Flapping wing somatosensory control method, system and equipment and medium

Abstract

The invention provides a flapping wing somatosensory control method, system and device and a medium, and the method comprises the steps: calculating a thrust instruction and body inclination information through detecting the left arm waving frequency and the right arm waving frequency of an operator, or the left arm upper waving angle, the left arm lower waving angle, the right arm upper waving angle and the right arm lower waving angle of the operator; and sending the thrust instruction and the yaw control instruction to the remote control flapping-wing aircraft. Based on the technical scheme, the upper limb movement and the body inclination information of the operator are converted into the thrust instruction and the course control instruction respectively, and the thrust instruction and the course control instruction are sent to the remote control flapping-wing aircraft through the signal transmitter, so that the operator can directly control the flight state of the aircraft in the air on the ground through the limb movement and posture of the operator; the control experience of the flapping-wing air vehicle is effectively improved, an operator can obtain the immersion feeling of flapping-wing flight of various flying creatures such as birds or insects, the control reality feeling is improved, and the interaction experience and entertainment of a user are greatly enhanced.

Description

Technical Field

[0001] The present invention relates to the field of aircraft control technology, and in particular to a flapping-wing somatosensory control method, system, equipment and medium. Background Art

[0002] In the field of bionic aircraft and virtual reality entertainment research, somatosensory control technology has gradually attracted attention. These technologies control the device by converting human movements into device movements, thus giving users a more realistic operating experience and immersion. At present, existing somatosensory control devices are mostly used in games, virtual reality and other fields, but the control of bionic aircraft, especially flapping-wing aircraft, is still in its early stages.

[0003] Bionic aircraft control technology mainly relies on traditional remote controls or preset programs to control the movement of the aircraft through buttons or joysticks. Although this method can achieve basic operations of the aircraft, the user's operating experience is far from the real flying feeling, lacks immersion and interactivity, and the control is not realistic. At the same time, traditional remote control methods are difficult to accurately simulate the flapping flight of birds or insects, and the operation is complicated and unintuitive, which affects the user experience.

[0004] In related technologies, devices such as limb motion sensors and tilt detectors have been used to detect human motion, but applying these sensors to the control of flapping-wing aircraft still faces challenges. The main issues include: how to accurately convert complex limb movements into flapping-wing movements of the aircraft; how to avoid signal interference and data transmission delays while detecting human motion; and how to make the response of the aircraft highly consistent with human motion to enhance the immersive experience. In addition, the existing technical solutions also have a lot of room for improvement in terms of sensor layout, signal processing and control algorithms.

[0005] In summary, the existing flapping-wing aircraft control technology is insufficient in immersion and interactivity, and it is difficult to meet the needs of users to experience the flapping-wing flight of birds or insects. Therefore, there is an urgent need for a control method and device that can directly convert limb movements into aircraft movements to improve the naturalness of aircraft control and the immersive experience of users. Summary of the invention

[0006] The main purpose of the present invention is to propose a flapping-wing somatosensory control method, system, device and medium to at least solve the technical problem of insufficient control realism in the existing flapping-wing somatosensory control methods in the related art.

[0007] A first aspect of the present invention provides a flapping-wing somatosensory control method, which is applied to a flapping-wing somatosensory control system including a limb motion sensor, a signal transmitter, and a remote-controlled flapping-wing aircraft. The flapping-wing somatosensory control method includes the following steps:

[0008] receiving a detection mode selected by an operator;

[0009] When the detection mode is the frequency detection mode, the operator's left arm swinging frequency and right arm swinging frequency are detected by the limb motion sensor, and the thrust instruction in the frequency detection mode is calculated according to the left arm swinging frequency and the right arm swinging frequency;

[0010] When the detection mode is the amplitude detection mode, the limb motion sensor is used to detect the operator's left arm upper swing angle, left arm lower swing angle, right arm upper swing angle and right arm lower swing angle, and the left arm swing amplitude and the right arm swing amplitude are calculated, and the thrust command in the amplitude detection mode is calculated according to the left arm swing amplitude and the right arm swing amplitude;

[0011] If there is a body tilt sensor, body tilt information is detected by the body tilt sensor, and a yaw control instruction is calculated according to the body tilt information;

[0012] If there is no body tilt sensor, the limb motion sensor detects the operator's left arm up swing angle, left arm down swing angle, right arm up swing angle and right arm down swing angle, and calculates a yaw control instruction;

[0013] The thrust command and the yaw control command are sent to the remote-controlled flapping-wing aircraft.

