A photoelectric stimulation combined device for controlling the motion behavior of a carp robot

Abstract

The present invention discloses a photoelectric stimulation combined device for controlling the motion behavior of a carp robot, which belongs to the field of biological control and includes a fixed platform installed on the head of a carp, two light stimulation components symmetrically arranged on both sides of the fixed platform, and an electrical stimulation component arranged on the upper part of the fixed platform; the light stimulation component can automatically change light of different wavelengths for light stimulation underwater; the electrical stimulation component can implant a number of brain electrodes according to the position and number of brain nerve nuclei to be stimulated, and a collection electrode can also be installed on the electrical stimulation mounting board to collect brain electrical signals; the light stimulation component and the electrical stimulation component are used in combination to realize photoelectric stimulation alternating control or simultaneous control. The present invention solves the problem of the current lack of a carp robot motion behavior control device combined with photoelectric stimulation, solves the problem of remote automatic switching of light sources of different wavelengths at the same stimulation position, and solves the problem of the lack of auxiliary devices for collecting fish brain electricity.

Description

Technical Field

[0001] The invention relates to the field of biological control, in particular to a photoelectric stimulation combined device for controlling the movement behavior of a carp robot. Background Art

[0002] At present, conventional methods for controlling biological robots mostly use a single electrical stimulation method, and some use a single light stimulation method, but long-term multiple electrical stimulation or light stimulation can cause fatigue and adaptability in animals. The combination of light stimulation and electrical stimulation can help improve the fatigue and adaptability of animals caused by a single stimulation method, thereby achieving the purpose of long-term control of biological robots.

[0003] Chinese patent application (publication number CN107802370A) provides a method for controlling the behavior of a carp aquatic animal robot by combining photoelectric stimulation, which provides a method for controlling the behavior of a carp aquatic animal robot by combining photoelectric stimulation, in which a light stimulation device and an electrical stimulation device are simultaneously applied to the behavior control of the carp aquatic animal robot to avoid fatigue and adaptability of the carp to a single stimulation method.

[0004] A Chinese patent application (publication number CN207201733U) discloses a stereoscopic light stimulation device, which can realize light stimulation of animal eyes from multiple directions and angles, such as up, down, front, back, left and right, by a light stimulation source, and is particularly suitable for controlling the three-dimensional movement of aquatic animals in a dark environment.

[0005] Chinese patent application (publication number CN110710478A) discloses a light stimulation mounting device and method for motion control of carp robot, wherein the mounting device includes a mounting plate, a light shielding belt, a fin fixing belt, a jumper board, LED lights of different wavelengths and wires. Two rows of LED lights are used at the same time, the inner row of LED lights stimulate the carp eyes internally, and the outer row of LED lights serve as prompts externally. This device mainly solves the problem that light control experiments can only be performed under dim light or no light conditions.

[0006] A Chinese patent application (patent publication number CN112655602A) discloses a device and method for mounting a rotatable light source for light stimulation. The device includes a mounting plate, a concentric wire tube, a rotating assembly, an LED lamp, a female header, a pin header, a fastening screw, a screw and a wire. The device solves the problem of mounting a device for stimulating a carp robot using LED lights of different wavelengths. It can rotate the LED lamp of the required wavelength to the specified position, reduce the brain damage to the animal caused by replacing the device, and make light control experiments more convenient.

[0007] The paper (Xi tian Pi, Shuang shuang Li, Lin Xu, et al. "A Preliminary Study of the Noninvasive Remote Control System for Rat Bio-Robot." Journal of Bionic Engineering 04(2010):71-77.) proposed a motion control navigation system that can receive commands from a remote host and deliver specific electrical stimulation to the auditory, pain and visual senses of rats, respectively. It is particularly suitable for the joint control of rat robots.

[0008] Although there are control methods for combining photoelectric stimulation for carp in the existing technology, the existing devices are only single light stimulation or electrical stimulation, and lack devices that alternately perform light stimulation and electrical stimulation or both to stimulate the carp robot. At the same time, when analyzing the EEG signals of carp, it is necessary to replace the light source of different wavelengths at the same stimulation position while the carp is swimming freely, so as to analyze the changes in its EEG signals and realize the decoding of the EEG signals of carp under light stimulation of different wavelengths. The existing devices only solve the problem of brain damage to animals when replacing the light source, and cannot realize the function of automatically replacing the light source when the carp is swimming freely, so there is still room for further improvement and perfection in the existing technical means. Summary of the invention

[0009] The technical problem to be solved by the present invention is to provide a photoelectric stimulation combined device for controlling the motion behavior of a carp robot, which fills the current gap in the lack of a carp robot motion behavior control device combined with photoelectric stimulation, solves the problem that light sources of different wavelengths at the same stimulation position cannot be automatically switched remotely and automatically and the lack of auxiliary devices for collecting fish EEG. The present invention can be widely used in controlling the motion behavior of fish and collecting fish EEG signals.

