Hovering structure of bionic bird aircraft and control method of hovering structure

Abstract

The invention discloses a hovering structure of a bionic bird aircraft and a control method thereof, and relates to the technical field of bionic birds.The hovering structure comprises a bionic head, bionic eyes are installed at the front end of the bionic head, a bionic body is connected to the rear end of the bionic head, and bionic wings are connected to the two sides of the bionic body; the bionic head comprises a central processing unit, a flight control module and a signal transmission module, the bionic body comprises a driving module, and the bionic eyes comprise image acquisition modules. The problems that the aircraft is difficult to generate stable and appropriate lift force and control force during hovering, the hovering stability is influenced, a lift force generation mechanism is optimized, and the hovering stability is influenced are solved. Stable and sufficient lift force can be provided for the aircraft under various flight conditions, and the flight stability and the hovering capability are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic birds, and specifically to a hovering structure and a control method for a bionic bird aircraft. Background Art

[0002] As a new type of aircraft, the bionic bird aircraft mimics the flight principle of birds, aiming to achieve efficient and flexible flight. It has unique advantages especially in hovering and is expected to play an important role in multiple fields.

[0003] In this regard, the patent of CN116767522A discloses a bionic bird flapping mechanism, a control method and a bionic bird aircraft. Among them, the bionic bird flapping mechanism includes a base, a bionic bird wing one rotatably installed on the base and rotating around the X-axis direction, a bionic bird wing assembly two rotatably cooperating with the bionic bird wing one and rotating around the X-axis and Y-axis directions, several bionic bird feathers installed on the bionic bird wing assembly two and the bionic bird wing one, and a feather control assembly installed on the base and respectively connected to the bionic bird feathers. The control method of the bionic bird flapping mechanism and the bionic aircraft based on the bionic bird flapping mechanism are disclosed in total; this structure has a high flapping frequency and large lift, can reduce the influence of oncoming wind on flight, and can effectively improve flight stability and flight efficiency.

[0004] Nowadays, in terms of the mechanical structure of bionic birds, in order to achieve flapping flight and hovering functions close to those of birds, its structure design is complex, which not only increases the manufacturing difficulty and cost, but also easily increases the probability of mechanical failures due to the complex structure. Moreover, the existing wing drive mechanisms are difficult to accurately simulate the complex movement trajectories of the wings during bird flight, making it difficult for the aircraft to generate stable and appropriate lift and control forces during hovering, affecting the hovering stability.

[0005] In view of the above problems, a hovering structure and a control method for a bionic bird aircraft are proposed for this purpose. Summary of the Invention

[0006] The purpose of the present invention is to provide a hovering structure and a control method for a bionic bird aircraft, which solves the problem that the hovering of the bionic bird aircraft in the background art is difficult to be stable.

[0007] To achieve the above purpose, the present invention provides the following technical solution: A hovering structure for a bionic bird aircraft, including a bionic head;

[0008] A bionic eye is installed at the front end of the bionic head, the rear end of the bionic head is connected to a bionic body, and bionic wings are connected to both sides of the bionic body;

[0009] The bionic head includes a central processing unit, a flight control module, a signal transmission module, the bionic body includes a drive module, and the bionic eye includes an image acquisition module;

[0010] Central processing unit: responsible for comprehensively analyzing and processing data from each module;

[0011] Flight control module: used to precisely adjust the flight attitude and trajectory of the bionic bird aircraft;

[0012] Drive module: According to the control signal transmitted from the central processing unit, it drives the power device, and then drives the flapping of the bionic wings;

[0013] Signal transmission module: responsible for realizing data interaction between the bionic bird aircraft and external devices;

[0014] Image acquisition module: used to obtain image information of the environment around the bionic bird aircraft;

[0015] A flapping wing assembly is installed at the end of the bionic wing. The flapping wing assembly includes a fitting sleeve. The end of the bionic wing is installed with a fitting sleeve and a universal joint. The fitting sleeve wraps around the outer surface of the universal joint. The universal joint penetrates through the inside of the fitting sleeve and is connected to the bionic body. The driving power device drives the universal joint to drive the bionic wing to flap. A driving gear is installed inside the fitting sleeve. One side of the driving gear is connected with a driven gear ring. The driving gear and the driven gear ring are meshed. The inner wall of the driven gear ring is fixedly connected with a first bone wing and a second bone wing. The first bone wing and the second bone wing pass through the fitting sleeve and are embedded into the inside of the bionic wing. The first bone wing and the second bone wing are rotatably connected with the bionic wing;

[0016] The outer surface of the first bone wing is wrapped with a bionic component. The bionic component includes a connecting bin. One side surface of the connecting bin is fixedly connected with a bionic flapping wing. The end of the bionic flapping wing is connected with a flexible wing. One end of the flexible wing far from the bionic flapping wing is connected with a wing tip.

