Small manned marine vehicle based on human body sensing control

Abstract

This invention belongs to the field of marine vehicle design, specifically relating to a small manned marine vehicle based on human body motion control. The vehicle system mainly consists of a joystick assembly, a tow rope assembly, and a propeller assembly. The system can achieve precise control of the marine vehicle's direction of movement by utilizing subtle changes in human posture. The joystick assembly collects attitude information and transmits it to the propeller assembly in the form of wireless signals. The tow rope assembly connects the joystick assembly and the propeller assembly, effectively reducing the adverse effects of human factors and wind / wave conditions on signal acquisition. The propeller assembly acquires information via a sensor receiver and wirelessly transmits steering commands to the drive unit to rotate the propellers, changing the speeds of the left and right propellers, thereby achieving the vehicle's movement and steering. This invention can achieve precise and efficient control of the marine vehicle, successfully overcoming the technical bottleneck of traditional vehicle control difficulties and achieving precise manipulation.

Description

Technical Field

[0001] This relates to the field of marine vehicle technology, particularly human motion control, specifically a small manned marine vehicle based on human motion control. Background Technology

[0002] Small marine vehicles typically refer to vessels that are small in size, simple in design, and suitable for navigation in coastal waters, rivers, lakes, and narrow or shallow waters. They are characterized by low cost, portability, high flexibility, and strong maneuverability. These advantages enable small marine vehicles to play an important role in environmental monitoring, fisheries, and the leisure industry.

[0003] As the trend towards unmanned and remotely controlled vessels becomes increasingly apparent, the effectiveness and safety of remote operations have become critical issues. Remote operations largely rely on radio for information transmission. However, complex terrain and long-distance transmission can lead to multipath effects and signal fading. While technologies like 5G, repeaters, and amplifiers can improve signal transmission rates and range, these measures increase cost and complexity.

[0004] Currently, most manually operated ships are controlled by steering wheels. At sea, the risks are significantly increased due to sudden environmental changes and unexpected human factors. When faced with danger, the human brain needs 500ms to 1 second to think and react to complex operating systems; even professional athletes need at least 200ms, while a subconscious tilt of the body only takes 100ms to 150ms. This invention significantly improves operational flexibility and accuracy by optimizing the sensor devices of the control stick and the user's control method, allowing operators to respond more quickly to emergencies, thereby enhancing safety and operational flexibility. Summary of the Invention

[0005] In response to the inability to cope with sudden changes in the marine environment and unexpected human factors, as well as the significant shortcomings of complex operating systems that prevent timely and correct operations, this invention discloses a small marine manned vehicle based on human body sensing control.

[0006] The aircraft of this invention comprises a propulsion assembly, a tow rope assembly, and a control stick assembly. The propulsion assembly includes a receiver, a propeller, a drive unit, a power unit, and a control stick storage slot. The propulsion unit has a streamlined structure, with two additional drive propellers at its tail to serve as the propulsion system for the entire aircraft. The tow rope assembly of this invention includes a rigid portion and a flexible portion. The control stick assembly of this invention includes a sensing device, a communication device, a battery compartment, a fixed knob, a grip, a control device, and a rescue device A.

[0007] Furthermore, the thruster assembly of this invention includes a receiver, a propeller, a drive unit, an energy unit, a joystick storage slot, and a life-saving device B. The thruster has a maximum power of 13.4 horsepower and can tow a 100kg person at a speed of 83 mph. The energy unit uses a high-performance rechargeable lithium battery to power the receiver and drive unit; the receiver is mainly a circuit board, equipped with a LoRa wireless module and a microcontroller. The microcontroller processes the signals received from the LoRa signal and controls the drive unit; the drive unit controls the propeller's direction and speed. Life-saving device B can deploy a lifebuoy in case of an emergency, ensuring the operator's safety.

[0008] Furthermore, the traction rope assembly of the present invention includes a rigid portion and a flexible portion. The rigid portion fixes the main body direction of the control stick assembly and can counteract the interference of environmental factors on direction; the flexible portion connects the thruster assembly and the control stick assembly. The traction rope assembly of the present invention has sufficiently high strength to withstand sudden increases in tensile force.

