Sharrow-imitating sea-land-air multi-terrain flapping-wing flying robot based on reinforcement learning and control method

Abstract

The invention provides a reinforcement learning-based sea-bird-imitating sea-land-air multi-terrain flapping-wing flying robot and a control method, the robot comprises a control cabin, an integration device and a wing device, the control cabin is mainly used for control, communication and detection of the robot, and the integration device is used for fixing the control cabin and the wing device. The wing device and the integration device are used for detection work of the robot on land, on the sea surface, under the sea and in the sky. Through the integrated design of the flapping wings imitating the sea sparrows, working modes can be freely switched in complex terrains such as land, sea surface, undersea and air, so that the robot can quickly adapt to different terrains according to task requirements, and high-efficiency, low-energy-consumption and long-time continuous detection tasks are achieved while high concealment is kept.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of marine, land and air defense robots, and in particular to a sea, land and air multi-terrain flapping-wing flying robot imitating auk based on reinforcement learning and a control method thereof. Background Art

[0002] In the current scientific and technological context, with the increasing demand for tasks such as environmental monitoring, disaster emergency response, and military reconnaissance, the application of robots in various complex terrains has become particularly important. In particular, the ability to perform detection tasks in multiple environments such as sea, land, and air has become a key criterion for evaluating robot performance. Traditional robot systems can often only work in specific terrains or environments, and their ability to cross multiple complex terrains is limited, resulting in robots facing great limitations in practical applications. At present, the research and development of multi-terrain detection robots mainly focuses on adaptability to a single environment. In addition, when existing robots switch between multi-terrain environments, it usually takes a long time to redeploy and adjust, and it is easy to lose the target or reduce the efficiency of task execution during the conversion process. On the other hand, with the continuous increase in task requirements, robots have an increasingly urgent need for low power consumption and high concealment when performing long-term tasks. Especially in the fields of military reconnaissance and ecological monitoring, robots not only need to maintain a stable working state for a long time, but also need to have strong concealment to avoid being detected by the target. Therefore, how to achieve rapid adaptation, low energy consumption and high concealment in multiple terrains and environments has become a major challenge in technology research and development.

[0003] Most existing technical solutions focus on improving the performance of robots in a single field, but these methods often have problems such as poor adaptability and insufficient stability when working in multiple terrains. The limitations of existing technologies make it a key technical problem to be solved urgently to design a robot system that can perform tasks efficiently and stably in multiple terrains such as sea, land, and air. Summary of the invention

[0004] In order to solve at least some of the above problems, the purpose of the present invention is to provide a sea-land-air multi-terrain flapping-wing flying robot and control method based on reinforcement learning, which aims to solve the problems of poor adaptability, low conversion efficiency and high energy consumption of existing robots in multi-terrain environments, and provide a robot system that can quickly switch and efficiently perform tasks in amphibious all-terrain environments such as sea, land and air. The specific technical solution is as follows:

[0005] On the one hand, the present invention provides a reinforcement learning-based auk imitating multi-terrain flapping-wing flying robot, comprising a control cabin, an integration device, and a wing device; the control cabin and the wing device are fixed to the integration device; the control cabin comprises a cabin head, a cabin body, a front waterproof ring, a control frame, a collection sensor, a dual-axis motor, a cabin rear cover, a rear waterproof ring, a waterproof socket, a controller, a visual gimbal, and a visual sensor; the integration device comprises a skeleton frame, a bird shell, a first transmission wheel, a synchronous belt, a second transmission wheel, a wing rotating motor, an integrated pump, a first air pipe, a first water pipe, an air bag, a water bag, a second air pipe, a second water pipe, a tail rotating motor, a first tail wing, a waterproof cloth, a second tail wing, a tail joint, a tail wing motor, a leg structure, a sole, and a tail waterproof cover.

[0006] Preferably, the front waterproof ring includes a front primary waterproof ring and a front secondary waterproof ring; the visual pan head includes a first pan head joint, a first joint motor, a second pan head joint, and a second joint motor; the cabin body is fixedly connected to the cabin head through a through hole provided on the front side, and a through hole fixedly connected to the rear cover of the cabin body is provided at the rear of the cabin body; the rear waterproof ring is fixed to the rear of the cabin body for waterproof sealing of the cabin body and the rear cover of the cabin, and the rear cover of the cabin body is fixedly connected to the cabin body through the through hole provided, and the rear cover of the cabin body is provided with a plurality of through holes for fixing waterproof sockets; the control frame is fixed inside the cabin body, the rear part of the control frame is a sealing structure and is provided with a through hole for wiring, and the control frame is a hollow structure with a platform provided inside , the acquisition sensor and controller are fixed to the control frame platform; the dual-axis motor is fixed to the front side of the control frame, the dual-axis motor is provided with two independent rotating shafts, the rotating shafts are respectively rotatably connected with the two first joints of the gimbal, bosses are provided on both sides of the first joint of the gimbal, one side of the boss is rollingly connected with the second joint of the gimbal, and the other side of the boss is rotatably connected with the first joint motor, the second joint of the gimbal is fixedly connected with the first joint motor, the second joint is provided with a groove for fixing the second joint motor, the second joint is provided with a through hole for the second joint motor to rotate, and the second joint motor is rotatably connected with the visual sensor; the visual sensor is provided with a base for fixing the rotating shaft of the second joint motor.

[0007] Preferably, the leg structure includes a first leg joint, a second leg joint motor, a first leg gear, a second leg gear, a second leg joint, a third leg joint motor, a third leg joint, and a fourth leg joint motor; the skeleton frame is provided with a cabin frame for fixing the cabin body, the cabin frame is fixedly connected to the front through hole of the cabin body through a through hole provided on the front side, the front side of the bird shell is provided with a through hole fixedly connected to the cabin body and the front through hole of the cabin frame of the skeleton frame, and the cabin frame of the skeleton frame is fixedly connected to the rear through hole of the cabin body through a through hole provided on the rear side; bosses are provided on both sides of the skeleton frame, the bosses are fixedly connected to the wing rotating motor, the skeleton frame bosses are provided with through holes for the rotation of the rotating shaft of the wing rotating motor, and the wing rotating motor is connected to the first The two transmission wheels are rotatably connected, the second transmission wheel is transmission-connected to the first transmission wheel through a synchronous belt, and the first transmission wheel is rollingly connected to the frame boss; the integrated pump is fixed to the frame for pumping and releasing air and water; the integrated pump is provided with two air pumping and releasing ports and two water pumping and releasing ports, one end of the first air pipe is connected to an air pumping and releasing port, and the other end is connected to an air storage bag, one end of the second air pipe is connected to the other air pumping and releasing port, and one end is fixed to the outside of the bird shell, one end of the first water pipe is connected to a water pumping and releasing port, and one end is connected to a water storage bag, one end of the second water pipe is connected to the other water pumping and releasing port, and one end is fixed to the outside of the bird shell, the air storage bag and the water storage bag are fixed to the bottom of the frame; the rear side of the bird shell is fixedly connected to the tail rotating motor, and the rear side of the bird shell is provided with There is a waterproof through hole for the rotation shaft of the tail rotating motor to rotate, the tail rotating motor is fixedly connected to the tail joint, the tail joint is fixedly connected to the tail motor, the tail motor is rotationally connected to the first tail, one end of the first tail is provided with a gear-like structure, one end of the second tail is provided with a gear-like structure, the first tail and the second tail are gear-connected, the second tail is rotationally connected to the tail joint, the waterproof cloth is a flexible cloth-like structure, and its two ends are respectively fixedly connected to the first tail and the second tail, and the tail waterproof cover is used to wrap the tail joint for waterproof sealing of the bird shell and the outside; the first leg motor is at the bottom of the left rear side and the right rear side of the skeleton frame, the first leg motor is rotationally connected to the first leg joint, the leg first A joint is provided with a groove fixedly connected to the second joint motor of the leg, the second gear of the leg is rotationally connected to the second joint motor of the leg, the second gear of the leg is a half-gear structure, the first gear of the leg is a double-layer full gear structure, the bottom gear of the first gear of the leg is gear-connected to the second gear, one end of the second joint of the leg is a half-gear structure, one end of the second joint of the leg is transmission-connected to the second gear of the leg and the top gear of the first gear of the leg by half-gear; the other end of the second joint of the leg is fixedly connected to the third joint motor of the leg, the third joint motor of the leg is rotationally connected to one end of the third joint of the leg, the other end of the third joint of the leg is fixedly connected to the fourth joint motor of the leg, and the fourth joint motor of the leg is rotationally connected to the sole of the foot.

