Control method of ornithopter robot based on butterfly bionics

Abstract

The invention discloses a control method of an ornithopter robot based on butterfly bionics. The ornithopter robot comprises a first steering engine, a second steering engine, a robot body, a gyroscope, a wireless communication module and a flight control system module. The first steering engine and the second steering engine are installed on the two sides of the head of the fuselage correspondingly. The flight control system module receives instruction data of the remote control device through the wireless communication module, controls the swing angle of a first rudder arm of the first steering engine and the swing angle of the second steering engine and the swing angle of the second rudder arm according to the instruction data, and then drives the right wing and the left wing which are connected with the first steering engine and the second steering engine respectively to swing. The ornithopter robot flies; the flight attitude of the ornithopter robot is monitored in real time through the gyroscope and transmitted to the flight control system module to regulate and control the flight attitude of the ornithopter robot. According to the ornithopter robot, the wing mounting frame and the rotating motor are arranged at the tail of the ornithopter body and used for balancing weight distribution of the ornithopter body, and meanwhile the flight attitude of the ornithopter robot can be adjusted more quickly when the attitude of the ornithopter robot is adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of bionic flapping-wing robots, and in particular to a control method of a flapping-wing robot based on butterfly bionics. Background Art

[0002] By imitating the flight form and movement patterns of butterflies, this technical field aims to develop efficient and flexible aircraft, which are particularly suitable for task execution in complex environments. The flapping-wing robot based on butterfly bionics is derived from the movement posture of butterflies in nature, and realizes an aircraft that can imitate the flight mode of birds or insects. Its research directions involve a variety of scientific fields such as aerodynamics, mechanical design, materials science and control engineering. In terms of bionic design, by studying the structure and swinging mechanism of butterfly wings, it provides design inspiration for flapping-wing aircraft. In terms of intelligent control, advanced servo control algorithms are applied to make the wing swing more precise and improve flight stability. In terms of aerodynamics, the shape and motion parameters of the wings are optimized to achieve efficient lift and propulsion. Some studies have realized the basic flight functions of flapping-wing aircraft such as stable hovering, forward and backward flight, and left and right turning in the room. Energy consumption optimization and aerodynamic efficiency improvement have become research hotspots. For example, flight efficiency is improved by optimizing the shape, structure and vibration mode of the wings. Feedback-based flight control, distributed control, learning control, and bionic control are usually used. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a control method for a flapping-wing robot based on butterfly bionics. By setting a gyroscope sensor and a wing mounting frame, the flapping-wing robot can adjust its flight attitude more accurately and stably and adjust its flight attitude more quickly.

[0004] Technical solution: To achieve the above-mentioned purpose, a control method of a flapping-wing robot based on butterfly bionics of the present invention comprises a first servo, a second servo, a fuselage, a gyroscope, a wireless communication module and a flight control system module; the first servo and the second servo are respectively installed on both sides of the head of the fuselage; the flight control system module receives command data of a remote control device through a wireless communication module, and the flight control system module controls the swing angle of a first servo arm of the first servo, a second servo and a second servo arm according to the command data, thereby driving the right wing and the left wing connected to the first servo and the second servo respectively to swing, so that the flapping-wing robot flies; the flight attitude of the flapping-wing robot is monitored in real time by a gyroscope, and the flight attitude data is transmitted to the flight control system module to control the flight attitude of the flapping-wing robot.

[0005] Furthermore, the flight control system module controls the first servo and the second servo to drive the left wing and the right wing to swing at an angle, and the calculation process is as follows:

[0006] Δθ1=(Servoc_1+sj1)+(fd1-cs1)*cos((10*i) / 180*π+Δk

[0007] Δθ2=(Servoc_2+sj2)+(fd2-cs2)*cos((10*i) / 180*π+Δk

[0008] Wherein, Δθ1 and Δθ2 are the angles controlled and adjusted by the first servo and the second servo respectively, Servoc_1 and Servoc_2 are the initial input values ​​of the first servo and the second servo respectively, sj1 and sj2 are the lift input values ​​of the first servo and the second servo respectively, fd1 and fd2 are the amplitude input values ​​of the first servo and the second servo respectively, cs1 and cs2 are the speed input values ​​of the first servo and the second servo respectively, i is the defined variable used to repeatedly control the number of wing swings, and Δk is the correction coefficient for the rotation of the wing.

