A sea gull based on reinforcement learning air-land-sea multi-terrain flapping wing flying robot and control method

Abstract

The application provides a sea gull imitating flapping-wing air-sea-land multi-terrain robot based on reinforcement learning and a control method, which comprises a control cabin, an integration device and a wing device. The control cabin is mainly used for robot control, communication and detection. The integration device is used for fixing the control cabin and the wing device. The wing device and the integration device are used for land, sea surface, underwater and sky detection operations of the robot. Through the flapping-wing integrated design of the sea gull, the robot can freely switch the working mode in complex terrains such as land, sea surface, underwater and sky, so that the robot can quickly adapt to different terrains according to the task requirements, maintain strong concealment, and realize efficient, low-energy-consumption and long-time continuous detection tasks.

Description

Technical Field

[0001] This invention mainly relates to the field of marine, land, and air bio-defense robot technology, specifically to a seagull-inspired multi-terrain flapping-wing flying robot based on reinforcement learning and its control method. Background Technology

[0002] In the current technological context, with the increasing demands for tasks such as environmental monitoring, disaster emergency response, and military reconnaissance, the application of robots in various complex terrains has become particularly important. Especially the ability to perform reconnaissance tasks in multiple environments, including sea, land, and air, has become a key criterion for evaluating robot performance. Traditional robot systems often operate only in specific terrains or environments, with limited ability to traverse multiple complex terrains, leading to significant limitations in practical applications. Currently, the development of multi-terrain reconnaissance robots mainly focuses on adaptability to single environments. Furthermore, existing robots typically require lengthy redeployment and adjustment periods when switching between multi-terrain environments, and are prone to losing targets or experiencing reduced task efficiency during transitions. On the other hand, with the continuous increase in task requirements, the need for low power consumption and high stealth is becoming increasingly urgent for robots performing long-term tasks. Especially in fields such as military reconnaissance and ecological monitoring, robots not only need to maintain a stable working state for extended periods but also need strong stealth capabilities to avoid detection by targets. Therefore, achieving rapid adaptation, low energy consumption, and high stealth in multiple terrains and environments has become a major challenge in technological development.

[0003] Most existing technical solutions focus on improving robot performance within a single domain, but these methods often suffer from poor adaptability and insufficient stability when working collaboratively across multiple terrains. The limitations of current technology make designing a robot system capable of efficiently and stably performing tasks simultaneously in various terrains such as sea, land, and air a critical technical challenge that urgently needs to be addressed. Summary of the Invention

[0004] To address at least some of the aforementioned problems, the present invention aims to provide a puffin-inspired multi-terrain flapping-wing flying robot and its control method based on reinforcement learning. This method aims to solve the problems of poor adaptability, low switching efficiency, and high energy consumption of existing robots in multi-terrain environments, providing a robot system capable of rapidly switching and efficiently performing tasks in amphibious and air-based environments. The specific technical solution is as follows:

[0005] On one hand, the present invention provides a puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning, comprising a control cabin, an integrated device, and a wing assembly; the control cabin and the wing assembly are fixed to the integrated device; the control cabin includes a nose, a body, a front waterproof ring, a control frame, a data acquisition sensor, a dual-axis motor, a rear cover, a rear waterproof ring, a waterproof socket, a controller, a vision gimbal, and a vision sensor; the integrated device includes a skeleton frame, a bird shell, a first transmission wheel, a synchronous belt, a second transmission wheel, a wing rotation motor, an integrated pump, a first air pipe, a first water pipe, an air bladder, a water bladder, a second air pipe, a second water pipe, a tail rotation motor, a first tail fin, a waterproof cloth, a second tail fin, a tail joint, a tail fin motor, a leg structure, feet, and a tail waterproof sleeve.

[0006] Preferably, the front waterproof ring includes a front primary waterproof ring and a front secondary waterproof ring; the visual gimbal includes a gimbal first joint, a first joint motor, a gimbal second joint, and a second joint motor; the cabin body is fixedly connected to the cabin head through a through hole on the front side, and the rear of the cabin body has a through hole for fixed connection to the cabin rear cover; the rear waterproof ring is fixed to the rear of the cabin body for waterproof sealing of the cabin body and the cabin rear cover; the cabin rear cover is fixedly connected to the cabin body through a through hole, and the cabin rear cover has multiple through holes for fixing waterproof sockets; the control frame is fixed inside the cabin body, the rear of the control frame is a sealed structure and has a through hole for wiring, and the control frame is a hollow structure with a platform inside. The acquisition sensor and controller are fixed to the control frame platform; the dual-axis motor is fixed to the front side of the control frame, and the dual-axis motor has two independent rotating axes, which are respectively rotatably connected to the first joints of the two gimbals. The first joints of the gimbals have protrusions on both sides, one side of which is rotatably connected to the second joint of the gimbal, and the other side of which is rotatably connected to the first joint motor. The second joint of the gimbal is fixedly connected to the first joint motor, and the second joint has a groove for fixing the second joint motor. The second joint has a through hole for the second joint motor to rotate, and the second joint motor is rotatably connected to the vision sensor; the vision sensor has a base for fixing the rotating shaft of the second joint motor.

[0007] Preferably, the leg structure includes a first leg joint, a second leg joint motor, a first leg gear, a second leg gear, a second leg joint, a third leg joint motor, a third leg joint motor, and a fourth leg joint motor. The skeletal frame includes a frame for fixing the cabin body. The frame is fixedly connected to the front through-hole of the cabin body via a through-hole on its front side. The bird shell has a through-hole on its front side that is fixedly connected to the front through-holes of the cabin body and the skeletal frame's frame. The skeletal frame's frame is fixedly connected to the rear through-hole of the cabin body via a through-hole on its rear side. The skeletal frame has protrusions on both sides, which are fixedly connected to wing rotation motors. The protrusions on the skeletal frame have through-holes for the wing rotation motor's rotating shaft to rotate. The wing rotation motor is connected to the first... Two drive wheels are rotatably connected, with the second drive wheel connected to the first drive wheel via a synchronous belt. The first drive wheel is rotatably connected to the skeleton frame protrusion. The integrated pump is fixed to the skeleton frame for drawing in and out air and water. The integrated pump has two air intake ports and two water intake ports. One end of the first air pipe is connected to one air intake port and the other end is connected to an air sac. One end of the second air pipe is connected to the other air intake port and the other end is fixed to the outside of the bird's shell. One end of the first water pipe is connected to one water intake port and the other end is connected to a water sac. One end of the second water pipe is connected to the other water intake port and the other end is fixed to the outside of the bird's shell. The air sac and water sac are fixed to the bottom of the skeleton frame. The rear side of the bird's shell is fixedly connected to the tail rotating motor. The rear side of the bird's shell is equipped with... A waterproof through-hole is provided for the rotation of the tail-mounted rotary motor shaft. The tail-mounted rotary motor is fixedly connected to the tail joint, the tail joint is fixedly connected to the tail fin motor, and the tail fin motor is rotatably connected to the first tail fin. One end of the first tail fin has a gear-like structure, and one end of the second tail fin has a gear-like structure. The first and second tail fins are gear-driven. The second tail fin is rotatably connected to the tail joint. The waterproof cloth is a flexible cloth structure, with both ends fixedly connected to the first and second tail fins respectively. The tail waterproof sleeve is used to wrap the tail joint for waterproof sealing of the bird shell and the outside. The first leg motor is located at the bottom of the left and right rear sides of the skeleton frame. The first leg motor is rotatably connected to the first leg joint. A joint has a groove and is fixedly connected to the second joint motor of the leg. The second gear of the leg is rotatably connected to the second joint motor of the leg. The second gear of the leg has a half-gear structure. The first gear of the leg has a double-layer full gear structure. The bottom gear of the first gear of the leg is gear-driven to the second gear. One end of the second joint of the leg has a half-gear structure and is gear-driven to the second gear and the top gear half-gear of the first gear of the leg. The other end of the second joint of the leg is fixedly connected to the third joint motor of the leg. The third joint motor of the leg is rotatably connected to one end of the third joint of the leg. The other end of the third joint of the leg is fixedly connected to the fourth joint motor of the leg. The fourth joint motor of the leg is rotatably connected to the foot.