[0008] Preferably, the wing device includes a first wing joint, a second wing joint motor, a second wing joint, a third wing joint motor, a first wing gear, a second wing gear, a third wing joint, a first wing connecting rod, a second wing connecting rod, a third wing connecting rod, a first wing feather, a second wing feather, a third wing feather, and a fourth wing feather; the first wing joint is fixedly connected to the first transmission wheel, bosses are provided on both sides of the first wing joint, one side of the boss is rollingly connected to the second wing joint, and one end is rotationally connected to the second wing joint motor, the second wing joint motor is fixedly connected to the second wing joint, the second wing joint is provided with a boss for fixing the third wing joint motor, the third wing joint motor is rotationally connected to the second wing gear, the second wing gear is a semi-gear structure, and the wing The first gear is a double-layer full gear structure, the bottom gear of the first gear of the wing is gear-connected with the second gear of the wing, the third joint of the wing is provided with a gear-shaped boss, the boss of the third joint of the wing is a half-gear structure, the third joint boss of the wing is transmission-connected with the second gear of the wing and the top gear half-gear of the first gear of the wing; one end of the third joint of the wing is rollingly connected with one end of the first connecting rod of the wing, the other end of the first connecting rod of the wing is rollingly connected with one end of the second connecting rod of the wing, the other end of the second connecting rod of the wing and the other end of the third joint of the wing are rollingly connected with the third connecting rod of the wing, and the third connecting rod of the wing is provided with two through holes rollingly connected with the third connecting rod of the wing and the third joint of the wing; the first feather of the wing and the second feather of the wing are fixed to the third joint of the wing, and the third feather of the wing and the fourth feather of the wing are fixed to the third connecting rod of the wing.

[0009] Preferably, the first feather of the wing is larger than the second feather of the wing, the third feather of the wing is larger than the fourth feather of the wing, the first feather of the wing is located below the second feather of the wing, and the third feather is located below the fourth feather of the wing; the fixing direction of the first feather of the wing, the second feather of the wing, the third feather of the wing, and the fourth feather of the wing is the rear side of the third joint of the wing and the third connecting rod of the wing.

[0010] Preferably, the sole is provided with a webbed boss, the boss is provided with a plurality of flexible bosses for realizing a flexible toe structure, and a flexible waterproof cloth is provided between the flexible bosses for realizing a webbed membrane structure.

[0011] Preferably, the acquisition sensors include an attitude sensor, an air pressure sensor, a satellite navigation sensor and a humidity sensor; the controller includes a battery, a micro single-chip microcomputer, a brain-like chip and a flight control controller.

[0012] Preferably, the controller adopts brain-like chip technology and integrates a robot control model; the control model collects data such as environmental terrain, required location, map information, starting point, target point, obstacle location, air pressure and temperature in real time, and inputs the data into a pulse neural network for processing, thereby generating a control strategy that adapts to the current environment and task; the control model not only outputs the robot's travel path in real time, but also adjusts the robot's morphological information, accurately calculates and controls the speed and angle of each joint motor and servo, and ensures that the robot can move flexibly under various terrain conditions.

[0013] On the other hand, the present invention also provides a control method of a puffin-like multi-terrain flapping-wing flying robot based on reinforcement learning, wherein the control method uses the puffin-like multi-terrain flapping-wing flying robot based on reinforcement learning to perform movement and detection in the sky, the sea, and the land, including a flight mode, a land mode, and an ocean mode;

[0014] The flight mode control process is as follows: the robot control model of the controller brain-like chip sends a flight command, the controller receives the command, controls the left and right wing rotation motors and the wing second joint motors of the integrated device to rotate, thereby driving the left and right wing second joints to adjust to be perpendicular to the ground, controls the left and right wing third joint motors to rotate forward to make the first feather of the wing, the second feather of the wing, the third feather of the wing, and the fourth feather of the wing flap downward, and the robot takes off; the controller controls the left and right leg first motors, the leg second joint motors, the leg third joint motors, and the leg fourth joint motors of the integrated device to rotate to make the leg second joint, the leg third joint and the sole parallel to the ground, and then the controller collects the attitude sensor information of the sensor and adjusts the attitude of the waterproof cloth by controlling the tail rotation motor and the tail wing motor to maintain balance;

[0015] The land mode control process is as follows: the robot control model of the controller brain-like chip sends a land mode command, the controller receives the command, controls the left and right wing rotation motors and the wing second joint motors of the integration device to rotate, thereby driving the left and right wing second joints to be adjusted to be parallel to the ground, and then the controller collects the attitude sensor information of the sensor to adjust the attitude of the waterproof cloth by controlling the tail rotation motor and the tail wing motor, and controls the left and right wing third joint motors to rotate forward to make the wing first feather, wing second feather, wing third feather, wing fourth feather appropriately flap, thereby maintaining balance;

[0016] The ocean mode includes a sea surface mode and an underwater mode; the sea surface mode control process is that the robot control model of the controller brain-like chip sends a sea surface mode command, the controller receives the command, the controller controls the third joint motor on the left and right sides of the integrated device to reduce the speed, driving the flapping speed of the first feather of the wing, the second feather of the wing, the third feather of the wing, and the fourth feather of the wing to slow down, and controls the tail rotation motor and the tail wing motor to adjust the waterproof cloth upward to achieve a slow descent; then, the controller controls the integrated pump to draw air from the second air pipe and send air to the first air pipe to inflate the air bag, the air bag expands, and the robot floats on the sea surface; then the controller controls the first motor of the leg, the second joint motor of the leg, the third joint motor of the leg, and the fourth joint motor of the leg on the left and right sides of the integrated device The four-joint motor rotates to make the second leg joint, the third leg joint and the sole of the foot sink under the sea, and then controls the second leg joint motor to rotate to realize motion control; in the underwater mode, the robot control model of the controller brain-like chip sends a sea surface mode command, the controller receives the command, and the controller controls the integrated pump to draw air from the first air pipe and send air to the second air pipe to draw air into the air bag, and the air bag becomes smaller; the controller controls the integrated pump to draw water from the second water pipe and send water to the first water pipe to fill the water bag, the water bag expands, and the robot sinks to the bottom of the water; the controller controls the first motor of the left and right legs, the second leg joint motor, the third leg joint motor, and the fourth leg joint motor of the integrated device to rotate so that the second leg joint, the third leg joint and the sole of the foot are parallel to the sea surface.

