Control method of floating device, and floating device with autonomous movement

Abstract

The present invention relates to the field of aerostat technology, resolving the technical issues of traditional optical drive control design methods, which have significant limitations on their scope of application. In particular, the invention relates to a control method for an aerostat and an autonomously moving aerostat. The control method includes filling an independent air chamber with a low-density gas, causing the aerostat to float autonomously in the air; establishing a control equation for controlling the autonomous motion of the aerostat by controlling light intensity; placing the aerostat floating in the air within an illuminated area; and autonomously controlling the aerostat to advance in a predetermined direction based on the control equation. The present invention utilizes the deformation properties of liquid crystal elastomers to simplify the optical drive control system, thereby achieving a lightweight aerostat without the need for fuel or a controller. The aerostat can utilize photothermal energy to achieve long-term autonomous flight, adapting to complex and diverse application scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of aerostats, and in particular to a control method for an aerostat and an autonomously moving aerostat. Background Art

[0002] A levitating device is a device or system that overcomes gravity through specific principles, achieving suspension in mid-air. Its core principle is to counteract gravity through buoyancy, lift, or other mechanical effects, allowing for free movement or hovering within a certain range. However, buoyant devices are susceptible to wind speed and temperature, while powered devices require a continuous energy supply. From simple balloons to complex manned airships, their structures and principles vary significantly. Principles used to maintain levitation include utilizing differences in gas density to generate buoyancy and using mechanical power to generate upward lift.

[0003] Currently, floating devices are widely used in fields such as meteorological monitoring, geographic mapping, communication relay, and advertising. Traditional floating devices are mostly powered by fossil fuels. These have limitations, such as limited fuel capacity, lack of compliance with green energy trends (burning fossil fuels produces greenhouse gases), and increased operating costs (frequent refueling and controllers are required). Electric motor-driven floating devices also require bulky batteries and additional controllers, further increasing operating costs.

[0004] Liquid crystal elastomers (LCEs), as materials with controllable deformation properties, change shape under light, electric fields, or temperature stimulation. This property can be exploited to achieve self-sustaining motion in optical drives. However, existing technologies have yet to fully utilize the deformation properties of LCEs to simplify optical drive control systems, and these design methods for controlling optical drives using LCEs still have significant limitations in their applicability. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides a control method for a floating device and an autonomously moving floating device, which solves the technical problem that the traditional optical drive device control design method has a large limited scope of application.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A method for controlling a floating device, the method comprising the following steps:

[0008] S1. Fill the independent air chamber with low-density gas to make the floating device float autonomously in the air;

[0009] S2. Establish a control equation to control the autonomous motion of the floating device by controlling the light intensity I, including using the change of light intensity I to control the forward speed of the floating device. , and the angular velocity of the lightweight blades in the propulsion system ;

[0010] S3. Place the floating device floating in the air in the illumination area, and autonomously control the floating device to move in a predetermined direction based on the control equation.

[0011] Furthermore, in step S2, the specific process includes the following steps:

[0012] S21, the curvature radius of the ring formed by bending the initially straight liquid crystal elastomer thin rod and connecting the end to the end and the radius of the cross section of the liquid crystal elastomer rod , calculate the elastic strain on the cross section of the liquid crystal elastomer ring during stable rotation ;

[0013] S22, based on elastic strain Calculating the driving torque of a liquid crystal elastomer ring ;

[0014] S23. Calculate the air friction torque generated by lightweight fan blades , and determine the driving torque of the liquid crystal elastomer ring Air friction torque generated by the lightweight fan blades The relationship between them is:

[0015] Air friction torque generated by lightweight fan blades The calculation formula is:

[0016]

[0017] Where, is the radius of the lightweight fan blade in the floating device; is the air resistance coefficient of the lightweight fan blade; Indicates the radius variable during the integration process This variable is integrated from 0 to R.

