Micro-aircraft structure optimization method and device, electronic equipment and storage medium

Abstract

The invention relates to a micro-aircraft structure optimization method and device, electronic equipment and a storage medium. The micro-aircraft structure optimization method comprises the steps of obtaining a plurality of initial three-dimensional configurations of a micro-aircraft; according to the initial three-dimensional configuration, constructing a first mapping relation between a to-be-optimized parameter and a first terminal speed of the micro-aircraft; iterating the to-be-optimized parameters according to the first mapping relation, and determining a second terminal speed of the micro aircraft; responding to the condition that the second terminal speed meets a preset convergence condition, and obtaining a final optimization parameter; and obtaining a final three-dimensional configuration of the micro aircraft according to the final optimization parameters. By using the method disclosed by the invention, the structure of the micro-aircraft can be optimized, so that the unique aerodynamic performance advantage of the three-dimensional structure is fully utilized, and the micro-aircraft further realizes long-time hang.

Description

Technical Field

[0001] The present disclosure relates to the field of aircraft technology, and in particular to a micro-aircraft structure optimization method and device, electronic equipment and storage medium. Background Art

[0002] With the development of bionics and aerodynamics and the continuous advancement of manufacturing technology, an important development trend of micro-aircraft is to become more miniaturized and more intelligent. Due to its small size, light weight, and maneuverability, micro-aircraft has shown great application potential in aerospace, environmental monitoring, reconnaissance detection, wireless communication base stations and other fields.

[0003] Traditional active micro-aircraft usually use jet, rotor or flapping wing drive methods to provide flight power, but these methods often require a large energy supply and it is difficult to achieve long-term hovering and long-distance cruising.

[0004] Passive micro aerial vehicles have attracted much attention because they rely on the aerodynamic characteristics of their own structure to achieve unpowered flight. However, the design of existing three-dimensional passive micro aerial vehicles is mainly based on the principle of bionics, and their structural configuration is relatively simple, which limits the further optimization of the aerodynamic performance of micro aerial vehicles and makes it impossible to achieve longer hovering time and better aerodynamic performance. Summary of the invention

[0005] In view of this, the present disclosure proposes a technical solution for optimizing the structure of a micro-aircraft.

[0006] According to one aspect of the present disclosure, a method for optimizing a micro-aircraft structure is provided, comprising:

[0007] Acquire multiple initial three-dimensional configurations of the micro-aircraft; construct a first mapping relationship between a parameter to be optimized and a first terminal velocity of the micro-aircraft based on the initial three-dimensional configuration; iterate the parameter to be optimized based on the first mapping relationship and determine a second terminal velocity of the micro-aircraft; obtain final optimization parameters in response to the second terminal velocity satisfying a preset convergence condition; and obtain a final three-dimensional configuration of the micro-aircraft based on the final optimization parameters.

[0008] In a possible implementation, the acquiring multiple initial three-dimensional configurations of the micro aerial vehicle includes: acquiring multiple initial two-dimensional configurations of the micro aerial vehicle; and obtaining the multiple initial three-dimensional configurations according to the multiple initial two-dimensional configurations.

[0009] In one possible implementation, the parameters to be optimized include the geometric dimensions of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the mass of the three-dimensional configuration to be optimized, and the final optimization parameters include the geometric dimensions of the final optimized two-dimensional configuration, the assembly strain of the final optimized three-dimensional configuration, and the mass of the final optimized three-dimensional configuration.

[0010] In a possible implementation, constructing a first mapping relationship between the parameters to be optimized and the first terminal speed of the micro-aircraft according to the initial three-dimensional configuration includes: using a single variable control method to obtain a first mapping relationship between the geometric size of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the mass of the three-dimensional configuration to be optimized and the first terminal speed, respectively, wherein the first terminal speed is calculated according to the initial three-dimensional configuration.

[0011] In a possible implementation manner, the method further includes: acquiring a projection area of ​​the three-dimensional configuration to be optimized; and determining a second mapping relationship between the projection area and the first terminal velocity.

[0012] In a possible implementation, iterating the parameters to be optimized according to the first mapping relationship and determining the second terminal velocity of the micro-aircraft includes iterating the parameters to be optimized according to the first mapping relationship and / or the second mapping relationship and determining the second terminal velocity, wherein the second terminal velocity is a result of each iteration process of the iteration.

