An underwater operation device based on biomimetic motion design

Abstract

This application discloses an underwater operation device based on biomimetic motion design, relating to the field of underwater operation devices. The device includes a main body and multiple sets of biomimetic flapping wings rotatably connected to the main body. Each set of biomimetic flapping wings includes two identical wings symmetrically arranged on both radial sides of the main body. The main control module controls the symmetrical flapping motion of the two biomimetic flapping wings in the propulsion wing group via flapping wing control components to achieve propulsion control. The main control module also controls the asymmetrical flapping motion of the two biomimetic flapping wings in the control wing group via flapping wing control components to achieve maneuvering control and course adjustment. By controlling the flapping motion of the biomimetic flapping wings, efficient propulsion and rapid maneuvering of the underwater operation device can be achieved. Compared with traditional underwater operation devices, it has advantages such as low noise, high endurance, and high navigation efficiency, and meets the mission requirements of underwater operation devices.

Description

Technical Field

[0001] This application relates to the field of underwater operation devices, and in particular to an underwater operation device based on biomimetic motion design. Background Technology

[0002] Since the beginning of this century, a wide variety of underwater operational devices have been developed and used to carry out various underwater operations. In the scientific and economic fields, they have played a crucial role in marine scientific surveys, subsea oil well operations, cable laying and maintenance, marine resource exploration, and marine mapping. In the military field, they have played an increasingly important role in military information reconnaissance, intelligence gathering, mine detection, and increasing and expanding the underwater combat space.

[0003] Traditional underwater operational devices typically use propellers for propulsion and rudder-based control systems for maneuverability. However, propellers generate significant vibration and noise during operation, reducing their stealth capabilities and contradicting the trend towards low-noise underwater equipment. Furthermore, rudder-based control systems struggle to achieve rapid maneuverability at low speeds or when hovering and are prone to malfunctions such as rudder jamming. These shortcomings result in most existing underwater operational devices not achieving satisfactory propulsion efficiency, maneuverability, and stealth performance. Summary of the Invention

[0004] This application addresses the aforementioned problems and technical needs by proposing an underwater operation device based on biomimetic motion design. The technical solution of this application is as follows:

[0005] An underwater operation device based on biomimetic motion design is disclosed. The device includes a main body and multiple sets of biomimetic flapping wings. The main body includes a cylindrical permeable section and a head section and a tail section fixed at both ends of the permeable section along the axial direction. The head section and the tail section are respectively sealed. The electronic components of the underwater operation device are arranged in the head section and the tail section. The electronic components of the underwater operation device include a main control module, an operation component, and a flapping wing control component. The main control module is connected to the operation component and the flapping wing control component respectively. The main control module completes the operation tasks of the underwater operation device through the operation component.

[0006] Multiple sets of biomimetic flapping wings are arranged circumferentially along the permeable tank section. Each set of biomimetic flapping wings includes two biomimetic flapping wings with identical structures. The root of each biomimetic flapping wing is rotatably connected to the permeable tank section via a connecting shaft. The two biomimetic flapping wings in the same set are symmetrically connected on both radial sides of the permeable tank section. Each biomimetic flapping wing has its axis of rotation perpendicular to the radial direction at its connection position on the permeable tank section. The main control module connects to and controls each biomimetic flapping wing to rotate around its respective axis of rotation through the flapping wing control component, so as to adjust the angle between the surface of each biomimetic flapping wing and the axial section of the permeable tank section at the axis of rotation of the biomimetic flapping wing.

[0007] The weight of the underwater operation device is equal to its buoyancy. The main control module determines at least one set of bionic flapping wings as the propulsion wing group and / or determines at least one set of bionic flapping wings as the 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 operation 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 maneuver control of the underwater operation device and adjust its heading.

