Novel remote real-time control and nerve stimulation system based on 4G communication network

Abstract

The invention discloses a novel remote real-time control and nerve stimulation system based on a 4G communication network, and the system comprises a plurality of function modules, a power module is used for converting an input voltage into a system power supply voltage; the voltage conversion module is used for stably boosting system power supply voltage; the camera module is used for shooting the flight environment of pigeons; the GPS positioning module is used for positioning the position information of the pigeon; the main control module is used for receiving an instruction of the 4G communication module, processing data of the camera module and the GPS positioning module and outputting DAC stimulation square waves; the multi-path selection operational amplifier module is used for converting the DAC stimulation square wave into positive and negative square wave signals and outputting the positive and negative square wave signals; the 4G communication module is used for real-time communication; and the upper computer software is used for issuing an instruction for real-time regulation and control. The environment and position information of the pigeon robot can be obtained in real time, the flight motion of the pigeon robot can be regulated and controlled in real time according to an instruction given by the information, the synchronism is good, and the operation efficiency is high.

Description

Technical Field

[0001] The present invention relates to the field of brain-computer interface technology, and in particular to a novel remote real-time control and neural stimulation system based on a 4G communication network. Background Art

[0002] Animal robots apply neural stimulation signals to specific neural targets in the animal brain to regulate its behavior or enhance its ability, turning it into a "robotic" animal. This half-biological, half-machine "robotic" animal has attracted international attention because of its complete autonomous intelligence in terms of concealment, adaptability, and anti-interference in movement, as well as its sufficient energy supply for movement. The neural stimulator is the core device of the animal robot, which is mainly used to generate stimulation signals to induce animals to produce specific behaviors. Generally, the stimulation pulses generated by the neural stimulator stimulate specific parts of the brain to stimulate the activity of neurons to achieve the purpose of regulation.

[0003] At present, there is a current mode neural stimulator used in implantable bidirectional brain-computer interfaces. The current mode neural stimulator includes: a current mode driving circuit, a passive charge balancing circuit and a current DAC; wherein, the current mode driving circuit does not require high-voltage devices, and implements dynamic gate bias technology by stacking MOS tubes to ensure that the MOS tube does not break down, and finally outputs positive and negative two-phase current pulses. The passive charge balancing circuit performs a charge balancing operation after a stimulation cycle ends.

[0004] However, these measures currently adopted contain at least the following three problems: 1) Single function: This current mode neurostimulator used in implantable bidirectional brain-computer interface mainly generates stimulation signals and does not have functions such as acquisition, positioning and communication. Therefore, this current mode neurostimulator has a single function and does not have other functions except generating stimulation signals. 2) Low integration level: This current-mode neurostimulator used in implantable bidirectional brain-computer interfaces is a single-electrode biphasic current output neurostimulator implemented using a low-voltage process. It only includes a current-mode drive circuit, a passive charge balance circuit, and a current DAC. It has a simple structure and does not have multiple functions. Therefore, the current-mode neurostimulator has a low integration level. 3) Low operating efficiency: This current-mode neural stimulator used in implantable bidirectional brain-computer interfaces can only generate stimulation signals in actual applications, and cannot monitor the state of the animal robot in real time to observe whether the animal robot produces specific behaviors based on the stimulation signals to improve operating efficiency. Summary of the invention

[0005] In view of the above three problems, the purpose of the present invention is to propose a new remote real-time control and neural stimulation system based on 4G communication network. The system is a remote real-time control and neural stimulation system for a pigeon robot. By integrating power module, voltage conversion module, camera module, GPS positioning module, main control module, multi-way selection amplifier module, 4G communication module and host computer software, it can obtain the environment and position information of the pigeon robot in real time, effectively monitor the pigeon robot in real time, reduce the occurrence of abnormal situations such as the loss of the pigeon robot, and can issue instructions according to the information to control the flight movement of the pigeon robot in real time, thereby improving operational efficiency.