[0008] Preferably, the wing device includes a first wing joint, a second wing joint motor, a second wing joint motor, a third wing joint motor, a first wing gear, a second wing gear, a third wing joint, a first wing link, a second wing link, a third wing link, a first wing feather, a second wing feather, a third wing feather, and a fourth wing feather. The first wing joint is fixedly connected to a first transmission wheel. The first wing joint has protrusions on both sides; one protrusion is rotatably connected to the second wing joint, and the other end is rotatably connected to the second wing joint motor. The second wing joint motor is fixedly connected to the second wing joint. The second wing joint has a protrusion for fixing the third wing joint motor. The third wing joint motor is rotatably connected to the second wing gear, which has a semi-gear-like structure. The first gear is a double-layer full gear structure. The bottom gear of the first wing gear is gear-driven to the second wing gear. The third wing joint is provided with a gear-shaped boss. The boss of the third wing joint is a half gear structure. The boss of the third wing joint is gear-driven to the second wing gear and the top gear half gear of the first wing gear. One end of the third wing joint is rollingly connected to one end of the first wing link. The other end of the first wing link is rollingly connected to one end of the second wing link. The other end of the second wing link and the other end of the third wing joint are rollingly connected to the third wing link. The third wing link is provided with two through holes that are rollingly connected to the third wing link and the third wing joint. The first wing feather and the second wing feather are fixed to the third wing joint. The third wing feather and the fourth wing feather are fixed to the third wing link.

[0009] Preferably, the first wing feather is larger than the second wing feather, the third wing feather is larger than the fourth wing feather, the first wing feather is located below the second wing feather, and the third wing feather is located below the fourth wing feather; the first wing feather, the second wing feather, the third wing feather, and the fourth wing feather are fixed in the direction of the rear side of the third wing joint and the third wing link.

[0010] Preferably, the foot has webbed protrusions, and the protrusions have multiple flexible protrusions to realize a flexible toe structure. A flexible waterproof cloth is provided between the flexible protrusions to realize a webbed membrane structure.

[0011] Preferably, the acquisition sensors include an attitude sensor, a barometric pressure sensor, a satellite navigation sensor, and a humidity sensor; the controller includes a battery, a microcontroller, a neuromorphic chip, and a flight controller.

[0012] Preferably, the controller employs neuromorphic chip technology and integrates a robot control model. This control model collects real-time data on environmental terrain, required location, map information, starting point, target point, obstacle location, air pressure, and temperature, and inputs this data into a spiking neural network for processing, thereby generating a control strategy adapted to the current environment and task. The control model not only outputs the robot's travel path in real time but also adjusts the robot's morphological information, accurately calculates and controls the speed and angle of each joint motor and servo motor, ensuring that the robot can move flexibly under various terrain conditions.

[0013] On the other hand, the present invention also provides a control method for a seagull-inspired multi-terrain flapping-wing flying robot based on reinforcement learning. The control method uses the aforementioned seagull-inspired multi-terrain flapping-wing flying robot based on reinforcement learning to perform movement and detection in the sky, sea, and land, including flight mode, land mode, and sea mode.

[0014] The flight mode control process is as follows: the robot control model of the neuromorphic chip in the controller issues a flight command; the controller receives the command and controls the rotation motors and second joint motors of the left and right wings of the integrated device to rotate, thereby adjusting the second joints of the left and right wings to be perpendicular to the ground; the controller controls the third joint motors of the left and right wings to rotate forward, causing the first, second, third, and fourth feathers of the wings to flap downwards, and the robot takes off; the controller controls the first, second, third, and fourth joint motors of the left and right legs of the integrated device to rotate, so that the second and third joints of the legs and the feet are parallel to the ground; then the controller collects the attitude sensor information from the sensors and adjusts the attitude of the waterproof cloth by controlling the tail rotation motor and tail wing motor to maintain balance;

[0015] The land mode control process is as follows: the robot control model of the neuromorphic chip of the controller issues a land mode command, the controller receives the command, and controls the rotation motors of the left and right wings and the second joint motors of the wings to rotate, thereby driving the second joints of the left and right wings to adjust to be parallel to the ground. Then, the controller collects the attitude sensor information of the sensor and adjusts the attitude of the waterproof cloth by controlling the tail rotation motor and the tail wing motor. It controls the third joint motors of the left and right wings to rotate forward, so that the first feather, second feather, third feather and fourth feather of the wings flap appropriately, thereby maintaining balance.

[0016] The ocean mode includes a surface mode and an underwater mode. The surface mode control process is as follows: the robot control model of the controller's neuromorphic chip issues a surface mode command; the controller receives the command and controls the left and right third joint motors of the integrated device to reduce their speed, thus slowing the flapping speed of the first, second, third, and fourth wing feathers. The controller also controls the tail rotation motor and tail wing motor to adjust the waterproof fabric upwards, achieving a slow descent. Afterwards, the controller controls the integrated pump to draw air from the second air pipe and send air to the first air pipe, thereby inflating the air bladder. The air bladder expands, and the robot floats on the surface. Then, the controller controls the first, second, third, and fourth joint motors of the left and right legs of the integrated device to... The rotation of the four-joint motors submerges the second and third joints of the legs and the soles of the feet underwater. Then, the rotation of the second joint motor is controlled to achieve motion control. In the underwater mode, the robot control model of the controller's neuromorphic chip issues a surface mode command. The controller receives the command and controls the integrated pump to draw air from the first air pipe and send air to the second air pipe, thereby drawing air into the air bladder, causing the air bladder to shrink. The controller then controls the integrated pump to draw water from the second water pipe and send water to the first water pipe, thereby filling the water bladder, causing it to expand and the robot to sink to the bottom. The controller controls the rotation of the first, second, third, and fourth joint motors on the left and right sides of the integrated device to make the second and third joints of the legs and the soles of the feet parallel to the sea surface.

