A multi-degree-of-freedom dragonfly-like flapping-wing flying robot and a brain-like control method

Abstract

This invention discloses a multi-degree-of-freedom dragonfly-inspired flapping-wing flying robot and a brain-like control method. The robot includes a skeletal structure, a flight mechanism, a detection device, a tail assembly, a control console, and leg components. The skeletal structure is fixedly connected to the flight mechanism, detection device, tail assembly, control console, and leg components. The flight mechanism is used for flight control, the detection device is used to detect environmental information, the tail assembly is used for stable flight, and the control console controls the operation of the skeletal structure, flight mechanism, detection device, and tail assembly. This invention adopts a dragonfly-inspired flapping-wing structure design and uses a design scheme where each of the four wings is individually driven, providing greater flexibility and maneuverability, enabling it to perform complex flight maneuvers such as hovering, rapid turns, and precise landings. This flexibility allows the robot to perform excellently in confined or complex environments and adapt to different mission requirements, such as environmental monitoring, indoor navigation, and search and rescue.

Description

Technical Field

[0001] This invention mainly relates to the field of biomimetic flapping-wing flying robot technology, specifically, to a multi-degree-of-freedom dragonfly flapping-wing flying robot and a brain-like control method. Background Technology

[0002] Insect-inspired flapping-wing flying robots are an innovative research project combining bio-inspired design and advanced engineering technology, aiming to mimic the flight characteristics of insects. Insect flight systems possess extremely high flexibility and adaptability, enabling rapid changes in flight direction and precise control in complex environments. Compared to traditional fixed-wing and rotary-wing drones, this flight mode offers superior maneuverability and stability, making it particularly suitable for missions in obstacle-filled environments such as cities and forests. Researchers have gradually developed biomimetic aircraft by analyzing the movement patterns, aerodynamics, and biological structure of insect wings. These robots can not only hover, make rapid turns, and fly along complex paths, but also possess strong wind resistance and energy efficiency. Insect-inspired flapping-wing flying robots are gradually becoming a new direction in drone technology, indicating broad application prospects in fields such as environmental monitoring, rescue operations, and agricultural management.

[0003] However, existing insect-inspired flapping-wing flying robots often lack maneuverability in complex environments, cannot freely adjust the angles of their wings, tails, and bodies, and cannot accurately perform complex flight maneuvers such as hovering, rapid turns, and precise landings. Summary of the Invention

[0004] In view of this, the technical problem to be solved by the present invention is to address the deficiencies involved in the background art by providing a multi-degree-of-freedom dragonfly flapping-wing flying robot and a brain-like control method.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] On one hand, the present invention provides a multi-degree-of-freedom dragonfly flapping-wing flying robot, including a skeletal device, a flight device, a detection device, a tail device, a control console, and a leg device.

[0007] The skeletal device includes an upper body skeleton and a lower body skeleton; the flight device includes four flight mechanisms fixed to the left front end, left rear end, right front end, and right rear end of the lower body skeleton cavity respectively; the detection device includes a head skeleton and an eye-like camera; the tail device includes a first tail motor, a second tail motor, a first tail linkage, a tail rod, and a motor mounting plate; the control console is equipped with an attitude sensor, a satellite navigation sensor, a neuromorphic chip, and a battery; the leg device includes a left flexible leg, a right flexible leg, and their drive devices.

[0008] On the other hand, the present invention also includes a brain-like control method for a multi-degree-of-freedom dragonfly flapping-wing flying robot, including a dragonfly-like motion model based on a brain-like neural network and flight control for forward, backward, left turn, right turn, left turn in place, right turn in place, ascent, and descent movements.

[0009] The dragonfly-like motion model based on a brain-like neural network is obtained through training with a spiking neural network, and includes the following steps:

[0010] Step 1: Collect data on the angles and flapping speeds of the wings, the angle of the tail, and the tilt angle of the body when the dragonfly moves forward, backward, turns left, turns right, turns left in place, turns right in place, ascends, and descends.

