A method and system for optimizing the bow profile of a bionic cuttlefish-shaped underwater exploration robot

Abstract

The present invention discloses a method and system for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot, which relates to the field of structural optimization technology and includes the following steps: obtaining a resistance calculation model of the bionic cuttlefish-type underwater exploration robot; selecting all calculation domains covering the fluid area according to the resistance calculation model, and selecting boundary conditions after the calculation domains are selected; discretizing the calculation domains and performing grid division; inputting the grids into a flow field solution to obtain the relationship between the inlet fluid velocity, the ship speed, and the outlet pressure, and obtaining the overall resistance distribution of the resistance calculation model; and adjusting the bow profile according to the overall resistance distribution until a bow profile with the best drag reduction effect is achieved. The present invention improves the calculation efficiency and result accuracy of the resistance of the resistance calculation model by selecting all calculation domains covering the fluid area of ​​the robot's resistance calculation model and performing grid division on the calculation domains, thereby better realizing the design of the robot's bow profile.

Description

Technical Field

[0001] The present invention relates to the technical field of structural optimization, and in particular to a bow profile optimization method and system for a bionic cuttlefish-type underwater exploration 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 biomimetic appearance. Examples include designing new integrated sensors to reduce energy consumption, mimicking the unique structure of seal whiskers to increase detection range, and employing wireless power transmission technology or photovoltaic power generation designs.

[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 large and uneven resistance when moving underwater, making the detector move slowly and consume a lot of energy, which does not meet the mechanical requirements for underwater movement. Summary of the Invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art and provide a method and system for optimizing the bow profile of a bionic cuttlefish-type underwater detection robot, so as to solve the problem that the detectors in the prior art have 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, causing the detector to move slowly and consume a lot of energy, which does not meet the mechanical requirements for moving underwater.

[0006] The present invention specifically provides the following technical solutions:

[0007] A method for optimizing the bow profile of a bionic cuttlefish-shaped underwater exploration robot comprises the following steps:

[0008] In the resistance calculation model of the bionic cuttlefish-type underwater exploration robot, a calculation domain of all fluid areas covered by the bionic cuttlefish-type underwater exploration robot is selected, and boundary conditions are selected after the calculation domain is selected; the boundary conditions are an inlet fluid velocity condition and an outlet pressure condition;

[0009] Based on the boundary conditions, the computational domain is meshed, and the meshed grid is brought into the flow field solution of the bionic cuttlefish-type underwater exploration robot. The force condition of the rotating body is obtained by integrating the surface pressure of the rotating body of the bionic cuttlefish-type underwater exploration robot, and the overall resistance distribution of the resistance calculation model is obtained based on the force condition of the rotating body.

[0010] The bow profile is adjusted according to the size of the overall resistance distribution to optimize the boat type, continuously change the boat type parameters, re-establish the resistance calculation model, and iteratively obtain the overall resistance distribution of the resistance calculation model to obtain the latest resistance value. When the latest resistance value is minimized, the bow profile that achieves the best drag reduction effect is obtained.

[0011] 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 system. x Axis direction, with the incoming flow direction when there is no angle of attack as y Axis direction, with vertical upward direction as z Axis direction.

[0012] Preferably, the selection of the computational domain of all covered fluid areas of the bionic cuttlefish-type underwater detection robot includes:

[0013] When selecting the computational domain, the front end is extended to 1 times the length of the boat along the direction of travel of the underwater detector, 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.

[0014] Preferably, the step of selecting boundary conditions after selecting the computational domain includes:

[0015] The velocity entry condition is located at the entrance of the computational domain, and the corresponding velocity value is set between the computational domain and the boundary, with the direction being the negative direction of the x-axis.

[0016] Set the pressure outlet condition at the outlet of the computational domain.