[0017] The flight modes include ascent, descent, left turn, right turn, and gliding. The controller continuously rotates the left and right third joint motors of the integrated device, and controls the tail rotation motor and tail fin motor to adjust the waterproof fabric downwards / upwards to achieve ascent / descent control. The controller controls the left third joint motor of the integrated device to lower / raise the left wing device, and controls the right third joint motor of the integrated device to raise / lower the right wing device. The controller stops the rotation of the left and right third joint motors of the integrated device, and controls the tail rotation motor and tail fin motor to adjust the waterproof fabric upwards to achieve left / right turn control. The controller controls the left and right third joint motors of the integrated device to make the left and right wing devices parallel to the ground. The controller stops the rotation of the left and right third joint motors of the integrated device. Then, the controller collects attitude sensor information from the sensors and controls the tail rotation motor and tail fin motor to adjust the attitude of the waterproof fabric to maintain balance, thereby achieving gliding control.

[0018] The land-based movement includes forward, backward, left turn, and right turn. The robot control model sends instructions to the controller through real-time environmental data. The controller controls the rotation of the first, second, third, and fourth joint motors of the left and right legs of the integrated device, causing the second and third joints of the legs and the feet to move, thereby realizing the robot's forward, backward, left turn, and right turn.

[0019] The movement in the sea surface mode includes forward, left turn, and right turn. For forward control, the controller controls the rotation of the first, second, third, fourth, and second joint motors of the left and right legs of the integrated device, thereby driving the feet forward to propel them forward. For left / right turn control, the controller controls the rotation of the first, second, third, fourth, and second joint motors of the left leg of the integrated device, thereby decreasing / increasing the foot's propulsion speed. The controller also controls the rotation of the first, second, third, fourth, and second joint motors of the right leg of the integrated device, thereby increasing / decreasing the foot's propulsion speed, thus achieving left / right turn control.

[0020] The movement in the sea surface mode includes ascent, descent, left turn, and right turn. For the ascent / descent control, the controller continuously rotates the third joint motors on the left and right sides of the integrated device to continuously flap the wing devices. It also controls the tail rotation motor and tail fin motor to adjust the waterproof fabric downwards / upwards. The controller further controls the rotation of the first, second, third, fourth, and second joint motors on the left and right sides of the integrated device, thereby driving the feet forward to flap, achieving ascent / descent control. For the left turn / right turn control, the controller controls the third joint motor on the left side of the integrated device to decrease / increase the flapping speed of the left wing device, controls the third joint motor on the right side of the integrated device to decrease / increase the flapping speed of the right wing device, stops the rotation of the third joint motors on the left and right sides of the integrated device, adjusts the waterproof fabric upwards, adjusts the waterproof fabric downwards / upwards, and controls the rotation of the tail rotation motor and tail fin motor to adjust the waterproof fabric downwards / upwards. Finally, the controller controls the rotation of the first, second, third, fourth, and second joint motors on the left and right sides of the integrated device, thereby driving the feet forward to flap, achieving left turn / right turn control.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention achieves multi-terrain adaptability for the robot through reinforcement learning control methods and a flapping wing design inspired by a puffin, significantly improving task execution efficiency and stability. The robot possesses low power consumption and long-duration operation capabilities, making it suitable for continuous reconnaissance and monitoring tasks. Simultaneously, its optimized design provides strong stealth capabilities, enabling it to complete detection tasks unnoticed, making it particularly suitable for reconnaissance or monitoring in sensitive environments. Furthermore, the real-time adaptive capability based on reinforcement learning allows the robot to dynamically adjust its flight attitude and task execution strategy, ensuring stable operation in complex and dynamic environments. Attached Figure Description

[0023] 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:

[0024] Figure 1 This is a schematic diagram of the flight mode of a seagull-like multi-terrain flapping-wing flying robot based on reinforcement learning, as described in this invention.

[0025] Figure 2 This is a schematic diagram of the land mode of a puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning, as described in this invention.

[0026] Figure 3 This is a schematic diagram of the sea surface mode of a seagull-like multi-terrain flapping-wing flying robot based on reinforcement learning, as described in this invention.

[0027] Figure 4 This is a schematic diagram of the underwater mode of a seagull-like multi-terrain flapping-wing flying robot based on reinforcement learning, as described in this invention.

[0028] Figure 5 This is a schematic diagram illustrating a scenario application of the multi-terrain exploration robot based on a neuromorphic chip described in this invention.

[0029] Figure 6 This is a structural schematic diagram of the control cabin described in this invention;

[0030] Figure 7 This is another structural schematic diagram of the control cabin described in this invention;

[0031] Figure 8 This is a schematic diagram of the structure of the control frame described in this invention;

[0032] Figure 9 This is a schematic diagram of the skeleton frame described in this invention;

[0033] Figure 10 This is a schematic diagram of the tail structure of a multi-terrain exploration robot based on a neuromorphic chip described in this invention.

[0034] Figure 11 This is another schematic diagram of the tail structure of the multi-terrain exploration robot based on a neuromorphic chip described in this invention;

[0035] Figure 12 This is a schematic diagram of the bottom structure of the skeleton frame described in this invention;

[0036] Figure 13 This is a schematic diagram of the wing device described in this invention;

[0037] Figure 14This is another structural schematic diagram of the wing device described in this invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] Control Cabin 1, Head 101, Body 102, Front Primary Waterproof Ring 103, Front Secondary Waterproof Ring 104, Control Frame 105, Data Acquisition Sensor 106, Dual-Axis Motor 107, Rear Cover 108, Rear Waterproof Ring 109, Waterproof Socket 110, Controller 111, Gimbal First Joint 112, First Joint Motor 113, Gimbal Second Joint 114, Second Joint Motor 115, Vision Sensor 116, Integrated Device 2, Skeleton Frame 201, Bird Shell 202, First Drive Wheel 203, Synchronous Belt 204, Second Drive Wheel 205, Wing Rotation Motor 206, Integrated Pump 207, First Air Pipe 208, First Water Pipe 209, Air Storage Bag 210, Water Storage Bag 211, Second Air Pipe 212, Second Water Pipe 213, Tail Rotation Motor 214, First Tail Fold 215, Waterproof Fabric 216, Second Tail Fold 2 17. Tail joint 218. Tail wing motor 219. Leg first motor 220. Leg first joint 221. Leg second joint motor 222. Leg first gear 223. Leg second gear 224. Leg second joint 225. Leg third joint motor 226. Leg third joint 227. Leg fourth joint motor 228. Foot 229. Tail waterproof sleeve 230. Wing device 3. Wing first joint 301. Wing second joint motor 302. Wing second joint 303. Wing third joint motor 304. Wing first gear 305. Wing second gear 306. Wing third joint 307. Wing first link 308. Wing second link 309. Wing third link 310. Wing first feather 311. Wing second feather 312. Wing third feather 313. Wing fourth feather 314. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] 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.

[0042] Example 1:

[0043] like Figure 1-5As shown, this invention presents a puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning, comprising a control cabin 1, an integration device 2, and a wing device 3, wherein the control cabin 1 and the wing device 3 are fixed to the integration device 2.