[0013] In a possible implementation, in response to the second terminal speed satisfying a preset convergence condition, obtaining a final optimization parameter includes: determining a target terminal speed; and in response to a deviation between the second terminal speed and a preset target speed being less than a threshold, obtaining the final optimization parameter.

[0014] According to another aspect of the present disclosure, there is provided a micro-aircraft structure optimization device, comprising:

[0015] An initial three-dimensional configuration acquisition unit is used to acquire the initial three-dimensional configurations of a plurality of micro-aircraft; a construction unit is used to construct a first mapping relationship between a parameter to be optimized and a first terminal velocity of the micro-aircraft according to the initial three-dimensional configuration; an iteration unit is used to iterate the parameter to be optimized according to the first mapping relationship and determine a second terminal velocity of the micro-aircraft; a final optimization parameter determination unit is used to obtain a final optimization parameter in response to the second terminal velocity satisfying a preset convergence condition; and a final three-dimensional configuration determination unit is used to obtain a final three-dimensional configuration of the micro-aircraft according to the final optimization parameter.

[0016] In a possible implementation, the initial three-dimensional configuration acquisition unit is used to: acquire a plurality of initial two-dimensional configurations of the micro aerial vehicle; and obtain the plurality of initial three-dimensional configurations according to the plurality of initial two-dimensional configurations.

[0017] In one possible implementation, the parameters to be optimized include the geometric dimensions of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the mass of the three-dimensional configuration to be optimized, and the final optimization parameters include the geometric dimensions of the final optimized two-dimensional configuration, the assembly strain of the final optimized three-dimensional configuration, and the mass of the final optimized three-dimensional configuration.

[0018] In a possible implementation, the construction unit is used to: adopt a single variable control method to obtain a first mapping relationship between the geometric dimensions of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the mass of the three-dimensional configuration to be optimized and a first terminal velocity, respectively, and the first terminal velocity is calculated based on the initial three-dimensional configuration.

[0019] In a possible implementation, the device further includes: a second mapping relationship determining unit, configured to obtain a projection area of ​​the three-dimensional configuration to be optimized; and determine a second mapping relationship between the projection area and the first terminal speed.

[0020] In a possible implementation, the iteration unit is used to iterate the parameter to be optimized according to the first mapping relationship and / or the second mapping relationship and determine a second terminal speed, where the second terminal speed is a result of each iteration process of the iteration.

[0021] In a possible implementation, the final optimization parameter determination unit is used to: determine a target terminal speed; and obtain the final optimization parameter in response to a deviation between the second terminal speed and a preset target speed being less than a threshold.

[0022] According to another aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the above method.

[0023] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, wherein the computer program instructions implement the above method when executed by a processor.

[0024] In the disclosed embodiment, multiple initial three-dimensional configurations of the micro-aircraft are obtained; based on the initial three-dimensional configuration, a first mapping relationship between the parameter to be optimized and the first terminal velocity of the micro-aircraft is constructed; based on the first mapping relationship, the parameter to be optimized is iterated, and the second terminal velocity of the micro-aircraft is determined; in response to the second terminal velocity satisfying a preset convergence condition, the final optimization parameter is obtained; based on the final optimization parameter, the final three-dimensional configuration of the micro-aircraft is obtained. Thus, by establishing a mapping relationship between the micro-aircraft structural configuration and aerodynamic performance, the micro-aircraft structure is optimized, thereby making full use of the unique aerodynamic performance advantages of the three-dimensional structure, so that the micro-aircraft can further achieve long-term hovering.

[0025] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0026] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0028] Figure 1 A flow chart of a micro-aircraft structure optimization method according to an embodiment of the present disclosure is shown.

[0029] Figure 2 A schematic diagram showing a two-dimensional precursor structure configuration of an aircraft according to an embodiment of the present disclosure.

[0030] Figure 3 A schematic diagram showing optimization results of the number of blades, assembly strain, and configuration design of a micro-aircraft according to an embodiment of the present disclosure is shown.

[0031] Figure 4 A schematic diagram of a target configuration structure design of a micro-aircraft according to an embodiment of the present disclosure is shown.

[0032] Figure 5 A schematic flowchart of a micro-aircraft design method according to an embodiment of the present disclosure is shown.

[0033] Figure 6 A schematic diagram of a three-dimensional micro-aircraft configuration optimization process according to an embodiment of the present disclosure is shown.

