CN105836148A - Wearable rotor craft - Google Patents

Abstract

The wearable rotorcraft provided by the present invention includes a ring body that can be worn on the wearer's hand and an aircraft main body; the ring body is an annular shape surrounded by a hollow storage device and arc-shaped rings connected to the storage device at both ends Structure, sensor components are installed on the ring belt; the main body of the aircraft can be fully accommodated in the storage device; it also includes a control module set on the ring body, the control module can analyze the current gesture of the wearer by reading the output signal of the sensor component Action, and select the control command that matches the gesture action from the pre-stored control commands, and remotely control the main body of the aircraft to fly. The aircraft is small in size and easy to carry, and the wearer can control the main body of the aircraft with one hand, or do other things while remote control, freeing the wearer's hands and making it more convenient to use.

Description

wearable rotorcraft

technical field

The invention relates to the field of aircraft, in particular to a wearable rotorcraft.

Background technique

Unmanned aerial vehicles are widely used in aerial photography, air transportation and other fields. Most of the existing unmanned aerial vehicles are rotorcraft, including fixed-wing aircraft or multi-axis aircraft. One or more wings are set on the fixed-wing aircraft. And the propeller is arranged on the wing, and the airflow generated by the rotation of the propeller driven by the motor drives the aircraft to fly. A multicopter is a rotorcraft with two or more rotor shafts.

Rotorcraft is a commonly used aircraft. With the development of technology, the related technology of small mini rotorcraft is becoming more and more mature. In addition to being used as a remote control flight performance model, it can also easily enter various harsh environments that people are not suitable for entering. It can perform aerial photography Flight missions such as movie framing, real-time monitoring, and terrain exploration. However, the existing rotorcrafts are relatively large in size and inconvenient to carry, which leads to the fact that the rotorcrafts are not widely used. In addition, most of the existing rotorcraft are controlled by a remote controller, which requires the user to operate the remote controller with both hands to control the flight of the aircraft, so that when the user is flying the remote control aircraft, his hands cannot be free to do other things, which is inconvenient to use. For this reason, there is an urgent need to provide a wearable rotorcraft that is small in size, easy to carry, frees the user's hands, and is easy to use.

Contents of the invention

In view of the above-mentioned deficiencies in the prior art, the purpose of the patent of the present invention is how to provide a wearable rotorcraft that is small in size, easy to carry, frees the user's hands, and is easy to use.

In order to solve the problems of the technologies described above, realize the purpose of the invention, the technical scheme adopted in the present invention is as follows:

The wearable rotorcraft includes a ring body that can be worn on the wearer's hand and the main body of the aircraft; the ring body is a ring structure surrounded by a hollow storage device and an arc-shaped ring belt connected to the storage device at both ends. There are sensor components on it; the main body of the aircraft can be fully accommodated in the storage device; it also includes a control module set on the ring body. The control module can analyze the current gestures of the wearer by reading the output signals of the sensor components, and from Select the control command that matches the gesture action from the pre-stored control commands, and remotely control the main body of the aircraft to fly.

As a further optimization of the above solution, the endless belt is formed by connecting a plurality of connecting blocks side by side, and each connecting block is elastically connected to its adjacent connecting blocks.

As a further optimization of the above scheme, the sensor component includes one or more of the following four devices: myoelectric sensor, acceleration sensor, gyroscope and magnetometer; the myoelectric sensor is used to collect the wearer to make a gesture During the movement, the bioelectric signal generated by the hand muscle movement on the skin surface; the acceleration sensor is used to collect the acceleration of the hand movement when the wearer makes a gesture; the gyroscope is used to collect when the wearer makes a gesture, The angular velocity of the hand movement; the magnetometer is used to monitor the change of the magnetic field during the hand movement when the wearer makes a gesture.

As a further optimization of the above solution, when the wearer makes a gesture, the control module obtains the motion information of the hand motion by analyzing the output signal of the myoelectric sensor, and obtains the motion information of the hand motion by analyzing the output signals of the acceleration sensor and the gyroscope. Speed information and direction information.

As a further optimization of the above scheme, an audio collection unit is also provided on the ring body, and the audio collection unit is used to collect the audio signal of the wearer and transmit it to the control module. Compare the audio commands, select the audio command that matches the audio signal, and the main body of the remote control aircraft will fly.

