High-maneuverability rain swallow-imitating flapping-wing flying robot based on brain-like chip and control method

Abstract

The invention discloses a brain-like chip-based high-maneuverability rain swallow-imitating flapping-wing flying robot and a control method, the robot comprises a skeleton device, a flying device, a detection device, a tail device and a console, the flying device is fixedly connected with a flying skeleton frame to control the robot to move, and the detection device is fixedly connected with a head skeleton frame to detect information in real time; the tail device is fixedly connected with the tail of the skeleton device so as to stabilize the flying of the robot in real time, and the robot controls the skeleton device, the flying device, the detection device and the tail device to work through the console so as to complete high-maneuverability flying control and detection tasks. The multi-degree-of-freedom mechanical structure design of the bionic flapping-wing flying robot is adopted, high-speed flying of the robot is achieved, the flight decision-making ability of the robot is improved by deploying the brain-like neural network through the brain-like chip, intelligent and high-maneuverability flight control is achieved, and therefore the detection task range of the bionic flapping-wing flying robot is expanded, and the detection efficiency is improved.

Description

Technical Field

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

[0002] Flapping-wing flying robots are advanced aircraft that mimic the flight mechanism of birds or insects. They have developed rapidly in recent years driven by bionics and robotics. Their design is inspired by creatures in nature that have efficient flight capabilities, especially small birds such as swifts and hummingbirds. Such robots usually have good maneuverability and adaptability, and can flexibly shuttle in small spaces. Compared with traditional fixed-wing or rotary-wing drones, flapping-wing flying robots achieve higher lift and stability through variable wingspan and flexible movement of wings, making them suitable for performing a variety of tasks.

[0003] In recent years, with the rapid development of UAV and bionic robot technology, the demand for highly maneuverable aircraft has increased. In complex environments, traditional fixed-wing or rotary-wing UAVs often cannot meet mission requirements in terms of maneuverability and adaptability. Especially in confined spaces such as cities or forests, fast and flexible flight capabilities are particularly important. With its unique flight mechanism, the swift-like flapping-wing flying robot can achieve more efficient maneuverable flight, adapt to complex terrain, and complete a variety of detection tasks.

[0004] In addition, with the advancement of intelligent technology, traditional control systems can no longer meet the needs of rapid response and decision-making in highly dynamic environments. Therefore, combining brain-like chips and brain-like neural network technology to provide intelligent control solutions for highly maneuverable swift-like flapping-wing flying robots can significantly improve their execution capabilities in complex tasks. The application of this technology not only improves the flexibility of flight control, but also enhances the robot's autonomous decision-making ability in dynamic environments, thereby expanding its application potential in disaster monitoring, environmental detection, and military reconnaissance. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a highly maneuverable swift-like flapping flying robot and a control method based on a brain-like chip.

[0006] The present invention adopts the following specific technical solutions:

[0007] On the one hand, the present invention provides a highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip, which includes a skeleton device, a flying device, a detection device, a tail device and a control console.

[0008] Furthermore, the skeleton device includes a skeleton frame, a lower shell surface, an upper shell surface, a first momentum wheel and a first motor, a second momentum wheel and a second motor, a third momentum wheel and a third motor, a flight skeleton frame, a first connecting rod motor and a head skeleton frame; the flight device includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a second connecting rod motor, a gear transmission rod, a transmission belt, a fifth connecting rod, a first wing exoskeleton, a sixth connecting rod, and a second wing exoskeleton. At the same time, it also includes a first feather, a second feather, a third feather and a fourth feather; the detection device includes a first pan-tilt motor, a first pan-tilt turntable, a bird-like eyeball, a camera, a second pan-tilt motor and a bird head skeleton. The tail device includes a first tail motor, a first tail connecting rod, a second tail motor, a first tail wing, a second tail wing and tail feathers. The console is provided with an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a brain-like chip.

[0009] Furthermore, the brain-like chip includes a motion model based on bird-like imitation. It collects the angle sequences of swifts when they move forward, turn left, turn right, rise, descend, dive and glide, converts them into neuron sequences, inputs them into a pulse neural network, and outputs the flapping motion sequences of the left and right wings and the body inclination angles during different actions, which are converted into output angles.

