Bionic cuttlefish type underwater detection robot bow molded line optimization method and system

Abstract

The invention discloses a bionic cuttlefish type underwater detection robot bow molded line optimization method and system, and relates to the technical field of structure optimization, and the method comprises the steps: obtaining a resistance calculation model of a bionic cuttlefish type underwater detection robot; all computational domains covering the fluid area are selected according to the resistance calculation model, and boundary conditions are selected after the computational domains are selected; discretizing the computational domain, and performing grid division; inputting the grids into a flow field solution to obtain the relationship among the inlet fluid speed, the navigational speed and the outlet pressure, and obtaining the distribution of the overall resistance of the resistance calculation model; and the bow profile is adjusted according to the distribution of the overall resistance until the bow profile with the optimal resistance reduction effect is achieved. According to the method, all the computational domains covering the fluid area are selected for the resistance calculation model of the robot, and grid division is performed on the computational domains, so that the resistance calculation efficiency and the result accuracy of the resistance calculation model are improved, and the design of the bow molded line of the robot is better realized.

Description

Technical Field

[0001] The invention relates to the technical field of structural optimization, and in particular to a method and system for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot. Background Art

[0002] Underwater detectors generally work in deep water layers and are used to explore unknown ocean environments and detect and collect various ocean information.

[0003] In recent years, detectors have been developing towards low energy consumption, small size and bionic appearance. For example, new integrated sensors are designed to reduce energy consumption, the special structure of seal whiskers is imitated to increase the detection distance, and wireless power transmission technology or photovoltaic power generation are used.

[0004] However, existing detectors generally have the following problems: the detectors have a peculiar appearance. Although most of them adopt a streamlined design, the above streamlined design is only an idealized design. In actual production, due to the uneven underwater resistance and other conditions, the bow profile of the detector produces a large and uneven resistance when moving underwater, which makes the detector move slowly and consumes a lot of energy, and does not meet the mechanical requirements for underwater movement. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot in response to the deficiencies of the above-mentioned prior art, so as to solve the problem that the detector in the prior art has a peculiar appearance. Although most of them adopt a streamlined design, the above-mentioned streamlined design is only an idealized design. In actual production, due to the uneven underwater resistance and other conditions, the bow profile of the detector generates a large and uneven resistance when moving underwater, which makes the detector move slowly and consumes a lot of energy, and does not meet the mechanical requirements for underwater movement.

[0006] The present invention specifically provides the following technical solutions: A method for optimizing the bow profile of a bionic cuttlefish-shaped underwater detection robot comprises the following steps: In the resistance calculation model of the bionic cuttlefish underwater detection robot, the calculation domain of all the fluid areas covered by the bionic cuttlefish underwater detection robot is selected, and the boundary conditions are selected after the calculation domain is selected; the boundary conditions are the inlet fluid velocity condition and the outlet pressure condition; Based on the boundary conditions, the computational domain is meshed, and the meshed components are brought into the flow field solution of the bionic cuttlefish-type underwater detection robot. The force condition of the rotating body is obtained by integrating the surface pressure of the rotating body in the bionic cuttlefish-type underwater detection robot, and the overall resistance distribution of the resistance calculation model is obtained through the force condition of the rotating body. The bow molded line is adjusted according to the size of the overall resistance distribution, the boat type is optimized, the boat type parameters are continuously changed, the resistance calculation model is re-established, and the latest resistance value is obtained through the process of iteratively obtaining the overall resistance distribution of the resistance calculation model, until the latest resistance value is minimized, and the bow molded line that achieves the best drag reduction effect is obtained.

[0007] Preferably, in the resistance calculation model of the bionic cuttlefish-type underwater detection robot, a rectangular coordinate system is used, with the top of the resistance calculation model as the coordinate origin and the central symmetry axis direction of the resistance calculation model as the coordinate origin. x Axis direction, with the incoming flow direction when there is no angle of attack as y Axis direction, with the vertical upward direction as z Axis direction.