As a further optimization of the above solution, the main body of the aircraft is a center-symmetrical structure as a whole, including a hollow outer shell protective cover and a circuit board and an arm arranged in the inner cavity of the outer shell protective cover; the circuit board is arranged in the middle of the inner cavity of the outer shell protective cover; There are multiple machine arms arranged symmetrically, all of which are equal in length and extend outward within the plane where the circuit board is located.

As a further optimization of the above scheme, the "control module can analyze and obtain the wearer's current gesture action by reading the output signal of the sensor component" specifically: the output signal range of the sensor component corresponding to various gesture actions is pre-stored in the control module , when the control module reads the current sensor component output signal, it determines the sensor component output signal range in which the current sensor component output signal falls, so as to obtain the gesture action corresponding to the sensor component output signal range.

As a further optimization of the above solution, the main body of the aircraft is also provided with a camera and a wireless communication module. The camera is used for taking pictures or taking pictures. The main body of the aircraft can send the picture information or video information captured by the camera to the mobile terminal through the wireless communication module.

Compared with the prior art, the present invention has the following advantages:

The wearable rotorcraft provided by the present invention can be worn on the user's hand through the ring body, and the main body of the aircraft can be fully accommodated in the storage device on the ring body. The aircraft is small in size and easy to carry. And the aircraft can remotely control the main body of the aircraft to fly by recognizing the wearer's gestures or audio signals. The wearer can control the main body of the aircraft with one hand, or do other things while remote control, freeing the wearer's hands and making it more convenient to use.

Description of drawings

Figure 1 is a schematic diagram of the structure of a wearable rotorcraft.

Figure 2 is a schematic diagram of the structure of the ring body.

Fig. 3 is a structural entity diagram of the main body of the aircraft.

Figure 4 is a block diagram of the control module.

Among them, 1-ring body, 11-accommodating device, 12-electrode sheet, 13-sensor assembly,

2-aircraft main body, 21-shell protective cover, 22-circuit board, 23-rotor.

detailed description

The present invention will be further described in detail below in conjunction with examples, but the embodiments of the present invention are not limited thereto.

Example:

The wearable rotorcraft, as shown in Figures 1-4, includes a ring body 1 and an aircraft main body 2 that can be worn on the wearer's hand; the ring body 1 is composed of a hollow storage device 11 and two ends connected to the storage device 11 The arc-shaped ring is surrounded by a ring structure, and the sensor assembly 13 is arranged on the ring; the main body of the aircraft can be fully accommodated in the storage device 11; it also includes a control module arranged on the ring 1, and the control module can pass through the reading sensor. The output signal of the component 13 is analyzed to obtain the current gesture action of the wearer, and the control command matching the gesture action is selected from the pre-stored control commands, and the main body of the aircraft 2 is remotely controlled to fly.

In practice, the ring body can be a wristband or an armband, the storage device can be a storage box or a fixing slot, and the sensor component can also be an electrode sheet 12 . The appearance of the ring body is similar to that of a strap, and the storage device can be made into the size of a dial. The storage device can also be provided with a cover, on the one hand, to prevent the main body of the aircraft put into the storage device from falling. On the other hand, a button may be provided on the ring body for the wearer to press the button to open the cover and take out the main body of the aircraft. In addition, the cover of the storage device can also be opened through gestures. For example, the wearer makes an action of stretching his arms and making a fist with five fingers. After the control module recognizes this action, the cover of the storage device can be opened.

Most of the current aircraft need to use devices such as remote controllers as control units. The control methods and control modes of the aircraft that can be separated from hands are very limited, and it is impossible to completely release the hands and realize the true wearability of the aircraft. And the aircraft has been widely used in various scenarios such as aerial photography and rescue. When using an aircraft for aerial photography, in related technologies, the user needs to completely manually control the flight and shooting of the aircraft, which not only requires a high level of flight control for the user, but also the user can only focus on the flight control of the main body of the aircraft, and cannot be independent at the same time Completion of other events has relatively large limitations on application scenarios. The aircraft of the present invention can be worn on the user's hand through the ring body, and the main body of the aircraft can be completely accommodated in the storage device on the ring body. The aircraft is small in size and easy to carry. And the aircraft can remotely control the main body of the aircraft to fly by recognizing the gestures of the wearer. The ring body completely replaces the functions of two-handed control devices such as remote controls. The wearer can control the main body of the aircraft with one hand, or perform other things while remote control. It liberates the wearer's hands and is more convenient to use, effectively increasing the application scenarios of the main body of the aircraft, and can be applied to scenarios where the user cannot take out and use both hands to control at the same time. In addition, the main body of the aircraft is remotely controlled to fly through gesture actions, which does not require the user to have a high level of flight control.