[0014] A second aspect of the present invention provides a flapping-wing somatosensory control system, comprising a limb motion sensor, a signal transmitter and a remote-controlled flapping-wing aircraft; wherein the flapping-wing somatosensory control system executes the steps in the flapping-wing somatosensory control method described in the first aspect.

[0015] A third aspect of the present invention provides an electronic device, including a memory, a processor and a bus;

[0016] The bus is used to realize the connection and communication between the memory and the processor;

[0017] The processor is used to execute the computer program stored in the memory;

[0018] When the processor executes the computer program, the steps in the flapping-wing motion sensing control method provided in the first aspect are implemented.

[0019] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in the flapping-wing motion sensing control method provided in the first aspect are implemented.

[0020] The flapping-wing somatosensory control method, system, device and medium of the present invention are completely different from the method of relying on traditional remote controllers or preset programs and controlling the movement of aircraft through buttons or joysticks. The flapping-wing somatosensory control method of the present invention converts the operator's upper limb movements and body tilt information into thrust instructions and heading control instructions respectively, and sends them to the remote-controlled flapping-wing aircraft through a signal transmitter, so that the operator can directly control the flight state of the aircraft in the air through his own limb movements and postures on the ground. This method effectively improves the control experience of the flapping-wing aircraft, allowing the operator to obtain an immersive feeling of flapping-wing flight like various flying creatures such as birds or insects, improves the realism of control, and greatly enhances the user's interactive experience and entertainment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic flow chart of detailed steps of a flapping-wing somatosensory control method in one embodiment provided in the present application;

[0023] Figure 2 A simplified flowchart of a flapping-wing somatosensory control method in one embodiment provided in the present application;

[0024] Figure 3 A schematic diagram of module connections of a flapping-wing somatosensory control system provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0026] The features, functions and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0028] It should be noted that related terms such as "first", "second", etc. can be used to describe various components, but these terms do not limit the components. These terms are only used to distinguish one component from another component. For example, without departing from the scope of the present invention, the first component can be referred to as the second component, and the second component can similarly be referred to as the first component. The term "and / or" refers to any one or more combinations of related items and description items. In addition, in order to better illustrate the present invention, numerous specific details are given in the specific embodiments below. Those skilled in the art will understand that the present invention can also be implemented without these specific details. In other examples, the well-known structures and components are not described in detail to highlight the main purpose of the present invention. In addition, the "*" in the following embodiments all represent multiplication operations.

[0029] See also Figure 1 An embodiment of the present invention provides a flapping-wing somatosensory control method, which is applied to a flapping-wing somatosensory control system including a limb motion sensor, a signal transmitter, and a remote-controlled flapping-wing aircraft.

[0030] In the flapping-wing somatosensory control system, the principles and functions of the limb motion sensor, signal transmitter, and remote-controlled flapping-wing aircraft are as follows:

[0031] Limb motion sensors are used to detect the operator's upper limb movements and related information in real time. These sensors can be devices based on inertial measurement units (IMUs), which contain components such as accelerometers, gyroscopes, and magnetometers, and can accurately capture the operator's motion data, such as swing frequency, amplitude, and angle. Limb motion sensors are usually installed on the operator's arm or wrist, and can sense the dynamic changes of the limbs in real time and convert them into electrical signals for subsequent processing. These signals provide basic data for the system's control command generation, ensuring that the aircraft can respond to the operator's natural movements.

[0032] The signal transmitter is a key component in the system responsible for transmitting control instructions. It receives relevant information detected by the limb motion sensor, processes the relevant information to obtain corresponding instructions such as thrust instructions and heading control instructions, and sends these signals to the remote-controlled flapping-wing aircraft with a receiver through wireless communication technology (such as Bluetooth, Wi-Fi, radio frequency, etc.). The design of the signal transmitter ensures low latency and high reliability, ensuring that the operator's instructions can be quickly and accurately transmitted to the aircraft, thereby achieving real-time control of the aircraft. In addition, the signal transmitter also has a certain anti-interference ability and can maintain stable signal transmission in a complex wireless environment.

[0033] The remote-controlled flapping-wing aircraft is the execution terminal of this system. It receives various instructions transmitted from the signal transmitter through the receiver to adjust its own flight attitude through control instructions. The wings of the aircraft can imitate the flapping mechanism of natural organisms, and various flight actions such as climbing, descending, level flight, turning, etc. can be achieved by adjusting the thrust and heading control of the wings. The remote-controlled flapping-wing aircraft has a built-in special control module that can decode the instructions from the signal transmitter and perform corresponding flight actions. The design of the aircraft remote control link and actuator focuses on response speed and control flexibility to ensure that it can quickly respond to the operator's instructions and achieve precise flight control.