[0034] Figure 7 A block diagram of a micro-aircraft structure optimization device according to an embodiment of the present disclosure is shown.

[0035] Figure 8A block diagram of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0036] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0037] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0038] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0039] With the development of bionics and aerodynamics and the continuous advancement of manufacturing technology, an important development trend of micro-aircraft is to become more miniaturized and more intelligent. Traditional active micro-aircraft usually use jet, rotor or flapping wing drive to provide flight power, but often require a large energy supply, making it difficult to achieve long-term airborne and long-distance cruising. Passive micro-aircraft inspired by biotechnology rely on the aerodynamic characteristics of their own structure to achieve unpowered flight. They have the advantages of light weight, low cost, no noise, and low energy consumption. They can also integrate microelectronic systems to achieve functions such as environmental detection, population monitoring and disease tracking.

[0040] In the prior art, the structural design method of a three-dimensional passive micro-aircraft is mainly to design a structure similar to a natural biological seed based on the bionic principle, so that the micro-aircraft has the characteristic of staying in the air for a long time.

[0041] Existing three-dimensional passive micro-aircraft are designed with structural configurations based on existing wind-borne seeds in nature, which enables the micro-aircraft to remain in the air for a long time during the falling process. However, the three-dimensional configuration of the micro-aircraft is limited by the types of wind-borne seeds, and the mapping relationship between the three-dimensional structural configuration of the micro-aircraft and its aerodynamic performance has not yet been established. There is a lack of further structural optimization methods, which makes it impossible to fully utilize the advantages of materials and structures and further achieve longer hovering time.

[0042] In the disclosed embodiment, multiple initial three-dimensional configurations of the micro-aircraft are obtained; based on the initial three-dimensional configuration, a first mapping relationship between the parameter to be optimized and the first terminal velocity of the micro-aircraft is constructed; based on the first mapping relationship, the parameter to be optimized is iterated, and the second terminal velocity of the micro-aircraft is determined; in response to the second terminal velocity satisfying a preset convergence condition, the final optimization parameter is obtained; based on the final optimization parameter, the final three-dimensional configuration of the micro-aircraft is obtained. Thus, by establishing a mapping relationship between the micro-aircraft structural configuration and aerodynamic performance, the micro-aircraft structure is optimized, thereby making full use of the unique aerodynamic performance advantages of the three-dimensional structure, so that the micro-aircraft can further achieve long-term hovering.

[0043] Figure 1 FIG. 1 is a flow chart showing a method for optimizing the micro-aircraft structure according to an embodiment of the present disclosure. Figure 1 As shown, the micro-aircraft structure optimization method of the embodiment of the present disclosure may include:

[0044] S11, obtaining multiple initial three-dimensional configurations of the micro aerial vehicle;

[0045] Micro-aircraft are small, light, and capable of flying, and are usually used for reconnaissance, monitoring, communication, and other tasks in specific environments. Specifically, micro-aircraft can be a passive spin-fall aircraft, which can fly without relying on an external power source, but through the aerodynamic characteristics of its own structure, and has the advantages of long-term hovering, low cost, and low energy consumption.

[0046] The three-dimensional configuration of the micro-aircraft is the shape and structure of the micro-aircraft in space. The initial three-dimensional configuration can be a three-dimensional structural model constructed based on the initial design concept, including parameters such as the number of blades, blade configuration, and bonding point location.

[0047] In a possible implementation, the acquiring multiple initial three-dimensional configurations of the micro aerial vehicle includes: acquiring multiple initial two-dimensional configurations of the micro aerial vehicle; and obtaining the multiple initial three-dimensional configurations according to the multiple initial two-dimensional configurations.

[0048] In the design and manufacturing process of the micro-aircraft, it is possible to start from the two-dimensional level and design multiple initial two-dimensional configurations. These two-dimensional configurations can be the basic forms of the projection of the micro-aircraft in a certain direction in the three-dimensional space. Exemplarily, the initial two-dimensional configuration of the micro-aircraft can be the initial two-dimensional precursor structure of the micro-aircraft. During the design process, multiple possible two-dimensional precursor structures can be formed based on factors such as the number of blades, blade configurations, and bonding point locations.

[0049] The number of blades directly affects the aerodynamic performance and stability of the micro-aircraft. Different numbers of blades will produce different lift and drag during the rotation and fall process.