[0017] The movements of the flight mode include ascent, descent, left turn, right turn, and gliding; the controller controls the third joint motors on the left and right sides of the integrated device to continuously rotate forward, and controls the tail rotating motor and the tail wing motor to adjust the waterproof cloth downward / upward to achieve ascent / descent control; the controller controls the third joint motor on the left side of the integrated device to make the left wing device droop / rise, and controls the third joint motor on the right side of the integrated device to make the right wing device rise / droop, the controller controls the third joint motors on the left and right sides of the integrated device to stop rotating, and controls the tail rotating motor and the tail wing motor to adjust the waterproof cloth upward to achieve left / right turn control; the controller controls the third joint motors on the left and right sides of the integrated device to make the left and right wing devices parallel to the ground, and the controller controls the third joint motors on the left and right sides of the integrated device to stop rotating, and then the controller collects the attitude sensor information of the sensor and adjusts the attitude of the waterproof cloth by controlling the tail rotating motor and the tail wing motor to maintain balance, thereby achieving gliding control;

[0018] The movement of the land mode includes moving forward, backward, turning left and turning right. The robot control model sends instructions to the controller through real-time environmental data. The controller controls the first motor of the left and right legs, the second joint motor of the legs, the third joint motor of the legs and the fourth joint motor of the legs to rotate to move the second joint of the legs, the third joint of the legs and the sole of the foot, so as to realize the robot moving forward, backward, turning left and turning right.

[0019] The movement of the sea surface mode includes forward movement, left turn and right turn. For the forward movement control, the controller controls the first motor of the left and right legs of the integrated device, the second joint motor of the leg, the third joint motor of the leg, the fourth joint motor of the leg and the second joint motor to rotate so as to drive the sole of the foot to flutter forward, thereby realizing forward movement control; for the left / right turn control, the controller controls the first motor of the left leg of the integrated device, the second joint motor of the leg, the third joint motor of the leg, the fourth joint motor of the leg and the second joint motor to rotate so as to drive the fluttering speed of the sole of the foot to decrease / increase, and the controller controls the first motor of the right leg of the integrated device, the second joint motor of the leg, the third joint motor of the leg, the fourth joint motor of the leg and the second joint motor to rotate so as to drive the fluttering speed of the sole of the foot to increase / decrease, thereby realizing left / right turn control;

[0020] The movement of the sea surface mode includes rising, falling, turning left and turning right; for the rising / falling control, the controller controls the third joint motors on the left and right sides of the integrated device to rotate forward continuously so that the wing device continues to flap, controls the tail rotating motor and the tail wing motor to adjust the waterproof cloth downward / upward, and controls the first motors, the second joint motors, the third joint motors, the fourth joint motors, and the second joint motors of the left and right legs of the integrated device to rotate so as to drive the soles of the feet to flap forward, thereby realizing the rising / falling control; for the left / right turn control, the controller controls the third joint motor on the left side of the integrated device to reduce / increase the flapping speed of the left wing device, controls the third joint motor on the right side of the integrated device to reduce / increase the flapping speed of the right wing device, controls the third joint motor on the left and right sides of the integrated device to stop rotating, controls the tail rotating motor and the tail wing motor to adjust the waterproof cloth upward, controls the tail rotating motor and the tail wing motor to adjust the waterproof cloth downward / up, and controls the first motors, the second joint motors, the third joint motors, the fourth joint motors, and the second joint motors of the left and right legs of the integrated device to rotate so as to drive the soles of the feet to flap forward, thereby realizing the left / right turn control.

[0021] The beneficial effects of the present invention are:

[0022] The present invention realizes the multi-terrain adaptability of the robot through the reinforcement learning control method and the flapping wing design imitating the auk, and significantly improves the efficiency and stability of task execution. The robot has the ability of low power consumption and long-term operation, which is suitable for performing continuous reconnaissance and monitoring tasks; at the same time, the optimized design makes it have strong concealment and can complete the detection task without attracting attention, which is particularly suitable for reconnaissance or sensitive environment monitoring. In addition, the real-time adaptive capability based on reinforcement learning enables the robot to dynamically adjust the flight posture and task execution strategy to ensure stable operation in complex and dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 It is a schematic diagram of the flight mode of a reinforcement learning-based sea-land-air multi-terrain flapping-wing flying robot imitating auklets according to the present invention;

[0025] Figure 2 It is a schematic diagram of the land mode of a reinforcement learning-based auk-like multi-terrain flapping-wing flying robot described in the present invention;

[0026] Figure 3 It is a schematic diagram of the sea surface mode of a reinforcement learning-based sea, land and air multi-terrain flapping-wing flying robot imitating auklets according to the present invention;

[0027] Figure 4 It is a schematic diagram of an underwater mode of a sea-land-air multi-terrain flapping-wing flying robot imitating auklets based on reinforcement learning according to the present invention;

[0028] Figure 5 This is a schematic diagram of the scene application of a sea, land, and air multi-terrain exploration robot based on a brain-like chip according to the present invention;

[0029] Figure 6 is a structural schematic diagram of the control cabin of the present invention;

[0030] Figure 7 is another structural schematic diagram of the control cabin of the present invention;

[0031] Figure 8 is a schematic diagram of the structure of the control frame of the present invention;

[0032] Fig. 9 is a schematic diagram of the structure of the skeleton frame of the present invention;

[0033] Fig.10 It is a schematic diagram of the tail structure of a sea, land and air multi-terrain detection robot based on a brain-like chip according to the present invention;

[0034] Fig.11 It is another schematic diagram of the tail structure of the sea, land and air multi-terrain detection robot based on the brain-like chip described in the present invention;

[0035] Fig.12 is a schematic diagram of the bottom structure of the skeleton frame of the present invention;

[0036] Fig.13 is a structural schematic diagram of the wing device of the present invention;

[0037] Fig.14It is another structural schematic diagram of the wing device of the present invention.

[0038] Description of reference numerals:

[0039] Control cabin 1, cabin head 101, cabin body 102, front primary waterproof ring 103, front secondary waterproof ring 104, control frame 105, acquisition sensor 106, dual-axis motor 107, cabin rear cover 108, rear waterproof ring 109, waterproof socket 110, controller 111, pan / tilt first joint 112, first joint motor 113, pan / tilt second joint 114, second joint motor 115, visual sensor 116, integration device 2, skeleton frame 201, bird shell 202, first transmission wheel 203, synchronous belt 204, second transmission wheel 205, wing rotation motor 206, integrated pump 207, first air pipe 208, first water pipe 209, air storage bag 210, water storage bag 211, second air pipe 212, second water pipe 213, tail rotation motor 214, first tail wing 215, waterproof cloth 216, second tail wing 2 17. tail joint 218, tail wing motor 219, leg first motor 220, leg first joint 221, leg second joint motor 222, leg first gear 223, leg second gear 224, leg second joint 225, leg third joint motor 226, leg third joint 227, leg fourth joint motor 228, foot 229, tail waterproof cover 230, wing device 3, wing first joint 301, wing second joint motor 302, wing second joint 303, wing third joint motor 304, wing first gear 305, wing second gear 306, wing third joint 307, wing first connecting rod 308, wing second connecting rod 309, wing third connecting rod 310, wing first feather 311, wing second feather 312, wing third feather 313, wing fourth feather 314. DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention.