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

[0009] This application discloses an underwater operation device based on biomimetic motion design. The device features multiple sets of biomimetic flapping wings arranged circumferentially around its main body. Each set of wings is symmetrically arranged on both radial sides of the main body. Propulsion control is achieved through the symmetrical flapping motion of two wings in the propulsion wing group, while manipulation control is achieved through the asymmetrical flapping motion of two wings in the control wing group. By controlling the flapping motion of the biomimetic wings, efficient propulsion and rapid maneuverability of the underwater operation device can be achieved. Compared with traditional underwater operation devices, this device offers advantages such as low noise, high endurance, and high navigation efficiency, while also meeting the mission requirements of underwater operation devices. The maximum open-water propulsion efficiency of a propeller is no more than 80%, while the propulsion efficiency of this underwater operation device can reach 86%, and the propeller speed is typically around 1000 rpm at the same cruising speed. 2 The corresponding hydrodynamic noise is also above 100dB. However, the bionic flapping wing in this application's underwater operation device requires a rotational speed of less than 10Hz, and the corresponding hydrodynamic noise is no more than 40dB, which greatly improves the stealth performance of the underwater operation device. In terms of endurance, traditional underwater operation devices (around 4m) have a low-speed cruising endurance of about 10 kilometers. Due to its very low motion frequency (0.5Hz~1Hz), the underwater operation device of this application can achieve an endurance of 160 kilometers through numerical calculation and conversion. The improvement in endurance greatly expands the working range of the underwater operation device, which will help the future underwater operation device to operate in farther and deeper parts of the ocean.

[0010] The biomimetic flapping wing in this underwater operating device employs a flexible-rigidity variable stiffness structure, which increases structural strength, thereby expanding the frequency range. The increased flapping frequency significantly enhances the thrust coefficient, thus increasing the travel speed. The biomimetic flapping wing utilizes a variable width design, achieving an optimized balance between flat plate area and propulsion performance, minimizing frictional drag while ensuring propulsion performance. Furthermore, the serrated groove structure introduced at the tip of the biomimetic flapping wing further improves its average thrust and propulsion efficiency. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the underwater operation device in one embodiment of this application.

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

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

[0014] Figure 4 This is a schematic diagram of the structure of a single biomimetic flapping wing in one embodiment of this application.

[0015] Figure 5 This is a graph showing the variation of the elastic modulus of a single biomimetic flapping wing at different locations from the root to the tip in one embodiment of this application.

[0016] Figure 6 yes Figure 1 The diagram shows the change in motion of the bionic flapping wing during one propulsion cycle as the underwater working device propels towards the head.

[0017] Figure 7 This is a curve showing the change of the angle between the biomimetic flapping wing and its initial position over time in one example.

[0018] Figure 8 This is a schematic diagram showing the heading angles of the current and target headings of an underwater working device in an example, on a plane containing a set of biomimetic flapping wings. Detailed Implementation

[0019] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0020] This application discloses an underwater work device based on biomimetic motion design. The device draws inspiration from the flapping motion of fish and includes a main body and multiple sets of biomimetic flapping wings. Please refer to... Figure 1The schematic diagram shows that the device body includes a cylindrical permeable section 1 and a head section 2 and a tail section 3 fixed at both axial ends of the permeable section 1. The head section 2 and the tail section 3 are both sealed structures. Furthermore, the head section 2 and the tail section 3 have identical structures and are symmetrically fixed at both axial ends of the permeable section 1, thus making the underwater operation device a completely symmetrical structure, which facilitates bidirectional movement control of the underwater operation device.

[0021] Multiple sets of biomimetic flapping wings are arranged circumferentially along the permeable section 1. Each set of biomimetic flapping wings includes two biomimetic flapping wings with identical structures. The root of each biomimetic flapping wing is rotatably connected to the permeable section 1 via a connecting shaft. The two biomimetic flapping wings in the same set are symmetrically connected on both radial sides of the permeable section 1.

[0022] for example Figure 1 Taking an underwater operation device comprising two sets of biomimetic flapping wings as an example, please combine... Figure 2 shown Figure 1 A top view of the underwater working device from the head section 2 along the axial direction shows that the first set of biomimetic flapping wings includes biomimetic flapping wings 41 and 42. The root of biomimetic flapping wing 41 is rotatably connected to connection position A of the permeable section 1 via connecting shaft 43, and the root of biomimetic flapping wing 42 is rotatably connected to connection position A' of the permeable section 1 via connecting shaft 44. Connection positions A and A' are located on radially symmetrical sides of the permeable section 1. Similarly, the second set of biomimetic flapping wings includes biomimetic flapping wings 51 and 52. The root of biomimetic flapping wing 51 is rotatably connected to connection position B of the permeable section 1 via connecting shaft 53, and the root of biomimetic flapping wing 52 is rotatably connected to connection position B' of the permeable section 1 via connecting shaft 54. Connection positions B and B' are located on radially symmetrical sides of the permeable section 1. It should be noted that in actual implementation, such as... Figure 1 As shown, the sidewall of the permeable section 1 generally has water flow holes along the circumference. The connecting shaft of the biomimetic flapping wing extends through the water flow holes into the interior of the permeable section 1 for rotational connection, and is not necessarily directly connected to the sidewall of the permeable section 1. Therefore Figure 2 The various connection positions do not directly indicate the connection point between the connecting shaft and the side wall of the permeable section 1, but only indicate the radial relationship between the connection positions.

