) by collecting EEG signals formed by the user's brain thinking activities.

[0005] For example, when the electronic device is a drone, VR glasses can be used to collect brainwave signals and transmit them to the drone. After receiving the brainwave signals, the drone can convert them into control signals, collect images based on the control signals, and finally send the collected images to the VR glasses. VR glasses render images based on the images sent back by the drone, so that users wearing VR glasses can have the visual experience of the environment where the drone collects images.

[0006] For the above working mode, how to meet the requirements of high transmission rate, large capacity, anti-multipath, anti-interference, etc. during the transmission of uplink signals and downlink signals has become a technical problem that needs to be solved urgently in this field. Summary of the invention

[0007] The purpose of the present disclosure is to provide a method for processing electroencephalogram signals, a signal processing device, a method for controlling an electronic device, a method for controlling VR glasses, a control device, VR glasses, an electronic device and a computer-readable storage medium.

[0008] As a first aspect of the present disclosure, a method for processing an electroencephalogram signal is provided, comprising:

[0009] Receiving initial EEG signals;

[0010] Determining a collection channel corresponding to the initial EEG signal according to a collection position of the initial EEG signal;

[0011] Modulating the received initial EEG signal to obtain a target EEG signal with orthogonal frequency division multiplexing OFDM symbols;

[0012] Fitting the target EEG signal with a carrier signal corresponding to an acquisition channel of the target EEG signal to obtain an uplink EEG signal;

[0013] The uplink electroencephalogram signal is transmitted, wherein the carrier signals corresponding to different acquisition channels are orthogonal signals to each other.

[0014] Optionally, the modulating process of the received initial EEG signal to obtain a target EEG signal having an orthogonal frequency division multiplexing OFDM symbol includes:

[0015] Processing the signal within a predetermined time period of the initial EEG signal to obtain the OFDM symbol;

[0016] The signal after the predetermined time period in the initial EEG signal is processed to obtain a main target signal, wherein the target EEG signal includes the OFDM symbol and the main target signal.

[0017] Optionally, the processing of the signal after the predetermined time period in the initial EEG signal to obtain a subject target signal includes:

[0018] Performing filtering and noise reduction processing on the signal after the predetermined time period in the initial EEG signal to obtain a subject signal after filtering and noise reduction;

[0019] The filtered and denoised subject signal is processed to obtain the subject target signal.

[0020] As a second aspect of the present disclosure, a control method of an electronic device is provided, comprising:

[0021] Receiving an ascending electroencephalogram signal, wherein the ascending electroencephalogram signal is an ascending electroencephalogram signal obtained in the processing method provided in the first aspect of the present disclosure;

[0022] Align the OFDM symbols of each received uplink EEG signal;

[0023] Remove the OFDM symbols from each uplink EEG signal after OFDM symbol alignment;

[0024] Decoding the uplink EEG signal with the OFDM symbol removed to obtain a decoded signal;

[0025] A control signal is generated according to the decoded signal.

[0026] Optionally, the aligning OFDM symbols of each received uplink EEG signal includes:

[0027] The delay degree of the ascending EEG signal corresponding to each acquisition channel is determined by the autocorrelation detection algorithm;

[0028] The OFDM symbols of the uplink EEG signals whose delay exceeds a preset value are filled so that the OFDM symbols of each uplink EEG signal are aligned.

[0029] As a third aspect of the present disclosure, a method for controlling VR glasses is provided, comprising:

[0030] Receive image signals sent by the UAV aircraft;

[0031] Performing scene rendering on the received image signal to obtain a scene rendering result;

[0032] Displaying the scene rendering result;

[0033] In response to the received EEG signal, executing the EEG signal processing method described in the first aspect of the present disclosure to obtain the uplink EEG signal;

[0034] The uplink electroencephalogram signal is sent to the drone aircraft.

[0035] As a fourth aspect of the present disclosure, a signal processing device is provided, the signal processing device comprising:

[0036] A first storage module, wherein a first executable program is stored in the first storage module;

[0037] One or more first processors, when the one or more first processors call the first executable program, can implement the processing method provided by the first aspect of the present disclosure.