[0010] On the other hand, the present invention also provides a control method for a highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip, including moving forward, turning left, turning right, ascending, descending, diving and gliding.

[0011] The control method is to output the flapping angle of the bird when it moves forward through the brain-like chip, convert it into the motor angle, and the console controls the first connecting rod motor and the second connecting rod motor of the left and right wings of the swift-like flapping flying robot to rotate, thereby driving the left and right wings to move. And by controlling the rotation of the first motor, the second motor and the third motor, the first momentum wheel, the second momentum wheel and the third momentum wheel are driven to rotate to ensure the balance of the robot, and by controlling the first tail motor and the second tail motor, the opening angle and the up and down tilt angle of the first tail wing and the second tail wing are controlled to ensure flight balance.

[0012] The highly maneuverable swift-like flapping-wing flying robot based on brain-like chips provided by the present invention has the following beneficial effects: through the organic combination of swift-like mechanical structure design and brain-like intelligent control, the problem of insufficient maneuverability of traditional flapping-wing flying robots is overcome. The robot achieves more efficient and intelligent flight operations, and expands the application scope of bionic flapping-wing flying robots, such as disaster monitoring, environmental detection, and military reconnaissance, significantly improving detection efficiency and meeting the needs of future diversified tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0014] Figure 1 This is a schematic diagram of the structure of the highly maneuverable swift-like flapping-wing flying robot based on the brain-like chip of the present invention;

[0015] Figure 2 It is a schematic diagram of the structure of the skeleton device of the highly maneuverable swift-like flapping-wing flying robot based on the brain-like chip of the present invention;

[0016] Figure 3 It is a schematic diagram of the structure of the featherless state of the flight device of the high-maneuverability swift-like flapping-wing flying robot based on the brain-like chip of the present invention;

[0017] Figure 4 It is a schematic diagram of the structure of the feather-covered state of the flight device of the high-maneuverability swift-like flapping-wing flight robot based on the brain-like chip of the present invention;

[0018] Figure 5 It is a schematic structural diagram of a detection device of a highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to the present invention;

[0019] Figure 6 It is a schematic structural diagram of the tail device of the highly maneuverable swift-like flapping-wing flying robot based on the brain-like chip of the present invention;

[0020] Figure 7 It is a structural schematic diagram of the wing-folding action of the high-maneuverability swift-like flapping-wing flying robot based on the brain-like chip of the present invention;

[0021] Figure 8 It is a structural schematic diagram of the diving action of the high-maneuverability swift-like flapping-wing flying robot based on the brain-like chip described in the present invention.

[0022] Description of reference numerals:

[0023] 1-skeleton device, 2-flight device, 3-detection device, 4-tail device, 5-control console; 101-skeleton frame, 102-lower shell, 103-upper shell, 104-first momentum wheel, 105-first motor, 106-second momentum wheel, 107-second motor, 108-third momentum wheel, 109-third motor, 110-flight skeleton frame, 111-first connecting rod motor, 112-head skeleton frame; 201-first connecting rod, 202-second connecting rod, 203-third connecting rod, 204-fourth connecting rod, 205-second connecting rod motor, 206-second connecting rod motor, 207-second connecting rod motor, 208-third connecting rod motor, 209-third connecting rod motor, ...6-second connecting rod motor, 207-second connecting rod motor, 208-third connecting rod motor, 209-third connecting rod, 209-third connecting rod, 20 6-gear transmission rod, 207-transmission belt, 208-fifth connecting rod, 209-first wing exoskeleton, 210-sixth connecting rod, 211-second wing exoskeleton; 212-first feather, 213-second feather, 214-third feather, 215-fourth feather; 301-first gimbal motor, 302-first gimbal turntable, 303-bird-like eyeball, 304-camera, 305-second gimbal motor; 401-first tail motor, 402-first tail connecting rod, 403-second tail motor, 404-first tail wing, 405-second tail wing. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention.

