A high-maneuvering kingfisher-like flapping-wing flying robot based on a brain-like chip and a control method thereof

Abstract

The application discloses a high-maneuvering swiftlet-imitating flapping-wing flying robot based on a brain-like chip and a control method, which comprises a skeleton device, a flying device, a detection device, a tail device and a control console, the flying device is fixedly connected with a flying skeleton frame to control the robot movement, 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 to stabilize the robot flight in real time, and the robot controls the skeleton device, the flying device, the detection device and the tail device to work through the control console, so as to complete high-maneuvering flight control and detection tasks. The application adopts a multi-degree-of-freedom mechanical structure design of the swiftlet imitation, realizes high-speed flight of the robot, improves the flight decision-making ability of the robot through deployment of a brain-like neural network of a brain-like chip, realizes intelligent and high-maneuvering flight control, and thus expands the detection task range of the bionic flapping-wing flying robot and enhances the detection efficiency.

Description

Technical Field

[0001] This invention mainly relates to the field of biomimetic flapping-wing flying robot technology, specifically to a highly maneuverable swift-inspired flapping-wing flying robot based on a neuromorphic chip and its control method. Background Technology

[0002] Ornithoptering robots are advanced aircraft that mimic the flight mechanisms of birds or insects, and have developed rapidly in recent years driven by biomimetic and robotics technologies. Their design is inspired by creatures in nature with efficient flight capabilities, especially small birds such as swifts and hummingbirds. These robots typically possess good maneuverability and adaptability, enabling them to move flexibly in confined spaces. Compared to traditional fixed-wing or rotary-wing drones, ornithoptering robots achieve higher lift and stability through variable wingspan and flexible wing movements, making them suitable for performing diverse tasks.

[0003] In recent years, with the rapid development of drone and biomimetic robot technologies, the demand for highly maneuverable aircraft has been increasing. In complex environments, traditional fixed-wing or rotary-wing drones often cannot meet mission requirements in terms of maneuverability and adaptability. Especially in confined spaces such as cities or forests, rapid and flexible flight capabilities are particularly important. The swift-inspired flapping-wing flying robot, with its unique flight mechanism, can achieve more efficient maneuverability, adapt to complex terrain, and complete diverse exploration tasks.

[0004] Furthermore, with the advancement of intelligent technologies, traditional control systems are increasingly unable to meet the demands for rapid response and decision-making in highly dynamic environments. Therefore, combining neuromorphic chips and neural network technologies to provide an intelligent control solution for highly maneuverable swift-inspired flapping-wing flying robots can significantly enhance their performance 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 capabilities in dynamic environments, thereby expanding its application potential in fields such as disaster monitoring, environmental detection, and military reconnaissance. Summary of the Invention

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

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

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

[0008] Furthermore, the skeletal 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 linkage motor, and a head skeleton frame; the flight device includes a first linkage, a second linkage, a third linkage, a fourth linkage, a second linkage motor, a gear transmission rod, a transmission belt, a fifth linkage, a first wing exoskeleton, a sixth linkage, and a second wing exoskeleton. It also includes a first feather, a second feather, a third feather, and a fourth feather; the detection device includes a first gimbal motor, a first gimbal turntable, a bird-like eyeball, a camera, a second gimbal motor, and a bird head skeleton. The tail device includes a first tail motor, a first tail linkage, a second tail motor, a first tail fin, a second tail fin, and tail fin feathers. The control console is equipped with an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, a barometric pressure sensor, and a neuromorphic chip.

[0009] Furthermore, the neuromorphic chip includes a bird-like motion model. By collecting the angle sequences of swifts' forward, left, right, ascent, descent, dive, and gliding movements, it converts them into neuron sequences, inputs them into a spiking neural network, and outputs the flapping sequence of the left and right wings and the body tilt angle during different movements, which are then 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 neuromorphic chip, including forward movement, left turn, right turn, ascent, descent, dive, and gliding.