[0009] Further, initially, the flight control system module controls the swing amplitude, swing speed and number of swings of the first servo and the second servo to be the same; when the gyroscope detects that the posture of the flapping-wing robot tends to the right, the flight control system module determines whether the flapping-wing robot has an instruction to turn right or tilt right, and if so, the flight control system module does not make any adjustments, otherwise the flight control system module increases the swing amplitude, swing speed or number of swings of the first servo through the attitude data of the gyroscope to adjust the flight attitude of the flapping-wing robot;

[0010] When the gyroscope detects that the posture of the flapping-wing robot tends to the left, the flight control system module determines whether the flapping-wing robot has an instruction to turn left or tilt left. If yes, the flight control system module does not make any adjustments. Otherwise, the flight control system module increases the swing amplitude, swing speed or number of swings of the second servo through the attitude data of the gyroscope to adjust the flight attitude of the flapping-wing robot.

[0011] Furthermore, the first rudder arm of the first servo is driven and connected to the right wing-connecting member through the right servo connecting arm, and the second rudder arm of the second servo is driven and connected to the left wing-connecting member through the left servo connecting arm; the right wing-connecting member and the left wing-connecting member are both provided with a plurality of radial support frames, which are respectively used to fix and install the right wing and the left wing.

[0012] Furthermore, a square bracket is fixedly installed in the middle part of the fuselage, and the gyroscope, wireless communication module and flight control system module are all installed on the square bracket.

[0013] Furthermore, a wing mounting frame is fixedly installed at the tail of the fuselage, and the middle part of the wing mounting frame is rotatably connected to the lower part of the tail of the fuselage through a rotating motor; the two ends of the wing mounting frame are respectively provided with a first magnetic part and a second magnetic part, and the right wing and the left wing are provided with a third magnetic part and a fourth magnetic part corresponding to the first magnetic part and the second magnetic part.

[0014] Furthermore, the wing mounting frame includes a folded state and an unfolded state. When the wing mounting frame is in the folded state, the wing mounting frame overlaps with the fuselage; when the wing mounting frame is in the unfolded state, the extension line of the wing mounting frame is perpendicular to the extension line of the fuselage, and the first magnetic member and the second magnetic member are respectively located below the third magnetic member and the fourth magnetic member.

[0015] Furthermore, in the initial state, the flapping-wing robot is in a normal flight state, and the wing mounting frame is in a folded state; when the gyroscope detects that the posture of the flapping-wing robot is that the head is tilted downward, the flight control system module determines whether the flapping-wing robot has an instruction to fly downward. If so, the flight control system module does not make any adjustments, otherwise the flight control system module simultaneously controls the first servo and the second servo to increase the swing amplitude, swing speed or number of swings, and at the same time, the flight control system module controls the wing mounting frame to switch to an extended state to adjust the flight posture of the flapping-wing robot; when the flight posture of the flapping-wing robot tends to be stable, the flight control system module controls the wing mounting frame to switch to a folded state.

[0016] Beneficial effects: The control method of a flapping-wing robot based on butterfly bionics of the present invention timely adjusts the swing amplitude, swing speed and swing frequency of the servo by setting a gyroscope sensor and a closed-loop feedback of the flight control system module, thereby timely adjusting the flight attitude of the flapping-wing robot; by setting a wing mounting frame and a rotating motor at the tail of the fuselage, it can be used to balance the weight of the square bracket in the middle part of the fuselage and the weight of the two servos at the head of the fuselage, so that the flapping-wing robot is more stable in the flight state; at the same time, the rotating motor controls the switching of the wing mounting frame between the folded state and the unfolded state, so that the flapping-wing robot can adjust the flight attitude of the flapping-wing robot more quickly when adjusting the attitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The workflow diagram of the butterfly-inspired flapping-wing robot;