[0044] like Figure 6-7 As shown, the control cabin 1 includes a head 101, a body 102, a front primary waterproof ring 103, a front secondary waterproof ring 104, a control frame 105, a sensor 106, a dual-axis motor 107, a rear cover 108, a rear waterproof ring 109, a waterproof socket 110, a controller 111, a gimbal first joint 112, a first joint motor 113, a gimbal second joint 114, a second joint motor 115, and a vision sensor 116. The head 101 is a thin-film boss-shaped structure. The head 101 has through holes for fixing to the body 102. The front secondary waterproof ring 104 is fixed to the front side of the body 102 for waterproof sealing of the head 101 and the body 102. The front secondary waterproof ring 104 is also fixed to the outside of the head 101 for waterproof sealing of the head 101 and the integrated device 2. The cabin body 102 is fixedly connected to the cabin head 101 through a through hole on its front side. The rear of the cabin body 102 has a through hole for fixed connection to the rear cover 108. A rear waterproof ring 109 is fixed to the rear of the cabin body 102 for waterproof sealing of the cabin body 102 and the rear cover 108. The rear cover 108 is fixedly connected to the cabin body 102 through a through hole and has multiple through holes for fixing waterproof sockets 110. The control frame 105 is fixed inside the cabin body 102. The rear of the control frame 105 is a sealed structure with through holes for wiring. The control frame is a hollow structure with an internal platform. The sensor 106 and controller 111 are fixed to the platform of the control frame 105. The dual-axis motor 107 is fixed to the front of the control frame 105. The dual-axis motor 107 has two independent rotating axes, which are rotatably connected to the first joints 112 of the two gimbals, respectively. Figure 8 As shown, the gimbal's first joint 112 has protrusions on both sides. One side of each protrusion is rotatably connected to the gimbal's second joint 114, and the other side is rotatably connected to the first joint motor 113. The gimbal's second joint 114 is fixedly connected to the first joint motor 113. The second joint 114 has a groove for fixing the second joint motor 115, and a through hole for the second joint motor 115 to rotate. The second joint motor 115 is rotatably connected to a vision sensor 116. The vision sensor 116 has a base for fixing the rotation shaft of the second joint motor 115.

[0045] The integrated device 2 includes a skeleton frame 201, a bird shell 202, a first transmission wheel 203, a synchronous belt 204, a second transmission wheel 205, a wing rotation motor 206, an integrated pump 207, a first air pipe 208, a first water pipe 209, an air bladder 210, a water bladder 211, a second air pipe 212, a second water pipe 213, a tail rotation motor 214, a first tail fin 215, a waterproof cloth 216, a second tail fin 217, a tail joint 218, a tail fin motor 219, a first leg motor 220, a first leg joint 221, a second leg joint motor 222, a first leg gear 223, a second leg gear 224, a second leg joint 225, a third leg joint motor 226, a third leg joint 227, a fourth leg joint motor 228, feet 229, and a tail waterproof sleeve 230. The skeleton frame 201 is equipped with a body frame for fixing the cabin 102. The body frame is fixedly connected to the front through-hole of the cabin 102 through a through-hole on its front side. The bird shell 202 has a through-hole on its front side, which is fixedly connected to the front through-hole of the cabin 102 and the body frame of the skeleton frame 201. The body frame of the skeleton frame 201 is fixedly connected to the rear through-hole of the cabin 102 through a through-hole on its rear side. The skeleton frame 201 has protrusions on both sides, which are fixedly connected to the wing rotation motor 206. Figure 9 As shown, the skeleton frame 201 has a through hole for the rotation shaft of the wing rotation motor 206 to rotate. The wing rotation motor 206 is rotatably connected to the second transmission wheel 205. The second transmission wheel 205 is connected to the first transmission wheel 203 via a synchronous belt 204. The first transmission wheel 203 is rolledly connected to the boss of the skeleton frame 201. The integrated pump 207 is fixed to the skeleton frame 201 for pumping air and water. The integrated pump 207 has two air intake / exhaust ports and two water intake / exhaust ports. One end of the first air pipe 208 is connected to one air intake / exhaust port, and the other end is connected to the air bladder 210. One end of the second air pipe 212 is connected to the other air intake / exhaust port, and the other end is fixed to the outside of the bird shell 202. One end of the first water pipe 209 is connected to one water intake / exhaust port, and the other end is connected to the water bladder 211. One end of the second water pipe 213 is connected to the other water intake / exhaust port, and the other end is fixed to the outside of the bird shell 202. The air bladder 210 and the water bladder 211 are fixed to the bottom of the skeleton frame 201. The bird shell 202 has a waterproof port for the air bladder 210 and the water bladder 211 to connect to the outside of the bird shell 202. Figure 10-11As shown, the rear side of the bird shell 202 is fixedly connected to the tail rotating motor 214. The rear side of the bird shell 202 has a waterproof through hole for the rotating shaft of the tail rotating motor 214 to rotate. The tail rotating motor 214 is fixedly connected to the tail joint 218. The tail joint 218 is fixedly connected to the tail wing motor 219. The tail wing motor 219 is rotatably connected to the first tail wing 215. One end of the first tail wing 215 has a gear-like structure, and one end of the second tail wing 217 has a gear-like structure. The first tail wing 215 and the second tail wing 217 are gear-driven. The second tail wing 217 is rotatably connected to the tail joint 218. The waterproof cloth 216 is a flexible cloth structure, with both ends fixedly connected to the first tail wing 215 and the second tail wing 217 respectively. The tail waterproof sleeve 230 is used to wrap the tail joint 218 for waterproof sealing of the bird shell 202 and the outside. Figure 12 As shown, the first leg motor 220 is located at the bottom of the left and right rear sides of the skeleton frame 201. The first leg motor 220 is rotatably connected to the first leg joint 221. The first leg joint 221 has a groove that is fixedly connected to the second leg joint motor 222. The second leg gear 224 is rotatably connected to the second leg joint motor 222. The second leg gear 224 has a semi-gear structure. The first leg gear 223 has a double-layer full gear structure. The bottom gear of the first leg gear 223 is gear-driven connected to the second gear 224. One end of the second leg joint 225 has a semi-gear structure. One end of the second leg joint 225 is gear-driven connected to the second leg gear 224 and the top gear of the first leg gear 223. The other end of the second joint 225 of the leg is fixedly connected to the motor 226 of the third joint of the leg. The motor 226 of the third joint of the leg is rotatably connected to one end of the third joint 227 of the leg. The other end of the third joint 227 of the leg is fixedly connected to the motor 228 of the fourth joint of the leg. The motor 228 of the fourth joint of the leg is rotatably connected to the foot 229.

