A flapping wing motion control method, system, device and medium

Abstract

This invention provides a flapping-wing motion control method, system, device, and medium. By detecting the operator's left and right arm swing frequencies, or the operator's left arm upward and downward swing angles, and right arm upward and downward swing angles, thrust commands and body tilt information are calculated. These thrust commands and yaw control commands are then sent to a remote-controlled flapping-wing aircraft. Based on this technical solution, the operator's upper limb movements and body tilt information are converted into thrust commands and heading control commands, respectively, and transmitted to the remote-controlled flapping-wing aircraft via a signal transmitter. This allows the operator to directly control the flight state of the aircraft from the ground using their own limb movements and postures, effectively improving the control experience of the flapping-wing aircraft. It provides the operator with an immersive feeling similar to the flapping flight of birds or insects, enhancing the realism of control and significantly improving the user's interactive experience and entertainment value.

Description

Technical Field

[0001] This invention relates to the field of aircraft control technology, specifically to flapping wing motion control methods, systems, devices, and media. Background Technology

[0002] In the fields of biomimetic aircraft and virtual reality entertainment research, motion control technology is gradually gaining attention. These technologies convert human movements into device motion, enabling control of the device and providing users with a more realistic operating experience and immersion. Currently, existing motion control devices are mostly used in games and virtual reality, but the control technology for biomimetic aircraft, especially flapping-wing aircraft, is still in its early stages.

[0003] Bionic aircraft control technology primarily relies on traditional remote controls or preset programs, using buttons or joysticks to control the aircraft's movement. While this method enables basic aircraft operations, the user experience falls far short of the feeling of real flight, lacking immersion and interactivity, and failing to provide a realistic sense of control. Furthermore, traditional remote control methods struggle to accurately simulate the flapping flight of birds or insects, and the complex and unintuitive operation further impacts the user experience.

[0004] In related technologies, devices such as limb motion sensors and tilt detectors have been used to detect human movements, but applying these sensors to the control of flapping-wing aircraft still faces challenges. Key issues include: how to accurately translate complex limb movements into flapping motions; how to avoid signal interference and data transmission delays while detecting human movements; and how to ensure the aircraft's response is highly consistent with human movements to enhance the immersive experience. Furthermore, existing technologies have significant room for improvement in sensor placement, signal processing, and control algorithms.

[0005] In summary, existing flapping-wing aircraft control technologies fall short in terms of immersion and interactivity, failing to meet the user's needs for experiencing the flapping 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 enhance the naturalness of aircraft control and the user's immersive experience. Summary of the Invention

[0006] The main objective of this invention is to propose a flapping wing motion control method, system, device, and medium to at least solve the technical problem of insufficient control realism in existing flapping wing motion control methods in related technologies.

[0007] In a first aspect, the present invention provides a flapping-wing motion control method, applied to a flapping-wing motion control system including a limb motion sensor, a signal transmitter, and a remotely controlled flapping-wing aircraft, the flapping-wing motion control method comprising the following steps:

[0008] Receive the detection mode selected by the operator;

[0009] When the detection mode is frequency detection mode, the operator's left arm swing frequency and right arm swing frequency are detected by the limb motion sensor, and the thrust command in frequency detection mode is calculated based on the left arm swing frequency and the right arm swing frequency.

[0010] When the detection mode is amplitude detection mode, the operator's left arm swing angle, left arm swing angle, right arm swing angle and right arm swing angle are detected by the limb motion sensor, and the amplitude of the left arm swing and the amplitude of the right arm swing are calculated. The thrust command in amplitude detection mode is calculated based on the amplitude of the left arm swing and the amplitude of the right arm swing.

[0011] If a body tilt sensor is present, body tilt information is detected by the body tilt sensor, and yaw control commands are calculated based on the body tilt information.

[0012] If there is no body tilt sensor, the operator's left arm upward swing angle, left arm downward swing angle, right arm upward swing angle, and right arm downward swing angle are detected by the limb motion sensor, and the yaw control command is calculated.

[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 motion control system, comprising a limb motion sensor, a signal transmitter, and a remotely controlled flapping-wing aircraft; wherein the flapping-wing motion control system performs the steps of the flapping-wing motion control method as 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 enable communication between the memory and the processor;

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

[0018] When the processor executes the computer program, it implements the steps in the flapping wing motion control method provided in the first aspect.