[0017] Preferably, a hollow groove is arranged inside the bionic wing. The first bone wing and the second bone wing straddle the groove inside the bionic wing. The first bone wing and the second bone wing are arc-shaped rod-like structures with hollow interiors.

[0018] Preferably, the drive module includes a driving power device. One driving power device is used to control the flapping of the bionic wing to provide power for the flight of the bionic bird. Another driving power device is used to control the rotation of the driving gear. The rotation of the driving gear drives the meshed driven gear ring to control the rotation of the first bone wing and the second bone wing.

[0019] Preferably, the first driving power device controls the bionic wing to flap upward, and the second driving power device controls the driven gear ring to rotate counterclockwise in the initial state. The first driving device controls the bionic wing to flap downward, and the second driving power device drives the driven gear ring to rotate clockwise to the initial state.

[0020] Preferably, when the first bone wing and the second bone wing rotate counterclockwise, the bionic flapping wing connected thereto is upwardly deflected on the windward side, and when the first bone wing and the second bone wing rotate clockwise, the bionic flapping wing connected thereto is downwardly deflected on the windward side.

[0021] Preferably, a connecting shaft is connected to the upper surface of the bionic flapping wing and the wing tip, and a folding wing assembly is connected to the outer surface of the connecting shaft. The folding wing assembly includes a first operating frame, and a second operating frame is connected to one end of the first operating frame. Balance ailerons are connected to the lower surfaces of the first operating frame and the second operating frame.

[0022] Preferably, a sliding block is slidably connected to the first bone wing, and a traction rope is connected to the inside of the sliding block. The traction rope passes through the inside of the second operating frame and the first operating frame and is embedded in the inside of the connecting bin. A device for winding up the traction rope is connected to the inside of the connecting bin.

[0023] Preferably, the balance aileron is high in the middle and low at both ends. The balance aileron is arranged directly above the flexible wing, and a triangular channel is formed between the balance aileron and the flexible wing.

[0024] Preferably, the flexible wing is made of elastic polyurethane, and notches are provided on both the upper surface and the lower surface of the flexible wing.

[0025] A control method for a hovering structure of a bionic bird aircraft, wherein a central processing unit comprehensively analyzes and processes data of a flight control module, a signal transmission module, a driving module, and an image acquisition module.

[0026] The driving module controls the movement of each component of the bionic bird aircraft through a driving power device:

[0027] One driving power device is used to control the flapping of the bionic wing to provide power for flight, and different lift forces are obtained by adjusting the amplitude of the bionic wing. At the same time, another driving power device controls the rotation of the driving gear, drives the driven gear ring, and then controls the rotation of the first bone wing and the second bone wing. When the bionic wing flaps upward, the second driving power device controls the driven gear ring to rotate counterclockwise, so that the bionic flapping wing connected to the first bone wing and the second bone wing is upwardly deflected on the windward side. When the bionic wing flaps downward, the second driving power device controls the driven gear ring to rotate clockwise to the initial state, so that the bionic flapping wing is downwardly deflected on the windward side, thereby adjusting the state of the bionic flapping wing when the bionic wing moves up and down.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] 1. A hovering structure and control method of a bionic bird aircraft provided by the present invention realizes precise regulation of the flapping of bionic wings and bionic flapping postures through the design of a flapping wing assembly. When the wings move up and down, the bionic flapping wings can automatically adjust the contact state with the air according to the movement direction, greatly optimizing the lift generation mechanism, and providing stable and sufficient lift for the aircraft under various flight conditions, significantly improving flight stability and hovering ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of the bionic bird aircraft of the present invention;

[0031] Figure 2 is a schematic diagram of the structures of the bionic head and bionic body of the present invention;

[0032] Figure 3 is a schematic diagram of the structures of the mounting set and bionic wings of the present invention;

[0033] Figure 4 is a schematic diagram of the structures of the mounting set and universal joint head of the present invention;

[0034] Figure 5 is a schematic diagram of the structures of the driving gear and driven gear ring of the present invention;

[0035] Figure 6 is a schematic diagram of the structures of the driven gear ring and first bone wing of the present invention;

[0036] Figure 7 is a schematic diagram of the structures of the connecting bin and bionic flapping wings of the present invention;

[0037] Figure 8 is a schematic diagram of the structures of the connecting shaft and connecting bin of the present invention;

[0038] Figure 9 is a schematic diagram of the structures of the first operating frame and second operating frame of the present invention;

[0039] Figure 10 is a schematic diagram of the module composition of the present invention.

