Underwater operation device based on bionic motion design

Abstract

The invention discloses an underwater operation device based on bionic motion design, and relates to the field of underwater operation devices.The underwater operation device comprises a device body and a plurality of sets of bionic flapping wings which are arranged in the circumferential direction of the device body and rotationally connected to the device body; each group of bionic flapping wings comprises two bionic flapping wings which are the same in structure and are symmetrically arranged on the two radial sides of the device body, and the main control module controls the two bionic flapping wings in the propelling wing group to flap symmetrically through the flapping wing control assembly so as to realize propelling control; the main control module controls the two bionic flapping wings in the control wing group to flap asymmetrically through the flapping wing control assembly so as to control and adjust the course, and efficient propelling and rapid maneuvering of the underwater operation device can be achieved by controlling flapping movement of the bionic flapping wings. Compared with a traditional underwater operation device, the underwater operation device has the advantages of being low in noise, high in endurance, high in navigation efficiency and the like, and the task carrying requirement of the underwater operation device is met.

Description

Technical Field

[0001] The present application relates to the field of underwater working devices, and in particular to an underwater working device based on bionic motion design. Background Art

[0002] Since the beginning of this century, various underwater operation devices have been developed and used to carry out various underwater operation activities. In the scientific and economic fields, they have played a pivotal role in marine scientific investigations, submarine oil well operations and cable laying and maintenance, marine resource exploration, and ocean mapping. In the military field, they have played an increasingly important role in military information reconnaissance, intelligence collection, mine detection, and increasing and expanding underwater combat space.

[0003] Traditional underwater working devices are generally equipped with propellers for propulsion control and rudder and wing control systems for control. However, when the propeller is working, the body vibrates violently and the noise is loud, which reduces its concealment performance, which does not conform to the development trend of low noise for underwater working devices. In addition, the rudder and wing control system is difficult to achieve rapid maneuvering when the underwater working device is at low speed or in a hovering state, and it is easy to have rudder jamming and other faults. These defects have led to the fact that the propulsion efficiency, maneuverability and stealth performance of most existing underwater working devices cannot achieve a good performance. Summary of the invention

[0004] In view of the above problems and technical requirements, this application proposes an underwater working device based on bionic motion design. The technical solution of this application is as follows:

[0005] An underwater working device based on bionic motion design, the underwater working device comprises a device body and a plurality of groups of bionic flapping wings, the device body comprises a cylindrical water-permeable compartment and a head compartment and a tail compartment fixed at both axial ends of the water-permeable compartment, the head compartment and the tail compartment respectively adopt sealing structures; electronic devices in the underwater working device are arranged in the head compartment and the tail compartment, the electronic devices in the underwater working device comprise a main control module, an operating component and a flapping wing control component, the main control module is respectively connected to the operating component and the flapping wing control component, and the main control module completes the operating task of the underwater working device through the operating component;

[0006] A plurality of groups of bionic flapping wings are arranged along the circumference of the water-permeable compartment, each group of bionic flapping wings includes two bionic flapping wings of the same structure, the root of each bionic flapping wing is rotatably connected to the water-permeable compartment through a connecting shaft, and the two bionic flapping wings in the same group of bionic flapping wings are symmetrically connected on both sides of the radial direction of the water-permeable compartment, and each bionic flapping wing takes the radial direction perpendicular to the radial direction of its connection position on the water-permeable compartment as the rotation axis; the main control module is connected and controls each bionic flapping wing to rotate around its own rotation axis through a flapping wing control component, so as to adjust the angle between the surface of each bionic flapping wing and the axial section of the water-permeable compartment at the bionic flapping wing rotation axis;

[0007] The gravity of the underwater working device is equal to the buoyancy, the main control module determines at least one group of bionic flapping wings as a propulsion wing group and / or determines at least one group of bionic flapping wings as a control wing group according to the target heading, the main control module controls the two bionic flapping wings in the propulsion wing group to rotate in the same working mode through the flapping wing control component to achieve propulsion control of the underwater working device, and / or controls the two bionic flapping wings in the control wing group to rotate in different working modes through the flapping wing control component to achieve control and adjust the heading of the underwater working device.

