Warship bird flapping wing imitating flying robot based on brain-like neural network and control method

Abstract

The invention discloses a warship bird flapping wing imitating flying robot based on a brain-like neural network and a control method, the warship bird flapping wing imitating flying robot comprises a flying device, a delivery device, a detection device and a sub-robot, and the flying device, the delivery device, the detection device and the sub-robot are controlled to work through a console so as to complete a long-distance detection task. A warship bird imitating structural design is adopted, and a child-mother robot design scheme is used, so that precise delivery of tasks and efficient recovery of child robots are realized, and the equipment utilization rate is further improved; the warship bird flight mode is learned in combination with the brain-like neural network to be used for the robot, energy consumption of robot flight is reduced, the flight endurance time is remarkably prolonged, and therefore the long-distance detection task is achieved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of bionic flapping-wing flying robots, and in particular to a frigatebird-like flapping-wing flying robot based on a brain-like neural network and a control method thereof. Background Art

[0002] With the rapid development of science and technology, unmanned aerial vehicles have shown great application potential in many fields such as environmental monitoring and disaster relief. Among them, flapping-wing flying robots, as a new type of flying platform, have gradually become a research hotspot because they can imitate the flying mode of birds and have higher maneuverability, concealment and energy efficiency. However, traditional flapping-wing flying robots face many challenges in design, such as poor flight stability, high energy consumption, and short endurance, which limit their application in long-distance and complex environments. Therefore, exploring more efficient and intelligent flapping-wing flying robot designs and their control methods is of great significance to expanding the application scope of unmanned aerial vehicles.

[0003] In this context, the integration of bionics and artificial intelligence technology has brought new opportunities for the development of flapping-wing flying robots. Bionic design provides innovative design ideas for flying robots by imitating the structure and function of excellent organisms in nature. Artificial intelligence, especially the development of brain-like neural network technology, provides strong technical support for the intelligent control of flying robots. By drawing on the flight mechanism and aerodynamic characteristics of natural flyers such as frigatebirds, and combining the autonomous learning and optimization capabilities of brain-like neural networks, more efficient and intelligent flapping-wing flying robots can be designed. Summary of the invention

[0004] In view of this, the object of the present invention is to provide a frigatebird-like flapping flying robot and a control method based on a brain-like neural network.

[0005] On the one hand, the present invention provides a frigatebird-like flapping-wing flying robot based on a brain-like neural network, comprising a flying device 1, a delivery device 2, a detection device 3 and a sub-robot 4, wherein the delivery device 2 and the detection device 3 are both fixed to the flying device 1, and the sub-robot 4 is fixed to the delivery device 2 by magnetic attraction;

[0006] The delivery device 2 includes a magnetic fixing device 201, a rotating baffle 202, a rotating shaft rod 203, a rotating wheel 204 and a rotating wheel motor 205, which are used for delivering and recovering the sub-robot 4;

[0007] The detection device 3 includes a visual sensor 301, a wireless transmission device 302 and a head skeleton 303, and is used to perform detection tasks.

[0008] Further, the flying device 1 includes a skeleton 100, a left wing, a right wing, a connecting rod motor 108, a lower cover motor 109, a lower cover 110, a control console 111, an upper cover 112, a middle motor 113, a rotating rod motor 114, an upper cover motor 115, a tail skeleton 116, a first tail motor 117, a second tail motor 118, a third tail motor 119, a left tail device 120 and a right tail device 121;

[0009] The left wing and the right wing have the same structure and both include a first flying wing 101, a second flying wing 102, a first connecting rod 103, a second connecting rod 104, a third connecting rod 105, a fourth connecting rod 106 and a turntable 107; the front fixed skeleton at the front of the skeleton 100 is fixedly connected to the connecting rod motor 108, the connecting rod motor 108 is rotationally connected to the turntable 107, the turntable 107 is rotationally connected to the fourth connecting rod 106, the fourth connecting rod is rotationally connected to the second connecting rod 104 and the third connecting rod 105 respectively, the second connecting rod 104 is rotationally connected to the first connecting rod 103 and the third connecting rod 105 respectively; the upper cover motor 115 is fixed to the upper part of the skeleton 100 and is rotationally connected to the upper cover 112 for the The sub-robot 4 is recovered, the lower cover motor 109 is fixed to the lower part of the skeleton 100, and is rotatably connected to the lower cover 110 for the sub-robot 4 to be released, the rotating rod motor 114 is fixed to the front fixed skeleton, and is rotatably connected to the rotating shaft rod 203, the console 111, the tail skeleton 116 and the first tail motor 117 are all fixed to the rear fixed skeleton of the skeleton 100, the second tail motor 118 is rotatably connected to the first tail motor 117, the second tail motor 118 is provided with a boss for the third tail motor 119 to be rotatably connected, the third tail motor 119 is rotatably connected to the left tail device 120, and the left tail device 120 is gear-connected to the right tail device 121;