[0040] In the figures: 11, bionic head; 12, bionic body; 13, bionic eyes; 14, bionic wings; 2, flapping wing assembly; 21, mounting set; 22, universal joint head; 23, driving gear; 24, driven gear ring; 25, first bone wing; 26, second bone wing; 3, bionic assembly; 32, bionic flapping wings; 33, connecting shaft; 34, connecting bin; 35, sliding block; 36, flexible wing; 37, wing tip; 4, folding wing assembly; 41, first operating frame; 42, second operating frame; 43, balance aileron; 44, towing rope. Detailed implementation manners

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] To further understand the content of the present invention, the present invention will be described in detail with reference to the accompanying drawings.

[0043] Combined with Figures 1 - 10 , a hovering structure of a bionic bird aircraft of the present invention includes a bionic head 11;

[0044] A bionic eye 13 is installed at the front end of the bionic head 11, the bionic body 12 is connected to the rear end of the bionic head 11, and bionic wings 14 are connected to both sides of the bionic body 12;

[0045] The bionic head 11 includes a central processing unit, a flight control module, and a signal transmission module. The bionic body 12 includes a driving module, and the bionic eye 13 includes an image acquisition module;

[0046] Central processing unit: responsible for comprehensively analyzing and processing data from each module;

[0047] Flight control module: used to precisely adjust the flight attitude and trajectory of the bionic bird aircraft;

[0048] Driving module: According to the control signal transmitted from the central processing unit, drive the power device, and then drive the flapping of the bionic wings 14;

[0049] Signal transmission module: responsible for realizing data interaction between the bionic bird aircraft and external devices;

[0050] Image acquisition module: used to obtain image information of the surrounding environment of the bionic bird aircraft;

[0051] The central processing unit comprehensively analyzes and processes the data of the flight control module, the signal transmission module, the driving module, and the image acquisition module.

[0052] In order to improve the flight stability and have a better hovering effect, a flapping wing assembly 2 is provided, and the specific operation is as follows:

[0053] The end of the bionic wing 14 is equipped with a flapping wing assembly 2, which includes an assembly sleeve 21. The end of the bionic wing 14 is equipped with an assembly sleeve 21 and a universal connector 22. The assembly sleeve 21 is wrapped around the outer surface of the universal connector 22. The universal connector 22 penetrates the interior of the assembly sleeve 21 and is connected to the bionic body 12. The driving power device drives the universal connector 22 to drive the bionic wing 14 to flap. A driving gear 23 is installed inside the assembly sleeve 21. A driven gear ring 24 is connected to one side of the driving gear 23. The driven gear 23 is meshed with the driven gear ring 24, and the inner wall of the driven gear ring 24 is fixedly connected with the first bone wing 25 and the second bone wing 26, which pass through the assembly sleeve 21 until they are embedded in the interior of the bionic wing 14, and the first bone wing 25 and the second bone wing 26 are rotatably connected to the bionic wing 14, and the interior of the bionic wing 14 is provided with a hollow groove body, and the first bone wing 25 and the second bone wing 26 span the groove body inside the bionic wing 14, and the first bone wing 25 and the second bone wing 26 are hollow inside. The arc-shaped rod-shaped structure, the driving module includes a driving power device, one of which is used to control the flapping of the bionic wing 14 to provide power for the flight of the bionic bird, and the other driving power device is used to control the rotation of the driving gear 23. The rotation of the driving gear 23 drives the meshing driven gear ring 24 to control the rotation of the first bone wing 25 and the second bone wing 26. The first driving power device controls the bionic wing 14 to flap upward, and the second driving power device controls the driven gear ring 24 to rotate counterclockwise in the initial state. The first driving device controls the bionic wing 14 to flap downward, and the second driving power device drives the driven gear ring 24 to rotate clockwise to the initial state, the first bone wing 25 and the second bone wing 26 rotate counterclockwise to move the windward side of the bionic flapping wing 32 connected thereto upward, and the first bone wing 25 and the second bone wing 26 rotate clockwise to move the windward side of the bionic flapping wing 32 connected thereto downward, wherein the windward side is the side opposite to the flight direction of the bionic bird aircraft during flight, that is, the side directly facing the impact of airflow.