[0046] like Figure 13-14As shown, the wing device 3 includes a first wing joint 301, a second wing joint motor 302, a second wing joint 303, a third wing joint motor 304, a first wing gear 305, a second wing gear 306, a third wing joint 307, a first wing link 308, a second wing link 309, a third wing link 310, a first wing feather 311, a second wing feather 312, a third wing feather 313, and a fourth wing feather 314. The first joint 301 of the wing is fixedly connected to the first transmission wheel 203. The first joint 301 has protrusions on both sides. One protrusion is rotatably connected to the second joint 303 of the wing, and the other end is rotatably connected to the second joint motor 302 of the wing. The second joint motor 302 is fixedly connected to the second joint 303 of the wing. The second joint 303 has a protrusion for fixing the third joint motor 304 of the wing. The third joint motor 304 is rotatably connected to the second gear 306 of the wing. The second gear 306 has a semi-gear structure. The first gear 305 has a double-layer full gear structure. The bottom gear of the first gear 305 is gear-driven to the second gear 306 of the wing. The third joint 307 of the wing has a gear-shaped protrusion. The protrusion of the third joint 307 has a semi-gear structure. The protrusion of the third joint 307 is semi-gear-driven to the second gear 306 of the wing and the top gear of the first gear 305 of the wing. One end of the third joint 307 of the wing is rotatably connected to one end of the first link 308 of the wing, and the other end of the first link 308 is rotatably connected to one end of the second link 309 of the wing. The other end of the second link 309 and the other end of the third joint 307 of the wing are rotatably connected to the third link 310 of the wing. The third link 310 of the wing has two through holes that are rotatably connected to the third link 310 and the third joint 307 of the wing. The first feather 311 and the second feather 312 of the wing are fixed to the third joint 307 of the wing, and the third feather 313 and the fourth feather 314 of the wing are fixed to the third link 310 of the wing.

[0047] The first wing feather 311 is larger than the second wing feather 312, and the third wing feather 313 is larger than the fourth wing feather 314. The first wing feather 311 is located below the second wing feather 312, and the third wing feather 313 is located below the fourth wing feather 314. The first wing feather 311, the second wing feather 312, the third wing feather 313, and the fourth wing feather 314 are fixed in the direction of the rear side of the third wing joint 307 and the third wing link 310.

[0048] The foot 229 is provided with webbed protrusions, and the protrusions are provided with multiple flexible protrusions to realize a flexible toe structure. A flexible waterproof cloth is provided between the flexible protrusions to realize a webbed membrane structure.

[0049] The sensor 106 includes an attitude sensor, a barometric pressure sensor, a satellite navigation sensor, and a humidity sensor. The controller 111 includes a battery, a microcontroller, a neuromorphic chip, and a flight controller.

[0050] The controller 111 employs neuromorphic chip technology and integrates a robot control model. This control model collects real-time data on environmental terrain, required location, map information, starting point, target point, obstacle positions, air pressure, and temperature, inputting this data into a spiking neural network for processing. This generates control strategies adapted to the current environment and task. The control model not only outputs the robot's movement path in real time but also adjusts the robot's morphological information, precisely calculating and controlling the speed and angle of each joint motor and servo motor, ensuring the robot can move flexibly under various terrain conditions.

[0051] Example 2:

[0052] The present invention discloses a control method for a seagull-inspired, multi-terrain, flapping-wing flying robot based on reinforcement learning. The method is used to control the aforementioned seagull-inspired, multi-terrain, flapping-wing flying robot based on reinforcement learning to perform movement and exploration in the sky, ocean, and land, including flight mode, land mode, and ocean mode.

[0053] The flight mode control process is as follows: The robot control model of the neuromorphic chip in the controller 111 issues a flight command. The controller 111 receives the command and controls the rotation motors 206 and the second joint motors 302 of the left and right wings of the integrated device 2 to rotate, thereby driving the second joints 303 of the left and right wings to adjust to be perpendicular to the ground. The controller controls the third joint motors 304 of the left and right wings to rotate forward, causing the first feather 311, the second feather 312, the third feather 313, and the fourth feather 314 of the wings to flap downwards, and the robot takes off. The controller 111 controls the rotation of the first joint motor 220, the second joint motor 222, the third joint motor 226, and the fourth joint motor 228 of the left and right legs of the integrated device 2 to rotate, so that the second joint 225, the third joint 227 of the legs and the foot 229 are parallel to the ground. Then, the controller 111 collects the attitude sensor information from the sensor 106 and controls the tail rotation motor 214 and the tail wing motor 219 to adjust the attitude of the waterproof cloth 216 to maintain balance. The flight modes include ascent, descent, left turn, right turn, and gliding. For ascent / descent control, controller 111 controls the left and right third joint motors 304 of the integrated device 2 to continuously rotate clockwise, and controls the tail rotation motor 214 and tail fin motor 219 to adjust the waterproof fabric 216 downwards / upwards, thus achieving ascent / descent control. For left / right turn control, controller 111 controls the left third joint motor 304 of the integrated device 2 to lower / raise the left wing device 3, controls the right third joint motor 304 of the integrated device 2 to raise / lower the right wing device 3, and controls the left and right third joint motors 304 of the integrated device 2 to stop rotating, and controls the tail rotation motor 214 and tail fin motor 219 to adjust the waterproof fabric 216 upwards, thus achieving left / right turn control. In the gliding control, the controller 111 controls the left and right third joint motors 304 of the integrated device 2 to make the left and right wing devices 3 parallel to the ground. The controller 111 controls the left and right third joint motors 304 of the integrated device 2 to stop rotating. Then, the controller 111 collects the attitude sensor information of the sensor 106 and controls the tail rotation motor 214 and tail wing motor 219 to adjust the attitude of the waterproof cloth 216 to maintain balance.

[0054] The land mode control process is as follows: the robot control model of the neuromorphic chip of the controller 111 issues a land mode command. The controller 111 receives the command and controls the rotation motors 206 and the second joint motors 302 of the left and right wings of the integrated device 2 to rotate, thereby driving the second joints 303 of the left and right wings to adjust to be parallel to the ground. Then, the controller 111 collects the attitude sensor information of the sensor 106 and controls the tail rotation motor 214 and the tail wing motor 219 to adjust the attitude of the waterproof cloth 216. It controls the third joint motors 304 of the left and right wings to rotate forward, so that the first feather 311, the second feather 312, the third feather 313, and the fourth feather 314 of the wings flap appropriately, thereby maintaining balance. The land mode includes forward, backward, left turn, and right turn. The robot control model sends instructions to the controller 111 through real-time environmental data. The controller 111 controls the rotation of the first leg motor 220, second leg joint motor 222, third leg joint motor 226, and fourth leg joint motor 228 on the left and right sides of the integrated device 2, thereby moving the second leg joint 225, third leg joint 227, and foot 229 to realize the robot's forward, backward, left turn, and right turn.