[0018] Driving torque of the ring Friction torque with air The relationship between them is:

[0019]

[0020] S24. Calculate the thrust generated by lightweight fan blades , and determine the thrust generated by the lightweight fan blades The air resistance of the floating device in its autonomous movement The relationship between them is:

[0021] Thrust generated by lightweight blades The calculation formula is:

[0022]

[0023] The air resistance of the floating device during its autonomous movement The calculation formula is:

[0024]

[0025] thrust and resistance The relationship between them is:

[0026]

[0027] Where, A symbol used in calculus to describe small changes in variables; is the air resistance coefficient of the floating device;

[0028] S25, by combining air friction torque and thrust The equation of and the angular velocity of the lightweight fan blades The calculation formula is:

[0029]

[0030]

[0031] Where, is the cube of the radius of the lightweight fan blade;

[0032] S26. Based on step S25, the above equations are combined to obtain a control equation for controlling the autonomous motion of the floating device by controlling the light intensity. The expression is:

[0033]

[0034]

[0035] Where, is the elastic modulus of the liquid crystal elastomer fiber; is the linear expansion coefficient; are fitting parameters; is the characteristic time scale of thermal relaxation; is the light intensity.

[0036] Furthermore, in step S21, the specific process includes the following steps:

[0037] S211, according to the radius of the liquid crystal elastomer thin rod and the radius of curvature of the ring , obtain the static strain field caused by the bending of the initially straight liquid crystal elastomer thin rod and connecting end to end to form a ring , the expression is:

[0038]

[0039] Where, is the radial coordinate in the cross section of the liquid crystal elastomer thin rod; is the circumferential polar angle within the cross section of the liquid crystal elastomer thin rod.

[0040] S212, Assuming thermal strain caused by uniform axial thermal expansion / shortening and temperature field A linear relationship is obtained to obtain thermal strain ,Right now:

[0041] Temperature field The calculation formula is:

[0042]

[0043] thermal strain The calculation formula is:

[0044]

[0045] Where, is the ambient temperature, i.e. the reference value of the temperature field; is the temperature amplitude of the cosine mode; is the temperature amplitude of the sinusoidal mode;

[0046] S213, according to the static strain field and thermal strain , calculate the elastic strain on the cross section of the ring during stable rotation , the calculation formula is:

[0047]

[0048] Where, is the average axial strain.

[0049] Furthermore, in step S21, the specific process includes the following steps:

[0050] S221, according to the rotational angular velocity of the lightweight fan blade Calculating the dynamic strain field caused by the bending of thin rods in liquid crystal elastomers , the calculation formula is:

[0051]

[0052] S222. Assuming the material of the ring is a linear elastic body, calculate the normal stress on the cross section of the ring. , the calculation formula is:

[0053]

[0054] S223, select an arc from the surface of the ring at random, based on the normal stress Get the driving torque acting on this arc ,Right now:

[0055]

[0056]

[0057] Where, is the bending moment of the arc about the x-axis;

[0058] S224, combine the above formulas to obtain the driving torque of the liquid crystal elastomer ring The calculation formula is:

[0059]

[0060] Where, is the radius of the thin rod of the liquid crystal elastomer; is the radius of curvature of the liquid crystal elastomer ring.

[0061] The present invention also provides an autonomously moving floating device, which utilizes the control method of the floating device to realize autonomous control of the floating device within the illumination area and move in a predetermined direction;

[0062] The floating device includes a floating main body shell made of carbon fiber reinforced composite material through a molding process, and also includes:

[0063] An independent air chamber is installed in the floating main structure, and the interior of the independent air chamber is filled with low-density gas to provide buoyancy for the floating device;

[0064] A propulsion system comprising a liquid crystal elastomer ring surrounding the independent air chamber, a slotted fan blade system disposed on one side of the independent air chamber, and a buoyancy balancing device disposed symmetrically relative to the slotted fan blade system, wherein the propulsion system generates a forward thrust for the floating device within the illuminated area;

[0065] The connecting device is used to connect the independent air chamber and the liquid crystal elastomer ring, and can be adjusted to a certain extent according to the flight state and load changes of the floating device.

[0066] Furthermore, the slot-type fan blade system includes a slot device installed around one side of the liquid crystal elastomer ring, and the slot-type fan blade system is driven to rotate by the rotation effect of the liquid crystal elastomer ring under photothermal stimulation.

[0067] Furthermore, the slot device is provided with a plurality of lightweight fan blades that are evenly distributed with respect to each other. The plurality of lightweight fan blades are installed in the slots on the slot device in a distributed and adjustable manner, and when the slot device rotates, they gradually extend or retract relative to the slots thereon by their own gravity.