[0054] When the bionic bird aircraft is flying, the driving power device drives the bionic wings 14 to swing up and down, thereby providing power for the flight of the aircraft. The driving power device can be a servo motor. Under the control of the driving module, the amplitude of the bionic wings 14 is adjusted to obtain different lifts.

[0055] When the bionic wing 14 deflects upward, the windward side of the bionic flapping wing 32 on the second bone wing 26 deflects upward. At this time, the bionic flapping wing 32 changes from the original horizontal setting to a vertical setting. In this way, during the upward movement of the bionic wing 14, the wind resistance received by the bionic flapping wing 32 is smaller. In this way, during flight, it can better provide lift for the aircraft. When the bionic wing 14 moves downward, the bionic flapping wing 32 deflects downward. At this time, the bionic flapping wing 32 will change from the original vertical state to a horizontal state. In this way, the contact area with the air is also larger. During the flight of the bionic bird aircraft, during the upward movement of the bionic wing 14, significant aerodynamic advantages are brought. Since the bionic flapping wing 32 assembly changes to a vertical state, the wind resistance it receives in the air will be greatly reduced. The smaller wind resistance means that when the wing moves upward, the additional resistance received by the aircraft is reduced, and this action can be completed more smoothly. Thus, during flight, it can more effectively provide lift for the aircraft. This not only helps to maintain the altitude of the aircraft, but also can reduce the energy consumption to a certain extent and improve the flight efficiency;

[0056] According to Newton's third law, the reaction force generated by the air on the wing will also increase accordingly, thereby providing a stronger lift for the aircraft. This design in which the bionic flapping wing 32 automatically adjusts the contact state with the air according to the movement direction of the wing during the up and down movement of the wing greatly optimizes the lift generation mechanism of the aircraft. During flight, regardless of whether the wing is in the upward or downward movement stage, through the state change of the bionic flapping wing 32 assembly, the aerodynamic principle can be effectively utilized to provide a stable and sufficient lift for the aircraft, ensuring that the aircraft can maintain good flight performance under various flight conditions. Whether hovering, taking off, landing or cruising, it can complete the task more smoothly and efficiently.

[0057] The outer surface of the first bone wing 25 is wrapped with a bionic component 3. The bionic component 3 includes a connecting bin 34. On one side surface of the connecting bin 34, a bionic flapping wing 32 is fixedly connected. The end of the bionic flapping wing 32 is connected with a flexible wing 36. One end of the flexible wing 36 far from the bionic flapping wing 32 is connected with a wing tip 37. On the upper surfaces of the bionic flapping wing 32 and the wing tip 37, a connecting shaft 33 is connected. On the outer surface of the connecting shaft 33, a folding wing component 4 is connected. The folding wing component 4 includes a first operating frame 41. One end of the first operating frame 41 is connected with a second operating frame 42. On the lower surfaces of the first operating frame 41 and the second operating frame 42, a balance aileron 43 is connected. Inside the sliding block 35, a traction rope 44 is connected. The traction rope 44 passes through the inside of the second operating frame 42 and the first operating frame 41 and is embedded into the inside of the connecting bin 34. Inside the connecting bin 34, a device for winding up the traction rope 44 is connected. The balance aileron 43 is high in the middle and low at both ends. The balance aileron 43 is arranged directly above the flexible wing 36. A triangular channel is formed between the balance aileron 43 and the flexible wing 36. During flight, air can flow through the triangular channel, avoiding excessive accumulation of air on the wing surface and reducing air resistance. At the same time, this air circulation helps to form a more stable air flow on the upper and lower surfaces of the wing, increasing the lift coefficient of the wing. The existence of the through holes can disrupt the air flow, reduce the generation of vortices around the wing, help to disperse the vortices, and make the air flow smoother, thereby reducing the aerodynamic noise during flight. The flexible wing 36 is made of elastic polyurethane. On the upper surface and the lower surface of the flexible wing 36, notches are provided.