[0011] The control method involves using a neuromorphic chip to output the flapping wing angles of a bird as it moves forward, converting them into motor angles. The control console then rotates the first and second linkage motors of the left and right wings of the swift-inspired flapping-wing flight robot, thereby driving the movement of the left and right wings. Furthermore, by controlling the rotation of the first, second, and third motors, the robot's balance is maintained by rotating the first, second, and third momentum wheels. Finally, the opening angle and tilt angle of the first and second tail fins are controlled by the first and second tail motors to ensure flight balance.

[0012] The highly maneuverable swift-inspired flapping-wing flying robot based on a neuromorphic chip provided by this invention has the following beneficial effects: By organically combining the mechanical structure design inspired by the swift bird with neuromorphic intelligent control, it overcomes the problem of insufficient maneuverability in traditional flapping-wing flying robots. The robot achieves more efficient and intelligent flight operations and expands the application scope of biomimetic flapping-wing flying robots, such as in disaster monitoring, environmental detection, and military reconnaissance, significantly improving detection efficiency and meeting the needs of diverse future missions. Attached Figure Description

[0013] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0014] Figure 1 This is a schematic diagram of the structure of the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip described in this invention;

[0015] Figure 2 This is a schematic diagram of the skeletal device of the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip according to the present invention;

[0016] Figure 3 This is a schematic diagram of the featherless state structure of the flight device of the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip according to the present invention;

[0017] Figure 4 This is a schematic diagram of the feather state structure of the flight device of the high-mobility swift-like flapping-wing flight robot based on a neuromorphic chip according to the present invention;

[0018] Figure 5 This is a schematic diagram of the detection device for the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip according to the present invention.

[0019] Figure 6 This is a schematic diagram of the tail device of the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip according to the present invention.

[0020] Figure 7 This is a schematic diagram of the wing-folding action of the high-mobility swift-like flapping-wing flight robot based on a neuromorphic chip described in this invention;

[0021] Figure 8 This is a schematic diagram of the diving motion of the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip described in this invention.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1-Skeleton device, 2-Flight device, 3-Detection device, 4-Tail device, 5-Control console; 101-Skeleton frame, 102-Lower shell surface, 103-Upper shell surface, 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 linkage motor, 112-Head skeleton frame; 201-First linkage, 202-Second linkage, 203-Third linkage, 204-Fourth linkage, 205-Second linkage motor, 20 6-Gear drive rod, 207-Drive belt, 208-Fifth link, 209-First exoskeleton of wing, 210-Sixth link, 211-Second exoskeleton of wing; 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 link, 403-Second tail motor, 404-First tail fin, 405-Second tail fin. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to facilitate the description of embodiments and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0026] Example 1:

[0027] like Figure 1-2 As shown, this invention provides a highly maneuverable swift-like flapping-wing flying robot based on a neuromorphic chip, comprising an skeletal device 1, a flight device 2, a detection device 3, a tail device 4, and a control console 5. The flight device 2, detection device 3, tail device 4, and control console 5 are all fixed to the skeletal device 1, wherein:

[0028] The skeletal device 1 includes a skeleton frame 101, a lower shell surface 102, an upper shell surface 103, a first momentum wheel 104, a first motor 105, a second momentum wheel 106, a second motor 107, a third momentum wheel 108, and a third motor 109; a flight skeleton frame 110; a first linkage motor 111; and a head skeleton frame 112. The skeleton frame 101 consists of three skeletons. The upper skeleton is fixedly connected to the upper shell surface 103, and the lower skeleton is fixedly connected to the lower shell surface 102. The first motor 105 is fixedly connected to the middle skeleton and has a drive shaft with gears. The first momentum wheel 104 has gears that drive the first motor 105. The first momentum wheel is rotatably connected to the middle skeleton. The second motor 107 is fixed to the middle skeleton, and the second momentum wheel 106 is rotatably connected to the second motor 107. There are two third momentum wheels 108, respectively located on the left and right sides of the middle skeleton. The third motor 109 is fixed to the middle skeleton and has two rotating shafts, each rotatably connected to one of the two third momentum wheels 108. The flight skeleton frame 110 is fixed to the skeleton frame 101 and has two bosses for fixing the flight device 2. The first linkage motor 111 is fixed to the flight skeleton frame 110. The head skeleton frame 112 is fixed to the middle skeleton.