[0026] Embodiment 1:

[0027] like Figure 1-2 As shown, the present invention provides a high-maneuverability swift-like flapping flying robot based on a brain-like chip, comprising a skeleton device 1, a flying device 2, a detection device 3, a tail device 4 and a console 5, wherein the flying device 2, the detection device 3, the tail device 4 and the console 5 are all fixed to the skeleton device 1, wherein:

[0028] The skeleton device 1 includes a skeleton frame 101, a lower shell surface 102, an upper shell surface 103, a first momentum wheel 104 and a first motor 105, a second momentum wheel 106 and a second motor 107, a third momentum wheel 108 and a third motor 109, a flight skeleton frame 110, a first connecting rod motor 111 and a head skeleton frame 112. The skeleton frame 101 is composed of three skeletons, the upper skeleton is fixedly connected to the upper shell surface 103, the lower skeleton is fixedly connected to the lower shell surface 102, the first motor 105 is fixedly connected to the middle skeleton, the first motor 105 is provided with a transmission shaft, and a gear is provided on the transmission shaft, the first momentum wheel 104 is provided with a gear and the first motor 105 is gear-driven, and the first momentum wheel is rotationally connected to the middle skeleton. The second motor 107 is fixed to the middle skeleton, and the second momentum wheel 106 is rotationally connected to the second motor 107. There are two third momentum wheels 108, which are respectively arranged on the left and right sides of the middle skeleton. The third motor 109 is fixed to the middle skeleton. The third motor 109 is provided with two rotating shafts, which are respectively rotatably connected with the two third momentum wheels 108. The flying skeleton frame 110 is fixed to the skeleton frame 101. The flying skeleton frame 110 is provided with two bosses for fixing the flying device 2. The first connecting rod motor 111 is fixed to the flying skeleton frame 110. The head skeleton frame 112 is fixed to the middle skeleton.

[0029] Embodiment 2:

[0030] like Figure 3 and Figure 4 As shown, the flying device 2 is respectively the left wing and right wing structure of the high-mobility swift-like flapping flying robot. The upper shell surface 103 is provided with an empty slot for the flying device 2 to rotate and flap its wings. The flying device 2 includes a first connecting rod 201, a second connecting rod 202, a third connecting rod 203, a fourth connecting rod 204, a second connecting rod motor 205, a gear transmission rod 206, a transmission belt 207, a fifth connecting rod 208, a first wing exoskeleton 209, a sixth connecting rod 210, and a second wing exoskeleton 211. At the same time, it also includes a first feather 212, a second feather 213, a third feather 214 and a fourth feather 215.

[0031] One end of the first connecting rod 201 is rotatably connected to the first connecting rod motor 111, and the other end of the first connecting rod 201 is rotatably connected to the second connecting rod 202. The second connecting rod 202 is rotatably connected to one end of the third connecting rod 203. The other end of the third connecting rod 203 is a gear structure and is rotatably connected to the boss of the flight skeleton frame 110. The fourth connecting rod 204 is a gear structure fixed to the upper shell surface 103 and gear transmission with the third connecting rod 203. The fourth connecting rod 204 is provided with a groove for fixing the second connecting rod motor 205. The rotating shaft of the second connecting rod motor 205 is a gear structure and gear transmission with the gear transmission rod 206. The gear transmission rod 206 is fixedly connected to the fifth connecting rod 208, and the first wing exoskeleton 209 is fixed to the fifth connecting rod 208. The sixth connecting rod 210 is rotatably connected to the fifth connecting rod 208. The sixth connecting rod 210 is provided with a synchronization rod. The gear transmission rod 206 is synchronously connected with the synchronization rod of the sixth connecting rod 210 through a transmission belt 207. The second wing exoskeleton 211 is fixedly connected to the sixth connecting rod 210 .

[0032] The first feather 212 is obliquely laid on the fifth connecting rod 208 and the sixth connecting rod 210, the second feather 213 is fixed under the first feather 212 and is obliquely laid on the fifth connecting rod 208 and the sixth connecting rod 210, the third feather 214 is fixed under the second feather 213 and is obliquely laid on the fifth connecting rod 208 and the sixth connecting rod 210, and the fourth feather 215 is fixed under the third feather 214 and is obliquely laid on the fifth connecting rod 208 and the sixth connecting rod 210.

[0033] The first feather 212, the second feather 213, the third feather 214 and the fourth feather 215 are flexible structures, elliptical in shape, and provided with a plurality of grooves for simulating feather-like structures. The first feather 212, the second feather 213, the third feather 214 and the fourth feather 215 are laid at an angle of about 5°, and their sizes increase from top to bottom.