[0008] The beneficial technical effects of this application are:

[0009] The present application discloses an underwater working device based on bionic motion design, wherein a plurality of groups of bionic flapping wings are arranged circumferentially of the device body, and each group of bionic flapping wings is symmetrically arranged on both radial sides of the device body. The propulsion control of the underwater working device can be achieved by the symmetrical flapping operation of the two bionic flapping wings in the propulsion wing group, and the control and manipulation of the underwater working device can be achieved by the asymmetrical flapping operation of the two bionic flapping wings in the control wing group. By controlling the flapping motion of the bionic flapping wings, efficient propulsion and rapid maneuvering of the underwater working device can be achieved. Compared with traditional underwater working devices, it has the advantages of low noise, high endurance, high navigation efficiency, etc., and meets the mission carrying requirements of underwater working devices. The maximum open water propulsion efficiency of the propeller does not exceed 80%, while the propulsion efficiency of the underwater working device can reach 86%. At the same cruising speed, the propeller speed is generally around 10. 2 The corresponding hydrodynamic noise is also above 100dB. However, the rotation speed required by the bionic flapping wing in the underwater working device of this application is less than 10Hz, and the corresponding hydrodynamic noise does not exceed 40dB, which greatly improves the stealth performance of the underwater working device. In terms of endurance, the low-speed cruising endurance of the traditional underwater working device (about 4m) is about 10 kilometers. The underwater working device of this application has a very low movement frequency (0.5Hz~1Hz). Through numerical calculation and conversion, the subsequent endurance can reach 160 kilometers. The improvement of endurance greatly expands the working range of the underwater working device, which will help the underwater working device to operate farther and deeper in the ocean in the future.

[0010] The bionic flapping wing in the underwater working device adopts a variable stiffness structure that integrates rigidity and flexibility, which can increase the structural strength, thereby expanding the frequency range. The increase in flapping frequency will greatly increase the thrust coefficient, thereby increasing the navigation speed. The bionic flapping wing in the underwater working device adopts a variable width structural design, which can achieve an optimal balance between the flat plate area and the propulsion performance, thereby reducing the friction resistance as much as possible while ensuring the propulsion performance. In addition, the sawtooth groove structure introduced at the end of the bionic flapping wing can further improve the average thrust and propulsion efficiency of the bionic flapping wing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic structural diagram of an underwater working device in one embodiment of the present application.

[0012] Figure 2 yes Figure 1 The underwater working device shown is a top view along the axial direction from the head compartment section.

[0013] Figure 3 yes Figure 1 The underwater working device shown is a side view along the radial direction from the bionic flapping wing 52.

[0014] Figure 4 It is a schematic diagram of the structure of a single bionic flapping wing in one embodiment of the present application.

[0015] Figure 5 It is a curve diagram of the elastic modulus of a single bionic flapping wing at different positions from the root to the end in one embodiment of the present application.

[0016] Figure 6 yes Figure 1 The diagram shown is a diagram of the motion state changes of the bionic flapping wings in a propulsion cycle when the underwater working device is propelled toward the head direction.

[0017] Figure 7 The curve of the angle between the bionic flapping wing and the initial position changing with time in an example.

[0018] Figure 8 The diagram is a schematic diagram of the heading deviation angles of the current heading and the target heading of an underwater working device on the plane where a set of bionic flapping wings are located in an example. DETAILED DESCRIPTION

[0019] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0020] The present application discloses an underwater working device based on bionic motion design. The underwater working device is designed based on the flapping motion pattern of fish. The underwater working device includes a device body and multiple groups of bionic flapping wings. Figure 1As shown in the structural schematic diagram, the device body includes a cylindrical water-permeable compartment 1 and a head compartment 2 and a tail compartment 3 fixed at both axial ends of the water-permeable compartment 1, and the head compartment 2 and the tail compartment 3 respectively adopt a sealing structure. Furthermore, the head compartment 2 and the tail compartment 3 have the same structure and are symmetrically fixed at both axial ends of the water-permeable compartment 1, so that the underwater working device has a completely symmetrical structure, which facilitates the underwater working device to perform two-way motion control.

[0021] Multiple groups of bionic flapping wings are arranged along the circumference of the water-permeable compartment 1, and each group of bionic flapping wings includes two bionic flapping wings with the same structure. The root of each bionic flapping wing is rotatably connected to the water-permeable compartment 1 through a connecting shaft, and the two bionic flapping wings in the same group of bionic flapping wings are symmetrically connected on both sides of the radial direction of the water-permeable compartment 1.