[0050] The location of the bonding point determines the shape and stability of the two-dimensional precursor structure when it is transformed into a three-dimensional structure. Reasonable bonding point locations can ensure that the micro-aircraft maintains a stable posture during the rotation and fall process.

[0051] The blade configuration, which includes the shape and size of the blade, is an important factor affecting the performance of the micro-aircraft. Different configurations will change the path and speed of air flow, thus affecting the hovering time and stability of the micro-aircraft.

[0052] The blade configuration can be designed based on the structural characteristics of wind-borne plant seeds, for example, it can be based on the structural characteristics of dandelion seeds that are like parachutes, or the structural characteristics of star fruit vine seeds that are like bamboo dragonflies.

[0053] Optionally, the initial two-dimensional precursor structure can be obtained by combining the chiral structure design. Specifically, according to the spin-stabilized falling characteristics of the chiral structure, the blades can be subjected to rotational symmetry transformation to obtain the initial two-dimensional precursor structure.

[0054] For example, Figure 2 A schematic diagram showing a two-dimensional precursor structure configuration of an aircraft according to an embodiment of the present disclosure. Figure 2 It shows the two-dimensional precursor structure configuration obtained by referring to the structural characteristics of various wind-borne plant seeds and combining the spin-stable falling properties of the chiral structure.

[0055] In a possible implementation, obtaining multiple initial three-dimensional configurations based on multiple initial two-dimensional configurations of the micro-aerial vehicle may include: using a three-dimensional self-assembly method guided by buckling mechanics to implement assembly of the initial three-dimensional configurations in simulation software.

[0056] The three-dimensional self-assembly method guided by buckling mechanics can be to bond the two-dimensional precursor structure to a pre-stretched elastic substrate in a specific area, and achieve compressive buckling of the precursor structure by releasing the pre-strain of the substrate.

[0057] The simulation software here may be finite element software, which is not limited in the embodiments of the present disclosure.

[0058] S12, constructing a first mapping relationship between a parameter to be optimized and a first terminal velocity of the micro air vehicle according to the initial three-dimensional configuration;

[0059] The parameters to be optimized may be parameters that need to be adjusted to improve performance or meet specific requirements. In a possible implementation, the parameters to be optimized include the geometric dimensions of the two-dimensional configuration to be optimized (such as the number of blades, blade configuration, bonding point position and other parameters), the assembly strain of the three-dimensional configuration to be optimized, and the quality of the three-dimensional configuration to be optimized, and the final optimization parameters include the geometric dimensions of the final optimized two-dimensional configuration, the assembly strain of the final optimized three-dimensional configuration, and the quality of the final optimized three-dimensional configuration.

[0060] The parameters to be optimized are used to improve or meet the requirements of the aerodynamic performance and terminal velocity of the micro-aircraft. The terminal velocity is the constant falling velocity of the micro-aircraft during free fall due to the balance between air resistance and gravity, and the falling velocity of the micro-aircraft no longer changes. The first terminal velocity can be the terminal velocity calculated based on a specific three-dimensional configuration and parameters in the preliminary design or simulation stage.

[0061] The geometric dimensions of the two-dimensional configuration to be optimized may include the number of blades, the configuration of the blades (such as length, width, shape, etc.), and the location of the bonding point, etc. By adjusting these parameters, the aerodynamic performance of the micro-aircraft during flight can be affected, thereby affecting its terminal velocity (i.e., stable falling velocity).

[0062] When a 2D precursor structure forms a 3D configuration through a 3D self-assembly scheme guided by buckling mechanics, assembly strain is a key parameter to be optimized. Assembly strain is the degree of deformation of the 2D precursor structure caused by the release of the elastic substrate prestrain during the buckling process. Adjusting the assembly strain can change the final morphology of the 3D configuration, thereby affecting the flight performance and terminal velocity of the micro-aircraft.

[0063] In addition, the mass of the micro-aircraft is also an important parameter to be optimized. The change in mass will directly affect the gravity and air resistance that the micro-aircraft is subject to during flight, and thus affect its terminal velocity. During the design process, the mass of the micro-aircraft can be controlled by selecting appropriate materials and adjusting the geometric dimensions of the two-dimensional configuration.

[0064] In a possible implementation, after obtaining the initial three-dimensional configuration, a rotational dynamic stability model of the micro-aircraft coupled with air force can be established in simulation software based on fluid mechanics theory, and the terminal velocity of the micro-aircraft can be calculated based on the model.

