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1、南京航空航天大学 硕士学位论文 基于无线单片机的动物机器人遥控刺激系统研制 姓名：张春帅 申请学位级别：硕士 专业：生物医学工程 指导教师：郭策 2011-03 南京航空航天大学硕士学位论文 i 摘 要 随着社会的发展，人们对机器人的性能提出了更高的要求。动物机器人运动的平稳性和灵 活性、对环境的适应性以及能源的使用效率等方面都优于仿生机器人，因此动物机器人的研究 受到了更多的关注。动物机器人研究的关键技术一方面需要寻找动物脑中与运动调控有关的核 团植入电极，另一方面就是研究可靠的遥控刺激系统。遥控刺激系统的研究对动物机器人有着 重要的意义，它是动物机器人摆脱长长的导线实现自由运动的关键。因此
2、研究一套工作可靠、 传输远，并且背负在动物身上的刺激器体积小、重量轻、能耗低的动物机器人遥控刺激系统将 推动动物机器人的开发和应用。 本文根据国内外动物机器人遥控刺激系统的研究现状和相关技术发展，提出了一种新的遥 控刺激系统的结构，并对其进行了软、硬件设计，研制出一套基于无线单片机的微小型动物机 器人遥控刺激系统，主要包括基于 LabVIEW 控制面板的 PC 机、遥控信号发射台以及背负在动 物身上的微刺激器。遥控刺激系统的 8 个输出通道可分别输出幅值、频率以及脉宽可调的脉冲 电压。其中背负在动物体上的微刺激器整体尺寸为 30mm20mm6mm，重量为 7.3g（其中锂 电池重量为 3.8g
3、，容量为 140mah） ，适合运用于小动物身上。 当整个系统通过检测满足设计和实验要求，在此基础上，以鸽子为实验对象，进行了动物 运动行为的诱导实验。实验中使用该系统可以成功控制鸽子实现左、右转以及飞行的动作，从 而证明了该系统的有效性和可靠性。 关键词关键词：动物机器人，遥控刺激系统，微刺激器，脉冲电压，鸽子 基于无线单片机的动物机器人遥控刺激系统研制 ii Abstract With the development of society, people hope to make the robot perform much better. There are many fields th
4、at animal-robot are superior than the bio-robot, such as the stationarity, flexibility, adaptability to the environment and utilisation efficiency of energy. As a result, the researches on animal-robot have attracted more attention. One key technology of animal-robot is to find out the nucleu swhich
5、 relation to the animals movement control and implant the electrode into the animals brain. The other is to develop the reliable remote stimulation system. The development of remote stimulation system is very important for the research of animal-robot, for it can help the animal-robot to get rid of
6、the long wires to move freely.Thus to work out a remote stimulation system for animal-robot which is reliable, long distance radio transmission, and the micro-stimulator which equipped on animal is miniaturization, light-weight and low energy consumption can promote to the research of the animal rob
7、ot. According to the current research and the development of correlation technology of the animal-robot remote simulation system, this paper puts forward a new structure of this system,designs its software and hardware and then works out a micro-remote stimulation system based on a wireless MCU for
8、animal-robots. The system consists of a controlling panel programmed by LabVIEW at PC, a remote signal transmit station and a micro-simulator which is to be equipped on animals body. The system has 8 output channels, every channal can output the pulse voltage whose the amplitude, frequency and width
9、 can be regulated. The micro-simulator measures 30mm20mm6mm, and wights 7.3g(including the lithium battery wights 3.8g, capacity 140mah), which is suitable on small animals. When the whole system had passed the test to meet requirements of the experiment, the experiments were carried out on pigeons.
10、 By using this new system, it has been successful to control the pigeon to turn left or right as well as the flying, which proves that this system is quite effective and reliable. Keywords: animal-robot, remote simulation system, micro-simulater, pigeon 基于无线单片机的动物机器人遥控刺激系统研制 vi 图清单 图 1.1 蟑螂机器人.2 图 1.2 老鼠机器人.3 图 1.3 发送装置和接收刺激装置示意图.4 图 1.4 甲虫机器人.4 图 1.5 甲虫机器人接收端的电路图.5 图 1.6 5V 遥控导航系统.5 图 1.7 3.3V 遥控导航系统.6 图 1.8 鸽子机器人.6 图 1.9 遥控系统原理图.7 图 1.10 导航系统电路图.7 图 1.11 壁虎机器人.8 图 1.12 壁虎机器人刺激器.8 图 2.1 遥控刺激系统结构框图.10 图 2.2 CC1110 芯片内部结构图.14 图 2.3 433MHz 频段的应用电路图.15 图 3.1 VISA 节点子模块图 .
