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A group independent drive control system for magnetic micro-robots

A technology of micro-robots and control systems, applied in control/regulation systems, non-electric variable control, motor vehicles, etc.

Active Publication Date: 2022-04-01
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to the nature of magnetic microrobots interacting with the global magnetic field, most systems can only independently drive one magnetic microrobot at a time

Method used

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  • A group independent drive control system for magnetic micro-robots
  • A group independent drive control system for magnetic micro-robots
  • A group independent drive control system for magnetic micro-robots

Examples

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Embodiment Construction

[0054] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0055] Such as figure 1 As shown, the independent drive control system of the magnetic micro-robot group includes a micro-coil platform 1, a current controller, a visual feedback control platform, and a magnetic micro-robot 2. The current controller is connected to the micro-coil platform 1 and the visual feedback control platform respectively, and the visual feedback control platform The platform is used to monitor the actual movement path of the magnetic micro-robot 2, and adjust the current of the micro-coil platform 1 through a feedback control algorithm to realize closed-loop control of the magnetic micro-robot.

[0056] combine figure 2 , image 3 As shown, the micro-coil platform is integrated in the PCB, and the PCB is provided with through holes. Two micro-coils arranged in parallel form a group of micro-coils, and the micro-coil...

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Abstract

The invention discloses a magnetic micro-robot group independent drive control system, which relates to the field of intelligent control of micro-nano robots, including a micro-coil platform, a current controller, a visual feedback control platform and a magnetic micro-robot. The current controller is connected with the micro-coil platform and the magnetic micro-robot respectively The visual feedback control platform is connected to control the current magnitude, current direction and current on-off of each micro-coil group in the micro-coil platform, and activate the micro-coil groups around the magnetic micro-robot to generate driving force; the visual feedback control platform is used to generate magnetic micro-coils. The robot is based on the optimal planning path of the sequential task, and monitors the actual movement path of the magnetic micro-robot, and adjusts the current of the micro-coil platform through the feedback control algorithm to realize the closed-loop control of the magnetic micro-robot. By making the micro-coil array generate multiple local magnetic fields in the working space, and independently driving the magnetic micro-robots in each local magnetic field, it provides a new idea for the group cooperation and parallel control tasks of micro-robots.

Description

technical field [0001] The invention relates to the field of intelligent control of micro-nano robots, in particular to a magnetic micro-robot group independent drive control system. Background technique [0002] The application of micro-nano robots is ubiquitous. Drive technology is the core of micro-nano robot research. Drive mechanisms include electrostatic, thermal, optical, biological and electromagnetic methods. Among them, magnetic drive technology is the most widely used. Most of the currently used micro-robots are made of permanent magnetic materials, ferromagnetic materials or paramagnetic materials. These materials can respond to the magnetic field generated by the external electromagnetic coil. to control magnetic microrobots. However, due to the nature of the interaction of magnetic microrobots with the global magnetic field, most systems can only independently drive one magnetic microrobot at a time. Therefore, the present invention proposes a magnetic micro-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0259
Inventor 樊启高崔光明贾捷谢林柏朱一昕毕恺韬黄文涛
Owner JIANGNAN UNIV
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