[0058] When the aircraft hovers, the winding device inside the connecting bin 34 winds up the traction rope 44. When the traction rope 44 is wound up, it pulls the sliding block 35. At this time, the sliding block 35 will slide on the first bone wing 25. At this time, the sliding block 35 will drive the wing tip 37 to move towards one side of the bionic flapping wing 32. When the distance between the wing tip 37 and the bionic flapping wing 32 becomes smaller, the flexible wing 36 will gradually shorten. At the same time, the first operating frame 41 and the second operating frame 42 will bend. As the wing tip 37 and the bionic flapping wing 32 get closer and closer, the first operating frame 41 and the second operating frame 42 bend upwards. During the bending process, the balance aileron 43 is driven to bend. When the traction rope 44 is unwound, the balance aileron 43 gradually unfolds from the original bent state. During the unfolding, it also promotes the unfolding of the first operating frame 41 and the second operating frame 42. At this time, the unfolding of the first operating frame 41 and the second operating frame 42 drives the bionic flapping wing 32 and the wing tip 37. Thus, the distance between the wing tip 37 and the bionic flapping wing 32 continuously expands. At this time, the flexible wing 36 is gradually stretched open. When the flexible wing 36 is stretched open, the area of the flexible wing 36 is also enlarged.

[0059] In addition, to improve flight stability, when the bionic wing 14 deflects upward, the distance between the wing tip 37 and the bionic flapping wing 32 decreases, which makes the overall structure of the aircraft more compact, reduces the wind resistance during upward movement, and at the same time changes the center of gravity and aerodynamic shape of the aircraft, making the aircraft more stable during upward movement and reducing the unstable factors caused by airflow impact, helping the aircraft to complete the upward movement more smoothly, such as maintaining balance and precise altitude control during the ascent. When the bionic wing 14 deflects downward, the distance between the wing tip 37 and the bionic flapping wing 32 increases. This increase can enhance the aerodynamic effect of the aircraft during downward movement, generate a greater downward pressure, enabling the aircraft to complete the downward movement more powerfully, and at the same time being closer to the posture of a real bird flapping its wings, enabling the aircraft to better simulate the dynamic characteristics of bird flight and achieve more natural and efficient flight.

[0060] On the one hand, by adjusting the relative positions and shapes of various components, the aerodynamic shape of the aircraft can be flexibly adjusted according to different flight requirements, thereby optimizing the aerodynamic performance in different flight postures and stages, and improving flight efficiency and stability. On the other hand, by simulating the flight posture of birds, the aircraft can better interact with the surrounding airflow during flight, enhancing the adaptability of the aircraft in complex environments, reducing the energy consumption during flight, and enabling more precise attitude adjustment during hovering flight, enabling the aircraft to better handle different flight tasks.

[0061] A control method for the hovering structure of a bionic bird aircraft, where the central processing unit comprehensively analyzes and processes the data of the flight control module, signal transmission module, drive module, and image acquisition module.

[0062] The drive module controls the movement of each component of the bionic bird aircraft by driving the power device:

[0063] One drive power device is used to control the flapping of the bionic wing 14 to provide power for flight and obtain different lift forces by adjusting the amplitude of the bionic wing 14. At the same time, another drive power device controls the rotation of the driving gear 23, driving the driven gear ring 24 and then controlling the rotation of the first bone wing 25 and the second bone wing 26. When the bionic wing 14 flaps upward, the second drive power device controls the driven gear ring 24 to rotate counterclockwise, causing the windward side of the bionic flapping wing 32 connected to the first bone wing 25 and the second bone wing 26 to be flipped upward. When the bionic wing 14 flaps downward, the second drive power device controls the driven gear ring 24 to rotate clockwise to the initial state, causing the windward side of the bionic flapping wing 32 to be flipped downward, thereby adjusting the state of the bionic flapping wing 32 during the up and down movement of the bionic wing 14.

[0064] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0065] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hovering structure of a bionic bird aircraft, characterized in that: Includes bionic head; The front end of the bionic head is equipped with a bionic eye, the rear end of the bionic head is connected to a bionic body, and both sides of the bionic body are connected to bionic wings; The bionic head includes a central processing unit, a flight control module, and a signal transmission module, the bionic body includes a driving module, and the bionic eye includes an image acquisition module; Central processing unit: responsible for comprehensive analysis and processing of data from various modules; Flight control module: used to accurately adjust the flight attitude and trajectory of the bionic bird aircraft; Driving module: drives the power device according to the control signal from the central processing unit, thereby driving the flapping of the bionic wings; Signal transmission module: responsible for realizing data interaction between the bionic bird aircraft and external devices; Image acquisition module: used to obtain image information of the surrounding environment of the bionic bird aircraft; A flapping wing assembly is installed at the end of the bionic wing, and the flapping wing assembly includes an assembly sleeve, an assembly sleeve and a universal connector are installed at the end of the bionic wing, the assembly sleeve is wrapped around the outer surface of the universal connector, the universal connector passes through the interior of the assembly sleeve and is connected to the bionic body, the driving power device drives the universal connector to drive the bionic wing to flap, a driving gear is installed inside the assembly sleeve, a driven gear ring is connected to one side of the driving gear, the driving gear and the driven gear ring are meshed, the inner wall of the driven gear ring is fixedly connected with a first bone wing and a second bone wing, the first bone wing and the second bone wing pass through the assembly sleeve until they are embedded in the interior of the bionic wing, and the first bone wing and the second bone wing are rotationally connected to the bionic wing; The outer surface of the first bone wing is wrapped with a bionic component, which includes a connecting compartment, a bionic flapping wing is fixedly connected to one side surface of the connecting compartment, the end of the bionic flapping wing is connected to a flexible wing, and the end of the flexible wing away from the bionic flapping wing is connected to a wing tip.