[0010] The magnetic fixing device 201 of the delivery device 2 is fixed to the rotating shaft rod 203, the magnetic fixing device 201 is fixed to the rotating baffle 202, and a magnetic attraction device is provided inside, the rotating shaft rod 203 is rotatably connected to the rotating wheel 204, the rotating wheel 204 is gear-connected to the rotating wheel motor 205, and the rotating wheel motor 205 is fixed to the skeleton 100;

[0011] The head skeleton 303 of the detection device 3 is fixed to the skeleton 100 , the visual sensor 301 is fixed to both sides of the head skeleton 303 , and the wireless transmission device 302 is fixed to the mouth of the head skeleton 303 .

[0012] Furthermore, the sub-robot 4 includes a sub-head skeleton 401, a sub-vision sensor 402, a magnetic device 403, a sub-wing 404, a wing skeleton 405, a sub-body skeleton 406, a first sub-motor 407, a sub-motor pulley 408, a second sub-motor 409 and a sub-control console, wherein the sub-vision sensor 402 is fixed to both sides of the sub-head skeleton 401, the magnetic device 403 is fixed to the outermost side of the sub-head skeleton 401, the sub-head skeleton 401 is fixed to the sub-body skeleton 406, and the sub-body skeleton A cavity is provided on the outside of the skeleton 406 for extending and retracting the wings, the first sub-motor 407 is fixed inside the sub-body skeleton 406, a boss is provided at the bottom of the second sub-motor 409 for transmission of the sub-motor pulley 408, the second sub-motor 409 is connected to the first sub-motor 407 through the sub-motor pulley 408; the second sub-motor 409 is rotationally connected to the wing skeleton 405, the sub-wing 404 is fixed to the wing skeleton 405, and the sub-console is fixed inside the head skeleton 401.

[0013] Furthermore, the first flying wing 101, the second flying wing 102 and the sub-wing 404 are made of flexible materials and can be extended and retracted arbitrarily.

[0014] Furthermore, the magnetic fixing device 201 is a turntable structure, and the turntable structure is provided with a plurality of rotating shafts, each rotating shaft is fixed with a plurality of magnetic suction sensors for adsorption and fixation of the sub-robot 4; the rotating shaft rod 203 is provided with a plurality of the magnetic fixing devices 201.

[0015] Furthermore, the first connecting rod 103 is a bent structure.

[0016] Furthermore, the left tail device 120 and the right tail device 121 are both provided with foldable flexible tail wings.

[0017] Furthermore, the left wing and the right wing of the sub-robot 4 have the same structure, both including the sub-wing 404 , the wing frame 405 , the first sub-motor 407 , the sub-motor pulley 408 and the second sub-motor 409 .

[0018] Furthermore, the console 111 and the sub-console are both provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a brain-like chip.

[0019] On the other hand, the present invention also provides a control method of a frigate bird-like flapping-wing flying robot based on a brain-like neural network, wherein the control method uses the frigate bird-like flapping-wing flying robot based on a brain-like neural network to launch, detect and recover a sub-robot, comprising the following steps:

[0020] Step (1), the wing skeleton 405 of the sub-robot 4 is rotated to the inner cavity of the sub-body skeleton 406 and loaded into the delivery device 2, the console 111 waits for the take-off command, and the sub-console waits for the delivery command;

[0021] Step (2), the console 111 receives the start command, inputs the starting point, target point, air pressure and temperature information to the brain-like trajectory planning model in real time to obtain the optimal trajectory information, controls the connecting rod motor 108 to rotate to realize the flight of the frigate bird flapping wing flying robot, and realizes turning, acceleration, deceleration and gliding through the differential and speed change movement of the left and right wings of the flying device 1; the middle motor 113 controls the rotation of the rotating wheel 204 to maintain flight balance; the first tail motor 117, the second tail motor 118 and the third tail motor 119 control the left tail device 120 and the right tail device 121 to increase the steering flexibility;

[0022] Step (3), when the control console 111 detects through the satellite navigation sensor that the frigatebird-like flapping-wing flying robot has arrived at the designated position, the lower cover motor 109 is controlled to rotate, the lower cover 110 is opened, the rotating rod motor 114 drives the magnetic fixing device 201 to rotate to the lower cover 110, the magnetic fixing device 201 is powered off, the sub-robot 4 falls, and the delivery is completed;