[0018] Figure 2 The block diagram of the control method of butterfly-inspired flapping-wing robot;

[0019] Figure 3 The shape of the wings of the butterfly-inspired flapping-wing robot;

[0020] Figure 4The main body of the butterfly-inspired flapping-wing robot;

[0021] Figure 5 A schematic diagram of the wing mounting frame of the butterfly bionic flapping-wing robot in the folded state;

[0022] Figure 6 This is a schematic diagram of the unfolded state of the wing mounting frame of the butterfly bionic flapping-wing robot. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] like Figure 1-2 As shown, a control method of a flapping-wing robot based on butterfly bionics includes a first steering gear 1, a second steering gear 2, a fuselage 3, a gyroscope, a wireless communication module and a flight control system module; the first steering gear 1 and the second steering gear 2 are respectively installed on both sides of the head of the fuselage 3; the flight control system module receives the command data of the remote control device through the wireless communication module, and the command data includes the initial input value, lifting value, swing amplitude, swing speed and number of swings of the first steering gear 1 and the second steering gear 2; the flight control system module controls the swing angle of the first rudder arm 6 of the first steering gear 1 and the second rudder arm 2 and the second rudder arm 7 of the second steering gear 2 according to the command data, and then drives the right wing 23 and the left wing 24 connected to the first steering gear 1 and the second steering gear 2 to swing, so that the flapping-wing robot flies; the flight attitude of the flapping-wing robot is monitored in real time by the gyroscope, and the flight attitude data is transmitted to the flight control system module to control the flight attitude of the flapping-wing robot. The first steering gear 1 and the second steering gear 2 are tiltedly installed on both sides of the fuselage, and the rudder arms of the first steering gear and the second steering gear are tilted away from the fuselage.

[0025] like Figure 2As shown, the gyroscope is a PCB integrated gyroscope, which can sense the flight attitude of the flapping-wing robot with high precision; the wireless communication module is a LoRa wireless communication module, and the flight control system module can process sensor data in real time mainly through the powerful computing power of the ESP32 single-chip flight control. The flight control system module is connected to the first servo and the second servo, the flight control system module is connected to the gyroscope and the wireless communication module, the wireless communication module is connected to the remote control device through wireless transmission, and the gyroscope monitors the flight attitude of the flapping-wing robot in real time; the attitude data of the flapping-wing robot is monitored in real time through the gyroscope sensor, and the attitude data is fed back to the flight control system module to optimize the motion attitude of the flapping-wing robot; the flight control system module adjusts the flight state of the flapping-wing robot by collecting the data of the gyroscope and the command data transmitted by the wireless communication module. The gyroscope is used to detect the flight attitude of the butterfly bionic flapping-wing robot, the PCB integrated gyroscope is connected to the flight control system module, and a PID control feedback is formed. The tilt angle of the wiper is adjusted according to the feedback signal generated by the PID closed-loop feedback, and the angle that needs to be adjusted in the end is determined, so that the flight attitude of the butterfly bionic flapping-wing robot can be timely regulated.

[0026] The LoRa wireless communication module is a wireless communication device based on the LoRa (Long Range) modulation technology. It is characterized by low power consumption, long distance, strong anti-interference ability, and is suitable for the Internet of Things and smart device applications. The main function is to realize wireless data transmission and support point-to-point or networking communication. The LoRa wireless communication module can provide a stable communication solution in complex environments with its high sensitivity and low power consumption. The first servo 1 and the second servo 2 are high-precision servos, which control the movement of the wings. This control method enables the flapping-wing aircraft to not only complete basic flight functions, but also have excellent flexibility and maneuverability.