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

[0024] Multiple sets of biomimetic flapping wings are arranged uniformly or non-uniformly along the circumference of the permeable section 1. The angle between the center of the radial section of the permeable section 1 and the connection point of any two adjacent biomimetic flapping wings is defined as the installation central angle. Then, any two installation central angles are equal, or at least two installation central angles are unequal. For example, in... Figure 1 In the schematic diagram of the underwater operation device shown, two sets of biomimetic flapping wings are evenly arranged along the circumference of the permeable section 1, with all four installation center angles being 90 degrees.

[0025] Each biomimetic flapping wing has its axis of rotation perpendicular to the radial direction at its connection point on the permeable section 1. The two biomimetic flapping wings in the same group share the same axis of rotation. Each biomimetic flapping wing can rotate around its respective axis to adjust the angle between its surface and the axial section of the permeable section 1 at that flapping wing's axis of rotation. For example, in... Figure 1 In the underwater operating device shown, the radial direction of the bionic flapping wing 41 at its connection point on the permeable section 1 is the AA' direction, and the perpendicular radial direction of the AA' direction is the BB' direction. Therefore, the bionic flapping wing 41 rotates around the BB' direction, adjusting the angle between its surface and the permeable section 1 along the BB' axial direction. Similarly, the bionic flapping wing 42 also rotates around the BB' direction. Correspondingly, the radial directions of the bionic flapping wings 51 and 52 at their connection points on the permeable section 1 are both the BB' direction, and the perpendicular radial direction of the BB' direction is the AA' direction. Therefore, both the bionic flapping wings 51 and 52 rotate around the AA' direction, adjusting the angle between their surfaces and the permeable section 1 along the AA' axial direction.

[0026] The electronic components of the underwater operation device are located in the bow and stern sections. These components include a main control module, operation components, and flapping wing control components. The main control module connects to both the operation components and the flapping wing control components, and it performs the underwater operation tasks through the operation components. Depending on the specific task, the operation components include various sensors and detection components, configured according to the actual situation. The main control module connects to and controls the rotation of each biomimetic flapping wing through the flapping wing control components. The underwater operation device also includes counterweights and a center-of-gravity adjustment mechanism to adjust its center of gravity.

[0027] Figure 1 The underwater working device shown is a radial side view from one side of the biomimetic flapping wing 52, as shown below. Figure 3 As shown, Figure 3The diagram shows the state of each biomimetic flapping wing in its initial position. The surface of each wing in its initial position is perpendicular to the axial section of the permeable compartment at the wing's axis of rotation. The underwater working device's weight equals its buoyancy, and it is in a state of natural suspension when the individual biomimetic flapping wings are not rotating.

[0028] Two biomimetic flapping wings in the same biomimetic flapping wing group have the same structure. The biomimetic flapping wings in different biomimetic flapping wing groups can have the same or different structures. In order to simplify design and control, all biomimetic flapping wings generally adopt the same structure. The biomimetic flapping wing in this application adopts a flat plate structure, and the side of the biomimetic flapping wing closer to the permeable tank section 1 is defined as the root and the side farther away from the permeable tank section 1 is defined as the end.

[0029] This application's underwater operating device utilizes biomimetic flapping wings for propulsion and maneuvering control. To optimize propulsion and maneuvering performance, in one embodiment, the elastic modulus of each biomimetic flapping wing gradually decreases at different cross-sectional positions along a direction from the root near the permeable section to the end away from the permeable section. The biomimetic flapping wing is a rigid structure at the root and a flexible structure at the end, i.e., it employs a variable stiffness structure design. Compared to directly using a rigid plate, this rigid-flexible hybrid structure, through passive deformation of the flexible portion, can mitigate the hydrodynamic load impact on the surface of the biomimetic flapping wing, reducing system energy consumption and thus improving propulsion and maneuvering performance. Compared to thin plate structures, the flapping frequency range is effectively increased. Traditional thin plates used for flapping propulsion generally require frequencies controlled below 2Hz. The biomimetic flapping wing, with its variable stiffness structure, increases structural strength, thereby expanding the frequency range, typically reaching 10Hz. This increase in flapping frequency significantly improves the thrust coefficient, thereby increasing the cruising speed.