[0065] The simulation software of the disclosed embodiment can be a tool that uses computer technology to simulate and reproduce the behavior of an actual system. By running specific mathematical models and algorithms on a computer, objects, processes or systems in the real world are simulated so that various tests, analyses and predictions can be performed in a virtual environment. In this implementation, models of the three-dimensional configuration of the micro-aircraft can be constructed based on the three-dimensional configuration of the micro-aircraft. These models take into account the interaction between the micro-aircraft and the air, including air resistance, lift, etc. For a micro-aircraft that spins and falls, a rotational dynamic stability model can be established to simulate the dynamic behavior of the micro-aircraft during the spin-fall process.

[0066] In a possible implementation, constructing a first mapping relationship between the parameters to be optimized and the first terminal speed of the micro-aircraft according to the initial three-dimensional configuration includes: using a single variable control method to obtain a first mapping relationship between the geometric size of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the mass of the three-dimensional configuration to be optimized and the first terminal speed, respectively, wherein the first terminal speed is calculated according to the initial three-dimensional configuration.

[0067] Based on the rotational dynamic stability model established previously, the first terminal velocity of the micro-aircraft is calculated by controlling the parameters to be optimized of the model. Specifically, the single variable control method can be used for calculation, wherein the single variable control method includes: controlling the number of blades, blade configuration, bonding point position, assembly strain of the three-dimensional configuration, and the mass of the three-dimensional configuration. The other parameters remain unchanged. Each time the parameter value changes, the first terminal velocity of the micro-aircraft at this time can be calculated.

[0068] By using the single variable control method, we can obtain the influence of the number of blades, blade configuration, bonding point position, assembly strain of the three-dimensional configuration, and the mass of the three-dimensional configuration on the terminal velocity of the micro-aircraft, thereby constructing the first mapping relationship between the number of blades, blade configuration, bonding point position, assembly strain of the three-dimensional configuration, and the mass of the three-dimensional configuration and the terminal velocity of the micro-aircraft.

[0069] The embodiment of the present disclosure constructs a first mapping relationship between the parameters to be optimized and the terminal speed of the micro-aircraft, so as to perform more accurate iterative optimization calculations later, thereby obtaining a series of structural configurations of micro-aircraft with different terminal speeds, meeting the requirements for the terminal speeds of various micro-aircraft, and achieving accurate control of the terminal speed of the micro-aircraft.

[0070] In a possible implementation, step S12 further includes: preliminarily determining the optimization direction of the parameter value of the parameter to be optimized according to the first mapping relationship. For example, the greater the assembly strain of the three-dimensional configuration of the micro-aircraft, the greater the terminal speed of the micro-aircraft. To obtain a micro-aircraft with a smaller terminal speed, a smaller assembly strain is selected.

[0071] For example, Figure 3 A schematic diagram showing optimization results of the number of blades, assembly strain, and configuration design of a micro-aircraft according to an embodiment of the present disclosure is shown.

[0072] like Figure 3 As shown in the figure, when the number of blades of the micro-aircraft in the optimization parameters changes, the two-dimensional configuration and three-dimensional configuration of the micro-aircraft will produce different shapes accordingly, and the terminal falling speed will also change with the change of the number of blades. When the assembly strain of the micro-aircraft is kept at 0.3, as the number of blades increases, the terminal falling speed of the micro-aircraft decreases, thus obtaining the optimization direction of the micro-aircraft.

[0073] S13, iterating the parameters to be optimized according to the first mapping relationship, and determining a second terminal velocity of the micro-aircraft;

[0074] In a possible implementation manner, the method further includes: acquiring a projection area of ​​the three-dimensional configuration to be optimized; and determining a second mapping relationship between the projection area and the first terminal velocity.

[0075] The projected area may be a projected area of ​​the micro-aircraft in a certain direction. For example, the projected area may be an area projected directly downwards by the micro-aircraft in a spinning falling state. This area may affect the magnitude of the air resistance.

[0076] In step S12, the single variable control method is used to calculate the terminal velocity of the micro-aircraft at each time when the parameter value changes. Accordingly, the projection area of ​​the three-dimensional configuration of the micro-aircraft at this time can be obtained, thereby obtaining a second mapping relationship between the projection area and the first terminal velocity.