[0011] Step 2: Construct wing angle sequence datasets, tail angle sequence datasets, and body tilt angle sequence datasets respectively, and input them into a spiking neural network to obtain wing angle sequence models, tail angle sequence models, and body tilt angle sequence models under different actions;

[0012] Step 3: Deploy the three models to the neuromorphic chip on the console, and output wing angle sequence, tail angle sequence, and body tilt sequence based on different action commands.

[0013] Furthermore, the brain-like control method for the multi-degree-of-freedom dragonfly flapping-wing flight robot of the present invention includes the following flight control methods for forward, backward, left turn, right turn, stationary left turn, stationary right turn, ascent, and descent actions:

[0014] Forward, backward, left turn, right turn, stationary left turn, stationary right turn, ascent, and descent are actions controlled by console 5. The console inputs commands into the neuromorphic chip to obtain wing angle sequences, tail angle sequences, and body tilt angle sequences, which are then converted into motor angle data. Console 5 controls the rotation of the second flight motors at the left front, left rear, right front, and right rear of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot. The second flight motors drive the rotation of the first flight link, which in turn drives the rotation of the second flight link, which in turn drives the rotation of the third flight link. The third link, via a flight timing belt, drives the rotation of the fourth flight link, which in turn flaps the wings. The console controls the third and fourth flight motors to rotate the wings to a specified angle. Console 5 also controls the first and second tail motors to rotate the tail lever to a specified angle.

[0015] The console 5 controls the rotation of the first momentum wheel motor, the second momentum wheel motor, the third momentum wheel motor of the stabilizer box, and the first flight motor of the left front end, left rear end, right front end, and right rear end of the multi-degree-of-freedom dragonfly flapping-wing flying robot based on the attitude sensor and body tilt angle sequence. This controls the rotation of the first momentum wheel, the second momentum wheel, the third momentum wheel, and the turning momentum wheel. According to the conservation of angular momentum, this ensures that the body reaches the desired position more quickly.

[0016] The multi-degree-of-freedom dragonfly flapping-wing flying robot provided by this invention has the following beneficial effects:

[0017] 1. The flapping-wing flying robot structure inspired by dragonflies can improve energy efficiency, extend flight time, and reduce noise and impact of the aircraft, thus meeting diverse practical needs.

[0018] 2. The combination of brain-like control methods and biomimetic flapping-wing flying robots enables the robots to more naturally simulate the flight behavior of dragonflies, exhibiting greater flexibility and maneuverability.

[0019] This invention solves the problem of insufficient maneuverability of traditional aircraft in complex environments. Through a dragonfly-inspired flapping wing structure and a design with four independently driven wings, this robot possesses outstanding flexibility, enabling it to perform complex flight maneuvers such as hovering, rapid turns, and precise landings. This flexibility allows it to efficiently adapt to different mission requirements in confined spaces, such as environmental monitoring, indoor navigation, and search and rescue, improving execution efficiency and operational reliability, and greatly expanding the application areas of unmanned aerial vehicles (UAVs). Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom dragonfly flapping-wing flying robot described in this invention;

[0022] Figure 2 This is a schematic diagram of the skeletal device of a multi-degree-of-freedom dragonfly flapping-wing flying robot according to the present invention;

[0023] Figure 3 This is a schematic diagram of the flight device structure of a multi-degree-of-freedom dragonfly flapping-wing flying robot according to the present invention;

