CN103861290B - A kind of myoelectricity remote control toy aircraft and control method thereof - Google Patents
A kind of myoelectricity remote control toy aircraft and control method thereof Download PDFInfo
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- CN103861290B CN103861290B CN201410068223.1A CN201410068223A CN103861290B CN 103861290 B CN103861290 B CN 103861290B CN 201410068223 A CN201410068223 A CN 201410068223A CN 103861290 B CN103861290 B CN 103861290B
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Abstract
The invention discloses a kind of myoelectricity remote control toy aircraft and control method thereof, this myoelectricity remote control toy aircraft includes myoelectricity remote control unit and toy aircraft, and wherein myoelectricity remote control unit includes several myoelectricity acquisition electrodes, signal processing module and wireless sending module.Myoelectricity acquisition electrode is responsible for the pickup of electromyographic signal；Signal processing module is responsible for the detection of electromyographic signal, feature extraction and gesture identification, and recognition result is additionally converted into aircraft maneuvers instruction；Wireless sending module is responsible for the wireless transmission of aircraft maneuvers instruction.Toy aircraft includes that aircraft body, flying vehicles control module, aircraft drive and performs module and wireless receiving module.Wireless receiving module is responsible for receiving the aircraft maneuvers instruction that remote control unit sends；Flying vehicles control module and driving perform module and are responsible for making aircraft body complete corresponding flare maneuver according to action command.Present invention achieves the electromyographic signal control to toy aircraft, add it interesting.
Description
Technical field
The present invention relates to intelligent toy technical field, particularly relate to bio electricity and control toy art.
Background technology
Toy aircraft is a kind of senior toy, is suitable for crowd extensive, is not only suitable for entertainment for children, and is also suitable for adult entertainment.While entertainment for children, also can cause its curiosity, and then produce the interest that study is explored；And be grown up after work, by playing aircraft, effectively have a rest, can preferably put in work.
At present, toy aircraft is fashionable at home and abroad, of a great variety, such as fixed wing airplane, gyroplane, dirigible etc., but control device and be manufactured almost exclusively by stick control or screen touch wireless remote control, and by bio electricity control the toy of aircraft almost without, it is contemplated that realize the electromyographic signal control to toy aircraft, its mystery, interest can be greatly increased, be thus more easy to arouse people's interest.
Summary of the invention
It is an object of the invention to: a kind of myoelectricity remote control toy aircraft is provided, it is possible to controlled the flight of aircraft by electromyographic signal produced by different gestures, it is achieved the electromyographic signal control to toy aircraft.
Technical scheme is as follows:
A kind of myoelectricity remote control toy aircraft, including myoelectricity remote control unit and toy aircraft, wherein:
Myoelectricity remote control unit includes several myoelectricity acquisition electrodes, signal processing module and wireless sending module；Described myoelectricity acquisition electrode is responsible for the pickup of electromyographic signal；Described signal processing module is responsible for the detection of electromyographic signal, feature extraction and gesture identification, and recognition result is converted into aircraft maneuvers instruction；Described wireless sending module is responsible for the wireless transmission of aircraft maneuvers instruction.
Toy aircraft includes that aircraft body, flying vehicles control module, aircraft drive and performs module and wireless receiving module；Described wireless receiving module is responsible for receiving the aircraft maneuvers instruction that remote control unit sends；Described flying vehicles control module and driving perform module and are responsible for making aircraft body complete corresponding flare maneuver according to action command.
Further, described myoelectricity acquisition electrode at least 3 leads, the flare maneuver more to control aircraft.
Further, described signal processing module include for the circuit of electromyographic signal detection, pre-amplification circuit, bandwidth-limited circuit, 50Hz trap circuit, signal isolation, program control main amplifying circuit and the level lifting circuit that this circuit includes being sequentially connected with；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 isolation of ground wire floating, it is ensured that human-body safety；Program control main amplifying circuit and level lifting circuit are for the further amplification of electromyographic signal, and in the range of being lifted to follow-up analog/digital conversion.
Further, feature extraction in described signal processing module, gesture identification and instruction conversion links are gone out to clench fist by the electromyographic signal feature identification extracted, stretch fist, are stretched wrist, wrist flexion, left-handed wrist and six actions of dextrorotation wrist, wherein: clenching fist and stretching fist action is converted to instruction of taking off and ground, clench fist and stretch the intensity then corresponding flight acceleration of fist and slow down；Stretching wristing and be converted to upwards flight directive, wrist flexion action is converted to downward flight directive, stretches the height of the intensity then corresponding flight of wrist and wrist flexion；Left-handed wrist correspondence steering order to the left, dextrorotation wrist correspondence steering order to the right.