[0034] Please continue reading Figure 1 In this embodiment, the flapping wing body sensing control method at least includes the following steps:

[0035] Step S101, receiving the detection mode selected by the operator.

[0036] Step S102, when the detection mode is the frequency detection mode, the operator's left arm swinging frequency and right arm swinging frequency are detected by the limb motion sensor, and the thrust instruction in the frequency detection mode is calculated according to the left arm swinging frequency and the right arm swinging frequency.

[0037] Step S103, when the detection mode is the amplitude detection mode, the operator's left arm upper swing angle, left arm lower swing angle, right arm upper swing angle and right arm lower swing angle are detected by the limb movement sensor, and the left arm swing amplitude and the right arm swing amplitude are calculated, and the thrust instruction in the amplitude detection mode is calculated based on the left arm swing amplitude and the right arm swing amplitude.

[0038] Based on the implementation of step S101 to step S103, different detection modes are set to realize the recognition of the operator's limb movement and the calculation of the thrust command. The core principle is to use the limb movement sensor to monitor the movement characteristics of the operator's left and right arms.

[0039] Specifically, according to the detection mode selected by the operator, the system can detect the swinging frequency or swinging amplitude of the limbs respectively, thereby generating different thrust instructions. On the one hand, in the frequency detection mode, the system detects the swinging frequency of the left and right arms through the limb motion sensor. Among them, the swinging frequency refers to the number of times the arm swings back and forth within a certain period of time. By analyzing the frequency difference between the left and right arms or combining the average value of the frequency of the left and right arms, the system can calculate the thrust instruction in the frequency detection mode. The thrust instruction is proportional to the swinging frequency of the arm. The faster the swing, the greater the thrust. On the other hand, in the amplitude detection mode, the system detects the upper swinging angle and the lower swinging angle when the arm swings through the limb motion sensor. By calculating these angle differences, the swing amplitude is obtained. The swing amplitude of the left and right arms can be used as an input parameter for the thrust instruction calculation. Generally, the larger the amplitude, the greater the strength of the thrust instruction.

[0040] Optionally, the flapping-wing somatosensory control system can be configured with a body tilt sensor, or without a body tilt sensor, to perform different steps of calculating the yaw control command. Also, an additional body tilt sensor can be installed to send the yaw command.

[0041] Step S104, if there is a body tilt sensor, detecting body tilt information through the body tilt sensor, and calculating a yaw control instruction according to the body tilt information;

[0042] Step S105, if there is no body tilt sensor, the limb motion sensor is used to detect the operator's left arm up swing angle, left arm down swing angle, right arm up swing angle and right arm down swing angle, and calculate the yaw control instruction;

[0043] Step S106, sending the thrust command and the yaw control command to the remote-controlled flapping-wing aircraft.

[0044] Based on the implementation of step S104 to step S106, the coordinated work of yaw control and thrust command is intended to enhance the precise control of the remote-controlled flapping-wing aircraft. First, if a body tilt sensor is installed on the device, the system will detect the operator's body tilt information through the sensor. Body tilt information generally refers to the roll angle of the operator's body relative to the horizontal plane. Based on this tilt information, the system will calculate the yaw control command so that the aircraft can make corresponding adjustments according to the operator's body posture, achieve stable flight direction control, maintain straight flight, or turn left and right with the tilt of the body.

[0045] Furthermore, if the body tilt sensor is not configured, the system will switch to obtaining the operator's arm swing angle information through the limb motion sensor, specifically including the upper swing angle and the lower swing angle of the left arm and the right arm. Based on these angles, the system calculates the yaw control command. The core of this design idea is to use the change in the movement trajectory of the arm to compensate for the attitude control in the absence of the body tilt sensor, making the entire control process more flexible and ensuring that the aircraft can still perform yaw adjustments according to the operator's arm movements. In step S106, the thrust command and the yaw control command are summarized and encoded by the signal transmitter to obtain a remote control signal, and the remote control signal is sent to the remote-controlled flapping-wing aircraft to achieve comprehensive control of the aircraft. The thrust command determines the flight speed or climb rate / descent rate of the aircraft, while the yaw control command determines the direction adjustment of the aircraft. The synergistic effect of the two enables the operator to achieve precise operation of the flapping-wing aircraft through the movement of the arm and body.

[0046] Therefore, the flapping-wing somatosensory control method of this embodiment is completely different from the method of relying on traditional remote controllers or preset programs and controlling the movement of aircraft through buttons or joysticks. The operator's upper limb movements and body tilt information are converted into thrust instructions and heading control instructions respectively, and sent to the remote-controlled flapping-wing aircraft through a signal transmitter, so that the operator can directly control the flight state of the aircraft through his own limb movements and postures. This method effectively improves the control experience of flapping-wing aircraft, allowing the operator to obtain an immersive feeling of flapping-wing flight like various flying creatures such as birds or insects, improves the realism of control, and greatly enhances the user's interactive experience and entertainment.