[0024] Figure 4 This is a schematic diagram of the connection between the flight mechanism and the wings of a multi-degree-of-freedom dragonfly flapping-wing flying robot described in this invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Exoskeleton device, 2-Flight device, 3-Detection device, 4-Tail device, 5-Control console, 6-Leg device, 100-Upper body skeleton, 101-Lower body skeleton, 102-Stabilized box, 103-First momentum wheel, 104-Second momentum wheel, 105-Third momentum wheel, 106-Fixed beam, 201-First disk, 202-First flight motor, 203-Steering momentum wheel, 204-Second disk, 205-Second flight motor, 206-First flight linkage, 207-The 208-Third flight link, 209-Flight synchronization belt, 210-Fourth flight link, 211-Third flight motor, 212-Fifth flight link, 213-Fourth flight motor, 214-Sixth flight link, 215-Wings, 301-Head skeleton, 302-Eye-like camera, 401-First tail motor, 402-Second tail motor, 403-First tail link, 404-Tail link, 601-First wire drive motor, 602-Second wire drive motor. Detailed Implementation

[0027] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0028] This invention can be implemented in many different forms and should not be considered as limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art.

[0029] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to indicate orientation or positional relationship for the convenience of describing the embodiments and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0030] Example 1:

[0031] like Figure 1-2 As shown, the present invention discloses a multi-degree-of-freedom dragonfly flapping-wing flying robot, including a skeletal device 1, a flight device 2, a detection device 3, a tail device 4, a control console 5, and a leg device 6.

[0032] The aforementioned flight device 2, detection device 3, tail device 4, control console 5, and leg device 6 are all fixed to the skeleton device 1. The control console 5 is used to control the skeleton device 1, flight device 2, detection device 3, tail device 4, and leg device 6.

[0033] The skeletal device 1 includes an upper body skeleton 100 and a lower body skeleton 101. The lower body skeleton also houses a stabilizer box 102, a first momentum wheel 103, a second momentum wheel 104, a third momentum wheel 105, and a fixed beam 106. The upper body skeleton 100 is fixed to the lower body skeleton 101. Both the upper and lower body skeletons 100 and 101 have through holes for the smooth operation of the flight device 2 and for the smooth operation of the tail device 4.

[0034] The lower body skeleton 101 has a hollow internal structure. A stabilizing box 102 is fixed inside the lower body skeleton 101. The first momentum wheel 103, second momentum wheel 104, and third momentum wheel 105 are rotatably connected to the stabilizing box 102. A fixing beam 106 is fixed to the inner cavity of the lower body skeleton 101, and both ends of the fixing beam 106 have bosses for rotating connecting rods. The upper body skeleton 100 has grooves for rotating the flight device 2. The lower body skeleton 101 has bosses for fixing the detection device 3. The lower body skeleton 101 has through holes for installing drive lines for connecting the leg device 6.

[0035] The detection device 3 includes a head skeleton 301 and an eye-like camera 302. The head skeleton 301 is fixedly connected to the lower body skeleton 101. The head skeleton 301 has a hollow internal structure, and the eye-like camera 302 is fixed to the head skeleton 301.

[0036] The tail assembly 4 includes a first tail motor 401, a second tail motor 402, a first tail connecting rod 402, a tail rod 404, and a motor mounting plate. The first tail motor 401 is fixed to the end of the lower body skeleton 101 and is rotatably connected to the motor mounting plate, which is fixedly connected to the second tail motor 402. The first tail connecting rod 402 has a boss that is rotatably connected to the second tail motor 402, and is fixedly connected to the tail rod 404.

[0037] The leg device 6 includes a left flexible leg, a right flexible leg, a first drive line, a second drive line, a first drive motor 601, and a second drive motor 602. The left and right flexible legs are located at the left and right ends of the lower body skeleton 101, respectively, and are fixedly connected to the bottom end of the lower body skeleton 101. The left and right flexible legs are provided with through holes, which are fixedly connected to one end of the first and second drive lines, respectively. The first drive motor 601 and the second drive motor 602 are fixed to the lower body skeleton 101. The rotating shafts of the first drive motor 601 and the second drive motor 602 are provided with turntables for fixing the first and second drive lines, respectively. The extension and retraction of the left and right flexible legs are achieved by rotating the rotating shafts of the first drive motor 601 and the second drive motor 602.