[0068] Furthermore, the connecting device includes a plurality of ball-catching devices fixed by adsorption on the independent air chamber, and a sleeve arranged around the surface of the liquid crystal elastomer ring, and the sleeve and the ball-catching device are detachably connected via a lightweight connecting rod.

[0069] Furthermore, the plurality of lightweight blades are evenly distributed around the liquid crystal elastomer ring.

[0070] Furthermore, a plurality of bells are provided on the buoyancy balancing device.

[0071] By means of the above technical solution, the present invention provides a method for controlling a floating device and an autonomous floating device, which have at least the following beneficial effects:

[0072] 1. The present invention utilizes the deformation characteristics of liquid crystal elastomers to simplify the optical drive control system, thereby achieving lightweight levitation devices without the need to carry fuel and controllers. It can utilize photothermal energy to achieve long-term autonomous flight to adapt to complex and changing application scenarios.

[0073] 2. The present invention uses solar energy as the main energy source, which gets rid of the reliance of floating devices on fossil fuels and realizes clean energy drive. Theoretically, the flight time is not limited by fuel and can continue to fly as long as there is light, which has good sustainability.

[0074] 3. The present invention can change the rotational angular velocity of the fan blades and the forward speed of the floating device by adjusting parameters such as light intensity in the control equation, thereby realizing the control of the autonomous movement of the floating device. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0076] Figure 1 This is a top view of the overall structure of the floating device in Example 1 of the present invention;

[0077] Figure 2This is a front view of the overall structure of the floating device in Example 1 of the present invention;

[0078] Figure 3 This is a schematic structural diagram of a lightweight fan blade in Example 1 of the present invention;

[0079] Figure 4 This is embodiment 1 of the present invention Figure 1 nn cross-sectional diagram in;

[0080] Figure 5 This is embodiment 1 of the present invention Figure 1 Schematic diagram of the mm cross section;

[0081] Figure 6 This is a schematic diagram of the connection between the ball catching device and the independent air chamber in the first embodiment of the present invention;

[0082] Figure 7 Schematic diagram of the connection between the liquid crystal elastomer ring and the sleeve ring in Example 1 of the present invention;

[0083] Figure 8 This is a force diagram of a lightweight fan blade in Example 2 of the present invention;

[0084] Figure 9 This is the overall force diagram of the floating device in the second embodiment of the present invention;

[0085] Figure 10 is the rotational angular velocity of the lightweight fan blade in the second embodiment of the present invention A graph showing the relationship between and light intensity I;

[0086] Figure 11 Schematic diagram of the overall structure of the floating toy in Example 3 of the present invention.

[0087] In the picture:

[0088] 1. Independent air chamber;

[0089] 2. Power propulsion system; 20. Liquid crystal elastomer ring; 21. Slot-type fan blade system; 211. Lightweight fan blade; 212. Slot device; 22. Buoyancy balance device;

[0090] 3. Connecting device; 31. Ring; 32. Lightweight connecting rod; 33. Ball catching device;

[0091] 4. Bell. DETAILED DESCRIPTION

[0092] To make the above-mentioned objectives, features, and advantages of the present invention more clearly understood, the present invention is further described below in detail with reference to the accompanying drawings and specific embodiments. This will enable a full understanding of how this application uses technical means to solve technical problems and achieve technical effects, and to implement the invention accordingly.

[0093] Example 1

[0094] The liquid crystal elastomer rings used in this embodiment (initially straight, thin liquid crystal elastomer rods that are bent and connected end-to-end to form a ring) are a smart material composed of cross-linked mesogens, exhibiting liquid crystal anisotropy and rubber elasticity. When exposed to external light and heat stimulation, the rings undergo cis-trans isomerization transitions within the mesogens, resulting in macroscopic contraction and deformation. Based on these properties of the liquid crystal elastomer rings, this embodiment proposes an optical drive structure composed of these rings, which can achieve autonomous control under stable light conditions.