Further, described signal processing module uses the high speed processor of built-in high accuracy analog/digital conversion；Described wireless transmission and wireless receiving module use rf data transceiver.
Further, described myoelectricity remote control unit has battery and two kinds of powering modes of external power supply.
The control method of a kind of myoelectricity remote control toy aircraft, comprises the following steps:
(1) the least arm stretching is directing forwardly；Clenching fist, aircraft starts to take off, and along with the intensity clenched fist increases, speed strengthens；
(2) during aircraft flight, if aircraft upwards flies, then keep original action and stretch wrist；If aircraft flies downwards, then keep original action wrist flexion；
(3) during aircraft flight, if aircraft turns to the left, then original action is kept and to left-handed wrist；If aircraft turns to the right, then keep original action and turn to the right；
(4) if aircraft lands the grounding, then wrist flexion is flown downwards and is stretched fist and slows down, until landing stopping；
(5) if continuing flight to repeat step (1) to (4).
The invention have the benefit that
The electromyographic signal produced by difference conversion gesture is wirelessly sent to toy aircraft after treatment, controls the flare maneuver of aircraft.This invention is interesting strong, it is possible to attract different crowd, impression science and technology and the mystery of human biological electricity while amusement.
Accompanying drawing explanation
Fig. 1 is myoelectricity remote control toy aircraft structured flowchart；
Fig. 2 is electromyographic signal testing circuit structured flowchart.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiments of the present invention are further described.
The structure of the present invention a kind of myoelectricity remote control toy aircraft is as it is shown in figure 1, include myoelectricity remote control unit and toy aircraft, wherein:
Myoelectricity remote control unit is positioned over outside little arm, and acquisition electrode is placed in the corresponding extensor of arm, musculus flexor position pickup electromyographic signal, and myoelectricity remote control unit includes several myoelectricity acquisition electrodes, signal processing module and wireless sending module.Myoelectricity acquisition electrode is responsible for the pickup of electromyographic signal；Signal processing module is responsible for the detection of electromyographic signal, feature extraction and gesture identification, and recognition result is additionally converted into aircraft maneuvers instruction；Wireless sending module is responsible for the wireless transmission of aircraft maneuvers instruction.
Toy aircraft includes that aircraft body, flying vehicles control module, aircraft drive and performs module and wireless receiving module.Wireless receiving module is responsible for receiving the aircraft maneuvers instruction that remote control unit sends；Flying vehicles control module and driving perform module and are responsible for making aircraft body complete corresponding flare maneuver according to action command.
Wherein myoelectricity acquisition electrode at least 3 leads, and so can control the more flare maneuver of aircraft.
Wherein the structure of electromyographic signal testing circuit is as in figure 2 it is shown, include the isolation of pre-amplification circuit, bandwidth-limited circuit, 50Hz trap circuit, signal, program control main amplifying circuit and level lifting circuit.Electromyographic signal is tentatively amplified by pre-amplification circuit, and interference signal can be played good inhibiting effect by high performance pre-amplification circuit, and the gain amplifier of pre-amplification circuit is 100；On the one hand bandwidth-limited circuit for blocking the DC level that pre-amplification circuit may export, prevents subsequent conditioning circuit from occurring saturated, on the other hand can eliminate mixed various noise jamming in the 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 isolation of ground wire floating, it is ensured that human-body safety；Program control main amplifying circuit and level lifting circuit amplify for the further of electromyographic signal, and in the range of being lifted to follow-up analog/digital conversion, generally women electromyographic signal amplitude is less than male, and strong little, so concrete amplification can be by Programming according to operator's sex and body constitution of Low electromyographic signal amplitude than bulk matter.
Wherein feature extraction in signal processing module, gesture identification and instruction conversion links are gone out to clench fist by the electromyographic signal feature identification extracted, stretch fist, are stretched wrist, wrist flexion, left-handed wrist and six actions of dextrorotation wrist, wherein clench fist and stretch fist action and be converted to instruction of taking off and ground, clench fist and stretch the intensity then corresponding flight acceleration of fist and slow down；Stretching wristing and be converted to upwards flight directive, wrist flexion action is converted to downward flight directive, stretches the height of the intensity then corresponding flight of wrist and wrist flexion；Left-handed wrist correspondence steering order to the left, dextrorotation wrist correspondence steering order to the right.The corresponding corresponding aircraft maneuvers instruction of each action, through wireless sending module, is sent to aircraft, after aircraft receives command adapted thereto, is driven by own controller and perform corresponding actions.