[0009] Furthermore, the joystick assembly described in this invention is used to control the overall speed and direction of the vehicle. The joystick assembly includes a sensing device, a communication device, a battery compartment, a fixed knob, an anti-slip device, a main control device, a control device, and a life-saving device A. The main control device is primarily a circuit board, housing a microcontroller and a potentiometer. The microcontroller connects to the sensing device, control device, communication device, potentiometer, and life-saving device A. The potentiometer determines the vehicle's linear speed, and the sensing device determines the vehicle's turning speed. The battery compartment can house a high-performance rechargeable lithium battery to power the entire joystick assembly. The communication device is a wireless communication module. The main control device controls the operating status of the thrusters. Life-saving device A includes a limit switch and a wristband; pulling the wristband opens life-saving device B to release a lifebuoy. The control device includes buttons (power on, power off), a gear selector, and a display screen. The gear selector is connected to the potentiometer and adjusts the vehicle's linear speed.

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

[0011] Furthermore, the preparation method for using the aircraft described in this invention includes two parts: assembling and inspecting the aircraft and initializing and adjusting the control stick. In the assembly and inspection part, after the operator removes the control stick from the propeller assembly, they adjust the tow rope to the most suitable angle based on their height and a comfortable grip position; then they check whether the lifebuoy is intact. In the control stick initialization and adjustment part, the operator needs to ensure that the linear speed of the left and right propellers of the propeller assembly is 0 when the operator naturally stands on the surfboard. Specifically, when the propeller assembly is powered on, the gear lever of the control device is turned to the 0 speed position.

[0012] Furthermore, the operating method of the vehicle described in this invention includes the use of the control device, direction control, speed control, and safety guidelines. After the operator stands on the surfboard, they activate the thruster using the "power on" button on the control device, and adjust the speed according to the values ​​displayed on the screen by shifting the gear lever on the control device. The thruster will then pull the operator forward. When there is an obstacle in front of the operator, they can turn left and right by controlling the joystick, following the left and right tilts of their body weight. In case of an emergency, such as slipping and falling into the water or losing control of the vehicle, pulling the wristband will de-energize the thruster's drive system and simultaneously release the lifebuoy from the thruster for self-rescue.

[0013] The advantages of this invention are as follows:

[0014] The motion-sensing operation employed in this invention allows users to control the device through natural body movements, significantly reducing the learning curve. Users can operate the device through intuitive movements such as arm swings or body tilts, eliminating the need to memorize complex commands and significantly improving the intuitiveness of operation and the convenience of human-computer interaction.

[0015] Due to its small size, low cost, and high flexibility, this invention can be widely applied in multiple fields. Besides water recreation, transportation, and rescue, it also demonstrates unique advantages in fisheries, scientific research, and commerce, possessing irreplaceable application value.

[0016] This invention achieves rapid response and operation by capturing the operator's natural reactions and instinctive actions, thereby minimizing potential risks and improving overall safety. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the operation of the present invention.

[0018] Figure 2-1 This is a schematic diagram of the joystick structure of the present invention.

[0019] Figure 2-2 This is a schematic diagram of the traction rope structure of the present invention.

[0020] Figure 3-1 This is a schematic diagram of the internal structure of the thruster of the present invention.

[0021] Figure 3-2 This is a schematic diagram of the external structure of the propeller of the present invention.

[0022] Figure 4 This is a demonstration diagram of the life-saving device of the present invention.

[0023] In the diagram: 1-Control joystick assembly, 2-Tow rope assembly, 3-Thruster assembly, 4-Fixed knob, 5-Control device, 6-Main control device, 7-Battery compartment, 8-Grip, 9-Sensor device, 10-Communication device, 11-Hard part of tow rope, 12-Soft part of tow rope, 13-Control joystick storage slot, 14-Propeller, 15-Drive device, 16-Energy device, 17-Rescue device A, 18-Receiver, 19-Rescue device B. Detailed Implementation

[0024] The objectives and advantages of the present invention will be further explained below with reference to the accompanying drawings and specific embodiments. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

[0025] In the description of this invention, attention should be paid to terms such as "upper," "lower," "front," "rear," "left," "right," "inner," and "outer" indicating orientation or positional relationships. These indicated positional relationships are based on the orientations or positional relationships shown in the accompanying drawings. These terms are merely for the convenience of describing the invention and simplifying the explanation, and do not indicate or imply that a device or element must be in a specific orientation or constructed and operated in a specific manner. Therefore, these terms should not be construed as limiting the invention.

