CN103861290A - Myoelectricity remote control toy aircraft and control method thereof - Google Patents
Myoelectricity remote control toy aircraft and control method thereof Download PDFInfo
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- CN103861290A CN103861290A CN201410068223.1A CN201410068223A CN103861290A CN 103861290 A CN103861290 A CN 103861290A CN 201410068223 A CN201410068223 A CN 201410068223A CN 103861290 A CN103861290 A CN 103861290A
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Abstract
The invention discloses a myoelectricity remote control toy aircraft and a control method thereof. The myoelectricity remote control toy aircraft comprises an electromyographic remote control device and a toy aircraft, wherein the electromyographic remote control device comprises a plurality of electromyographic acquisition electrodes, a signal processing module and a wireless transmitting module; the electromyographic acquisition electrodes are responsible for picking electromyographic signals; the signal processing module is responsible for detection, feature extraction and gesture recognition of the electromyographic signals as well as is responsible for converting the recognition result into an aircraft action instruction; the wireless transmitting module is responsible for transmitting the aircraft action instruction in a wireless manner. The toy aircraft comprises an aircraft body, an aircraft control module, an aircraft driving execution module and a wireless receiving module; the wireless receiving module is responsible for receiving the aircraft action instruction transmitted by the remote control device; the aircraft control module and the driving execution module are responsible for enabling the aircraft body to finish the corresponding flying action according to the action instruction. According to the myoelectricity remote control toy aircraft and the control method disclosed by the invention, the control over the toy aircraft by the electromyographic signals is realized and the interestingness of the toy aircraft is increased.
Description
Technical field
The present invention relates to intelligent toy technical field, particularly relate to biological electricity control toy field.
Background technology
Toy aircraft is a kind of senior toy, is suitable for crowd extensive, is not only applicable to entertainment for children and suitable adult's amusement.When entertainment for children, also can cause its curiosity, and then produce the interest that study is explored; And adult is after work, by playing aircraft, effectively have a rest, can put in work and go better.
At present, toy aircraft is at home and abroad fashionable, of a great variety, as fixed wing aircraft, gyroplane, dirigible etc., but control device is nearly all by stick control or screen touch wireless remote control, and almost do not have by the toy that biological electricity is controlled aircraft, the present invention is intended to realize the control of electromyographic signal to toy aircraft, can greatly increase its mystery, interest, more easily cause thus people's interest.
Summary of the invention
The object of the invention is: a kind of myoelectricity remote control toy aircraft is provided, and the flight of the electromyographic signal control aircraft that can produce by different gestures, realizes the control of electromyographic signal to toy aircraft.
Technical scheme of the present invention is as follows:
A kind of myoelectricity remote control toy aircraft, comprises myoelectricity remote control and toy aircraft, wherein:
Myoelectricity remote control comprises several myoelectricity acquisition electrodes, signal processing module and wireless sending module; Described myoelectricity acquisition electrode is responsible for picking up of electromyographic signal; Described signal processing module is responsible for detection, feature extraction and the gesture identification of electromyographic signal, and converts recognition result to aircraft action command; Described wireless sending module is responsible for the wireless transmission of aircraft action command.
Toy aircraft comprises that aircraft body, aircraft control module, aircraft drive Executive Module and wireless receiving module; Described wireless receiving module is responsible for receiving the aircraft action command that remote control sends; Described aircraft control module and driving Executive Module are responsible for making aircraft body complete corresponding flare maneuver according to action command.
Further, described myoelectricity acquisition electrode is at least 3 and leads, to control the more flare maneuver of aircraft.
Further, described signal processing module comprise for the circuit that detects of electromyographic signal, this circuit comprises successively the pre-amplification circuit, bandwidth-limited circuit, 50Hz trap circuit, signal isolation, program control main amplifying circuit and the level lifting circuit that connect; Wherein, pre-amplification circuit gain amplifier is 100, and bandwidth-limited circuit cut-off frequency is 10-600Hz; 50Hz trap circuit is used for removing space 50Hz electromagnetic interference; Signal isolation realizes the floating empty isolation of ground wire, guarantees human-body safety; Program control main amplifying circuit and level lifting circuit are used for the further amplification of electromyographic signal, and are lifted within the scope of follow-up mould/number conversion.