[0042] Embodiment 1:

[0043] like Figure 1-5As shown, a reinforcement learning-based auk imitating flapping-wing flying robot for multi-terrain operation on land, sea and air of the present invention comprises a control cabin 1, an integration device 2 and a wing device 3, wherein the control cabin 1 and the wing device 3 are fixed to the integration device 2.

[0044] like Figure 6-7 As shown, the control cabin 1 includes a cabin head 101, a cabin body 102, a front primary waterproof ring 103, a front secondary waterproof ring 104, a control frame 105, a sensor 106, a dual-axis motor 107, a cabin rear cover 108, a rear waterproof ring 109, a waterproof socket 110, a controller 111, a first joint 112 of the pan / tilt head, a first joint motor 113, a second joint 114 of the pan / tilt head, a second joint motor 115, and a visual sensor 116. The cabin head 101 is a thin film boss-like structure, and the cabin head 101 is provided with a through hole for fixing with the cabin body 102. The front secondary waterproof ring 104 is fixed to the front side of the cabin body 102 for waterproof sealing of the cabin head 101 and the cabin body 102, and the front secondary waterproof ring 104 is fixed to the outside of the cabin head 101 for waterproof sealing of the cabin head 101 and the integration device 2. The cabin body 102 is fixedly connected to the cabin head 101 through a through hole provided on the front side. The rear part of the cabin body 102 is provided with a through hole fixedly connected to the cabin rear cover 108. The rear waterproof ring 109 is fixed to the rear part of the cabin body 102 for waterproof sealing of the cabin body 102 and the cabin rear cover 108. The cabin rear cover 108 is fixedly connected to the cabin body 102 through the provided through hole. The cabin rear cover 108 is provided with a plurality of through holes for fixing the waterproof socket 110. The control frame 105 is fixed inside the cabin body 102. The rear part of the control frame 105 is a sealed structure and is provided with a through hole for wiring. The control frame is a hollow structure with a platform provided inside. The sensor 106 and the controller 111 are fixed to the control frame 105 platform. The dual-axis motor 107 is fixed to the front side of the control frame 105. The dual-axis motor 107 is provided with two independent rotating shafts, and the rotating shafts are respectively rotatably connected to the two pan-tilt first joints 112, such as Figure 8 As shown, bosses are provided on both sides of the first joint 112 of the pan-tilt head, one side of the bosses is rollingly connected to the second joint 114 of the pan-tilt head, and the other side of the bosses is rotationally connected to the first joint motor 113, the second joint 114 of the pan-tilt head is fixedly connected to the first joint motor 113, the second joint 114 is provided with a groove for fixing the second joint motor 115, the second joint 114 is provided with a through hole for the second joint motor 115 to rotate, and the second joint motor 115 is rotationally connected to the visual sensor 116. The visual sensor 116 is provided with a base for fixing the rotating shaft of the second joint motor 115.

[0045] The integration device 2 includes a skeleton frame 201, a bird shell 202, a first transmission wheel 203, a synchronous belt 204, a second transmission wheel 205, a wing rotation motor 206, an integrated pump 207, a first air pipe 208, a first water pipe 209, an air storage bag 210, a water storage bag 211, a second air pipe 212, a second water pipe 213, a tail rotation motor 214, a first tail wing 215, a waterproof cloth 216, a second tail wing 217, a tail joint 218, a tail wing motor 219, a first leg motor 220, a first leg joint 221, a second leg joint motor 222, a first leg gear 223, a second leg gear 224, a second leg joint 225, a third leg joint motor 226, a third leg joint 227, a fourth leg joint motor 228, a sole 229, and a tail waterproof cover 230. The skeleton frame 201 is provided with a cabin frame for fixing the cabin 102, and the cabin frame is fixedly connected to the front through-hole of the cabin 102 through the through-hole provided on the front side, the bird shell 202 is provided with a through-hole on the front side and is fixedly connected to the cabin 102 and the cabin frame front through-hole of the skeleton frame 201, and the cabin frame of the skeleton frame 201 is fixedly connected to the rear through-hole of the cabin 102 through the through-hole provided on the rear side. Bosses are provided on both sides of the skeleton frame 201, and the bosses are fixedly connected to the wing rotation motor 206, such as Fig. 9 As shown, the boss of the skeleton frame 201 is provided with a through hole for the rotation axis of the wing rotating motor 206 to rotate, the wing rotating motor 206 is rotationally connected to the second transmission wheel 205, the second transmission wheel 205 is transmission-connected to the first transmission wheel 203 through a synchronous belt 204, and the first transmission wheel 203 is rollingly connected to the boss of the skeleton frame 201. The integrated pump 207 is fixed to the skeleton frame 201 for pumping air and water. The integrated pump 207 is provided with two air extraction and discharge ports and two water extraction and discharge ports. One end of the first air pipe 208 is connected to one air extraction and discharge port, and the other end is connected to the air storage bag 210. One end of the second air pipe 212 is connected to the other air extraction and discharge port, and one end is fixed to the outside of the bird shell 202. One end of the first water pipe 209 is connected to one water extraction and discharge port, and the other end is connected to the water storage bag 211. One end of the second water pipe 213 is connected to the other water extraction and discharge port, and one end is fixed to the outside of the bird shell 202. The air storage bag 210 and the water storage bag 211 are fixed to the bottom of the skeleton 201. The bird shell 202 is provided with a waterproof socket for the air storage bag 210 and the water storage bag 211 to communicate with the outside of the bird shell 202. Figure 10-11As shown, the rear side of the bird shell 202 is fixedly connected to the tail rotating motor 214. The rear side of the bird shell 202 is provided with a waterproof through hole for the rotation axis of the tail rotating motor 214 to rotate. The tail rotating motor 214 is fixedly connected to the tail joint 218. The tail joint 218 is fixedly connected to the tail wing motor 219. The tail wing motor 219 is rotationally connected to the first tail wing 215. One end of the first tail wing 215 is provided with a gear-like structure. One end of the second tail wing 217 is provided with a gear-like structure. The first tail wing 215 and the second tail wing 217 are gear-drivenly connected. The second tail wing 217 is rotationally connected to the tail joint 218. The waterproof cloth 216 is a flexible cloth-like structure. The two ends are respectively fixedly connected to the first tail wing 215 and the second tail wing 217. The tail waterproof cover 230 is used to wrap the tail joint 218 for waterproof sealing between the bird shell 202 and the outside. Fig.12 As shown, the first leg motor 220 is at the bottom of the left rear side and the right rear side of the skeleton frame 201, the first leg motor 220 is rotatably connected to the first leg joint 221, the first leg joint 221 is provided with a groove and fixedly connected to the second leg joint motor 222, the second leg gear 224 is rotatably connected to the second leg joint motor 222, the second leg gear 224 is a half-gear structure, the first leg gear 223 is a double-layer full gear structure, the bottom gear of the first leg gear 223 is gear-connected to the second gear 224, one end of the second leg joint 225 is a half-gear structure, and one end of the second leg joint 225 is half-gear-connected to the second leg gear 224 and the top gear of the first leg gear 223. The other end of the second leg joint 225 is fixedly connected to the third leg joint motor 226, the third leg joint motor 226 is rotationally connected to one end of the third leg joint 227, the other end of the third leg joint 227 is fixedly connected to the fourth leg joint motor 228, and the fourth leg joint motor 228 is rotationally connected to the sole 229.

