Modeling test device and method for flapping-wing flight and wing measurement and control of tiny insects

Abstract

The invention discloses a tiny insect flapping wing flight and wing measurement and control modeling test device and method, and the device comprises a test platform which is provided with a linear driving device and a support, the linear driving device is connected with a load platform in a sliding manner, and the load platform is provided with a camera; a transparent channel is mounted on the bracket; the insect wing measurement and control system comprises a driving support and a wing driving device installed on the driving support, the wing driving device comprises a servo motor, a wing support is installed on an output shaft of the servo motor, a piezoelectric driver is installed on the wing support, the piezoelectric driver is connected with a connecting rod through a hinge, and the connecting rod is connected with the driving support. The wing bracket and the connecting rod are also connected with a wing mounting rod through a hinge, and wings are fixed on the wing mounting rod; and training a deep neural network model in a controller by using the obtained data to obtain a relation model of the flight parameters and the aerodynamic force. The problem that a high-speed camera cannot stably focus, the problem that flight motion data and a vortex structure cannot be measured, the problem that flight power cannot be measured, and the problem that no reliable flight model exists in the aspect of flight models in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical fields of bionic flight tests and flapping-wing robot technologies, and particularly to a test device and method for the flapping flight of tiny insects and the measurement and control modeling of wings. Background Art

[0002] The flapping flight mode of insects is unique and efficient. The vibration, torsion of their wings, and the interaction with the surrounding air involve very complex unsteady aerodynamic principles. Therefore, studying the flapping flight of insects helps to deeply understand the flight principles of insects and can promote the development of bionic applications and flapping-wing robots. Currently, it is relatively difficult to measure the motion of insect flapping flight, especially for micro-insects. And there is no method in the existing technology to establish a relationship model between the flight parameters and aerodynamics of real insect wings and artificial wings.

[0003] In the existing technology, for example, a patent application No. CN202210726484.2 discloses an experimental platform and method for recording the flapping of bee wings and their aerodynamic vortices, which can solve the problem of obtaining experimental data on the high-lift aerodynamic mechanism of insect flapping wings. However, this experimental platform is mainly aimed at individual bees, with insufficient universality for different species of insects, and only focuses on the recording of flapping wing and aerodynamic vortex data, lacking in the measurement of motion parameters during insect flight and the research on active wing control. Moreover, during the shooting process of a high-speed camera, the insect is very likely to fly out of focus, resulting in the inability to measure the motion data of its wings and body and the vortex structure information. In terms of measuring the flight force of insects, the aerodynamic force of the insect wings cannot be obtained, and thus it cannot meet the requirements for a comprehensive study of the flight characteristics of various insects and an in-depth exploration of flapping flight control.

[0004] Another example is that a patent application No. CN201810480519.2 discloses a tandem flapping wing experimental platform, which can explore the aerodynamic mechanism of tandem flapping wings, but can only drive the front and rear tandem wings to flap independently, unable to achieve motion tracking during insect flight, and having limitations in aerodynamic force measurement and correlation analysis with flight parameters, making it difficult to meet the requirements for a comprehensive study of insect flight characteristics. In summary, the existing technology cannot meet the measurement requirements for the flight motion laws of tiny insects, and the existing technology cannot establish a relationship model between the flight parameters and aerodynamics of real insect wings and artificial wings, and these problems have brought great difficulties to research and bionic applications. Summary of the Invention

[0005] Aiming at the deficiencies existing in the prior art, the present invention provides a test device and method for the flapping flight of tiny insects and the measurement and control modeling of wings. The present invention captures the position of tiny insects through a tracking camera, thereby controlling the high-speed camera to track the insect flight and realizing the measurement of the flight motion law of tiny insects; by designing an insect wing measurement and control system, the vibration frequency, amplitude, torsion angle, flight speed, and external air speed of real wings and artificial wings can be controlled, realizing the measurement of the flight force and motion of the wings, combining the geometric parameters of the wings and the mechanical parameters of the wing materials, and obtaining a relationship model between the wing flight parameters and the aerodynamic force based on the measurement data.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a test device for the flapping flight of tiny insects and the measurement and control modeling of wings, including: a tracking measurement platform for the flapping flight of tiny insects and an insect wing measurement and control system;