[0038] Furthermore, the multi-degree-of-freedom dragonfly flapping-wing flying robot of the present invention also includes a stabilizing box 102, which includes a first momentum wheel motor and a first momentum wheel 103, a second momentum wheel motor and a second momentum wheel 104, and a third momentum wheel motor and a third momentum wheel 105.

[0039] The stabilizing box 102 has a hollow structure. The first momentum wheel motor is fixed inside the stabilizing box 102 and rotatably connected to the first momentum wheel 103. The second momentum wheel motor is fixed inside the stabilizing box 102 and rotatably connected to the second momentum wheel 104. The third momentum wheel motor is fixed inside the stabilizing box 102 and rotatably connected to the third momentum wheel 105.

[0040] Furthermore, the control console 5 of the multi-degree-of-freedom dragonfly flapping-wing flying robot of the present invention is equipped with an attitude sensor, a satellite navigation sensor, a neuromorphic chip, and a battery.

[0041] The eye-like camera 302 is equipped with five cameras for detecting and imaging information about the surrounding environment, which are located at the top, left, right, bottom and middle of the eye-like camera 302.

[0042] The tail rod 404 of the multi-degree-of-freedom dragonfly flapping-wing flying robot of the present invention is a long strip structure and is flexible.

[0043] Example 2:

[0044] like Figure 3-4 As shown, the flight device 2 includes four flight structures that are respectively fixed to the left front end, left rear end, right front end, and right rear end of the lower body skeleton 101.

[0045] Each flight structure includes a first disc 201, a first flight motor 202, a steering momentum wheel 203, a second disc 204, a second flight motor 205, a first flight link 206, a second flight link 207, a third flight link 208, a flight timing belt 209, a fourth flight link 210, a third flight motor 211, a fifth flight link 212, a fourth flight motor 213, a sixth flight link 214, and wings 215.

[0046] The first disc 201 is fixed to the inner cavity of the lower body skeleton 101. The first flight motor 202 is fixed to the first disc 201 and is rotatably connected to the steering momentum wheel 203. The second disc 204 is fixedly connected to the steering momentum wheel 203. The second flight motor 205 is fixed to the second disc 204 and is rotatably connected to one end of the first flight link 206. One end of the first flight link 206 is rotatably connected to one end of the second flight link 207. One end of the second flight link 207 is rotatably connected to one end of the third flight link 208. One end of the third flight link 208 is provided with a synchronous gear and is rotatably connected to the boss of the fixed beam 106.

[0047] The fourth flight link 210 has a synchronous gear at one end, which is synchronously connected to the third flight link 208 via a flight timing belt 209. The fourth flight link 210 has a boss that is rotatably connected to the upper body skeleton 100 through a groove. The third flight motor 211 is fixed to the fourth flight link 210 and is rotatably connected to the fifth flight link 212. The fifth flight link 212 has a groove that is fixedly connected to the fourth flight motor 213. The fourth flight motor 213 is rotatably connected to the sixth flight link 214 and is fixedly connected to the wing 215.

[0048] Furthermore, the multi-degree-of-freedom dragonfly flapping-wing flying robot of the present invention has wings 215 as thin-film flexible structures, wings 215 as zigzag shapes, wings 215 with textures for stable flight, and wing spots at the outermost end, which are textureless and have thick film structures.

[0049] Example 3:

[0050] The present invention provides a brain-like control method for a multi-degree-of-freedom dragonfly flapping-wing flying robot, including a dragonfly motion model based on a brain-like neural network and flight control for forward, backward, left turn, right turn, left turn in place, right turn in place, ascent, and descent movements.

[0051] The dragonfly-like motion model based on a brain-like neural network is obtained through training with a spiking neural network, and includes the following steps:

[0052] Step 1: Collect data on the angles and flapping speeds of the wings, the angle of the tail, and the tilt angle of the body when the dragonfly moves forward, backward, turns left, turns right, turns left in place, turns right in place, ascends, and descends.