Further, feature extraction in described signal processing module, gesture identification and instruction transformation link identify by the electromyographic signal feature extracting and clench fist, stretch fist, stretch wrist, bend wrist, left-handed wrist and six actions of dextrorotation wrist, corresponding flight acceleration and the deceleration of intensity of wherein: clenching fist and stretching fist action is converted to the instruction of taking off and ground, clenching fist and stretching fist; Stretch wrist action and be converted to upwards flight directive, bend wrist action and be converted to downward flight directive, stretch the height of corresponding flight of intensity of wrist and wrist in the wrong; Left-handed wrist correspondence steering order left, dextrorotation wrist correspondence steering order to the right.
Further, described signal processing module adopts the high speed processor of built-in high accuracy mould/number conversion; Described wireless transmission and wireless receiving module adopt rf data transceiver.
Further, described myoelectricity remote control has battery and two kinds of powering modes of external power supply.
A control method for myoelectricity remote control toy aircraft, comprises the following steps:
(1) first forearm stretches directed forward; Clench fist, aircraft starts to take off, and along with the intensity of clenching fist increases, speed strengthens;
(2), in aircraft flight process, if aircraft upwards flies, keep originally moving and stretching wrist; If aircraft flies, keep original action wrist in the wrong downwards;
(3) in aircraft flight process, if aircraft turn left to, keep original action and to left-handed wrist; If aircraft turn right to, keep originally moved and turn right to;
(4) if aircraft lands the grounding, bend wrist and fly downwards and stretch fist and slow down, stop until landing;
(5) if continue flight repeating step (1) to (4).
Beneficial effect of the present invention is:
The electromyographic signal that converts gesture generation by difference is wirelessly sent to toy aircraft after treatment, controls the flare maneuver of aircraft.This invention is interesting strong, can attract different crowd, experiences the mystery of science and technology and human biological electricity when amusement.
Accompanying drawing explanation
Fig. 1 is myoelectricity remote control toy aircraft structured flowchart;
Fig. 2 is electromyographic signal testing circuit structured flowchart.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are further described.
The structure of a kind of myoelectricity remote control toy aircraft of the present invention as shown in Figure 1, comprises myoelectricity remote control and toy aircraft, wherein:
Myoelectricity remote control is positioned over little arm outside, and acquisition electrode is placed in the corresponding extensor of arm, electromyographic signal is picked up in musculus flexor position, and myoelectricity remote control comprises several myoelectricity acquisition electrodes, signal processing module and wireless sending module.Myoelectricity acquisition electrode is responsible for picking up of electromyographic signal; Signal processing module is responsible for detection, feature extraction and the gesture identification of electromyographic signal, in addition recognition result is converted to aircraft action command; Wireless sending module is responsible for the wireless transmission of aircraft action command.
Toy aircraft comprises that aircraft body, aircraft control module, aircraft drive Executive Module and wireless receiving module.Wireless receiving module is responsible for receiving the aircraft action command that remote control sends; Aircraft control module and driving Executive Module are responsible for making aircraft body complete corresponding flare maneuver according to action command.
Wherein myoelectricity acquisition electrode is at least 3 and leads, and so can control the more flare maneuver of aircraft.
Wherein the structure of electromyographic signal testing circuit as shown in Figure 2, comprises pre-amplification circuit, bandwidth-limited circuit, 50Hz trap circuit, signal isolation, program control main amplifying circuit and level lifting circuit.Pre-amplification circuit tentatively amplifies electromyographic signal, and high performance pre-amplification circuit can play good inhibitory action to interfering signal, and the gain amplifier of pre-amplification circuit is 100; Bandwidth-limited circuit, on the one hand for blocking the DC level that pre-amplification circuit may be exported, prevents that subsequent conditioning circuit from occurring saturated, can eliminate on the other hand the various noise jamming that are mixed in signal, and the cut-off frequency of bandwidth-limited circuit is 10-600Hz; 50Hz trap circuit is used for removing space 50Hz electromagnetic interference; Signal isolation realizes the floating empty isolation of ground wire, guarantees human-body safety; Program control main amplifying circuit and level lifting circuit are for the further amplification of electromyographic signal, and be lifted within the scope of follow-up mould/number conversion, conventionally women's electromyographic signal amplitude is less than the male sex, and Low electromyographic signal amplitude is than strong little of physique, so concrete multiplication factor can be by Programming according to operator's sex and physique.