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

[0020] The flapping-wing motion control method, system, device, and medium of this invention are fundamentally different from traditional methods that rely on remote controls or preset programs and control aircraft movement via buttons or joysticks. The flapping-wing motion control method of this invention converts the operator's upper limb movements and body tilt information into thrust commands and heading control commands, respectively, and transmits them to the remote-controlled flapping-wing aircraft via a signal transmitter. This allows the operator on the ground to directly control the flight state of the aircraft in the air through their own limb movements and posture. This method effectively improves the control experience of flapping-wing aircraft, giving the operator an immersive feeling similar to the flapping flight of birds or insects, enhancing the realism of control, and significantly improving the user's interactive experience and entertainment value. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a detailed flowchart illustrating the steps of a flapping wing motion control method provided in one embodiment of this application.

[0023] Figure 2 This is a simplified flowchart illustrating the steps of a flapping wing motion control method provided in one embodiment of this application.

[0024] Figure 3 This is a schematic diagram of the module connections for the flapping wing motion control system provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0026] The features, functions, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0028] It should be noted that related terms such as "first" and "second" can be used to describe various components, but these terms do not limit the component. These terms are only used to distinguish one component from another. For example, without departing from the scope of the 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 combination of one or more of the related and descriptive terms. In addition, numerous specific details are set forth in the following detailed descriptions to better illustrate the invention. Those skilled in the art will understand that the invention can be practiced without these specific details. In other instances, well-known structures and components are not described in detail in order to highlight the gist of the invention. Furthermore, in the following embodiments, "*" indicates multiplication.

[0029] Please see Figure 1 This invention provides a flapping wing motion control method, which is applied to a flapping wing motion control system including a limb motion sensor, a signal transmitter, and a remote-controlled flapping wing aircraft.

[0030] In the flapping-wing motion 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 inertial measurement unit (IMU) based devices, containing components such as accelerometers, gyroscopes, and magnetometers, capable of accurately capturing the operator's motion data, such as swing frequency, amplitude, and angle. Limb motion sensors are typically mounted on the operator's arm or wrist, sensing dynamic changes in the limbs in real time and converting them into electrical signals for subsequent processing. These signals provide the basic data for generating control commands for the system, ensuring that the aircraft can respond according to the operator's natural movements.

[0032] The signal transmitter is a key component in the system responsible for transmitting control commands. It receives relevant information detected by the limb motion sensors, processes this information to obtain corresponding commands such as thrust and heading control commands, and then transmits these signals to the remotely controlled flapping-wing aircraft equipped with a receiver via wireless communication technologies (such as Bluetooth, Wi-Fi, and radio frequency). The signal transmitter's design ensures low latency and high reliability, guaranteeing that the operator's commands can be quickly and accurately transmitted to the aircraft, thereby achieving real-time control. Furthermore, the signal transmitter also possesses a certain degree of anti-interference capability, maintaining stable signal transmission in complex wireless environments.

[0033] The remote-controlled flapping-wing aircraft is the execution terminal of this system. It receives various commands transmitted from the signal transmitter via a receiver and adjusts its flight attitude accordingly. The aircraft's wings mimic the flapping mechanism of natural organisms, and various flight maneuvers, such as climb, descent, level flight, and turning, are achieved by adjusting the thrust and heading of the wings. The remote-controlled flapping-wing aircraft has a dedicated control module that can decode commands from the signal transmitter and execute corresponding flight maneuvers. The design of the aircraft's remote control link and actuators emphasizes response speed and operational flexibility to ensure rapid response to operator commands and precise flight control.

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

[0035] Step S101: Receive the detection mode selected by the operator.

[0036] Step S102: When the detection mode is frequency detection mode, the operator's left arm swing frequency and right arm swing frequency are detected by the limb motion sensor, and the thrust command in frequency detection mode is calculated based on the left arm swing frequency and right arm swing frequency.