[0006] This is achieved through the following technical solutions: A new remote real-time control and neural stimulation system based on 4G communication network, which is a remote real-time control and neural stimulation system for pigeon robots, including a power module, a voltage conversion module, a camera module, a GPS positioning module, a main control module, a multi-channel selection amplifier module, a 4G communication module and a host computer software, wherein: the power module is used to convert the external lithium battery input voltage into the system power supply voltage; the voltage conversion module is used to stably boost the system power supply voltage to independently power the multi-channel selection amplifier module; the camera module is used to photograph the flight environment of the pigeon during the flight of the pigeon, and transmit the photographed image data back to the main control module; the GPS positioning module is used to locate the real-time position information of the pigeon robot, and transmit the acquired positioning data back to the main control module; the main control module is used to receive 4G communication The main control module receives each instruction of the module, and controls the camera module to capture image data or controls the GPS positioning module to obtain real-time location information or outputs DAC stimulation square wave and address signal according to each instruction; at the same time, the main control module is also used to send the image data and positioning data sent back by the camera module and the GPS positioning module to the 4G communication module; the multi-channel selection operational amplifier module is used to convert the DAC stimulation square wave output by the main control module from a positive phase signal to a positive and negative square wave signal for output, and receive the address signal output by the main control module and determine the output port; the 4G communication module is used to transmit the image data captured by the camera module and the positioning data obtained by the GPS positioning module through positioning to the upper computer software in real time; at the same time, the 4G communication module transmits each instruction issued by the upper computer software to the main control module in real time to perform real-time regulation of flight movement.

[0007] By integrating multiple functional modules, the present invention can obtain the flight environment information of the pigeon robot in real time and quickly locate the position of the pigeon robot, thereby realizing real-time monitoring of the pigeon robot. At the same time, the flight movement of the pigeon robot can be regulated in real time with good synchronization and high operating efficiency.

[0008] Preferably, the power module uses an LDO regulator to convert the unstable input voltage of the external lithium battery into a stable and adjustable output voltage. Through the power module, a stable voltage can be provided to the system in real time, ensuring the safety and stability of power supply.

[0009] Preferably, the voltage conversion module uses a DC-DC converter to stably boost the system power supply voltage. The voltage conversion module can stably boost the system power supply voltage to the operational amplifier operating voltage, independently powering the multi-channel selection operational amplifier module without the need for additional power supply equipment, effectively saving resources.

[0010] Preferably, the main control module is connected to the camera module, GPS positioning module, multi-channel selection amplifier module and 4G communication module respectively, and the main control module and the camera module use parallel communication, the main control module and the GPS positioning module use serial communication, and the main control module and the 4G communication module use serial communication; wherein, the parallel communication uses multiple data lines for data transmission, and the serial communication uses two data lines to transmit data bit by bit through the sending and receiving lines. Through the main control module, the camera module can be effectively controlled to capture image data or the GPS positioning module can be controlled to obtain real-time location information, thereby improving the quality of the captured pictures and the location accuracy of GPS positioning.

[0011] Preferably, the multi-channel selection operational amplifier module adopts a multi-channel selection chip, which is used to select the positive and negative square wave signals output by the multi-channel selection operational amplifier module and output them to different external ports, so as to stimulate different brain areas of the pigeon robot, thereby regulating the take-off, landing and steering of the flight movement of the pigeon robot. The multi-channel selection operational amplifier module can output positive and negative square wave signals and output the signals to different ports, so as to regulate the take-off, landing and steering of the flight movement of the pigeon robot, further enhancing the convenience of the system in regulating the flight movement of the pigeon robot.