[0030] After optimization, please combine Figure 4 The schematic diagram shown is of a single biomimetic flapping wing. The elastic modulus of each biomimetic flapping wing at a cross-sectional position at a distance x from the root along the direction from the root to the tip is: L is the distance from the root to the tip of the biomimetic flapping wing, and the direction of the flapping wing from the root to the tip is along the radial direction of the permeable section 1. a and b are parameters, and based on actual experiments, a = 19.6 MPa and b = 0.4 MPa are chosen to optimize performance. That is, the elastic modulus at the root of the biomimetic flapping wing is 20 MPa. Combined with material tensile tests, it can be seen that the deformation capacity is small at this point, and it is generally difficult for large deformations to occur. Therefore, it can be approximated as a rigid structure. The elastic modulus at the tip of the biomimetic flapping wing is 0.4 MPa. At this point, its elastic deformation capacity is very strong, and it can oscillate up and down under the action of inertial force with almost no external force. The elastic modulus variation curve of the biomimetic flapping wing from the root to the tip is shown in the figure. Figure 5 As shown.

[0031] In addition to the variable stiffness design, another embodiment optimizes the shape of the biomimetic flapping wing to improve its performance. The wing has a uniform thickness and a flat plate structure, but instead of a conventional rectangular plate, it employs a variable width design. The surface width of each wing gradually increases from the root near the permeable section to the end away from it. This variable width design is because the root of the wing is close to the device body and is affected by the device body's shielding effect, significantly suppressing propulsion performance in this area. Therefore, reducing the surface width decreases the surface area of ​​the wing, thus reducing frictional drag. In the flow region further away from the wing's end, the shielding effect of the device body gradually weakens, requiring a larger surface width to improve propulsion performance. Therefore, this variable width design is an optimization result based on the balance between the wing's surface area and propulsion performance, minimizing frictional drag while ensuring propulsion performance. Figure 4 As shown, the surface of the bionic flapping wing has a trapezoidal structure, and the surface width varies uniformly from the root to the tip. 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 permeable section 1, even if the surface width is further increased, its performance cannot be improved. Therefore, the surface width at the root of each bionic flapping wing is taken as 0.85D. When the surface width at the tip of the bionic flapping wing reaches the diameter D of the permeable section 1, the improvement effect on propulsion performance is the most obvious. Therefore, the surface width at the tip of each bionic flapping wing is taken as D.

[0032] In addition to the variable width structural design, another embodiment also draws inspiration from the serrated structure of marine organisms, designing the tip of each biomimetic flapping wing as a serrated groove structure. The introduction of the serrated groove structure can improve the average thrust and propulsion efficiency of the biomimetic flapping wing by more than 15%. Specifically, the width s of each serrated groove in the serrated groove structure at the tip of the biomimetic flapping wing satisfies... The condition that the height h of each sawtooth groove satisfies Under the given conditions, the improvement in average thrust and propulsion efficiency can be maximized. Numerical calculations show that this can increase the propulsion efficiency of the biomimetic flapping wing by 22%. U0 represents the incoming flow velocity, Re represents the Reynolds number, and... Where D is the diameter of the permeable section, and ν is the fluid viscosity coefficient, typically taken as 10. -6 .

[0033] Regardless of the structure of each biomimetic flapping wing, the main control module can control the rotation of each biomimetic flapping wing through the flapping wing control component to achieve the manipulation and / or propulsion control of the underwater working device. Manipulation and propulsion control can be performed simultaneously or separately, including:

[0034] The main control module determines at least one set of bionic flapping wings as the propulsion wing group and / or determines at least one set of bionic flapping wings as the control wing group based on the target heading. The propulsion wing group and the control wing group are different bionic flapping wing groups. Then, the main control module controls two bionic flapping wings in the propulsion wing group to rotate in the same operating mode through the flapping wing control component to achieve propulsion control of the underwater operation device, and / or controls two bionic flapping wings in the control wing group to rotate in different operating modes through the flapping wing control component to achieve maneuvering control and heading adjustment of the underwater operation device. These are described below:

[0035] 1. Propulsion control of underwater operating devices

[0036] The main control module can select any number of biomimetic flapping wings not belonging to the control wing group as propulsion wing groups, and the propulsion control of the underwater operation device includes propulsion control in two directions:

[0037] (1) Drive the underwater working device to move along the axial direction toward the head, that is, to move forward along the head section.