[0029] Example 2:

[0030] like Figure 3 and Figure 4 As shown, the flight device 2 represents the left and right wing structures of the highly maneuverable swift-inspired flapping-wing flying robot. The upper shell surface 103 has slots for the flight device 2 to rotate and flap its wings. The flight device 2 includes a first link 201, a second link 202, a third link 203, a fourth link 204, a second link motor 205, a gear transmission rod 206, a transmission belt 207, a fifth link 208, a first wing exoskeleton 209, a sixth link 210, and a second wing exoskeleton 211. 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, and the other end of the third connecting rod 203 is a gear structure that 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 is gear-driven by the third connecting rod 203. The fourth connecting rod 204 has a groove for fixing the second connecting rod motor 205. The rotating shaft of the second connecting motor 205 is a gear structure that is gear-driven by the gear transmission rod 206. The gear transmission rod 206 is fixedly connected to the fifth connecting rod 208, and the first exoskeleton of the wing 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 synchronizing rod, and the gear transmission rod 206 is synchronously connected to the synchronizing rod of the sixth connecting rod 210 through a transmission belt 207. The second exoskeleton 211 of the wing is fixedly connected to the sixth link 210.

[0032] The first feather 212 is laid diagonally on the fifth link 208 and the sixth link 210. The second feather 213 is fixed below the first feather 212 and laid diagonally on the fifth link 208 and the sixth link 210. The third feather 214 is fixed below the second feather 213 and laid diagonally on the fifth link 208 and the sixth link 210. The fourth feather 215 is fixed below the third feather 214 and laid diagonally on the fifth link 208 and the sixth link 210.

[0033] The first feather 212, the second feather 213, the third feather 214, and the fourth feather 215 are flexible structures with an elliptical shape and multiple grooves to simulate a feather-like structure. The angle at which the first feather 212, the second feather 213, the third feather 214, and the fourth feather 215 are laid diagonally is about 5°, and their dimensions increase from top to bottom.

[0034] Example 3:

[0035] like Figure 1-2 and Figure 5 As shown, the detection device 3 includes a first gimbal motor 301, a first gimbal turntable 302, a bird-like eyeball 303, a camera 304, a second gimbal motor 305, and a bird skull. The detection devices 3 represent the left and right eyes of the highly maneuverable swift-like flapping-wing flight robot. The first gimbal motor 301 is fixed to the skull frame 112. The first gimbal turntable 302 is rotatably connected to the first gimbal motor 301. The first gimbal turntable 302 has a protrusion that is rotatably connected to the second gimbal motor 305. The second gimbal 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 skull and skull frame 101 are fixedly connected.

[0036] Example 4:

[0037] like Figure 1-2 and Figure 6 As shown, the upper shell surface has a slot for the tail device 4 to rotate vertically. The tail device 4 includes a first tail motor 401, a first tail connecting rod 402, a second tail motor 403, a first tail fin 404, a second tail fin 405, and tail fin 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 rotatably connected to the first tail fin 404. The first tail fin 404 has a gear structure, and the second tail fin 405 has a gear structure and is rotatably connected to the first tail fin 404. The tail fin feathers and the first tail connecting rod 402 are fixedly connected.

[0038] In addition, the high-mobility swift-like flapping-wing flying robot based on a neuromorphic chip of the present invention also includes a console 5, which is equipped with an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, a barometric pressure sensor and a neuromorphic chip.

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

[0040] The neuromorphic chip includes a bird-like motion model. It collects the angle sequences of swifts' forward, left, right, ascend, descend, dive, and glide movements, converts them into neuron sequences, inputs them into a spiking neural network, and outputs the flapping sequence of the left and right wings and the body tilt angle for different movements, converting them into output angles.

[0041] Example 5:

[0042] like Figure 7 and Figure 8 As shown, this application also provides a control method for a highly maneuverable swift-like flapping-wing flying robot based on a neuromorphic chip, including forward movement, left turn, right turn, ascent, descent, dive, and gliding.