[0010] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0011] A photoelectric stimulation combined device for controlling the motion behavior of a carp robot comprises a fixing platform mounted on the head of the carp, two photostimulation components symmetrically arranged on both sides of the fixing platform, and an electrical stimulation component arranged on the upper part of the fixing platform;

[0012] The light stimulation component can automatically change LED lights of different wavelengths for light stimulation underwater;

[0013] The electrical stimulation component can implant a number of brain electrodes according to the location and number of the motor nerve nuclei to be stimulated; the electrical stimulation component is also additionally provided with an unperforated electrical stimulation mounting plate, which can be perforated according to the location and number of different motor nerve nuclei; the electrical stimulation mounting plate can also be installed with collection electrodes to collect EEG signals;

[0014] The combination of the optical stimulation component and the electrical stimulation component can realize alternating control or simultaneous control of photoelectric stimulation.

[0015] A further improvement of the technical solution of the present invention is that: the fixed platform is provided with an electric stimulation carrying slot, 2 clips, 2 screw seats and 4 mounting holes; the fixed platform is a square hollow bracket structure, the upper end is a platform, and the bottom end is an arc structure; an electric stimulation carrying slot is provided in the center directly above the bracket, and 2 clips are symmetrically provided on both sides of the electric stimulation carrying slot, and the electric stimulation carrying plate is placed in the electric stimulation carrying slot between the two clips, and a screw seat for connecting and fixing the light stimulation component is provided on both sides of the bracket, and the mounting holes are located at the four corners of the bracket, which are used to install and fix the device on the head of the carp.

[0016] A further improvement of the technical solution of the present invention lies in that: the electrical stimulation component includes an electrical stimulation mounting plate and an electrode fixing hole; a plurality of electrode fixing holes are evenly distributed on the electrical stimulation mounting plate, and brain electrodes can be implanted into corresponding electrode fixing holes according to the position and number of different brain motor nerve nuclei; the electrical stimulation component is also additionally provided with an electrical stimulation mounting plate without holes, which can be punched by itself according to the position and number of different brain motor nerve nuclei.

[0017] A further improvement of the technical solution of the present invention is that: the light stimulation component includes a servo fixing seat, a servo, a waterproof cover, an LED lamp holder and four LED lamps installed on the LED lamp holder; the servo fixing seat is connected to the screw seat on the fixing platform with screws; the servo is fixed on the servo fixing seat; the waterproof cover is bonded to the servo body, the output shaft of the servo is connected to the LED lamp holder, the LED lamp holder is provided with a lamp holder wiring hole, and the LED lamp on the LED lamp holder can rotate with the rotation of the servo output shaft.

[0018] A further improvement of the technical solution of the present invention is that: in the light stimulation component, automatic switching of remote-controlled lights can also be realized; the waterproof cover is provided with a terminal post, a terminal hole and a waterproof ring; the terminal post is located above the carp eye, and the terminal post is connected to the positive pole of the console power supply; the LED lamp includes long terminals and short terminals that are insulated from each other; the short terminals of the four LED lamps are connected and connected to the negative pole of the console power supply; the long terminals can contact the terminals on the waterproof cover after installation; the LED lamp holder can rotate with the rotation of the servo shaft, so as to realize automatic replacement of light sources with different wavelengths and the same stimulation position underwater.