[0046] like Figure 13-14As shown, the wing device 3 includes a first wing joint 301, a second wing joint motor 302, a second wing joint 303, a third wing joint motor 304, a first wing gear 305, a second wing gear 306, a third wing joint 307, a first wing connecting rod 308, a second wing connecting rod 309, a third wing connecting rod 310, a first wing feather 311, a second wing feather 312, a third wing feather 313, and a fourth wing feather 314. The first joint 301 of the wing is fixedly connected to the first transmission wheel 203, and bosses are provided on both sides of the first joint 301 of the wing. One side of the boss is rollingly connected to the second joint 303 of the wing, and one end is rotationally connected to the second joint motor 302 of the wing. The second joint motor 302 of the wing is fixedly connected to the second joint 303 of the wing, and the second joint 303 of the wing is provided with a boss for fixing the third joint motor 304 of the wing. The third joint motor 304 of the wing is rotationally connected to the second gear 306 of the wing. The second gear 306 of the wing is a semi-gear structure, and the first gear 305 of the wing is a double-layer full gear structure. The bottom gear of the first gear 305 of the wing is gear-transmittedly connected to the second gear 306 of the wing. The third joint 307 of the wing is provided with a gear-shaped boss, and the boss of the third joint 307 of the wing is a semi-gear structure. The boss of the third joint 307 of the wing is semi-gear-transmittedly connected to the second gear 306 of the wing and the top gear of the first gear 305 of the wing. One end of the third wing joint 307 is rollingly connected to one end of the first wing link 308, the other end of the first wing link 308 is rollingly connected to one end of the second wing link 309, the other end of the second wing link 309 and the other end of the third wing joint 307 are rollingly connected to the third wing link 310, and the third wing link 310 is provided with two through holes rollingly connected to the third wing link 310 and the third wing joint 307. The first wing feather 311 and the second wing feather 312 are fixed to the third wing joint 307, and the third wing feather 313 and the fourth wing feather 314 are fixed to the third wing link 310.

[0047] The first feather 311 of the wing is larger than the second feather 312 of the wing, the third feather 313 of the wing is larger than the fourth feather 314 of the wing, the first feather 311 of the wing is located below the second feather 312 of the wing, and the third feather 313 is located below the fourth feather 314 of the wing. The first feather 311 of the wing, the second feather 312 of the wing, the third feather 313 of the wing, and the fourth feather 314 of the wing are fixed in a direction to the rear side of the third joint 307 of the wing and the third connecting rod 310 of the wing.

[0048] The sole 229 is provided with a webbed boss, and the boss is provided with a plurality of flexible bosses for realizing a flexible toe structure, and a flexible waterproof cloth is provided between the flexible bosses for realizing a webbed membrane structure.

[0049] The sensor 106 includes a posture sensor, an air pressure sensor, a satellite navigation sensor and a humidity sensor. The controller 111 includes a battery, a micro single chip microcomputer, a brain-like chip and a flight control controller.

[0050] The controller 111 uses brain-like chip technology and integrates a robot control model. The control model collects data such as environmental terrain, required location, map information, starting point, target point, obstacle location, air pressure and temperature in real time, and inputs the pulse neural network for processing, thereby generating a control strategy that adapts to the current environment and task. The control model not only outputs the robot's travel path in real time, but also adjusts the robot's morphological information, accurately calculates and controls the speed and angle of each joint motor and servo, and ensures that the robot can move flexibly under various terrain conditions.

[0051] Embodiment 2:

[0052] The present invention discloses a control method for a puffin-like multi-terrain flapping-wing flying robot based on reinforcement learning. The method is used to control the puffin-like multi-terrain flapping-wing flying robot based on reinforcement learning to perform movement and detection in the sky, ocean and land, including flight mode, land mode and ocean mode.

[0053] The flight mode control process is as follows: the robot control model of the brain-like chip of the controller 111 sends a flight command, the controller 111 receives the command, controls the left and right wing rotation motors 206 and the wing second joint motors 302 of the integrated device 2 to rotate, thereby driving the left and right wing second joints 303 to adjust to be perpendicular to the ground, controls the left and right wing third joint motors 304 to rotate forward to make the wing first feather 311, wing second feather 312, wing third feather 313, wing fourth feather 314 flutter downward, and the robot takes off. The controller 111 controls the left and right leg first motors 220, leg second joint motors 222, leg third joint motors 226, and leg fourth joint motors 228 of the integrated device 2 to rotate to make the leg second joint 225, leg third joint 227, and foot 229 parallel to the ground, and then the controller 111 collects the attitude sensor information of the sensor 106 and adjusts the attitude of the waterproof cloth 216 by controlling the tail rotation motor 214 and the tail wing motor 219 to maintain balance. The movements of the flight mode include ascending, descending, turning left, turning right, and gliding. For ascending / descending control, the controller 111 controls the third joint motors 304 on the left and right sides of the integrated device 2 to continuously rotate forward, and controls the tail rotating motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 downward / upward to achieve ascending / descending control. For turning left / right control, the controller 111 controls the third joint motor 304 on the left side of the integrated device 2 to make the left wing device 3 droop / rise, and controls the third joint motor 304 on the right side of the integrated device 2 to make the right wing device 3 rise / droop. The controller 111 controls the third joint motors 304 on the left and right sides of the integrated device 2 to stop rotating, and controls the tail rotating motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 upward to achieve turning left / right control. For the gliding control, the controller 111 controls the third joint motors 304 on the left and right sides of the integration device 2 to make the left and right wing devices 3 parallel to the ground. The controller 111 controls the third joint motors 304 on the left and right sides of the integration device 2 to stop rotating. Then, the controller 111 collects the attitude sensor information of the sensor 106 and adjusts the attitude of the waterproof cloth 216 by controlling the tail rotating motor 214 and the tail wing motor 219 to maintain balance.

[0054] The land mode control process is as follows: the robot control model of the brain-like chip of the controller 111 sends a land mode instruction, and the controller 111 receives the instruction, controls the left and right wing rotation motors 206 and the wing second joint motors 302 of the integration device 2 to rotate, thereby driving the left and right wing second joints 303 to adjust to be parallel to the ground, and then the controller 111 collects the attitude sensor information of the sensor 106 to adjust the attitude of the waterproof cloth 216 by controlling the tail rotation motor 214 and the tail wing motor 219, and controls the left and right wing third joint motors 304 to rotate forward so that the wing first feather 311, the wing second feather 312, the wing third feather 313, and the wing fourth feather 314 flap appropriately to maintain balance. The land mode includes moving forward, backward, left turn and right turn. The robot control model sends instructions to the controller 111 through real-time environmental data. The controller 111 controls the first motor 220 of the left and right legs, the second joint motor 222 of the leg, the third joint motor 226 of the leg, and the fourth joint motor 228 of the leg to rotate the second joint 225 of the leg, the third joint 227 of the leg and the sole 229 of the foot, thereby realizing the robot moving forward, backward, left turn and right turn.