[0008] Preferably, the selection of the computational domain of all the fluid areas covered by the bionic cuttlefish-type underwater detection robot includes: When selecting the computational domain, the front end along the direction of travel of the underwater detector is extended to 1 times the length of the boat, the rear end is extended to 2 times the length of the boat, and the width is extended to 1 times the width of the boat on both sides. Finally, the height is extended to 2 times the height of the boat on both sides to obtain a rectangular computational domain.

[0009] Preferably, the step of selecting boundary conditions after selecting the computational domain includes: The velocity inlet condition is located at the entrance of the computational domain, and the corresponding velocity value is set between the computational domain and the boundary, and its direction is the negative direction of the x-axis; Set the pressure outlet condition at the outlet of the computational domain.

[0010] Preferably, the step of selecting boundary conditions after selecting the computational domain further includes: By extrapolating the inside of the computational domain, the flow conditions of the outflow surface are obtained without affecting the flow upstream; In the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are all set to 0, simulating the actual performance of the bionic cuttlefish-type underwater detection robot AUV in the underwater environment.

[0011] Preferably, when performing mesh division, the cut volume mesh is used as the mesh after division.

[0012] The present invention provides a bionic cuttlefish-type underwater detection robot bow line optimization system, comprising: A selection module is used to select the calculation domain of all the fluid areas covered by the bionic cuttlefish-type underwater detection robot in the resistance calculation model of the bionic cuttlefish-type underwater detection robot, and select boundary conditions after the calculation domain is selected; the boundary conditions are the inlet fluid velocity condition and the outlet pressure condition; A partitioning module is used to perform grid partitioning on the computational domain based on boundary conditions, and substitute the partitioned grids into the flow field solution of the bionic cuttlefish-type underwater detection robot, obtain the force condition of the rotating body by integrating the surface pressure of the rotating body in the bionic cuttlefish-type underwater detection robot, and obtain the overall resistance distribution of the resistance calculation model by the force condition of the rotating body; The adjustment module is used to adjust the bow line according to the size of the overall resistance distribution, optimize the boat type, continuously change the boat type parameters, re-establish the resistance calculation model, and obtain the latest resistance value through the process of iteratively obtaining the overall resistance distribution of the resistance calculation model, until the latest resistance value is minimized, and obtain the bow line that achieves the best drag reduction effect.

[0013] The present invention provides a computer device, comprising a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of the above-mentioned method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot.

[0014] The present invention provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot are realized.

[0015] Compared with the prior art, the present invention has the following significant advantages: The present invention calculates the overall resistance of the bionic cuttlefish underwater detection robot based on the computational fluid dynamics method, analyzes the robot surface pressure and surrounding flow field characteristics, and optimizes the bow profile to reduce resistance. By selecting all calculation domains covering the fluid area for the robot's resistance calculation model, discretizing the calculation domain, and performing grid division, the calculation efficiency and result accuracy of the resistance calculation model are improved, and the design of the robot's bow profile is better realized, so that the underwater detection robot has uniform and minimized resistance, improves the moving speed and reduces energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a resistance calculation model diagram of the bionic cuttlefish-type underwater detection robot in the present invention; Figure 2 This is a comparison diagram of bow resistance of different shapes in the present invention; Figure 3 The present invention is a flow chart of a method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot. DETAILED DESCRIPTION

[0017] The following is a clear and complete description of the technical solutions of the embodiments of the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0018] like Figure 3 As shown, the present invention provides a method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot, comprising the following steps: Step S1: In the resistance calculation model of the bionic cuttlefish-type underwater detection robot, the calculation domain of all fluid areas covered by the bionic cuttlefish-type underwater detection robot is selected, and the boundary conditions are selected after the calculation domain is selected; the boundary conditions are the inlet fluid velocity conditions and the outlet pressure conditions.

