公开(公告)号：US11613351B2

公开(公告)日：2023-03-28

申请号：US17743486

申请日：2022-05-13

申请人： University of Science and Technology Beijing

发明人： Wei He ,  Haifeng Huang ,  Jiubin Wang ,  Xinyue Tang ,  Xiuyu He ,  Qiang Fu ,  Yao Zou ,  Hui Zhang ,  Changyin Sun ,  Yaonan Wang

IPC分类号： B64C33/02 ,  B64U10/40 ,  B64U50/19 ,  F16H19/00

摘要： A pull cord type turning mechanism for a butterfly-inspired flapping-wing aerial robot includes a motor, a cord reel, a cord reel gear, a potentiometer gear, a potentiometer, a control module, and a power supply. The control module is connected to the motor and the potentiometer. A rotary shaft of the motor is connected to the cord reel, the cord reel is coaxially connected to the cord reel gear, the cord reel gear is meshed with the potentiometer gear, and the potentiometer gear is connected to a rotary shaft of the potentiometer. The cord reel gear is provided with two cord grooves and two pull cords. One ends of the two pull cords are fixed in the two cord grooves, respectively, and the other ends thereof are fixed at the tips of front wings of two sides of the butterfly-inspired flapping-wing aerial robot, respectively.

公开(公告)号：US11592842B1

公开(公告)日：2023-02-28

申请号：US17730232

申请日：2022-04-27

申请人： University of Science and Technology Beijing

发明人： Wei He ,  Xiaoyang Wu ,  Xinyue Tang ,  Qiang Fu ,  Yongbin Sun ,  Yao Zou ,  Xiuyu He ,  Hui Zhang ,  Changyin Sun ,  Yaonan Wang

IPC分类号： G05D1/10 ,  B64C33/00

摘要： A flapping-wing aerial robot formation control method includes: determining a trailing vortex generation mechanism, an energy saving principle and a trailing vortex attenuation mechanism of the formation flight of a group of wild geese in accordance with the pattern of the formation flight of the group of wild geese; determining the formation flight of a group of flapping-wing aerial robots and a formation switching solution in accordance with the trailing vortex generation mechanism, energy saving principle and trailing vortex attenuation mechanism of the formation flight of the group of wild geese in conjunction with the flapping characteristic of a flapping-wing aerial robot from the perspective of energy consumption equalization and energy saving; and carrying out formation keeping control and formation reconfiguration control in accordance with the formation flight of the group of flapping-wing aerial robots and the formation switching solution by controlling positions of the group of flapping-wing aerial robots.