鲤鱼机器人无线遥控系统设计与应用  

Design and Application of the Wireless Remote Control System of Carp Robots

作　　者：彭勇[1,2] 王婷婷 闫艳红 陈志旺 温淑焕[3] 韩晓晓 赵洋 刘佳宁 张乾 Peng Yong;Wang Tingting;Yan Yanhong;Chen Zhiwang;Wen Shuhuan;Han Xiaoxiao;Zhao Yang;Liu Jianing;Zhang Qian(Department of Biomedical Engineering,College of Electrical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China;National Defense Key Laboratory of Mechanical Structure and Materials Science Under Extreme Conditions,Yanshan University,Qinhuangdao Hebei 066004,China;Department of Mechanical Design,College of Mechanical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China;Department of Automation,College of Electrical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]燕山大学电气工程学院生物医学工程系,河北秦皇岛066004 [2]燕山大学极端条件下机械结构和材料科学国防重点学科实验室,河北秦皇岛066004 [3]燕山大学机械工程学院机械设计系,河北秦皇岛066004 [4]燕山大学电气工程学院自动化系,河北秦皇岛066004

出　　处：《中国生物医学工程学报》2019年第4期431-437,共7页Chinese Journal of Biomedical Engineering

基　　金：国家自然科学基金(61573305,61773333);河北省自然科学基金项目(F2019203511);国家高技术研究发展计划(863计划)项目(2014AA×××××)

摘　　要：为解决有线控制时导线对水生动物机器人缠绕和运动束缚问题,设计一种鲤鱼机器人脑电刺激无线遥控系统。其中,系统硬件包括无线通信模块、电刺激信号生成模块、电源模块,系统软件包括串口通信设置、运动模式选择。将脑电极植入后在颅腔表面进行防水封固,将无线电刺激器放入防水包内搭载于鲤鱼机器人上,利用上位机远程控制无线电刺激器,令电刺激器发射信号通过电极刺激脑运动区,控制鲤鱼机器人运动。将鲤鱼机器人(n=10)置于水迷宫进行水下实验,结果显示该系统可以控制鲤鱼机器人的前进、左转向和右转向运动,成功率分别为60%、70%、80%,表明所设计系统及应用方法对鲤鱼机器人水下无线控制均是有效且可行的。To overcome the obstacle of wire winding and motion restraint of aquatic animal robots,a wireless remote control system for carp robot′s brain electric stimulation was designed in this study.The system hardware included the wireless communication module,the electric stimulation signal generation module and the power supply module.The system software included the serial port communication setting and the motion mode selection.In this study,the brain electrode was implanted and sealed on the surface of the skull cavity,and the radio stimulator was placed in the waterproof package,and the underwater wireless stimulator mounted on the carp robot was remotely controlled by the upper computer for electrical stimulation.The electric stimulator was used to send signals through the electrodes to stimulate the brain motion area and control the movement of carp robots.Then the carp robots(n=10)were placed in the water maze for underwater experiments.The results showed that the forward,left and right steering movements of carp robots could be controlled by this system,with success rates of 60%,70%,and 80%respectively.Our study indicated that this system and application methods were effective and feasible for the underwater wireless control of carp robots.

关 键 词：鲤鱼机器人 脑电极防水封固 无线电刺激器防水包 无线遥控系统 生物控制 

分 类 号：R318[医药卫生—生物医学工程]