[0055] The ocean mode includes a surface mode and an underwater mode. The control process for the surface mode is as follows: the robot control model of the neuromorphic chip in the controller 111 issues a surface mode command; the controller 111 receives the command; the controller 111 controls the left and right third joint motors 304 of the integrated device 2 to reduce their speed, thereby slowing down the flapping speed of the first wing feather 311, the second wing feather 312, the third wing feather 313, and the fourth wing feather 314; and controls the tail rotation motor 214 and the tail wing motor 219 to adjust the waterproof cloth 216 upward, achieving a slow descent. Subsequently, the controller 111 controls the integrated pump 207 to draw air from the second air pipe 212 and send air to the first air pipe 208, thereby inflating the air sac 210. The air sac 210 expands, and the robot floats on the sea surface. Then, the controller 111 controls the rotation of the first motor 220, second joint motor 222, third joint motor 226, and fourth joint motor 228 of the left and right legs of the integrated device 2, causing the second joint 225, third joint 227, and foot 229 of the legs to submerge underwater. Then, the controller controls the rotation of the second joint motor 222 of the legs to achieve motion control. The sea surface mode includes forward, left turn, and right turn. For forward control, the controller 111 controls the rotation of the first motor 220, second joint motor 222, third joint motor 226, fourth joint motor 228, and second joint motor 222 of the left and right legs of the integrated device 2, thereby driving the foot 229 to pounce forward, achieving forward control. The left / right turn control is achieved by the controller 111 controlling the rotation of the first leg motor 220, second leg joint motor 222, third leg joint motor 226, fourth leg joint motor 228, and second joint motor 222 on the left side of the integrated device 2, thereby increasing / decreasing the foot 229's flapping speed. The controller 111 also controls the rotation of the first leg motor 220, second leg joint motor 222, third leg joint motor 226, fourth leg joint motor 228, and second joint motor 222 on the right side of the integrated device 2, thereby increasing / decreasing the foot 229's flapping speed.

[0056] In the underwater mode, the robot control model of the neuromorphic chip in the controller 111 issues a surface mode command. The controller 111 receives the command and controls the integrated pump 207 to draw air from the first air pipe 208 and send air to the second air pipe 212, thereby drawing air into the air sac 210, causing the air sac 210 to shrink. The controller 111 also controls the integrated pump 207 to draw water from the second water pipe 213 and send water to the first water pipe 209, thereby filling the water sac 211, causing it to expand and the robot to sink to the bottom. The controller 111 controls the rotation of the first motor 220, second joint motor 222, third joint motor 226, and fourth joint motor 228 of the left and right legs of the integrated device 2, causing the second joint 225, third joint 227, and foot 229 to be parallel to the sea surface. The surface mode includes rising, descending, turning left, and turning right. The ascent / descent control involves the controller 111 controlling the left and right third joint motors 304 of the integrated device 2 to continuously rotate forward, thereby causing the wing device to flap continuously. It also controls the tail rotation motor 214 and tail wing motor 219 to adjust the waterproof cloth 216 downward / upward. The controller 111 controls the left and right leg first motors 220, leg second joint motors 222, leg third joint motors 226, leg fourth joint motors 228, and leg second joint motors 222 to rotate, thereby driving the feet 229 to flap forward, thus achieving ascent / descent control. The left / right turn control involves the controller 111 controlling the left third joint motor 304 of the integrated device 2 to decrease / increase the flapping speed of the left wing device 3, controlling the right third joint motor 304 of the integrated device 2 to decrease / increase the flapping speed of the right wing device 3, controlling the left and right third joint motors 304 of the integrated device 2 to stop rotating, controlling the tail rotation motor 214 and tail wing motor 219 to adjust the waterproof cloth 216 upward, controlling the tail rotation motor 214 and tail wing motor 219 to adjust the waterproof cloth 216 downward / upward, and controlling the tail rotation motor 214 and tail wing motor 219 to adjust the waterproof cloth 216 downward / upward. The controller 111 also controls the left and right leg first motor 220, leg second joint motor 222, leg third joint motor 226, leg fourth joint motor 228, and leg second joint motor 222 of the integrated device 2 to rotate, thereby driving the feet 229 to flap forward, thus achieving left / right turn control.

[0057] 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 puffin-inspired flapping-wing flying robot for various terrains (land, sea, and air) based on reinforcement learning, characterized in that: The system includes a control cabin (1), an integration device (2), and a wing device (3); the control cabin (1) and the wing device (3) are fixed to the integration device (2); the control cabin (1) includes a head (101), a body (102), a front waterproof ring, a control frame (105), a data acquisition sensor (106), a dual-axis motor (107), a rear cover (108), a rear waterproof ring (109), a waterproof socket (110), a controller (111), a visual gimbal, and a visual sensor (116); the integration device (2) includes a skeleton frame (201) and a bird shell (202). First drive wheel (203), synchronous belt (204), second drive wheel (205), wing rotation motor (206), integrated pump (207), first air pipe (208), first water pipe (209), air sac (210), water sac (211), second air pipe (212), second water pipe (213), tail rotation motor (214), first tail fin (215), waterproof cloth (216), second tail fin (217), tail joint (218), tail fin motor (219), leg structure, feet (229), tail waterproof sleeve (230); The front waterproof ring includes a front primary waterproof ring (103) and a front secondary waterproof ring (104); the visual gimbal includes a gimbal first joint (112), a first joint motor (113), a gimbal second joint (114), and a second joint motor (115); the cabin body (102) is fixedly connected to the cabin head (101) through a through hole on the front side, and the rear of the cabin body (102) is provided with a through hole fixedly connected to the rear cover (108); the rear waterproof ring (109) A waterproof seal is fixed to the rear of the cabin (102) for the cabin (102) and the rear cover (108). The rear cover (108) is fixedly connected to the cabin (102) through a through hole. The rear cover (108) has multiple through holes for fixing waterproof sockets (110). The control frame (105) is fixed inside the cabin (102). The rear of the control frame (105) is a sealed structure and has a through hole for wiring. The control frame is a hollow structure with a platform inside. The acquisition sensor (106) and controller (111) are fixed to the control frame (105) platform; the dual-axis motor (107) is fixed to the front side of the control frame (105), the dual-axis motor (107) has two independent rotating axes, the rotating axes are rotatably connected to the two gimbal first joints (112) respectively, the gimbal first joints (112) have protrusions on both sides, one side of the protrusion is rotatably connected to the gimbal second joint (114), the other side of the protrusion is rotatably connected to the first joint motor (113), the gimbal second joint (114) is fixedly connected to the first joint motor (113), the second joint (114) has a groove for fixing the second joint motor (115), the second joint (114) has a through hole for the second joint motor (115) to rotate, the second joint motor (115) is rotatably connected to the vision sensor (116); the vision sensor (116) has a base for fixing the rotating shaft of the second joint motor (115); The leg structure includes a first leg joint (221), a second leg joint motor (222), a first leg gear (223), a second leg gear (224), a second leg joint (225), a third leg joint motor (226), a third leg joint motor (227), and a fourth leg joint motor (228). The skeleton frame (201) is provided with a frame for fixing the cabin (102). The frame is fixedly connected to the front through hole of the cabin (102) through a through hole on the front side. The bird shell (202) is provided with a through hole on the front side and is fixedly connected to the front through hole of the cabin (102) and the frame of the skeleton frame (201). The frame of the skeleton frame (201) is connected to the rear side of the cabin (102) through a through hole on the rear side. The skeleton frame (201) is fixedly connected by through holes; the skeleton frame (201) has protrusions on both sides, the protrusions are fixedly connected to the wing rotation motor (206), the protrusions of the skeleton frame (201) have through holes for the rotation shaft of the wing rotation motor (206) to rotate, the wing rotation motor (206) is rotatably connected to the second transmission wheel (205), the second transmission wheel (205) is connected to the first transmission wheel (203) through a synchronous belt (204), the first transmission wheel (203) is rolledly connected to the protrusion of the skeleton frame (201); the integrated pump (207) is fixed to the skeleton frame (201) for pumping air and water; the integrated pump (207) has two air inlets and two water inlets, one end of the first air pipe (208) is connected to a pump The first air pipe (209) is connected to a water inlet and outlet and a water sac (211) at one end. The second air pipe (212) is connected to another air inlet and outlet at one end and fixed to the outside of the bird shell (202) at the other end. The first water pipe (209) is connected to a water inlet and outlet at one end and to a water sac (211) at the other end. The second water pipe (213) is connected to another water inlet and outlet at one end and fixed to the outside of the bird shell (202) at the other end. The air sac (210) and the water sac (211) are fixed to the bottom of the skeleton frame (201). The rear side of the bird shell (202) is fixedly connected to the tail rotating motor (214). The rear side of the bird shell (202) is provided with a waterproof through hole for the rotating shaft of the tail rotating motor (214) to rotate. The tail rotating motor (214) is connected to the tail joint. (218) Fixed connection, the tail joint (218) is fixedly connected to the tail wing motor (219), the tail wing motor (219) is rotatably connected to the first tail wing (215), one end of the first tail wing (215) is provided with a gear-like structure, one end of the second tail wing (217) is provided with a gear-like structure, the first tail wing (215) and the second tail wing (217) are gear-driven connected, the second tail wing (217) is rotatably connected to the tail joint (218), the waterproof cloth (216) is a flexible cloth structure, both ends are fixedly connected to the first tail wing (215) and the second tail wing (217) respectively, the tail waterproof sleeve (230) is used to wrap the tail joint (218) for waterproof sealing of the bird shell (202) and the outside;The first leg motor (220) is located at the bottom of the left and right rear sides of the skeleton frame (201). The first leg motor (220) is rotatably connected to the first leg joint (221). The first leg joint (221) has a groove that is fixedly connected to the second leg joint motor (222). The second leg gear (224) is rotatably connected to the second leg joint motor (222). The second leg gear (224) is a semi-gear structure. The first leg gear (223) is a double-layer full gear structure. The bottom gear of the first leg gear (223) is gear-driven to the second gear (224). Next, one end of the second leg joint (225) is a half-gear structure, and one end of the second leg joint (225) is connected to the half-gear of the top gear of the second leg gear (224) and the first leg gear (223); the other end of the second leg joint (225) is fixedly connected to the third leg joint motor (226), the third leg joint motor (226) is rotatably connected to one end of the third leg joint (227), the other end of the third leg joint (227) is fixedly connected to the fourth leg joint motor (228), and the fourth leg joint motor (228) is rotatably connected to the foot (229).