The annular belt is formed by connecting a plurality of connecting blocks side by side, each connecting block is elastically connected to its adjacent connecting blocks, and the connecting blocks on the ring body are connected with elastic materials, so if the sensor assembly of the ring body is Myoelectric sensor, the ring body can be deformed to a certain extent, has a certain degree of shrinkage and stretchability, is suitable for people with different thickness hands, and can shrink after wearing it, so that the inner side of the ring body is close to the wearer's skin, muscle The electrical sensor can better collect the bioelectrical signals generated on the skin surface, and the worn ring body is not easy to fall off. In addition, the ring body can also be integrally formed.

The sensor assembly 13 includes one or more of the following four devices: myoelectric sensor, acceleration sensor, gyroscope and magnetometer; The bioelectric signal generated by muscle movement on the skin surface; where the myoelectric sensor is required to be set on the inner side of the ring, and when worn on the wearer's hand, the electromechanical sensor is required to be close to the wearer's skin; the acceleration sensor is used to collect wearable The acceleration of the hand movement when the wearer makes a gesture; the gyroscope is used to collect the angular velocity of the hand movement when the wearer makes a gesture; the magnetometer is used to monitor the hand movement when the wearer makes a gesture. Magnetic field changes during body movement. When there are multiple myoelectric sensors, the myoelectric sensors can be arranged at different positions of the ring body, so that the myoelectric sensors can collect bioelectric signals generated on different skin surfaces, and the obtained gestures are more accurate.

When the wearer makes a gesture, the control module obtains the motion information of the hand movement by analyzing the output signal of the myoelectric sensor, analyzes the output signal of the acceleration sensor and the three-axis gyroscope to obtain the speed information of the hand, and analyzes the magnetic intensity The output signal of the meter is used to obtain the movement direction information of the hand movement.

The ring body 1 is also provided with an audio collection unit, such as a microphone. The audio acquisition unit is used to collect the audio signal of the wearer and transmit it to the control module. The control module recognizes the received audio signal, compares it with the audio command stored in the control module, and selects the audio command that matches the audio signal. The main body of the remote control aircraft 2 flight.

In the aircraft in this embodiment, the control module can be controlled in 4 modes:

①The sensor component only includes the myoelectric sensor, the control module reads the output signal of the myoelectric sensor, and analyzes the wearer's current hand movement information, such as: open five fingers, make a fist, swing the arm left or right, thumb and middle finger twice in quick succession, etc. The control command matching the action information is selected from the pre-stored control commands, and the main body of the aircraft is remotely controlled to fly.

②The sensor components only include acceleration sensors, gyroscopes and magnetometers. The control module reads the output signals of the acceleration sensors, gyroscopes and magnetometers, and analyzes the movement direction and speed information of the wearer's current hand movement, such as Swing the arm to the left or right, wave the hand along the square trajectory line for a circle, etc. A control command matching the motion direction information and speed information is selected from the pre-stored control commands, and the main body of the aircraft is remotely controlled to fly.

③The sensor components include myoelectric sensors, acceleration sensors, three-axis gyroscopes and magnetometers. The control module reads the output signals of the sensor components, analyzes the current gestures of the wearer, and selects the corresponding gesture from the pre-stored control commands. The action matches the control command, and the main body of the remote control aircraft flies.

④The audio signal of the wearer is collected through the microphone and transmitted to the control module. The control module recognizes the received audio signal, and obtains the user's voice command after denoising, filtering, etc., and compares it with the audio command stored in the control module. The voice command is matched with the audio command, and the main body of the remote control aircraft flies.

If the main body of the aircraft does not receive a new order, it will continue to fly according to its current flight status. If the control module finds a control command that matches the gesture, it considers that the command from the wearer has been received. When the main body of the aircraft receives an instruction from the control device, it starts the function corresponding to the instruction, for example: the control of the flight mode, including: up, down, left, right, front, back flight mode, altitude-fixed flight mode, Rotation mode, take-off mode, landing mode; the main body of the aircraft enters the photo mode; the main body of the aircraft enters the camera mode; the aircraft enters the image recognition mode; open the cover of the storage device, and prepare to release the main body of the aircraft.