[0019] like Figure 1 As shown in the resistance calculation model of the bionic cuttlefish-type underwater detection robot, in the resistance calculation model established for the bionic cuttlefish-type underwater detection robot, the coordinate system uses a rectangular coordinate system, with the top of the resistance calculation model as the coordinate origin, and the central symmetry axis direction of the resistance calculation model as x Axis direction, with the incoming flow direction when there is no angle of attack as y Axis direction, with the vertical upward direction as z Axis direction.

[0020] According to the resistance calculation model, all calculation domains covering the fluid area are selected, including: In the study of accurately simulating the motion of underwater probes and the influence of the fluid dynamics around them, it is very important to select an appropriate computational domain.

[0021] This domain should cover all key fluid areas to capture dynamic interactions. The specific dimensions of the domain are: the front end extends to 1 times the length of the boat along the direction of the underwater detector, the rear end expands to 2 times the length of the boat, and the width extends to 1 times the width of the boat on both sides, and finally extends to 2 times the height of the boat on both sides to obtain a rectangular calculation domain.

[0022] Among them, after selecting the computational domain, select the boundary conditions, including: The velocity inlet condition is located at the inlet of the computational domain, and the corresponding velocity value is set between the region and the boundary, and its direction is the negative direction of the x-axis. The pressure outlet condition is set at the outlet of the computational domain, which is a fully developed flow.

[0023] By extrapolating the inside of the computational domain, the flow condition of the outflow surface is obtained without affecting the upstream flow; in the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are set to 0 to simulate the actual performance of the bionic cuttlefish-type underwater detection robot AUV in the underwater environment.

[0024] The entire computational domain is configured as a fluid state. The control domain defines the range or boundaries that the controller can influence or control, as opposed to the control domain in a computational domain (such as a computer system or a computational process).

[0025] Step S2: Based on the boundary conditions, the computational domain is meshed, and the meshed components are brought into the flow field solution of the bionic cuttlefish-type underwater detection robot. The force condition of the rotating body is obtained by integrating the surface pressure of the rotating body in the bionic cuttlefish-type underwater detection robot, and the overall resistance distribution of the resistance calculation model is obtained through the force condition of the rotating body.

[0026] When meshing, use the cut volume mesh as the mesh after meshing. Specifically: Using high-quality meshes is important for accurate and reliable computational fluid dynamics analysis. The quality of the mesh not only affects the speed of the calculation, but also has a profound impact on the accuracy and reliability of the final calculation results.

[0027] When dividing the mesh, although the polyhedral mesh can retain its geometric features to the greatest extent, it is easy to cause errors in calculations. The convergence speed of the cut volume mesh is faster than that of the polyhedral mesh, and the mesh quality is also better than that of the polyhedral mesh, which can reduce the errors in the calculation, so the cut volume mesh is selected for calculation.

[0028] In order to ensure the accuracy of the resistance calculation results, grid independence verification is performed.

[0029] Table 1 Grid independence verification

[0030] In this embodiment, four groups of grids with different numbers of grids are set, and the grid independence is verified under the condition that other conditions except the number of grids are the same. The verification results are shown in Table 1.

[0031] From the above calculation results, it is known that as the number of grids increases, the resistance value gradually decreases. The number of grids No. 3 and No. 4 is almost 1 times different, and the resistance value is very small. Therefore, it is considered that the results have converged and the independence of the grids has been successfully verified. In addition, because the increase in the number of grids will increase the calculation time, the number of grids finally selected by the present invention is 2365165, considering the calculation efficiency and the accuracy of the results.

[0032] Later, according to the calculation results, it can be known that the resistance of the underwater detection robot in this embodiment gradually increases with the increase of speed, and in the analysis of surface pressure, it is found that the maximum pressure appears at the bow, so the strength should be strengthened in the bow structure design to improve the pressure resistance of the bow.

[0033] The grid is input into the flow field solution, and the force condition of the rotating body is obtained by integrating the surface pressure of the rotating body in the bionic cuttlefish-type underwater detection robot, and the overall resistance distribution of the resistance calculation model is obtained.