[0019] Due to the adoption of the above technical solution, the technical progress achieved by the present invention is:

[0020] The present invention provides a photoelectric stimulation combined device for controlling the movement behavior of a carp robot. The device is provided with an electrical stimulation component, and a plurality of brain electrodes can be implanted according to the position and number of brain motor nerve nuclei to be stimulated. The electrical stimulation component is also additionally provided with an unperforated electrical stimulation mounting board, which can be automatically perforated according to the position and number of different brain motor nerve nuclei; collection electrodes can also be installed on the electrical stimulation mounting board to collect brain electrical signals; the device is also provided with a light stimulation component, which can automatically change light of different wavelengths for light stimulation underwater; the combination of the two can realize the alternating use or simultaneous control of photoelectric stimulation, and if the collection electrodes are installed on the electrical stimulation mounting board and connected to the collection system, the collection of fish brain electrical signals can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0022] Figure 1 Schematic diagram of the overall structure of a photoelectric stimulation combined device for controlling the motion behavior of a carp robot in an embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of the structure of a fixed platform in an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of the structure of an electrical stimulation component in an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the structure of a light stimulation component in an embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of the waterproof cover structure in an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the internal structure of the light stimulation component in an embodiment of the present invention;

[0028] In the figure: 1. fixing platform, 1-1. electric stimulation mounting slot, 1-2. clamp, 1-3. screw seat, 1-4. mounting hole, 2. light stimulation component, 2-1. servo fixing seat, 2-2. servo, 2-3. waterproof cover, 2-3-1. terminal, 2-3-2. terminal hole, 2-3-3. waterproof ring, 2-4. LED lamp holder, 2-4-1. lamp holder wiring hole, 2-5. LED lamp, 2-5-1. long terminal, 2-5-2 short terminal, 3. electric stimulation component, 3-1. electric stimulation mounting plate, 3-2. electrode fixing hole. DETAILED DESCRIPTION

[0029] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0030] The embodiment of the present application solves the problems in the prior art of "lack of a carp robot motion behavior control device combining photoelectric stimulation, and solves the problem that light sources of different wavelengths at the same stimulation position cannot be automatically switched remotely and automatically, and lack of auxiliary devices for collecting fish EEG" by providing a photoelectric stimulation combination device for controlling the motion behavior of a carp robot. The general idea is: the electrical stimulation component and the light stimulation component are combined together through a fixed platform to form a photoelectric stimulation combination device, and the combination device is fixedly installed on the top of the carp's head through the fixed platform, so that alternating control or simultaneous control of photoelectric stimulation can be achieved. If collection electrodes are installed on the electrical stimulation mounting board and connected to the collection system, the collection of fish EEG signals can also be achieved.

[0031] The present invention is further described in detail below with reference to the accompanying drawings and embodiments:

[0032] like Figure 1-6 As shown, a photoelectric stimulation combined device for controlling the motion behavior of a carp robot comprises a fixing platform 1 mounted on the head of the carp, two photostimulation components 2 symmetrically arranged on both sides of the fixing platform 1, and an electrical stimulation component 3 arranged on the upper part of the fixing platform 1;

[0033] The light stimulation component 2 can automatically change LED lights of different wavelengths for light stimulation underwater;

[0034] The electrical stimulation component 3 can implant a number of brain electrodes according to the position and number of the motor nerve nuclei to be stimulated. The electrical stimulation component 3 is also additionally provided with an unperforated electrical stimulation mounting plate 3-1, which can be punched according to the position and number of different motor nerve nuclei. Collection electrodes can also be installed on the electrical stimulation mounting plate 3-1 to collect EEG signals. The implanted control brain electrodes and the collection electrodes for collecting EEG signals can be the same type. The carp can be controlled after the EEG signals are collected, or the EEG can be collected after the carp is controlled and it is confirmed that there is no problem with the implanted motor area.

[0035] The combination of the optical stimulation component 2 and the electrical stimulation component 3 can realize the photoelectric stimulation alternating control or simultaneous control. When in use, the electrode is connected to the electrical stimulation component 2, the LED light 2-5 is connected to the power supply, and the steering gear 2-2 is connected to the steering gear controller to control.

[0036] Further, such as Figure 2 As shown, the fixed platform 1 is provided with an electric stimulation carrying slot 1-1, two clamps 1-2, two screw seats 1-3 and four mounting holes 1-4; the fixed platform 1 is a square hollow bracket structure, the upper end is a platform, the bottom end is an arc structure, and the arc structure is designed to facilitate the fixed installation of the fixed platform 1 on the top of the carp's head; the electric stimulation carrying slot 1-1 is arranged at the center just above the bracket, and two clamps 1-2 are symmetrically arranged on both sides of the electric stimulation carrying slot 1-1, and the electric stimulation carrying plate 3-1 is placed in the electric stimulation carrying slot 1-1 between the two clamps 1-2, and a screw seat 1-3 for connecting and fixing the light stimulation component 2 is arranged on the left and right sides of the bracket, and the four mounting holes 1-4 are respectively located at the four corners of the bracket, which are used to install and fix the device on the top of the carp's head.