[0022] for example Figure 1 Take the underwater operation device including two sets of bionic flapping wings as an example. Figure 2 shown Figure 1 The top view of the underwater working device along the axial direction from the head section 2 shows that the first group of bionic flapping wings include bionic flapping wings 41 and bionic flapping wings 42. The root of the bionic flapping wings 41 is rotatably connected to the connection position A of the water-permeable section 1 via a connecting shaft 43, and the root of the bionic flapping wings 42 is rotatably connected to the connection position A' on the water-permeable section 1 via a connecting shaft 44. The connection position A and the connection position A' are located on both sides of the radial symmetry of the water-permeable section 1. Similarly, the second group of bionic flapping wings include bionic flapping wings 51 and bionic flapping wings 52. The root of the bionic flapping wings 51 is rotatably connected to the connection position B of the water-permeable section 1 via a connecting shaft 53, and the root of the bionic flapping wings 52 is rotatably connected to the connection position B' on the water-permeable section 1 via a connecting shaft 54. The connection position B and the connection position B' are located on both sides of the radial symmetry of the water-permeable section 1. It should be noted that in actual implementation, if Figure 1 As shown, the side wall of the water-permeable compartment 1 is generally provided with water flow holes along the circumferential direction, and the connecting shaft of the bionic flapping wing passes through the water flow holes and extends into the inside of the water-permeable compartment 1 for rotational connection, but is not necessarily directly connected to the side wall of the water-permeable compartment 1, so Figure 2 The various connection positions in the figure do not directly indicate the connection between the connection shaft and the side wall of the water-permeable compartment section 1, but only indicate the radial relationship between the connection positions.

[0023] The connection positions of two bionic flapping wings in the same group of bionic flapping wings and the water-permeable compartment 1 are on the same radial section, and the connection positions of the bionic flapping wings in any two groups of bionic flapping wings and the water-permeable compartment 1 can be located on the same radial section or on different radial sections. That is, multiple groups of bionic flapping wings can be arranged circumferentially on the same radial section, or can be arranged staggered along the axial direction on multiple different radial sections, but the symmetry between the two bionic flapping wings in the same group of bionic flapping wings must be ensured.

[0024] Multiple groups of bionic flapping wings are arranged uniformly or non-uniformly along the circumference of the water-permeable compartment 1, and the angle between the center of the radial section of the water-permeable compartment 1 and the connection position of any two adjacent bionic flapping wings is defined as the installation center angle, then any two installation center angles are equal or there are at least two installation center angles that are not equal. For example, Figure 1 In the structural diagram of the underwater working device shown, two groups of bionic flapping wings are evenly arranged along the circumference of the permeable compartment section 1 as an example, and the four installation center angles are all 90 degrees.

[0025] Each bionic flapping wing has a radial direction perpendicular to the radial direction of the connection position on the water-permeable compartment 1 as a rotation axis, and the rotation axes of the two bionic flapping wings in the same group of bionic flapping wings are the same. Each bionic flapping wing can rotate around its own rotation axis to adjust the angle between the surface of the bionic flapping wing and the axial section of the water-permeable compartment 1 at the rotation axis of the bionic flapping wing. For example, Figure 1 In the underwater working device shown, the radial direction of the bionic flapping wing 41 at the connection position on the water-permeable compartment 1 is the AA' direction, and the radial direction perpendicular to the AA' direction is the BB' direction. The bionic flapping wing 41 takes the BB' direction as the rotation axis, and the bionic flapping wing 41 can adjust the angle between its surface and the BB' axial section of the water-permeable compartment 1 when rotating around the BB' direction. Similarly, the bionic flapping wing 42 also takes the BB' direction as the rotation axis. Correspondingly, the radial directions of the bionic flapping wing 51 and the bionic flapping wing 52 at the connection position on the water-permeable compartment 1 are both the BB' direction, and the radial direction perpendicular to the BB' direction is the AA' direction. The bionic flapping wing 51 and the bionic flapping wing 52 both take the AA' direction as the rotation axis, and the bionic flapping wing 51 and the bionic flapping wing 52 can adjust the angle between their surface and the AA' axial section of the water-permeable compartment 1 when rotating around the AA' direction.