[0008] The tracking measurement platform for the flapping flight of tiny insects includes a test platform, on which a linear driving device and a bracket are installed. A load platform is slidably connected to the linear driving device, and a camera is installed on the load platform for capturing the flight information of tiny insects; a transparent channel is installed on the bracket for restricting the flight range of tiny insects, and small holes are provided on the transparent channel;

[0009] The insect wing measurement and control system includes a driving bracket and a wing driving device installed on the driving bracket, and the driving bracket is installed on the bracket; the wing driving device includes a servo motor, a wing bracket is installed on the output shaft of the servo motor, a piezoelectric driver is installed on the wing bracket, the piezoelectric driver is connected to a connecting rod through a hinge, and the wing bracket and the connecting rod are also connected to a wing mounting rod through a hinge, and a wing is fixed on the wing mounting rod.

[0010] As a further technical solution, a controller is also installed on the test platform, and the controller is electrically connected to the linear driving device and the camera for controlling the operation of the linear driving device and controlling the camera to capture the flight information of tiny insects.

[0011] As a further technical solution, the camera includes a front high-speed camera, a side high-speed camera, an upper high-speed camera, and a tracking camera; the front high-speed camera faces the transparent channel; the side high-speed camera is located on the side of the transparent channel; the upper high-speed camera is located above the transparent channel; the tracking camera is used for capturing the position information of tiny insects.

[0012] As a further technical solution, two sets of wing driving devices are provided, and the two sets of wing driving devices are symmetrically installed on both sides of the driving bracket.

[0013] As a further technical solution, a six-axis force sensor is also installed on the driving bracket for measuring the force applied when the wings move, i.e., the aerodynamic force; the servo motor is installed on the six-axis force sensor.

[0014] As a further technical solution, the wings are fixedly installed on the wing mounting rod by means of glue bonding or screw fixation.

[0015] As a further technical solution, a slider is slidably installed on the linear driving device, and the load platform is installed on the slider.

[0016] As a further technical solution, a smoke or particle system is connected through the small holes on the transparent channel, and the small holes are distributed in a circle on the transparent channel.

[0017] In a second aspect, the present invention provides a method for testing the flapping flight of tiny insects and the modeling of wing measurement and control, based on the device for testing the flapping flight of tiny insects and the modeling of wing measurement and control according to any one of the first aspects, including:

[0018] The front high-speed camera, the side high-speed camera, the top high-speed camera and the tracking camera are installed on the load platform, the load platform is installed on the slider, the transparent channel is installed on the test platform through a bracket, and a smoke or particle system is connected through the small holes on the transparent channel; a tiny insect is placed in the transparent channel, the tracking camera captures its position information and transmits it to the controller, the controller controls the linear driving device and drives the load platform to move following the tiny insect, and at the same time releases smoke or particles to trigger the front high-speed camera, the side high-speed camera and the top high-speed camera to collect flight images, and obtain the insect flight motion data and vortex structure information.

[0019] As a further technical solution, it further includes: installing the driving bracket on the bracket, and installing a six-axis force sensor and a wing driving device on both sides of the driving bracket; the controller controls the piezoelectric actuator and the servo motor to make the wings on both sides move at different vibration frequencies, vibration amplitudes and torsion angles, and at the same time the controller controls the linear driving device to simulate the flight speed and superimpose the external air speed, and collect the camera motion data and six-axis force sensor data; and by changing the vibration frequency, vibration amplitude, torsion angle motion, flight speed and external air speed of the wings, a large amount of data is obtained; combining the wing geometric parameters and the wing material mechanics parameters, and using the obtained data to train the deep neural network model in the controller to obtain the relationship model between the flight parameters and the aerodynamic force.

[0020] One or more technical solutions of the present invention have the following beneficial effects:

[0021] The present invention realizes the flight tracking of tiny insects by designing a tracking measurement platform for the flapping flight of tiny insects. The position of tiny insects is captured by a tracking camera, and then a high-speed camera is controlled to track the insect flight. Smoke or particles are released through small holes, and the flight motion law and vortex structure of tiny insects can be measured, solving the problems that the high-speed camera in the existing method cannot be stably focused and the flight motion data and vortex structure cannot be measured.