[0038] As a fifth aspect of the present disclosure, a control device is provided, the control device comprising:

[0039] a second storage module, wherein a second executable program is stored in the second storage module;

[0040] One or more second processors, when the one or more second processors call the second executable program, can implement the control method provided by the second aspect of the present disclosure.

[0041] As a sixth aspect of the present disclosure, a VR glasses is provided, wherein the VR glasses include the signal processing device provided in the fourth aspect of the present disclosure.

[0042] Optionally, the VR glasses further include:

[0043] A rendering module, wherein the rendering module is used to perform scene rendering on the received image signal to obtain a scene rendering result;

[0044] A display module, the display module is used to display according to the scene rendering result;

[0045] A communication module is used to receive image signals sent by the unmanned aerial vehicle and to send the uplink electroencephalogram signals.

[0046] Optionally, the VR glasses further include a plurality of EEG signal acquisition electrodes, and the EEG signal acquisition electrodes are electrically connected to the signal processing device to send the acquired initial EEG signals to the signal processing device.

[0047] As a seventh aspect of the present disclosure, an electronic device is provided, wherein the electronic device includes the control device provided in the fifth aspect of the present disclosure.

[0048] As an eighth aspect of the present disclosure, a computer-readable storage medium is provided, on which a first executable program and / or a second executable program and / or a third executable program are stored, wherein:

[0049] When the first executable program is called, the processing method provided by the first aspect of the present disclosure can be implemented;

[0050] When the second executable program is called, the control method provided by the second aspect of the present disclosure can be implemented;

[0051] When the third executable program is called, the control method provided by the third aspect of the true disclosure can be implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0053] Figure 1 It is a flowchart of an implementation method of the EEG signal processing method provided by the present disclosure;

[0054] Figure 2 It is a schematic diagram of the distribution of electrodes for collecting EEG signals;

[0055] Figure 3is a flowchart of an optional implementation of step S130;

[0056] Figure 4 is a flowchart of an optional implementation of step S132;

[0057] Figure 5 is a flow chart of an implementation of a method for controlling an electronic device provided by the present disclosure;

[0058] Figure 6 is a flowchart of an implementation of step S220;

[0059] Figure 7 It is a flow chart of an implementation method of the control method of VR glasses provided by the present disclosure;

[0060] Figure 8 It is a framework diagram of the system provided by the present disclosure including VR glasses and unmanned aerial vehicle. DETAILED DESCRIPTION

[0061] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0062] As one aspect of the present disclosure, a method for processing an electroencephalogram signal is provided. Figure 1 As shown, the processing method includes:

[0063] In step S110, an initial EEG signal is received;

[0064] In step S120, the acquisition channel corresponding to the initial EEG signal is determined according to the acquisition position of the initial EEG signal;

[0065] In step S130, the received initial EEG signal is modulated to obtain a target EEG signal with an Orthogonal Frequency Division Multiplexing (OFDM) symbol;

[0066] In step S140, the target EEG signal is fitted with a carrier signal corresponding to an acquisition channel of the target EEG signal to obtain an uplink EEG signal;

[0067] In step S150, the uplink electroencephalogram signal is transmitted, wherein the carrier signals corresponding to different acquisition channels are orthogonal signals to each other.

[0068] Among them, the initial EEG signals collected at different locations correspond to different collection channels.

[0069] The processing method can be executed by a processor of the VR glasses.