[0017] Preferably, the step of selecting boundary conditions after selecting the computational domain further includes:

[0018] By extrapolating the interior of the computational domain, the flow conditions at the outflow surface are obtained without affecting the upstream flow;

[0019] In the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are all set to 0 to simulate the actual performance of the bionic cuttlefish-type underwater exploration robot AUV in the underwater environment.

[0020] Preferably, when performing mesh division, the cut volume mesh is used as the mesh after division.

[0021] The present invention provides a bow line optimization system for a bionic cuttlefish-shaped underwater exploration robot, comprising:

[0022] A selection module is used to select, in a resistance calculation model of the bionic cuttlefish-type underwater detection robot, a calculation domain of all fluid areas covered by the bionic cuttlefish-type underwater detection robot, and select boundary conditions after the calculation domain is selected; the boundary conditions are an inlet fluid velocity condition and an outlet pressure condition;

[0023] a partitioning module for performing grid partitioning on the computational domain based on boundary conditions, substituting the partitioned grid into the flow field solution of the bionic cuttlefish-type underwater detection robot, obtaining the force condition of the rotating body by integrating the surface pressure of the rotating body of the bionic cuttlefish-type underwater detection robot, and obtaining the overall resistance distribution of the resistance calculation model based on the force condition of the rotating body;

[0024] 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. When the latest resistance value is minimized, the bow line with the best drag reduction effect is obtained.

[0025] 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 exploration robot.

[0026] The present invention provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot.

[0027] Compared with the prior art, the present invention has the following significant advantages:

[0028] Based on computational fluid dynamics (CFD), this paper calculates the overall resistance of a bionic cuttlefish-shaped underwater exploration robot, analyzes the robot's surface pressure and surrounding flow field characteristics, and optimizes the bow profile for drag reduction. By selecting the computational domain covering all fluid zones within the robot's resistance calculation model, discretizing the domain, and performing gridding, the efficiency and accuracy of the resistance calculation model are improved, enabling the design of the robot's bow profile to achieve uniform and minimized resistance, increasing its mobility and reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a resistance calculation model diagram of the bionic cuttlefish-type underwater exploration robot in the present invention;

[0030] Figure 2 This is a comparison chart of bow resistance of different shapes in the present invention;

[0031] Figure 3 The present invention provides a flow chart of a method for optimizing the bow profile of a bionic cuttlefish-shaped underwater exploration robot. DETAILED DESCRIPTION

[0032] The following is a clear and complete description of the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0033] like Figure 3 As shown, the present invention provides a method for optimizing the bow profile of a bionic cuttlefish-shaped underwater exploration robot, comprising the following steps:

[0034] Step S1: In the resistance calculation model of the bionic cuttlefish-type underwater detection robot, the calculation domain of all fluid-covered areas of the bionic cuttlefish-type underwater detection robot is selected, and boundary conditions are selected after the calculation domain is selected; the boundary conditions are the inlet fluid velocity condition and the outlet pressure condition.

[0035] like Figure 1 As shown in the resistance calculation model of the bionic cuttlefish underwater detection robot, in the resistance calculation model established for the bionic cuttlefish 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 the coordinate x Axis direction, with the incoming flow direction when there is no angle of attack as y Axis direction, with vertical upward direction as z Axis direction.

[0036] According to the resistance calculation model, all calculation domains covering the fluid area are selected, including:

[0037] In the study of accurately simulating the motion of underwater probes and the influence of the fluid dynamics around them, it is crucial to select an appropriate computational domain.

[0038] This domain should encompass all critical fluid regions to capture dynamic interactions. The specific dimensions of the domain are: along the direction of travel of the underwater probe, the front extends to one boat length, the rear extends to two boat lengths, and the width extends to one boat width on each side. Finally, the height extends to two boat heights on each side, resulting in a rectangular computational domain.

[0039] After selecting the computational domain, select the boundary conditions, including:

[0040] 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, with its direction being the negative direction of the x-axis. The pressure outlet condition is set at the outlet of the computational domain, where a fully developed flow is present.