2. The hovering structure of the bionic bird aircraft according to claim 1, characterized in that: A hollow groove is provided inside the bionic wing, and the first bone wing and the second bone wing span the groove inside the bionic wing. The first bone wing and the second bone wing are arc-shaped rod-shaped structures with a hollow interior.

3. The hovering structure of the bionic bird aircraft according to claim 1, characterized in that: The driving module includes a driving power device, one of which is used to control the flapping of the bionic wing to provide power for the flight of the bionic bird, and the other driving power device is used to control the rotation of the driving gear. The rotation of the driving gear drives the meshing driven gear ring to control the rotation of the first bone wing and the second bone wing.

4. The hovering structure of the bionic bird aircraft according to claim 3 is characterized in that: The first driving power device controls the bionic wing to flap upward, and the second driving power device controls the driven gear ring to rotate counterclockwise in the initial state. The first driving device controls the bionic wing to flap downward, and the second driving power device drives the driven gear ring to rotate clockwise to the initial state.

5. The hovering structure of the bionic bird aircraft according to claim 4, characterized in that: The first bone wing and the second bone wing rotate counterclockwise to move the windward side of the bionic flapping wing connected thereto upward, and the first bone wing and the second bone wing rotate clockwise to move the windward side of the bionic flapping wing connected thereto downward.

6. The hovering structure of the bionic bird aircraft according to claim 1, characterized in that: The bionic flapping wing and the upper surface of the wing tip are connected with a connecting shaft, the outer surface of the connecting shaft is connected with a folding wing assembly, the folding wing assembly includes a first operating frame, one end of the first operating frame is connected to a second operating frame, and the lower surfaces of the first operating frame and the second operating frame are connected with a balancing aileron.

7. The hovering structure of the bionic bird aircraft according to claim 1, characterized in that: A sliding block is slidably connected to the first bone wing, a traction rope is connected to the interior of the sliding block, the traction rope passes through the interior of the second operating frame and the first operating frame and is embedded into the interior of the connecting bin, and a device for winding the traction rope is connected to the interior of the connecting bin.

8. The hovering structure of the bionic bird aircraft according to claim 6, characterized in that: The balancing aileron is high in the middle and low at both ends. The balancing aileron is arranged directly above the flexible wing, and a triangular channel is formed between the balancing aileron and the flexible wing.

9. The hovering structure of the bionic bird aircraft according to claim 1, characterized in that: The flexible wing is made of elastic polyurethane, and both the upper surface and the lower surface of the flexible wing are provided with notches.

10. The method for controlling the hovering structure of a bionic bird aircraft according to any one of claims 1 to 9, characterized in that: The central processing unit comprehensively analyzes and processes the data from the flight control module, signal transmission module, drive module, and image acquisition module. The drive module controls the movement of various components of the bionic bird aircraft by driving the power device: A driving power device is used to control the flapping of the bionic wing to provide power for flight, and different lifts are obtained by adjusting the amplitude of the bionic wing; at the same time, another driving power device controls the rotation of the active gear, drives the driven gear ring and then controls the rotation of the first bone wing and the second bone wing. When the bionic wing flaps upward, the second driving power device controls the driven gear ring to rotate counterclockwise, so that the windward side of the bionic flapping wing connected to the first bone wing and the second bone wing is moved upward. When the bionic wing flaps downward, the second driving power device controls the driven gear ring to rotate clockwise to the initial state, so that the windward side of the bionic flapping wing is moved downward, so as to adjust the state of the bionic flapping wing when the bionic wing moves up and down.

Images