[0095] refer to Figure 1-Figure 7 This embodiment proposes a floating device that utilizes light energy to achieve autonomous motion. It is suitable for applications in environmental monitoring, logistics, and low-altitude communication relay. The floating device includes an independent air chamber 1, a propulsion system 2, and a connecting device 3 for connecting the independent air chamber 1 and the propulsion system 2. The propulsion system 2 includes a liquid crystal elastomer ring 20, a buoyancy balancing device 22, and a slot-type fan blade system 21 consisting of lightweight blades 211 and a slot device 212. The connecting device 3 includes a collar 31 and a lightweight connecting rod 32 that connects the collar 31 to a ball-catching device 33.

[0096] This embodiment uses carbon fiber reinforced composite materials, produced through a compression molding process, to create the main housing of the floating device. According to design requirements, a connecting device 3 is mounted on the outer surface of the independent air chamber 1. To ensure the sealing and overall structural strength of the independent air chamber 1, a space is reserved for a ball-catching device 33 on its surface.

[0097] The main body of the floating device is streamlined to minimize air resistance. An independent air chamber 1 is located inside, filled with a low-density gas such as helium to provide buoyancy. An adjustable connection 3 connects the independent air chamber 1 to the propulsion system 2, allowing for adjustments based on flight conditions and load variations.

[0098] In this embodiment, the liquid crystal elastomer ring 20 is accurately installed at a preset position on the side of the floating device, and a dedicated ring 31 is used to ensure that the liquid crystal elastomer ring 20 is tightly connected to the main body.

[0099] In this embodiment, the slot-type fan blade system 21 is installed at the corresponding position on the liquid crystal elastomer ring 20. It is ensured that the liquid crystal elastomer ring 20 does not produce an angle deviation with the slot-type fan blade system 21 during the working rotation process. Figure 3 shown.

[0100] In this embodiment, a liquid crystal elastomer ring 20 is assembled on the side of the floating device, which will produce a rotation effect when exposed to light and heat. The liquid crystal elastomer ring 20 provides power support for the operation of the entire device.

[0101] In this embodiment, distributed lightweight blades 211 are used as the propulsion part. The lightweight blades 211 are installed on the card slot device 212. The floating device is controlled by changing the rotation speed of different lightweight blades 211. Each lightweight blade 211 is driven by the liquid crystal elastomer ring 20. Figure 3 shown.

[0102] In this embodiment, the four ball-catching devices 33 connected to the independent air chamber 1 will be tightly adsorbed around the independent air chamber 1. The more sufficient the gas in the independent air chamber 1 is, the more firmly the ball-catching devices 33 will be adsorbed. Figure 6 shown.

[0103] In this embodiment, the light connecting rod 32 tightly connects the ball catching device 33 and the collar 31 to form an integral structure. The collar 31 is placed on the liquid crystal elastomer ring 20 and is rotatable relative to the collar 31. Figure 7 The two ends of the lightweight connecting rod 32 are threaded and screwed into the pre-reserved screw holes of the ball-catching device 33 and the collar 31, and reinforced with screw glue, so the structure is stable and safe.

[0104] In this embodiment, the slot-type fan blade system 21 is used to achieve autonomous movement of the floating device. The lightweight fan blades 211 in the upper part of the slot-type fan blade system 21 will fall into the slot device 212 due to the action of gravity and will not generate propulsion force, while the lightweight fan blades 211 in the lower part will extend out of the slot device 212 under the action of gravity and will generate propulsion force for the floating device. Figure 3 shown.

[0105] In this embodiment, a buoyancy balancing device 22 is installed at a position symmetrical to the slot-type fan blade system 21 of the floating device, so that the floating device moves horizontally in the air.

[0106] In this embodiment, through the distributed arrangement of lightweight blades 211, the floating device can move freely, complete various flight missions autonomously without human intervention, and adapt to complex and changing environments.

[0107] Before operating the levitation device of this embodiment, a certain amount of helium or other gas capable of generating buoyancy in the independent air chamber 1 needs to be injected into the independent air chamber 1, and then the independent air chamber 1 is sealed. At this point, the levitation device will be able to float still in the air. The levitation device is then placed in an illuminated area. Subsequently, the liquid crystal elastomer ring 20 in the levitation device rotates to act on the slot-type fan blade system 21. The lightweight fan blades 211 will generate propulsion for the levitation device, prompting the levitation device to move forward stably.

[0108] This embodiment makes full use of the deformation characteristics of the liquid crystal elastomer ring to simplify the optical drive control system, specifically providing a light-driven autonomous motion levitation device, which solves the energy shortage of existing levitation devices and realizes long-term autonomous flight using solar energy.