[0043] The aforementioned forward control method involves outputting the flapping wing angles of a bird's forward movement via a neuromorphic chip, converting them into motor angles. The control console 5 controls the rotation of the first linkage motor 111 and the second linkage motor 205 on the left and right wings of the swift-inspired flapping-wing flight robot, thereby driving the movement of the left and right wings. Furthermore, by controlling the rotation of the first motor 105, the second motor 107, and the third motor 109, the robot's balance is maintained by rotating the first momentum wheel 104, the second momentum wheel 106, and the third momentum wheel 108. Finally, by controlling the first tail motor 401 and the second tail motor 403, the opening angle and tilt angle of the first tail fin 404 and the second tail fin 405 are controlled to ensure flight balance.

[0044] The left / right turn control method involves changing the rotational speeds of the first linkage motor 111 and the second linkage motor 205 on the left and right wings of the swift-like flapping-wing robot. This alters the flapping speed, ensuring the right wing speed is greater than the left wing speed, and vice versa. Furthermore, controlling the first motor 105 and the second motor 107 to accelerate left / right causes the first momentum wheel 104 and the second momentum wheel 106 to rotate faster left / right, increasing the robot's turning speed. The rotation of the third motor 109 drives the third momentum wheel 108 to maintain robot balance. Finally, controlling the opening angle and tilt angle of the first tail fin 404 and the second tail fin 405 via the first tail motor 401 and the second tail motor 403 ensures flight balance.

[0045] The aforementioned ascent / descent control method involves outputting the flapping wing angles of a bird during ascent / descent via a neuromorphic chip, converting them into motor angles. Control console 5 controls the rotation of the first linkage motor 111 and the second linkage motor 205 on the left and right wings of the swift-inspired flapping-wing flight robot, thereby driving the movement of the left and right wings. Furthermore, by controlling the third motor 109 to accelerate upwards / downwards, the third momentum wheel 108 rotates upwards / downwards at an accelerated speed, increasing the robot's ascent / descent rate. The rotation of the first motor 105 and the second motor 107 drives the rotation of the first momentum wheel 104 and the second momentum wheel 106 to ensure the robot's balance. Finally, by controlling the first tail motor 401 and the second tail motor 403 to control the upward / downward tilt angles of the first tail fin 404 and the second tail fin 405, the robot's ascent / descent rate is further accelerated.

[0046] The aforementioned dive control method involves first accelerating the robot using the forward control method, then outputting the left and right wing angles and body angles of a bird during a dive via a neuromorphic chip. These angles are converted into motor angles. The control console 5 controls the rotation of the first linkage motor 111 and the second linkage motor 205 on the left and right wings of the swift-like flapping-wing flight robot to reach the specified angle. The first motor 105 and the second motor 107 drive the first momentum wheel 104 and the second momentum wheel 106 to rotate, ensuring the robot's balance. The third motor 109 rotates the third momentum wheel 108 based on the dive angle, accelerating the robot downwards, and the rotation speed of the third momentum wheel 108 is maintained based on the attitude sensor. Finally, the first tail motor 401 and the second tail motor 403 control the opening angle and upward tilt angle of the first tail fin 404 and the second tail fin 405 to ensure flight balance and downward tilt.

[0047] The gliding control method involves first accelerating the robot using the forward control method, then outputting the left and right wing angles of a bird during a dive via a neuromorphic chip, which are converted into motor angles. The control console 5 controls the rotation of the first linkage motor 111 and the second linkage motor 205 on the left and right wings of the swift-inspired flapping-wing flight robot to reach the specified angles. Furthermore, by controlling the rotation of the first motor 105, the second motor 107, and the third motor 109, the robot's balance is maintained by rotating the first momentum wheel 104, the second momentum wheel 106, and the third momentum wheel 108. Finally, by controlling the first tail motor 401 and the second tail motor 403, the robot's flight balance is maintained by controlling the opening angle and tilt angle of the first tail fin 404 and the second tail fin 405.