[0037] Step S103: When the detection mode is amplitude detection mode, the operator's left arm swing angle, left arm swing angle, right arm swing angle and right arm swing angle are detected by the limb motion sensor, and the amplitude of the left arm swing and the amplitude of the right arm swing are calculated. The thrust command in amplitude detection mode is calculated based on the amplitude of the left arm swing and the amplitude of the right arm swing.

[0038] Based on the implementation of steps S101 to S103, different detection modes are set to recognize the operator's limb movements and calculate the thrust command. Its core principle lies in using limb motion sensors to monitor the movement characteristics of the operator's left and right arms.

[0039] Specifically, depending on the detection mode selected by the operator, the system can detect either the swing frequency or the swing amplitude of the limbs, thereby generating different thrust commands. On one hand, in frequency detection mode, the system detects the swing frequency of the left and right arms using limb motion sensors. Swing frequency refers to the number of times the arm swings back and forth within a certain time. By analyzing the frequency differences between the left and right arms or combining the average frequency of the left and right arms, the system can calculate the thrust command in frequency detection mode. The thrust command is directly proportional to the swing frequency of the arm; the faster the swing, the greater the thrust. On the other hand, in amplitude detection mode, the system detects the upward and downward swing angles of the arm using limb motion sensors. By calculating the difference between these angles, the amplitude of the swing is obtained. The swing amplitudes of the left and right arms can be used as input parameters for calculating the thrust command. Generally, the larger the amplitude, the greater the intensity of the thrust command.

[0040] Optionally, the flapping-wing motion control system can be configured with or without a body tilt sensor, executing different steps for calculating yaw control commands. Additionally, an extra body tilt sensor can be installed to send yaw commands.

[0041] Step S104: If a body tilt sensor is present, body tilt information is detected by the body tilt sensor, and yaw control command is calculated based on the body tilt information.

[0042] Step S105: If there is no body tilt sensor, the operator's left arm swing angle, left arm swing angle, right arm swing angle and right arm swing angle are detected by the limb motion sensor, and the yaw control command is calculated.

[0043] Step S106: Send thrust command and yaw control command to remote-controlled flapping-wing aircraft.

[0044] Based on steps S104 to S106, the coordinated operation of yaw control and thrust commands aims to enhance the precise control of the remotely 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 this sensor. Body tilt information typically refers to the roll angle of the operator's body relative to the horizontal plane. Based on this tilt information, the system calculates yaw control commands so that the aircraft can adjust accordingly to the operator's body attitude, achieving stable flight direction control, maintaining straight flight, or turning left or right as the body tilts.

[0045] Furthermore, if no body tilt sensor is configured, the system will switch to acquiring the operator's arm swing angle information through limb motion sensors, specifically the upward and downward swing angles of the left and right arms. Based on these angles, the system calculates the yaw control command. The core of this design is to use changes in the arm's motion trajectory to compensate for attitude control in the absence of a body tilt sensor, making the entire control process more flexible and ensuring that the aircraft can still adjust its yaw according to the operator's arm movements. In step S106, the thrust command and yaw control command are aggregated and encoded by a signal transmitter to obtain a remote control signal, which is then sent to the remote-controlled flapping-wing aircraft to achieve comprehensive control of the aircraft. The thrust command determines the aircraft's flight speed or rate of climb / descent, while the yaw control command determines the aircraft's directional adjustment. The synergy between the two allows the operator to achieve precise control of the flapping-wing aircraft through arm and body movements.

[0046] Therefore, the flapping-wing motion control method in this embodiment is fundamentally different from traditional methods that rely on remote controls or preset programs and control aircraft movement via buttons or joysticks. It converts the operator's upper limb movements and body tilt information into thrust commands and heading control commands, respectively, and transmits them to the remote-controlled flapping-wing aircraft via a signal transmitter. This allows the operator to directly control the aircraft's flight state through their own limb movements and posture. This method effectively improves the control experience of flapping-wing aircraft, giving the operator an immersive feeling similar to the flapping flight of birds or insects, enhancing the realism of control, and significantly improving the user's interactive experience and entertainment value.