[0109] Example 2

[0110] This embodiment proposes a control method for a floating device, which realizes the control of the autonomous movement of the floating device by controlling the light intensity I. When adjusting the parameter light intensity I in the control equation, the rotational angular velocity of the lightweight fan blade can be changed. and the forward speed of the floating device ; When the light intensity I is increased, the rotational angular velocity of the lightweight fan blade is and the forward speed of the floating device will increase accordingly; when the light intensity I is reduced, the rotational angular velocity of the lightweight fan blade and the forward speed of the floating device The method comprises the following steps:

[0111] S1. Fill the independent air chamber with a low-density gas, allowing the levitation device to float autonomously in the air. This embodiment involves injecting a predetermined amount of helium, or other buoyant gas, into the independent air chamber and then sealing it. This allows the levitation device to remain stationary in the air without opening the slotted fan system.

[0112] S2. Establish a control equation to control the autonomous motion of the floating device by controlling the light intensity I, including using the change of light intensity I to control the forward speed of the floating device. and the angular velocity of the lightweight blades in the propulsion system ,like Figure 10 The specific process includes the following steps:

[0113] S21, according to the curvature radius of the liquid crystal elastomer ring and the cross-sectional radius of the liquid crystal elastomer rod , calculate the elastic strain on the cross section of the liquid crystal elastomer ring during stable rotation The specific process includes:

[0114] For the LCE ring, assume that the cross-sectional radius of the LCE rod is Much smaller than the curvature radius of the liquid crystal elastomer ring , assuming that the deformation of the liquid crystal elastomer ring is small. For the stable rotation of the liquid crystal elastomer ring, the elastic strain on the cross section Calculate according to formula (1), which is as follows:

[0115]

[0116] Where, is the average axial strain; is the radial coordinate in the cross section of the liquid crystal elastomer thin rod, marked as the radial position on the cross section; is the circumferential polar angle in the cross section of the liquid crystal elastomer thin rod, and is marked as the circumferential position on the cross section.

[0117] Among them, the static strain field caused by the bending of the initially straight liquid crystal elastomer thin rod and the connection of the end to end to form a ring Calculate according to formula (2), which is as follows:

[0118]

[0119] Average strain Related to axial compression / elongation, assuming thermal strain caused by uniform axial thermal expansion / shortening and temperature field The linear relationship is calculated according to formula (3), which is as follows:

[0120]

[0121] in, is the linear thermal expansion coefficient. For simplicity, assume that the temperature field Calculate according to formula (4), which is as follows:

[0122]

[0123] in, is the ambient temperature, i.e. the reference value of the temperature field; is the temperature amplitude of the cosine mode; is the temperature amplitude of the sinusoidal mode.

[0124] In the above equation, two main temperature modes are considered and , which can be calculated according to formula (5), which is as follows:

[0125]

[0126] Where, is the temperature amplitude The time rate of change of derivatives with time; is the temperature amplitude The time rate of change of derivatives with time; is the characteristic time scale of thermal relaxation; is the angular velocity of rotation.

[0127] The derivation of formula (5) can be directly referred to the reference A. Baumann, A. Sánchez-Ferrer, L.Jacomine, P. Martinoty, V. Le Houerou, F. Ziebert, and IM Kulic´,Motorizing fibres with geometric zero-energy modes, Nat. Mater. 17, 523(2018)).

[0128] Assuming the thermal power It is assumed that the light intensity is proportional to ,in is the fitting parameter. For the steady-state rotation of the ring, the temperature amplitude can be calculated according to formula (5):

[0129]

[0130] Combining the above equations, the elastic strain Calculate according to formula (7), which is as follows:

[0131]

[0132] Where, is the dynamic strain field when the liquid crystal elastomer ring rotates.

[0133] S22, based on elastic strain Calculating the driving torque of a liquid crystal elastomer ring The specific process includes:

[0134] Among them, the dynamic strain field and angular velocity Regarding the calculation according to formula (8), formula (8) is as follows:

[0135]

[0136] It is worth noting that the axial average strain is used in deriving equation (7) , which is According to equations (2) and (8), the static strain field and the dynamic strain field can be plotted.