[0041] By extrapolating the computational domain, the flow conditions at the outflow surface are obtained without affecting the upstream flow. In the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are all set to 0 to simulate the actual performance of the bionic cuttlefish-type underwater exploration robot (AUV) in the underwater environment.

[0042] The entire computational domain is configured as a fluid state. The control domain defines the range or boundary that the controller can influence or control, as opposed to the control domain in a computational domain (such as a computer system or computational process).

[0043] 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.

[0044] When performing mesh division, the cut volume mesh is used as the mesh after division. Specifically:

[0045] 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.

[0046] When dividing the mesh, although the polyhedral mesh can retain its geometric features to the greatest extent, it is easy to cause errors in the calculation. The cut volume mesh converges faster than the polyhedral mesh, and the mesh quality is also better than the polyhedral mesh, which can reduce the error in the calculation, so the cut volume mesh is selected for calculation.

[0047] In order to ensure the accuracy of the resistance calculation results, grid independence verification is performed.

[0048] Table 1 Grid independence verification

[0049]

[0050] In this embodiment, four groups of grids with different numbers of grids are set, and the grid independence is verified under the condition that all other conditions except the number of grids are the same. The verification results are shown in Table 1.

[0051] The above calculation results show that the resistance value gradually decreases with the increase in the number of grid cells. The number of grid cells numbered 3 and 4 is almost doubled, and the difference in resistance value is minimal. Therefore, the results are considered to have converged, successfully verifying the independence of the grid cells. Because increasing the number of grid cells increases the calculation time, considering both computational efficiency and result accuracy, the final number of grid cells selected in this paper is 2365165.

[0052] According to the calculation results, 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 was found that the maximum pressure appeared at the bow. Therefore, the strength of the bow structure should be strengthened in the design to improve the pressure resistance of the bow.

[0053] 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, thereby obtaining the overall resistance distribution of the resistance calculation model.

[0054] Specifically:

[0055] The finite volume method is used to solve the Navier-Stokes equations in three dimensions, integrating the surface pressure of the rotating body to obtain the forces acting on it. Using the principle of relativity of motion, a velocity inlet and a velocity outlet are set to simulate the flow field of water passing through the rotating body and calculate the forces acting on the rotating body.

[0056] Governing equations of flow field and turbulence model:

[0057] Assuming the underwater environment is a Newtonian fluid that is adiabatic and incompressible, it follows that fluid motion does not involve energy exchange and strictly adheres to physical conservation laws. Therefore, the governing equations are primarily based on the conservation of mass and energy. These equations provide a mathematically precise description of fluid dynamics.

[0058] The expression of the mass conservation equation is:

[0059] (1);

[0060] Where: is the density, t For time, u 、 v 、 w The velocity vector U is x 、 y 、 z Components in three directions.

[0061] For Newtonian fluids x 、 y 、 z The momentum conservation equations in the three directions are:

[0062] (2);

[0063] 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.

[0064] 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 the turbulent flow.

[0065] The Reynolds-averaged Navier-Stokes equations (RANS) divide turbulence into two components: mean flow and pulsating flow. They further utilize turbulence models to close the Navier-Stokes equations, achieving a closed-form solution. Although the RANS method does not account for the effects of density fluctuations, it does incorporate variations in mean density. The Reynolds-averaged Navier-Stokes equations are shown below:

[0066] (3);

[0067] In the formula i 、 j Take 1, 2, and 3 respectively to represent different spatial coordinate directions.

[0068] Because the Reynolds stress term related to the turbulent 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:

[0069] (4);

[0070] (5);

[0071] 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 pulsating velocity, for y The mean value of the directional component pulsating velocity, for z The mean value of the directional component pulsating velocity, Turbulent kinetic energy The spatial coordinates of .