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

[0048] In an optional embodiment of this example, the step of calculating the thrust command in the frequency detection mode based on the left arm swing frequency and the right arm swing frequency specifically includes: calculating the left arm swing frequency and the right arm swing frequency using a preset calculation formula 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 swing frequency, f2 represents the right arm swing 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 simultaneously swings their left and right arms at a certain frequency, the left limb motion sensor detects the left arm swing frequency f1, and the right limb motion sensor detects the right arm swing frequency f2. These are then transmitted to a signal transmitter via wired or wireless signals. In the signal transmitter, the average value of the left and right frequencies, f = (f1 + f2) / 2, is calculated and multiplied by a first proportionality coefficient kf to obtain the thrust command (0–100%). This command is then sent to the remote-controlled flapping-wing aircraft to control the thrust magnitude. Subsequently, the receiver of the remote-controlled flapping-wing aircraft receives the thrust command and maps it to commands such as the flapping frequency, amplitude, or climb rate of the wing, controlling the wing's drive motors. For example, setting kf=0.5 means that when the average swing 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%, which corresponds 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 embodiment of this example, the step of calculating the amplitude of the left arm swing and the amplitude of the right arm swing, and calculating the thrust command in the amplitude detection mode based on the amplitude of the left arm swing and the amplitude of the right arm swing, specifically includes: calculating the amplitude of the left arm swing and the amplitude of the right arm swing using preset calculation formulas L1 = Lu - Ld and L2 = Ru - Rd; wherein, L1 represents the amplitude of the left arm, L2 represents the amplitude of the right arm, Lu represents the upward swing angle of the left arm, Ld represents the downward swing angle of the left arm, Ru represents the upward swing angle of the right arm, and Rd represents the downward swing angle of the right arm, defining that the sign of the upward swing angle is always positive and the sign of the downward swing angle is always negative; calculating the average amplitude and the thrust command using 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.

[0051] In a practical application scenario, when the second proportional coefficient kL = 1 / 60, the operator flaps their left arm with an amplitude of 30° upward and -30° downward, and their right arm 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 embodiment of this example, the body tilt information includes the roll angle of the body relative to the horizontal plane; the step of calculating the yaw control command based on the body tilt information specifically includes: calculating the yaw control command using a preset calculation formula H==theta*kt; where 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 a practical application scenario, a body tilt sensor detects the roll angle theta of the operator's body relative to the horizontal plane, multiplies it by a third proportionality coefficient kt, and converts this into a heading control command for a remotely controlled flapping-wing aircraft. This command is then transmitted to the aircraft via a signal transmitter to control its left and right turns. For example, if the third proportionality coefficient kt is set to 0.02, then when a body tilt angle of 0° is detected, the heading control signal is 0%, and the aircraft maintains straight flight; when a body tilt angle of -50° is detected (- represents left roll), the heading control signal is -100%, and the aircraft is given a command for the maximum left turn rate; when a body tilt angle of +50° is detected (+ represents right roll), the heading control signal is +100%, and the aircraft is given a command for the maximum right turn rate.

[0054] In an optional embodiment of this example, 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 using a limb motion sensor and calculating the yaw control command specifically includes: calculating the median angle L of the left arm swing and the median angle R of the right arm swing using preset calculation formulas L=(Lu+Ld) / 2 and R=(Ru+Rd) / 2, calculating the roll angle theta of the body relative to the horizontal plane using the preset calculation formula theta=(LR) / 2, and calculating the yaw control command H using the preset calculation formula H=theta*kt.

[0055] For example, when the operator's body tilts 15° to the left, and the left and right arms flap upwards by 30° and downwards by -30° respectively relative to the body coordinate system, then relative to the ground horizontal coordinate system, the left arm flaps with an amplitude of Lu = 15° upwards and Ld = -45° downwards, and the right arm flaps with an amplitude of Ru = 45° upwards and Rd = -15° downwards. Therefore, L = -15° and R = 15°. Theta = (-15 - 15) / 2 = -15°. Taking kt = 1 / 30, then H = -15 / 30 = -50%, and the yaw control command is -50%, meaning the left yaw control amount is 50%, with the negative direction representing leftward.

[0056] In an optional embodiment of this invention, the system sends thrust commands and yaw control commands to the remotely controlled flapping-wing aircraft via a signal transmitter. The thrust commands control the thrust magnitude of the left and right wings of the remotely controlled flapping-wing aircraft, and the yaw control commands control the left and right turning of the aircraft. The yaw control commands can be yaw rate or yaw / roll control values.