[0026] The electronic devices in the underwater working device are arranged in the head compartment and the tail compartment. The electronic devices in the underwater working device include a main control module, an operating component and a flapping wing control component. The main control module is connected to the operating component and the flapping wing control component respectively. The main control module completes the operating task of the underwater working device through the operating component. According to the different operating tasks of the underwater working device, the operating component includes various sensors and detection components, etc., which are configured according to actual conditions. The main control module connects and controls the rotation process of each bionic flapping wing through the flapping wing control component. In fact, the underwater working device also includes a counterweight mass block and a center of gravity adjustment mechanism, etc., which are used to adjust the center of gravity of the underwater working device.

[0027] Figure 1 The underwater working device shown is a side view along the radial direction from one side of the bionic flapping wing 52. Figure 3 As shown, Figure 3The state diagram of each bionic flapping wing at the initial position is shown, and the surface of each bionic flapping wing at the initial position is perpendicular to the axial section of the permeable compartment at the rotation axis of the bionic flapping wing. The gravity of the underwater working device is equal to the buoyancy, and the bionic flapping wing is in a natural suspension state when it does not rotate.

[0028] The structures of the two bionic flapping wings in the same bionic flapping wing group are the same, and the structures of the bionic flapping wings in different bionic flapping wing groups can be the same or different. In order to simplify the design and control, generally all bionic flapping wings adopt the same structure. The bionic flapping wing in this application adopts a flat plate structure, and the side of the bionic flapping wing close to the water-permeable compartment section 1 is defined as the root, and the side away from the water-permeable compartment section 1 is defined as the end.

[0029] The underwater operation device of the present application uses bionic flapping wings to achieve propulsion and maneuvering control. In order to optimize the performance of propulsion and maneuvering, in one embodiment, the elastic modulus of each bionic flapping wing at different cross-sectional positions along the direction from the root close to the permeable compartment to the end away from the permeable compartment gradually decreases. The bionic flapping wing is a rigid structure at the root and a flexible structure at the end, that is, the bionic flapping wing adopts a variable stiffness structure design. Compared with the direct use of a rigid flat plate, the passive deformation of this rigid-flexible fusion structure in the flexible body part can slow down the impact of the fluid dynamic load on the surface of the bionic flapping wing and reduce the energy consumption of the system, thereby achieving the purpose of improving the propulsion performance and maneuvering performance. Compared with the thin plate structure, the range of the flapping frequency is effectively increased. The conventional thin plate is used for flapping propulsion, and the general frequency needs to be controlled below 2Hz. The bionic flapping wing adopts this variable stiffness structure to increase the structural strength, thereby expanding the frequency range, which can generally reach 10Hz. The increase in the flapping frequency will greatly increase the thrust coefficient, thereby increasing the navigation speed.

[0030] After optimized design, please combine Figure 4 The structural schematic diagram of a single bionic flapping wing is shown in FIG. 1 , and the elastic modulus of each bionic flapping wing at a cross-sectional position at a distance x from the root along the direction from the root to the end is L is the distance from the root to the end of the bionic flapping wing, and the direction from the root to the end of the bionic flapping wing is along the radial direction of the water-permeable compartment 1. a and b are parameters and according to actual tests, a=19.6Mpa and b=0.4Mpa are taken to optimize the performance, that is, the elastic modulus at the root of the bionic flapping wing is 20Mpa. Combined with the material tensile test, it can be seen that the deformation capacity is small at this time, and it is generally difficult to deform significantly. Therefore, it can be approximately regarded as a rigid structure. The elastic modulus at the end of the bionic flapping wing is 0.4Mpa. At this time, its elastic deformation capacity is very strong, and it can swing up and down in a downward wave under the action of inertia without applying external force. The elastic modulus change curve of the bionic flapping wing from the root to the end is shown as follows. Figure 5 shown.