[0012] Preferably, the host computer software has the functions of issuing instructions, image display and positioning display, and is used to receive and display the image data and positioning data sent back by the 4G communication module in real time, and issue instructions to regulate the flight movement of the pigeon robot in real time. Through the host computer software, instructions can be issued to regulate the flight movement of the pigeon robot in real time, thereby improving operational efficiency.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The technical solution of the present invention can quickly and in real time acquire the flight environment and position information of the pigeon robot by integrating a power module, a voltage conversion module, a camera module, a GPS positioning module, a main control module, a multi-channel selection amplifier module, a 4G communication module and a host computer software, and effectively monitor the pigeon robot in real time, thereby reducing the occurrence of abnormal situations such as the loss of the pigeon robot; and the 4G communication module can perform long-distance communication through the 4G network, and the communication distance is not limited. As long as it is within the coverage of the 4G network, long-distance wireless communication of control instructions, image data and positioning data can be realized, and the pigeon robot can be controlled in real time over an ultra-long distance in a large-scale outdoor space, thereby improving the operational efficiency of controlling the flight movement of the pigeon robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural diagram of a new remote real-time control and neural stimulation system based on 4G communication network; Figure 2 It is a data transmission flow chart of a new remote real-time control and neural stimulation system based on 4G communication network; Figure 3 A 3D model schematic diagram of a new remote real-time control and neural stimulation system based on 4G communication network; Figure 4 This is a physical picture of a new remote real-time control and neural stimulation system based on 4G communication network. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0016] like Figure 1 As shown in FIG. 1 , it is a structural diagram of a new remote real-time control and neural stimulation system based on a 4G communication network. Figure 2 The figure shows a data transmission flow chart of a new remote real-time control and neural stimulation system based on 4G communication network. Figure 1 and Figure 2First, the system equipment is powered by a power module, the system starts to initialize and the 4G communication module is connected to the network; then the host computer software issues an instruction, and after the main control module receives the instruction through the 4G communication module, it controls the camera module to capture image data and controls the GPS positioning module to obtain real-time location information according to the instruction, and transmits the image data and positioning data back to the main control module; after the main control module obtains the image data and positioning data, it transmits the image data and positioning data to the 4G communication module, and the 4G communication module then transmits the image data and positioning data back to the host computer software. After the host computer software receives the image data and positioning data, it displays and issues instructions. After the instruction is transmitted to the main control module through the 4G communication module, the main control module determines whether to execute stimulation according to the instruction issued by the host computer software; if stimulation is executed, the main control module will output a DAC stimulation square wave, and convert the DAC stimulation square wave into a positive and negative square wave signal through the multi-channel selection amplifier module independently powered by the voltage conversion module for output, stimulate the pigeon robot, and then determine whether the task is completed, and finally the system is powered off; if stimulation is not executed, the main control module receives new image data and positioning data and transmits them again.

[0017] The specific contents of the system include the following: The system is a remote real-time control and neural stimulation system for a pigeon robot, including a power module, a voltage conversion module, a camera module, a GPS positioning module, a main control module, a multi-channel selection amplifier module, a 4G communication module and a host computer software.

[0018] like Figure 3 As shown in the figure, it is a 3D model schematic diagram of a new remote real-time control and neural stimulation system based on a 4G communication network. In the figure, 1 includes a power module, a voltage conversion module, a main control module and a multi-channel selection amplifier module, 2 is a 4G communication module, 3 is a GPS positioning module, 4 is an FPC cable, and 5 is a camera module. The device of the whole system consists of two PCB boards, the head and the back. The head PCB board is a single board with four layers, and the back PCB is composed of three two-layer PCB boards stacked together, and the stacked boards are directly connected through connectors. The head and back PCB boards are connected through FPC cables. The head PCB board is a camera module, the bottom layer of the back PCB board is a GPS positioning module, the middle layer is a 4G communication module, and the top layer is a power module, a voltage conversion module, a main control module and a multi-channel selection amplifier module. PCB is a full name for Printed Circuit Board, which is called a printed circuit board in Chinese. It is used to realize the electrical connection between electronic components and support the components to be fixed on the PCB board; FPC is the full name of Flexible Printed Circuit, which is called a flexible printed circuit board in Chinese. It is a connecting wire group that can be bent to a certain extent.

[0019] The power module is a voltage stabilizing chip that can stabilize the output voltage. It uses an LDO voltage regulator to convert the 3.7mA 400mAh external lithium battery input voltage into the system power supply voltage. The maximum output current is 500mA, and the voltage regulation error is within 2%. Each voltage pin is connected to the ground in parallel with a capacitor, and the output voltage pin is connected to the ground in parallel with a double capacitor. Among them, the LDO voltage regulator is used to convert the unstable input voltage of the external lithium battery into a stable and adjustable output voltage. The voltage conversion module uses a DC-DC converter to stably boost the system's power supply voltage and independently power the multi-channel selection op amp module. Specifically, the DC-DC converter is used to convert DC power of one voltage value into DC power of another voltage value, and adjust the output voltage by controlling the on and off time of the switch to achieve voltage rise and fall and stability.

[0020] In this embodiment, each voltage pin in the power module is connected in parallel with a capacitor to ground, which enhances the anti-interference ability and stability of the circuit. The output voltage pin is connected in parallel with two capacitors to ground, which can prevent circuit failure due to capacitor aging or damage. This circuit connection method enables the power module to safely, continuously and stably convert the external lithium battery input voltage into the system power supply voltage.

