KR101776566B1 - A Drone Control Unit Using Electromyographic Signals - Google Patents

Abstract

The present invention relates to a drone simulation control device using electromyogram. More specifically, electromyogram is sensed from a human body without the use of an extra toggle type controller and a signal of the electromyogram is converted into a power control signal, and thus, a user is able to control a virtual drone on a monitor only with a hand motion moving in every direction and rotating. With this operation, the user is able to be sufficiently trained about the control of the drone by using the monitor. The present invention comprises: an electromyogram signal processing part installed on an arm of a controlling person and extracting an electromyogram signal by identifying how much the arm is moved, and identifying the direction of the arm movement by processing the signal; a control processing part (2) inputting a simulation control signal including a motor operation command signal to control four wings of the virtual drone by receiving data of the electromyogram signal processing part by wire or wirelessly; and a control module part (5) generating a wing control signal by setting mode in accordance with the simulation control signal of the control processing part (2) to three-dimensionally display the control signal on a display (4).

Description

[0001] The present invention relates to a drones simulation control apparatus using electromyography,

The present invention relates to a drones simulation control apparatus using an electromyogram, and more particularly to a drones simulation control apparatus using an electromyogram to sense an electromyogram emanating from a body without a separate toggle type manipulation means and to convert a signal of the electromyogram into a power control signal, The virtual drone on the monitor can be manipulated by swinging up and down, left and right, and right and left, and can be controlled by only the rotating motion. Accordingly, the training for controlling the dron can be sufficiently advanced by using the monitor To a drones control device using electromyography.

Bio-feedback measures bio-signals of the human body such as brain waves, electrocardiogram, electromyogram, body temperature, sweat gland activity or foot volume, respiratory rate of skin, etc. using the sensor and measures physiological activity By providing change information of the state in real time through a visual device such as a computer, it is able to confirm the information about the physiological activity which is generally difficult to be perceived by belonging to the autonomic nervous system and to control the physiological activity of the patient consciously.

Such biofeedback is used in the clinical treatment of various physical or mental disorders such as urinary incontinence, constipation, asthma, headache, arrhythmia, hypertension, attention deficit, hyperactivity disorder and panic disorder. In addition, in order to utilize biofeedback more effectively in improving clinical treatment or body function, a biofeedback game, which is a computer game which is progressing while confirming its physiological condition based on the principle of biofeedback, is being developed.

Various types of techniques have been filed in relation to the above-mentioned biofeedback. Korean Patent Registration No. 10-0456038 "Biofeedback system ", No. 10-0601932" Method and apparatus for training control using biofeedback " , Korean Patent Laid-Open Publication No. 2002-0094227 entitled " Biofeedback System and Muscle Rehabilitation Therapy Method Using the Same ".

Herein, the biofeedback system includes a physiological signal measuring unit for measuring various physiological signals for a dysfunctional part of a patient, and a physiological signal measuring unit for measuring various physiological signals of the dysfunctional part of the patient. A microprocessor unit for comparing and analyzing the measured physiological signals and for performing arithmetic processing and control; A biofeedback unit for returning the biofeedback parameter of the physiological signal to the patient; A stimulator controller for controlling conditions of electric stimulation, warming stimulation, and compression stimulation by the biofeedback parameter; A data storage unit for storing physiological signal data and various information data related to the biofeedback; A display unit for displaying analysis information data of the measured physiological signal; An alarm generating unit for generating an alarm for an abnormality detection result by the measured physiological signal analysis; And a power unit for stably supplying the used power source and the emergency power source. The above-mentioned "biofeedback system and muscle rehabilitation treatment method using the same" includes detecting a physiological signal for a rehabilitation treatment site of a patient; Analyzing the detected physiological signal data in-depth; Extracting a biofeedback parameter based on the analyzed data; The extracted biofeedback variables may be visual biofeedback and audible biofeedback

; Evaluating electric stimulation, warm-cooling stimulation, and compression stimulation using the applied biofeedback; And determining and quantifying the stimulation condition according to the rehabilitation treatment based on the evaluation result.