[0053] Step 2: Construct wing angle sequence datasets, tail angle sequence datasets, and body tilt angle sequence datasets respectively, and input them into a spiking neural network to obtain wing angle sequence models, tail angle sequence models, and body tilt angle sequence models under different actions;

[0054] Step 3: Deploy the three models to the neuromorphic chip on console 5, and output wing angle sequence, tail angle sequence, and body tilt sequence based on different action commands.

[0055] Furthermore, the brain-like control method for the multi-degree-of-freedom dragonfly flapping-wing flight robot of the present invention includes the following flight control methods for forward, backward, left turn, right turn, stationary left turn, stationary right turn, ascent, and descent actions:

[0056] Forward, backward, left turn, right turn, stationary left turn, stationary right turn, ascent, and descent are actions controlled by the console 5. Commands are input into the neuromorphic chip to obtain wing angle sequences, tail angle sequences, and body tilt angle sequences, which are then converted into motor angle data. The console 5 controls the rotation of the second flight motor 205 at the left front, left rear, right front, and right rear of the multi-degree-of-freedom dragonfly-like flapping-wing flying robot. The second flight motor 205 drives the first flight link 206 to rotate, which in turn drives the second flight link 207. The second flight link 207 drives the third flight link 208 to rotate, which in turn drives the fourth flight link 210 via the flight synchronization belt 209. The fourth flight link 210 drives the wings 215 to flap. The console 5 controls the third flight motor 211 and the fourth flight motor 213 to rotate the wings to a specified angle. The console 5 also controls the first tail motor 401 and the second tail motor 402 to rotate the tail rod 404 to a specified angle.

[0057] The console 5 controls the rotation of the first momentum wheel motor, the second momentum wheel motor, the third momentum wheel motor of the stabilizer box 102, and the first flight motor 202 of the left front end, left rear end, right front end, and right rear end of the multi-degree-of-freedom dragonfly flapping-wing flying robot based on the attitude sensor and body tilt sequence. This controls the rotation of the first momentum wheel 103, the second momentum wheel 104, and the third momentum wheel 105 and the turning momentum wheel 203. According to the conservation of angular momentum, this ensures that the body reaches the desired position more quickly.

[0058] During forward, backward, upward, and downward movements, the first momentum wheel 103, the second momentum wheel 104, and the third momentum wheel 105 rotate, while the steering momentum wheel 203 rotates stably, maintaining the robot's body balance. During left and right turns, the steering momentum wheel 203 and the second momentum wheel 104 accelerate to the left and right, respectively, while the first momentum wheel 103 and the third momentum wheel 105 maintain body balance. During stationary left and right turns, the steering momentum wheel 203 accelerates to the left and right, while the first momentum wheel 103, the second momentum wheel 104, and the third momentum wheel 105 maintain body balance.

[0059] In controlling the dragonfly-like flapping-wing flying robot to move forward, backward, turn left, turn right, turn left in place, and turn right in place, in addition to the control methods mentioned above, the following steps can also be included to improve the maneuverability of the dragonfly-like flapping-wing flying robot:

[0060] Step 1: Add counterweights to the leg device 6 of the dragonfly flapping wing flying robot. The weight of a single counterweight is between 10g and 100g.

[0061] Step 2: Control the leg device 6 to move according to the action commands sent from the console;

[0062] For example, when performing a left turn, the second drive motor 602 is controlled to rotate, causing the second drive line to retract, which in turn causes the right flexible leg to retract. At this time, the center of gravity of the dragonfly flapping-wing flying robot moves to the left, thereby speeding up the execution of the left turn.