[0047] In an optional implementation of this embodiment, the limb motion sensor includes a left limb motion sensor and a right limb motion sensor; the limb motion sensor can detect the upper limb motion sensing information of the operator. When in the frequency detection mode, the left limb motion sensor and the right limb motion sensor are used to detect the operator's left arm swing frequency and right arm swing frequency, and when in the amplitude detection mode, they are used to detect the operator's left arm upper swing angle, left arm lower swing angle, right arm upper swing angle and right arm lower swing angle.

[0048] In an optional implementation of the present embodiment, the step of calculating the thrust command in the frequency detection mode according to the left arm swinging frequency and the right arm swinging frequency specifically includes: using a preset calculation formula to calculate the left arm swinging frequency and the right arm swinging frequency to obtain the thrust command; wherein the calculation formula includes f=(f1+f2) / 2 and f*kf=T; in the calculation formula, f1 represents the left arm swinging frequency, f2 represents the right arm swinging frequency, f represents the average value of the left and right frequencies, kf represents the first proportional coefficient, and T represents the thrust command.

[0049] Specifically, when the operator swings his left and right arms at a certain frequency, the left limb motion sensor detects the left arm swinging frequency f1, and the right limb motion sensor detects the right arm swinging frequency f2, and sends them to the signal transmitter through a wired or wireless signal. In the signal transmitter, the average value of the left and right frequencies f = (f1 + f2) / 2 is calculated, and then multiplied by the first proportional coefficient kf to obtain a thrust instruction (with a magnitude of 0 to 100%), which is subsequently sent to the remote-controlled flapping-wing aircraft to control the thrust magnitude. In the subsequent process, after the receiver of the remote-controlled flapping-wing aircraft receives the thrust instruction, it maps it to instructions such as the flapping frequency, amplitude, or climb rate of the wing to control the drive motor of the wing. For example, setting kf=0.5, that is, when the average swinging frequency of the left and right arms is 0 Hz, the thrust command signal is 0%, the wings do not flap, and the aircraft glides without power; when the average frequency is 2 Hz, the thrust command signal is 100%, corresponding to the thrust command required for maximum speed climb, the aircraft wings flap at the maximum frequency or amplitude, or climb at the maximum commanded climb rate.

[0050] In an optional implementation manner of the present embodiment, the steps of calculating the left arm swing amplitude and the right arm swing amplitude, and calculating the thrust command in the amplitude detection mode according to the left arm swing amplitude and the right arm swing amplitude specifically include: using preset calculation formulas L1=Lu-Ld and L2=Ru-Rd to calculate the left arm swing amplitude and the right arm swing amplitude; wherein L1 represents the left arm amplitude, L2 represents the right arm amplitude, Lu represents the upper swing angle of the left arm, Ld represents the lower swing angle of the left arm, Ru represents the upper swing angle of the right arm, and Rd represents the lower swing angle of the right arm, and it is defined that the sign of the upper swing angle is always positive, and the sign of the lower swing angle is always negative; using preset calculation formulas L=(L1+L2) / 2 and T=L*kL to calculate the average amplitude and thrust command; wherein L represents the average amplitude, T represents the thrust command, and kL represents the second proportional coefficient.

[0051] In an actual application scenario, when the second proportional coefficient kL = 1 / 60, the operator's left arm flaps with an amplitude of 30° upward and -30° downward, and the right arm flaps with an amplitude of 30° upward and -30° downward, then the left and right wings of the aircraft flap with an amplitude of 60° upward (30-(-30) = 60) and 60° downward (30-(-30) = 60), L = (L1+L2) / 2 = 60°, L*kL = 60*(1 / 60) = 100%, that is, the thrust command corresponding to this action is 100%.

[0052] In an optional implementation of the present embodiment, the body tilt information includes the roll angle of the body relative to the horizontal plane; the step of calculating the yaw control command according to the body tilt information specifically includes: using a preset calculation formula H == theta*kt to calculate the yaw control command; wherein H represents the yaw control command, theta represents the roll angle of the body relative to the horizontal plane (the positive direction of theta is right roll), and kt represents the third proportional coefficient.