Wherein feature extraction in signal processing module, gesture identification and instruction transformation link identify by the electromyographic signal feature extracting and clench fist, stretch fist, stretch wrist, bend wrist, left-handed wrist and six actions of dextrorotation wrist, wherein clenching fist and stretching fist action is converted to the instruction of taking off and ground, corresponding flight acceleration and the deceleration of intensity of clenching fist and stretching fist; Stretch wrist action and be converted to upwards flight directive, bend wrist action and be converted to downward flight directive, stretch the height of corresponding flight of intensity of wrist and wrist in the wrong; Left-handed wrist correspondence steering order left, dextrorotation wrist correspondence steering order to the right.The corresponding corresponding aircraft action command of each action, through wireless sending module, sends to aircraft, and aircraft receives after command adapted thereto, by driving and carry out corresponding actions from body controller.
Wherein signal processing module adopts the high speed processor of built-in high accuracy mould/number conversion; Described wireless transmission and wireless receiving module adopt rf data transceiver.
Wherein myoelectricity remote control has battery and two kinds of powering modes of external power supply.
The control method of above-mentioned myoelectricity remote control toy aircraft, comprises the following steps:
Step1: first forearm stretches directed forward; Clench fist, aircraft starts to take off, and along with the intensity of clenching fist increases, speed strengthens;
Step2: in aircraft flight process, if aircraft upwards flies, keep originally moving and stretching wrist; If aircraft flies, keep original action wrist in the wrong downwards;
Step3: in aircraft flight process, if aircraft turn left to, keep original action and to left-handed wrist; If aircraft turn right to, keep originally moved and turn right to;
Step4: if aircraft lands the grounding, bend wrist and fly downwards and stretch fist and slow down, stop until landing;
Step5: repeat Step1-Step4 if continue flight.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. a myoelectricity remote control toy aircraft, is characterized in that, comprises myoelectricity remote control and toy aircraft, wherein:
Myoelectricity remote control comprises several myoelectricity acquisition electrodes, signal processing module and wireless sending module; Described myoelectricity acquisition electrode is responsible for picking up of electromyographic signal; Described signal processing module is responsible for detection, feature extraction and the gesture identification of electromyographic signal, and converts recognition result to aircraft action command; Described wireless sending module is responsible for the wireless transmission of aircraft action command;
Toy aircraft comprises that aircraft body, aircraft control module, aircraft drive Executive Module and wireless receiving module; Described wireless receiving module is responsible for receiving the aircraft action command that remote control sends; Described aircraft control module and driving Executive Module are responsible for making aircraft body complete corresponding flare maneuver according to action command.
2. myoelectricity remote control toy aircraft as claimed in claim 1, is characterized in that, described myoelectricity acquisition electrode is at least 3 and leads, to control the more flare maneuver of aircraft.
3. myoelectricity remote control toy aircraft as claimed in claim 1 or 2, it is characterized in that, described signal processing module comprise for the circuit that detects of electromyographic signal, this circuit comprises successively the pre-amplification circuit, bandwidth-limited circuit, 50Hz trap circuit, signal isolation, program control main amplifying circuit and the level lifting circuit that connect; Wherein, pre-amplification circuit gain amplifier is 100, and bandwidth-limited circuit cut-off frequency is 10-600Hz; 50Hz trap circuit is used for removing space 50Hz electromagnetic interference; Signal isolation realizes the floating empty isolation of ground wire, guarantees human-body safety; Program control main amplifying circuit and level lifting circuit are used for the further amplification of electromyographic signal, and are lifted within the scope of follow-up mould/number conversion.
4. myoelectricity remote control toy aircraft as claimed in claim 1, it is characterized in that, feature extraction in described signal processing module, gesture identification and instruction transformation link identify by the electromyographic signal feature extracting and clench fist, stretch fist, stretch wrist, bend wrist, left-handed wrist and six actions of dextrorotation wrist, corresponding flight acceleration and the deceleration of intensity of wherein: clenching fist and stretching fist action is converted to the instruction of taking off and ground, clenching fist and stretching fist; Stretch wrist action and be converted to upwards flight directive, bend wrist action and be converted to downward flight directive, stretch the height of corresponding flight of intensity of wrist and wrist in the wrong; Left-handed wrist correspondence steering order left, dextrorotation wrist correspondence steering order to the right.
5. myoelectricity remote control toy aircraft as claimed in claim 1, is characterized in that, described signal processing module adopts the high speed processor of built-in high accuracy mould/number conversion; Described wireless transmission and wireless receiving module adopt rf data transceiver.
6. myoelectricity remote control toy aircraft as claimed in claim 1, is characterized in that, described myoelectricity remote control has battery and two kinds of powering modes of external power supply.