[0070] In the present disclosure, the user's initial EEG signal can be collected by the EEG signal electrode. Specifically, Figure 2 As shown, multiple EEG signal electrodes (respectively EEG signal electrode A1, EEG signal electrode A2, EEG signal electrode FP1, EEG signal electrode FP2, EEG signal electrode F7, EEG signal electrode F3, EEG signal electrode Fz, EEG signal electrode F4, EEG signal electrode F8, EEG signal electrode FT7, EEG signal electrode FC3, EEG signal electrode FCz, EEG signal electrode FT8, EEG signal electrode C3, EEG signal electrode Cz, EEG signal electrode C4, EEG signal electrode T4, EEG signal electrode TP7, EEG signal electrode CP3, EEG signal electrode CPz, EEG signal electrode CP4, EEG signal electrode TP8, EEG signal electrode T5, EEG signal electrode P3, EEG signal electrode Pz, EEG signal electrode P4, EEG signal electrode T6, EEG signal electrode O1, EEG signal electrode Oz, and EEG signal electrode O2) can be set at different positions on the user's head to collect EEG signals from various areas of the user's brain. The initial EEG signals collected and generated by the respective EEG signal electrodes carry respective identification information, and the identification information is used to characterize the positions of the EEG signal electrodes that collect the initial EEG signals.

[0071] As an optional implementation, the signals collected by the EEG signal electrode O1, the EEG signal electrode Oz, the EEG signal electrode O2, and the EEG signal electrode Pz can be selected as the initial EEG signals. The four initial EEG signals are processed by the processing method provided by the present disclosure, and finally four uplink EEG signals can be formed, and these four EEG signals are mutually orthogonal signals.

[0072] In the processing method provided in the present disclosure, after the initial EEG signal is processed to obtain the target EEG signal, the carrier signal can be fitted with the target EEG signal, thereby facilitating the receiving end to extract the frequency domain characteristics of the EEG signal and perform instruction analysis based on it, thereby accurately operating the receiving end through the user's EEG signal and improving the user experience.

[0073] In addition, in the present disclosure, the initial EEG signal is processed to obtain a target EEG signal with orthogonal frequency division multiplexing OFDM symbols. OFDM symbols are prefixes of signal cycles, that is, in the processing method provided by the present disclosure, when transmitting an uplink EEG signal with OFDM symbols, a multi-channel-based OFDM technology is used to transmit the uplink EEG signal.

[0074] The carrier signals corresponding to different acquisition channels are orthogonal signals to each other. Therefore, during the transmission of multiple uplink EEG signals, there will be no interference between the target EEG signals carried by different carrier signals.

[0075] For most people, when they look at an image or object, their attention is always not focused enough in the initial period (e.g., within the first 1 second). Therefore, the strength of the EEG signal collected in the initial period is also lower than the strength of the EEG signal collected later. In order to enable the receiving end to obtain a sufficiently strong uplink signal, as an optional implementation, Figure 3 As shown, the step S130 of performing modulation processing on the received initial EEG signal to obtain a target EEG signal having an orthogonal frequency division multiplexing OFDM symbol may include:

[0076] In step S131, the signal within a predetermined time period of the initial EEG signal is processed to obtain the OFDM symbol;

[0077] In step S132, the signal after the predetermined time period in the initial EEG signal is processed to obtain a main target signal, wherein the target EEG signal includes the OFDM symbol and the main target signal.

[0078] In the uplink EEG signal, the subject target signal carries control information with sufficient intensity.

[0079] In order to further improve the quality of the uplink signal, Figure 4 As shown, the step S132 of processing the signal after the predetermined time period in the initial EEG signal to obtain the subject target signal may include:

[0080] In step S132a, filtering and denoising the signal after the predetermined time period in the initial EEG signal is processed to obtain a filtered and denoised subject signal;

[0081] In step S132b, the filtered and denoised subject signal is processed to obtain the subject target signal.

[0082] In step S140, the subject target signal and the carrier signal may be linearly fitted by using a canonical correlation analysis (CCA) method, and the calculation formula is shown in the following formula (1):

[0083]

[0084] Among them, x represents the EEG signal;

[0085] y represents the carrier signal;

[0086] ρ(x, y) represents the correlation coefficient between the EEG signal and the carrier signal.