[0031] In addition to the variable stiffness design, in another embodiment, the shape of the bionic flapping wing is also optimized to improve its performance. The thickness of the bionic flapping wing is uniform and presents a flat structure, but the surface shape does not adopt a conventional rectangular flat plate, but adopts a variable width structure design. The surface width of each bionic flapping wing gradually increases along the direction from the root close to the permeable compartment to the end far away from the permeable compartment. This variable width structure design is because the root of the bionic flapping wing is close to the device body and is shielded by the device body. The propulsion performance of the part close to the device body is greatly suppressed. Therefore, the surface width can be appropriately reduced to reduce the surface area of ​​the bionic flapping wing, which is beneficial to reduce the friction resistance of the bionic flapping wing. In the flow area far away from the end part of the bionic flapping wing, the shielding effect of the device body is gradually weakened, and the surface width needs to be appropriately increased to improve the propulsion performance. Therefore, this variable width structure design is an optimization result based on the balance between the surface area and propulsion performance of the bionic flapping wing, which can reduce the friction resistance as much as possible while ensuring the propulsion performance. Figure 4 As shown in the figure, the surface of the bionic flapping wing is a trapezoidal structure, and the surface width changes evenly from the root to the end. According to the results of numerical simulation, when the surface width at the root of the bionic flapping wing reaches 0.85 times the diameter D of the water-permeable compartment 1, its performance cannot be improved even if the surface width is increased. Therefore, the surface width at the root of each bionic flapping wing is taken as 0.85D. When the surface width at the end of the bionic flapping wing reaches the diameter D of the water-permeable compartment 1, the effect of improving the propulsion performance is most obvious. Therefore, the surface width at the end of each bionic flapping wing is taken as D.

[0032] In addition to the variable width structure design, in another embodiment, the sawtooth structure design of marine organisms is also used to design the end of each bionic flapping wing into a sawtooth groove structure. The introduction of the sawtooth groove structure can increase the average thrust and propulsion efficiency of the bionic flapping wing by more than 15%. Specifically, the width s of each sawtooth groove in the sawtooth groove structure at the end of the bionic flapping wing satisfies The height h of each sawtooth groove satisfies The condition can achieve the best effect on improving the average thrust and propulsion efficiency. The numerical calculation results show that the propulsion efficiency of the bionic flapping wing can be increased by 22%. U0 represents the incoming flow velocity, Re represents the Reynolds number and Where D is the diameter of the permeable tank section, ν is the fluid viscosity coefficient, which is generally taken as 10 -6 .

[0033] Regardless of the structure of each bionic flapping wing, the main control module can realize the manipulation control and / or propulsion control of the underwater working device by controlling the rotation process of each bionic flapping wing through the flapping wing control component. The manipulation control and propulsion control can be carried out simultaneously or separately, including:

[0034] The main control module determines at least one group of bionic flapping wings as a propulsion wing group and / or determines at least one group of bionic flapping wings as a control wing group according to the target heading, and the propulsion wing group and the control wing group are different bionic flapping wing groups. Then the main control module controls the two bionic flapping wings in the propulsion wing group to rotate in the same working mode through the flapping wing control component to achieve propulsion control of the underwater working device, and / or controls the two bionic flapping wings in the control wing group to rotate in different working modes through the flapping wing control component to achieve control and adjust the heading of the underwater working device. They are introduced as follows:

[0035] 1. Propulsion control of underwater operating equipment

[0036] The main control module can select any number of bionic flapping wings that do not belong to the control wing group as the propulsion wing group. The propulsion control of the underwater working device includes propulsion control in two directions:

[0037] (1) The underwater working device is driven to move forward along the axial direction toward the head, that is, along the direction in which the head compartment moves forward.

[0038] In this case, the flapping-wing control component controls the two bionic flapping wings in the propulsion wing group to rotate from the initial position of the bionic flapping wings to the tail section at a first predetermined angle θ according to a first rotational angular velocity, and then rotate back to the initial position at a second rotational angular velocity. This is one propulsion cycle, and then the next propulsion cycle is controlled in the same way. The two symmetrically arranged bionic flapping wings in the propulsion wing group rotate toward the tail section according to the same working mode. At this time, due to the reaction force generated by the water flow squeezing the tail section of the underwater working device, the underwater working device is propelled forward toward the head section, and because the reaction forces on both sides are the same, the underwater working device will move forward according to the current heading. The schematic diagram of the rotation of the bionic flapping wings from the initial position to the tail section and then back to the initial position is shown in Figure 6 The first rotation angular velocity is greater than the second rotation angular velocity, so as to avoid excessive reaction force toward the head compartment of the underwater working device when the bionic flapping wing rotates back to the initial position.