[0072] In the standard k-ε model, the corresponding transport equation is:

[0073] (6);

[0074] (7);

[0075] Where: Turbulent kinetic energy The first generation term 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 respectively 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 the eddy viscosity coefficient, is the turbulent dissipation rate The corresponding Prandtl number.

[0076] Furthermore, the finite volume method is used to discretize the above control equations. The discretization process is as follows: Represents various physical quantities, and the differential equation in the control volume V Integrate within, that is:

[0077] (8);

[0078] Then by Gauss's formula: Transform it into:

[0079] (9);

[0080] After discretization, we can get:

[0081] (10);

[0082] Where: for existf 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.

[0083] After discretization, the discretized equations are solved using the semi-implicit method of the pressure-coupled equations.

[0084] Step S3: The bow profile is adjusted according to the size of the overall resistance distribution to optimize the boat type. The boat type parameters are continuously changed to re-establish the resistance calculation model. The overall resistance distribution of the resistance calculation model is obtained through iteration to obtain the latest resistance value. When the latest resistance value is the minimum, the bow profile with the best drag reduction effect is obtained.

[0085] 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.

[0086] 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 bullet-shaped bow profile was improved and designed with reference to the existing bow profiles. Based on the above four profile design schemes, relevant bow resistance comparison and verification were carried out.

[0087] The mathematical expression of the teardrop-shaped bow is:

[0088] (11);

[0089] Where: is the radius of each point on the curve, 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.

[0090] The mathematical expression of the semi-elliptical bow is:

[0091] (12);

[0092] The mathematical expression of MYing type bow is:

[0093] (13);

[0094] In the formula n is the head shape index, in this embodiment, n =2.

[0095] In the embodiment, the resistance values ​​corresponding to the above four schemes under different speed conditions were 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 the figure below. Figure 2 shown.

[0096] Table 2 Calculated values ​​of different bow resistance

[0097]

[0098] From Table 2 and Figure 2 It can be seen that at low speeds (1.5 m / s), the drag values ​​of the four profile designs are similar, but the differences gradually increase as speed increases. Overall, the upward drag trend of the bullet-shaped bow profile is significantly lower than that of the other three profiles. The results show that the bullet-shaped bow profile has excellent drag reduction performance. Therefore, in this example, the underwater exploration robot's head is designed to be bullet-shaped to reduce drag.

[0099] Based on the above method, the present invention provides a bow profile optimization system for a bionic cuttlefish-type underwater exploration robot, comprising: a selection module, a division module and an adjustment module.

[0100] The selection module is used to select the calculation domain of all 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 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 grid into the flow field solution of the bionic cuttlefish-type 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-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 the bow line with the best drag reduction effect is obtained.

[0101] The present invention also provides a computer device, including a memory and a processor. The memory stores a program. When the program is executed by the processor, the processor executes the steps of a method for optimizing the bow line of a bionic cuttlefish-shaped underwater exploration robot.

[0102] 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 that enables a computing device to communicate with one or more other computing devices (e.g., routers, modems, etc.).

[0103] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of a method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot.