[0063] 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom dragonfly-like flapping-wing flying robot, characterized in that, It includes a skeletal device (1), a flight device (2), a detection device (3), a tail device (4), a control console (5), and a leg device (6), wherein: the skeletal device (1) includes an upper body skeleton (100) and a lower body skeleton (101); the flight device (2) includes four sets of flight mechanisms respectively fixed to the left front end, left rear end, right front end, and right rear end of the cavity of the lower body skeleton (101); Each flight mechanism includes a first disc (201), a first flight motor (202), a steering momentum wheel (203), a second disc (204), a second flight motor (205), a first flight link (206), a second flight link (207), a third flight link (208), a flight timing belt (209), a fourth flight link (210), a third flight motor (211), a fifth flight link (212), a fourth flight motor (213), a sixth flight link (214), and a wing (215). The lower body skeleton (101) has a stabilizing box (102) and a fixing beam (106) inside its cavity; the stabilizing box (102) includes a first momentum wheel motor and a first momentum wheel (103), a second momentum wheel motor and a second momentum wheel (104), and a third momentum wheel motor and a third momentum wheel (105); the fixing beam (106) is fixed to the cavity of the lower body skeleton (101), and both ends of the fixing beam (106) are provided with bosses for connecting rods to rotate and connect; The first disk (201) is fixed to the inner cavity of the lower body skeleton (101), the first flight motor (202) is fixed to the first disk (201), and the first flight motor (202) is rotatably connected to the steering momentum wheel (203). The second disk (204) is fixedly connected to the steering momentum wheel (203). The second flight motor (205) is fixed to the second disk (204), and the second flight motor (205) is rotatably connected to one end of the first flight link (206). The other end of the first flight link (206) is rotatably connected to one end of the second flight link (207). The other end of the second flight link (207) is rotatably connected to one end of the third flight link (208). The other end of the third flight link (208) is rotatably connected to the third flight link (208). The fourth flight link (210) is provided with a synchronous gear at one end and is rotatably connected to the boss of the fixed beam (106); the fourth flight link (210) is provided with a synchronous gear at one end and is synchronously connected to the third flight link (208) through the flight synchronous belt (209); the fourth flight link (210) is provided with a boss and is rotatably connected to the groove of the upper body skeleton (100); the third flight motor (211) is fixed to the fourth flight link (210), the third flight motor (211) is rotatably connected to the fifth flight link (212), the fifth flight link (212) is provided with a groove and is fixedly connected to the fourth flight motor (213), the fourth flight motor (213) is rotatably connected to the sixth flight link (214), and the sixth flight link (214) is fixedly connected to the wing (215).

2. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that, The stabilizing box (102) has a hollow structure. The first momentum wheel motor is fixed inside the stabilizing box (102) and rotatably connected to the first momentum wheel (103). The second momentum wheel motor is fixed inside the stabilizing box (102) and rotatably connected to the second momentum wheel (104). The third momentum wheel motor is fixed inside the stabilizing box (102) and rotatably connected to the third momentum wheel (105).

3. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that, The console (5) is equipped with an attitude sensor, a satellite navigation sensor, a neuromorphic chip, and a battery.

4. The multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that, The detection device (3) includes a head skeleton (301) and an eye-like camera (302); the head skeleton (301) is fixedly connected to the lower body skeleton (101), the head skeleton (301) has a hollow structure inside, and the eye-like camera (302) is fixed to the head skeleton (301).

5. A multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that, The tail device (4) includes a first tail motor (401), a second tail motor (402), a first tail connecting rod (403), a tail rod (404), and a motor fixing plate; the first tail motor (401) is fixed to the end of the lower body skeleton (101), the first tail motor (401) is rotatably connected to the motor fixing plate, and the motor fixing plate is fixedly connected to the second tail motor (402); the first tail connecting rod (403) is provided with a boss and is rotatably connected to the second tail motor (402), and the first tail connecting rod (403) is fixedly connected to the tail rod (404).

6. A multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to claim 1, characterized in that, The leg device (6) includes a left flexible leg, a right flexible leg, a first drive line, a second drive line, a first drive motor (601), and a second drive motor (602). The left flexible leg and the right flexible leg are provided with through holes for fixed connection to one end of the first drive line and the second drive line, respectively. The first drive motor (601) and the second drive motor (602) are fixed to the lower body skeleton (101). The rotating shafts of the first drive motor (601) and the second drive motor (602) are provided with turntables for fixing the first drive line and the second drive line. The extension and retraction of the left flexible leg and the right flexible leg are realized by rotating the rotating shafts of the first drive motor (601) and the second drive motor (602).