[0034] Embodiment three:

[0035] like Figure 1-2 and Figure 5 As shown, the detection device 3 includes a first pan-tilt motor 301, a first pan-tilt turntable 302, a bird-like eyeball 303, a camera 304, a second pan-tilt motor 305 and a bird's head skeleton. The detection device 3 is respectively the left eye and the right eye of the high-mobility swift-like flapping-wing flying robot. The first pan-tilt motor 301 is fixed to the head skeleton frame 112, the first pan-tilt turntable 302 is rotatably connected to the first pan-tilt motor 301, the first pan-tilt turntable 302 is provided with a boss and is rotatably connected to the second pan-tilt motor 305, the second pan-tilt motor 305 is fixed inside the bird-like eyeball 303, and the inside of the bird-like eyeball 303 is fixedly connected to the camera 304. The bird's head skeleton is fixedly connected to the skeleton frame 101.

[0036] Embodiment 4:

[0037] like Figure 1-2 and Figure 6 As shown, the upper shell surface is provided with an empty slot for the tail device 4 to rotate up and down, and the tail device 4 includes a first tail motor 401, a first tail connecting rod 402, a second tail motor 403, a first tail wing 404, a second tail wing 405 and tail feathers. The first tail motor 401 is fixed to the tail of the skeleton frame 101, the first tail connecting rod 402 is rotatably connected to the first tail motor 401, the second tail motor 403 is fixed to the first tail connecting rod 402 and is rotatably connected to the first tail wing 404, the first tail wing 404 is provided with a gear structure, and the second tail wing 405 is provided with a gear structure and is rotatably connected to the first tail wing 404. The tail feathers are fixedly connected to the first tail connecting rod 402.

[0038] In addition, the highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip of the present invention also includes a console 5, which is provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a brain-like chip.

[0039] The console 5 controls the first pan-tilt motor 301 and the second pan-tilt motor 302 to drive the bird-like eyeball 303 to rotate and roll up and down based on the roll angle, pitch angle and yaw angle information of the attitude sensor to keep the image stable.

[0040] The brain-like chip includes a motion model based on bird-like imitation. It collects the angle sequences of swifts when they move forward, turn left, turn right, rise, descend, dive and glide, converts them into neuron sequences, inputs them into a pulse neural network, and outputs the flapping motion sequences of the left and right wings and the body inclination angles during different actions, which are converted into output angles.

[0041] Embodiment five:

[0042] like Figure 7 and Figure 8 As shown, the present application also provides a control method for a highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip, including moving forward, turning left, turning right, ascending, descending, diving and gliding.

[0043] The forward control method is to output the flapping angle of the bird when it moves forward through the brain-like chip, convert it into the motor angle, and the console 5 controls the first connecting rod motor 111 and the second connecting rod motor 205 of the left and right wings of the swift-like flapping flying robot to rotate, thereby driving the left and right wings to move. And by controlling the first motor 105, the second motor 107 and the third motor 109 to rotate, the first momentum wheel 104, the second momentum wheel 106 and the third momentum wheel 108 are driven to rotate to ensure the balance of the robot, and by controlling the first tail motor 401 and the second tail motor 403 to control the opening angle and the up and down tilt angle of the first tail 404 and the second tail 405, the flight balance is ensured.

[0044] The left turn / right turn control method is to change the rotation speed of the first connecting rod motor 111 and the second connecting rod motor 205 of the left and right wings of the swift-like flapping wing flying robot, change the flapping speed so that the right wing speed is greater than the left wing / the left wing speed is greater than the right wing, and control the first motor 105 and the second motor 107 to accelerate to the left / right, so that the first momentum wheel 104 and the second momentum wheel 106 accelerate to rotate to the left / right, and speed up the robot's turning speed. And the third motor 109 rotates to drive the third momentum wheel 108 to rotate to ensure the balance of the robot. The first tail motor 401 and the second tail motor 403 are controlled to control the opening angle and the up and down inclination angle of the first tail 404 and the second tail 405 to ensure flight balance.

