Small marine manned aircraft based on human body motion sensing control

Abstract

The invention belongs to the field of ocean vehicle design, and particularly relates to a small manned ocean vehicle based on human body motion sensing control. The aircraft system is mainly composed of a joystick assembly, a traction rope assembly and a propeller assembly, and the system can achieve fine control over the running direction of the marine aircraft by means of fine changes of human body postures. The control rod assembly is used for collecting attitude information and transmitting the information to the propeller assembly in a wireless signal mode. And the traction rope assembly is connected with the operating rod assembly and the propeller assembly, so that adverse effects of human factors and storm factors on signal acquisition can be effectively reduced. The thruster assembly obtains information through the sensing receiving device and wirelessly transmits a steering instruction to the driving device to drive the propellers to rotate, the movement speed of the left propeller and the movement speed of the right propeller are changed, and then movement and steering of the aircraft are achieved. According to the method, the marine vehicle can be controlled accurately and efficiently, the technical bottleneck that a traditional vehicle is difficult to control is successfully broken through, and accurate control is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of ocean vehicles, and in particular to human body sensing control, that is, a small manned ocean vehicle based on human body sensing control. Background Art

[0002] Small ocean craft are usually small in size, simple in design, suitable for sailing in coastal areas, rivers or lakes, and in narrow or shallow waters. They are low in cost, portable, flexible and maneuverable. The advantages of small ocean craft make them play an important role in military, environmental monitoring, fisheries and leisure industries.

[0003] As the trend towards unmanned and remote-controlled ships gradually emerges, the effectiveness and safety of remote operations have become an important issue. Remote operations are mostly carried out through radio information transmission. When faced with complex terrain and long-distance transmission, multipath effects and signal fading will occur. Even if the signal transmission rate and range can be improved through 5G technology, repeaters and amplifiers, these measures will increase costs and complexity.

[0004] Currently, most manually operated sailing ships are controlled by steering wheels. Due to sudden changes in the environment and unexpected human factors at sea, the danger is greatly increased. When facing danger, for a complex operating system, it takes 500ms to 1s for the human brain to think and react. Even professional athletes need at least 200ms, while subconsciously tilting the body only takes 100ms to 150ms. The present invention significantly improves the flexibility and accuracy of operation by optimizing the sensor device of the operating lever and the user's control method, allowing the operator to respond to emergencies more quickly, thereby enhancing safety and operational flexibility. Summary of the invention

[0005] In view of the inability to cope with sudden changes in the ocean environment and sudden human factors, as well as the significant defects of being unable to make correct operations in time due to complex operating systems, the present invention discloses a small-scale ocean manned vehicle based on human body sensory control.

[0006] The aircraft of the present invention is composed of a propeller assembly, a traction rope assembly, and a joystick assembly. The propeller assembly includes: a receiver, a propeller, a drive device, an energy device, and a joystick storage slot. The propeller adopts a streamlined structure, and two driving propellers are added to its tail as a propulsion device for the entire aircraft. The traction rope assembly of the present invention includes a hard part and a soft part. The joystick assembly of the present invention includes a sensor device, a communication device, a battery compartment, a fixing knob, a handle, a control device, and a life-saving device A.

[0007] Furthermore, the propeller assembly of the present invention includes a receiver, a propeller, a drive device, an energy device, a joystick storage slot, and a life-saving device B. The maximum power of the propeller is 13.4 horsepower, which can tow a 100kg person to sail at 83 miles per hour. The energy device uses a high-performance rechargeable lithium battery to power the receiver and the drive device; the receiver is mainly a circuit board, equipped with a LoRa wireless module and a single-chip microcomputer, and the single-chip microcomputer controls the drive device after processing the signal received by LoRa; the drive device controls the steering and speed of the propeller. The life-saving device B can pop out a lifebuoy when the operator encounters an emergency to ensure life safety.

[0008] Furthermore, the traction rope assembly of the present invention includes a hard part and a soft part. The hard part fixes the main direction of the joystick assembly and can offset the interference of certain environmental factors on the direction; the soft part connects the propeller assembly and the joystick assembly. The traction rope assembly of the present invention is strong enough to withstand a sudden increase in large pulling force.