[0048] Furthermore, in controlling the high-mobility swift-like flapping-wing flying robot to turn left, turn right, ascend, descend, dive, and glide, the robot can first be stabilized in a forward-moving state from the previous state before turning left, turning right, ascending, descending, diving, or gliding. This makes 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A highly maneuverable swift-inspired flapping-wing flying robot based on a neuromorphic chip, characterized in that, It includes a skeletal device (1), a flight device (2), a detection device (3), a tail device (4), and a control console (5), wherein: The skeletal device (1) includes 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 linkage motor (111), and a head skeleton frame (112); the flight device (2) includes a first linkage (201), a second linkage (202), a third linkage (203), a fourth linkage (204), a second linkage motor (205), a gear transmission rod (206), a transmission belt (207), a fifth linkage (208), and a first outer wing. The skeleton (209), the sixth link (210), the second exoskeleton of the wing (211), the first feather (212), the second feather (213), the third feather (214) and the fourth feather (215); the detection device (3) includes a first gimbal motor (301), a first gimbal turntable (302), a bird-like eyeball (303), a camera (304), a second gimbal motor (305) and a bird head skeleton; the tail device (4) includes a first tail motor (401), a first tail link (402), a second tail motor (403), a first tail fin (404), a second tail fin (405) and tail feathers; The console (5) is equipped with an attitude sensor, a satellite navigation sensor, a voltage sensor, a thermal sensor, a barometric pressure sensor, and a neuromorphic chip; The skeleton (101) consists of three bones: the upper bone is fixedly connected to the upper shell surface (103), the lower bone is fixedly connected to the lower shell surface (102), and the middle bone is located between the upper bone and the lower bone. The first motor (105) is fixedly connected to the mid-skeletal structure. The first motor (105) is equipped with a drive shaft, on which a gear is mounted. The first momentum wheel (104) is equipped with a gear and is gear-driven to the first motor (105). The first momentum wheel (104) is rotatably connected to the mid-skeletal structure. The second motor (107) is fixed to the mid-skeletal structure. The second momentum wheel (106) is rotatably connected to the second motor (107). There are two third momentum wheels (108), each with a... On the left and right sides of the middle skeleton, the third motor (109) is fixed to the middle skeleton. The third motor (109) has two rotating shafts, which are rotatably connected to the two third momentum wheels (108) respectively. The flight skeleton frame (110) is fixed to the skeleton frame (101). The flight skeleton frame (110) has two bosses for fixing the flight device (2). The first linkage motor (111) is fixed to the flight skeleton frame (110). The head skeleton frame (112) is fixed to the middle skeleton. 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), and the other end of the third connecting rod (203) is a gear structure that is rotatably connected to the boss of the flight skeleton frame (110). The fourth connecting rod (204) is a gear structure that passes through the upper shell surface (103) and is gear-driven to the third connecting rod (203). The fourth connecting rod (204) has a groove for fixing the second connecting rod motor (205). The rotating shaft of the second link motor (205) is a gear structure and is connected to the gear transmission rod (206) by gear transmission. The gear transmission rod (206) is fixedly connected to the fifth link (208). The first exoskeleton of the wing (209) is fixed to the fifth link (208). The sixth link (210) is rotatably connected to the fifth link (208). The sixth link (210) is provided with a synchronizing rod. The gear transmission rod (206) is synchronously connected to the synchronizing rod of the sixth link (210) through a transmission belt (207). The second exoskeleton of the wing (211) is fixedly connected to the sixth link (210). The first feather (212), the second feather (213), the third feather (214), and the fourth feather (215) are flexible structures with an elliptical shape and multiple grooves to simulate a feather-like structure. The angle at which the first feather (212), the second feather (213), the third feather (214), and the fourth feather (215) are laid diagonally is about 5°, and their size increases from top to bottom. The first gimbal motor (301) is fixed to the head skeleton frame (112), the first gimbal turntable (302) is rotatably connected to the first gimbal motor (301), the first gimbal turntable (302) is provided with a boss that is rotatably connected to the second gimbal motor (305), the second gimbal 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 first tail motor (401) is fixed to the tail of the skeleton (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 rotatably connected to the first tail wing (404), the first tail wing (404) and the second tail wing (405) are both provided with gear structures, and the second tail wing (405) is gear-driven connected to the first tail wing (404).

2. The highly maneuverable swift-like flapping-wing flying robot based on a neuromorphic chip according to claim 1, characterized in that, The control console (5) controls the first gimbal motor (301) and the second gimbal 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, so as to keep the image stable.

