基于脑电刺激的蜜蜂飞行控制系统设计  

Design of Flight Control System for Honeybee Based on EEG Stimulation

作　　者：赵杰亮 赵真 余丽 丁浩嘉 杨运强[2] 阎绍泽[3] ZHAO Jieliang;ZHAO Zhen;YU Li;DING Haojia;YANG Yunqiang;YAN Shaoze(School of Mechanical Engineering,Beijing Institute Technology,Beijing 100081;School of Engineering and Technology,China University of Geosciences(Beijing),Beijing 100083;Department of Mechanical Engineering,Tsinghua University,Beijing 100084)

机构地区：[1]北京理工大学机械与车辆学院,北京100081 [2]中国地质大学(北京)工程技术学院,北京100083 [3]清华大学机械工程系,北京100084

出　　处：《机械工程学报》2021年第15期45-52,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51805293,52075038);北京市自然科学基金(3212012);北京理工大学青年教师学术启动计划资助项目。

摘　　要：半生物昆虫机器人因其隐蔽性高、续航时间长等优势在未来军事作战及抢险救灾中具有重要应用价值。然而,目前蜜蜂等昆虫飞行行为的神经调控尚不清晰,且缺乏人工干预控制昆虫稳定和精准飞行的有效方法。在探索视觉引导下的蜜蜂飞行行为神经调控机制的基础上,采用可编程微型控制芯片,配合无线电接收模块,提出了兼顾无线通信距离与接近蜜蜂载荷的微控制背包设计,开发了嵌入式微型智能控制芯片,并以腹部背侧为昆机结合位点,验证了背包对蜜蜂机器人的飞控效果。微控制背包的开发为蜜蜂机器人的飞控研究提供了硬件基础,同时也为生物控制背包的升级与优化提供了理论依据。Cyborg insect robots have important application value in future military operations and disaster relief due to their high concealment and long endurance.However,the current neural regulation of the flight behavior of insects remained to be elucidated.The effective methods for artificial intervention to control the stable and precise flight of insects were deficient.Based on exploring the neural regulation mechanism of flight behavior under visual guidance,a micro control backpack is designed by using programmable micro control chip and radio receiving module,which takes into account the wireless communication distance and load capacity of honeybee.Furthermore,the flight control effect on the bee robot is verified by embedded micro intelligence backpack to the back of the abdomen.The development of the micro-control backpack provides a hardware basis for the flight control research of the bee robot,which also provides a theoretical basis for the optimization of the biological control backpack.

关 键 词：蜜蜂 昆虫机器人 飞行行为 虚拟视觉刺激 人工干预控制 

分 类 号：TH39[机械工程—机械制造及自动化]