[0034] Specifically: Based on the finite volume method, the Navier-Stokes equations are solved in three-dimensional space to obtain the force conditions of the rotating body by integrating the surface pressure of the rotating body. A velocity inlet and a velocity outlet are set according to the principle of relativity of motion to simulate the flow field of water passing through the rotating body and calculate the force on the rotating body at this time.

[0035] Governing equations of flow field and turbulence model: Assuming that the underwater environment is a Newtonian fluid that is adiabatic and incompressible, it can be concluded that the movement of the fluid does not involve energy exchange and strictly follows the laws of physical conservation. Therefore, the corresponding control equations are established mainly based on the laws of conservation of mass and energy. These equations provide mathematically accurate expressions for describing the dynamic behavior of the fluid.

[0036] The expression of the mass conservation equation is: (1); Where: is the density, t For time, u , v , w The velocity vector U is x , y , z And so on in three directions.

[0037] For Newtonian fluids x , y , z The momentum conservation equations in the three directions are: (2); Where: is the dynamic viscosity, , and is the generalized source term of the momentum conservation equation, p is the pressure on the fluid element, is the gradient.

[0038] Underwater fluid is in a turbulent state in most cases. This embodiment uses the non-steady-state continuity equation and the Navier-Stokes equation to analyze the instantaneous motion of turbulence.

[0039] The Reynolds-averaged Navier-Stokes equations (RANS) divide turbulence into two parts: average flow and pulsating flow. The turbulence model is further used to close the Navier-Stokes equations to achieve a closed solution to the Navier-Stokes equations. Although the RANS method does not take into account the effect of density pulsation, it also takes into account the change in average density. The Reynolds-averaged Navier-Stokes equations are shown below: (3); In the formula i , j Take 1, 2, and 3 respectively to represent different spatial coordinate directions.

[0040] Because the Reynolds stress term related to the turbulence fluctuation value in the equation It is an unknown quantity, which makes the equation not closed. Therefore, the most widely used k-ε model is used to close the equation. and turbulent dissipation rate ε Defined as: (4); (5); in, for x The mean of the square of the directional component pulsation velocity, for y The mean of the square of the directional component pulsation velocity, for z The mean of the square of the directional component pulsation velocity, for x The mean value of the directional component pulsation velocity, for y The mean value of the directional component pulsation velocity, for z The mean value of the directional component pulsation velocity, Turbulent kinetic energy The spatial coordinates of .

[0041] In the standard k-ε model, the corresponding transport equation is: (6); (7); Where: Turbulent kinetic energy The first generation term, which is caused by the average velocity gradient; Turbulent kinetic energy The second generation term is caused by buoyancy; is the contribution to the pulsation expansion in compressible turbulence; , , are general empirical constants, both of which are Prandtl numbers, and they are related to the turbulent kinetic energy and dissipation rate ε correspond, is the source term, defined by the user, Turbulent kinetic energy k The corresponding Prandtl number is, is the eddy viscosity coefficient, is the turbulent dissipation rate The corresponding Prandtl number.

[0042] Furthermore, the finite volume method is used to discretize the above control equations. The discretization process is as follows: Represents various physical quantities, and for differential equations in the control volume V Integrate within, that is: (8); Then by Gauss's formula: Transform it into: (9); After discretization, we can get: (10); Where: for exist f The convection value on the surface, for The normal direction value on the f surface, To pass f The mass flux of the surface, for f The area vector of the face, is the number of element faces around the control volume, for The diffusion coefficient, is the source item.

[0043] After discretization, the discretized equations are solved using a semi-implicit method of the pressure-coupled equations.

[0044] Step S3: The bow line is adjusted according to the size of the overall resistance distribution to optimize the boat type, the boat type parameters are continuously changed, the resistance calculation model is re-established, and the latest resistance value is obtained through the process of iteratively obtaining the overall resistance distribution of the resistance calculation model, until the latest resistance value is minimized, and the bow line with the best drag reduction effect is obtained.