Wherein signal processing module uses the high speed processor of built-in high accuracy analog/digital conversion；Described wireless transmission and wireless receiving module use rf data transceiver.
Wherein myoelectricity remote control unit 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: the least arm stretching is directing forwardly；Clenching fist, aircraft starts to take off, and along with the intensity clenched fist increases, speed strengthens；
Step2: during aircraft flight, if aircraft upwards flies, then keeps original action and stretches wrist；If aircraft flies downwards, then keep original action wrist flexion；
Step3: during aircraft flight, if aircraft turns to the left, then keeps original action and to left-handed wrist；If aircraft turns to the right, then keep original action and turn to the right；
Step4: if aircraft lands the grounding, then wrist flexion is flown downwards and is stretched fist and slows down, until landing stopping；
Step5: if continuing flight to repeat Step1-Step4.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention.All any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (4)
1. a myoelectricity remote control toy aircraft, it is characterised in that include myoelectricity remote control unit and toy aircraft,
Wherein:
Myoelectricity remote control unit includes several myoelectricity acquisition electrodes, signal processing module and wireless sending module；Institute
Stating myoelectricity acquisition electrode and be responsible for the pickup of electromyographic signal, described myoelectricity acquisition electrode at least 3 leads, to control
The flare maneuver that aircraft is more；Described signal processing module is responsible for the detection of electromyographic signal, feature extraction and hands
Gesture identification, and recognition result is converted into aircraft maneuvers instruction, described signal processing module include for
The circuit of electromyographic signal detection, pre-amplification circuit that this circuit includes being sequentially connected with, bandwidth-limited circuit, 50Hz
The isolation of trap circuit, signal, program control main amplifying circuit and level lifting circuit, wherein, pre-amplification circuit is put
Large gain is 100, and bandwidth-limited circuit cut-off frequency is 10-600Hz；50Hz trap circuit is used for removing sky
Between 50Hz electromagnetic interference, signal isolation realize ground wire floating isolation, it is ensured that human-body safety, program control main amplify electricity
Road and level lifting circuit amplify for the further of electromyographic signal, and are lifted to follow-up analog/digital conversion model
In enclosing；Described wireless sending module is responsible for the wireless transmission of aircraft maneuvers instruction；
Toy aircraft includes that aircraft body, flying vehicles control module, aircraft drive and performs module and wireless
Receiver module；Described wireless receiving module is responsible for receiving the aircraft maneuvers instruction that remote control unit sends；Described fly
Row device control module and driving execution module are responsible for according to action command, aircraft body being completed accordingly and are flown
Action is made.
2. myoelectricity remote control toy aircraft as claimed in claim 1, it is characterised in that described signal processing module
Middle feature extraction, gesture identification and instruction conversion links go out to clench fist by the electromyographic signal feature identification that extracts,
Stretch fist, stretch wrist, wrist flexion, left-handed wrist and six actions of dextrorotation wrist, wherein: clenching fist and stretching fist action has been converted to
Fly and ground instruction, clenches fist and stretches the intensity then corresponding flight acceleration of fist and slow down；Stretch wristing be converted to
Upper flight directive, wrist flexion action is converted to downward flight directive, stretches the intensity then corresponding flight of wrist and wrist flexion
Highly；Left-handed wrist correspondence steering order to the left, dextrorotation wrist correspondence steering order to the right.
3. myoelectricity remote control toy aircraft as claimed in claim 1, it is characterised in that described signal processing module
Use the high speed processor of built-in high accuracy analog/digital conversion；Described wireless transmission and wireless receiving module use to be penetrated
Frequently data collector.
4. myoelectricity remote control toy aircraft as claimed in claim 1, it is characterised in that described myoelectricity remote control unit
There are battery and two kinds of powering modes of external power supply.
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| 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 |
| US9513629B1 (en) * | 2015-10-30 | 2016-12-06 | Sony Mobile Communications, Inc. | Methods and devices for heart rate controlled drones |
| 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 |
| 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 | Online gesture recognition method for myoelectric individual difference problem |
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| GB2020450A (en) * | 1978-05-02 | 1979-11-14 | Weiss A R | Toy controlled by myoelectric potentials |
| CN101777250B (en) * | 2010-01-25 | 2012-01-25 | 中国科学技术大学 | General remote control device and method for household appliances |
| CN201658845U (en) * | 2010-04-20 | 2010-12-01 | 华中科技大学 | Gesture type remote toy controller |
| 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 |
| CN203253171U (en) * | 2012-12-28 | 2013-10-30 | 捷丰远东有限公司 | Wireless remote control and toy |
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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 |