[0053] In an actual application scenario, the body tilt sensor detects the rolling angle theta of the operator's body relative to the horizontal plane, multiplies it by the third proportional coefficient kt, converts it into a heading control command of the remote-controlled flapping-wing aircraft, and sends it to the aircraft through a signal transmitter to control the left and right turn of the aircraft. For example, the third proportional coefficient kt is set to 0.02, that is, when the left and right tilt angles of the body are detected to be 0°, the heading control signal is 0%, and the aircraft maintains straight flight; when the body tilt is detected to be -50° (- represents left roll), the heading control signal is -100%, and the maximum left turn rate command is input to the aircraft; when the body tilt is detected to be +50° (+ represents right roll), the heading control signal is +100%, and the maximum right turn rate command is input to the aircraft.

[0054] In an optional implementation of the present embodiment, the steps of detecting the operator's left arm upward swing angle, left arm downward swing angle, right arm upward swing angle and right arm downward swing angle through a limb motion sensor and calculating the yaw control instruction specifically include: using preset calculation formulas L=(Lu+Ld) / 2 and R=(Ru+Rd) / 2 to calculate the left arm swing median angle L and the right arm swing median angle R, and calculating the body's roll angle theta relative to the horizontal plane through the preset calculation formula theta=(LR) / 2, and calculating the yaw control instruction H through the preset calculation formula H=theta*kt.

[0055] For example, when the operator's body tilts 15° to the left, the left and right arms flap 30° upward and -30° downward relative to the body coordinate system. Then relative to the ground horizontal coordinate system, the left arm flaps with an amplitude of Lu = 15° upward and Ld = -45° downward, and the right arm flaps with an amplitude of Ru = 45° upward and Rd = -15° downward, then L = -15°, R = 15°. theta = (-15-15) / 2 = -15°. Take kt = 1 / 30, then H = -15 / 30 = -50%, the yaw control command is -50%, that is, the magnitude of the left yaw control amount is 50%, and the negative direction represents the left.

[0056] In an optional implementation of this embodiment, the system sends a thrust command and a yaw control command to the remote-controlled flapping-wing aircraft through a signal transmitter, so as to control the thrust of the left and right wings of the remote-controlled flapping-wing aircraft through the thrust command, and control the left and right steering of the remote-controlled flapping-wing aircraft through the yaw control command. The yaw control command can be a yaw angular rate or a yaw / roll control amount.

[0057] See also Figure 2 When a remote-controlled flapping-wing aircraft in the air receives thrust instructions and heading control instructions through an internal receiver, the internal control module of the remote-controlled flapping-wing aircraft parses the thrust instructions and heading control instructions, and calculates the actions of the actuators through the flight control system to perform corresponding actions. Therefore, the adjustment of the thrust instructions and heading control instructions directly affects the climbing and descending speeds of the aircraft, enabling it to flexibly respond to different flight action requirements. A larger thrust instruction will drive the aircraft to rise, while a smaller thrust instruction may cause the aircraft to descend or remain in a level flight state.

[0058] It should be noted that, for a remote-controlled flapping-wing aircraft, the thrust control method is closely related to the control mode. The flapping-wing somatosensory control method of this embodiment can control flapping-wing aircraft in two different control modes, namely, speed open-loop control and speed closed-loop control, through thrust instructions, as follows:

[0059] Speed ​​open-loop control: For flapping-wing aircraft in speed open-loop control mode, the thrust command is directly related to the frequency or amplitude of the flapping wings. The size of the thrust command determines the frequency or amplitude of the flapping wing movement, which in turn affects the amount of thrust generated. Generally, a larger thrust command corresponds to a higher flapping frequency or a larger amplitude, which means that the aircraft will generate greater thrust, thereby increasing the flight speed or climb rate. On the contrary, when the thrust command is smaller, the flapping frequency or amplitude decreases, the thrust weakens, the flight speed decreases, and may even cause the aircraft to descend or maintain a level flight state. Therefore, in speed open-loop control mode, the thrust size is directly positively correlated with the thrust command.

[0060] Speed ​​closed-loop control: For flapping-wing aircraft in speed closed-loop control mode, the thrust command corresponds to the flight speed or climb / descent rate. At this time, after receiving the thrust command, the aircraft will automatically adjust the frequency or amplitude of the flapping wings to adjust the thrust so that the actual flight speed or climb / descent rate is proportional to the thrust command. In other words, under closed-loop control, the aircraft will detect the flight status (such as speed, attitude) through the program and adjust the flapping wing action in real time to ensure that the thrust matches the flight speed requirement or climb / descent rate requirement mapped by the thrust command. The advantage of this mode is that the aircraft can automatically adjust the thrust according to changes in the external environment (such as wind force, load changes) to maintain a stable flight speed or climb rate.