On the other hand, Korean Patent No. 10-0652010 (published on November 23, 2006) discloses a technique of extracting a feature of an electromyogram signal and recognizing a user's action pattern using the extracted feature value. However, the conventional technology has merely blocked the electromyogram signal measured by the sensor, but has a problem in that it does not have diversity in the utilization method.

That is, in the past, emphasis has been placed on extracting the EMG only, and there are insufficient methods to combine EMG with other devices.

The present invention provides a device for extracting an electromyogram on the upper side of an arm, generating a signal for moving a dron using the measured electromyogram, wherein a virtual dron is displayed on a monitor, The virtual drones are moved forward, backward, left and right, up and down, and the environment where the wind or gust of wind blows from the outside is provided on the monitor to actively cope with various scenarios while flying the drones and practicing the drones freely The purpose is to make it possible to actively implement it through the monitor.

As means for achieving the above object,

The present invention comprises an electromyogram sensor 11, a preprocessing means 12 and a control unit 13. The degree of movement of the arm by the operator is detected by the electromyogram sensor 11, the electromyogram signal is extracted by the preprocessing means 12 An EMG signal processing unit 10 for processing the EMG signal by the control unit 13 and determining which direction the EMG signal is directed; An operation processing unit 20 for inputting data of the electromyogram signal processing unit by wire or wireless and inputting a simulation control signal including a motor drive command signal for controlling the four wings given to virtual drone; And a control module unit 30 for generating a wing control signal for each setting mode according to a simulation control signal of the operation processing unit 20 and controlling the wing control signal to be three-dimensionally displayed on the display unit 40; If the EMG sensor 11 is broken and a signal is not inputted to the control unit 13, the control unit 13 outputs a continuous alarm sound through the error signal automatic output unit 1000; The automatic error signal output unit 1000 includes a power supply unit 1101 for applying a power supply signal by its own power supply; An error signal output unit 1102 for receiving a signal from the control unit and switching the power supply circuit when a fault of the output signal is detected by the electromyogram sensor; An oscillation transformer 1103 which is supplied with electricity when the power switch is turned on and outputs a boosted AC current; A relay operation switching unit 1108 connected to the output terminal of the oscillation transformer 1103 and turned on by electrical supply; A relay switch 1107 installed at an output terminal of the switching unit 1108 for generating a magnetic force and generating a magnetic force; A first circuit connection switch sw1 that performs a function of energizing the circuit while the iron wire is pulled by the relay switch 1107; An error signal output power switch sw2 for supplying power to the error signal output control unit 1140 and displaying an error signal when the relay wire is pulled by the relay switch 1107; A circuit-operating iron piece (1131) which contacts the first circuit connecting switch to turn on the power-source holding switch part; An error signal output control unit power connection iron piece 1132 designed to operate in conjunction with the circuit operation iron piece and to connect the power source to the error signal output control unit when the circuit breaker is turned on; The first circuit connection switch and the base end are connected to each other and the emitter end and the collector end are connected to the oscillation transformer 1103 and the relay operation switching part 1108. The operation of the relay operation switching part 1108 pulls the iron piece When the first circuit connection switch sw1 and the error signal output power switch sw2 are forcibly turned off at this time, the closed circuit is broken, And the relay switch 1108 is turned on to turn on the first circuit connection switch sw1 and the error signal output power switch sw2 so as to continuously output an error signal And a switching unit 1118 for maintenance.

A resilient spring 1133 installed between the first circuit connection switch and the circuit breaker for inducing the first circuit connection switch and the circuit breaker to keep the circuit breaker always in an off state; The first circuit connection switch is provided at one end of the first circuit connection switch. When the first circuit connection switch is switched by pulling the wire for circuit operation at the time of operation of the relay switch, A permanent magnet 1134 for maintaining the state; And a control unit for controlling the operation of the error signal display unit by turning off the wire for the circuit operation and the wire for connecting the error signal output control unit when the user operates the alarm unit to stop the alarm signal operation, And a manual operation switch 1135 for stopping the output of the alarm signal so that the alarm signal is no longer output.