[0077] In the embodiment of the present disclosure, by obtaining the second mapping relationship between the projected area and the first terminal velocity, a more accurate iterative optimization calculation can be performed later, thereby obtaining a series of structural configurations of micro-aircraft with different terminal velocities, meeting the requirements for the terminal velocities of various micro-aircraft, and realizing accurate control of the terminal velocities of the micro-aircraft.

[0078] In a possible implementation manner, a set of values ​​of parameters to be optimized may be selected as initial values ​​of iteration according to the first mapping relationship and / or the second mapping relationship.

[0079] In a possible implementation, iterating the parameter to be optimized according to the first mapping relationship and determining the second terminal velocity of the micro aerial vehicle includes:

[0080] According to the first mapping relationship and / or the second mapping relationship, the parameters to be optimized are iterated and a second terminal velocity is determined, where the second terminal velocity is a result of each iteration process of the iteration.

[0081] The iteration in the disclosed embodiment refers to starting from a certain initial value of the parameter to be optimized, and according to a certain rule or recursive formula, repeatedly calculating the terminal speed under different parameters to be optimized to continuously approach the target terminal speed. For ease of description, the terminal speed calculated in each iteration process is referred to as the second terminal speed.

[0082] S14, in response to the second terminal speed satisfying a preset convergence condition, obtaining a final optimization parameter;

[0083] The preset convergence condition may be a termination condition set during the iterative optimization process, which is used to determine whether the optimization process has achieved the expected goal. In this implementation, the preset convergence condition may be that the deviation between the second terminal speed and the preset target speed is less than a certain threshold, or the number of iterations reaches a preset upper limit, etc.

[0084] In a possible implementation, in response to the second terminal speed satisfying a preset convergence condition, obtaining a final optimization parameter includes: determining a target terminal speed; and in response to a deviation between the second terminal speed and a preset target speed being less than a threshold, obtaining the final optimization parameter.

[0085] The target terminal speed can be a preset terminal speed that the micro-aircraft needs to achieve. Then, the target terminal speed of the micro-aircraft can be determined first. When the deviation between the second terminal speed and the preset target speed is less than a certain threshold, the value of the parameter to be optimized at this time is the final optimization parameter. At this time, the iterative optimization process can be stopped. Among them, the final optimization parameters include the geometric dimensions of the final two-dimensional configuration of the micro-aircraft, the assembly strain of the final optimized three-dimensional configuration, and the quality of the final optimized three-dimensional configuration. Among them, the geometric dimensions of the two-dimensional configuration include the number of blades, blade configuration, and bonding point position.

[0086] S15. Obtaining a final three-dimensional configuration of the micro aerial vehicle according to the final optimization parameters.

[0087] Figure 4 A schematic diagram of a target configuration structure design of a micro-aircraft according to an embodiment of the present disclosure is shown.

[0088] In a possible implementation, the method proposed in the embodiment of the present disclosure may further include:

[0089] According to the final optimized parameters, the micro air vehicle was manufactured based on the buckling-guided three-dimensional structure assembly technology.

[0090] Specifically, first, according to the final optimization parameters, a two-dimensional precursor structure is processed by laser cutting technology, and the material can be a thermoplastic film material. Then, the two-dimensional precursor structure is transferred to an elastic substrate, the bonding point is glued to the substrate, and the compression buckling of the precursor structure is achieved by releasing the pre-strain of the substrate. Then, the substrate and the structure are placed in an oven and heated to solidify. For example, a micro-aircraft made of PET material is heated to 80°C in an oven and kept for 20 minutes. Finally, the cooled micro-aircraft and the substrate are separated to obtain a final independent three-dimensional micro-aircraft. Among them, the thermoplastic film material can be a PET (polyethylene terephthalate) material, and the elastic substrate can be a silicone substrate. The embodiments of the present disclosure do not limit the thermoplastic film material and the elastic substrate.

[0091] The present invention discloses a design and manufacturing method for a spin-fall passive micro-aircraft. The method comprehensively considers the influence of parameters such as the geometric dimensions of a two-dimensional precursor of a three-dimensional micro-aircraft and three-dimensional assembly strain on its terminal velocity, and proposes a three-dimensional micro-aircraft structure optimization process for obtaining a target terminal velocity. The method can obtain a three-dimensional micro-aircraft with different target velocities by optimizing the number of blades, blade configuration, bonding point position, mass, three-dimensional assembly strain, etc. of the micro-aircraft, and provides a manufacturing method for the three-dimensional micro-aircraft.