2. The puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning according to claim 1, characterized in that, The wing device (3) includes a first wing joint (301), a second wing joint motor (302), a second wing joint (303), a third wing joint motor (304), a first wing gear (305), a second wing gear (306), a third wing joint (307), a first wing link (308), a second wing link (309), a third wing link (310), a first wing feather (311), a second wing feather (312), a third wing feather (313), and a fourth wing feather (314); the first wing joint (301) and... The first transmission wheel (203) is fixedly connected. The first joint (301) of the wing has protrusions on both sides. One protrusion is rotatably connected to the second joint (303) of the wing, and the other end is rotatably connected to the motor (302) of the second joint of the wing. The motor (302) of the second joint of the wing is fixedly connected to the second joint (303). The second joint (303) of the wing has a protrusion for fixing the motor (304) of the third joint of the wing. The motor (304) of the third joint of the wing is rotatably connected to the second gear (306) of the wing. The second gear (306) of the wing has a semi-gear-shaped structure. The first gear (305) of the wing has a double-layer full gear structure. The bottom gear of the first gear (305) is gear-driven to the second gear (306) of the wing. The third joint (307) of the wing is provided with a gear-shaped boss. The boss of the third joint (307) of the wing has a half-gear structure. The boss of the third joint (307) of the wing is gear-driven to the second gear (306) and the top gear of the first gear (305) of the wing. One end of the third joint (307) of the wing is rollingly connected to one end of the first connecting rod (308) of the wing. The other end of the first connecting rod (308) of the wing... One end is slidably connected to one end of the second link (309) of the wing, and the other end of the second link (309) of the wing and the other end of the third joint (307) of the wing are slidably connected to the third link (310) of the wing. The third link (310) of the wing is provided with two through holes that are slidably connected to the third link (310) of the wing and the third joint (307) of the wing. The first feather (311) and the second feather (312) of the wing are fixed to the third joint (307) of the wing, and the third feather (313) and the fourth feather (314) of the wing are fixed to the third link (310) of the wing.

3. The puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning according to claim 2, characterized in that, The first wing feather (311) is larger than the second wing feather (312), the third wing feather (313) is larger than the fourth wing feather (314), the first wing feather (311) is located below the second wing feather (312), and the third wing feather (313) is located below the fourth wing feather (314); the first wing feather (311), the second wing feather (312), the third wing feather (313), and the fourth wing feather (314) are fixed in the direction behind the third wing joint (307) and the third wing link (310).

4. The puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning according to claim 1, characterized in that, The foot (229) is provided with webbed protrusions, and the protrusions are provided with multiple flexible protrusions to realize a flexible toe structure. A flexible waterproof cloth is provided between the flexible protrusions to realize a webbed membrane structure.

5. The puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning according to claim 1, characterized in that, The acquisition sensors (106) include an attitude sensor, a barometric pressure sensor, a satellite navigation sensor, and a humidity sensor; the controller (111) includes a battery, a microcontroller, a neuromorphic chip, and a flight controller.

6. The puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning according to any one of claims 1-5, characterized in that, The controller (111) adopts neuromorphic chip technology and integrates a robot control model. The control model collects environmental terrain, demand location, map information, starting point, target point, obstacle location, air pressure and temperature data in real time, and inputs them into a spiking neural network for processing, thereby generating a control strategy that adapts to the current environment and task. The control model outputs the robot's travel path in real time, adjusts the robot's shape information, and accurately calculates and controls the speed and angle of each joint motor and servo motor to ensure that the robot can move flexibly under various terrain conditions.