[0039] In another embodiment, in each propulsion cycle, the two bionic flapping wings in the propulsion wing group are controlled to rotate from the initial position to the tail section at a first predetermined angle θ according to a first rotational angular velocity, and rotate back to the initial position according to a second rotational angular velocity after maintaining the predetermined time, so as to drive the underwater working device to propel along the axial direction toward the head. In the process of the bionic flapping wings rotating from the initial position to the tail section, the underwater working device is propelled toward the head, and in the process of the bionic flapping wings remaining unchanged for a predetermined time, the underwater working device continues to move in a sliding manner with the help of inertia, and the predetermined time can be customized and adjusted. This approach can reduce the driving energy consumption and improve the endurance of the underwater working device.

[0040] In one example, the first rotation angular velocity is 45 degrees / second, the second rotation angular velocity is 10 degrees / second, the predetermined time length is 4 seconds, and the angle between the bionic flapping wing and the initial position when the bionic flapping wing rotates toward the tail compartment is the negative direction. In the process of driving the underwater working device to propel along the axial direction toward the head, the change curve of the angle between the bionic flapping wing and the initial position is as follows: Figure 7 shown.

[0041] (2) The underwater working device is driven to move forward along the axial direction toward the tail, that is, along the direction of the forward movement of the tail compartment.

[0042] In this case, the two bionic flapping wings in the propulsion wing group are controlled by the flapping wing control component to rotate from the initial position to the head compartment section at a first predetermined angle according to a first rotational angular velocity, and then rotated back to the initial position at a second rotational angular velocity to drive the underwater working device to propel along the axial direction toward the tail. The propulsion principle in this case is the same as the above-mentioned principle of propulsion toward the head direction, which will not be repeated here.

[0043] Similarly, the two bionic flapping wings in the propulsion wing group are controlled to rotate from the initial position to the head compartment section at a first predetermined angle according to a first rotational angular velocity, and then rotate back to the initial position at a second rotational angular velocity after maintaining the rotation for a predetermined period of time.

[0044] Regardless of the direction of propulsion, when the main control module realizes the propulsion control of the underwater working device, the more propulsion wing groups are used, and / or the greater the first angular rotation velocity is, and / or the greater the first predetermined angle of rotation of the bionic flapping wings in the propulsion wing group controlled in each propulsion cycle is, the greater the propulsion acceleration of the underwater working device.

[0045] 2. Manipulation and control of underwater operating equipment

[0046] When performing maneuvering control, the control wing group must first be determined according to the target heading. First, the heading deviation angle of the current heading relative to the target heading on the plane where each group of bionic flapping wings is located is determined, such as Figure 8 In the example, the heading deviation angle of the current heading V relative to the target heading Vp on the plane where the bionic flapping wings 41 and 42 are located is ψ.

[0047] For any group of bionic flapping wings on the plane, when the heading deflection angle ψ in the plane does not reach the deflection threshold, it means that the heading deflection is within the normal error range and no intervention is required. When the heading deflection angle ψ in the plane reaches the deflection threshold, it means that the component of the current heading on the plane where the bionic flapping wings are located needs to be adjusted. The deflection threshold is a custom value, for example, it can be set to an absolute value of 2°. Then, each group of bionic flapping wings that reaches the deflection threshold is determined as the control wing group.

[0048] Then the bionic flapping wing in the control wing group located at the side where the current heading is deviated from the target heading is controlled to swing periodically based on the initial position, and the other bionic flapping wing in the control wing group is controlled to move to the position closest to the device body and remain fixed. Figure 8 In the process, if the current heading V is tilted toward the bionic flapping wing 41 relative to the target heading Vp, the bionic flapping wing 41 is controlled to swing periodically based on the initial position, and the bionic flapping wing 42 is controlled to move to the top or bottom to reduce resistance. When the bionic flapping wing is controlled to swing periodically, the angle of the periodic swing does not exceed the angle threshold, and the frequency is greater than the frequency threshold, so that the bionic flapping wing can swing up and down quickly and periodically, thereby generating a jet to prompt the underwater working device to adjust the current heading. The angle threshold is generally set to 30°, and the frequency threshold is set to 0.5Hz. When there are multiple control wing groups, the same operation is performed, and the multiple control wing groups work together to enable the working device to adjust the current heading to continuously approach the target heading.