[0027] like Figure 2 As shown, the flight control system module controls the first servo 1 and the second servo 2 to drive the left wing 23 and the right wing 24 to calculate the swing angle as follows:

[0028] Δθ1=(Servoc_1+sj1)+(fd1-cs1)*cos((10*i) / 180*π+Δk

[0029] Δθ2=(Servoc_2+sj2)+(fd2-cs2)*cos((10*i) / 180*π+Δk

[0030] Wherein, Δθ1 and Δθ2 are the angles controlled and adjusted by the first servo and the second servo respectively, Servoc_1 and Servoc_2 are the initial input values ​​of the first servo and the second servo respectively, sj1 and sj2 are the lift input values ​​of the first servo and the second servo respectively, fd1 and fd2 are the amplitude input values ​​of the first servo and the second servo respectively, cs1 and cs2 are the speed input values ​​of the first servo and the second servo respectively, i is the defined variable used to repeatedly control the number of wing swings, and Δk is the correction coefficient for the rotation of the wing.

[0031] Initially, the flight control system module controls the swing amplitude, swing speed and number of swings of the first servo and the second servo to be the same; when the flapping-wing robot needs to move to the right, the swing angle of the first servo is reduced compared to the swing angle of the second servo; when the flapping-wing robot needs to move to the left, the swing angle of the first servo is increased compared to the swing angle of the second servo.

[0032] When the gyroscope detects that the posture of the flapping-wing robot tends to the right, the flight control system module determines whether the flapping-wing robot has an instruction to turn right or tilt right. If so, the flight control system module does not make any adjustments. Otherwise, the flight control system module increases the swing amplitude, swing speed or number of swings of the first servo 1 through the attitude data of the gyroscope to adjust the flight posture of the flapping-wing robot. At this time, whether any one or more of the swing amplitude, swing speed or number of swings is increased, the effect of adjusting the flight posture can be achieved. The specific control needs to be set according to the needs and the swing angle formula of the servo.

[0033] When the gyroscope detects that the posture of the flapping-wing robot tends to the left, the flight control system module determines whether the flapping-wing robot has an instruction to turn left or tilt left. If yes, the flight control system module does not make any adjustments. Otherwise, the flight control system module increases the swing amplitude, swing speed or number of swings of the second servo 2 through the attitude data of the gyroscope to adjust the flight attitude of the flapping-wing robot. At this time, whether reducing any one or more of the swing amplitude, swing speed or number of swings, the effect of adjusting the flight attitude can be achieved. The specific control needs to be set according to the needs and the swing angle formula of the servo.

[0034] like Figure 3-4 As shown, the first rudder arm 6 of the first steering gear 1 is driven to connect the right wing member 12 through the right steering gear connecting arm 11, and the second rudder arm 7 of the second steering gear 2 is driven to connect the left wing member 22 through the left steering gear connecting arm 21; the right wing member 12 and the left wing member 22 are both provided with a plurality of radial support frames, which are respectively used to fix and install the right wing 23 and the left wing 24. The left and right wings are made of P31N material according to the following Figure 3The P31N material has excellent lightweight properties, strength and elasticity, which can effectively reduce the overall weight of the flapping-wing aircraft, while providing sufficient structural support to keep the wings stable and durable during high-speed swinging. The high strength of the P31N material can withstand the stress generated by high-frequency swinging and extend the service life of the flapping-wing aircraft. The left and right wings are designed based on the simulation of butterfly ecology and the flight of the butterfly bionic flapping-wing aircraft robot. The larger working surface of the wing is conducive to the flight of the butterfly bionic flapping-wing aircraft.

[0035] A square bracket 4 is fixedly installed in the middle part of the fuselage 3, and the square bracket 4 is located below the fuselage. The gyroscope, wireless communication module and flight control system module are all installed on the square bracket 4. The flapping-wing robot also includes a power module and a boost module. The battery module and the boost module are also installed on the square bracket 4. The input end of the boost module is electrically connected to the power module, and the output end of the boost module is electrically connected to the flight control system module, the first servo 1, the second servo 2 and other electronic components and modules, providing a stable power output to ensure the reliability of the system when running under high load; the boost module increases the voltage input by the power module to a higher voltage required by the butterfly bionic flapping-wing robot, and has the advantages of high efficiency, small size, strong stability, etc.