As described above, according to the present invention, a device for extracting an electromyogram is provided on the upper side of an arm, a signal for moving the dron is generated using the measured electromyogram, a virtual dron is displayed on a monitor, The drones are moved in the fore-and-aft direction, the up and down direction, and the environment where the wind or the wind blows from the outside is provided on the monitor to actively cope with various scenarios and fly the drones. This exercise provides an effect that can be actively conducted through the monitor.

FIG. 1 is a conceptual diagram illustrating the movement of the drone in the forward and backward directions.
2 is a conceptual diagram of a drowner ascending and descending.
3 is an overall block diagram of the present invention;
4 is a block diagram of the preprocessing means of the present invention.
5 is a circuit diagram of an automatic error signal output unit according to the present invention.
6 is an enlarged view of the main part of Fig.

The operation principle of the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings and description. It should be understood, however, that the drawings and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention, and are not to be construed as limiting the present invention.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The terms used below are defined in consideration of the functions of the present invention, which may vary depending on the user, intention or custom of the operator. Therefore, the definition should be based on the contents throughout the present invention.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. The configuration is omitted as much as possible, and a functional configuration that should be additionally provided for the present invention is mainly described.

Those skilled in the art will readily understand the functions of the components that have been used in the prior art among the functional configurations that are not shown in the following description, The relationship between the elements and the components added for the present invention will also be clearly understood.

In order to efficiently explain the essential technical features of the present invention, the following embodiments properly modify the terms so that those skilled in the art can clearly understand the present invention, It is by no means limited.

As a result, the technical idea of the present invention is determined by the claims, and the following embodiments are merely illustrative of the technical idea of the present invention in order to efficiently explain the technical idea of the present invention to a person having ordinary skill in the art to which the present invention belongs. .

FIG. 1 is a conceptual diagram illustrating the movement of the drone in the forward and backward directions.

2 is a conceptual diagram of a drowner ascending and descending.

3 is an overall block diagram of the present invention;

4 is a block diagram of the preprocessing means of the present invention.

5 is a circuit diagram of an automatic error signal output unit according to the present invention.

Fig. 6 is an enlarged view of the main part of Fig. 5,

An electromyogram signal processing unit 10 installed in an arm of an operator for extracting an EMG signal by grasping the extent to which an operator moves the arm and processing the EMG signal to determine which direction the EMG signal is pointing;

An operation processing unit 20 for inputting data of the electromyogram signal processing unit by wire or wireless and inputting a simulation control signal including a motor drive command signal for controlling the four wings given to virtual drone;

And a control module unit 30 for generating a wing control signal for each setting mode according to a simulation control signal of the operation processing unit 20 and controlling the wing control signal to be three-dimensionally displayed on the display unit 40 do.

The electromyogram signal processing unit 10 includes an electromyogram sensor 11, a preprocessing unit 12 and a controller 13. The electromyogram sensor 11 is for acquiring (measuring) an EMG signal. Electromyography is a record of the electrical activity of the muscles. By recording the electrical activity of the muscles using an extra cellular electrode, you can get information about the state of the skeletal muscle and the neural control of the skeletal muscle. The muscles under normal neural control do not exhibit electrical activity in the steady state, and the EMG signals used in the clinical activities are the activities appearing between the recording electrodes installed near the contracting muscle fibers and the reference electrodes separated by a distance from the recording electrodes And the potential was measured. The electromyographic sensor for measuring the EMG is also referred to as a living body electrode, and is supplied in two forms, a plate electrode and a needle electrode. A plurality of the electromyogram sensors are attached to the user's body. In the present embodiment, four electromyography sensors 11 are provided and attached to both sides of the user's arms and necks.

The preprocessing means 12 is for converting an electromyogram signal obtained by the electromyogram sensor 11 into a digital signal and includes an amplification unit 12a, a filter unit 12b and an A / D conversion unit 12c . The amplification unit 12a receives the electromyogram signal measured by the electromyogram sensor 11 and amplifies the electromyogram signal. In this embodiment, the electromyogram signal is amplified to about 1000 times. At this time, the electromyogram signal is differentially amplified to remove unnecessary noise. The filter unit 12b uses only a low-pass filter and a high-pass filter to select only an EMG signal of a required area band. The A / D converter 12c converts the selected electromyogram signal into a digital signal.