[0087] The EEG signal data when the correlation coefficient ρ between the EEG signal x and the carrier signal y is the largest can be calculated by the above formula (1). The motor imagery signal and the Steady State Visual Evoked Potential (SSVEP) signal fitted with the carrier signal both have obvious amplitude-frequency characteristics, that is, they have obvious peaks at a certain frequency. After the receiving end performs a fast Fourier transform (FFT) on the received signal, the energy peak value in the signal can be obtained, and then the operation instructions carried in the signal are judged by a predetermined algorithm, and finally the corresponding control signal is generated.

[0088] As a second aspect of the present disclosure, a control method of an electronic device is provided, such as Figure 5 As shown, the control method includes:

[0089] In step S210, an ascending electroencephalogram signal is received, where the ascending electroencephalogram signal is the ascending electroencephalogram signal obtained in the processing method provided in the first aspect of the present disclosure;

[0090] In step S220, the OFDM symbols of each received uplink EEG signal are aligned;

[0091] In step S230, the OFDM symbols in each uplink EEG signal after OFDM symbol alignment are removed;

[0092] In step S240, the uplink EEG signal with the OFDM symbol removed is decoded to obtain a decoded signal;

[0093] In step S250, a control signal is generated according to the decoded signal.

[0094] The control method provided by the present disclosure is executed by an electronic device used as a receiving end. As an optional implementation, the electronic device may be a drone aircraft.

[0095] In the present disclosure, after receiving the uplink EEG signal sent by the transmitter (for example, VR glasses), when decoding each uplink EEG signal, it is necessary to ensure that the orthogonal relationship between the multiple uplink EEG signals is still maintained. Since time delays will be generated in the process of wireless signal transmission, in order to ensure that each signal during decoding is an orthogonal signal, it is necessary to align the OFDM symbols of each received uplink EEG signal to eliminate the impact caused by the transmission delay. After aligning the OFDM symbols of each received uplink EEG signal, according to the signal structure of the OFDM symbol, the OFDM symbol is discarded, and the information corresponding to the main target signal can be obtained. After decoding the information corresponding to the main target signal, EEG information can be obtained, and finally, a control signal for controlling the electronic device can be generated based on the EEG information obtained by decoding.

[0096] Since the transmitting end fits the target EEG signals corresponding to different acquisition channels with different carrier signals, there is no interference between the uplink EEG signals corresponding to different carrier signals, and the uplink EEG signals received by the receiving end are more accurate (that is, closer to the target EEG signals obtained by the transmitting end). The control signal generated according to the uplink EEG signal can also more accurately reflect the user's actual operation intention, and ultimately can accurately control the electronic equipment at the receiving end to correctly execute the user's operation requirements, thereby improving the user experience.

[0097] In the present disclosure, there is no special limitation on how to perform step S240. As described above, the uplink EEG signal with OFDM symbols removed can be decoded by fast Fourier transform.

[0098] In the present disclosure, there is no particular limitation on how to align the OFDM symbols of each received uplink EEG signal. Figure 6 As shown, step S220 may include:

[0099] In step S221, the delay degree of the uplink EEG signal corresponding to each acquisition channel is determined by an autocorrelation detection algorithm;

[0100] In step S222, the OFDM symbols of the uplink EEG signals whose delay exceeds a preset value are filled so that the OFDM symbols of the uplink EEG signals are aligned.

[0101] As an optional implementation, step S221 is described in detail below.

[0102] In the present disclosure, an OFDM symbol can be expressed by the following formula (2):

[0103]

[0104] Among them, s(n) is the total amount of ascending EEG signals in a period of time;

[0105] N represents the number of channels for sending uplink EEG signals, and N is a positive integer;

[0106] S k represents the modulation signal to be transmitted in the kth channel, k is a natural number, and 0≤k≤N-1;

[0107] j represents the imaginary part of the signal.

[0108] As an optional implementation, N is 4, and k is selected from 0, 1, 2, and 3.