[0061] In combination with the above, that is, for a flapping-wing aircraft with open-loop speed control, the thrust command corresponds to the flapping frequency or amplitude. A high frequency or large amplitude means a large thrust, which results in a faster speed or climb rate. For a flapping-wing aircraft with closed-loop speed control, the thrust command corresponds to the flight speed or climb / descent rate. After receiving the thrust command, the aircraft will automatically set the flapping frequency or amplitude through the program according to the flight speed or climb rate, and adjust the thrust so that the flight speed or climb rate is proportional to the thrust command.

[0062] In addition, the yaw control command is used to adjust the left and right steering of the remote-controlled flapping-wing aircraft. Among them, for the yaw open-loop control method, the yaw control command can be the deflection angle of the flapping-wing aircraft's tail, rudder and other control surfaces, or the difference in thrust or lift between the left and right wings, etc., which generates a control torque for turning left or right. For example, the remote-controlled flapping-wing aircraft can achieve left and right steering or smooth straight flight of the aircraft by parsing the heading control command and adjusting the flapping angle or frequency difference of the left and right wings. When the heading control command indicates a right turn, the aircraft will reduce the thrust of the right wing or increase the thrust of the left wing, and vice versa.

[0063] For the yaw closed-loop control method, the yaw control command can be the yaw rate or the roll angle, etc. After receiving the yaw command, the aircraft will control the deflection of various control surfaces or the inconsistency of the thrust of the left and right wings through the computer, so that the attitude parameters such as the yaw rate or the roll angle are proportional to the yaw command. This control method ensures that the aircraft can accurately fly along the preset path of the operator.

[0064] It should be noted that Figure 2 The flight control performed on the aircraft side is only used to interpret the control of the aircraft by the thrust instructions and heading control instructions.

[0065] The present invention directly detects the upper limb movements and body tilt information of the operator through the limb movement sensor, thereby realizing natural control of the remote-controlled flapping-wing aircraft. Compared with the traditional remote control operation method, the present method significantly reduces the user's learning cost and operation difficulty. The operator only needs to control the aircraft in the air through simple limb movements on the ground to complete complex flight operations. This can improve the entertainment value of the aircraft and give the operator an immersive control experience.

[0066] In addition, due to the use of somatosensory control methods, the system can obtain and process the operator's movement information and body tilt information in real time, and directly convert this information into control instructions for the aircraft. The whole process is efficient and smooth, which reduces the human reaction time and makes the operation of the aircraft smoother and more flexible. Especially for dynamic flight scenes, somatosensory control can significantly improve the maneuverability and response speed of the aircraft.

[0067] To sum up, the entire control method realizes the conversion of limb movements into aircraft control commands through the above steps. The operator can directly control the flight attitude and direction of the remote-controlled flapping-wing aircraft through natural limb movements. This method effectively improves the control experience of the flapping-wing aircraft, enables the operator to gain an immersive feeling of flapping-wing flight like various flying creatures such as birds or insects, improves the realism of control, and greatly enhances the user's interactive experience and entertainment.

[0068] In some optional implementations of the present embodiment, before the step of receiving the detection mode selected by the operator, it also includes: matching a recommended coefficient group containing multiple proportional coefficients from a database according to the operator's current physical indicators and / or a pre-stored heart rate average value, if the number of matched recommended coefficient groups is greater than two, then determining a target coefficient group with the highest comprehensive weighted score from the multiple recommended coefficient groups to determine a first proportional coefficient kf, a second proportional coefficient kL and a third proportional coefficient kt; wherein the database stores multiple groups of coefficient groups respectively containing physical indicators, heart rate average values, and subjective body perception scores, and the current physical indicators include height, weight, body fat percentage, gender, chest size and arm size.

[0069] Specifically, the system first obtains the operator's current physical indicators, which may include but are not limited to single or combined features such as height, weight, body fat percentage, gender, chest size, arm size, etc. At the same time, the system can obtain the operator's current or historical heart rate data. This information is used for matching and searching in the database. Based on the database, multiple groups of coefficient groups are pre-stored, each group contains multiple proportional coefficients (such as the first proportional coefficient kf, the second proportional coefficient kL and the third proportional coefficient kt) related to the operator's physical indicators and heart rate averages, as well as subjective body perception scores. The system compares the operator's current physical indicators and heart rate averages, matches them with the records in the database, and extracts multiple recommended coefficient groups, so as to finally match the first proportional coefficient kf, the second proportional coefficient kL and the third proportional coefficient kt with the highest adaptability to the operator, so as to improve the adaptability between the current flapping-wing somatosensory control system and the real-time operator, and further improve the control experience.