The control unit 13 converts the signal obtained by using the EMG signal into a current control signal necessary for the operation of the drone and converts the adjustment signal of the drone into a communication signal.

For example, in the case of the present embodiment, it is possible to generate four digital signals using EMG signals obtained from the four EMG sensors. Then, each digital signal or digital signal can be combined and changed into a control signal of the drone.

In more detail, the control unit 13 extracts how the hand is moved in the direction using the electromyogram sensor 11 and the preprocessing unit 12, and if the directionality of the hand is determined, Outputs a signal to steer and moves the drones in the desired direction.

In detail, eight signals are extracted in order to control the drones. When looking at the drones, horizontal forward movement, horizontal backward movement, horizontal leftward movement, horizontal rightward movement, horizontal leftward movement, horizontal rightward movement, , And vertical downward movement.

Accordingly, in order to output the motion control signal as described above, the motion of the wrist is separated and extracted in eight ways.

That is, when the hand is extended with respect to the wrist, the dron is matched with the operation of moving in the horizontal advancing direction. When the hand is grasped, the dron is matched with the operation of moving in the horizontal backward direction. When the hand is moved in the leftward direction, And when the hand is moved to the right, the drones are matched with the operation of moving the drones in the horizontal right direction. When the hand is rotated in the leftward direction, the dron is matched with the operation of moving the dron in the horizontal left direction, When the hand is lifted upwards, the drone is moved in the upward direction. When the hand is lowered in the downward direction, the drone is moved in the vertical downward direction .

At this time, the drone is equipped with four propellers, in which a first propeller is installed on the upper left side, a second propeller is installed on the upper right side, a third propeller is installed on the lower left side, A propeller is installed.

First, when a horizontal advance movement command is issued to the dron, the first propeller rotates clockwise, the second propeller rotates counterclockwise, the third propeller rotates counterclockwise, the fourth propeller rotates clockwise , The first propeller and the second propeller rotate at a low speed and the third propeller and the fourth propeller rotate at a high speed and the third propeller and the fourth propeller rotate at a high speed, The dron flows in the direction of the rotating first propeller and the second propeller so that the dron is moved horizontally.

In this case, when a hand opening operation is detected by the electromyogram sensor, and when the hand opening operation is performed, the hand operation is read through the electromyogram sensor and the preprocessing means. When the manipulation processing unit issues a motor driving command according to the details, The third propeller and the fourth propeller are rotated at a high speed on the screen drone which virtually rotates the propeller of the drone by performing the motor drive command of the manipulation processing unit and at the same time the first propeller and the second propeller rotate at low speed And the motion displays on the monitor that the dron is moving forward with respect to the user at the current position. Then, the user can visually confirm that the dron that has issued the forward command correctly moves forward.

Second, when a horizontal backward movement command is issued to the dron, the first propeller rotates clockwise, the second propeller rotates counterclockwise, the third propeller rotates counterclockwise, the fourth propeller rotates clockwise , The first propeller and the second propeller rotate at a high speed and the third propeller and the fourth propeller rotate at a low speed and the first propeller and the second propeller rotate at a high speed, And flows in the direction of the rotating third propeller and the fourth propeller so that the drones are horizontally reversed.

Specifically, when an operation of gripping a hand is detected by an electromyogram sensor, and when an operation of grabbing the hand is detected, the operation is read through an electromyogram sensor and a preprocessing means, The first propeller and the second propeller are rotated at a high speed on the drone on the screen which virtually rotates the propeller of the drone by executing the motor drive command of the operation processing unit and at the same time the third propeller and the fourth propeller rotate at low speed And the motion displays on the monitor that the drones are reversing relative to the user at the current position. Then, the user can visually confirm that the dron that has issued the backward command correctly performs the backward operation.