[0023] Step (4), the sub-control console of the sub-robot 4 detects the delivery instruction, and after a preset delay time, the second sub-motor 409 rotates to drive the sub-motor pulley 408, so that the wing skeleton 405 rotates out of the inner cavity of the sub-body skeleton 406, and the first sub-motors 407 at both ends rotate to control the differential movement of the left wing and the right wing of the sub-robot 4, so as to realize the forward movement, left turn and right turn of the sub-robot; the control console 111 sends the trajectory instruction to the sub-control console of the sub-robot 4 in real time through the wireless transmission device 302, and the sub-robot 4 sends the detection information to the control console 111 in real time through the sub-visual sensor 402;

[0024] Step (5), the frigate bird-like flapping-wing flying robot reaches the next target point, and step 3 is executed until all sub-robots 4 are launched;

[0025] Step (6), when the sub-robot 4 is low on power or the task is completed, the sub-console sends a recovery command to the console 111, and the brain-like trajectory planning model determines the convergence position of the sub-robot 4 and the frigate bird-like flapping-wing flying robot. When the frigate bird-like flapping-wing flying robot reaches the convergence position, the console 111 controls the upper cover motor 115 to rotate to open the upper cover 112, and starts the electromagnet on the upper cover 112. The sub-robot 4 flies to the upper cover 112 and engages with the electromagnet. The sub-console controls the second sub-motor 409 to rotate and drive the sub-motor pulley 408, so that the wing skeleton 405 rotates to the inner cavity of the sub-body skeleton 406. The console 111 controls the upper cover motor 115 to rotate to close the upper cover 112, and closes the electromagnet of the upper cover 112. The sub-robot 4 falls to the rotating baffle 202, and the magnetic fixing device 201 is energized to adsorb the sub-head skeleton 401, and the recovery is completed.

[0026] Step (7), all sub-robots 4 are recovered, the detection mission is completed, and the frigate bird-like flapping-wing flying robot returns to the starting point.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention aims to overcome the problem of insufficient endurance of traditional flapping-wing flying robots and further improve their flexibility by organically combining the bionic frigate bird design with brain-like intelligent control. The present invention adopts a frigate bird-like structural design and a mother-and-child robot design scheme to achieve precise delivery of tasks and efficient recovery of child robots, thereby further improving equipment utilization.

[0029] Combining brain-like neural networks to learn the flying mode of frigate birds for robots, by driving the left and right wings of the flying robot separately, and combining the angular momentum conservation of the momentum wheel and the rotation of the tail wing, more efficient and intelligent flight operations can be achieved, reducing the energy consumption of the robot's flight, significantly extending the flight endurance, and thus achieving long-distance detection tasks. At the same time, by imitating the flapping-wing flying robot design of the frigate bird, the robot's detection range and endurance are increased, and more complex detection tasks can be achieved. The maneuverability is improved, allowing it to adapt to more complex detection environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic structural diagram of a frigatebird-like flapping-wing flying robot based on a brain-like neural network according to the present invention;

[0031] Figure 2 is a schematic diagram of a state structure of the skeleton of the present invention;

[0032] Figure 3 is a schematic diagram of the structure of the flying device of the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the delivery device of the present invention;

[0034] Figure 5 It is a schematic diagram of the structure of the detection device of the present invention;

[0035] Figure 6 is a schematic structural diagram of the sub-robot of the present invention;

[0036] Figure 7 It is a schematic diagram of the structure of the sub-body skeleton of the present invention;

[0037] Figure 8 It is a schematic diagram of another state structure of the skeleton described in the present invention.

[0038] Description of reference numerals:

[0039] Flying device (1), skeleton (100), first flying wing (101), second flying wing (102), first connecting rod (103), second connecting rod (104), third connecting rod (105), fourth connecting rod (106), turntable (107), connecting rod motor (108), lower cover motor (109), lower cover (110), control console (111), upper cover (112), middle motor (113), turning rod motor (114), upper cover motor (115), tail skeleton (116), first tail motor (117), second tail motor (118), third tail motor (119), left tail device (1 20) and the right tail device (121), the delivery device (2), the magnetic fixing device (201), the rotating baffle (202), the rotating shaft rod (203), the rotating wheel (204) and the rotating wheel motor (205), the detection device (3), the visual sensor (301), the wireless transmission device (302), the head skeleton (303), the sub-robot (4), the sub-head skeleton (401), the sub-visual sensor (402), the magnetic attraction device (403), the sub-wing (404), the wing skeleton (405), the sub-body skeleton (406), the first sub-motor (407), the sub-motor pulley (408), and the second sub-motor (409). DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction 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] Figure 1 The schematic diagram of the structure of a frigate bird-like flapping flying robot based on a brain-like neural network according to the present invention. The flying robot comprises a flying device 1, a delivery device 2, a detection device 3 and a sub-robot 4. The delivery device 2 and the detection device 3 are both fixed on the flying device 1, and the sub-robot 4 is fixed to the delivery device 2 by magnetic attraction.