3. The highly maneuverable swift-like flapping-wing flying robot based on a neuromorphic chip according to claim 1, characterized in that, The neuromorphic chip includes a bird-like motion model. It collects the angle sequences of swifts' forward, left, right, ascend, descend, dive, and glide movements, converts them into neuron sequences, inputs them into a spiking neural network, and outputs the flapping sequence of the left and right wings and the body tilt angle for different movements, converting them into output angles.

4. A control method for a highly maneuverable swift-like flapping-wing flying robot based on a neuromorphic chip, the method being used in the highly maneuverable swift-like flapping-wing flying robot based on a neuromorphic chip as described in any one of claims 1-3, characterized in that, This includes forward movement, left turn, right turn, ascent, descent, dive, and gliding; The forward control method is to output the flapping angle of the bird's wings when it moves forward through the neuromorphic chip, and convert it into motor angle. The control console (5) controls the rotation of the first linkage motor (111) and the second linkage motor (205) of the left and right wings of the swift-like flapping-wing flying robot, thereby driving the left and right wings to move. By controlling the rotation of the first motor (105), the second motor (107) and the third motor (109), the first momentum wheel (104), the second momentum wheel (106) and the third momentum wheel (108) are driven to rotate to ensure the robot's balance. By controlling the first tail motor (401) and the second tail motor (403), the opening angle and vertical tilt angle of the first tail wing (404) and the second tail wing (405) are controlled to ensure flight balance. The left / right turn control method is to change the flapping speed by changing the rotation speed of the first linkage motor (111) and the second linkage motor (205) of the left and right wings, so that the speed of the right wing is greater than that of the left wing and the speed of the left wing is greater than that of the right wing. By controlling the first motor (105) and the second motor (107) to accelerate to the left / right, the first momentum wheel (104) and the second momentum wheel (106) will accelerate to the left / right, thereby increasing the robot's turning speed. The rotation of the third motor (109) drives the rotation of the third momentum wheel (108) to ensure the robot's balance. The opening angle and tilt angle of the first tail wing (404) and the second tail wing (405) are controlled by controlling the first tail motor (401) and the second tail motor (403) to ensure flight balance. The ascent / descent control method is as follows: the bird's flapping action angle during ascent / descent is output by the neuromorphic chip and converted into motor angles. The control console (5) controls the rotation of the first linkage motor (111) and the second linkage motor (205) of the left and right wings, thereby driving the left and right wings to move. The third motor (109) is controlled to accelerate upward / downward, thereby accelerating the rotation of the third momentum wheel (108) upward / downward, thus speeding up the robot's ascent / descent. The rotation of the first motor (105) and the second motor (107) drives the rotation of the first momentum wheel (104) and the second momentum wheel (106) to ensure the robot's balance. 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 speeding up the robot's ascent / descent. The dive control method first accelerates the robot by using the forward control method, and then outputs the left and right wing angles and body angles of the bird during the dive through the neuromorphic chip, which are converted into motor angles. The control console (5) controls the first linkage motor (111) and the second linkage motor (205) of the left and right wings to rotate, thereby reaching the specified angle. 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 robot's balance. The third motor (109) rotates the third momentum wheel (108) based on the dive angle, thereby accelerating the robot downwards, and maintaining the rotation speed of the third momentum wheel (108) based on the attitude sensor. And by controlling the first tail motor (401) and the second tail motor (403), the opening angle and upward tilt angle of the first tail fin (404) and the second tail fin (405) are controlled to ensure flight balance and downward tilt; The gliding control method first accelerates the robot by using the forward control method, then outputs the left and right wing angles of the bird during its dive through the neuromorphic chip, which are converted into motor angles. The control console (5) controls the rotation of the first linkage motor (111) and the second linkage motor (205) of the left and right wings to reach the specified angle. The robot's balance is ensured by controlling the rotation of the first motor (105), the second motor (107), and the third motor (109), which drives the rotation of the first momentum wheel (104), the second momentum wheel (106), and the third momentum wheel (108). The robot's balance is ensured by controlling the opening angle and tilt angle of the first tail fin (404) and the second tail fin (405) through the control of the first tail motor (401) and the second tail motor (403).

Images