Third, when a horizontally right-moving command is issued to the drone, the first propeller rotates in a clockwise direction, the second propeller rotates in a counterclockwise direction, the third propeller rotates in a counterclockwise direction, and the fourth propeller rotates in a clockwise direction The first propeller and the third propeller rotate at a high speed and the second propeller and the fourth propeller rotate at a low speed and the air pressure generated by the first propeller and the third propeller rotating at a high speed makes them rotate at a low speed And flows in the direction of the rotating second propeller and the fourth propeller so that the drone moves horizontally rightward.

In this case, specifically, the operation of moving the hand to the right side is recognized by the electromyogram sensor, and when the right side fluid movement of the hand is detected, the operation is read through the electromyogram sensor and the preprocessing means, The control module performs a motor drive command of the manipulation processing unit to virtually rotate the propeller of the drone and shows that the first propeller and the third propeller rotate at a high speed on the drill on the screen and simultaneously the second propeller and the fourth propeller And the motion displays on the monitor that the drones move to the right relative to the user at the current position. Then, the user can visually confirm that the dron that has issued the rightward movement command is moved rightward.

Fourth, when a horizontal leftward movement command is issued to the drones, the first propeller rotates clockwise, the second propeller rotates counterclockwise, the third propeller rotates counterclockwise, the fourth propeller rotates clockwise The second propeller and the fourth propeller rotate at a high speed and the first propeller and the third propeller rotate at a low speed and the second propeller and the fourth propeller rotate at a high speed, And flows in the direction of the rotating first propeller and the third propeller, thereby moving the drone horizontally to the left.

In this case, specifically, the operation of moving the hand to the left side is detected by the electromyogram sensor, and when the left flow operation of the hand is detected, the operation is read through the electromyogram sensor and the preprocessing means, The control module implements a motor drive command of the manipulation processing unit to virtually rotate the propeller of the drone and shows that the second propeller and the fourth propeller rotate at a high speed on the drill on the screen and simultaneously the first propeller and the third propeller And the motion displays on the monitor that the drones move to the left relative to the user at the current position. Then, the user can visually confirm that the dron that has issued the leftward movement command moves rightward.

Fifth, when a horizontal right turn command is issued to the dron, the first propeller rotates clockwise, the second propeller rotates counterclockwise, the third propeller rotates counterclockwise, and the fourth propeller rotates clockwise The second propeller and the third propeller rotate at a high speed and the first propeller and the fourth propeller rotate at a low speed and the second propeller and the third propeller rotate at a low speed In the direction of the first propeller and the fourth propeller, thereby causing the drone to rotate in the horizontal right direction.

Specifically, the operation of rotating the hand to the right is recognized by the electromyogram sensor. When the right hand rotation of the hand occurs, the operation is read through the electromyogram sensor and the preprocessing means. The control module performs a motor drive command of the manipulation processing unit to virtually rotate the propeller of the drone, and the second propeller and the third propeller rotate at a high speed on the drone on the screen. At the same time, the first propeller and the fourth propeller And the motion displays on the monitor that the drones rotate in the right direction with respect to the user at the current position. Then, the user can visually confirm that the dron that has issued the right rotation command operates correctly to the right.

Sixth, when a horizontal left turn command is issued to the dron, the first propeller rotates clockwise, the second propeller rotates counterclockwise, the third propeller rotates counterclockwise, the fourth propeller rotates clockwise Wherein the first propeller and the fourth propeller rotate at a high speed and the second propeller and the third propeller rotate at a low speed and the first propeller and the fourth propeller rotate at a low speed The second propeller and the third propeller, so that the drones rotate in the horizontal left direction.

In this case, specifically, the operation of rotating the hand to the left is recognized by the electromyogram sensor. When the left rotation of the hand occurs, the operation is read through the electromyogram sensor and the preprocessing means. The control module executes a motor driving command of the manipulation processing unit to virtually rotate the propeller of the drone, and shows that the first propeller and the fourth propeller rotate at a high speed on the drone on the screen. At the same time, the second propeller and the third propeller And the motion displays on the monitor that the drones rotate left relative to the user at the current position. Then, the user can directly visually confirm that the dron that has issued the left rotation command operates correctly to the left.