[0043] The flying robot can also add different accessories to achieve adaptive flight capabilities in different environments.

[0044] Floating ability on water: The flying robot has been designed with a floating module on water, which enables it to land and take off on water. The floating module on water is made of lightweight and high-strength materials, which ensures buoyancy without affecting flight performance.

[0045] Sand adaptability: Specially designed wheels or tracks are added to the bottom of the flying robot, enabling it to move on soft surfaces such as sand. The sand adaptability structure adopts an adjustable design, which can adjust the contact area and pressure distribution according to the ground conditions.

[0046] Figure 2 is a schematic diagram of a state structure of the skeleton of the present invention; Figure 3 is a schematic diagram of the structure of the flying device of the present invention; Figure 8 It is a schematic diagram of another state structure of the skeleton described in the present invention.

[0047] The flying device 1 is a frigate bird-like structure, and includes a skeleton 100, a first flying wing 101, a second flying wing 102, a first connecting rod 103, a second connecting rod 104, a third connecting rod 105, a fourth connecting rod 106, a turntable 107, a connecting rod motor 108, a lower cover motor 109, a lower cover 110, a control console 111, an upper cover 112, a middle motor 113, a turning rod motor 114, an upper cover motor 115, a tail skeleton 116, a first tail motor 117, a second tail motor 118, a third tail motor 119, a left tail device 120, and a right tail device 121. The first connecting rod 103 is provided with a bending structure for improving flight efficiency.

[0048] The first flying wing 101, the second flying wing 102 and the sub-wing 404 are made of flexible materials and can be arbitrarily extended and retracted. The left wing and the right wing of the flying device 1 have the same structure, and the left wing includes the first flying wing 101, the second flying wing 102, the first connecting rod 103, the second connecting rod 104, the third connecting rod 105, the fourth connecting rod 106 and the rotating disk 107.

[0049] The front part of the skeleton 100 is provided with a front fixed skeleton fixedly connected to the connecting rod motor 108, the connecting rod motor 108 is rotatably connected to the turntable 107, the turntable 107 is rotatably connected to the fourth connecting rod 106, the fourth connecting rod 106 is rotatably connected to the second connecting rod 104 and the third connecting rod 105 respectively, the second connecting rod 104 is rotatably connected to the third connecting rod 105, and the second connecting rod 104 is rotatably connected to the first connecting rod 103. The first flying wing 101 and the second flying wing 102 are flexibly connected for any bending during flight. The upper cover motor 115 is fixed to the upper part of the skeleton 100 and is rotatably connected to the upper cover 112 for the recovery of the sub-robot 4. The lower cover motor 109 is fixed to the lower part of the skeleton 100 and is rotatably connected to the lower cover 110 for the delivery of the sub-robot 4. The rotating rod motor 114 is fixed to the front fixed skeleton and is rotatably connected to the rotating shaft rod 203.

[0050] The console 111, the tail skeleton 116 and the first tail motor 117 are all fixed to the fixed frame behind the skeleton 100, the second tail motor 118 is rotatably connected to the first tail motor 117, the second tail 118 is provided with a boss for the third tail motor 119 to be rotatably connected, the third tail motor 119 is rotatably connected to the left tail device 120, and the left tail device 120 is gear-connected to the right tail device 121. The left tail device 120 and the right tail device 121 are both provided with foldable flexible tail wings.

[0051] Figure 4 Schematic diagram of the delivery device of the present invention. The delivery device 2 includes a magnetic fixing device 201, a rotating baffle 202, a rotating shaft rod 203, a rotating wheel 204 and a rotating wheel motor 205. The magnetic fixing device 201 is fixed to the rotating shaft rod 203, the magnetic fixing device 201 is fixed to the rotating baffle 202, a magnetic device is provided inside the magnetic fixing device 201, the rotating shaft rod 203 is rotatably connected to the rotating wheel 204, the rotating wheel 204 is gear-connected to the rotating wheel motor 205, and the rotating wheel motor 205 is fixed to the skeleton 100. The magnetic fixing device 201 is a turntable structure, and the turntable structure is provided with multiple rotating shafts, each rotating shaft is fixed with multiple magnetic sensors for adsorption and fixation of the sub-robot 4. Multiple magnetic fixing devices 201 are provided on the rotating shaft rod 203.