[0036] The tail of the fuselage 3 is fixedly mounted with a wing mounting frame 5, and the middle part of the wing mounting frame 5 is rotatably connected to the lower part of the tail of the fuselage 3 through a rotating motor 8; the two ends of the wing mounting frame 5 are respectively provided with a first magnetic member 51 and a second magnetic member 52, and the right wing 23 and the left wing 24 are provided with a third magnetic member 25 and a fourth magnetic member 26 corresponding to the first magnetic member 51 and the second magnetic member 52. The third magnetic member 25 and the fourth magnetic member 26 are both extremely thin magnetic patches to reduce the weight of the left and right wings; they can be extremely thin metal patches.

[0037] like Figure 5-6 As shown, the wing mounting frame 5 includes a folded state and an unfolded state. When the wing mounting frame 5 is in the folded state, as shown in FIG. Figure 5 As shown, the wing mounting frame 5 overlaps with the fuselage 3; when the wing mounting frame 5 is in the unfolded state, as shown in FIG. Figure 6 As shown, the extension line of the wing mounting frame 5 is perpendicular to the extension line of the fuselage 3, and the first magnetic component 51 and the second magnetic component 52 are respectively located below the third magnetic component 25 and the fourth magnetic component 26, and the first magnetic component 51 and the second magnetic component 52 respectively magnetically attract the third magnetic component 25 and the fourth magnetic component 26, so that the two are attracted together and will not be separated due to other factors.

[0038] In the initial state, the flapping-wing robot is in a normal flight state, and the wing mounting frame 5 is in a folded state; when the gyroscope detects that the posture of the flapping-wing robot is that the head is tilted downward, the flight control system module determines whether the flapping-wing robot has an instruction to fly downward. If so, the flight control system module does not make any adjustments, otherwise the flight control system module simultaneously controls the first servo 1 and the second servo 2 to increase the swing amplitude, the swing speed or the number of swings, and at the same time, the flight control system module controls the wing mounting frame 5 to switch to the deployed state to adjust the flight posture of the flapping-wing robot; when the flight posture of the flapping-wing robot tends to be stable, the flight control system module controls the wing mounting frame 5 to switch to the folded state, so that the flapping-wing robot can adjust the flight posture of the flapping-wing robot more quickly.

[0039] Initially, the flapping-wing robot is in a normal flight state, and the wing mounting frame 5 is in a folded state; when the gyroscope detects that the posture of the flapping-wing robot is that the tail is inclined downward, the flight control system module determines whether the flapping-wing robot has an instruction to fly upward. If so, the flight control system module does not make any adjustments. Otherwise, the flight control system module simultaneously controls the first servo 1 and the second servo 2 to simultaneously reduce the swing amplitude, the swing speed or the number of swings, and adjusts the flight posture of the flapping-wing robot. At this time, the flight control system module controls the wing mounting frame 5 to remain in a folded state.

[0040] When the gyroscope detects that the flight attitude of the flapping-wing robot is unstable and unsteady, the flight control system module controls the wing mounting frame 5 to switch to the deployed state, and assists the two servos to adjust the flight attitude of the flapping-wing robot, so that the flight control system module can control the flight attitude of the flapping-wing robot to be stable and steady more quickly.

[0041] Example 1

[0042] The butterfly bionic flapping-wing robot is started to fly, and the flight control system module controls the rudder arms of the first and second servos to swing at the same time. In the initial state, the wing mounting frame 5 is in a folded state; when the flapping-wing robot is flying, the power is close to the set minimum value, and the power is insufficient to adjust the swing of the two servos to make the flapping-wing robot land; at this time, the flight control system module controls the two servos to unfold the left wing and the right wing to a horizontal state, and controls the rotating motor to switch the wing mounting frame to an unfolded state, so that the flapping-wing robot has a larger wind resistance bearing area, increases the resistance of the flapping-wing robot to descend, slows down the speed of the flapping-wing robot to descend, and makes the flapping-wing robot slowly glide and land on the ground, ensuring that the flapping-wing robot will not fall rapidly due to the lack of power in the power module, causing damage to the flapping-wing robot.

