CN205796524U - A kind of toy aircraft controlled based on myoelectricity - Google Patents
A kind of toy aircraft controlled based on myoelectricity Download PDFInfo
- Publication number
- CN205796524U CN205796524U CN201620459124.0U CN201620459124U CN205796524U CN 205796524 U CN205796524 U CN 205796524U CN 201620459124 U CN201620459124 U CN 201620459124U CN 205796524 U CN205796524 U CN 205796524U
- Authority
- CN
- China
- Prior art keywords
- aircraft
- myoelectricity
- module
- toy
- controlled based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Toys (AREA)
Abstract
This utility model provides a kind of toy aircraft controlled based on myoelectricity, relates to field of intelligent control technology.This toy aircraft includes aircraft and the body-sensing bracelet for remotely-piloted vehicle；Body-sensing bracelet include electromyographic signal collection circuit, the first gyroscope, the first acceleration transducer, for the gesture motion of the data identification user according to electromyographic signal collection circuit, the first gyroscope and the first acceleration transducer collection and recognition result is converted to the primary processor of corresponding flight control instruction and is used for sending to aircraft flight control instruction, make aircraft perform the first radio receiving transmitting module of corresponding flight attitude according to described flight control instruction；Wherein primary processor is electrically connected with electromyographic signal collection circuit, the first gyroscope, the first acceleration transducer and the first radio receiving transmitting module respectively.This utility model need not additionally configure special remote controller, simplifies remote manipulation, and improves the playability of toy aircraft.
Description
Technical field
This utility model belongs to field of intelligent control technology, particularly relates to a kind of toy aircraft controlled based on myoelectricity.
Background technology
At present, toy aircraft has become as the most senior fashionable toy.Toy aircraft of a great variety, such as:
There is a toy aircraft of the types such as fixed wing airplane, propeller aeroplane and dirigible, but the control of these type of toy aircraft
Mode is manufactured almost exclusively by stick control or screen touch wireless remote control, and both control modes are required to as toy flying
Device additionally customizes special remote controller, and remote manipulation is complicated, and playability is relatively low.
Utility model content
The purpose of this utility model is to provide a kind of toy aircraft controlled based on myoelectricity, it is intended to solve existing toy
The control mode of aircraft needs additionally to customize special distant controller, and remote manipulation is complicated, the problem that playability is relatively low.
This utility model be achieved in that a kind of based on myoelectricity control toy aircraft, including aircraft and with institute
State aircraft radio communication to connect, for the body-sensing bracelet of aircraft described in remote control；Described body-sensing bracelet includes that electromyographic signal is adopted
Collector, the first gyroscope, the first acceleration transducer, for according to described electromyographic signal collection circuit, described first gyro
Recognition result is also converted to accordingly by the gesture motion of the data identification user of instrument and described first acceleration transducer collection
The primary processor of flight control instruction and for flight control instruction is sent to described aircraft, make described aircraft according to
Described flight control instruction performs the first radio receiving transmitting module of corresponding flight attitude；Wherein, described primary processor respectively with
Described electromyographic signal collection circuit, described first gyroscope, described first acceleration transducer and described first wireless receiving and dispatching
Module is electrically connected with.
On the basis of technique scheme, described electromyographic signal collection circuit includes for gathering human body surface myoelectric letter
Number dry electrode slice, for described electromyographic signal is filtered filter circuit, for filtered electromyographic signal is carried out
The voltage conversion circuit of boosting and the electromyographic signal after boosting is converted to the A/D change-over circuit of digital signal；Wherein, described
Dry electrode slice, described filter circuit, described voltage conversion circuit and described A/D change-over circuit are electrically connected with successively, described A/D
Change-over circuit is also electrically connected with described primary processor.
On the basis of technique scheme, described body-sensing bracelet also includes for carrying out closely with outside NFC label equipment
The NFC module of communication and for showing the display module of NFC label data that described NFC module reads, described NFC mould
Block and described display module are all electrically connected with described primary processor.