7. a control method for myoelectricity remote control toy aircraft, is characterized in that, comprises the following steps:
(1) first forearm stretches directed forward; Clench fist, aircraft starts to take off, and along with the intensity of clenching fist increases, speed strengthens;
(2), in aircraft flight process, if aircraft upwards flies, keep originally moving and stretching wrist; If aircraft flies, keep original action wrist in the wrong downwards;
(3) in aircraft flight process, if aircraft turn left to, keep original action and to left-handed wrist; If aircraft turn right to, keep originally moved and turn right to;
(4) if aircraft lands the grounding, bend wrist and fly downwards and stretch fist and slow down, stop until landing;
(5) if continue flight repeating step (1) to (4).
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104190089A (en) * | 2014-08-21 | 2014-12-10 | 徐州飞梦电子科技有限公司 | Control method for gesture control over paper plane |
| CN105718032A (en) * | 2014-12-05 | 2016-06-29 | 常州大学 | Spaced control autodyne aircraft |
| CN105817037A (en) * | 2016-05-19 | 2016-08-03 | 深圳大学 | Toy air vehicle based on myoelectric control and control method thereof |
| CN105824321A (en) * | 2016-04-29 | 2016-08-03 | 泰山医学院 | Four-axis aircraft control system and method based on surface electromyogram signals |
| CN105892676A (en) * | 2016-04-26 | 2016-08-24 | 中国科学院自动化研究所 | Human-machine interaction device, system and method of vascular intervention operation wire feeder |
| CN106130686A (en) * | 2016-09-09 | 2016-11-16 | 中国科学院云南天文台 | A kind of continental rise formula unmanned plane interference platform |
| CN108351643A (en) * | 2015-10-30 | 2018-07-31 | 索尼移动通讯有限公司 | Method and apparatus for the unmanned plane by Rate control |
| CN108564105A (en) * | 2018-02-28 | 2018-09-21 | 浙江工业大学 | A kind of online gesture identification method for myoelectricity individual difference problem |
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| CN102729254A (en) * | 2012-07-04 | 2012-10-17 | 杭州电子科技大学 | Myoelectricity control method for remote-control robot based on touch presence feeling |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105597338A (en) * | 2014-08-21 | 2016-05-25 | 徐州飞梦电子科技有限公司 | Control method for paper plane |
| CN104190089A (en) * | 2014-08-21 | 2014-12-10 | 徐州飞梦电子科技有限公司 | Control method for gesture control over paper plane |
| CN105597338B (en) * | 2014-08-21 | 2017-08-25 | 徐州飞梦电子科技有限公司 | A kind of control method of paper helicopter |
| CN105718032A (en) * | 2014-12-05 | 2016-06-29 | 常州大学 | Spaced control autodyne aircraft |
| CN108351643A (en) * | 2015-10-30 | 2018-07-31 | 索尼移动通讯有限公司 | Method and apparatus for the unmanned plane by Rate control |
| CN108351643B (en) * | 2015-10-30 | 2021-06-22 | 索尼移动通讯有限公司 | Method for controlling unmanned aerial vehicle and device for controlling position of unmanned aerial vehicle |
| CN105892676A (en) * | 2016-04-26 | 2016-08-24 | 中国科学院自动化研究所 | Human-machine interaction device, system and method of vascular intervention operation wire feeder |
| CN105892676B (en) * | 2016-04-26 | 2021-12-24 | 北京中科鸿泰医疗科技有限公司 | Human-computer interaction device, system and method of wire feeding mechanism for vascular intervention operation |
| CN105824321A (en) * | 2016-04-29 | 2016-08-03 | 泰山医学院 | Four-axis aircraft control system and method based on surface electromyogram signals |
| CN105817037A (en) * | 2016-05-19 | 2016-08-03 | 深圳大学 | Toy air vehicle based on myoelectric control and control method thereof |
| CN105817037B (en) * | 2016-05-19 | 2018-05-25 | 深圳大学 | A kind of toy aircraft and its control method based on myoelectricity control |
| CN106130686A (en) * | 2016-09-09 | 2016-11-16 | 中国科学院云南天文台 | A kind of continental rise formula unmanned plane interference platform |
| CN108564105A (en) * | 2018-02-28 | 2018-09-21 | 浙江工业大学 | A kind of online gesture identification method for myoelectricity individual difference problem |
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Effective date of registration: 20201223 Address after: Building 7, no.8-2, Dutou street, Daitou Town, Liyang City, Changzhou City, Jiangsu Province Patentee after: Liyang Chang Technology Transfer Center Co.,Ltd. Address before: Gehu Lake Road Wujin District 213164 Jiangsu city of Changzhou province No. 1 Patentee before: CHANGZHOU University |