[0043] Example 2

[0044] The first magnetic member (51) and the second magnetic member (52) respectively arranged at the two ends of the wing mounting frame (5) are both electromagnetic elements, and the flight control system module controls the power on and off of the first magnetic member (51) and the second magnetic member (52). When the flapping-wing robot is flying normally, in the initial state, the wing mounting frame 5 is in a folded state; when the gyroscope detects that the flight attitude of the flapping-wing robot is unstable, it is necessary to adjust the flight attitude of the flapping-wing robot, and the flight control system module controls the wing mounting frame 5 to switch to an unfolded state; the unstable flight attitude of the flapping-wing robot is not simply tilting to the left, tilting to the right, and tilting forward and downward, and it may be necessary to adjust the downward tilt of the fuselage head while adjusting the left and right tilt problems; when the flapping-wing robot body tilts downward and tilts to the left at the same time, if the two servos are controlled to swing at the same time to solve the problem of tilting downward, the leftward deviation of the flapping-wing robot may be more serious due to the swinging deviation of the two servos.

[0045] Therefore, at this time, it is necessary to increase the swing amplitude, swing speed or swing frequency of the two servos at the same time. At the same time, one or more of the swing amplitude, swing speed or swing frequency of the second servo of the two servos is larger than that of the first servo. At this time, the extremely complex adjustment will affect the stability of the flapping-wing robot. Therefore, the flight control system module controls the two electromagnetic elements to be energized, and the two electromagnetic elements respectively magnetically attract the magnetic patches of the left wing and the right wing; when the flapping-wing robot is adjusted, the wind resistance bearing area is always kept not less than a certain value, so as to maintain the flapping-wing robot's flight attitude adjustment. Stability and coordination; when the flight attitude adjustment of the flapping-wing robot is about to become stable, the flight control system module controls the two electromagnetic components to cut off the power, and the two electromagnetic components will not magnetically attract the magnetic patches of the left and right wings; then the flight attitude of the flapping-wing robot is maintained stable by controlling the swing of the two servos. The gyroscope detects the flight attitude of the flapping-wing robot for a period of time. When the detected flight attitude is still unstable, the flight control system module controls the two electromagnetic components to be powered on and continue to adjust; when the detected flight attitude is stable, the flight control system module controls the wing mounting frame to switch to the folded state.

[0046] The above is only a description of the preferred embodiments of the present invention. Ordinary technicians in this technical field can make several modifications and optimizations based on the above disclosure without departing from the above basic principles. These improvements and optimizations should be regarded as the understood protection scope of the present invention.

Claims

1. A control method for a butterfly-inspired flapping-wing robot, characterized in that: The invention comprises a first steering gear (1), a second steering gear (2), a fuselage (3), a gyroscope, a wireless communication module and a flight control system module; the first steering gear (1) and the second steering gear (2) are respectively installed on both sides of the head of the fuselage (3); the flight control system module receives command data of a remote control device through the wireless communication module, and the flight control system module controls the swing angles of a first rudder arm (6) of the first steering gear (1) and a second rudder arm (7) of the second steering gear (2) according to the command data, thereby driving a right wing (23) and a left wing (24) respectively connected to the first steering gear (1) and the second steering gear (2) to swing, so that a flapping-wing robot can fly; the flight attitude of the flapping-wing robot is monitored in real time through the gyroscope, and the flight attitude data is transmitted to the flight control system module to control the flight attitude of the flapping-wing robot.

2. The control method of a butterfly bionic flapping-wing robot according to claim 1, characterized in that: The flight control system module controls the first steering gear (1) and the second steering gear (2) to drive the left wing (23) and the right wing (24) to calculate the swing angles as follows: Δθ1=(Servoc_1+sj1)+(fd1-cs1)*cos((10*i) / 180*π+Δk Δθ2=(Servoc_2+sj2)+(fd2-cs2)*cos((10*i) / 180*π+Δk Wherein, Δθ1 and Δθ2 are the angles controlled and adjusted by the first servo and the second servo respectively, Servoc_1 and Servoc_2 are the initial input values ​​of the first servo and the second servo respectively, sj1 and sj2 are the lift input values ​​of the first servo and the second servo respectively, fd1 and fd2 are the amplitude input values ​​of the first servo and the second servo respectively, cs1 and cs2 are the speed input values ​​of the first servo and the second servo respectively, i is the defined variable used to repeatedly control the number of wing swings, and Δk is the correction coefficient for the rotation of the wing.