[0104] 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 can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0105] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. For those skilled in the art to which the present invention belongs, several simple deductions or replacements can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A method for optimizing the bow profile of a bionic cuttlefish-shaped underwater exploration robot, characterized in that: The steps include: In the resistance calculation model of the bionic cuttlefish-type underwater exploration robot, a calculation domain of all fluid areas covered by the bionic cuttlefish-type underwater exploration robot is selected, and boundary conditions are selected after the calculation domain is selected; the boundary conditions are an inlet fluid velocity condition and an outlet pressure condition; The method of selecting the computational domain of all fluid-covered areas of the bionic cuttlefish-shaped underwater detection robot includes: when selecting the computational domain, the front end is extended to 1 times the length of the underwater detector along the direction of travel, the rear end is extended to 2 times the length of the underwater detector, the width is extended to 1 times the width of the underwater detector on both sides, and finally the height is extended to 2 times the height of the underwater detector on both sides to obtain a rectangular computational domain; Based on the boundary conditions, the computational domain is meshed, and the meshed grid is brought into the flow field solution of the bionic cuttlefish-type underwater exploration robot. The force condition of the rotating body is obtained by integrating the surface pressure of the rotating body of the bionic cuttlefish-type underwater exploration robot, and the overall resistance distribution of the resistance calculation model is obtained based on the force condition of the rotating body. The bow line is adjusted according to the size of the overall resistance distribution to 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, thereby obtaining the bow line that achieves the best drag reduction effect; The boundary conditions are selected after the computational domain is selected, including: The velocity entry condition is located at the entrance of the computational domain, and the corresponding velocity value is set between the computational domain and the boundary, with the direction being the negative direction of the x-axis. Set pressure outlet conditions at the outlet of the computational domain; The step of selecting boundary conditions after selecting the computational domain further includes: By extrapolating the interior of the computational domain, the flow conditions at the outflow surface are obtained without affecting the upstream flow; In the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are all set to 0 to simulate the actual performance of the bionic cuttlefish-type underwater exploration robot AUV in the underwater environment.

2. The bow line optimization method of a bionic cuttlefish-shaped 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, the central symmetry axis direction of the resistance calculation model as the x-axis direction, the incoming flow direction when there is no angle of attack as the y-axis direction, and the vertical upward direction as the z-axis direction.

3. The bow line optimization method of a bionic cuttlefish-shaped underwater exploration robot according to claim 1, characterized in that: When performing mesh division, the cut volume mesh is used as the mesh after division.

4. A bionic cuttlefish-shaped underwater exploration robot bow line optimization system, characterized in that: include: A selection module is used to select, in a resistance calculation model of the bionic cuttlefish-type underwater detection robot, a calculation domain of all fluid areas covered by the bionic cuttlefish-type underwater detection robot, and select boundary conditions after the calculation domain is selected; the boundary conditions are an inlet fluid velocity condition and an outlet pressure condition; The method of selecting the computational domain of all fluid-covered areas of the bionic cuttlefish-shaped underwater detection robot includes: when selecting the computational domain, the front end is extended to 1 times the length of the underwater detector along the direction of travel, the rear end is extended to 2 times the length of the underwater detector, the width is extended to 1 times the width of the underwater detector on both sides, and finally the height is extended to 2 times the height of the underwater detector on both sides to obtain a rectangular computational domain; a partitioning module for performing grid partitioning on the computational domain based on boundary conditions, substituting the partitioned grid into the flow field solution of the bionic cuttlefish-type underwater detection robot, obtaining the force condition of the rotating body by integrating the surface pressure of the rotating body of the bionic cuttlefish-type underwater detection robot, and obtaining the overall resistance distribution of the resistance calculation model based on the force condition of the rotating body; An adjustment module is used to adjust the bow line according to the size of the overall resistance distribution to 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, thereby obtaining the bow line that achieves the best drag reduction effect; The boundary conditions are selected after the computational domain is selected, including: The velocity entry condition is located at the entrance of the computational domain, and the corresponding velocity value is set between the computational domain and the boundary, with the direction being the negative direction of the x-axis. Set pressure outlet conditions at the outlet of the computational domain; The step of selecting boundary conditions after selecting the computational domain further includes: By extrapolating the interior of the computational domain, the flow conditions at the outflow surface are obtained without affecting the upstream flow; In the boundary conditions of other control domains outside the computational domain, the velocity inlet conditions are all set to 0 to simulate the actual performance of the bionic cuttlefish-type underwater exploration robot AUV in the underwater environment.

5. A computer device, characterized in that: It includes 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 bow line optimization method of a bionic cuttlefish-type underwater exploration robot as described in any one of claims 1 to 3.

6. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for optimizing the bow profile of a bionic cuttlefish-type underwater exploration robot according to any one of claims 1 to 3 are implemented.

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