[0037] Further, such as Figure 3 As shown, the electrical stimulation component 3 includes an electrical stimulation mounting plate 3-1 and an electrode fixing hole 3-2; the electrical stimulation mounting plate 3-1 is evenly distributed with a plurality of electrode fixing holes 3-2, and the electrodes can be implanted into the corresponding electrode fixing holes 3-2 according to the position and number of different brain motor nerve nuclei. The component is also additionally provided with an electrical stimulation mounting plate 3-1 without holes, which can be punched according to the position and number of different brain motor nerve nuclei.

[0038] Further, such as Figure 4 , 5As shown, the light stimulation component 2 includes a servo fixing seat 2-1, a servo 2-2, a waterproof cover 2-3, an LED lamp holder 2-4 and four LED lamps 2-5; the servo fixing seat 2-1 is connected to the fixing platform screw seat 1-4 with screws, the servo 2-2 is fixed on the servo fixing seat 2-1, the waterproof cover 2-3 is bonded to the body of the servo 2-1, the output shaft of the servo 2-2 is connected to the LED lamp holder 2-4, and the LED lamp holder 2-4 is provided with a lamp holder wiring hole 2-4-1; the LED lamp 2-5 on the LED lamp holder 2-4 can rotate with the rotation of the servo output shaft, and the waterproof cover 2-3 is provided with a terminal 2-3-1, a wiring hole 2-3-2 and a waterproof ring 2-3-3.

[0039] Further, such as Figure 5 , 6 As shown, in the light stimulation component 2, automatic switching of the light can be realized by remote control, the terminal 2-3-1 arranged on the waterproof cover 2-3 is located above the carp's eye, and the terminal 2-3-1 is connected to the positive pole of the console power supply; the LED lamp 2-5 includes a long terminal 2-5-1 and a short terminal 2-5-2 which are insulated from each other; the short terminals 2-5-2 of the four LED lamps 2-5 are connected and connected to the negative pole of the console power supply; the long terminal 2-5-1 can contact the terminal 2-3-1 on the waterproof cover 3 after installation; the LED lamp holder 2-4 can rotate with the rotation of the servo shaft, so as to realize automatic replacement of light sources with different wavelengths and the same stimulation position underwater.

[0040] Directions:

[0041] Method 1: Use the photoelectric stimulation combined device provided by the present invention to conduct a photoelectric stimulation combined control experiment on a carp robot. The specific implementation steps are as follows:

[0042] Step 1, taking a healthy adult carp weighing 1.81 kg, and placing the carp in a 0.36 g / L eugenol solution for drug bath anesthesia;

[0043] Step 2, placing the anesthetized carp on a fixed table and fixing the photoelectric stimulation combined device on the carp's head; specifically, four holes corresponding to the positions of the four mounting holes 1-4 on the fixed table 1 are punched on the skull of the carp's head, the bottom arc of the fixed table 1 is placed on the top of the carp's head, and screws are inserted into the mounting holes 1-4 and the holes on the carp's skull to fix the photoelectric stimulation combined device on the carp's head; the brain electrodes are implanted into the brain motor nerve nuclei to be stimulated by means of a brain stereotaxic instrument;

[0044] Step 3, connecting the console to the photoelectric stimulation combined device through a wire, and transmitting electrical signals to the light stimulation component 2 and the electrical stimulation component 3;

[0045] Step 4, place the carp robot into the experimental pool, and after it wakes up, conduct experiments in a dark environment, alternately perform light stimulation and electrical stimulation or stimulate both at the same time to control the underwater movement of the carp robot, and record the electrical parameters and time parameters of the carp robot's response to stimulation.

[0046] Method 2: Using the photoelectric stimulation combined device provided by the present invention to conduct an EEG acquisition experiment on a carp robot. The specific implementation steps are as follows:

[0047] Step 1, taking a healthy adult carp weighing 1.83 kg, and placing the carp in a 0.36 g / L eugenol solution for drug bath anesthesia;

[0048] Step 2, placing the anesthetized carp on a fixed table and fixing the photoelectric stimulation combined device on the carp's head; specifically, four holes corresponding to the positions of the four mounting holes 1-4 on the fixed table 1 are punched on the skull of the carp's head, the bottom arc of the fixed table 1 is placed on the top of the carp's head, and screws are inserted into the mounting holes 1-4 and the holes on the carp's skull to fix the photoelectric stimulation combined device on the carp's head; the brain electrodes are implanted into the brain motor nerve nuclei to be collected by means of a brain stereotaxic instrument;