[0038] In this scenario, the flapping wing control assembly controls two biomimetic flapping wings in the propulsion wing assembly to rotate from their initial positions toward the tail section by a first predetermined angle θ at a first rotational angular velocity, and then rotate back to their initial positions at a second rotational angular velocity. This constitutes one propulsion cycle, and the same control is applied to the next propulsion cycle. The two symmetrically arranged biomimetic flapping wings in the propulsion wing assembly rotate toward the tail section according to the same operating mode. At this time, the reaction force generated by the water flow squeezing the tail section of the underwater working device causes the underwater working device to propel forward toward the head section. Since the reaction forces on both sides are equal, the underwater working device will move forward along its current heading. A schematic diagram of the biomimetic flapping wings rotating from their initial positions toward the tail section and back to their initial positions is shown below. Figure 6 As shown. The first rotational angular velocity is greater than the second rotational angular velocity to avoid excessive reaction force towards the head section of the underwater working device during the process of the bionic flapping wing rotating back to its initial position.

[0039] In another embodiment, during each propulsion cycle, two biomimetic flapping wings in the propulsion wing assembly rotate from their initial position towards the aft section at a first predetermined angle θ according to a first rotational angular velocity, and remain there for a predetermined duration before rotating back to their initial position at a second rotational angular velocity, thereby driving the underwater work device axially towards the head. During the rotation of the biomimetic flapping wings from their initial position towards the aft section, the underwater work device propels towards the head. While the biomimetic flapping wings remain stationary for a predetermined duration, the underwater work device continues to move by sliding due to inertia. The predetermined duration can be customized. This approach reduces propulsion energy consumption and improves the endurance of the underwater work device.

[0040] In one example, the first rotational angular velocity is 45 degrees / second, the second rotational angular velocity is 10 degrees / second, and the predetermined duration is 4 seconds. Taking the angle between the bionic flapping wing and its initial position as the negative direction when rotating towards the tail section as the negative angle, the curve showing the change in the angle between the bionic flapping wing and its initial position during the axial movement of the underwater working device towards the head is as follows: Figure 7 As shown.

[0041] (2) Drive the underwater working device to move along the axial direction toward the tail, that is, move forward along the direction of the tail section.

[0042] In this scenario, the flapping wing control assembly controls the two biomimetic flapping wings in the propulsion wing assembly to rotate from the initial position toward the head section by a first predetermined angle at a first rotational angular velocity, and then rotate back to the initial position at a second rotational angular velocity, thereby driving the underwater working device to propel it axially toward the tail. The propulsion principle in this scenario is the same as the principle of propulsion toward the head described above, and will not be repeated here.

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

[0044] Regardless of the direction of propulsion, the more propulsion wing groups the main control module uses to control the propulsion of the underwater operation device, and / or the greater the first rotational angular velocity, and / or the greater the first predetermined angle of rotation of the bionic flapping wings in the propulsion wing groups in each propulsion cycle, the greater the propulsion acceleration of the underwater operation device.

[0045] 2. Operation and control of underwater working equipment

[0046] When performing maneuvering control, the first step is to determine the control wing group based on the target heading. First, determine the heading angle of the current heading relative to the target heading on the plane containing each group of biomimetic flapping wings, for example, in... Figure 8 In the example, the heading angle of the current heading V relative to the target heading Vp on the plane containing the bionic flapping wings 41 and 42 is ψ.

[0047] For any group of bionic flapping wings on a given plane, if the directional deflection angle ψ within that plane does not reach the deflection angle threshold, it indicates that the directional deflection is within the normal error range and no intervention is needed. When the directional deflection angle ψ within that plane reaches the deflection angle threshold, it indicates that the component of the current directional deviation on the plane of the bionic flapping wings needs adjustment. This deflection angle threshold is a user-defined value, for example, it can be set to an absolute value of 2°. Then, the bionic flapping wing groups that reach the deflection angle threshold are identified as the control wing groups.