On the basis of technique scheme, described body-sensing bracelet also includes being connected with described primary processor, is used for surveying
The heart rate measurement module of amount user's heart rate.
On the basis of technique scheme, described body-sensing bracelet also includes being connected with described primary processor, is used for surveying
The measurement of bldy temperature module of amount user's body temperature.
On the basis of technique scheme, described aircraft include aircraft body and four exist in crossing distribution
The top of described aircraft body, for controlling the propeller of described aircraft body flight attitude；In described aircraft body
Portion be provided with four respectively with described propeller one_to_one corresponding, for controlling the motor and described first of described revolution speed of propeller
Radio receiving transmitting module radio communication connects, for receiving the second wireless receiving and dispatching of the flight control instruction that described body-sensing bracelet sends
Module, for driving the main control module of signal, for driving letter according to described according to the output of described flight control instruction is corresponding
Number control the rotating speed of four described motors, so that four motors that described aircraft body performs corresponding flight attitude drive moulds
Block；Wherein, described second radio receiving transmitting module and four described motor drive modules are all electrically connected with described main control module,
Four described motor drive modules lay respectively at four described motor internals.
On the basis of technique scheme, described aircraft also includes being arranged on described aircraft body two bottom sides
Pulley.
On the basis of technique scheme, described aircraft also includes being electrically connected with described main control module respectively
Electronic compass and barometer.
On the basis of technique scheme, described aircraft also includes the shooting being electrically connected with described main control module
Head.
On the basis of technique scheme, described aircraft also includes be electrically connected with respectively with described main control module
Two gyroscopes and the second acceleration transducer.
A kind of toy aircraft controlled based on myoelectricity that implementing this utility model provides has the advantages that
This utility model is integrated in controls the flight appearance of toy aircraft in body-sensing bracelet owing to myoelectricity controlling function
State, so that toy aircraft need not additionally configure special remote controller, reduces the cost of manufacture of toy aircraft, and
And simplify the remote manipulation of toy aircraft；Owing to being integrated with gyroscope and acceleration transducer in body-sensing bracelet, thus
Add more control mode, improve the playability of toy aircraft.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of toy aircraft controlled based on myoelectricity that this utility model embodiment provides.
Fig. 2 is electromyographic signal collection in a kind of based on myoelectricity control the toy aircraft that this utility model embodiment provides
The structural representation of circuit.
Fig. 3 is to control aircraft in this utility model embodiment to perform the control mode schematic diagram of various flight attitudes.
Fig. 4 is to control control mode schematic diagram when aircraft is run on land in this utility model embodiment.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.Should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
Fig. 1 is the structural representation of a kind of toy aircraft controlled based on myoelectricity that this practical embodiment provides.In order to
It is easy to illustrate to illustrate only part related to the present embodiment.
A kind of toy aircraft controlled based on myoelectricity shown in Figure 1, that the present embodiment provides, including aircraft 1 He
It is connected with described aircraft 1 radio communication, for the body-sensing bracelet 2 of aircraft described in remote control 1；Described body-sensing bracelet 2 includes flesh
Signal acquisition circuit the 21, first gyroscope the 23, first acceleration transducer 22, for according to described electromyographic signal collection circuit
21, gesture motion the general of the data identification user that described first gyroscope 23 and described first acceleration transducer 22 gather knows
Other result is converted to the primary processor 24 of corresponding flight control instruction and flies described in flight control instruction being sent extremely
Row device 1, makes described aircraft 1 perform the first radio receiving transmitting module of corresponding flight attitude according to described flight control instruction
25；Wherein, described primary processor 24 respectively with described electromyographic signal collection circuit 21, described first gyroscope 23, described first
Acceleration transducer 22 and described first radio receiving transmitting module 25 are electrically connected with.