[0109] The steps of performing normalized delayed autocorrelation detection on each OFDM symbol include:

[0110] After delaying the signal to be detected by D sampling points, take its conjugate value S k * (n+D);

[0111] Multiply the above conjugate value with the corresponding original signal;

[0112] The delay product sum C(n) is obtained by accumulating the results using a sliding window of length W. The delay product sum is expressed by formula (3):

[0113]

[0114] The signal energy value P(n) in the sliding window is calculated according to formula (4):

[0115]

[0116] According to formula (5), the normalized delayed autocorrelation detection value M(n) represents the delay degree of the uplink EEG signal:

[0117]

[0118] There will also be multipath effects in the transmission process of multiple mutually orthogonal signals. The so-called multipath effect refers to the fact that after electromagnetic waves propagate through different paths, each component field arrives at the receiving end at different times, and the interference is caused by the superposition of each phase, which distorts the original signal or generates errors. In the control method provided by the present disclosure, after receiving the uplink EEG signals corresponding to each acquisition channel, the length of the delay window corresponding to each acquisition channel is adjusted according to the normalized delay detection value of the received uplink EEG signals, and the final signal detection time is determined, which can largely eliminate the signal interference caused by the multipath effect, ensure frame synchronization and simultaneous decoding of multi-channel carrier signals, and accurately extract the relevant features of the EEG signals.

[0119] As a third aspect of the present disclosure, a method for controlling VR glasses is provided, such as Figure 7 As shown, the control method includes:

[0120] In step S310, an image signal sent by the UAV aircraft is received;

[0121] In step S320, scene rendering is performed on the received image signal to obtain a scene rendering result;

[0122] In step S330, the scene rendering result is displayed;

[0123] In step S340, in response to the received EEG signal, the EEG signal processing method provided in the first aspect of the present disclosure is executed to obtain the uplink EEG signal;

[0124] In step S350, the uplink EEG signal is sent to the drone aircraft.

[0125] By executing the control method of the VR glasses provided in the present invention, users can not only see the images taken by the drone aircraft from the perspective of the drone aircraft, but also control the flight of the drone through motion imagination (including controlling the position of the aircraft, controlling the ascent of the aircraft, and controlling the descent of the aircraft), etc.

[0126] Moreover, by processing EEG signals through the processing method provided by the present invention, interference between different types of EEG signals during transmission can be avoided to the greatest extent, ensuring that the UAV aircraft can parse out control signals that can reflect the user's real image, and ultimately complete the flight according to the user's imagination, thereby improving the user experience.

[0127] As described above, EEG signals can be collected by EEG signal collection electrodes. When users generate different movement imaginations, different EEG signals can be generated. For example, the EEG signals of imagining the drone aircraft rising, the EEG signals of imagining the drone aircraft descending, the EEG signals of imagining the drone rotating to the left (the user can imagine his or her left hand), and the EEG signals of imagining the drone rotating to the right (the user can imagine his or her right hand) are different from each other. By decoding the uplink EEG signals, the drone aircraft can determine the operation instructions corresponding to the EEG signals and realize the control of the drone flight.

[0128] It should be pointed out that, although the control method is described in the above text in the order of step S310 to step S350, steps S310 to step S330 are performed in sequence, and step S340 and step S350 are performed in sequence, but step S340 may occur before step S310, or may be performed synchronously with any one of step S310, step S320 and step S330, or may be performed between any two of step S310, step S320 and step S330. As long as step S340 is performed before step S350, it will be fine.

[0129] In order to ensure the safety of the UAV aircraft, optionally, the control method further includes:

[0130] In response to the drone abnormality signal sent by the drone aircraft, a warning message is displayed.

[0131] Here, the drone abnormal signal may be a signal that the drone has malfunctioned, or a signal that the drone is low on battery.

[0132] Here, the warning information may include displaying a flashing warning icon on the screen. By flashing the warning icon, the user may be prompted to generate an SSVEP signal and ultimately control the drone to perform operations such as returning or landing.

[0133] As a fourth aspect of the present disclosure, a signal processing device is provided, the signal processing device comprising:

[0134] A first storage module, wherein a first executable program is stored in the first storage module;

[0135] One or more first processors, when the one or more first processors call the first executable program, can implement the processing method provided by the first aspect of the present disclosure.