[0021] The camera module has 2 million pixels and supports the JPEG image data format. The camera module is fixed on the head of the pigeon robot and is used to capture images of the pigeon's flight environment during flight. At the same time, the camera module is connected to the main control module, and the captured image data will be transmitted back to the main control module and uploaded to the host computer software in real time through the 4G communication module; JPEG stands for Joint Photographic Experts Group, which is an image format for storing and transmitting color still images. The GPS positioning module has a matching signal enhancement antenna and comes with a rechargeable backup battery, which is used to more stably, quickly and accurately locate the real-time location information of the pigeon robot. At the same time, the GPS positioning module is connected to the main control module, and the acquired positioning data will be transmitted back to the main control module and uploaded to the host computer software in real time through the 4G communication module.

[0022] In this embodiment, the signal enhancement antenna provided with the GPS positioning module can enhance the positioning signal. When the power is turned on in an open outdoor environment, the GPS positioning module can more easily locate the position of the pigeon robot, and the acquired positioning data is more stable, with the advantages of small positioning error and high positioning accuracy. At the same time, the GPS positioning module has a rechargeable backup battery. After the main power supply is disconnected, the backup battery can maintain the storage of GPS ephemeris data for about half an hour, so as to realize the rapid positioning of the GPS positioning module. GPS ephemeris data is a data set describing the orbital status of GPS satellites, including the position, speed and other relevant parameters of the satellites in space.

[0023] The microprocessor used in the main control module is an STM32 chip, and is respectively connected to the camera module, GPS positioning module, multi-channel selection amplifier module and 4G communication module. The main control module receives each instruction of the 4G communication module, and controls the camera module to shoot image data or controls the GPS positioning module to obtain real-time location information or output DAC stimulation square wave and address signal according to each instruction. After the main control module obtains the image data and positioning data, the image data and positioning data will be sent to the 4G communication module, and uploaded to the host computer software through the 4G communication module. At the same time, the DAC stimulation square wave output by the main control module will be converted into positive and negative square wave signals by the multi-channel selection amplifier module and output to different external ports according to the address signal. Among them, the main control module and the camera module use parallel port communication, and the parallel port communication uses multiple data lines for data transmission; the main control module and the GPS positioning module use serial port communication, and the main control module and the 4G communication module use serial port communication, and the serial port communication uses two data lines to transmit data bit by bit through the sending and receiving lines.

[0024] The multi-channel selection op amp module uses a multi-channel selection chip. It first converts the DAC stimulation square wave output by the main control module from a positive phase signal to a positive and negative square wave signal for output through DA conversion, then receives the address signal output by the main control module and determines the output port of the positive and negative square wave signal through the address signal, and then selects the positive and negative square wave signals output by the multi-channel selection op amp module and outputs them to different external ports to stimulate different brain areas of the pigeon robot, thereby controlling the take-off, landing and steering of the pigeon robot's flight movement. Among them, DA conversion is performed through a DAC converter. The full name of the DAC converter is Digital to Analog Converter, which is an electronic device that converts digital signals into analog signals.

[0025] In this embodiment, the multi-way selection chip used in the multi-way selection operational amplifier module can determine the output port of the positive and negative square wave signals according to the address signal output by the main control module. The positive and negative square wave signals output from different ports will stimulate different brain areas of the pigeon robot, thereby realizing the control of the flight movement of the pigeon robot, further enhancing the convenience of the system in controlling the flight movement of the pigeon robot and improving the operating efficiency.

[0026] The 4G communication module conducts long-distance communication and wireless data transmission through the 4G network, and as long as it is within the coverage of the 4G network, it can achieve long-distance multi-scenario wireless communication. Through the 4G communication module, the image data captured by the camera module and the positioning data obtained by the GPS positioning module can be transmitted to the host computer software in real time, and each instruction issued by the host computer software is transmitted to the main control module. The host computer software has the functions of issuing instructions, image display and positioning display. It can receive and display the image data and positioning data uploaded by the 4G communication module in real time, and analyze the displayed image data and positioning data. Based on the analysis results, the host computer software issues instructions and transmits them to the main control module in real time through the 4G communication module to control the flight movement of the pigeon robot in real time.

[0027] The present invention provides a multifunctional and highly integrated lightweight stimulation device, which can control the flight motion of a pigeon robot in real time by outputting different stimulation signals. The system device has the advantages of being light and easy to fix, which is beneficial to the research on the long-distance flight motion control of the pigeon robot.