Seventh, when a vertical upward movement command is issued to the drones, the first propeller rotates in a clockwise direction, the second propeller rotates in a counterclockwise direction, the third propeller rotates in a counterclockwise direction, and the fourth propeller rotates in a clockwise direction So that the first to fourth propellers rotate at high speed to vertically move the dron in the opposite direction of gravity.

Specifically, when an upward movement of the hand is detected by an electromyogram sensor, an upward movement of the hand is ascertained, and when the upward flow of the hand is detected, the operation is read through the electromyogram sensor and the preprocessing means. The control module performs a motor drive command of the operation processing unit to virtually rotate the propeller of the drone, and the control module displays that the first to fourth propellers are rotated at high speed on the screen drone, On the monitor, the upward flow based on the user. Then, the user can visually confirm that the dron that has issued the upper flow command operates correctly in the upward direction.

Eighth, when a vertical ascending / descending command is issued to the dron, the first propeller rotates clockwise, the second propeller rotates counterclockwise, the third propeller rotates counterclockwise, the fourth propeller rotates clockwise The first to fourth propellers rotate at low speed to move the dron vertically downward in the gravity direction.

In this case, specifically, the operation of lowering the hand in the downward direction is recognized by the electromyogram sensor. When the downward flow of the hand is detected, the operation is read through the electromyogram sensor and the preprocessing means. , The control module performs the motor driving command of the manipulation processing unit to virtually rotate the propeller of the drone, and shows that the first to fourth propellers are all rotated at low speed on the drone on the screen, And displays the downward flow on the monitor based on the user. Then, the user can visually confirm that the dron that has issued the lower flow command operates correctly in the downward direction.

Ninth, when a stop command is issued to the drones, the first propeller rotates in a clockwise direction, the second propeller rotates in a counterclockwise direction, the third propeller rotates in a counterclockwise direction, and the fourth propeller rotates in a clockwise direction The first to fourth propellers rotate at a medium speed to stop the drones in a state in which they do not fall in the direction of gravity and do not rise.

Specifically, when the hand is grasped twice consecutively, it is detected by the electromyogram sensor, the user recognizes that the dron is to be stopped at the current position through the preprocessing means, and when the manipulation processing unit issues the motor drive command according to the details, The controller executes a motor drive command of the manipulation processing unit to virtually rotate the propeller of the drone. On the screen, the first to fourth propellers are rotated at medium speed to display on the monitor that the propeller does not descend, . Then, the user can visually confirm that the dron that issued the stop command operates correctly in the stopped state.

As a result, when the present invention is used, the direction of movement of the wrist is detected by the electromyogram sensor, and the control unit appropriately transmits a low-speed or high-speed rotation command to the first to fourth propellers, In particular, the drone operation can be practiced sufficiently because the simulation is performed so that the drone can be operated without a separate control device only in the direction of moving the hand.

If the electromyogram sensor 11 is broken and the drone signal is not inputted to the control unit 13, the control unit 13 outputs a continuous alarm sound through the error signal automatic output unit 1000, .

The configuration of the error signal automatic output unit 1000 of the present invention is as follows.

A relay power supply unit 1101, an error signal output unit 1102, an oscillation transformer 1103, a relay operation switching unit 1108, a relay switch 1107, a first circuit connection switch sw1, A communication terminal power switch sw2, and a power source holding switching section 1118. [

The power supply unit 1101 applies a power supply signal by itself.

The error signal output unit 1102 switches the power supply circuit when an EMG sensor error occurs.

When the power switch is turned on, the oscillation transformer 1103 is supplied with electric power to output a boosted AC current.

The switching unit 1108 for relay operation is connected to the output terminal of the oscillation transformer 1103 and is turned on by electrical supply.

The relay switch 1107 is installed at an output terminal of the relay operation switching unit 1108 and generates a magnetic force.

The first circuit connection switch (sw1) performs a function of energizing the circuit by pulling the iron wire by the relay switch (1107).