3. The control method of a butterfly bionic flapping-wing robot according to claim 1, characterized in that: Initially, the flight control system module controls the swing amplitude, swing speed and number of swings of the first steering gear and the second steering gear to be the same; when the gyroscope detects that the posture of the flapping-wing robot is inclined to the right, the flight control system module determines whether the flapping-wing robot has an instruction to turn right or tilt right. If yes, the flight control system module does not make any adjustments; otherwise, the flight control system module increases the swing amplitude, swing speed or swing number of the first steering gear (1) through the posture data of the gyroscope to adjust the flight posture of the flapping-wing robot; When the gyroscope detects that the posture of the flapping-wing robot is inclined to the left, the flight control system module determines whether the flapping-wing robot has an instruction to turn left or tilt left. If yes, the flight control system module does not make any adjustment. Otherwise, the flight control system module increases the swing amplitude, swing speed or number of swings of the second servo (2) through the posture data of the gyroscope to adjust the flight posture of the flapping-wing robot.

4. The control method of a butterfly bionic flapping-wing robot according to claim 1, characterized in that: The first rudder arm (6) of the first steering gear (1) is driven to connect to the right wing-connecting member (12) through the right steering gear connecting arm (11), and the second rudder arm (7) of the second steering gear (2) is driven to connect to the left wing-connecting member (22) through the left steering gear connecting arm (21); the right wing-connecting member (12) and the left wing-connecting member (22) are both provided with a plurality of radial support frames, which are respectively used to fix and install the right wing (23) and the left wing (24).

5. The control method of a butterfly bionic flapping-wing robot according to claim 4, characterized in that: A square bracket (4) is fixedly mounted in the middle of the fuselage (3), and the gyroscope, wireless communication module and flight control system module are all mounted on the square bracket (4).

6. The control method of a butterfly bionic flapping-wing robot according to claim 4, characterized in that: A wing mounting frame (5) is fixedly mounted at the tail of the fuselage (3); the middle portion of the wing mounting frame (5) is rotatably connected to the lower portion of the tail of the fuselage (3) via a rotating motor (8); a first magnetic component (51) and a second magnetic component (52) are respectively arranged at both ends of the wing mounting frame (5); and a third magnetic component (25) and a fourth magnetic component (26) corresponding to the first magnetic component (51) and the second magnetic component (52) are arranged on the right wing (23) and the left wing (24).

7. The control method of a butterfly bionic flapping-wing robot according to claim 6, characterized in that: The wing mounting frame (5) includes a folded state and an unfolded state. When the wing mounting frame (5) is in the folded state, the wing mounting frame (5) overlaps with the fuselage (3); when the wing mounting frame (5) is in the unfolded state, the extension line of the wing mounting frame (5) is perpendicular to the extension line of the fuselage (3), and the first magnetic component (51) and the second magnetic component (52) are respectively located below the third magnetic component (25) and the fourth magnetic component (26).

8. The control method of a butterfly bionic flapping-wing robot according to claim 7, characterized in that: In the initial state, the flapping-wing robot is in a normal flight state, and the wing mounting frame (5) is in a folded state; when the gyroscope detects that the flapping-wing robot has a head tilted downward, the flight control system module determines whether the flapping-wing robot has a downward flight instruction, and if so, the flight control system module does not make any adjustments; otherwise, the flight control system module simultaneously controls the first steering gear (1) and the second steering gear (2) to simultaneously increase the swing amplitude, the swing speed or the number of swings, and at the same time, the flight control system module controls the wing mounting frame (5) to switch to an extended state, thereby adjusting the flight attitude of the flapping-wing robot; when the flight attitude of the flapping-wing robot tends to be stable, the flight control system module controls the wing mounting frame (5) to switch to a folded state.

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