[0045] At the same time, the profile can play the role of dispersing flow, providing greater pressure for the rear piezoelectric part of the detection robot, and using ocean energy to stimulate the piezoelectric material to deform to generate electricity.

[0046] After consulting relevant materials, several bow profiles with better effects in reducing underwater resistance were found: teardrop-shaped, MYing-shaped, semi-elliptical and other bow profiles. At the same time, in one embodiment of the present invention, a warhead-shaped bow profile is improved and designed with reference to the existing bow profiles, and relevant bow resistance comparison and verification are carried out based on the above four profile design schemes.

[0047] The mathematical expression of the teardrop-shaped bow is: (11); Where: is the radius of the curve at each point, is the axial position; D is the maximum cross-sectional diameter, i.e. the parallel mid-section diameter; is the length of the bow; is the bow shape index, and its value indicates the fullness of the bow curve. In this embodiment, =2.4.

[0048] The mathematical expression of the semi-elliptical bow is: (12); The mathematical expression of MYing type bow is: (13); In the formula n is the head shape index, in this embodiment, n =2.

[0049] In the embodiment, the resistance values ​​corresponding to the above four schemes under different speed conditions are calculated and compared to obtain the optimal bow profile. The calculation and comparison results are shown in Table 2. In order to more intuitively compare the resistance differences of the four profile design schemes, a line graph is drawn as shown in Figure 2 shown.

[0050] Table 2 Calculated values ​​of different bow resistance

[0051] From Table 2 and Figure 2It can be found that when the speed is low (1.5m / s), the resistance values ​​of the four types of line designs are similar, but as the speed increases, the difference gradually increases. Overall, the resistance increase trend of the bullet-shaped bow line is significantly lower than that of the other three lines. The results show that the bullet-shaped bow line has excellent drag reduction performance. Therefore, in this embodiment, the head of the underwater detection robot is designed to be bullet-shaped to reduce resistance.

[0052] Based on the above method, the present invention provides a bow profile optimization system for a bionic cuttlefish-type underwater detection robot, comprising: a selection module, a division module and an adjustment module.

[0053] The selection module is used to select the calculation domain of all fluid areas covered by the bionic cuttlefish underwater detection robot in the resistance calculation model of the bionic cuttlefish underwater detection robot, and select the boundary conditions after the calculation domain is selected; the boundary conditions are the inlet fluid velocity conditions and the outlet pressure conditions; the division module is used to grid the calculation domain based on the boundary conditions, and bring the divided grids into the flow field solution of the bionic cuttlefish underwater detection robot, and obtain the force condition of the rotating body by integrating the surface pressure of the rotating body in the bionic cuttlefish underwater detection robot, and obtain the overall resistance distribution of the resistance calculation model through the force condition of the rotating body; the adjustment module is used to adjust the bow line according to the size of the overall resistance distribution, optimize the boat type, continuously change the boat type parameters, re-establish the resistance calculation model, and obtain the latest resistance value through the process of iteratively obtaining the overall resistance distribution of the resistance calculation model, until the latest resistance value is minimized, and the bow line with the best drag reduction effect is obtained.

[0054] The present invention also provides a computer device, including a memory and a processor, wherein a program is stored in the memory, and when the program is executed by the processor, the processor executes the steps of a method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot.

[0055] According to the disclosed embodiments, a computing device may communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth communications, etc.), or with any device (e.g., routers, modems, etc.) that enables a computing device to communicate with one or more other computing devices.

[0056] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot are implemented.

[0057] According to the disclosed embodiments, the storage medium may be a non-volatile computer-readable storage medium, such as but not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0058] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. For technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as belonging to the protection scope of the present invention.