[0028] like Figure 4 The figure shows a physical picture of a new remote real-time control and neural stimulation system based on a 4G communication network. The system of the present invention is fixed on the pigeon's body by head fixation and back load. The head device weighs 2.7g and the back device weighs 10.2g, which is much smaller than the pigeon's load-bearing capacity. Compared with ordinary circuit boards, it is lighter and fits better on the pigeon's back, making it more suitable for the pigeon to carry. At the same time, in order to ensure that the system device of the pigeon robot can be firmly fixed during flight, a pasting device is designed, and in order to reduce the impact of bad weather on the flight movement of the pigeon robot, a shell protection device is added.

[0029] In summary, the present invention can quickly and in real time acquire the flight environment and position information of the pigeon robot by integrating a power module, a voltage conversion module, a camera module, a GPS positioning module, a main control module, a multi-channel selection amplifier module, a 4G communication module and a host computer software, and effectively monitor the pigeon robot in real time to reduce the occurrence of abnormal situations such as the loss of the pigeon robot; and the 4G communication module can perform long-distance communication through the 4G network, and the communication distance is not limited. As long as it is within the coverage of the 4G network, long-distance wireless communication of control instructions, image data and positioning data can be achieved, and the pigeon robot can be controlled in real time over an ultra-long distance in a large-scale outdoor space, thereby improving the operational efficiency of the pigeon robot's flight motion control. In addition, the system of the present invention can be applied to the research of other animals such as large birds and small mammals, and has significant advancement.

[0030] The above embodiments are only for illustrating the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the present invention.

Claims

1. A new remote real-time control and neural stimulation system based on 4G communication network, characterized in that: The system is a remote real-time control and neural stimulation system for a pigeon robot, including a power module, a voltage conversion module, a camera module, a GPS positioning module, a main control module, a multi-channel selection amplifier module, a 4G communication module and a host computer software, wherein: The power module is used to convert the external lithium battery input voltage into the system power supply voltage; the voltage conversion module is used to stably boost the system power supply voltage and independently supply power to the multi-channel selection amplifier module; The camera module is used to capture the flying environment of the pigeon during its flight and transmit the captured image data back to the main control module; the GPS positioning module is used to locate the real-time position information of the pigeon robot and transmit the acquired positioning data back to the main control module; The main control module is used to receive each instruction from the 4G communication module, and according to each instruction, controls the camera module to capture image data or controls the GPS positioning module to obtain real-time location information or outputs DAC stimulation square waves and address signals; at the same time, the main control module is also used to send the image data and positioning data returned by the camera module and the GPS positioning module to the 4G communication module; The multi-channel selection operational amplifier module is used to convert the DAC stimulation square wave output by the main control module from a positive phase signal to a positive and negative square wave signal for output, and to receive the address signal output by the main control module and determine the output port; The 4G communication module is used to transmit the image data taken by the camera module and the positioning data obtained by the GPS positioning module to the host computer software in real time; at the same time, the 4G communication module transmits each instruction issued by the host computer software to the main control module in real time to perform real-time regulation of flight movements.

2. According to claim 1, a novel remote real-time control and neural stimulation system based on 4G communication network is characterized in that: The power module adopts an LDO regulator to convert the unstable input voltage of the external lithium battery into a stable and adjustable output voltage.

3. A novel remote real-time control and neural stimulation system based on 4G communication network according to claim 1, characterized in that: The voltage conversion module adopts a DC-DC converter to stably boost the power supply voltage of the system.

4. A novel remote real-time control and neural stimulation system based on 4G communication network according to claim 1, characterized in that: The main control module is respectively connected to the camera module, the GPS positioning module, the multi-channel selection amplifier module and the 4G communication module, and the main control module and the camera module use parallel port communication, the main control module and the GPS positioning module use serial port communication, and the main control module and the 4G communication module use serial port communication; wherein, the parallel port communication uses multiple data lines for data transmission, and the serial port communication uses two data lines to transmit data bit by bit through the sending and receiving lines.

5. A novel remote real-time control and neural stimulation system based on 4G communication network according to claim 1, characterized in that: The multi-channel selection operational amplifier module adopts a multi-channel selection chip, which is used to select the positive and negative square wave signals output by the multi-channel selection operational amplifier module and output them to different external ports, so as to stimulate different brain areas of the pigeon robot, thereby controlling the take-off, landing and turning of the pigeon robot's flight movement.

6. A novel remote real-time control and neural stimulation system based on 4G communication network according to claim 1, characterized in that: The host computer software has the functions of issuing instructions, image display and positioning display, and is used to receive and display the image data and positioning data sent back by the 4G communication module in real time, as well as issue instructions to regulate the flight movement of the pigeon robot in real time.

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