[0026] Furthermore, the accompanying drawings are only schematic illustrations of parts related to the present invention and do not represent the actual structure of the product.

[0027] 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 thruster assembly 3.

[0028] like Figure 2-1 , Figure 2-2 As shown, the joystick assembly 1 of the present invention is divided into two parts: an inner joystick and an outer joystick. The outer joystick mainly consists of a fixed knob 4, a control device 5, a grip 8, and a rescue device A17; the inner joystick mainly includes the control device 5, a battery compartment 7, a sensor device 9, and a communication device 10.

[0029] The outer rod section has a fixed knob 4 that controls the angle between the rigid part 11 of the traction rope and the control lever assembly 1. The control device 6 consists of a display screen, two control buttons, and a gear lever. The display screen shows the forward speed, direction, and position information of the control lever assembly; the control buttons are located below the display screen 3, with the left button being the power-off button and the right button being the power-on button; the gear lever adjusts the propulsion speed and direction of the thruster assembly 3, with leftward rotation for forward movement and rightward rotation for backward movement. The grip 8 is for single-handed or double-handed gripping and is made of non-slip material to ensure that the control lever assembly 1 is unlikely to slip during operation. The life-saving device A17 mainly includes a one-meter-long elastic nylon rope, a wristband, and a limit switch, with the limit switch connected to the microcontroller of the main control device 6. The one-meter-long elastic nylon rope is used to ensure that the operator will not accidentally trigger the life-saving device due to slippage, and also to ensure that the operator can maintain contact with the ship promptly after triggering the life-saving device, greatly improving safety.

[0030] Specifically, such as Figure 4 As shown, the limit switch is usually in the closed state. When the operator loses control of the vehicle or falls into the water in an emergency, the thruster continues to move forward. Due to the inertia of the operator, the thruster and the operator will apply two opposite forces to the limit switch through the elastic nylon rope. The limit switch opens, and after receiving the signal, the main control device 6 transmits the instruction to the receiver 18 through the communication device 10, thereby controlling the drive device to shut down and triggering the life-saving device B to eject the life ring.

[0031] The inner rod section includes a battery compartment 7 that provides power for the display and transmission of data from the joystick data assembly. The main control device 6 is primarily a circuit board, housing a microcontroller and a potentiometer. The microcontroller is connected to the sensing device 9, control device 5, communication device 10, potentiometer, and life-saving device A17. The communication device 10 is a wireless communication module that transmits commands from the main control device to the thruster assembly 3.

[0032] Specifically, the linear velocity output by the microcontroller is determined by the different resistance values ​​of the potentiometer, while the turning speed output by the microcontroller is determined by the human body position information acquired by the sensor 9. Assuming the linear velocity is *a*, when the operator needs to turn left, the left propeller acquires an angular velocity *x* (x < 0), and the right propeller acquires an angular velocity *y* (y > 0). Here, angular velocity refers to the angular velocity of the vehicle, and the units of *x* and *y* are the same as the forward velocity *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.

[0033] like Figure 2-2As shown, the traction rope assembly 2 of the present invention is divided into a rigid traction rope portion 11 and a flexible traction rope portion 12. The rigid traction rope portion 11 is connected to a fixing knob to fix the main body direction of the control lever assembly 1 and prevent the control lever assembly 1 from tipping over on a large scale due to environmental and human factors. The flexible traction rope portion 12 is connected to the thruster assembly, which can significantly improve service life and resist some of the impact of wind and waves, while also facilitating storage.

[0034] like Figure 3-1 , 3-2 As shown, the propulsion assembly 3 of the present invention comprises a joystick storage slot 13, a drive propeller 14, a drive device 15, an energy device 16, a receiver 18, and a life-saving device B19. The joystick storage slot 13 houses the joystick assembly 1 of the present invention. The receiver 18 receives signals transmitted from the sensor 9, the drive device 15, and the propeller 14. The propeller 14 rotates to propel water, converting rotational power into axial thrust. The drive device 15, controlled by the receiver, adjusts the rotation of the propeller 14. The life-saving device B20 includes a relay, a lifebuoy, and compressed gas. The relay, controlled by a microcontroller, deploys the lifebuoy in case of a malfunction, enhancing the safety of the aircraft.