[0049] Step 3, connecting the EEG signal acquisition system to the photoelectric stimulation combination device through a wire, and transmitting an electrical signal to the photostimulation component 2;

[0050] Step 4, place the carp robot into the experimental pool, and after it wakes up, conduct an experiment in a dark environment. Use the light stimulation component 2 to stimulate the carp robot to control the underwater movement of the carp robot. Operate the console, rotate the light stimulation component 2 to change the wavelength of the light source, and collect the EEG signals of the carp robot under light stimulation of different wavelengths.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A photoelectric stimulation combined device for controlling the motion behavior of a carp robot, characterized in that: It comprises a fixing platform (1) mounted on the head of a carp, two light stimulation components (2) symmetrically arranged on both sides of the fixing platform (1), and an electric stimulation component (3) arranged on the upper part of the fixing platform (1); The light stimulation component (2) is capable of automatically changing LED lights of different wavelengths underwater to perform light stimulation; The electrical stimulation component (3) can implant a plurality of brain electrodes according to the position and number of motor nerve nuclei to be stimulated. The electrical stimulation component (3) is also additionally provided with an electrical stimulation mounting plate (3-1) without holes, which can be punched according to the position and number of different motor nerve nuclei. The electrical stimulation mounting plate (3-1) can also be equipped with collection electrodes to collect brain electrical signals. The light stimulation component (2) and the electrical stimulation component (3) are used in combination to achieve alternating control or simultaneous control of photoelectric stimulation; The fixing platform (1) is provided with an electric stimulation mounting groove (1-1), two clamps (1-2), two screw seats (1-3) and four mounting holes (1-4); the fixing platform (1) is a square hollow bracket structure, the upper end of which is a platform and the lower end of which is an arc-shaped structure; the electric stimulation mounting groove (1-1) is provided at the center directly above the bracket, two clamps (1-2) are symmetrically provided on both sides of the electric stimulation mounting groove (1-1), the electric stimulation mounting plate (3-1) is placed in the electric stimulation mounting groove (1-1) between the two clamps (1-2), a screw seat (1-3) for connecting and fixing the light stimulation component (2) is provided on both left and right sides of the bracket, and the mounting holes (1-4) are located at the four corners of the bracket and are used to install and fix the device on the head of the carp; The electrical stimulation component (3) comprises an electrical stimulation mounting plate (3-1) and an electrode fixing hole (3-2); a plurality of electrode fixing holes (3-2) are evenly distributed on the electrical stimulation mounting plate (3-1), and brain electrodes can be implanted into corresponding electrode fixing holes (3-2) according to the positions and numbers of different brain motor nerve nuclei; The light stimulation component (2) comprises a steering gear fixing seat (2-1), a steering gear (2-2), a waterproof cover (2-3), an LED lamp holder (2-4), and four LED lamps (2-5) mounted on the LED lamp holder (2-4); the steering gear fixing seat (2-1) is connected to a screw seat (1-3) on the fixing platform (1) by screws; the steering gear (2-2) is fixed on the steering gear fixing seat (2-1); the waterproof cover (2-3) is bonded to the body of the steering gear (2-2), and a terminal (2-3- 1), a wiring hole (2-3-2) and a waterproof ring (2-3-3); the wiring post (2-3-1) is located above the carp eye, and the wiring post (2-3-1) is connected to the positive pole of the console power supply; the output shaft of the servo (2-2) is connected to the LED lamp holder (2-4), and the LED lamp holder (2-4) is provided with a lamp holder wiring hole (2-4-1), and the LED lamp (2-5) on the LED lamp holder (2-4) can rotate with the rotation of the output shaft of the servo (2-2), so as to realize automatic replacement of light sources with different wavelengths and the same stimulation position underwater.

2. The photoelectric stimulation combined device for controlling the motion behavior of a carp robot according to claim 1, characterized in that: The LED lamp (2-5) comprises a long terminal (2-5-1) and a short terminal (2-5-2) which are insulated from each other; the short terminals (2-5-2) of the four LED lamps (2-5) are connected to each other and connected to the negative pole of the console power supply; and the long terminal (2-5-1) can contact the terminal (2-3-1) on the waterproof cover (2-3) after installation.

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