[0136] As a fifth aspect of the present disclosure, a control device is provided, the control device comprising:

[0137] a second storage module, wherein a second executable program is stored in the second storage module;

[0138] One or more second processors, when the one or more second processors call the second executable program, can implement the control method provided by the second aspect of the present disclosure.

[0139] As a sixth aspect of the present disclosure, a VR glasses is provided, wherein the VR glasses include the signal processing device provided in the fourth aspect of the present disclosure.

[0140] Furthermore, the VR glasses may also include:

[0141] A rendering module, wherein the rendering module is used to perform scene rendering on the received image signal to obtain a scene rendering result;

[0142] A display module, the display module is used to display according to the scene rendering result;

[0143] A communication module is used to receive image signals sent by the unmanned aerial vehicle and to send the uplink electroencephalogram signals.

[0144] Optionally, the VR glasses further include a plurality of EEG signal acquisition electrodes, and the EEG signal acquisition electrodes are electrically connected to the signal processing device to send the acquired initial EEG signals to the signal processing device.

[0145] As a seventh aspect of the present disclosure, an electronic device is provided, wherein the electronic device includes the control device provided in the fifth aspect of the present disclosure.

[0146] As an optional implementation, the electronic device may be a drone aircraft.

[0147] As an eighth aspect of the present disclosure, a computer-readable storage medium is provided, on which at least one of a first executable program, a second executable program, and a third executable program is stored, wherein:

[0148] When the first executable program is called, the first processing method provided by the present disclosure can be implemented;

[0149] When the second executable program is called, the control method provided by the second aspect of the present disclosure can be implemented;

[0150] When the third executable program is called, the control method provided in the third aspect of the present disclosure can be implemented.

[0151] The present disclosure also provides a VR system, such as Figure 8 As shown, the VR system includes VR flight glasses and a drone aircraft.

[0152] The VR flight glasses include a VR main control device, which can perform steps such as rendering scenes and processing EEG signals.

[0153] The VR flight glasses also include a signal amplification module, which can amplify the EEG signal processed by the main control device according to the processing method provided by the first aspect of the present disclosure to obtain an uplink EEG signal, and then provide the uplink EEG signal to the FPGA for signal transmission.

[0154] The UAV aircraft includes a camera sensor, a UAV main control device, an FFT module, a parallel / serial conversion module, and a signal receiving module.

[0155] The signal receiving module can execute steps S210 to S230 in the control method provided in the second aspect of the present disclosure on the received uplink EEG signal.

[0156] The parallel / serial conversion module can convert the parallel signal after taking out the OFDM symbol into a serial signal.

[0157] The FFT module can decode the serial signal.

[0158] The UAV main control device can analyze the decoded signal to obtain a control signal, and transmit the control signal to the propeller electrode drive module to drive the UAV to fly according to the control signal.

[0159] The camera sensor can send the collected image signals and the current posture signals of the UAV aircraft to the VR glasses for the VR main control device of the VR glasses to render and display the scene.

[0160] As an optional implementation, the system may further include an EEG signal acquisition module, which includes a plurality of EEG signal acquisition electrodes. The names and locations of the EEG signal acquisition electrodes may be set in accordance with national standards.

[0161] In the system, the UAV aircraft can be controlled by collecting the EEG signals generated by the user's motor imagination, thereby improving the user experience.

[0162] When the UAV aircraft malfunctions or is low on power, an alarm message can be sent to the VR glasses. At this time, the VR glasses can play a warning icon to remind the user and encourage the user to generate a control signal to control the landing of the UAV aircraft, so as to realize the operation of controlling the landing of the UAV.

[0163] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0164] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for limiting purposes. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly noted, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, those skilled in the art will appreciate that various changes in form and detail may be made without departing from the scope of the present disclosure as set forth in the appended claims.

[0165] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present disclosure, but the present disclosure is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and substance of the present disclosure, and these modifications and improvements are also considered to be within the scope of protection of the present disclosure.