[0052] Figure 5 3 is a schematic diagram of the structure of the detection device of the present invention. The detection device 3 includes a visual sensor 301, a wireless transmission device 302, and a head skeleton 303. The head skeleton 303 is fixed to the skeleton 100, and the visual sensor 301 is fixed to both sides of the head skeleton 303. The wireless transmission device 302 is fixed to the mouth of the head skeleton 303.

[0053] Figure 6 It is a schematic diagram of the structure of the sub-robot of the present invention. Figure 7 The sub-robot 4 includes a sub-head skeleton 401, a sub-visual sensor 402, a magnetic device 403, a sub-wing 404, a wing skeleton 405, a sub-body skeleton 406, a first sub-motor 407, a sub-motor pulley 408, a second sub-motor 409 and a sub-control console, and is used to perform specific detection tasks.

[0054] The sub-visual sensor 402 is fixed on both sides of the sub-head skeleton 401, and the magnetic device 403 is fixed on the outermost side of the sub-head skeleton 401. The head skeleton 401 is fixed to the sub-body skeleton 406, and a cavity is provided on the outer side of the sub-body skeleton 406 for the extension and retraction of the wings. The first sub-motor 407 is fixed inside the sub-body skeleton 406, and a boss for the transmission of the sub-motor pulley 408 is provided at the bottom of the second sub-motor 409. The second sub-motor 409 is connected to the first sub-motor 407 through the sub-motor pulley 408. The second sub-motor 409 is connected to the wing skeleton 405 in rotation, the sub-wing 404 is fixed to the wing skeleton 405, and the sub-console is fixed inside the head skeleton 401. The console 111 and the sub-console are provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a brain-like chip.

[0055] Multiple sub-robots can interact with the flying robot's console through sub-consoles and work together to complete complex tasks. For example:

[0056] Collaborative search: Multiple flying robots can collaboratively search a large area to improve search efficiency.

[0057] Collaborative transportation: Multiple flying robots can work together to transport large or heavy items.

[0058] Collaborative construction: Multiple flying robots can work together to build structures or facilities, such as quickly erecting temporary bridges in disaster response.

[0059] The swarm collaborative operation system uses a distributed control algorithm to ensure effective communication and coordination between multiple flying robots. The flying robots exchange data through wireless networks and share position, speed and task information to achieve precise collaborative operations. The console provides an intuitive user interface that allows operators to easily manage and coordinate the actions of multiple flying robots.

[0060] The control method of the flying robot comprises the following steps:

[0061] In step (1), the wing skeleton 405 of the sub-robot 4 rotates to the inner cavity of the sub-body skeleton 406 and is loaded into the delivery device 2. The console 111 waits for the take-off command and the sub-console waits for the delivery command. The console 111 plans different flight paths using a brain-like neural network based on the number and location of the manually input detection destinations.

[0062] The brain-like neural network training method first collects data sets related to bird path planning, including map information, starting point, target point, obstacle location, air pressure and temperature. The map information is a grid map and point cloud data. The brain-like neural network is a pulse neural network. The trajectory data is converted into a pulse sequence and input into the pulse neural network for training to obtain a brain-like trajectory planning model. The starting point, target point, air pressure and temperature information are input into the brain-like trajectory planning model to output the optimal trajectory information. The brain-like trajectory planning model is deployed on the control console of the brain-like chip.

[0063] In step (2), the control console 111 receives the start command, inputs the starting point, target point, air pressure and temperature information to the brain-like trajectory planning model in real time to obtain the optimal trajectory information, controls the rotation of the connecting rod motor 108, thereby realizing the flight of the frigate bird-like flapping-wing flying robot, and realizes turning, acceleration, deceleration and gliding through the differential and speed-changing motion of the left and right wings of the flying device 1; the middle motor 113 controls the rotation of the rotating wheel 204, and utilizes the conservation of angular momentum to keep the frigate bird-like flapping-wing flying robot in flight balance; and controls the left tail device 120 and the right tail device 121 through the first tail motor 117, the second tail motor 118 and the third tail motor 119 to increase the steering flexibility.