In the present embodiment, body-sensing bracelet 2 is worn at the wrist of user, and described primary processor 24 can be believed according to myoelectricity
Electromyographic signal that number Acquisition Circuit the 21, first gyroscope 23 and the first acceleration transducer 22 collect, wrist angle of inclination
The wrist identifying user with the acceleration of wrist respectively brandishes direction, the wrist twisting gesture such as amplitude and finger flex state
Action, then according to the gesture motion identified and the gesture motion being solidificated in advance in described primary processor 24 internal memory and flight
The corresponding flight control instruction of corresponding relation output of control instruction, such as: when the number gathered according to the first acceleration transducer 22
When brandishing to the left according to the wrist identifying user, the control that the output described aircraft 1 of control is tilted to the left or runs to the left refers to
Order；When the collection data according to gyroscope identify the twisting amplitude of user's wrist, then according to the twisting amplitude of user's wrist
Identifying the wrist position that user is current, if the wrist position of active user is for twist to the right, then output controls described aircraft 1
The control instruction flown to the right or bend to right；Current when identifying user according to the electromyographic signal of myoelectricity Acquisition Circuit collection
Gesture for clenching fist time, then hold the increase of palm degree along with user, output controls the control instruction that aircraft 1 throttle reduces.
Further, shown in Figure 2, described electromyographic signal collection circuit 21 includes for gathering human body surface myoelectric letter
Number dry electrode slice 211, for described electromyographic signal is filtered filter circuit 212, for filtered myoelectricity is believed
Number carry out the voltage conversion circuit 213 that boosts and the electromyographic signal after boosting is converted to the A/D change-over circuit of digital signal
214；Wherein, described dry electrode slice 211, described filter circuit 212, described voltage conversion circuit 213 and described A/D conversion
Circuit 214 is electrically connected with successively, and described A/D change-over circuit 214 is also electrically connected with described primary processor 24.
In the present embodiment, described dry electrode slice 211 uses non-disposable electrode, for gathering the flesh on human arm surface
The signal of telecommunication, owing to the primary spectrum of the electromyographic signal of human body surface concentrates between 10HZ～500HZ, it is therefore desirable to by by height
Bandpass filter and low pass filter composition filter circuit 212 to 10HZ～500HZ spectral range outside noise be filtered and
The electromyographic signal remained with.Further, since the electromyographic signal of human body surface is the faintest, amplitude range is generally 10～5000
μ v, and be the differential mode letter between two non-disposable dry electrodes owing to using the surface electromyogram signal of dry electrode slice 211 acquisition
Number, having just has negative, if analog digital conversion to be realized, then needs voltage range is lifted to more than 0mv, it is contemplated that conversion accuracy is also
Need to be lifted to the voltage of electromyographic signal between 1/3～3/3 of A/D modular converter range preferably, it is therefore desirable to use one
Stable voltage reference chip carries out boost conversion as voltage conversion circuit 213 to filtered electromyographic signal.
Further, described body-sensing bracelet 2 also includes the NFC mould for carrying out near-field communication with outside NFC label equipment
Block 26 and for showing the display module 27 of NFC label data that described NFC module 26 reads, described NFC module 26 He
Described display module 27 is all electrically connected with described primary processor 24.
In the present embodiment, described body-sensing bracelet 2 can also realize NFC by described NFC module 26 and swipe the card payment function,
And also by described primary processor 24, the NFC label data that described NFC module 26 reads can be shown in described display
In module 27.
Further, described body-sensing bracelet 2 also includes being connected with described primary processor 24, for measuring user's heart rate
Heart rate measurement module 28 and being connected with described primary processor 24, for measuring the measurement of bldy temperature module 29 of user's body temperature.
In the present embodiment, described body-sensing bracelet 2 can also be by described heart rate measurement module 28 and described measurement of bldy temperature
Module 29 detects heart rate and the temperature data of user, and by described main process by described heart rate and temperature data in described display
Carry out in module 27 showing (or after by being connected, showing at mobile phone terminal) with mobile phone, so that user understands the strong of self in real time
Health situation.