[0035] This invention provides a small marine manned vehicle based on human body posture control, which enables precise control of the vehicle's direction of travel. After the joystick assembly 1 is activated, the human posture information is transmitted to the main control device 6 through the sensor device 9. The main control device 6 transmits commands to the receiver 18 of the thruster assembly 3 through the communication device 10. The receiver 18 controls the drive device to output different speeds, thereby achieving control of the navigation direction.

[0036] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.

Claims

1. A small manned marine vehicle based on human body motion control, characterized in that, The aircraft includes: a joystick assembly (1), comprising an outer joystick and an inner joystick, wherein the outer joystick is equipped with a fixed knob (4), a control device (5), a display device (6), and a grip (8); the inner joystick is equipped with a battery compartment (7), a sensor device (9), and a communication device (10), used to control the aircraft's direction and speed according to the user's attitude; and a traction rope assembly (2), divided into a rigid traction rope part (11) and a flexible traction rope part (12), wherein the rigid part is connected to the fixed knob (4) to fix the angle of the joystick, and the flexible part is connected to the thruster assembly (3) and is convenient for... To accommodate and mitigate the impact of the external environment; the propulsion assembly (3), including a joystick storage slot (13), a drive propeller (14), a servo motor (15), an energy device (16), a lifebuoy and compressed gas (17), and a sensor receiving device (18), adjusts the vehicle's direction, speed, and stability by receiving radio frequency signals transmitted from the joystick assembly; the joystick assembly (1) controls the vehicle's direction by detecting changes in the user's posture; the sensor device (9) is an inertial measurement unit, including a gyroscope, accelerometer, and magnetometer, which monitors the user's attitude information in real time. It covers forward tilt, backward tilt, and left and right tilt attitude changes, and converts attitude information into electrical signals, which are sent to the thruster assembly (3) through the communication device (10), thereby realizing real-time adjustment of the vehicle's direction and speed; the control device (5) is a gear knob, which allows the user to precisely adjust the vehicle's propulsion speed and direction by turning the gear. The gear knob moves to the left to move forward and to the right to move backward; this control device combines the user's body posture information to provide more precise speed and direction control; the display device (6) includes a display screen and two control buttons. The display screen can display in real time... The system displays the vehicle's speed, direction, and position information of the joystick assembly (1) and the user's posture. The user switches between start and standby modes via a button, while monitoring real-time navigation information to optimize body posture control. The communication device (10) is a 2.4GHz radio frequency transmitter. The transmitter converts the user posture data collected by the sensing device (9) into wireless radio frequency signals and transmits them to the sensing receiver (18) of the thruster assembly (3). The direction and speed of the vehicle are then adjusted by the servo motor (15) and the drive propeller (14), achieving seamless control based on human posture.

2. The small manned marine vehicle according to claim 1, characterized in that, The lifebuoy and compressed gas (17) are configured to be controlled via a display device (6) in the event of an emergency. When activated, the lifebuoy can rapidly inflate and pop out to ensure the safety of the aircraft and its occupants.

3. The small manned marine vehicle according to claim 1, characterized in that, The propeller (14) of the thruster assembly (3) is used to convert rotational power into axial thrust. Combined with the adjustment of the servo motor (15), it can change the direction of the aircraft in real time according to the user's body posture information, including turning left and right, going straight and speed changes.

4. The small manned marine vehicle 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 with a storage structure to ensure that it can be easily stored away when not in use, while reducing the influence of external forces on the directional control of the joystick assembly (1).

5. The small manned marine vehicle according to claim 1, characterized in that, The handle (8) of the joystick assembly (1) is adjusted to a comfortable position by the adjuster during use; the handle (8) is made of non-slip material to ensure that the user can grip it firmly during use. Even in strong wind and wave environment, the joystick assembly (1) can still maintain stable control and ensure that the user's body posture adjustment can be accurately transmitted to the thruster assembly.

Images