[0070] Based on the descriptions of multiple implementations in the above embodiments, the flapping-wing somatosensory control method of the present application can adapt to application scenarios when there is no body tilt sensor, and on the other hand, it can also adapt to application scenarios with a body tilt sensor, and it can also adapt to the two application scenarios including the left arm swing frequency and the right arm swing frequency, and the left arm swing amplitude and the right arm swing amplitude. On the basis of meeting multiple application scenarios, the operator can directly control the flight state of the aircraft through his own body movements and postures. This method effectively improves the control experience of the flapping-wing aircraft, allowing the operator to obtain an immersive feeling of flapping flight like various flying creatures such as birds or insects, improves the realism of control, and greatly enhances the user's interactive experience and entertainment.

[0071] See also Figure 3 , Figure 3 A module connection diagram of the flapping-wing somatosensory control system provided in an embodiment of the present application is shown; the flapping-wing somatosensory control system includes a limb motion sensor 301, a signal transmitter 302 and a remote-controlled flapping-wing aircraft 303; wherein the flapping-wing somatosensory control system can at least execute steps S101 to S107 in the above-mentioned flapping-wing somatosensory control method.

[0072] In some optional implementations of this embodiment, the limb motion sensor includes a left limb motion sensor and a right limb motion sensor; the left limb motion sensor and the right limb motion sensor respectively detect the upper limb motion sensing information of the operator.

[0073] In some optional implementations of this embodiment, the flapping-wing somatosensory control system is further provided with a body tilt sensor; the body tilt sensor is used to detect the roll angle of the operator's body relative to the horizontal plane.

[0074] In some optional implementations of this embodiment, the signal transmitter can be fixed on the operator's body, or integrated with the left limb motion sensor, the right limb motion sensor, and the body tilt sensor, or placed independently at other nearby locations.

[0075] In some optional implementations of this embodiment, the body tilt sensor may be a physical sensor, fixed on the chest or back of the operator, and connected to the signal transmitter via a signal line, Bluetooth or WiFi.

[0076] In some optional implementations of this embodiment, a receiver is provided in the remote-controlled flapping-wing aircraft, which receives control instructions transmitted by the signal transmitter. The remote-controlled flapping-wing aircraft controls the thrust size, navigation direction or climbing, descending, level flight and turning flight movements of the flapping-wing aircraft through the control instructions.

[0077] In summary, the flapping-wing somatosensory control system provided by the embodiment of the present application is completely different from the method of relying on traditional remote controls or preset programs and controlling the movement of aircraft through buttons or joysticks. The flapping-wing somatosensory control system of the present invention converts the operator's upper limb movements and body tilt information into thrust instructions and heading control instructions respectively, and sends them to the remote-controlled flapping-wing aircraft through a signal transmitter, so that the operator can directly control the flight state of the aircraft through his own limb movements and postures. This method effectively improves the control experience of flapping-wing aircraft, allowing the operator to obtain an immersive feeling of flapping-wing flight like various flying creatures such as birds or insects, improves the realism of control, and greatly enhances the user's interactive experience and entertainment.

[0078] See also Figure 4 , Figure 4 An electronic device provided in an embodiment of the present invention is shown, and the electronic device can be used to implement the flapping-wing somatosensory control method in any of the above embodiments. The electronic device includes:

[0079] Memory 401, processor 402, bus 403, and a computer program stored in memory 401 and executable on processor 402, memory 401 and processor 402 are connected via bus 403. When processor 402 executes the computer program, the flapping-wing somatosensory control method in the aforementioned embodiment is implemented. The number of processors may be one or more.

[0080] The memory 401 may be a high-speed random access memory (RAM) memory, or a non-volatile memory, such as a disk memory. The memory 401 is used to store executable program codes, and the processor 402 is coupled to the memory 401 .

[0081] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, which may be disposed in the electronic device in each of the above embodiments, and the computer-readable storage medium may be a memory.

[0082] The computer readable storage medium stores a computer program, and when the program is executed by the processor, the operating method of the tooling software in the aforementioned embodiment is implemented. Furthermore, the computer storable medium can also be a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk or an optical disk, and other media that can store program codes.