[0055] The ocean mode includes a sea surface mode and an underwater mode. The sea surface mode control process is that the robot control model of the brain-like chip of the controller 111 sends a sea surface mode command, the controller 111 receives the command, and the controller 111 controls the third joint motors 304 on the left and right sides of the integration device 2 to reduce the speed, driving the first feather 311 of the wing, the second feather 312 of the wing, the third feather 313 of the wing, and the fourth feather 314 of the wing to slow down the flapping speed, and controls the tail rotation motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 upward to achieve slow descent. Afterwards, the controller 111 controls the integrated pump 207 to draw air from the second air pipe 212 and deliver air to the first air pipe 208 to inflate the air bag 210, and the air bag 210 expands, and the robot floats on the sea surface. Then, the controller 111 controls the first motor 220, the second joint motor 222, the third joint motor 226, and the fourth joint motor 228 of the left and right legs of the integrated device 2 to rotate so that the second joint 225, the third joint 227, and the sole 229 of the leg are submerged under the sea, and then controls the second joint motor 222 of the leg to rotate to achieve motion control. The sea surface mode includes forward, left turn, and right turn. For the forward control, the controller 111 controls the first motor 220, the second joint motor 222, the third joint motor 226, the fourth joint motor 228, and the second joint motor 222 of the left and right legs of the integrated device 2 to rotate so as to drive the sole 229 to flutter forward and achieve forward control. For the left turn / right turn control, the controller 111 controls the first motor 220, the second joint motor 222, the third joint motor 226, the fourth joint motor 228, and the second joint motor 222 of the left leg of the integrated device 2 to rotate, thereby driving the flapping speed of the sole 229 to decrease / increase; the controller 111 controls the first motor 220, the second joint motor 222, the third joint motor 226, the fourth joint motor 228, and the second joint motor 222 of the right leg of the integrated device 2 to rotate, thereby driving the flapping speed of the sole 229 to increase / decrease, thereby realizing the left turn / right turn control.

[0056] In the underwater mode, the robot control model of the brain-like chip of the controller 111 sends a sea surface mode command, and the controller 111 receives the command. The controller 111 controls the integrated pump 207 to pump air from the first air pipe 208 and send air to the second air pipe 212, thereby pumping air into the air storage bag 210, and the air storage bag 210 becomes smaller. The controller 111 controls the integrated pump 207 to pump water from the second water pipe 213 and send water to the first water pipe 209, thereby filling the water storage bag 211 with water, and the water storage bag 211 expands, and the robot sinks to the bottom of the water. The controller 111 controls the first motor 220 of the left and right legs of the integrated device 2, the second joint motor 222 of the leg, the third joint motor 226 of the leg, and the fourth joint motor 228 of the leg to rotate so that the second joint 225 of the leg, the third joint 227 of the leg and the sole 229 are parallel to the sea surface. The sea surface mode includes rising, falling, turning left, and turning right. For the ascent / descent control, the controller 111 controls the third joint motors 304 on the left and right sides of the integrated device 2 to continuously rotate forward so that the wing device continues to flap, controls the tail rotation motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 downward / upward, and controls the first motors 220 on the left and right sides of the legs, the second joint motors 222 on the legs, the third joint motors 226 on the legs, the fourth joint motors 228 on the legs, and the second joint motors 222 on the left and right sides of the integrated device 2 to rotate so as to drive the soles of the feet 229 to flap forward, thereby achieving ascent / descent control. For the left turn / right turn control, the controller 111 controls the third joint motor 304 on the left side of the integration device 2 to reduce / increase the flapping speed of the left wing device 3, controls the third joint motor 304 on the right side of the integration device 2 to reduce / increase the flapping speed of the right wing device 3, controls the third joint motor 304 on the left and right sides of the integration device 2 to stop rotating, controls the tail rotating motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 upward, controls the tail rotating motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 downward / upward, and controls the first motor 220 of the left and right legs, the second joint motor 222 of the legs, the third joint motor 226 of the legs, the fourth joint motor 228 of the legs, and the second joint motor 222 of the integration device 2 to rotate, thereby driving the sole 229 to flap forward, and realizing the left turn / right turn control.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-terrain flapping-wing flying robot imitating sea, land and air based on reinforcement learning, characterized in that: The invention comprises a control cabin (1), an integration device (2), and a wing device (3); the control cabin (1) and the wing device (3) are fixed to the integration device (2); the control cabin (1) comprises a cabin head (101), a cabin body (102), a front waterproof ring, a control frame (105), a collection sensor (106), a dual-axis motor (107), a cabin rear cover (108), a rear waterproof ring (109), a waterproof socket (110), a controller (111), a visual cradle, and a visual sensor (116); the integration device (2) comprises a skeleton frame (201), a bird shell (202) , a first transmission wheel (203), a synchronous belt (204), a second transmission wheel (205), a wing rotating motor (206), an integrated pump (207), a first air pipe (208), a first water pipe (209), an air storage bag (210), a water storage bag (211), a second air pipe (212), a second water pipe (213), a tail rotating motor (214), a first tail wing (215), a waterproof cloth (216), a second tail wing (217), a tail joint (218), a tail wing motor (219), a leg structure, a sole (229), and a tail waterproof cover (230).

2. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claim 1 is characterized in that: The front waterproof ring includes a front primary waterproof ring (103) and a front secondary waterproof ring (104); the visual pan head includes a pan head first joint (112), a first joint motor (113), a pan head second joint (114), and a second joint motor (115); the cabin body (102) is fixedly connected to the cabin head (101) through a through hole provided on the front side, the rear part of the cabin body (102) is provided with a through hole fixedly connected to the cabin rear cover (108), and the rear waterproof ring (109) The control frame (105) is fixed to the rear of the cabin (102) for waterproof sealing of the cabin (102) and the cabin rear cover (108); the cabin rear cover (108) is fixedly connected to the cabin (102) through a through hole provided therein; the cabin rear cover (108) is provided with a plurality of through holes for fixing waterproof sockets (110); the control frame (105) is fixed inside the cabin (102); the rear of the control frame (105) is a sealed structure and is provided with a through hole for wiring; the control frame is a hollow structure and is provided with a platform inside The acquisition sensor (106) and the controller (111) are fixed to the control frame (105) frame; the dual-axis motor (107) is fixed to the front side of the control frame (105); the dual-axis motor (107) is provided with two independent rotating shafts, and the rotating shafts are respectively connected to the first joints (112) of the two pan-tilt platforms; bosses are provided on both sides of the first joint (112) of the pan-tilt platform; one side of the bosses is connected to the second joint (114) of the pan-tilt platform in a rolling manner; the other side of the bosses is connected to the first joint motor (113); the second joint (114) of the pan-tilt platform is fixedly connected to the first joint motor (113); the second joint (114) is provided with a groove for fixing the second joint motor (115); the second joint (114) is provided with a through hole for the second joint motor (115) to rotate; the second joint motor (115) is connected to the visual sensor (116) in rotation; the visual sensor (116) is provided with a base for fixing the rotating shaft of the second joint motor (115).

3. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claim 1 is characterized in that: The leg structure comprises a first leg joint (221), a second leg joint motor (222), a first leg gear (223), a second leg gear (224), a second leg joint (225), a third leg joint motor (226), a third leg joint (227), and a fourth leg joint motor (228); the skeleton frame (201) is provided with a cabin frame for fixing the cabin body (102); the cabin frame is fixedly connected to the front through hole of the cabin body (102) through the through hole provided on the front side; the bird shell (202) is provided with a through hole on the front side and is fixedly connected to the cabin body (102) and the cabin frame front through hole of the skeleton frame (201); the cabin frame of the skeleton frame (201) is connected to the rear through hole of the cabin body (102) through the through hole provided on the rear side. The skeletal frame (201) is fixedly connected with the wing rotating motor (206) by a through hole; bosses are provided on both sides of the skeletal frame (201); the bosses are fixedly connected with the wing rotating motor (206); the bosses of the skeletal frame (201) are provided with through holes for the rotation of the rotating shaft of the wing rotating motor (206); the wing rotating motor (206) is rotationally connected with the second transmission wheel (205); the second transmission wheel (205) is transmission-connected with the first transmission wheel (203) through a synchronous belt (204); the first transmission wheel (203) is rollingly connected with the bosses of the skeletal frame (201); the integrated pump (207) is fixed to the skeletal frame (201) for pumping air and water; the integrated pump (207) is provided with two air pumping and water pumping ports and two water pumping and water pumping ports; one end of the first air pipe (208) is connected with a pumping and water pumping port; The first water pipe (209) is connected to a water extraction and discharge port, and one end is connected to a water storage bag (211). The second water pipe (213) is connected to another water extraction and discharge port, and one end is fixed to the outside of the bird shell (202). The air storage bag (210) and the water storage bag (211) are fixed to the bottom of the skeleton frame (201). The rear side of the bird shell (202) is fixedly connected to the tail rotating motor (214). The rear side of the bird shell (202) is provided with a waterproof through hole for the rotation shaft of the tail rotating motor (214). The tail rotating motor (214) is connected to the tail joint. (218) is fixedly connected, the tail joint (218) is fixedly connected to the tail motor (219), the tail motor (219) is rotationally connected to the first tail (215), one end of the first tail (215) is provided with a gear-like structure, one end of the second tail (217) is provided with a gear-like structure, the first tail (215) and the second tail (217) are connected by gear transmission, the second tail (217) is rotationally connected to the tail joint (218), the waterproof cloth (216) is a flexible cloth-like structure, and its two ends are respectively fixedly connected to the first tail (215) and the second tail (217), and the tail waterproof cover (230) is used to wrap the tail joint (218) for waterproof sealing between the bird shell (202) and the outside;The first leg motor (220) is located at the bottom of the left rear side and the right rear side of the skeleton frame (201); the first leg motor (220) is rotatably connected to the first leg joint (221); the first leg joint (221) is provided with a groove fixedly connected to the second leg joint motor (222); the second leg gear (224) is rotatably connected to the second leg joint motor (222); the second leg gear (224) is a half-gear structure; the first leg gear (223) is a double-layer full gear structure; the bottom gear of the first leg gear (223) is gear-drivenly connected to the second gear (224); One end of the second leg joint (225) is a half gear structure, and one end of the second leg joint (225) is connected to the second leg gear (224) and the top gear of the first leg gear (223) by a half gear transmission; the other end of the second leg joint (225) is fixedly connected to the third leg joint motor (226), and the third leg joint motor (226) is rotationally connected to one end of the third leg joint (227), and the other end of the third leg joint (227) is fixedly connected to the fourth leg joint motor (228), and the fourth leg joint motor (228) is rotationally connected to the sole (229).

4. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claim 1 is characterized in that: The wing device (3) comprises a first wing joint (301), a second wing joint motor (302), a second wing joint (303), a third wing joint motor (304), a first wing gear (305), a second wing gear (306), a third wing joint (307), a first wing connecting rod (308), a second wing connecting rod (309), a third wing connecting rod (310), a first wing feather (311), a second wing feather (312), a third wing feather (313), and a fourth wing feather (314); the first wing joint (301) and The first transmission wheel (203) is fixedly connected, bosses are provided on both sides of the first joint (301) of the wing, one side of the boss is rollingly connected to the second joint (303) of the wing, and one end is rotationally connected to the second joint motor (302) of the wing, the second joint motor (302) of the wing is fixedly connected to the second joint (303) of the wing, the second joint (303) of the wing is provided with a boss for fixing the third joint motor (304) of the wing, the third joint motor (304) of the wing is rotationally connected to the second gear (306) of the wing, and the second gear (306) of the wing is a semi-gear structure, The first gear (305) of the wing is a double-layer full gear structure, the bottom gear of the first gear (305) of the wing is gear-connected with the second gear (306) of the wing, the third joint (307) of the wing is provided with a gear-shaped boss, the boss of the third joint (307) of the wing is a half-gear structure, the boss of the third joint (307) of the wing is semi-gear-connected with the second gear (306) of the wing and the top gear of the first gear (305) of the wing; one end of the third joint (307) of the wing is rollingly connected with one end of the first connecting rod (308) of the wing, and the other end of the first connecting rod (308) of the wing is rollingly connected with the first connecting rod (308) of the wing. One end is rollingly connected to one end of the second wing connecting rod (309), the other end of the second wing connecting rod (309) and the other end of the third wing joint (307) are rollingly connected to the third wing connecting rod (310), and the third wing connecting rod (310) is provided with two through holes rollingly connected to the third wing connecting rod (310) and the third wing joint (307); the first wing feather (311) and the second wing feather (312) are fixed to the third wing joint (307), and the third wing feather (313) and the fourth wing feather (314) are fixed to the third wing connecting rod (310).

5. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claim 4 is characterized in that: The first feather (311) of the wing is larger than the second feather (312) of the wing, the third feather (313) of the wing is larger than the fourth feather (314) of the wing, the first feather (311) of the wing is located below the second feather (312) of the wing, and the third feather (313) of the wing is located below the fourth feather (314) of the wing; the first feather (311) of the wing, the second feather (312) of the wing, the third feather (313) of the wing, and the fourth feather (314) of the wing are fixed in a direction to the rear side of the third joint (307) of the wing and the third connecting rod (310) of the wing.

6. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claim 3 is characterized in that: The sole (229) is provided with a webbed boss, the boss is provided with a plurality of flexible bosses for realizing a flexible toe structure, and a flexible waterproof cloth is provided between the flexible bosses for realizing a webbed membrane structure.

7. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claim 1 is characterized in that: The acquisition sensor (106) includes a posture sensor, an air pressure sensor, a satellite navigation sensor and a humidity sensor; the controller (111) includes a battery, a micro single-chip computer, a brain-like chip and a flight control controller.

8. The reinforcement learning-based sea-puffin-like multi-terrain flapping-wing flying robot according to claims 1-7, characterized in that: The controller (111) adopts brain-like chip technology and integrates a robot control model; the control model collects data such as environmental terrain, required location, map information, starting point, target point, obstacle location, air pressure and temperature in real time, and inputs the data into a pulse neural network for processing, thereby generating a control strategy that adapts to the current environment and task; the control model outputs the robot's travel path in real time, adjusts the robot's morphological information, and accurately calculates and controls the speed and angle of each joint motor and servo, ensuring that the robot can move flexibly under various terrain conditions.