[0045] The described rising and falling control method is to output the action angle of the bird's flapping wings when it rises and falls through the brain-like chip, and convert it into the motor angle. The console 5 controls the first connecting rod motor 111 and the second connecting rod motor 205 of the left and right wings of the swift-like flapping flying robot to rotate, thereby driving the left and right wings to move. And by controlling the third motor 109 to accelerate upward and downward, the third momentum wheel 108 accelerates upward and downward to accelerate the robot's rising and falling speed. And by rotating the first motor 105 and the second motor 107, the first momentum wheel 104 and the second momentum wheel 106 are driven to rotate to ensure the balance of the robot. Then, by controlling the first tail motor 401 and the second tail motor 403, the first tail 404 and the second tail 405 are controlled. Up / down inclination angle, accelerate the robot's rising and falling speed.

[0046] The described dive control method is to first accelerate through the described forward control method, then output the left and right wing angles and body angles of the bird when diving through the brain-like chip, and convert them into motor angles. The console 5 controls the first connecting rod motor 111 and the second connecting rod motor 205 of the left and right wings of the swift-like flapping flying robot to rotate, so as to reach the specified angle. And by controlling the first motor 105 and the second motor 107, the first momentum wheel 104 and the second momentum wheel 106 are driven to rotate to ensure the balance of the robot. The third motor 109 rotates the third momentum wheel 108 based on the dive angle, so that the robot accelerates downward, and the rotation speed of the third momentum wheel 108 is maintained based on the attitude sensor. And by controlling the first tail motor 401 and the second tail motor 403, the first tail 404 and the second tail 405 are controlled. The opening angle and the upward inclination angle ensure flight balance and downward inclination.

[0047] The gliding control method is to first accelerate through the forward control method, then output the left and right wing angles of the bird when diving through the brain-like chip, convert them into motor angles, and the console 5 controls the first connecting rod motor 111 and the second connecting rod motor 205 of the left and right wings of the swift flapping flying robot to rotate, so as to reach the specified angle. And by controlling the first motor 105, the second motor 107 and the third motor 109 to rotate, the first momentum wheel 104, the second momentum wheel 106 and the third momentum wheel 108 are driven to rotate to ensure the balance of the robot, and by controlling the first tail motor 401 and the second tail motor 403 to control the opening angle and the up and down inclination angle of the first tail 404 and the second tail 405, the flight balance is ensured.

[0048] Furthermore, in the process of controlling the high-maneuverability swift-like flapping-wing flying robot to turn left, turn right, rise, descend, dive and glide, the swift-like flapping-wing flying robot can be first controlled to stabilize in a forward flying state from a previous state, and then turn left, turn right, rise, descend, dive or glide. This can make the flight of the swift-like flapping-wing flying robot smoother and more stable without losing balance.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A highly maneuverable swift-like flapping flying robot based on a brain-like chip, characterized in that: It comprises a skeleton device (1), a flight device (2), a detection device (3), a tail device (4) and a control console (5), wherein: The skeleton device (1) comprises a skeleton frame (101), a first momentum wheel (104) and a first motor (105), a second momentum wheel (106) and a second motor (107), a third momentum wheel (108) and a third motor (109), a flight skeleton frame (110), a first connecting rod motor (111) and a head skeleton frame (112); the flight device (2) comprises a first connecting rod (201), a second connecting rod (202), a third connecting rod (203), a fourth connecting rod (204), a second connecting rod motor (205), a gear transmission rod (206), a transmission belt (207), a fifth connecting rod (208), a first outer link of the wing (110), a first outer link of the wing (111), and a first outer link of the wing (112). Skeleton (209), a sixth connecting rod (210), a second wing exoskeleton (211), a first feather (212), a second feather (213), a third feather (214) and a fourth feather (215); the detection device (3) comprises a first pan-tilt motor (301), a first pan-tilt turntable (302), a bird-like eyeball (303), a camera (304), a second pan-tilt motor (305) and a bird head skeleton; the tail device (4) comprises a first tail motor (401), a first tail connecting rod (402), a second tail motor (403), a first tail wing (404), a second tail wing (405) and tail wing feathers; The console (5) is provided with a posture sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, an air pressure sensor and a brain-like chip.

2. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 1, characterized in that: The skeleton frame (101) is composed of three skeletons, the upper skeleton is fixedly connected to the upper shell surface (103), the lower skeleton is fixedly connected to the lower shell surface (102), and the middle skeleton is arranged between the upper skeleton and the lower skeleton.

3. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 2, characterized in that: The first motor (105) is fixedly connected to the middle-end skeleton, the first motor (105) is provided with a transmission shaft, the transmission shaft is provided with a gear, the first momentum wheel (104) is provided with a gear and is gear-drivenly connected to the first motor (105), the first momentum wheel (104) is rotationally connected to the middle-end skeleton; the second motor (107) is fixed to the middle-end skeleton, the second momentum wheel (106) is rotationally connected to the second motor (107); the third momentum wheel (108) has two, which are respectively provided with On the left and right sides of the middle skeleton, the third motor (109) is fixed to the middle skeleton, and the third motor (109) is provided with two rotating shafts, which are respectively rotatably connected with the two third momentum wheels (108); the flying skeleton frame (110) is fixed to the skeleton frame (101), and the flying skeleton frame (110) is provided with two bosses for fixing the flying device (2); the first connecting rod motor (111) is fixed to the flying skeleton frame (110); and the head skeleton frame (112) is fixed to the middle skeleton.

4. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 2, characterized in that: One end of the first connecting rod (201) is rotationally connected to the first connecting rod motor (111), the other end of the first connecting rod (201) is rotationally connected to the second connecting rod (202), the second connecting rod (202) is rotationally connected to one end of the third connecting rod (203), the other end of the third connecting rod (203) is a gear structure and is rotationally connected to the boss of the flight skeleton frame (110); the fourth connecting rod (204) is a gear structure fixed to the upper shell surface (103) and gear-driven with the third connecting rod (203), the fourth connecting rod (204) is provided with a groove for fixing the second connecting rod motor (205), the The rotating shaft of the second connecting rod motor (205) is a gear structure and is connected to the gear transmission rod (206) through gear transmission. The gear transmission rod (206) is fixedly connected to the fifth connecting rod (208), and the first wing exoskeleton (209) is fixed to the fifth connecting rod (208); the sixth connecting rod (210) is rotationally connected to the fifth connecting rod (208), and the sixth connecting rod (210) is provided with a synchronization rod. The gear transmission rod (206) is synchronously connected to the synchronization rod of the sixth connecting rod (210) through a transmission belt (207); the second wing exoskeleton (211) is fixedly connected to the sixth connecting rod (210).

5. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 4, characterized in that: The first feather (212), the second feather (213), the third feather (214) and the fourth feather (215) are flexible structures, elliptical in shape, and provided with a plurality of grooves for simulating feather-like structures. The first feather (212), the second feather (213), the third feather (214) and the fourth feather (215) are laid at an angle of about 5°, and their sizes increase from top to bottom.

6. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 2, characterized in that: The first pan-tilt motor (301) is fixed to the head skeleton frame (112), the first pan-tilt turntable (302) is rotationally connected to the first pan-tilt motor (301), the first pan-tilt turntable (302) is provided with a boss rotationally connected to the second pan-tilt motor (305), the second pan-tilt motor (305) is fixed inside the bird-like eyeball (303), and the inside of the bird-like eyeball (303) is fixedly connected to a camera (304).

7. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 2, characterized in that: The first tail motor (401) is fixed to the tail of the skeleton frame (101), the first tail connecting rod (402) is rotationally connected to the first tail motor (401), the second tail motor (403) is fixed to the first tail connecting rod (402) and rotationally connected to the first tail wing (404), the first tail wing (404) and the second tail wing (405) are both provided with a gear structure, and the second tail wing (405) is gear-connected to the first tail wing (404).

8. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 6, characterized in that: The control console (5) controls the first pan / tilt motor (301) and the second pan / tilt motor (305) based on the roll angle, pitch angle and yaw angle information of the attitude sensor to drive the bird-like eyeball (303) to rotate and roll up and down, thereby maintaining image stability.

9. The highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to claim 1, characterized in that: The brain-like chip includes a motion model based on bird-like imitation. It collects the angle sequences of swifts when they move forward, turn left, turn right, rise, descend, dive and glide, converts them into neuron sequences, inputs them into a pulse neural network, and outputs the flapping motion sequences of the left and right wings and the body inclination angles during different actions, which are converted into output angles.