[0092] The disclosed embodiments can realize the structural design and manufacture of passive three-dimensional micro-aircraft with a target terminal velocity, and have important application potential in the fields of aerospace, reconnaissance and detection. Moreover, the prepared passive micro-aircraft can realize functions such as long-term hovering. When combined with complex integrated circuits, these devices can form a dynamic sensor network for environmental monitoring, wireless communication base stations or various other Internet or Internet of Things-based technologies.

[0093] Figure 5 A schematic flowchart of a micro-aircraft design method according to an embodiment of the present disclosure is shown.

[0094] First, determine the initial size, weight, and terminal descent velocity of the target micro-aircraft.

[0095] Second, the optimization parameters of the target micro-aircraft are determined, including the number of blades, blade configuration, and assembly strain. The optimization parameters are iteratively updated based on an aerodynamic simulation method until the convergence condition of the terminal falling velocity is met and the updating is stopped.

[0096] Third, the three-dimensional configuration of the micro aerial vehicle is determined according to the optimization parameters that meet the convergence condition.

[0097] It can be understood that the above-mentioned various method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle logic. Due to space limitations, the present disclosure will not repeat them. It can be understood by those skilled in the art that in the above-mentioned method of the specific implementation method, the specific execution order of each step should be determined according to its function and possible internal logic.

[0098] Application scenario examples

[0099] Figure 6 A schematic diagram of a three-dimensional micro-aircraft configuration optimization process according to an embodiment of the present disclosure is shown.

[0100] like Figure 6 As shown, in practical applications, the process of three-dimensional micro-aircraft configuration optimization can be:

[0101] The first step is to define the initial size, weight and terminal descent speed of the micro-aircraft;

[0102] The second step is to write the ABAQUS finite element program and set the parameters to be optimized, and then call the ABAQUS finite element program according to the parameters to be optimized to calculate the three-dimensional configuration of the micro-aircraft vehicle;

[0103] The third step is to extract the three-dimensional configuration and use COMSOL to calculate the terminal falling velocity;

[0104] The fourth step is to determine whether the terminal falling speed meets the requirements. If the terminal falling speed does not meet the requirements, it is iteratively updated by changing the parameters to be optimized, and then repeating from the second step; if the terminal falling speed meets the requirements, the three-dimensional configuration of the micro-aircraft is output.

[0105] The disclosed embodiments can realize the structural design and manufacture of passive three-dimensional micro-aircraft with a target terminal velocity, and have important application potential in the fields of aerospace, reconnaissance and detection. Moreover, the prepared passive micro-aircraft can realize functions such as long-term hovering. When combined with complex integrated circuits, these devices can form a dynamic sensor network for environmental monitoring, wireless communication base stations or various other Internet or Internet of Things-based technologies.

[0106] Figure 7 FIG. 1 is a block diagram of a micro-aircraft structure optimization device according to an embodiment of the present disclosure. Figure 7 As shown, the device comprises:

[0107] An initial three-dimensional configuration acquisition unit 21 is used to acquire initial three-dimensional configurations of multiple micro-aerial vehicles;

[0108] A construction unit 22, configured to construct a first mapping relationship between a parameter to be optimized and a first terminal velocity of the micro-aircraft according to the initial three-dimensional configuration;

[0109] an iterative unit 23, configured to iterate the parameter to be optimized according to the first mapping relationship, and determine a second terminal velocity of the micro-aircraft;

[0110] A final optimization parameter determination unit 24, configured to obtain a final optimization parameter in response to the second terminal speed satisfying a preset convergence condition;

[0111] The final three-dimensional configuration determining unit 25 is used to obtain the final three-dimensional configuration of the micro aerial vehicle according to the final optimization parameters.

[0112] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0113] The embodiment of the present disclosure also provides a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above method when executed by a processor. The computer-readable storage medium can be a volatile or non-volatile computer-readable storage medium.

[0114] An embodiment of the present disclosure further proposes an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to implement the above method when executing the instructions stored in the memory.

[0115] The embodiments of the present disclosure also provide a computer program product, including a computer-readable code, or a non-volatile computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor of an electronic device, the processor in the electronic device executes the above method.

[0116] The electronic device may be provided as a terminal, a server, or a device in other forms.