[0049] When the main control module realizes the manipulation and control of the underwater working device, the greater the third rotation angular velocity used, and / or the greater the second predetermined angle of rotation of the bionic flapping wings in the control wing group in each propulsion cycle, the higher the heading adjustment efficiency of the underwater working device.

[0050] According to different movement purposes of the underwater working device, the underwater working device may only have a propulsion wing group to achieve a propulsion effect, or only have a control wing group to achieve a control effect, or both a propulsion wing group and a control wing group may simultaneously achieve propulsion and control. Any group of bionic flapping wings in the underwater working device belongs to the propulsion wing group, or to the control wing group, or neither belongs to the propulsion wing group nor to the control wing group, that is, any group of bionic flapping wings in the underwater working device can be used for propulsion control, or for control control, or neither participate in propulsion control nor control control and is in an idle state. When the main control module drives the underwater working device to move, in addition to controlling the rotation of the corresponding bionic flapping wings in the propulsion wing group and the control wing group according to the above strategy, it will also control each bionic flapping wing in an idle state to rotate to the maximum position in the direction away from the navigation direction section, so that the flow resistance of the bionic flapping wings in an idle state can be reduced as much as possible. There are two types of bionic flapping wings in idle state: one is the bionic flapping wing that belongs neither to the propulsion wing group nor to the control wing group, and the other is the bionic flapping wing that belongs to the control wing group but does not need to rotate.

[0051] The above is only a preferred embodiment of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the protection scope of the present application.

Claims

1. An underwater working device based on bionic motion design, characterized in that: The underwater working device comprises a device body and a plurality of groups of bionic flapping wings, wherein the device body comprises a cylindrical water-permeable compartment section and a head compartment section and a tail compartment section fixed at the axial ends of the water-permeable compartment section, wherein the head compartment section and the tail compartment section respectively adopt a sealing structure; the electronic devices in the underwater working device are arranged in the head compartment section and the tail compartment section, and the electronic devices in the underwater working device comprise a main control module, an operating component and a flapping wing control component, wherein the main control module is respectively connected to the operating component and the flapping wing control component, and the main control module completes the operating task of the underwater working device through the operating component; A plurality of groups of bionic flapping wings are arranged along the circumference of the water-permeable compartment section, each group of bionic flapping wings includes two bionic flapping wings of the same structure, the root of each bionic flapping wing is rotatably connected to the water-permeable compartment section through a connecting shaft, and the two bionic flapping wings in the same group of bionic flapping wings are symmetrically connected on both sides of the radial direction of the water-permeable compartment section, and each bionic flapping wing takes the radial direction perpendicular to the radial direction at its connection position on the water-permeable compartment section as a rotating shaft; the main control module is connected to and controls each bionic flapping wing to rotate around its own rotating shaft through the flapping wing control component, so as to adjust the angle between the surface of each bionic flapping wing and the axial section of the water-permeable compartment section at the rotating shaft of the bionic flapping wing; The gravity of the underwater working device is equal to the buoyancy, the main control module determines at least one group of bionic flapping wings as a propulsion wing group and / or determines at least one group of bionic flapping wings as a control wing group according to the target heading, the main control module controls the two bionic flapping wings in the propulsion wing group to rotate in the same working mode through the flapping wing control component to achieve propulsion control of the underwater working device, and / or controls the two bionic flapping wings in the control wing group to rotate in different working modes through the flapping wing control component to achieve control and adjust the heading of the underwater working device.