10. A control method for a highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip, the method being used for the highly maneuverable swift-like flapping-wing flying robot based on a brain-like chip according to any one of claims 1 to 9, characterized in that: Including forward, left turn, right turn, ascend, descend, dive and glide; The forward control method comprises: outputting the flapping action angle of the bird when it moves forward through the brain-like chip, converting it into a motor angle, and the console (5) controls the first connecting rod motor (111) and the second connecting rod motor (205) of the left wing and the right wing of the swift-like flapping flying robot to rotate, thereby driving the left wing and the right wing to move; and by controlling the first motor (105), the second motor (107) and the third motor (109) to rotate, driving the first momentum wheel (104), the second momentum wheel (106) and the third momentum wheel (108) to rotate to ensure the balance of the robot, and by controlling the first tail motor (401) and the second tail motor (403) to control the opening angle and the up and down tilt angle of the first tail wing (404) and the second tail wing (405), thereby ensuring flight balance; The left turn / right turn control method comprises: changing the rotation speed of the first connecting rod motor (111) and the second connecting rod motor (205) of the left wing and the right wing, changing the flapping speed so that the speed of the right wing is greater than that of the left wing / the speed of the left wing is greater than that of the right wing, and controlling the first motor (105) and the second motor (107) to accelerate to the left / right, so that the first momentum wheel (104) and the second momentum wheel (106) rotate to the left / right, thereby increasing the turning speed of the robot; and rotating the third momentum wheel (108) by the third motor (109) to ensure the balance of the robot; and controlling the first tail motor (401) and the second tail motor (403) to control the opening angle and the up and down tilt angle of the first tail wing (404) and the second tail wing (405) to ensure flight balance; The method for controlling the ascent and descent is as follows: the brain-like chip outputs the action angle of the bird's flapping wings when it ascends and descends, and converts it into a motor angle; the console (5) controls the first connecting rod motor (111) and the second connecting rod motor (205) of the left wing and the right wing to rotate, thereby driving the left wing and the right wing to move; and by controlling the third motor (109) to accelerate upward and downward, the third momentum wheel (108) accelerates upward and downward rotation, thereby accelerating the ascent and descent speed of the robot; and by rotating the first motor (105) and the second motor (107), the first momentum wheel (104) and the second momentum wheel (106) are driven to rotate to ensure the balance of the robot; and then the first tail motor (401) and the second tail motor (403) are controlled to control the up / down tilt angle of the first tail wing (404) and the second tail wing (405), thereby accelerating the ascent and descent speed of the robot; The dive control method is to first accelerate through the forward control method, then output the left and right wing angles and body angles of the bird when diving through the brain-like chip, and convert them into motor angles, and the control console (5) controls the first connecting rod motor (111) and the second connecting rod motor (205) of the left wing and the right wing to rotate, so as to reach the specified angle; and by controlling the first motor (105) and the second motor (107), the first momentum wheel (104) and the second momentum wheel (106) are driven to rotate to ensure the balance of the robot, and the third motor (109) rotates the third momentum wheel (108) based on the dive angle, so that the robot accelerates downward, and maintains the rotation speed of the third momentum wheel (108) based on the attitude sensor; and controlling the first tail motor (401) and the second tail motor (403) to control the opening angle and the upward inclination angle of the first tail wing (404) and the second tail wing (405) to ensure flight balance and downward inclination; The gliding control method is to first accelerate through the forward control method, then output the left and right wing angles of the bird when diving through the brain-like chip, and convert them into motor angles. The console (5) controls the first connecting rod motor (111) and the second connecting rod motor (205) of the left wing and the right wing to rotate, so as to reach the specified angle; and by controlling the first motor (105), the second motor (107) and the third motor (109) to rotate, the first momentum wheel (104), the second momentum wheel (106) and the third momentum wheel (108) are driven to rotate to ensure the balance of the robot, and by controlling the first tail motor (401) and the second tail motor (403), the opening angle and the up and down tilt angle of the first tail wing (404) and the second tail wing (405) are controlled to ensure flight balance.

Images