[0057] Please see Figure 2 When a remotely controlled flapping-wing aircraft receives thrust and heading control commands via its internal receiver while in the air, its internal control module analyzes these commands and calculates the actuator actions to execute them through the flight control system. Therefore, adjustments to the thrust and heading control commands directly affect the aircraft's climb and descent speeds, enabling it to flexibly respond to different flight maneuver requirements. A larger thrust command will drive the aircraft to ascend, while a smaller thrust command may cause the aircraft to descend or maintain level flight.

[0058] It should be noted that for remotely controlled flapping-wing aircraft, the thrust control method is closely related to the control mode. The flapping-wing motion control method in this embodiment can control two different control modes of flapping-wing aircraft—open-loop speed control and closed-loop speed control—through thrust commands, as detailed below:

[0059] Open-loop speed control: For ornithopter aircraft using open-loop speed control, the thrust command is directly related to the frequency or amplitude of the flapping wing. The magnitude of the thrust command determines the flapping wing's frequency or amplitude, thus affecting the amount of thrust generated. Generally, a larger thrust command corresponds to a higher flapping wing frequency or a larger amplitude, meaning the aircraft will generate more thrust, thereby increasing flight speed or rate of climb. Conversely, when the thrust command is small, the flapping wing frequency or amplitude decreases, thrust weakens, flight speed decreases, and it may even cause the aircraft to descend or maintain level flight. Therefore, in open-loop speed control mode, the thrust magnitude is directly and positively correlated with the thrust command.

[0060] Speed ​​Closed-Loop Control: For ornithopter aircraft operating in speed closed-loop control mode, the thrust command corresponds to the flight speed or climb / descent rate. Upon receiving the thrust command, the aircraft automatically adjusts the frequency or amplitude of its flapping wings to regulate the thrust, ensuring that the actual flight speed or climb / descent rate is proportional to the thrust command. In other words, under closed-loop control, the aircraft detects its flight status (such as speed and attitude) through a program and adjusts its flapping wing movements in real time to ensure that the thrust matches the flight speed or climb / descent rate requirements mapped by the thrust command. The advantage of this mode is that the aircraft can automatically adjust its thrust based on changes in the external environment (such as wind speed or load changes) to maintain a stable flight speed or climb rate.

[0061] In summary, for an open-loop speed control ornithopter, the thrust command corresponds to the flapping frequency or amplitude. A higher frequency or larger amplitude means greater thrust, resulting in a faster speed or climb rate. For a closed-loop speed control ornithopter, 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 according to the flight speed or climb rate, and adjust the thrust to make the flight speed or climb rate proportional to the thrust command.

[0062] Additionally, yaw control commands are used to adjust the left and right turns of the remotely controlled flapping-wing aircraft. In open-loop yaw control, the yaw control command can be the deflection angle of the tail fin, rudder, or other control surfaces of the flapping-wing aircraft, or the difference in thrust or lift between the left and right wings, generating a control torque for turning left or right. For example, by analyzing the heading control command, the remotely controlled flapping-wing aircraft can adjust the flapping angle or frequency difference between the left and right wings to achieve left and right turns or stable straight flight. 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] In a closed-loop yaw control system, the yaw control command can be the yaw rate or roll angle, etc. Upon receiving the yaw command, the aircraft uses a computer to control the yaw of various control surfaces or the inconsistent thrust of the left and right wings, ensuring that attitude parameters such as the yaw rate or roll angle are proportional to the yaw command. This control method ensures that the aircraft can fly precisely along the operator's preset path.

[0064] It should be noted that, Figure 2 The flight control measures implemented by the aircraft itself are only used to interpret the control of the aircraft by thrust commands and heading control commands.

[0065] This invention utilizes motion sensors to directly detect the operator's upper limb movements and body tilt, enabling natural control of a remote-controlled flapping-wing aircraft. Compared to traditional remote control operation, this method significantly reduces the learning curve and operational difficulty for users. Operators can control the aircraft in the air to perform complex flight maneuvers simply by using basic ground-based body movements. This enhances the entertainment value of the aircraft, providing operators with an immersive control experience.