[0022] The present invention realizes the motion control of the wings and the measurement of the aerodynamic force of the wings by designing an insect wing measurement and control system, solving the problem that the aerodynamic force of insect wings cannot be obtained in the existing technology; and the present invention constructs a deep neural network model and trains it with the obtained measurement data to obtain a relationship model between flight parameters and aerodynamic force, which can meet the requirements of aerodynamic force measurement and correlation analysis with flight parameters, solving the problem that there is no reliable flight model in the existing technology in terms of flight models. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0024] Figure 1 is a front view schematic diagram of the tracking measurement platform for the flapping flight of tiny insects of the present invention;

[0025] Figure 2 is a top view schematic diagram of the tracking measurement platform for the flapping flight of tiny insects of the present invention;

[0026] Figure 3 is a top view schematic diagram of the insect wing measurement and control system of the present invention;

[0027] Figure 4 is a front view schematic diagram of the wing driving device of the present invention;

[0028] Figure 5 is a top view schematic diagram of the wing driving device of the present invention;

[0029] Wherein: 1. test platform; 2. controller; 3. linear driving device; 4. load platform; 5. front high-speed camera; 6. small hole; 7. side high-speed camera; 8. upper high-speed camera; 9. transparent channel; 10. bracket; 11. tracking camera; 12. wing driving device; 13. driving bracket; 14. six-axis force sensor; 15. servo motor; 16. wing bracket; 17. piezoelectric actuator; 18. connecting rod; 19. hinge; 20. wing mounting rod; 21. wing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] It should be noted that the following detailed description is illustrative and aims to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention pertains.

[0031] Embodiment 1

[0032] The present invention provides a micro-insect flapping flight and wing measurement and control modeling test device. The test device includes a micro-insect flapping flight tracking measurement platform and an insect wing measurement and control system. As Figure 1 shown, the micro-insect flapping flight tracking measurement platform includes a test platform 1. A linear drive device 3, a bracket 10, and a controller 2 are installed on the test platform 1. Among them, a slider is slidably installed on the linear drive device 3, and a load platform 4 is installed on the slider, so that the load platform 4 is slidably connected to the linear drive device 3. In this embodiment, the linear drive device 3 can be a linear motor, a lead screw, etc.

[0033] As Figure 1 shown, a transparent channel 9 is installed on the bracket 10 for restricting the flight range of micro-insects. The size of the transparent channel 9 is determined according to the size of the insects. And small holes 6 are opened on the transparent channel. A smoke or particle system is connected through the small holes 6 on the transparent channel 9. The small holes 6 are distributed in a circle on the transparent channel 9 to ensure that the smoke or particles can be evenly and stably diffused to the flight area of the micro-insects.

[0034] As Figure 1 shown, a camera is installed on the load platform 4 for capturing the flight information of micro-insects. Specifically, the camera includes a front high-speed camera 5, a side high-speed camera 7, an upper high-speed camera 8, and a tracking camera 11. Among them, the front high-speed camera 5 faces the transparent channel 9 directly, the side high-speed camera 7 is located on the side of the transparent channel 9, and the upper high-speed camera 8 is located above the transparent channel 9. As Figure 2 shown, the tracking camera 11 is used to capture the position information of micro-insects.

[0035] As Figure 1 shown, the controller 2 is electrically connected to the linear drive device 3 and the camera, and is used to control the operation of the linear drive device and control the camera to capture the flight information of micro-insects.

[0036] As Figure 3 shown, the insect wing measurement and control system includes a drive bracket 13 and a wing drive device 12 installed on the drive bracket 13. In this embodiment, two sets of wing drive devices 12 are provided, and the two sets of wing drive devices 12 are symmetrically installed on both sides of the drive bracket 13.

[0037] The drive bracket 13 is installed on the bracket 10. As Figure 4As shown, the wing driving device 12 includes a servo motor 15. A wing bracket 16 is installed on the output shaft of the servo motor 15. A piezoelectric actuator 17 is installed on the wing bracket 16. The piezoelectric actuator 17 is connected to a connecting rod 18 through a flexible hinge 19. Moreover, the wing bracket 16 and the connecting rod 18 are also connected to a wing mounting rod 20 through the flexible hinge 19. A wing 21 is fixed on the wing mounting rod 20. In this embodiment, the wing 21 is fixedly installed on the wing mounting rod 20 by means of glue bonding or screw fixing, etc. And, in this embodiment, the wing 21 can be a real insect wing or an artificial wing.