[0064] Step (3), the control console 111 detects that the robot has reached the designated position through the satellite navigation sensor, controls the lower cover motor 109 to rotate, and the lower cover 110 opens. The rotating rod motor 114 drives the magnetic fixing device 201 to rotate to the lower cover 110, and the magnetic fixing device 201 is powered off, and the sub-robot 4 falls, and the delivery is completed;

[0065] Step (4), the sub-control console of the sub-robot 4 detects the delivery command, and after a preset delay time, the second sub-motor 409 rotates to drive the sub-motor pulley 408, so that the wing skeleton 405 rotates out of the inner cavity of the sub-body skeleton 406, and the first sub-motors 407 at both ends rotate to control the differential movement of the left and right wings of the sub-robot 4, so as to realize the forward movement, left turn and right turn of the sub-robot. The control console 111 sends the trajectory command to the sub-control console of the sub-robot 4 in real time through the wireless transmission device 302, and the sub-robot 4 sends the detection information to the control console 111 in real time through the sub-visual sensor 402.

[0066] Step (5), the frigatebird-like flapping-wing flying robot arrives at the next target point and executes step (3) until all sub-robots 4 are launched.

[0067] In step (6), the sub-robot 4 is low on power or has completed its mission. The sub-console sends a recovery command to the console 111. The brain-like trajectory planning model determines the convergence position of the sub-robot (4) and the frigate bird-like flapping-wing flying robot. When the frigate bird-like flapping-wing flying robot reaches the convergence position, the console 111 controls the upper cover motor 115 to rotate so that the upper cover 112 opens, and the electromagnet on the upper cover 112 is started. The sub-robot 4 flies to the upper cover 112 and engages with the electromagnet. The sub-console controls the second sub-motor 409 to rotate and drive the sub-motor pulley 408, so that the wing skeleton 405 rotates to the inner cavity of the sub-body skeleton 406. The console 111 controls the upper cover motor 115 to rotate so that the upper cover 112 gradually closes, and the electromagnet of the upper cover 112 is closed. The sub-robot 4 falls to the rotating baffle 202 in the containment cabin, and the magnetic fixing device 201 is energized to adsorb the sub-head skeleton 401, and the recovery is completed.

[0068] Step (7), all sub-robots 4 are recovered, the detection mission is completed, and the frigatebird-like flapping-wing flying robot returns to the starting point.

[0069] In the recycling process of step (6), the recycling of the sub-robot is a complex and delicate operation involving multiple steps and the application of advanced technologies. The detailed steps of the sub-robot recycling process are:

[0070] Step (61), recovery preparation stage:

[0071] -After the sub-robot completes the task, it sends a recycling request to the console through the wireless communication module.

[0072] -After receiving the recycling request, the console plans the recycling path through the brain-like neural network and sends the recycling instruction to the sub-robot.

[0073] Step (62), navigation and positioning:

[0074] -The sub-robot uses built-in sensors such as GPS and IMU for precise positioning, while the console monitors the sub-robot's position through satellite navigation sensors.

[0075] -Based on the real-time position data of the sub-robot, the console uses local relative positioning technology to provide the sub-robot with accurate relative positioning information and guide it to the recovery area. The application of this technology enables the sub-robot to achieve autonomous landing on a small mobile platform and maintain high-precision positioning even in a dynamic environment.

[0076] Step (63), landing guidance:

[0077] -Under the guidance of the control console, the sub-robot gradually lowered its altitude and aimed at the landing area of ​​the flying robot.

[0078] -The console uses an electromagnet to assist the landing system, ensuring that the sub-robot is adsorbed to the electromagnet on the cover during the landing process to prevent it from tipping over or sliding.

[0079] Step (64), landing and fixing:

[0080] -After the sub-robot successfully lands on the cover, the electromagnet device is activated to firmly attach the sub-robot to the upper cover to ensure that it will not be displaced due to the dynamic movement of the ground mobile robot. Then the upper cover is flipped and gradually closed, so that the sub-robot attached to the upper cover enters the skeleton 100 of the flying device as the upper cover closes.

[0081] Step (65), post-recovery processing:

[0082] -Once the sub-robot is securely secured, the console will confirm the recovery status and record the sub-robot's recovery position and status.

[0083] -The console then plans the return path, guiding the flying robot back to the starting point or to the next mission location.

[0084] During the entire recovery process, communication between the console and the sub-robot is crucial to ensure the accurate transmission and execution of instructions. In addition, high-precision positioning technology and a stable landing guidance system are the key to achieving safe and efficient recovery. Through these advanced technologies and delicate operations, the flying robot can successfully complete the sub-robot recovery mission in complex environments.