Further, described aircraft 1 include aircraft 1 main body and four in crossing distribution at described aircraft 1
The top of main body, for controlling the propeller 101～104 of described aircraft 1 main body flight attitude；In described aircraft 1 main body
Portion be provided with four respectively with described propeller 101～104 one_to_one corresponding, for controlling described propeller 101～104 rotating speed
Motor 131～134 is connected with described first radio receiving transmitting module 25 radio communication, for receiving what described body-sensing bracelet 2 sent
Second radio receiving transmitting module 11 of flight control instruction, for according to the corresponding signal that drives of described flight control instruction output
Main control module 12, for according to described driving signal control four described motors rotating speed so that described aircraft 1 main body perform
Four motor drive modules of corresponding flight attitude；Wherein, described second radio receiving transmitting module 11 and four described motors drive
Dynamic model block is all electrically connected with described main control module 12, and four described motor drive modules lay respectively at four described motors 131
～inside 134.Described aircraft 1 also includes the pulley 19 being arranged on described aircraft 1 bottom part body both sides, such aircraft 1
It is possible not only to aloft fly, and can also slide on land.
In the present embodiment, described aircraft 1 can change spiral by the rotating speed of four motors 131～134 of regulation
The rotating speed of oar 101～104, it is achieved the change of lift, thus control the flight attitude of aircraft 1 main body.Concrete control mode is such as
Under:
While the first motor 131 of aircraft 1 and the 3rd motor 133 rotate counterclockwise, the second motor 132 and the 4th
Motor 134 turns clockwise, and therefore when aircraft 1 balances flight, gyroscopic effect and air force moment of torsion effect are all cancelled.
Such as: in figure 3, if the first motor 131 and the 3rd motor 133 rotate counterclockwise, the second motor 132 and the 4th motor 134
Turn clockwise, it is stipulated that moving along x-axis positive direction is referred to as travelling forward, arrow the plane of movement of propeller indicated above this
Motor speed improves, and represents that in lower section this motor speed declines, then:
When controlling aircraft 1 and being in vertical motion: in figure (a), increase the output of four motors 131～134 simultaneously
Power, propeller 101～104 rotating speed increase makes total pulling force increase, when total pulling force be enough to the weight overcoming complete machine, four spiral shells
The rotation the most liftoff vertical ascent of oar aircraft 1；Otherwise, reducing the output of four motors 131～134 simultaneously, quadruple screw propeller flies
Row device 1 the most vertically declines, until balance is landed, it is achieved that along the vertical movement of z-axis.When external disturbance amount is zero, at spiral
When the lift that oar produces is equal to the deadweight of aircraft 1, aircraft 1 just keeps floating state.
When controlling aircraft 1 and carrying out elevating movement: in figure (b), the rotating speed of the first motor 131 rises, the 3rd motor
The rotating speed of 133 declines (knots modification size should be equal), and the rotating speed of the second motor the 132, the 4th motor 134 keeps constant.Due to
The lift of one propeller 101 rises, the drop in lift of the 3rd propeller 103, and the unbalanced moments of generation makes fuselage revolve around y-axis
Turn, in like manner, when the rotating speed of the first motor 131 declines, and the rotating speed of the 3rd motor 133 rises, fuselage just around y-axis to another direction
Rotate, it is achieved the elevating movement of aircraft 1.
When controlling aircraft 1 and carrying out rolling movement: identical with the principle of figure (b), in figure (c), change the second motor
132 and the 4th rotating speed of motor 134, the rotating speed keeping the first motor 131 and the 3rd motor 133 is constant, then fuselage can be made around x-axis
Rotate (forward and reverse), it is achieved the rolling movement of aircraft 1.