[0009] Furthermore, the joystick assembly of the present invention is used to control the speed and direction of the entire aircraft. The joystick assembly includes a sensor device, a communication device, a battery compartment, a fixed knob, an anti-skid device, a main control device, a control device and a life-saving device A. Among them, the main control device is mainly a circuit board, equipped with a single-chip microcomputer and a potentiometer. The single-chip microcomputer is connected to the sensor device, the control device, the communication device, the potentiometer and the life-saving device A. The linear speed of the aircraft is determined by the potentiometer, and the steering speed of the aircraft is determined by the sensor device. A high-performance rechargeable lithium battery can be carried in the battery compartment to power the entire joystick assembly. The communication device is a wireless communication module. The main control device controls the working state of the propeller. The life-saving device A includes a limit switch and a wristband. When the wristband is pulled, the life-saving device B can be opened to release the lifebuoy. The control device includes a button (power on, power off), a gear dial, and a display screen. The gear dial is connected to the potentiometer to adjust the linear speed of the aircraft.

[0010] Based on the above system implementation, the present invention also relates to a method for using a small ocean manned vehicle based on human body sensory control, the method including a preparation method before sailing and an operation method during sailing.

[0011] Furthermore, the preparation method for the aircraft before use of the present invention includes two parts: assembling and inspecting the aircraft and initializing and debugging the joystick. In the assembly and inspection part of the aircraft, after the operator removes the joystick from the propeller assembly, he adjusts the towing rope to the most suitable angle according to the height of the operator and the comfortable joystick grip position; then checks whether the lifebuoy is intact. In the initialization and debugging part of the joystick, the operator is required to ensure that when the operator naturally stands on the surfboard, the linear speed of the left and right propellers of the propeller assembly is 0. Specifically, when the propeller assembly is powered on, the gear knob of the control device is turned to the speed end of 0.

[0012] Further, the method for operating the aircraft of the present invention includes the use of a control device, direction control, speed control, and a safety guide. After the operator stands on the surfboard, the propeller is started by pressing the "power on" button on the control device, and the gear knob on the control device is turned to adjust the speed according to the value shown on the display screen. At this time, the propeller will pull the operator forward. When there is an obstacle in front of the operator, the operator controls the operating lever to follow the left and right tilt of the body's center of gravity to complete the left and right turn. When encountering an emergency, the operator slips and falls into the water or loses control of the aircraft, pull the wristband to cut off the power to the propeller's drive system, and release the lifebuoy in the propeller to complete self-rescue. The advantages of the present invention are as follows:

[0013] The somatosensory operation adopted by the present invention allows users to control through natural body movements, significantly reducing the learning curve of the operation. Users can control the device through intuitive movements such as arm swinging or body tilting, without having to memorize complex instructions, which significantly improves the intuitiveness of the operation and the convenience of human-computer interaction.

[0014] The invention can be widely used in many fields due to its small size, low cost and high flexibility. In addition to the fields of water entertainment, transportation and rescue, the invention also shows unique advantages in fisheries, scientific research, commerce and law enforcement, and has irreplaceable application value.

[0015] The present invention achieves rapid response and operation by capturing the operator's natural reactions and instinctive actions, thereby minimizing potential risks and improving overall safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the operation mode of the present invention.

[0017] Figure 2-1 It is a schematic diagram of the joystick structure of the present invention.

[0018] Figure 2-2 It is a schematic diagram of the traction rope structure of the present invention.

[0019] Figure 3-1 It is a schematic diagram of the internal structure of the propeller of the present invention.

[0020] Figure 3-2 It is a schematic diagram of the external structure of the propeller of the present invention.

[0021] Figure 4 It is a demonstration diagram of the lifesaving device of the present invention.

[0022] In the figure: 1- joystick assembly, 2- traction rope assembly, 3- thruster assembly, 4- fixing knob, 5- control device, 6- main control device, 7- battery compartment, 8- handle, 9- sensor device, 10- communication device, 11- hard part of traction rope, 12- soft part of traction rope, 13- joystick storage slot, 14- propeller, 15- driving device, 16- energy device, 17- life-saving device A, 18- receiver, 19- life-saving device B. DETAILED DESCRIPTION

[0023] The purpose and advantages of the present invention are further explained below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0024] In the description of the present invention, attention should be paid to terms such as "upper", "lower", "front", "back", "left", "right", "inside", and "outside" for directions or positional relationships. The indicated positional relationships are based on the directions or positional relationships shown in the accompanying drawings. These terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element must be in a specific direction or be constructed and operated in a specific way. Therefore, these terms should not be understood as limiting the present invention.