[0137] To simplify the calculation, it is assumed that the material of the ring is a linear elastic body. Then, the normal stress on the cross section of the ring is calculated according to formula (9), which is as follows:

[0138]

[0139] Where E is the elastic modulus. The bending moment about the x-axis is It can be calculated according to formula (10), which is as follows:

[0140]

[0141] Where, In the polar coordinate system of the circular cross section, each tiny area unit The stress on The "small bending moment" contributed by the integration gives the total bending moment around the x-axis , realizing the coupled transmission of “heat-strain-stress-torque”, Differential symbol, marking small changes in coordinates.

[0142] By selecting an arc line at random from the surface of the ring, the driving torque acting on the arc line (normalized by arc length) can be obtained, which is calculated according to formula (11). Formula (11) is as follows:

[0143]

[0144] By combining equations (7)-(11), the driving torque of the liquid crystal elastomer ring is Calculate according to formula (12), which is as follows:

[0145]

[0146] in, is pi.

[0147] S23. Calculate the air friction torque generated by lightweight fan blades , and determine the driving torque of the liquid crystal elastomer ring Air friction torque generated by the lightweight fan blades The relationship between Figure 8 As shown. That is:

[0148] Air friction torque generated by lightweight fan blades The calculation formula is:

[0149]

[0150] Driving torque Friction torque with air The relationship between them is:

[0151]

[0152] Where, is the radius of the lightweight fan blade in the floating device; is the air resistance coefficient of the lightweight fan blade; Indicates the radius variable, which is used to describe the variables at different radial positions within the range from the center of the shaft to the radius R. It is the distance from a point on the rotating part to the center axis. Integrate the infinitesimal moment at to get the total friction torque; Indicates that in the integration process, the radius variable This variable is integrated from 0 to R, which is the integral term in the integral operation, reflecting the radius variable Integration operations on functions; represents the differential operator, Represents the radius variable The differential is the basic element in the integral operation, used to describe the radius variable Accumulate small changes.

[0153] S24. Calculate the thrust generated by lightweight fan blades , and determine the thrust generated by the lightweight fan blades The overall resistance to the autonomous movement of the floating device The relationship between Figure 9 As shown. That is:

[0154] Thrust generated by lightweight blades The calculation formula is:

[0155]

[0156] The overall resistance to the autonomous movement of the floating device The calculation formula is:

[0157]

[0158] thrust and resistance The relationship between them is:

[0159]

[0160] Where, A symbol used in calculus to describe small changes in a variable, allowing integration to accurately calculate the cumulative effect of continuous quantities; is the air resistance coefficient of the floating device;

[0161] S25, by combining equations (13) and (15), we can get the forward speed of the floating device: and the angular velocity of the lightweight fan blades The calculation formula is:

[0162]

[0163] Where, is the cube of the radius of the lightweight fan blade.

[0164] S26, then combine equations (12), (14), (16), (17) and (18) to obtain the control equation for controlling the autonomous motion of the floating device by controlling the light intensity I, which is expressed as:

[0165]

[0166]

[0167] Where, is the elastic modulus of the liquid crystal elastomer fiber; is the linear expansion coefficient; are fitting parameters; is the characteristic time scale of thermal relaxation; is the light intensity.

[0168] Assignment: π is the ratio of the circumference of the circle to 3.14; E is the elastic modulus of the liquid crystal elastomer to 1 MPa; is the linear expansion coefficient ; The fitting parameter is taken as 1.2; The air resistance coefficient of the fan blade is 0.6; The air resistance coefficient of the balloon is 0.5; is the characteristic time scale of thermal relaxation, which is 5s; I is the light intensity, which is 0 1000 ; The curvature radius of the liquid crystal elastomer ring is 10 cm; is the radius of the liquid crystal elastomer rod, which is 2 mm; R is the radius of the floating device blade, which is 2 cm. The value is -3.59rad / s 0, such as Figure 10 shown.

[0169] S3. Place the floating device in an illuminated area and autonomously control it to move in a predetermined direction based on the control equation. To move the device forward, place it in the illuminated area. The rotation of the liquid crystal elastomer ring 20 within the device acts on the lightweight blades 211, generating propulsion for the device, causing it to move in the predetermined direction.