Claims

1. A method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot, characterized in that: The steps include: In the resistance calculation model of the bionic cuttlefish underwater detection robot, the calculation domain of all the fluid areas covered by the bionic cuttlefish underwater detection robot is selected, and the boundary conditions are selected after the calculation domain is selected; the boundary conditions are the inlet fluid velocity condition and the outlet pressure condition; Based on the boundary conditions, the computational domain is meshed, and the meshed components are brought into the flow field solution of the bionic cuttlefish-type underwater detection robot. The force condition of the rotating body is obtained by integrating the surface pressure of the rotating body in the bionic cuttlefish-type underwater detection robot, and the overall resistance distribution of the resistance calculation model is obtained through the force condition of the rotating body. The bow molded line is adjusted according to the size of the overall resistance distribution, the boat type is optimized, the boat type parameters are continuously changed, the resistance calculation model is re-established, and the latest resistance value is obtained through the process of iteratively obtaining the overall resistance distribution of the resistance calculation model, until the latest resistance value is minimized, and the bow molded line that achieves the best drag reduction effect is obtained.

2. The method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to claim 1, characterized in that: In the resistance calculation model of the bionic cuttlefish-type underwater detection robot, a rectangular coordinate system is used, with the top of the resistance calculation model as the coordinate origin and the central symmetry axis direction of the resistance calculation model as the coordinate origin. x Axis direction, with the incoming flow direction when there is no angle of attack as y Axis direction, with the vertical upward direction as z Axis direction.

3. The method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to claim 1, characterized in that: The calculation domain of selecting all the fluid areas covered by the bionic cuttlefish-type underwater detection robot includes: When selecting the computational domain, the front end along the direction of travel of the underwater detector is extended to 1 times the length of the boat, the rear end is extended to 2 times the length of the boat, and the width is extended to 1 times the width of the boat on both sides. Finally, the height is extended to 2 times the height of the boat on both sides to obtain a rectangular computational domain.

4. The method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to claim 1, characterized in that: The step of selecting boundary conditions after selecting the computational domain includes: The velocity inlet condition is located at the entrance of the computational domain, and the corresponding velocity value is set between the computational domain and the boundary, and its direction is the negative direction of the x-axis; Set the pressure outlet condition at the outlet of the computational domain.

5. The method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to claim 4, characterized in that: The step of selecting boundary conditions after selecting the computational domain also includes: By extrapolating the inside of the computational domain, the flow conditions of the outflow surface are obtained without affecting the flow upstream; In the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are all set to 0, simulating the actual performance of the bionic cuttlefish-type underwater detection robot AUV in the underwater environment.

6. The method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to claim 1, characterized in that: When meshing, the cut volume mesh is used as the mesh after meshing.

7. A bionic cuttlefish-type underwater exploration robot bow line optimization system, characterized in that: include: A selection module is used to select the calculation domain of all the fluid areas covered by the bionic cuttlefish-type underwater detection robot in the resistance calculation model of the bionic cuttlefish-type underwater detection robot, and select boundary conditions after the calculation domain is selected; the boundary conditions are the inlet fluid velocity condition and the outlet pressure condition; A partitioning module is used to perform grid partitioning on the computational domain based on boundary conditions, and substitute the partitioned grids into the flow field solution of the bionic cuttlefish-type underwater detection robot, obtain the force condition of the rotating body by integrating the surface pressure of the rotating body in the bionic cuttlefish-type underwater detection robot, and obtain the overall resistance distribution of the resistance calculation model by the force condition of the rotating body; The adjustment module is used to adjust the bow line according to the size of the overall resistance distribution, optimize the boat type, continuously change the boat type parameters, re-establish the resistance calculation model, and obtain the latest resistance value through the process of iteratively obtaining the overall resistance distribution of the resistance calculation model, until the latest resistance value is minimized, and obtain the bow line that achieves the best drag reduction effect.

8. A computer device, characterized in that: It comprises a memory and a processor, wherein the memory stores a program, and when the program is executed by the processor, the processor executes the steps of a method for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot as described in any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to any one of claims 1 to 6 are implemented.

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