[0025] In addition, the drawings only schematically show some contents related to the present invention and do not represent the actual structure of the product.

[0026] like Figure 1 As shown, the main structure of the present invention is divided into three parts: a joystick assembly 1, a traction rope assembly 2 and a propeller assembly 3.

[0027] like Figure 2-1 , Figure 2-2 As shown, the joystick assembly 1 of the present invention is divided into two parts: an inner rod and an outer rod. The outer rod part mainly comprises a fixed knob 4, a control device 5, a handle 8, and a life-saving device A17; the inner rod part mainly comprises a control device 5, a battery compartment 7, a sensor device 9, and a communication device 10.

[0028] The outer rod part, the fixed knob 4 controls the angle between the hard part 11 of the traction rope and the joystick assembly 1. The control device 6 is composed of a display screen, two control buttons and a gear dial. The display screen displays the forward speed, direction, and the position information of the joystick assembly; the control button is located below the display screen 3, the left button is the power off button, and the right button is the power on button; the gear dial adjusts the propulsion speed and direction of the propeller assembly 3, and the gear dial rolls to the left for forward movement and rolls to the right for backward movement. The handle 8 is a single-hand or double-hand grip part, and is made of non-slip material to ensure that the joystick assembly 1 is difficult to slip during driving. The life-saving device A17 mainly includes a one-meter-long elastic nylon rope, a wristband and a limit switch, and the limit switch is connected to the single-chip microcomputer of the main control device 6. The one-meter-long elastic nylon rope is used to ensure that the operator will not trigger the life-saving device due to slipping, and also to ensure that after the life-saving device is triggered, the operator can keep in touch with the ship in time, greatly improving safety.

[0029] Specifically, Figure 4 As shown, the limit switch is usually in a closed state. When the operator loses control of the vehicle or falls into the water in an emergency, the propeller continues to move forward. Due to human inertia, the propeller and the operator will simultaneously apply two opposite forces to the limit switch through the elastic nylon rope, and the limit switch is disconnected. After receiving the signal, the main control device 6 transmits the command to the receiver 18 through the communication device 10, thereby controlling the drive device to close and triggering the lifesaving device B to pop out the lifebuoy.

[0030] In the inner rod part, the battery compartment 7 provides power for the display and transmission of the joystick data component. The main control device 6 is mainly a circuit board, equipped with a single-chip microcomputer and a potentiometer. The single-chip microcomputer is connected to the sensor device 9, the control device 5, the communication device 10, the potentiometer, and the life-saving device A17. The communication device 10 is a wireless communication module that transmits the instructions of the main control device to the thruster component 3.

[0031] Specifically, the linear speed output by the single-chip microcomputer is determined by the different resistance values ​​of the potentiometer, and the turning speed output by the single-chip microcomputer is determined by the human body position information obtained by the sensor device 9. Assuming that the linear speed is a, when the operator needs to turn left, the left propeller obtains an angular velocity x (x<0), and the right propeller obtains an angular velocity y (y>0). The angular velocity here refers to the angular velocity of the aircraft, and the units of x and y are consistent with the forward speed a. At this time, the speed provided by the left propeller is (a+x), and the speed provided by the right propeller is (a+y). The left turn is achieved based on the speed difference provided by the left and right propellers.

[0032] like Figure 2-2As shown, the traction rope assembly 2 of the present invention is divided into a traction rope hard part 11 and a traction rope soft part 12. The traction rope hard part 11 is connected to the fixing knob to fix the main body direction of the joystick assembly 1 to prevent the joystick assembly 1 from large-scale rollover due to environmental and human factors. The traction rope soft part 12 is connected to the propeller assembly, which can greatly increase the service life and resist some wind and wave effects, while being easy to store.

[0033] like Figure 3-1 , 3-2 As shown, the propeller assembly 3 of the present invention is composed of a joystick storage slot 13, a driving propeller 14, a driving device 15, an energy device 16, a receiver 18 and a life-saving device B19. The joystick storage slot 13 is responsible for storing the joystick assembly 1 of the present invention. The receiver 18 is responsible for receiving the signal transmitted by the sensor device 9, the driving device 15 and the propeller 14. The propeller 14 drives the water flow by rotation, converting the rotational power into axial thrust. The driving device 15 is controlled by the receiver to adjust the rotation mode of the propeller 14. The life-saving device B20 includes a relay, a lifebuoy and compressed gas. The relay is regulated by the single-chip microcomputer to control the lifebuoy to pop out when the aircraft fails, thereby improving the safety of the aircraft.