[0048] Then, the bionic flapping wing in the control wing assembly, located on the side of the current heading skewed relative to the target heading, is controlled to periodically oscillate based on its initial position. Another bionic flapping wing in the control wing assembly is then controlled to move to the position closest to the main body of the device and remain fixed. For example, in... Figure 8 In the process, if the current heading V is deviated from the target heading Vp towards the bionic flapping wing 41, then the bionic flapping wing 41 is controlled to periodically oscillate based on its initial position, and the bionic flapping wing 42 is controlled to move to its highest or lowest position to reduce drag. The periodic oscillation angle of the bionic flapping wing is controlled to not exceed an angle threshold, and the frequency is controlled to exceed a frequency threshold, allowing the bionic flapping wing to periodically and rapidly oscillate up and down in small amplitudes, thereby generating a jet stream that prompts the underwater working device to adjust its current heading. The angle threshold is generally set to 30°, and the frequency threshold is set to 0.5Hz. When multiple control wing groups are used, the same operation is performed, and the combined action of multiple control wing groups causes the working device to adjust its current heading and continuously approach the target heading.

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

[0050] Depending on the intended use of the underwater work unit, it may consist solely of a propulsion wing group for propulsion, a control wing group for control, or both propulsion and control wing groups simultaneously. Any set of biomimetic flapping wings within the underwater work unit may belong to either the propulsion wing group, the control wing group, or neither. In other words, any set of biomimetic flapping wings may be used for propulsion control, control control, or remain idle. When driving the underwater work unit, the main control module, in addition to controlling the rotation of the corresponding biomimetic flapping wings in the propulsion and control wing groups according to the aforementioned strategy, also controls the idle biomimetic flapping wings to rotate to their maximum position in a direction away from the navigation direction. This minimizes the flow resistance experienced by the idle biomimetic flapping wings. There are two types of bionic flapping wings that are not in use: one type is a bionic flapping wing that is neither part of the propulsion wing group nor the control wing group, and the other type is a bionic flapping wing that is part of the control wing group but does not need to rotate.

[0051] The above descriptions are merely preferred embodiments of this application, and this application is not limited to the above embodiments. It is understood that other improvements and variations that can be directly derived or conceived by those skilled in the art without departing from the spirit and concept of this application should be considered to be included within the protection scope of this application.

Claims

1. An underwater working device based on biomimetic motion design, characterized in that, The underwater working device comprises a device body and multiple groups of bionic flapping wings, the device body comprises a cylindrical water-permeable cabin section and head and tail cabin sections fixed at axial two ends of the water-permeable cabin section, the head and tail cabin sections adopt sealing structures respectively; electronic devices in the underwater working device are arranged in the head and tail cabin sections, the electronic devices in the underwater working device comprise a main control module, a working assembly and a flapping wing control assembly, the main control module is connected with the working assembly and the flapping wing control assembly respectively, and the main control module completes a working task of the underwater working device through the working assembly; The multiple groups of bionic flapping wings are arranged along a circumferential direction of the water-permeable cabin section, each group of bionic flapping wings comprises two bionic flapping wings with the same structure, a root of each bionic flapping wing is rotationally connected to the water-permeable cabin section through a connecting shaft, the two bionic flapping wings in the same group of bionic flapping wings are symmetrically connected at two radial sides of the water-permeable cabin section, and a vertical radial direction of a radial direction of each bionic flapping wing at a connecting position of the bionic flapping wing on the water-permeable cabin section serves as a rotation shaft of the bionic flapping wing; the main control module connects and controls rotation of each bionic flapping wing around the rotation shaft thereof through the flapping wing control assembly, so as to adjust an included angle between a surface of each bionic flapping wing and an axial section of the water-permeable cabin section at the rotation shaft of the bionic flapping wing; A gravity of the underwater working device is equal to a buoyancy, the main control module determines at least one group of bionic flapping wings as a propelling wing group and / or determines at least one group of bionic flapping wings as a steering wing group according to a target heading, the main control module controls two bionic flapping wings in the propelling wing group to rotate in the same working mode through the flapping wing control assembly, so as to realize propelling control of the underwater working device, and / or controls two bionic flapping wings in the steering wing group to rotate in different working modes through the flapping wing control assembly, so as to realize steering control of the underwater working device to adjust the heading; The propelling control of the underwater working device realized by the main control module through the flapping wing control assembly in each propelling cycle comprises: controlling two bionic flapping wings in the propelling wing group to rotate from an initial position to the tail cabin section by a first predetermined angle at a first rotation angular velocity and rotate back to the initial position at a second rotation angular velocity through the flapping wing control assembly, so as to drive the underwater working device to propelling in an axial direction towards the head; or, controlling two bionic flapping wings in the propelling wing group to rotate from an initial position to the head cabin section by a first predetermined angle at a first rotation angular velocity and rotate back to the initial position at a second rotation angular velocity through the flapping wing control assembly, so as to drive the underwater working device to propelling in an axial direction towards the tail; wherein the first rotation angular velocity is greater than the second rotation angular velocity, and a surface of each bionic flapping wing is perpendicular to an axial section of the water-permeable cabin section at the rotation shaft thereof when the bionic flapping wing is at the initial position. The master module adjusts the heading of the underwater working device through the flapping wing control assembly in each propulsion cycle, including: determining the heading deviation angle of the current heading relative to the target heading in the plane where each set of the biomimetic flapping wings is located, determining the heading deviation angle of each set of the biomimetic flapping wings in the plane reaching the deviation angle threshold as the steering wing set, controlling the biomimetic flapping wing located on one side of the current heading relative to the target heading in the steering wing set to periodically swing based on the initial position, the angle of the periodic swing being not more than the angle threshold and the frequency being greater than the frequency threshold, and controlling the other biomimetic flapping wing in the steering wing set to move to the position closest to the device body and remain unchanged.