[0170] This embodiment can change the rotational angular velocity of the lightweight fan blade 211 by adjusting the parameter light intensity I in the control equation: and the forward speed of the floating device When the light intensity I is increased, the rotational angular velocity of the lightweight fan blade 211 and the forward speed of the floating device When the light intensity I is reduced, the rotational angular velocity of the lightweight fan blade 211 is and the forward speed of the floating device Will decrease accordingly.

[0171] Example 3

[0172] like Figure 11 As shown, this embodiment provides a technical solution based on the first and second embodiments, namely a floating toy and a design method, comprising the following steps:

[0173] Before operating the floating toy to fly in a predetermined direction, a certain amount of helium or other gas that can generate buoyancy in the independent air chamber 1 of the floating toy is injected into the independent air chamber 1 of the floating toy, and then the independent air chamber 1 is sealed. At this time, the floating toy will be able to float still in the air.

[0174] The floating toy is then placed in a light-irradiated area, and the liquid crystal elastomer ring 20 in the floating toy rotates to act on the light blades 211 , and the light blades 211 and the liquid crystal elastomer ring 20 rotate together at the same angular velocity.

[0175] When the liquid crystal elastomer ring 20 in the floating toy rotates, the four bells 4 connected to the buoyancy balance device 22 will rotate along with the ring, thereby making a beautiful tinkling sound, which adds to the fun of the floating toy.

[0176] The floating toy achieves autonomous movement thanks to the slot-type fan system 21. The lightweight blades 211 in the upper half of the slot-type fan system 21 fall into the slot device 212 under the influence of gravity, generating no propulsion. However, the lightweight blades 211 in the lower half extend out of the slot device 212 under the influence of gravity, providing forward propulsion for the floating toy, thus achieving autonomous flight.

[0177] This toy can achieve completely autonomous movement as long as there is light. It does not require charging or electronic control devices, and is environmentally friendly and convenient.

[0178] Those skilled in the art will appreciate that all or part of the steps in the above-mentioned embodiment methods can be accomplished by instructing the relevant hardware through a program. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0179] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to in detail. For the above embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For relevant parts, please refer to the partial description of the method embodiments.

[0180] The above embodiments provide a detailed introduction to the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An autonomous floating device, comprising a floating main body shell made of carbon fiber reinforced composite material by a compression molding process, characterized in that: The floating device is autonomously controlled within the illuminated area and moves in a predetermined direction. The floating device also includes: An independent air chamber (1) is installed in the floating main structure, and the independent air chamber (1) is filled with low-density gas and provides buoyancy for the floating device; A power propulsion system (2) comprising a liquid crystal elastic ring (20) arranged around the periphery of the independent air chamber (1), a slot-type fan blade system (21) arranged on one side of the independent air chamber (1), and a buoyancy balancing device (22) arranged at a symmetrical position relative to the slot-type fan blade system (21), wherein the power propulsion system (2) generates a forward thrust for the floating device within the illumination area; The slot-type fan blade system (21) includes a slot device (212) mounted around one side of the liquid crystal elastomer ring (20), and the slot-type fan blade system (21) is driven to rotate by the self-rotation effect of the liquid crystal elastomer ring (20) under light and heat stimulation; A connecting device (3) is used to connect the independent air chamber (1) and the liquid crystal elastomer ring (20), and can be adjusted according to the flight state and load changes of the floating device.

2. The floating device according to claim 1, characterized in that: The slot device (212) is provided with a plurality of light blades (211) evenly distributed between each other. The plurality of light blades (211) are installed in the slots on the slot device (212) in a distributed and adjustable manner, and gradually extend or retract relative to the slots on the slot device (212) by their own gravity when the slot device (212) rotates.

3. The floating device according to claim 1, characterized in that: The connecting device (3) comprises a plurality of ball-catching devices (33) fixed by adsorption on the independent air chamber (1), and a sleeve (31) sleeved around the surface of the liquid crystal elastomer ring (20), wherein the sleeve (31) and the ball-catching device (33) are detachably connected via a lightweight connecting rod (32).

4. The floating device according to claim 2, characterized in that: The plurality of lightweight fan blades (211) are evenly distributed in a surrounding manner relative to the liquid crystal elastomer ring (20).