[0066] Furthermore, by employing motion-sensing control, the system can acquire and process the operator's movement and body tilt information in real time, directly converting this information into control commands for the aircraft. The entire process is efficient and smooth, reducing human reaction time and making aircraft operation more fluid and flexible. Especially in dynamic flight scenarios, motion-sensing control can significantly improve the aircraft's maneuverability and response speed.

[0067] In summary, the entire control method achieves the conversion of body movements into aircraft control commands through the above steps. Operators can directly control the flight attitude and direction of the remote-controlled flapping-wing aircraft through natural body movements. This method effectively improves the control experience of flapping-wing aircraft, allowing operators to obtain an immersive feeling similar to the flapping flight of various flying creatures such as birds or insects, enhancing the realism of control, and greatly enhancing the user's interactive experience and entertainment value.

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

[0069] Specifically, the system first acquires 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, and arm size. Simultaneously, the system can acquire the operator's current or historical heart rate data. This information is used for matching and searching in the database. Based on the database's pre-stored multiple sets of coefficients, each containing 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 average heart rate, as well as a subjective somatosensory score, the system compares the operator's current physical indicators and average heart rate with records in the database, extracting multiple recommended coefficient sets. Ultimately, it matches the first proportional coefficient kf, the second proportional coefficient kL, and the third proportional coefficient kt with the highest compatibility with the operator, thereby improving the compatibility between the current flapping wing somatosensory control system and the real-time operator, further enhancing the control experience.

[0070] Based on the descriptions of various embodiments above, the flapping-wing motion control method of this application can adapt to application scenarios without body tilt sensors, as well as application scenarios with body tilt sensors. Furthermore, it is adaptable to two application scenarios: left arm flapping frequency and right arm flapping frequency, and left arm flapping amplitude and right arm flapping amplitude. By satisfying multiple application scenarios, it enables the operator to directly control the flight state of the aircraft through their own body movements and postures. This method effectively improves the control experience of flapping-wing aircraft, giving the operator an immersive feeling similar to the flapping flight of birds or insects, enhancing the realism of control, and significantly improving the user's interactive experience and entertainment value.

[0071] Please see Figure 3 , Figure 3 The diagram shows the module connection of the flapping wing motion control system provided in the embodiment of this application; the flapping wing motion control system includes a limb motion sensor 301, a signal transmitter 302, and a remote-controlled flapping wing aircraft 303; wherein, the flapping wing motion control system can at least execute steps S101 to S107 in the above-mentioned flapping wing motion control method.

[0072] In some optional embodiments of this example, 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 operator's upper limb movement information.

[0073] In some optional embodiments of this example, the flapping wing motion control system is also equipped with a body tilt sensor; the body tilt sensor detects the roll angle of the operator's body relative to the horizontal plane.

[0074] In some alternative embodiments of this example, the signal transmitter may be fixed to 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 in other nearby locations.

[0075] In some optional embodiments of this example, the body tilt sensor may be a physical sensor, fixed to the operator's chest or back, and connected to a signal transmitter via a signal cable, Bluetooth, or Wi-Fi.

[0076] In some optional embodiments of this example, the remote-controlled flapping-wing aircraft is equipped with a receiver. The receiver receives control commands transmitted by the signal transmitter. The remote-controlled flapping-wing aircraft controls the thrust, direction of travel, or flight maneuvers such as climb, descent, level flight, and turning through the control commands.

[0077] In summary, the flapping-wing motion control system provided by this application is fundamentally different from traditional methods that rely on remote controls or preset programs and control aircraft movement via buttons or joysticks. This invention converts the operator's upper limb movements and body tilt information into thrust commands and heading control commands, respectively, and transmits them to the remote-controlled flapping-wing aircraft via a signal transmitter. This allows the operator to directly control the aircraft's flight state through their own limb movements and posture. This method effectively improves the control experience of flapping-wing aircraft, giving the operator an immersive feeling similar to the flapping flight of birds or insects, enhancing the realism of control, and significantly improving the user's interactive experience and entertainment value.