The power switch for outputting the error signal sw2 induces an error signal to be displayed by supplying power to the error signal output control unit 1140 while the iron strip is pulled by the relay switch 1107. [

The power supply switching unit 1118 is connected to the base end of the first circuit connection switch and the emitter end and the collector end are connected to the oscillation transformer 1103 and the relay operation switching unit 1108, The wire is pulled by the operation of the switch 1108 to form a closed circuit while switching is turned on, and then the operation of the relay switch 1107 is stopped. At this time, if the first circuit connecting switch sw1 and the error signal output power switch sw2 are forcibly turned off, the closed circuit is broken while the closed circuit is broken and the relay operating switch 1108 is turned on and the relay switch is turned on The first circuit connecting switch sw1 and the error signal output power switch sw2 are turned on to induce the error signal to be output continuously.

The present invention further includes a circuit element for operation 1131 and an alarm signal operation control unit power connecting piece 1132, a resilient spring 1133, a permanent magnet 1134, and a manual operation switch 1135 .

The circuit-operating piece 1131 contacts the first circuit connecting switch to turn on the power-supply holding switch portion.

The error signal output control unit power connecting conduit 1132 is designed to operate in conjunction with the circuit breaker. When the circuit breaker is turned on, the error signal output control unit is connected to the power source to induce the alarm apparatus to operate.

The elastic spring 1133 is provided between the first circuit connection switch and the circuit operation steel wire to guide the first circuit connection switch and the circuit operation wire to be kept in an off state at all times during non-operation.

The permanent magnet 1134 is installed at one end of the first circuit connection switch. When the first circuit connection switch is switched by pulling the wire for circuit operation at the time of operation of the relay switch, the circuit for operating the circuit is attached so that even if the operation of the relay switch is stopped The ON state of the switching unit for power supply maintenance is maintained.

The manual operation switch 1135 is coupled to a wire for circuit operation and a wire for connecting an error signal output control unit to the power supply. When the user operates the wire to stop the operation of the alarm signal, The operation of the error signal display unit is stopped so that the alarm signal is no longer output.

Hereinafter, the operation of the automatic error signal output unit will be described.

First, when the error signal output unit 1102 is turned on, a DC power source is connected to supply power to the oscillation transformer, and a high voltage is applied to the secondary side of the oscillation transformer.

The power source induced on the secondary side becomes a DC power source of a half wave through a rectifying diode, and this half wave DC power source becomes a more stable DC power source due to the charging and discharging action of the condenser.

This DC power source is applied to the anode terminal of the thyristor through the coil of the relay switch 1107, while the DC power source charges the capacitor through the resistor. The elevated voltage passes through the die and triggers the switching section 1108 for relay operation so that the node node and the cathode node are switched so that the operation of the relay switch is made, The circuit connection switch sw1 and the error signal output power switch sw2 are turned on to apply power to the error signal output control unit 1140 to display an error signal.

When the first circuit connection switch sw1 is activated, a base end of the power supply maintaining switch 1118 is activated, and a closed circuit is induced in the emitter end and the collector end of the power supply holding switch 1118 to supply power to the transformer Off.

That is, a voltage between the resistor 1109 and the capacitor 1110 flows through the diode 1120 to flow between the emitter terminal and the collector terminal of the power source holding switching unit 1118, and the resistance between the resistor by the bypass and the capacitor When the voltage between the resistor and the capacitor is lowered, the trigger signal to the switching unit for relay operation 1108 is stopped, so that the node end and the tail end are turned off and the current flows to the relay switch 1107 So that the power supply is continuously stopped for switching.

On the other hand, if the operator turns off the first circuit connecting switch and the error signal output power switch during the error signal output, there is no current flow in the closed circuit, and accordingly, the bias voltage flowing between the emitter end and the base end of the power- And the power supply switching unit 1118 is turned off.

The power supply switching unit 1118 is turned off to remove the bypass voltage between the resistor and the capacitor through the diode 1120 and the voltage is charged in the capacitor 1110.

The charged voltage causes a break-over phenomenon of the die 1111 and a trigger signal is output from the die to the switching section 1108 for auxiliary switch operation to move the iron piece, while maintaining the closed circuit, and at the same time, So that the error signal display unit 1150 can be continuously operated.