[0085] Through the above-mentioned implementation modes, the frigatebird-imitation flapping-wing flying robot and the control method thereof of the present invention can realize high-efficiency, high-flexibility and intelligent flight tasks, and have broad application prospects.

[0086] 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 frigatebird-like flapping-wing flying robot based on a brain-like neural network, characterized in that: The invention comprises a flying device (1), a delivery device (2), a detection device (3) and a sub-robot (4), wherein the delivery device (2) and the detection device (3) are both fixed to the flying device (1), and the sub-robot (4) is fixed to the delivery device (2) by magnetic attraction; The delivery device (2) comprises a magnetic fixing device (201), a rotating baffle (202), a rotating shaft rod (203), a rotating wheel (204) and a rotating wheel motor (205), and is used for delivering and recovering the sub-robot (4); The detection device (3) comprises a visual sensor (301), a wireless transmission device (302) and a head skeleton (303), and is used to perform a detection task.

2. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 1 is characterized in that: The flying device (1) comprises a skeleton (100), a left wing, a right wing, a connecting rod motor (108), a lower cover motor (109), a lower cover (110), a control console (111), an upper cover (112), a middle motor (113), a rotating rod motor (114), an upper cover motor (115), a tail skeleton (116), a first tail motor (117), a second tail motor (118), a third tail motor (119), a left tail device (120) and a right tail device (121); The left wing and the right wing have the same structure, and both include a first flying wing (101), a second flying wing (102), a first connecting rod (103), a second connecting rod (104), a third connecting rod (105), a fourth connecting rod (106) and a turntable (107); the front fixed skeleton at the front of the skeleton (100) is fixedly connected to the connecting rod motor (108), the connecting rod motor (108) is rotationally connected to the turntable (107), the turntable (107) is rotationally connected to the fourth connecting rod (106), the fourth connecting rod is rotationally connected to the second connecting rod (104) and the third connecting rod (105) respectively, and the second connecting rod (104) is rotationally connected to the first connecting rod (103) and the third connecting rod (105) respectively; the upper cover motor (115) is fixed to the upper part of the skeleton (100) and is rotationally connected to the upper cover (112) for rotation. When the sub-robot (4) is recovered, the lower cover motor (109) is fixed to the lower part of the skeleton (100) and is rotationally connected to the lower cover (110) for the sub-robot (4) to be deployed, the rotating rod motor (114) is fixed to the front fixed skeleton and is rotationally connected to the rotating shaft rod (203), the control console (111), the tail skeleton (116) and the first tail motor (117) are all fixed to the rear fixed skeleton of the skeleton (100), the second tail motor (118) is rotationally connected to the first tail motor (117), the second tail motor (118) is provided with a boss for the third tail motor (119) to be rotationally connected, the third tail motor (119) is rotationally connected to the left tail device (120), and the left tail device (120) is gear-connected to the right tail device (121); The magnetic fixing device (201) of the delivery device (2) is fixed to the rotating shaft rod (203), the magnetic fixing device (201) is fixed to the rotating baffle (202), a magnetic attraction device is provided inside, the rotating shaft rod (203) is rotationally connected to the rotating wheel (204), the rotating wheel (204) is gear-connected to the rotating wheel motor (205), and the rotating wheel motor (205) is fixed to the skeleton (100); The head skeleton (303) of the detection device (3) is fixed to the skeleton (100), the visual sensor (301) is fixed to both sides of the head skeleton (303), and the wireless transmission device (302) is fixed to the mouth of the head skeleton (303).

3. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 2 is characterized in that: The sub-robot (4) comprises a sub-head skeleton (401), a sub-vision sensor (402), a magnetic device (403), a sub-wing (404), a wing skeleton (405), a sub-body skeleton (406), a first sub-motor (407), a sub-motor pulley (408), a second sub-motor (409) and a sub-control console, wherein the sub-vision sensor (402) is fixed to both sides of the sub-head skeleton (401), the magnetic device (403) is fixed to the outermost side of the sub-head skeleton (401), the sub-head skeleton (401) is fixed to the sub-body skeleton (406), and the sub-body A cavity is provided on the outside of the skeleton (406) for extending and retracting the wings; the first sub-motor (407) is fixed inside the sub-body skeleton (406); a boss for driving the sub-motor pulley (408) is provided at the bottom of the second sub-motor (409); the second sub-motor (409) is connected to the first sub-motor (407) via the sub-motor pulley (408); the second sub-motor (409) is connected to the wing skeleton (405) in rotation; the sub-wing (404) is fixed to the wing skeleton (405); and the sub-control console is fixed inside the head skeleton (401).

4. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 3 is characterized in that: The first flying wing (101), the second flying wing (102) and the sub-wing (404) are made of flexible materials and can be extended and retracted arbitrarily.

5. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 4 is characterized in that: The magnetic fixing device (201) is a turntable structure, the turntable structure is provided with a plurality of rotating shafts, each rotating shaft is fixed with a plurality of magnetic suction sensors for adsorption and fixing of the sub-robot (4); and a plurality of the magnetic fixing devices (201) are provided on the rotating shaft rod (203).

6. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 5 is characterized in that: The first connecting rod (103) is a bent structure.

7. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 6 is characterized in that: The left tail device (120) and the right tail device (121) are both provided with foldable flexible tail wings.

8. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 7 is characterized in that: The left wing and the right wing of the sub-robot (4) have the same structure, and both include the sub-wing (404), the wing frame (405), the first sub-motor (407), the sub-motor pulley (408) and the second sub-motor (409).

9. The frigatebird-like flapping-wing flying robot based on brain-like neural network according to claim 8 is characterized in that: The console (111) and the sub-console are both provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a brain-like chip.

10. A control method for a frigatebird-like flapping-wing flying robot based on a brain-like neural network, characterized in that: The control method uses the frigate bird-like flapping-wing flying robot based on a brain-like neural network as described in any one of claims 1 to 9 to launch, detect and recover the sub-robot, comprising the following steps: Step (1), the wing skeleton (405) of the sub-robot (4) is rotated to the inner cavity of the sub-body skeleton (406) and loaded into the delivery device (2), the control console (111) waits for the take-off command, and the sub-control console waits for the delivery command; Step (2), the control console (111) receives the start command, inputs the starting point, target point, air pressure and temperature information into the brain-like trajectory planning model in real time to obtain the optimal trajectory information, controls the connecting rod motor (108) to rotate to realize the flight of the frigate bird-like flapping-wing flying robot, and realizes turning, acceleration, deceleration and gliding through the differential and speed-changing movement of the left and right wings of the flying device (1); the middle motor (113) controls the rotation of the rotating wheel (204) to maintain flight balance; and controls the left tail device (120) and the right tail device (121) through the first tail motor (117), the second tail motor (118) and the third tail motor (119) to increase the steering flexibility; Step (3), when the control console (111) detects through the satellite navigation sensor that the frigate bird-like flapping-wing flying robot has arrived at the designated position, the lower cover motor (109) is controlled to rotate, the lower cover (110) is opened, the rotating rod motor (114) drives the magnetic fixing device (201) to rotate to the lower cover (110), the magnetic fixing device (201) is powered off, the sub-robot (4) falls, and the delivery is completed; Step (4), the sub-control console of the sub-robot (4) detects the delivery instruction, and after a preset delay time, the second sub-motor (409) rotates to drive the sub-motor pulley (408), so that the wing skeleton (405) rotates out of the inner cavity of the sub-body skeleton (406), and the first sub-motors (407) at both ends rotate to control the differential movement of the left wing and the right wing of the sub-robot (4), so as to realize the forward movement, left turn and right turn of the sub-robot; the control console (111) sends the trajectory instruction to the sub-control console of the sub-robot (4) in real time through the wireless transmission device (302), and the sub-robot (4) sends the detection information to the control console (111) in real time through the sub-visual sensor (402); Step (5), the frigate bird-like flapping-wing flying robot reaches the next target point, and step (3) is executed until all sub-robots (4) are deployed; Step (6), when the sub-robot (4) runs out of power or completes its task, the sub-control console sends a recovery command to the control console (111), and the brain-like trajectory planning model determines the merging position of the sub-robot (4) and the frigate bird-like flapping-wing flying robot. When the frigate bird-like flapping-wing flying robot reaches the merging position, the control console (111) controls the upper cover motor (115) to rotate so that the upper cover (112) opens, and the electromagnet on the upper cover (112) is activated, and the sub-robot (4) flies to the upper cover. (112) and is attracted to the electromagnet, the sub-control console controls the second sub-motor (409) to rotate and drive the sub-motor pulley (408), so that the wing skeleton (405) is rotated to the inner cavity of the sub-body skeleton (406), the control console (111) controls the upper cover motor (115) to rotate to close the upper cover (112), close the electromagnet of the upper cover 112, the sub-robot (4) falls to the rotating baffle (202), the magnetic fixing device (201) is energized, and the sub-head skeleton (401) is attracted, and the recovery is completed; Step (7), all sub-robots (4) are recovered, the detection mission is completed, and the frigate bird-like flapping-wing flying robot returns to the starting point.

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