7. A control method for a puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning, wherein the control method employs the puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning as described in any one of claims 1-6 for movement and detection in the sky, ocean, and land, characterized in that, Includes flight mode, land mode, and ocean mode; The flight mode control process is as follows: the robot control model of the neuromorphic chip of the controller (111) issues a flight command, the controller (111) receives the command, controls the rotation motors (206) and the second joint motors (302) of the left and right wings of the integrated device (2) to rotate, thereby driving the second joints (303) of the left and right wings to adjust to be perpendicular to the ground, and controls the third joint motors (304) of the left and right wings to rotate forward, causing the first feather (311), the second feather (312), the third feather (313), and the fourth feather (314) of the wings to move downward. With a flap, the robot takes off; the controller (111) controls the rotation of the first leg motor (220), second leg joint motor (222), third leg joint motor (226), and fourth leg joint motor (228) of the integrated device (2) on the left and right sides, so that the second leg joint (225), third leg joint (227) and foot (229) are parallel to the ground. Then the controller (111) collects the attitude sensor information of the sensor (106) and adjusts the attitude of the waterproof cloth (216) by controlling the tail rotation motor (214) and tail wing motor (219) to maintain balance. The land mode control process is as follows: the robot control model of the neuromorphic chip of the controller (111) issues a land mode command. The controller (111) receives the command and controls the rotation motors (206) and the second joint motors (302) of the left and right wings of the integrated device (2) to rotate, thereby driving the second joints (303) of the left and right wings to be adjusted to be parallel to the ground. Then, the controller (111) collects the attitude sensor information of the sensor (106) and controls the tail rotation motor (214) and the tail wing motor (219) to adjust the attitude of the waterproof cloth (216). It controls the third joint motors (304) of the left and right wings to rotate forward, so that the first feather (311), the second feather (312), the third feather (313), and the fourth feather (314) of the wings flap appropriately, thereby maintaining balance. The ocean mode includes a surface mode and an underwater mode; the control process of the surface mode is as follows: the robot control model of the neuromorphic chip of the controller (111) issues a surface mode command, the controller (111) receives the command, the controller (111) controls the left and right third joint motors (304) of the integrated device (2) to reduce the speed, thereby slowing down the flapping speed of the first wing feather (311), the second wing feather (312), the third wing feather (313), and the fourth wing feather (314), and controlling the tail rotation motor (214) and the tail fin motor. The robot (219) adjusts the waterproof cloth (216) upwards to achieve a slow descent; then, the controller (111) controls the integrated pump (207) to draw air from the second air pipe (212) and send air to the first air pipe (208) to inflate the air sac (210). The air sac (210) expands, and the robot floats on the sea surface. Then, the controller (111) controls the integrated device (2) to rotate the first motor (220), second joint motor (222), third joint motor (226), and fourth joint motor (228) of the left and right legs to make the robot float on the sea surface. The second joint (225) of the leg, the third joint (227) of the leg, and the foot (229) are submerged underwater. Then, the second joint motor (222) of the leg is controlled to rotate to achieve motion control. In the underwater mode, the robot control model of the neuromorphic chip of the controller (111) issues a sea surface mode command. The controller (111) receives the command and controls the integrated pump (207) to draw air from the first air tube (208) and send air to the second air tube (212) to draw air into the air sac (210), and the air sac (210) becomes smaller. 11) Control the integrated pump (207) to draw water from the second water pipe (213) and send water to the first water pipe (209) to fill the water sac (211). The water sac (211) expands and the robot sinks to the bottom of the water. The controller (111) controls the integrated device (2) to rotate the first motor (220), second joint motor (222), third joint motor (226), and fourth joint motor (228) of the left and right legs so that the second joint (225), third joint (227), and foot (229) of the legs are parallel to the sea surface.

8. The control method for a puffin-inspired multi-terrain flapping-wing flying robot based on reinforcement learning according to claim 7, characterized in that, The flight mode includes ascent, descent, left turn, right turn, and gliding; the controller (111) controls the left and right third joint motors (304) of the integrated device (2) to continuously rotate forward, and controls the tail rotation motor (214) and tail fin motor (219) to adjust the waterproof cloth (216) downward / upward to achieve ascent / descent control; the controller (111) controls the left third joint motor (304) of the integrated device (2) to make the left wing device (3) droop / raise, and controls the right third joint motor (304) of the integrated device (2) to make the right wing device (3) raise / droop; the controller (111) controls the left and right third joint motors of the integrated device (2) to make the right wing device (3) raise / droop. (304) Stop rotating, control the tail rotation motor (214) and tail wing motor (219) to adjust the waterproof cloth (216) upward, realize left / right turn control; controller (111) controls the left and right third joint motors (304) of the integrated device (2) to make the left and right wing devices (3) parallel to the ground, controller (111) controls the left and right third joint motors (304) of the integrated device (2) to stop rotating, and then controller (111) collects the attitude sensor information of sensor (106) and adjusts the attitude of waterproof cloth (216) by controlling the tail rotation motor (214) and tail wing motor (219) to maintain balance and realize gliding control; The land mode movement includes forward, backward, left turn, and right turn. The robot control model sends instructions to the controller (111) through real-time environmental data. The controller (111) rotates the first leg motor (220), second leg joint motor (222), third leg joint motor (226), and fourth leg joint motor (228) on the left and right sides of the integrated device (2), causing the second leg joint (225), third leg joint (227), and foot (229) to move, thereby realizing the robot's forward, backward, left turn, and right turn. The movement in the sea surface mode includes forward movement, left turn, and right turn. For forward movement control, the controller (111) controls the rotation of the first motor (220), second joint motor (222), third joint motor (226), fourth joint motor (228), and second joint motor (222) of the left and right legs of the integrated device (2), thereby driving the foot (229) to lunge forward, thus achieving forward movement control. For left / right turn control, the controller (111) controls the first motor (220) of the left leg and the second joint motor (222) of the right leg of the integrated device (2). The motor (222), the third joint motor (226), the fourth joint motor (228), and the second joint motor (222) of the leg rotate, thereby driving the foot (229) to decrease / increase the flapping speed. The controller (111) controls the right leg first motor (220), the second joint motor (222), the third joint motor (226), the fourth joint motor (228), and the second joint motor (222) of the integrated device (2) to rotate, thereby driving the foot (229) to increase / increase the flapping speed, and realize left / right turn control. The underwater movement includes ascent, descent, left turn, and right turn; the ascent / descent control involves the controller (111) controlling the third joint motors (304) on the left and right sides of the integrated device (2) to continuously rotate forward, thereby causing the wing device to flap continuously, controlling the tail rotation motor (214) and tail fin motor (219) to adjust the waterproof cloth (216) downward / upward, and the controller (111) controlling the first leg motor (220), second leg joint motor (222), third leg joint motor (226), fourth leg joint motor (228), and second joint motor (222) on the left and right sides of the integrated device (2) to rotate, thereby driving the feet (229) to flap forward, thus realizing the ascent / descent control; the left turn / right turn control involves the controller (111) controlling the third joint motor (304) on the left side of the integrated device (2) to make the left wing device (3) The flapping speed decreases / increases, and the right third joint motor (304) of the integrated device (2) causes the flapping speed of the right wing device (3) to decrease / increase. The controller (111) controls the left and right third joint motors (304) of the integrated device (2) to stop rotating, controls the tail rotation motor (214) and tail wing motor (219) to adjust the waterproof cloth (216) upward, controls the tail rotation motor (214) and tail wing motor (219) to adjust the waterproof cloth (216) downward / upward, and the controller (111) controls the left and right leg first motor (220), leg second joint motor (222), leg third joint motor (226), leg fourth joint motor (228), and leg second joint motor (222) of the integrated device (2) to rotate, thereby driving the feet (229) to flap forward, realizing left / right turn control.

Images