That is, according to the present invention, if an error factor is not cured, a warning sound is continuously output to guide the user to heal an error factor.

That is, even if the user turns off the alarm signal by operating the manual switch 1135 while the error signal output unit 1102 is in the on state, the alarm signal is automatically output by returning the power source again, It is possible to induce to completely shut off the error signal since it is restarted again even if the alarm signal is cut off.

If the error signal output section is turned off, the user can operate the manual switch 1135 to manually shut off the alarm signal.

10: EMG signal processor
11: EMG sensor
12: preprocessing means
12a:
12b:
12c: A / D conversion section
13:
20:
30: Control module section
40:

Claims (2)

A control section (13), an operator's degree of movement of the arm is detected by the electromyogram sensor (11), an electromyogram signal is extracted by the preprocessing means (12) 13) for processing the EMG signal to determine which direction it is pointing to;
An operation processing unit 20 for inputting data of the electromyogram signal processing unit by wire or wireless and inputting a simulation control signal including a motor drive command signal for controlling the four wings given to virtual drone;
And a control module unit 30 for generating a wing control signal for each setting mode according to a simulation control signal of the operation processing unit 20 and controlling the wing control signal to be three-dimensionally displayed on the display unit 40;
If the electromyogram sensor 11 is broken and a signal is not input to the control unit 13, the control unit 13 outputs a continuous alarm sound through the error signal automatic output unit 1000;
The error signal automatic output unit 1000 outputs,
A power supply unit 1101 for applying a power supply signal by its own power supply;
An error signal output unit 1102 for receiving a signal from the control unit and switching the power supply circuit when a fault of the output signal is detected by the electromyogram sensor;
An oscillation transformer 1103 which is supplied with electricity when the power supply unit is turned on and outputs a boosted AC current;
A relay operation switching unit 1108 connected to the output terminal of the oscillation transformer 1103 and turned on by electrical supply;
A relay switch 1107 installed at an output terminal of the switching unit 1108 for generating a magnetic force and generating a magnetic force;
A first circuit connection switch sw1 for performing a function of energizing the circuit while the circuit breaker 1131 is pulled by the relay switch 1107;
An error signal output power switch sw2 for driving the error signal output control part power supply connection piece 1132 by the relay switch 1107 to supply power to the error signal output control part 1140 to display an error signal, ;
A circuit-operating iron piece (1131) which contacts the first circuit connecting switch to turn on the power-source holding switch part;
An error signal output control unit power connection iron piece 1132 designed to operate in conjunction with the circuit operation iron piece and to connect the power source to the error signal output control unit when the circuit breaker is turned on;
The first circuit connection switch and the base end are connected to each other, the emitter end and the collector end are connected to the oscillation transformer 1103 and the relay operation switching unit 1108, and the operation of the relay operation switching unit 1108 The wire pieces 1131 and the error signal output control unit power connecting wire pieces 1132 are pulled to form a closed circuit while switching is turned on so that the operation of the relay switch 1107 is stopped and then the first circuit connection switch sw1 And the error signal output power switch sw2 are turned off, the switching circuit is turned off while the closed circuit is broken, and the switching unit 1108 for relay operation is turned on to turn on the relay switch so that the first circuit connection switch sw1 and the error signal output And a power source holding switch 1118 for turning on the power switch sw2 to continuously output an error signal. Drone simulation control apparatus using a conductivity. The method according to claim 1,
The error signal automatic output unit 1000 outputs,
A resilient spring (1133) installed between the first circuit connection switch and the circuit operation iron piece to guide the first circuit connection switch and the circuit operation iron piece to be kept in an off state at all times during non-operation;
The first circuit connection switch is provided at one end of the first circuit connection switch. When the first circuit connection switch is switched by pulling the wire for circuit operation at the time of operation of the relay switch, A permanent magnet 1134 for maintaining the state;
And a control unit for controlling the operation of the error signal display unit by turning off the wire for the circuit operation and the wire for connecting the error signal output control unit when the user operates the alarm unit to stop the alarm signal operation, And a manual operation switch (1135) for stopping the operation of the drones so that no further alarm signal is output.

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