[0038] As Figure 4 and 5 shown, a six-axis force sensor 14 is also installed on the driving bracket 13, which is used to measure the force condition during the movement of the wing, that is, the aerodynamic force; the servo motor 15 is installed on the six-axis force sensor 14. In this embodiment, the controller 2 is electrically connected to the piezoelectric actuator, the servo motor, and the camera. And the controller also collects the force data through the six-axis force sensor 14. The six-axis force sensor 14 measures time series including three-axis force and three-axis torque, etc.

[0039] Embodiment 2

[0040] In this embodiment, a method for the flapping flight of a micro-insect and the measurement and control modeling experiment of the wing is provided. Based on the device for the flapping flight of a micro-insect and the measurement and control modeling experiment of the wing provided in Embodiment 1, the specific method is as follows:

[0041] Install the front high-speed camera, the side high-speed camera, the top high-speed camera, and the tracking camera on the load platform. The load platform is installed on the slider. The transparent channel is installed on the test platform through a bracket and is connected to the smoke or particle system through the small holes on the transparent channel. Put the micro-insect into the transparent channel. When it flies to the focusing area, the tracking camera captures its position information and transmits it to the controller. The controller controls the linear driving device and drives the load platform to move following the micro-insect. At the same time, release the smoke or particles to trigger the front high-speed camera, the side high-speed camera, and the top high-speed camera to collect the flight images, and obtain the insect flight motion data and the vortex structure information.

[0042] It further includes: installing a driving bracket on the bracket, and installing a six-axis force sensor and a wing driving device on both sides of the driving bracket; the controller controls the piezoelectric actuator and the servo motor to make the wings on both sides move with different motion parameters (vibration frequency, vibration amplitude, and torsion angle), and at the same time the controller controls the linear driving device to simulate the flight speed and superimpose the external air speed, and collects the motion data of the camera and the data of the six-axis force sensor; and by changing the vibration frequency, vibration amplitude, torsion angle movement, flight speed, and external air speed of the wings, a large amount of data is obtained, combined with the wing geometric parameters and the wing material mechanics parameters, a deep neural network model is constructed, and the deep neural network model is trained with a large amount of data to obtain a relationship model between flight parameters and aerodynamic forces.

[0043] In this embodiment, the wing geometric parameters include static parameters such as wingspan, chord length, area, thickness distribution, aspect ratio, etc.; the wing material mechanics parameters include static parameters such as elastic modulus, Poisson's ratio, density, anisotropy parameters, etc.; the motion parameters include time series such as vibration frequency, vibration amplitude, torsion angle, and left-right phase difference.

[0044] In this embodiment, the constructed deep neural network model adopts a multi-modal hybrid encoder-decoder structure, and the main module functions are as follows:

[0045] Static parameter encoder (geometry + material parameters), specifically including: stacking fully connected layers (FC): input → 512 → 256 → 128, and the activation function is Swish + BatchNorm;

[0046] Dynamic parameter encoder (motion parameters + six-axis force), specifically including: a Temporal Convolutional Network (TCN) module: 3 layers of dilated convolution to extract temporal features, and an Adaptive Receptive Field (ARF) module is introduced in the Temporal Convolutional Network (TCN) module to capture the coupling effect of high-frequency flapping and low-frequency trajectories; a bidirectional LSTM layer: 128 units, outputting temporal context features;

[0047] Feature fusion module, specifically including: static feature expansion: repeating and splicing the static encoded features to the dynamic temporal features; cross-attention mechanism: the dynamic features are used as Key / Value, and the static features are used as Query;

[0048] Aerodynamic force decoder, specifically including: a decoding layer: TCN decoder + fully connected layer (output dimension T×3, corresponding to lift, drag, and torsion).

[0049] Embedding of physical constraints of the above network model:

[0050] Adding a residual term of the momentum conservation equation to the loss function and adding a non-negativity constraint to the output layer.