The "control module can analyze and obtain the wearer's current gesture action by reading the output signal of the sensor component 13" is specifically: the control module pre-stores the output signal range of the sensor component 13 corresponding to various gesture actions, when the control module reads The output signal of the current sensor component 13 is obtained, and it is determined that the output signal of the current sensor component 13 falls within the pre-stored output signal range of the sensor component 13, so as to obtain the gesture action corresponding to the output signal range of the sensor component 13.

For example: the surface electromyographic signal corresponding to the gesture of spreading five fingers is pre-stored in the control module, which is defined as the first signal, and the control command corresponding to the action of "spreading five fingers" is set as the aircraft take off. Put the ring body on your hand, when the hand makes a "finger open" movement, after the myoelectric sensor collects the corresponding bioelectric signal, compare the bioelectric signal with the first signal preset in the processor , in line with the gesture command received, the control module sends the control command "aircraft take off" to the main body of the aircraft through the wireless module. altitude and then fly at this altitude.

As shown in Fig. 4, the aircraft includes an acquisition unit, a determination unit, a start unit, a start sub-unit and a hold sub-unit. Acquisition unit: collect the output signal of the sensor component. Judgment unit: According to the collected bioelectrical signal, or data such as acceleration, angular velocity, magnetic field, etc., analyze and obtain the corresponding gesture action, or according to the received audio signal, determine the corresponding voice command through an algorithm, and determine the voice command Select the corresponding audio command. The starting unit, the main body of the aircraft enters different sub-units according to the result of the judging unit, and starts the flight mode corresponding to the control command. A promoter unit includes a promoter unit and a maintainer unit. The activation sub-unit, if the determination result is in accordance with the preset action feature or the preset audio command, enters the activation sub-unit to activate the flight mode corresponding to the control command. The holding subunit, if the judgment result does not meet the preset feature or the audio command, then enter the holding subunit to keep the original flight mode of the main body of the aircraft.

The preset aircraft main modes include: flight mode control, including: up, down, left, right, forward, and backward flight modes, altitude-fixed flight mode, rotation mode, take-off mode, and landing mode. The main body of the aircraft enters the photo mode of taking a photo every 3 seconds. The main body of the aircraft enters the camera mode; the storage device is opened, and the main body of the aircraft is ready to be released.

The hardware composition of the control module is as follows: including processing components, memory, power supply components, wireless communication components, sensor components, I/O interfaces, and audio components. Process the overall operation of the component control device, such as collecting surface electromyographic signals, filtering and denoising, data analysis, wireless transmission and other operations. The processing component may include one or more processors to execute instructions to complete all or part of the above operations. The memory is configured to store various types of data to support the operation of the device, and can be implemented by any type of storage device or a combination of them, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM ), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), Magnetic Memory, etc.

The power supply component supplies power to various components in the device, and the power supply component may include a power management system and one or more power supplies. The wireless communication component is configured to facilitate wireless communication between the control device and the main equipment of the aircraft, usually WIFI or Bluetooth low energy. The I/O interface provides an interface between the processing component and the peripheral interface module, and the above peripheral interface module can be a keyboard, a button, and the like. The audio component includes a microphone, which is configured to receive an external audio signal, and the received signal can be transmitted to a processor for processing to recognize an audio command issued by a user.

The main body 2 of the aircraft is a center-symmetrical structure as a whole, which can ensure the smooth flight of the aircraft. It includes a hollow shell protective cover 21 and a circuit board 22 arranged in the inner cavity of the outer shell protective cover 21, an arm and a rotor 23; the circuit board 22 is arranged in the middle of the inner cavity of the outer shell protective cover 21; the arms are multiple and symmetrically arranged, All lengths are equal and extend outward in the plane where the circuit board 22 is located; the rotors 23 are respectively arranged on the outer ends of the arms, and the rotation planes of the rotors 23 are located on the same plane to ensure that the aircraft flies smoothly. The shell protective cover can be a centrally symmetrical circle of protection formed by surrounding the circuit board, the machine arm and the rotor, so as to ensure that when the main body of the aircraft takes off, the rotor will not be damaged by being hit by the inner wall of the storage device, and the rotor will not be damaged during flight. Chance of being damaged by hitting an obstacle. The main body of the aircraft is approximately square as a whole. In practice, the width of the ring body is about 4.5 cm, and the diagonal length of the protective cover of the main body of the aircraft is about 5 cm. It can be placed in the storage device without affecting the normal operation of the main body of the aircraft. Takeoff process. The size of the outer shell protective cover is determined by the size of the main body of the aircraft, and it only needs to fit into the entire main body of the aircraft.