[0083] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0084] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0086] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a readable storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned readable storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0087] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0088] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0089] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A flapping wing somatosensory control method, characterized in that: The invention is applied to a flapping-wing somatosensory control system including a limb motion sensor, a signal transmitter and a remote-controlled flapping-wing aircraft, and the flapping-wing somatosensory control method includes the following steps: receiving a detection mode selected by an operator; When the detection mode is the frequency detection mode, the operator's left arm swinging frequency and right arm swinging frequency are detected by the limb motion sensor, and the thrust instruction in the frequency detection mode is calculated according to the left arm swinging frequency and the right arm swinging frequency; When the detection mode is the amplitude detection mode, the limb motion sensor is used to detect the operator's left arm upper swing angle, left arm lower swing angle, right arm upper swing angle and right arm lower swing angle, and the left arm swing amplitude and the right arm swing amplitude are calculated, and the thrust command in the amplitude detection mode is calculated according to the left arm swing amplitude and the right arm swing amplitude; If there is a body tilt sensor, detecting body tilt information through the body tilt sensor, and calculating a yaw control instruction according to the body tilt information; If there is no body tilt sensor, the limb motion sensor detects the operator's left arm up swing angle, left arm down swing angle, right arm up swing angle and right arm down swing angle, and calculates a yaw control instruction; The thrust command and the yaw control command are sent to the remote-controlled flapping-wing aircraft.

2. The flapping wing somatosensory control method according to claim 1, characterized in that: The limb motion sensor includes a left limb motion sensor and a right limb motion sensor; The left limb motion sensor and the right limb motion sensor are used to detect the operator's left arm swinging frequency and the right arm swinging frequency, and are also used to detect the operator's left arm upward swinging angle, left arm downward swinging angle, right arm upward swinging angle and right arm downward swinging angle.

3. The flapping wing somatosensory control method according to claim 2, characterized in that: The step of calculating the thrust command in the frequency detection mode according to the left arm swinging frequency and the right arm swinging frequency specifically includes: The left arm swinging frequency and the right arm swinging frequency are calculated using a preset calculation formula to obtain a thrust instruction; Among them, the calculation formula includes f=(f1+f2) / 2 and f*kf=T; in the calculation formula, f1 represents the left arm swinging frequency, f2 represents the right arm swinging frequency, f represents the average value of the left and right frequencies, kf represents the first proportional coefficient, and T represents the thrust command.

4. The flapping wing somatosensory control method according to claim 3, characterized in that: The step of calculating the left arm swing amplitude and the right arm swing amplitude, and calculating the thrust command in the amplitude detection mode according to the left arm swing amplitude and the right arm swing amplitude, specifically includes: The preset calculation formulas L1=Lu-Ld and L2=Ru-Rd are used to calculate the left arm swing amplitude and the right arm swing amplitude; wherein L1 represents the left arm amplitude, L2 represents the right arm amplitude, Lu represents the left arm upper swing angle, Ld represents the left arm lower swing angle, Ru represents the right arm upper swing angle, and Rd represents the right arm lower swing angle. It is defined that the sign of the upper swing angle is always positive, and the sign of the lower swing angle is always negative; The average amplitude and thrust command are calculated using the preset calculation formulas L=(L1+L2) / 2 and T=L*kL, wherein L represents the average amplitude, T represents the thrust command, and kL represents the second proportional coefficient.

5. The flapping wing somatosensory control method according to claim 4, characterized in that: The body tilt information includes a roll angle of the body relative to a horizontal plane; The step of calculating the yaw control instruction according to the body tilt information specifically includes: The yaw control command is calculated using a preset calculation formula H=theta*kt; wherein H represents the yaw control command, theta represents the roll angle of the body relative to the horizontal plane, the positive direction of theta is right roll, and kt represents the third proportional coefficient.

6. The flapping wing somatosensory control method according to claim 5, characterized in that: The step of detecting the operator's left arm upward swing angle, left arm downward swing angle, right arm upward swing angle and right arm downward swing angle by the limb motion sensor and calculating the yaw control instruction specifically includes: The preset calculation formulas L=(Lu+Ld) / 2 and R=(Ru+Rd) / 2 are used to calculate the left arm swing median angle L and the right arm swing median angle R, and the body roll angle theta relative to the horizontal plane is calculated by the preset calculation formula theta=(LR) / 2, and the operator's yaw control command is calculated by the preset calculation formula H=theta*kt.

7. The flapping-wing somatosensory control method according to claim 1, characterized in that: The step of sending the thrust instruction and the yaw control instruction to the remote-controlled flapping-wing aircraft specifically includes: Summarizing and encoding the thrust command and the yaw control command to obtain a remote control signal; The remote control signal is sent to the remote-controlled flapping-wing aircraft.

8. A flapping-wing somatosensory control system, characterized in that: It comprises a limb motion sensor, a signal transmitter and a remote-controlled flapping-wing aircraft; wherein the flapping-wing somatosensory control system executes the steps in the flapping-wing somatosensory control method as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: Includes memory, processor and bus; The bus is used to realize the connection and communication between the memory and the processor; The processor is used to execute the computer program stored in the memory; When the processor executes the computer program, the steps of the flapping-wing motion sensing control method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the flapping-wing motion sensing control method described in any one of claims 1 to 7 are implemented.

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