Yawing rotation is carried out: owing to air drag effect can be formed and turns during propeller rotational when controlling aircraft 1
Dynamic reaction torque in opposite direction, in order to overcome reaction torque to affect, can make two rotating forwards in four propellers 101～104, two
Reversion, and each propeller rotational direction on diagonal is identical.The size of reaction torque is relevant with revolution speed of propeller, when four electricity
When machine 131～134 rotating speed is identical, the reaction torque of four propeller 101～104 generations mutually balances, and quadruple screw propeller aircraft 1 is not
Rotate；When four motors 131～134 rotating speed is incomplete same, unbalanced reaction torque can cause quadruple screw propeller to fly
Device 1 rotates.In figure (d), when the rotating speed of the first motor 131 and the 3rd motor 133 rises, the second motor 132 and the 4th motor
When the rotating speed of 134 declines, the first propeller 101 and the 3rd propeller 103 are more than the second propeller 102 He to the reaction torque of fuselage
The quadruple screw propeller 104 reaction torque to fuselage, fuselage just rotates around z-axis under the effect of reaction torque more than needed, it is achieved aircraft 1
Yawing rotation, turns to contrary with turning to of the first motor the 131, the 3rd motor 133.
When controlling aircraft 1 and seesawing: want to realize aircraft 1 in horizontal plane around motion,
In horizontal plane, aircraft 1 must be applied certain power.In figure (e), increase by the 3rd motor 133 rotating speed, make pulling force increase,
Corresponding reduction the first motor 131 rotating speed, makes pulling force reduce, keeps other two motor speeds constant simultaneously, and reaction torque is still wanted
Keep balance.By the theory of figure (b), first there is a certain degree of inclination in aircraft 1, so that propeller pulling force produces level
Component, flies motion before therefore can realizing aircraft 1.Flight and flight forward contrast are (at figure (b), figure (c) backward
In, aircraft 1 also can produce along x, the horizontal movement of y-axis while producing pitching, tumbling motion).
When controlling aircraft 1 and carrying out tendency motion: in figure (f), due to symmetrical configuration, so the work of tendency flight
Principle with seesaw just the same.
Above motor control mode only achieves aircraft 1 skyborne flight function, if must be on the ground
The following motor of wanting can run as intelligent carriage controls, with reference to Fig. 3:
Carry out running motion the most backward when controlling aircraft 1: want to realize toy on ground level before and after motion, must
In horizontal plane, toy must be applied certain power.In the diagram, increase by the 3rd motor 133 rotating speed, make pulling force increase, subtract accordingly
Little first motor 131 rotating speed, makes pulling force reduce, and keeps other two motor speeds constant simultaneously, and reaction torque still to keep flat
Weighing apparatus, first there is a certain degree of inclination in aircraft 1, so that propeller pulling force produces horizontal component, therefore can realize playing
The motion run forward of tool.Rearward movement and the contrast that travels forward.
Bend to right to the left motion when controlling aircraft 1: want the fortune realizing toy in the upper left right-hand bend of ground level
Dynamic, it is necessary in horizontal plane, toy to be applied certain power.In figure 3, increase by the second motor 132 rotating speed, make pulling force increase, phase
Should reduce the 4th motor 134 rotating speed, make pulling force reduce, keep other two motor speeds constant simultaneously, reaction torque still to be protected
Maintain an equal level weighing apparatus, and first aircraft 1 occurs a certain degree of inclination, so that propeller pulling force produces horizontal component, and therefore can be real
The motion bent to right of existing toy.To the left turning motion with move right contrast.
Further, described aircraft 1 also includes electronic compass 15, the gas being electrically connected with respectively with described main control module 12
Pressure meter 14, photographic head the 18, second gyroscope 16 and the second acceleration transducer 17.So aircraft 1 just can monitor self
Position, highly, flight attitude and information of taking photo by plane, and can be by the above-mentioned information that monitors by the second radio receiving transmitting module
Show on the mobile terminal that 11 transmissions to body-sensing bracelet 2 or user is bound.