7. A brain-like control method for a multi-degree-of-freedom dragonfly-like flapping-wing flying robot, said method being used in the multi-degree-of-freedom dragonfly-like flapping-wing flying robot according to any one of claims 1-6, characterized in that, This includes a dragonfly-like motion model based on a brain-like neural network and flight control for forward, backward, left turn, right turn, left turn in place, right turn in place, ascent, and descent.

8. The brain-like control method for a multi-degree-of-freedom dragonfly flapping-wing flight robot according to claim 7, characterized in that, The dragonfly-like motion model based on a brain-like neural network is obtained through training with a spiking neural network and includes the following steps: Step 1: Collect data on the angle of the wings (215) and flapping speed, the angle of the tail, and the tilt angle of the body when the dragonfly moves forward, backward, turns left, turns right, turns left in place, turns right in place, rises, and descends. Step 2: Construct wing (215) angle sequence dataset, tail angle sequence dataset, and body tilt angle sequence dataset respectively, and input them into spiking neural network to obtain wing (215) angle sequence model, tail angle sequence model, and body tilt angle sequence model under different actions; Step 3: Deploy the three models to the neuromorphic chip of the console (5) and output the wing (215) angle sequence, tail angle sequence and body tilt sequence based on different action commands.

9. The brain-like control method for a multi-degree-of-freedom dragonfly flapping-wing flight robot according to claim 7, characterized in that, The flight control methods for forward, backward, left turn, right turn, left turn in place, right turn in place, ascent, and descent are as follows: Step 1: The console (5) inputs commands into the neuromorphic chip to obtain the wing (215) angle sequence, tail angle sequence, and body tilt angle sequence, and converts them into motor angle data; Step 2: The console (5) controls the rotation of the second flight motor (205) at the left front end, left rear end, right front end, and right rear end of the multi-degree-of-freedom dragonfly flapping-wing flying robot. The second flight motor (205) drives the first flight link (206) to rotate. The first flight link (206) drives the second flight link (207) to rotate. The second flight link (207) drives the third flight link (208) to rotate. The third flight link (208) drives the fourth flight link (210) to rotate through the flight synchronization belt (209). The fourth flight link (210) drives the wings (215) to flap. Step 3: The control console (5) controls the third flight motor (211) and the fourth flight motor (213) to control the wings (215) to rotate to a specified angle; The control console (5) controls the first tail motor (401) and the second tail motor (402) to drive the tail rod (404) to rotate to a specified angle; Step four, the console (5) controls the rotation of the first momentum wheel motor, the second momentum wheel motor, the third momentum wheel motor of the stabilizer box (102), and the first flight motor (202) of the left front end, left rear end, right front end, and right rear end of the multi-degree-of-freedom dragonfly flapping-wing flying robot based on the attitude sensor and body tilt sequence, thereby controlling the rotation of the first momentum wheel (103), the second momentum wheel (104), the third momentum wheel (105) and the steering momentum wheel (203), and according to the conservation of angular momentum, ensuring that the body reaches the desired position faster; When performing forward / backward / ascending / descending actions, the first momentum wheel (103), the second momentum wheel (104), and the third momentum wheel (105) rotate, and the steering momentum wheel (203) rotates stably to maintain the robot's body balance; when performing left / right turning actions, the steering momentum wheel (203) and the second momentum wheel (104) accelerate to the left / right, and the first momentum wheel (103) and the third momentum wheel (105) maintain the body balance; when performing stationary left / right turning actions, the steering momentum wheel (203) accelerates to the left / right, and the first momentum wheel (103), the second momentum wheel (104), and the third momentum wheel (105) maintain the body balance.

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