[0117] Figure 8 1 is a block diagram of an electronic device 1900 according to an embodiment of the present disclosure. For example, the electronic device 1900 may be provided as a server. The processing result of the server may be sent to a terminal device and displayed by the terminal device. Figure 8 , the electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932 for storing instructions executable by the processing component 1922, such as an application. The application stored in the memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

[0118] The electronic device 1900 may also include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input / output (I / O) interface 1958. The electronic device 1900 may operate based on an operating system stored in the memory 1932, a Microsoft server operating system (Windows ServerTM), a graphical user interface operating system (Mac OSXTM) launched by Apple Inc., a multi-user multi-process computer operating system (UnixTM), a free and open source Unix-like operating system (LinuxTM), an open source Unix-like operating system (FreeBSDTM) or the like. In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a memory 1932 including computer program instructions, which may be executed by the processing component 1922 of the electronic device 1900 to perform the above method.

[0119] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0120] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: 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 static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0121] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0122] The computer program instructions for performing the operation of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed completely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be customized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0123] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0124] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0125] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0126] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0127] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A method for optimizing the structure of a micro-aircraft, characterized in that: include: Acquire multiple initial three-dimensional configurations of the micro-aerial vehicle; Constructing a first mapping relationship between a parameter to be optimized and a first terminal velocity of the micro-aircraft according to the initial three-dimensional configuration; Iterating the parameters to be optimized according to the first mapping relationship, and determining a second terminal velocity of the micro-aircraft; In response to the second terminal velocity satisfying a preset convergence condition, obtaining a final optimization parameter; According to the final optimization parameters, a final three-dimensional configuration of the micro aerial vehicle is obtained.

2. The method according to claim 1, characterized in that The step of obtaining a plurality of initial three-dimensional configurations of the micro aerial vehicle comprises: obtaining a plurality of initial two-dimensional configurations of the micro aerial vehicle; The multiple initial three-dimensional configurations are obtained according to the multiple initial two-dimensional configurations.

3. The method according to claim 1, characterized in that The parameters to be optimized include the geometric dimensions of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the quality of the three-dimensional configuration to be optimized, and the final optimization parameters include the geometric dimensions of the final optimized two-dimensional configuration, the assembly strain of the final optimized three-dimensional configuration, and the quality of the final optimized three-dimensional configuration.

4. The method according to claim 3, characterized in that According to the initial three-dimensional configuration, a first mapping relationship between the parameter to be optimized and the first terminal velocity of the micro-aerial vehicle is constructed, including: By using the single variable control method, the first mapping relationship between the geometric size of the two-dimensional configuration to be optimized, the assembly strain of the three-dimensional configuration to be optimized, and the mass of the three-dimensional configuration to be optimized and the first terminal velocity is obtained, and the first terminal velocity is calculated according to the initial three-dimensional configuration.

5. The method according to claim 4, characterized in that The method further comprises: Obtaining the projection area of ​​the three-dimensional configuration to be optimized; A second mapping relationship between the projection area and the first terminal velocity is determined.

6. The method according to claim 5, characterized in that The iterating the parameters to be optimized according to the first mapping relationship and determining the second terminal velocity of the micro-aerial vehicle includes: According to the first mapping relationship and / or the second mapping relationship, the parameter to be optimized is iterated and a second terminal velocity is determined, where the second terminal velocity is a result of each iteration process of the iteration.

7. The method according to any one of claims 1 to 6, characterized in that In response to the second terminal velocity satisfying a preset convergence condition, obtaining a final optimization parameter includes: Determine target terminal speed; In response to a deviation between the second terminal speed and a preset target speed being less than a certain threshold, the final optimization parameter is obtained.

8. A micro-aircraft structure optimization device, characterized in that: The device comprises: An initial three-dimensional configuration acquisition unit, used to acquire initial three-dimensional configurations of multiple micro-aerial vehicles; A construction unit, configured to construct a first mapping relationship between a parameter to be optimized and a first terminal velocity of the micro-aircraft according to the initial three-dimensional configuration; an iterative unit, configured to iterate the parameter to be optimized according to the first mapping relationship, and determine a second terminal velocity of the micro-aircraft; a final optimization parameter determination unit, configured to obtain a final optimization parameter in response to the second terminal velocity satisfying a preset convergence condition; The final three-dimensional configuration determining unit is used to obtain the final three-dimensional configuration of the micro-aircraft according to the final optimization parameters.

9. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to implement the method described in any one of claims 1 to 7 when executing the instructions stored in the memory.

10. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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