5. The floating device according to claim 1, characterized in that: The buoyancy balancing device (22) is provided with a plurality of bells (4).

6. A control method for the floating device according to any one of claims 1 to 5, characterized in that: The method comprises the following steps: S1. Fill the independent air chamber with low-density gas to make the floating device float autonomously in the air; S2. Establish a control equation to control the autonomous motion of the floating device by controlling the light intensity I, including using the change of light intensity I to control the forward speed of the floating device. , and the angular velocity of the lightweight blades in the propulsion system ; S3. Place the floating device floating in the air in the illumination area, and autonomously control the floating device to move in a predetermined direction based on the control equation.

7. The method for controlling a floating device according to claim 6, wherein: In step S2, the specific process includes the following steps: S21, the curvature radius of the ring formed by bending the initially straight liquid crystal elastomer thin rod and connecting the end to the end and the radius of the cross section of the liquid crystal elastomer rod , calculate the elastic strain on the cross section of the liquid crystal elastomer ring during stable rotation The specific process includes the following steps: S211, according to the radius of the liquid crystal elastomer thin rod and the radius of curvature of the ring , obtain the static strain field caused by the bending of the initially straight liquid crystal elastomer thin rod and connecting end to end to form a ring , the expression is: ； Where, is the radial coordinate in the cross section of the liquid crystal elastomer thin rod; is the circumferential polar angle in the cross section of the liquid crystal elastomer thin rod; S212, Assuming thermal strain caused by uniform axial thermal expansion / shortening and temperature field A linear relationship is obtained to obtain thermal strain ,Right now: Temperature field The calculation formula is: ； thermal strain The calculation formula is: ； Where, is the ambient temperature, i.e. the reference value of the temperature field; is the temperature amplitude of the cosine mode; is the temperature amplitude of the sinusoidal mode; is the linear expansion coefficient; S213, according to the static strain field and thermal strain , calculate the elastic strain on the cross section of the ring during stable rotation , the calculation formula is: ； Where, is the average axial strain; S22, based on elastic strain Calculating the driving torque of a liquid crystal elastomer ring The specific process includes the following steps: S221, according to the rotational angular velocity of the lightweight fan blade Calculating the dynamic strain field caused by the bending of thin rods in liquid crystal elastomers , the calculation formula is: ； Where, are fitting parameters; is the characteristic time scale of thermal relaxation; is the light intensity; S222. Assuming the material of the ring is a linear elastic body, calculate the normal stress on the cross section of the ring. , the calculation formula is: ； ； Where, is the elastic modulus of the liquid crystal elastomer fiber; S223, select an arc from the surface of the ring at random, based on the normal stress Get the driving torque acting on this arc ,Right now: ； ； Where, is the bending moment of the arc about the x-axis; S224, combine the above formulas to obtain the driving torque of the liquid crystal elastomer ring The calculation formula is: ； Where, is the radius of the thin rod of the liquid crystal elastomer; is the radius of curvature of the liquid crystal elastomer ring; S23. Calculate the air friction torque generated by lightweight fan blades , and determine the driving torque of the liquid crystal elastomer ring Air friction torque generated by the lightweight fan blades The relationship between them is: Air friction torque generated by lightweight fan blades The calculation formula is: ； Where, is the radius of the lightweight fan blade in the floating device; is the air resistance coefficient of the lightweight fan blade; Indicates the radius variable during the integration process Integrate from 0 to R; Driving torque of the ring Friction torque with air The relationship between them is: ； S24. Calculate the thrust generated by lightweight fan blades , and determine the thrust generated by the lightweight fan blades The air resistance of the floating device in its autonomous movement The relationship between them is: Thrust generated by lightweight blades The calculation formula is: ； The air resistance of the floating device during its autonomous movement The calculation formula is: ； thrust and resistance The relationship between them is: ； Where, A symbol used in calculus to describe small changes in variables; is the air resistance coefficient of the floating device; S25, by combining air friction torque and thrust The equation of and the angular velocity of the lightweight fan blades The calculation formula is: ； ； Where, is the cube of the radius of the lightweight fan blade; S26. Based on step S25, the above equations are combined to obtain a control equation for controlling the autonomous motion of the floating device by controlling the light intensity. The expression is: ； ； Where, is the linear expansion coefficient; are fitting parameters.

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