[0034] The present invention provides a small-scale ocean manned spacecraft based on human body sense control, which can achieve fine control of the spacecraft's travel direction based on human body posture control. After the joystick assembly 1 is started, the human body posture information is transmitted to the main control device 6 through the sensor device 9, and the main control device 6 transmits the command to the receiver 18 of the propeller assembly 3 through the communication device 10. The receiver 18 controls the drive device to output different speeds, thereby realizing the control of the navigation direction.

[0035] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. A small ocean manned vehicle based on human body sensory control, characterized in that: The aircraft comprises: a joystick assembly (1), comprising an outer rod part and an inner rod part, wherein the outer rod part is provided with a fixed knob (4), a control device (5), a display device (6) and a grip (8); the inner rod part is provided with a battery compartment (7), a sensor device (9) and a communication device (10), which are used to control the direction and speed of the aircraft according to the user's posture; a traction rope assembly (2), which is divided into a traction rope hard part (11) and a traction rope soft part (12), wherein the hard part is connected to the fixed knob (4) to fix the angle of the joystick, and the soft part is connected to the propeller assembly (3) and is convenient for storage and mitigation of the influence of the external environment; the propeller assembly (3), comprising a joystick storage groove (13), a driving propeller (14), a steering gear (15), an energy device (16), a life buoy and compressed gas (17) and a sensor receiving device (18), which adjusts the direction, speed and stability of the aircraft by receiving a radio frequency signal transmitted from the joystick assembly.

2. The small ocean manned craft according to claim 1, characterized in that: The joystick assembly (1) controls the direction of the aircraft by detecting changes in the user's posture. The sensor device (9) is an inertial measurement unit, including a gyroscope, an accelerometer and a magnetometer, which monitors the user's posture information in real time, including posture changes such as forward tilt, backward tilt and left and right tilt, and converts the posture information into an electrical signal, which is sent to the propeller assembly (3) through a communication device (10), thereby achieving real-time adjustment of the direction and speed of the aircraft.

3. The small ocean manned craft according to claim 2, characterized in that: The control device (5) is a gear dial, and the user can accurately adjust the propulsion speed and direction of the aircraft by turning the gear, wherein rolling the gear dial to the left means forward movement, and rolling it to the right means backward movement; the control device combines the user's body posture information to provide more accurate speed and direction control.

4. The small ocean manned craft according to claim 2, characterized in that: The display device (6) comprises a display screen and two control buttons, and the display screen can display the speed and direction of the aircraft and the position information of the joystick assembly (1) and the user's posture in real time; Users can switch between start and standby modes with the touch of a button, while monitoring real-time navigation information to optimize body control.

5. The small ocean manned craft according to claim 1, characterized in that: The life buoy and the compressed gas (17) are configured to be controlled through a display device (6) when an emergency occurs in the aircraft. When activated, the life buoy can be rapidly inflated and ejected to ensure the safety of the aircraft and the occupants.

6. The small ocean manned craft according to claim 2, characterized in that: The communication device (10) is a 2.4 GHz radio frequency transmitter, through which the user posture data collected by the sensor device (9) is converted into a wireless radio frequency signal and transmitted to the sensor receiving device (18) of the propeller assembly (3), thereby adjusting the direction and speed of the aircraft through the steering gear (15) and the driving propeller (14), thereby realizing seamless control based on human posture.

7. The small ocean manned craft according to claim 1, characterized in that: The driving propeller (14) of the propeller assembly (3) is used to convert the rotational power into axial thrust. Combined with the adjustment of the steering gear (15), the direction of the aircraft can be changed in real time according to the user's body posture information, including left and right turns, straight driving and speed changes.

8. The small ocean manned craft according to claim 1, characterized in that: The soft part (12) of the traction rope assembly (2) is durable and can effectively resist the influence of external wind and waves. It is designed as a storage structure to ensure that it can be easily folded up when not in use, while reducing the influence of external forces on the directional control of the joystick assembly (1).

9. The small ocean manned craft according to claim 2, characterized in that: The handle (8) of the joystick assembly (1) can be adjusted to a comfortable position through an adjuster when in use; the handle (8) is made of anti-slip material to ensure that the user can hold it firmly during use; even in a strong wind and wave environment, the joystick assembly (1) can still maintain stable control, ensuring that the user's body adjustment can be accurately transmitted to the thruster assembly.

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