2. The underwater working device according to claim 1, characterized in that: The propulsion control of the underwater working device implemented by the main control module through the flapping wing control component in each propulsion cycle includes: controlling the two bionic flapping wings in the propulsion wing group to rotate from the initial position to the tail compartment section by a first predetermined angle according to a first rotation angular velocity through the flapping wing control component, and rotating back to the initial position according to a second rotation angular velocity, so as to drive the underwater working device to propel along the axial direction toward the head; or controlling the two bionic flapping wings in the propulsion wing group to rotate from the initial position to the head compartment section by a first predetermined angle according to the first rotation angular velocity through the flapping wing control component, and rotating back to the initial position according to the second rotation angular velocity, so as to drive the underwater working device to propel along the axial direction toward the tail; wherein, the first rotation angular velocity is greater than the second rotation angular velocity, and the surface of each bionic flapping wing at the initial position is perpendicular to the axial section of the permeable compartment section at its rotation axis; The main control module controls and adjusts the heading of the underwater working device in each propulsion cycle through the flapping wing control component, including: determining the heading deviation angle of the current heading relative to the target heading on the plane where each group of bionic flapping wings are located, determining each group of bionic flapping wings whose heading deviation angle on the plane reaches the deviation angle threshold as a control wing group, controlling the bionic flapping wings in the control wing group that are located on the side where the current heading is deviated from the target heading to perform periodic swing based on the initial position, the angle of the periodic swing does not exceed the angle threshold and the frequency is greater than the frequency threshold, and controlling another bionic flapping wing in the control wing group to move to the position closest to the device body and remain fixed.

3. The underwater working device according to claim 2, characterized in that: The main control module implements propulsion control of the underwater working device through the flapping wing control component in each propulsion cycle, and further includes: Controlling two bionic flapping wings in the propulsion wing group to rotate from an initial position toward the tail compartment section at a first predetermined angle at a first rotational angular velocity, and then rotating back to the initial position at a second rotational angular velocity after maintaining the rotation for a predetermined time, so as to drive the underwater working device to propel along the axial direction toward the head direction; Alternatively, the two bionic flapping wings in the propulsion wing group are controlled to rotate from an initial position toward the head compartment section at a first predetermined angle at a first rotational angular velocity, and then rotate back to the initial position at a second rotational angular velocity after maintaining the rotation for a predetermined period of time.

4. The underwater working device according to claim 2, characterized in that: When the main control module realizes the propulsion control of the underwater working device, the more the number of propulsion wing groups used, and / or the greater the first rotation angular velocity used, and / or the greater the first predetermined angle of the bionic flapping wing in the propulsion wing group controlled to rotate in each propulsion cycle, the greater the propulsion acceleration of the underwater working device; When the main control module realizes the manipulation control of the underwater working device, the greater the third rotation angular velocity adopted, and / or the greater the second predetermined angle of rotation of the bionic flapping wing in the manipulating wing group in each propulsion cycle, the higher the heading adjustment efficiency of the underwater working device; Any group of bionic flapping wings in the underwater working device belongs to the propulsion wing group, or belongs to the control wing group, or belongs to neither the propulsion wing group nor the control wing group. When the main control module controls the rotation of the corresponding bionic flapping wings in the propulsion wing group and the control wing group through the flapping wing control component, it controls the other bionic flapping wings to rotate to the maximum position in the direction away from the navigation direction section.

5. The underwater working device according to claim 1, characterized in that: The elastic modulus of each bionic flapping wing at different cross-sectional positions along the direction from the root close to the water-permeable compartment section to the end away from the water-permeable compartment section gradually decreases. The bionic flapping wing is a rigid structure at the root and a flexible structure at the end.

6. The underwater working device according to claim 5, characterized in that: The elastic modulus of each bionic flapping wing at the cross-sectional position with a distance x from the root along the direction from the root to the end is Where L is the distance from the root to the end of the bionic flapping wing, and a and b are parameters.

7. The underwater working device according to claim 1, characterized in that: The surface width of each bionic flapping wing gradually increases along the direction from the root close to the water-permeable compartment section to the end far away from the water-permeable compartment section.

8. The underwater working device according to claim 7, characterized in that: The surface width of each bionic flapping wing at the root is 0.85D, and the surface width at the end is D, wherein D is the diameter of the water-permeable compartment section.

9. The underwater working device according to claim 1, characterized in that: The end of each bionic flapping wing adopts a sawtooth groove structure.

10. The underwater working device according to claim 9, characterized in that: The width s of each sawtooth groove in the sawtooth groove structure of the bionic flapping wing end portion satisfies The height h of each sawtooth groove satisfies The conditions are as follows: U0 represents the incoming flow velocity, Re represents the Reynolds number and Wherein, D is the diameter of the permeable compartment section and ν is the fluid viscosity coefficient.

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