Claims

1. A method for processing an electroencephalogram signal, comprising: Receiving initial EEG signals; Determining a collection channel corresponding to the initial EEG signal according to a collection position of the initial EEG signal; Modulating the received initial EEG signal to obtain a target EEG signal with orthogonal frequency division multiplexing OFDM symbols; Fitting the target EEG signal with a carrier signal corresponding to an acquisition channel of the target EEG signal to obtain an uplink EEG signal; The uplink electroencephalogram signal is transmitted, wherein the carrier signals corresponding to different acquisition channels are orthogonal signals to each other.

2. The processing method according to claim 1, wherein: The modulating process of the received initial EEG signal to obtain a target EEG signal with orthogonal frequency division multiplexing OFDM symbols includes: Processing the signal within a predetermined time period of the initial EEG signal to obtain the OFDM symbol; The signal after the predetermined time period in the initial EEG signal is processed to obtain a main target signal, wherein the target EEG signal includes the OFDM symbol and the main target signal.

3. The processing method according to claim 2, wherein: The processing of the signal after the predetermined time period in the initial EEG signal to obtain the subject target signal includes: Performing filtering and noise reduction processing on the signal after the predetermined time period in the initial EEG signal to obtain a subject signal after filtering and noise reduction; The filtered and denoised subject signal is processed to obtain the subject target signal.

4. A method for controlling an electronic device, comprising: Receiving an ascending electroencephalogram signal, wherein the ascending electroencephalogram signal is an ascending electroencephalogram signal obtained in the processing method according to any one of claims 1 to 3; Align the OFDM symbols of each received uplink EEG signal; Remove the OFDM symbols from each uplink EEG signal after OFDM symbol alignment; Decoding the uplink EEG signal with the OFDM symbol removed to obtain a decoded signal; A control signal is generated according to the decoded signal.

5. The control method according to claim 4, wherein: The aligning of OFDM symbols of each received uplink EEG signal includes: The delay degree of the ascending EEG signal corresponding to each acquisition channel is determined by the autocorrelation detection algorithm; The OFDM symbols of the uplink EEG signals whose delay exceeds a preset value are filled so that the OFDM symbols of each uplink EEG signal are aligned.

6. A method for controlling VR glasses, comprising: Receive image signals sent by the UAV aircraft; Performing scene rendering on the received image signal to obtain a scene rendering result; Displaying the scene rendering result; In response to the received EEG signal, executing the EEG signal processing method according to any one of claims 1 to 3 to obtain the uplink EEG signal; The uplink electroencephalogram signal is sent to the drone aircraft.

7. The control method according to claim 6, wherein: The control method further comprises: In response to the drone abnormality signal sent by the drone aircraft, a warning message is displayed.

8. A signal processing device, comprising: A first storage module, wherein a first executable program is stored in the first storage module; One or more first processors, when the one or more first processors call the first executable program, can implement the processing method described in any one of claims 1 to 3.

9. A control device, comprising: a second storage module, wherein a second executable program is stored in the second storage module; One or more second processors, when the one or more second processors call the second executable program, can implement the control method described in claim 4 or 5.

10. A VR glasses, comprising: The signal processing device as claimed in claim 8.

11. The VR glasses according to claim 10, wherein: The VR glasses also include: A rendering module, wherein the rendering module is used to perform scene rendering on the received image signal to obtain a scene rendering result; A display module, the display module is used to display according to the scene rendering result; A communication module is used to receive image signals sent by the unmanned aerial vehicle and to send the uplink electroencephalogram signals.

12. The VR glasses according to claim 10 or 11, wherein: The VR glasses also include a plurality of EEG signal collection electrodes, which are electrically connected to the signal processing device to send the collected initial EEG signals to the signal processing device.

13. An electronic device comprising the control device according to claim 9.

14. A computer-readable storage medium having stored thereon at least one of a first executable program, a second executable program, and a third executable program, wherein: When the first executable program is called, it can implement the processing method described in any one of claims 1 to 3; When the second executable program is called, the control method according to claim 4 or 5 can be implemented; When the third executable program is called, the control method described in claim 6 or 7 can be implemented.

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