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

[0079] The system includes a memory 401, a processor 402, a bus 403, and a computer program stored in the memory 401 and executable on the processor 402. The memory 401 and the processor 402 are connected via the bus 403. When the processor 402 executes the computer program, it implements the flapping-wing-based motion-sensing control method described in the foregoing embodiments. The number of processors can be one or more.

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

[0081] Furthermore, embodiments of this application also provide a computer-readable storage medium, which may be disposed in the electronic device in the above embodiments, and the computer-readable storage medium may be a memory.

[0082] The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the tooling software operation method described in the foregoing embodiments. Furthermore, the computer-readable storage medium can also be a USB flash drive, a portable hard drive, a read-only memory (ROM), RAM, a magnetic disk, or an optical disk, or any other medium capable of storing program code.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0084] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0085] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0086] If the integrated module is implemented as a software functional 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 this application, in essence, 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. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0087] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0088] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0089] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A flapping wing motion control method, characterized in that, A flapping-wing motion control method, applicable to a flapping-wing aircraft control system including limb motion sensors, signal transmitters, and remotely controlled flapping-wing aircraft, comprises the following steps: Receive the detection mode selected by the operator; When the detection mode is frequency detection mode, the operator's left arm swing frequency and right arm swing frequency are detected by the limb motion sensor, and the thrust command in frequency detection mode is calculated based on the left arm swing frequency and the right arm swing frequency. When the detection mode is amplitude detection mode, the operator's left arm swing angle, left arm swing angle, right arm swing angle and right arm swing angle are detected by the limb motion sensor, and the amplitude of the left arm swing and the amplitude of the right arm swing are calculated. The thrust command in amplitude detection mode is calculated based on the amplitude of the left arm swing and the amplitude of the right arm swing. If a body tilt sensor is present, body tilt information is detected by the body tilt sensor, and yaw control commands are calculated based on the body tilt information. If there is no body tilt sensor, the operator's left arm upward swing angle, left arm downward swing angle, right arm upward swing angle, and right arm downward swing angle are detected by the limb motion sensor, and the yaw control command is calculated. The thrust command and the yaw control command are sent to the remote-controlled flapping-wing aircraft.

2. The flapping wing motion 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 swing frequency and right arm swing frequency, and are also used to detect the operator's left arm upward swing angle, left arm downward swing angle, right arm upward swing angle and right arm downward swing angle.

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

4. The flapping wing motion control method according to claim 3, characterized in that, The steps of calculating the amplitude of the left arm swing and the amplitude of the right arm swing, and calculating the thrust command in the amplitude detection mode based on the amplitude of the left arm swing and the amplitude of the right arm swing, specifically include: The amplitude of the left arm swing and the amplitude of the right arm swing are calculated using the preset calculation formulas L1 = Lu - Ld and L2 = Ru - Rd. Wherein, L1 represents the amplitude of the left arm, L2 represents the amplitude of the right arm, Lu represents the upward swing angle of the left arm, Ld represents the downward swing angle of the left arm, Ru represents the upward swing angle of the right arm, and Rd represents the downward swing angle of the right arm. The sign of the upward swing angle is always positive, and the sign of the downward 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; where L represents the average amplitude, T represents the thrust command, and kL represents the second proportional coefficient.

5. The flapping wing motion control method according to claim 4, characterized in that, The body tilt information includes the roll angle of the body relative to the horizontal plane; The step of calculating the yaw control command based on the body tilt information specifically includes: The yaw control command is calculated using the preset formula H = theta * kt; where 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 motion 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 using the limb motion sensor, and calculating the yaw control command, specifically includes: Using the preset calculation formulas L=(Lu+Ld) / 2 and R=(Ru+Rd) / 2, the median angle L of the left arm swing and the median angle R of the right arm swing are calculated. The roll angle theta of the body relative to the horizontal plane is calculated using the preset calculation formula theta=(LR) / 2. The operator's yaw control command is calculated using the preset calculation formula H=theta*kt.

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

8. A flapping-wing motion sensing control system, characterized in that, It includes a limb motion sensor, a signal transmitter, and a remote-controlled flapping-wing aircraft; wherein the flapping-wing motion control system performs the steps in the flapping-wing motion 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 enable communication between the memory and the processor; The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the flapping wing motion control method according to any one of claims 1 to 7.

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

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