A kind of toy aircraft controlled based on myoelectricity that this utility model embodiment provides, owing to controlling function by myoelectricity
It is integrated in the flight attitude controlling toy aircraft 1 in body-sensing bracelet 2, so that toy aircraft 1 need not additionally join
Put special remote controller, reduce the cost of manufacture of toy aircraft 1, and simplify the remote manipulation of toy aircraft 1；By
In being integrated with gyroscope and acceleration transducer in body-sensing bracelet 2, thus add more control mode, improve object for appreciation
The playability of tool aircraft 1.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (10)
1. one kind based on myoelectricity control toy aircraft, it is characterised in that include aircraft and with described aircraft channel radio
Letter connects, for the body-sensing bracelet of aircraft described in remote control；Described body-sensing bracelet includes electromyographic signal collection circuit, the first gyro
Instrument, the first acceleration transducer, for according to described electromyographic signal collection circuit, described first gyroscope and described first accelerate
Spend the gesture motion of the data identification user of sensor acquisition and recognition result is converted to the master of corresponding flight control instruction
Processor and for sending flight control instruction to described aircraft, makes described aircraft according to described flight control instruction
Perform the first radio receiving transmitting module of corresponding flight attitude；Wherein, described primary processor respectively with described electromyographic signal collection
Circuit, described first gyroscope, described first acceleration transducer and described first radio receiving transmitting module are electrically connected with.
2. the toy aircraft controlled based on myoelectricity as claimed in claim 1, it is characterised in that described electromyographic signal collection electricity
Road includes the dry electrode slice for gathering human body surface myoelectric signal, for the filtered electrical being filtered described electromyographic signal
Road, for filtered electromyographic signal being carried out the voltage conversion circuit that boosts and the electromyographic signal after boosting being converted to number
The A/D change-over circuit of word signal；Wherein, described dry electrode slice, described filter circuit, described voltage conversion circuit and described A/
D change-over circuit is electrically connected with successively, and described A/D change-over circuit is also electrically connected with described primary processor.
3. the toy aircraft controlled based on myoelectricity as claimed in claim 2, it is characterised in that described body-sensing bracelet also includes
For carrying out the NFC module of near-field communication and for showing the NFC that described NFC module reads with outside NFC label equipment
The display module of label data, described NFC module and described display module are all electrically connected with described primary processor.
4. the toy aircraft controlled based on myoelectricity as claimed in claim 3, it is characterised in that described body-sensing bracelet also includes
It is connected with described primary processor, for measuring the heart rate measurement module of user's heart rate.
5. the toy aircraft controlled based on myoelectricity as claimed in claim 4, it is characterised in that described body-sensing bracelet also includes
It is connected with described primary processor, for measuring the measurement of bldy temperature module of user's body temperature.
6. the toy aircraft controlled based on myoelectricity as claimed in claim 5, it is characterised in that described aircraft includes flight
Device main body and four, are used for controlling described aircraft body flight appearance at the top of described aircraft body in crossing distribution
The propeller of state；Described aircraft body be internally provided with four respectively with described propeller one_to_one corresponding, be used for controlling described
The motor of revolution speed of propeller is connected with described first radio receiving transmitting module radio communication, is used for receiving described body-sensing bracelet and sends
Flight control instruction the second radio receiving transmitting module, for according to the corresponding signal that drives of described flight control instruction output
Main control module, for according to described driving signal control four described motors rotating speed so that described aircraft body perform phase
Answer four motor drive modules of flight attitude；Wherein, described second radio receiving transmitting module and four described motors drive mould
Block is all electrically connected with described main control module, and four described motor drive modules lay respectively at four described motor internals.
7. the toy aircraft controlled based on myoelectricity as claimed in claim 6, it is characterised in that described aircraft also includes setting
Put the pulley in described aircraft body two bottom sides.