The aircraft main body 2 is also provided with a camera and a wireless communication module. The camera is used for taking pictures or taking pictures. The aircraft main body 2 can send the picture information or video information taken by the camera to the mobile terminal through the wireless communication module. The camera can realize the function of taking photos and video, and can set different photo and video modes (for example: the photo mode of taking a photo every 3S). According to the settings in the control module, use different gestures to control the main body of the aircraft to achieve the corresponding camera and video modes. The camera can collect images and identify objects or users and their directions by extracting the feature quantities of the objects. The main body of the aircraft is also equipped with a real-time transmission communication module. When the main body of the aircraft enters the photo or video mode, it can transmit images in real time through WIFI and other communication methods (the communication method is not limited here), and transmit them to smart devices such as mobile phones and computers. for users to view at any time. It can complete functions such as field pathfinding.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (8)

1. The wearable rotorcraft is characterized in that it includes a ring body that can be worn on the wearer's hand and the main body of the aircraft; the ring body is surrounded by a hollow storage device and an arc-shaped ring belt connected to the storage device at both ends The ring structure is equipped with sensor components on the ring belt; the main body of the aircraft can be fully accommodated in the storage device; it also includes a control module set on the ring body, and the control module can analyze and obtain the wearer's current state by reading the output signal of the sensor component. gesture action, and select the control command that matches the gesture action from the pre-stored control commands, and remotely control the main body of the aircraft to fly. 2 . The wearable rotorcraft according to claim 1 , wherein the annular belt is formed by connecting a plurality of connection blocks side by side, and each connection block is elastically connected to its adjacent connection blocks. 3 . 3. The wearable rotorcraft according to claim 1, wherein the sensor assembly includes one or more of the following four devices: myoelectric sensor, acceleration sensor, gyroscope and magnetometer; The electric sensor is used to collect the bioelectric signal generated by the hand muscle movement on the skin surface when the wearer makes a gesture; the acceleration sensor is used to collect the acceleration of the hand movement when the wearer makes a gesture; the gyroscope is used to When the wearer makes a gesture, the angular velocity of the hand movement is collected; the magnetometer is used to monitor the change of the magnetic field during the hand movement when the wearer makes a gesture. 4. The wearable rotorcraft according to claim 3, wherein when the wearer makes a gesture, the control module obtains the motion information of the hand movement by analyzing the output signal of the myoelectric sensor, and analyzes the acceleration sensor and the output signal of the gyroscope to obtain the speed information and direction information of the hand movement. 5. The wearable rotorcraft as claimed in claim 1, wherein the ring body is also provided with an audio acquisition unit, the audio acquisition unit is used to collect the wearer's audio signal, and transmits it to the control module, the control module Identify the received audio signal and compare it with the audio command pre-stored in the control module, select the audio command that matches the audio signal, and remotely control the main body of the aircraft to fly. 6. The wearable rotorcraft according to claim 1, wherein the main body of the aircraft is a center-symmetrical structure as a whole, including a hollow outer shell protective cover and a circuit board and an arm arranged in the inner cavity of the outer shell protective cover; The circuit board is arranged in the middle part of the inner cavity of the protective cover of the shell; the machine arms are arranged symmetrically, and all the machine arms are equal in length and extend outward in the plane where the circuit board is located. 7. The wearable rotorcraft according to claim 1, characterized in that, the "control module can analyze and obtain the wearer's current gestures by reading the output signal of the sensor assembly" is specifically: the control module prestores The sensor component output signal range corresponding to various gesture actions, when the control module reads the current sensor component output signal, determines the sensor component output signal range in which the current sensor component output signal falls, so as to obtain the gesture action corresponding to the sensor component output signal range . 8. The wearable rotorcraft as claimed in claim 1, wherein the main body of the aircraft is also provided with a camera and a wireless communication module, the camera is used for taking pictures or taking pictures, and the main body of the aircraft can take pictures of the camera through the wireless communication module. The picture information or video information is sent to the mobile terminal.