[0051] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A test device for the flapping flight of tiny insects and the measurement and control modeling of wings, characterized in that Comprising: A tracking measurement platform for the flapping flight of tiny insects and an insect wing measurement and control system; The tracking measurement platform for the flapping flight of tiny insects includes a test platform, on which a linear driving device and a bracket are installed. A load platform is slidably connected to the linear driving device, and a camera is installed on the load platform for capturing the flight information of tiny insects. A transparent channel is installed on the bracket for restricting the flight range of tiny insects, and small holes are opened on the transparent channel; The insect wing measurement and control system includes a driving bracket and a wing driving device installed on the driving bracket. The driving bracket is installed on the bracket. The wing driving device includes a servo motor, a wing bracket is installed on the output shaft of the servo motor, a piezoelectric actuator is installed on the wing bracket, the piezoelectric actuator is connected to a connecting rod through a hinge, and the wing bracket and the connecting rod are also connected to a wing mounting rod through a hinge, and a wing is fixed on the wing mounting rod.

2. The micro-insect flapping-wing flight and wing measurement and control modeling test device according to claim 1, characterized in that A controller is also installed on the test platform. The controller is electrically connected to the linear driving device and the camera for controlling the operation of the linear driving device and controlling the camera to capture the flight information of tiny insects.

3. The micro-insect flapping flight and wing measurement and control modeling test device according to claim 1, characterized in that, The camera includes a front high-speed camera, a side high-speed camera, an upper high-speed camera and a tracking camera; the front high-speed camera faces the transparent channel; the side high-speed camera is located on the side of the transparent channel; the upper high-speed camera is located above the transparent channel; the tracking camera is used for capturing the position information of tiny insects.

4. The micro-insect flapping-wing flight and wing measurement and control modeling test device according to claim 1, characterized in that, Two sets of the wing driving devices are provided, and the two sets of wing driving devices are symmetrically installed on both sides of the driving bracket.

5. The tiny insect flapping flight and wing measurement and control modeling test device according to claim 1, characterized in that A six-axis force sensor is also installed on the driving bracket for measuring the force received during the movement of the wing, i.e., the aerodynamic force; the servo motor is installed on the six-axis force sensor.

6. The small insect flapping-wing flight and wing measurement and control modeling test device according to claim 1, characterized in that The wing is fixedly installed on the wing mounting rod by means of glue bonding or screw fixing.

7. The tiny insect flapping flight and wing measurement and control modeling test device according to claim 1, characterized in that, A slider is slidably installed on the linear driving device, and the load platform is installed on the slider.

8. The micro-insect flapping-wing flight and wing measurement and control modeling test device according to claim 1, characterized in that, A smoke or particle system is connected through the small holes on the transparent channel, and the small holes are distributed in a circle on the transparent channel.

9. Method for modeling experiments on flapping flight of micro insects and measurement and control of wings, based on the device for modeling experiments on flapping flight of micro insects and measurement and control of wings according to any one of claims 1-9, characterized in that, Comprising: Install the front high-speed camera, the side high-speed camera, the upper high-speed camera and the tracking camera on the load platform. The load platform is installed on the slider. The transparent channel is installed on the test platform through the bracket and is connected to the smoke or particle system through the small holes on the transparent channel. Place the tiny insect into the transparent channel. The tracking camera captures its position information and transmits it to the controller. The controller controls the linear driving device and drives the load platform to follow the tiny insect. At the same time, release the smoke or particles to trigger the front high-speed camera, the side high-speed camera and the upper high-speed camera to collect flight images and obtain the insect flight motion data and vortex structure information.

10. The micro-insect flapping flight and wing measurement and control modeling test device according to claim 9, characterized in that, Also comprising: Install the drive bracket on the bracket, and install a six-axis force sensor and a wing drive device on both sides of the drive bracket; the controller controls the piezoelectric actuator and the servo motor to make the wings on both sides move at different vibration frequencies, vibration amplitudes and torsion angles. At the same time, the controller controls the linear drive device to simulate the flight speed and superimpose the external air speed, and collect the camera motion data and six-axis force sensor data; by changing the vibration frequency, vibration amplitude, torsion angle movement, flight speed and external air speed of the wings, a large amount of data is obtained; combining the wing geometric parameters and the wing material mechanics parameters, and using the obtained data to train the deep neural network model in the controller to obtain the relationship model between the flight parameters and the aerodynamic force.

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