9. A control method for a sea-puffin-like multi-terrain flapping-wing flying robot based on reinforcement learning, wherein the control method uses the sea-puffin-like multi-terrain flapping-wing flying robot based on reinforcement learning according to any one of claims 1 to 8 to perform movement and detection in the sky, the sea, and the land, and is characterized in that: Including flight mode, land mode, and ocean mode; The flight mode control process is as follows: the robot control model of the brain-like chip of the controller (111) sends a flight command, the controller (111) receives the command, controls the left and right wing rotation motors (206) and the wing second joint motor (302) of the integration device (2) to rotate, thereby driving the left and right wing second joints (303) to adjust to be vertical to the ground, controls the left and right wing third joint motors (304) to rotate forward, so that the first wing feather (311), the second wing feather (312), the third wing feather (313), and the fourth wing feather (314) flap downward, and the robot takes off; The controller (111) controls the first motors (220) of the left and right legs, the second joint motors (222) of the legs, the third joint motors (226) of the legs, and the fourth joint motors (228) of the legs of the integration device (2) to rotate so that the second joints (225) of the legs, the third joints (227) of the legs, and the soles (229) of the feet are parallel to the ground. Then, the controller (111) collects the attitude sensor information of the sensor (106) and controls the tail rotation motor (214) and the tail wing motor (219) to adjust the attitude of the waterproof cloth (216) so as to maintain balance. The land mode control process is as follows: the robot control model of the brain-like chip of the controller (111) sends a land mode instruction, the controller (111) receives the instruction, controls the left and right wing rotation motors (206) and the wing second joint motor (302) of the integration device (2) to rotate, thereby driving the left and right wing second joints (303) to adjust to be parallel to the ground, and then the controller (111) collects the attitude sensor information of the sensor (106) to adjust the attitude of the waterproof cloth (216) by controlling the tail rotation motor (214) and the tail wing motor (219), and controls the left and right wing third joint motors (304) to rotate forward so that the wing first feather (311), the wing second feather (312), the wing third feather (313), and the wing fourth feather (314) are appropriately flapped, thereby maintaining balance; The ocean mode includes a sea surface mode and an underwater mode; the sea surface mode control process is as follows: the robot control model of the brain-like chip of the controller (111) sends a sea surface mode command, the controller (111) receives the command, and the controller (111) controls the third joint motors (304) on the left and right sides of the integration device (2) to reduce the speed, driving the flapping speed of the first feather (311) of the wing, the second feather (312) of the wing, the third feather (313) of the wing, and the fourth feather (314) of the wing to slow down, and controlling the tail rotation motor (214) and the tail motor The robot (219) adjusts the waterproof cloth (216) upwards to achieve slow descent; then, the controller (111) controls the integrated pump (207) to draw air from the second air pipe (212) and send air to the first air pipe (208) to inflate the air bag (210), the air bag (210) expands, and the robot floats on the sea surface; then, the controller (111) controls the first motor (220) of the left and right legs, the second joint motor (222) of the legs, the third joint motor (226) of the legs, and the fourth joint motor (228) of the legs of the integrated device (2) to rotate so that the robot (210) can be lowered to the surface of the sea. The second leg joint (225), the third leg joint (227) and the sole (229) are submerged in the sea, and then the second leg joint motor (222) is controlled to rotate to realize motion control; in the underwater mode, the robot control model of the brain-like chip of the controller (111) sends a sea surface mode instruction, and the controller (111) receives the instruction. The controller (111) controls the integrated pump (207) to draw air from the first air pipe (208) and send air to the second air pipe (212), thereby drawing air from the air storage bag (210), and the air storage bag (210) becomes smaller; the controller (1 11) controlling the integrated pump (207) to draw water from the second water pipe (213) and deliver water to the first water pipe (209) so as to fill the water bag (211), so that the water bag (211) expands and the robot sinks to the bottom of the water; the controller (111) controls the first motor (220) of the left and right legs of the integrated device (2), the second joint motor (222) of the legs, the third joint motor (226) of the legs, and the fourth joint motor (228) of the legs to rotate so that the second joint (225) of the legs, the third joint (227) of the legs and the sole (229) are parallel to the sea surface.

10. The control method of the sea, land and air multi-terrain flapping-wing flying robot based on reinforcement learning according to claim 9 is characterized in that: The movement of the flight mode includes ascending, descending, turning left, turning right, and gliding; the controller (111) controls the third joint motors (304) on the left and right sides of the integrated device (2) to continuously rotate forward, and controls the tail rotation motor (214) and the tail wing motor (219) to adjust the waterproof cloth (216) downward / upward to achieve ascending / descending control; the controller (111) controls the third joint motor (304) on the left side of the integrated device (2) to make the left wing device (3) droop / rise, and controls the third joint motor (304) on the right side of the integrated device (2) to make the right wing device (3) rise / droop, and the controller (111) controls the third joint motors on the left and right sides of the integrated device (2) to adjust the waterproof cloth (216) downward / upward. (304) stops rotating, controls the tail rotating motor (214) and the tail wing motor (219) to adjust the waterproof cloth (216) upward, and realizes left turn / right turn control; the controller (111) controls the third joint motors (304) on the left and right sides of the integration device (2) to make the left and right wing devices (3) parallel to the ground, and the controller (111) controls the third joint motors (304) on the left and right sides of the integration device (2) to stop rotating, and then the controller (111) collects the attitude sensor information of the sensor (106) and adjusts the attitude of the waterproof cloth (216) by controlling the tail rotating motor (214) and the tail wing motor (219) to maintain balance, thereby realizing gliding control; The movement of the land mode includes moving forward, moving backward, turning left, and turning right. The robot control model sends instructions to the controller (111) through real-time environmental data. The controller (111) controls the first motor (220) of the left and right legs of the integration device (2), the second joint motor (222) of the legs, the third joint motor (226), and the fourth joint motor (228) of the legs to rotate so as to move the second joint (225) of the legs, the third joint (227) of the legs, and the sole (229) of the feet, thereby realizing the robot moving forward, moving backward, turning left, and turning right. The movement of the sea surface mode includes moving forward, turning left, and turning right. For the forward control, the controller (111) controls the first motor (220) of the left and right legs of the integrated device (2), the second joint motor (222) of the leg, the third joint motor (226) of the leg, the fourth joint motor (228), and the second joint motor (222) to rotate, thereby driving the sole (229) to move forward, thereby realizing the forward control; for the left / right turn control, the controller (111) controls the first motor (220) of the left leg, the second joint motor (222) of the leg, and the second joint motor (226) of the leg to rotate. The motor (222), the third leg joint motor (226), the fourth leg joint motor (228), and the second joint motor (222) rotate to drive the foot (229) to reduce / increase the flapping speed, and the controller (111) controls the first leg motor (220), the second leg joint motor (222), the third leg joint motor (226), the fourth leg joint motor (228), and the second joint motor (222) of the right side of the integration device (2) to rotate to drive the foot (229) to increase / decrease the flapping speed, thereby realizing left turn / right turn control; The movement of the sea surface mode includes rising, falling, turning left and turning right; in the rising / falling control, the controller (111) controls the third joint motors (304) on the left and right sides of the integrated device (2) to continuously rotate forward so that the wing device continuously flaps, controls the tail rotation motor (214) and the tail wing motor (219) to adjust the waterproof cloth (216) downward / upward, and the controller (111) controls the first motors (220) on the left and right sides of the legs, the second joint motors (222) on the legs, the third joint motors (226) on the legs, the fourth joint motors (228) and the second joint motors (222) on the legs of the integrated device (2) to rotate so as to drive the soles (229) to flap forward, thereby realizing the rising / falling control; in the left turn / right turn control, the controller (111) controls the third joint motor (304) on the left side of the integrated device (2) to make the left wing device (3) the flapping speed is reduced / increased, the third joint motor (304) on the right side of the integrated device (2) is controlled to reduce / increase the flapping speed of the right wing device (3), the controller (111) controls the third joint motors (304) on the left and right sides of the integrated device (2) to stop rotating, controls the tail rotating motor (214) and the tail wing motor (219) to adjust the waterproof cloth (216) upward, controls the tail rotating motor (214) and the tail wing motor (219) to adjust the waterproof cloth (216) downward / upward, and the controller (111) controls the first motors (220) of the left and right legs of the integrated device (2), the second joint motor (222) of the legs, the third joint motor (226) of the legs, the fourth joint motor (228) and the second joint motor (222) to rotate, thereby driving the sole (229) to flap forward, thereby realizing left / right turn control.

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