8. the toy aircraft controlled based on myoelectricity as claimed in claim 7, it is characterised in that described aircraft also includes point
The electronic compass not being electrically connected with described main control module and barometer.
9. the toy aircraft controlled based on myoelectricity as claimed in claim 8, it is characterised in that described aircraft also include with
The photographic head that described main control module is electrically connected with.
10. the toy aircraft controlled based on myoelectricity as claimed in claim 9, it is characterised in that described aircraft also includes
The second gyroscope being electrically connected with described main control module respectively and the second acceleration transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620459124.0U CN205796524U (en) | 2016-05-19 | 2016-05-19 | A kind of toy aircraft controlled based on myoelectricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620459124.0U CN205796524U (en) | 2016-05-19 | 2016-05-19 | A kind of toy aircraft controlled based on myoelectricity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205796524U true CN205796524U (en) | 2016-12-14 |
Family
ID=57499793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620459124.0U Withdrawn - After Issue CN205796524U (en) | 2016-05-19 | 2016-05-19 | A kind of toy aircraft controlled based on myoelectricity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205796524U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105817037A (en) * | 2016-05-19 | 2016-08-03 | 深圳大学 | Toy air vehicle based on myoelectric control and control method thereof |
| CN110221535A (en) * | 2019-07-15 | 2019-09-10 | 深圳市联芯互联科技有限公司 | It is a kind of with children's wrist-watch of remote-control toy function and application |
-
2016
- 2016-05-19 CN CN201620459124.0U patent/CN205796524U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110221535A (en) * | 2019-07-15 | 2019-09-10 | 深圳市联芯互联科技有限公司 | It is a kind of with children's wrist-watch of remote-control toy function and application |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105817037B (en) | A kind of toy aircraft and its control method based on myoelectricity control | |
| CN106249745B (en) | The control method of four axis unmanned planes | |
| CN105353762B (en) | The control method of six rotor wing unmanned aerial vehicles based on double remaining attitude transducers | |
| Quan | Introduction to multicopter design and control | |
| CN106114854B (en) | A kind of push-button aircraft | |
| CN106114853B (en) | A kind of push-button aircraft | |
| CN107651212A (en) | It is tethered at unmanned plane, is tethered at unmanned plane positioning following control system and its control method | |
| CN110347171A (en) | A kind of flying vehicles control method and aircraft | |
| CN105607640B (en) | The Pose Control device of quadrotor | |
| CN105955305A (en) | Four-axis unmanned aerial vehicle | |
| CN108146608B (en) | Rotor and inflatable air bag combined type floating aircraft with vector thrust | |
| CN106325289A (en) | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof | |
| CN113253750B (en) | Multi-mode control system for flapping wing aircraft | |
| CN205796524U (en) | A kind of toy aircraft controlled based on myoelectricity | |
| CN109846487A (en) | Thigh measuring method for athletic posture and device based on MIMU/sEMG fusion | |
| CN107065911A (en) | Quadrotor and its control method | |
| CN111137082A (en) | Single-duct land air cross-domain robot and control method thereof | |
| CN106125909A (en) | A kind of motion capture system for training | |
| CN106125755A (en) | The atmospheric boundary layer environment Autonomous Exploration of a kind of unmanned plane and control method thereof | |
| Ruzaij et al. | Auto calibrated head orientation controller for robotic-wheelchair using MEMS sensors and embedded technologies | |
| CN108132673A (en) | A kind of four-rotor aircraft control system based on STM32 | |
| CN105843252A (en) | Unmanned aircraft system and flight control method thereof | |
| CN105974934A (en) | Air quality intelligent monitoring quadrotor formation system based on pilotage-following method | |
| CN106292713A (en) | A kind of multi-rotor aerocraft control system | |
| CN106741908B (en) | Array type multi-rotor aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161214 Effective date of abandoning: 20180525 |
|
| AV01 | Patent right actively abandoned |