2. An underwater working device according to claim 1, characterised in that The master module further includes the following in the propulsion control of the underwater working device through the flapping wing control assembly in each propulsion cycle: controlling the two biomimetic flapping wings in the propulsion wing set to rotate from the initial position to the tail cabin section at a first predetermined angle at a first rotation angular velocity, and then rotate back to the initial position at a second rotation angular velocity after maintaining for a predetermined time length, so as to drive the underwater working device to advance along the axial direction towards the head direction; or, controlling the two biomimetic flapping wings in the propulsion wing set to rotate from the initial position to the head cabin section at a first predetermined angle at a first rotation angular velocity, and then rotate back to the initial position at a second rotation angular velocity after maintaining for a predetermined time length.

3. The underwater working device according to claim 1, wherein the more the number of the propulsion wing sets used by the master module in the propulsion control of the underwater working device, and / or the greater the first rotation angular velocity used, and / or the greater the first predetermined angle of the biomimetic flapping wing in the propulsion wing set controlled in each propulsion cycle, the greater the propulsion acceleration of the underwater working device; the greater the third rotation angular velocity used by the master module in the steering control of the underwater working device, and / or the greater the second predetermined angle of the biomimetic flapping wing in the steering wing set controlled in each propulsion cycle, the higher the heading adjustment efficiency of the underwater working device; any set of the biomimetic flapping wings in the underwater working device belongs to the propulsion wing set, or belongs to the steering wing set, or belongs to neither the propulsion wing set nor the steering wing set, and the master module controls other biomimetic flapping wings to rotate to the maximum position away from the cabin section in the navigation direction when controlling the corresponding biomimetic flapping wings in the propulsion wing set and the steering wing set to rotate through the flapping wing control assembly.

4. An underwater working device according to claim 1, characterised in that The elastic modulus of each biomimetic flapping wing gradually decreases along the different profile positions in the direction from the root close to the water-permeable cabin section to the end away from the water-permeable cabin section, and the biomimetic flapping wing is a rigid structure at the root and a flexible body structure at the end.

5. An underwater working device according to claim 4, characterised in that, Each biomimetic flapping wing has an elastic modulus of at a cross-sectional location along a direction from the root to the tip that is a distance of from the root, where is a distance from the root to the tip of the biomimetic flapping wing, and are parameters.

6. An underwater working device according to claim 1, characterised in that The surface width of each biomimetic flapping wing gradually increases in the direction from the root close to the water-permeable cabin section to the end away from the water-permeable cabin section.

7. An underwater working device according to claim 6, characterised in that The surface width at the root of each biomimetic wing is 0.85D and the surface width at the tip is 0.25D wherein, is the diameter of the permeable tank section.

8. An underwater working device according to claim 1, characterised in that The end of each biomimetic flapping wing adopts a sawtooth groove structure.

9. An underwater working device according to claim 8, characterised in that, a width of each serrated groove in the serrated groove type structure of the biomimetic flapping end portion satisfies a condition that a height of each serrated groove satisfies a condition that a height of each serrated groove, denotes an incoming flow velocity, denotes a Reynolds number and wherein, is a diameter of the water-permeable cabin section, is a fluid viscosity coefficient.

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