Control system and method of magnetic screw micro robot, electronic device and medium

Abstract

The application provides a control system and method of a magnetic control spiral micro robot, electronic equipment and a medium. The control method of the magnetic control spiral micro robot comprises the following steps: determining the coverage range of solid foreign matters in a micro pipeline by a visual gray scale detection method; controlling a magnetic control system to output a rotating magnetic field with adjustable frequency to drive the micro robot to advance in a drill bit shape along a predetermined track; acquiring real-time dynamic information of the micro robot in real time by an image acquisition device; and adjusting the magnetic field of the micro robot based on the real-time dynamic information until the micro robot can pass through the solid foreign matter area in the micro pipeline. The control method of the magnetic control spiral micro robot improves the problem that the micro robot in the prior art cannot switch control strategies according to different tasks and the motion posture of the micro robot is not stable enough.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a control system and method for a magnetic screw micro robot, an electronic device and a medium. BACKGROUND

[0002] In recent years, human blood diseases are high-incidence, and various cardiovascular and cerebrovascular diseases caused by high blood lipids have become one of the "killers" that endanger human health. Doctors can control the non-contact micro robot to travel in the patient's body or blood vessels to treat high blood lipid diseases; the non-contact method can effectively break through the characteristic size limit of the micro robot, and combine new driving principles and control technologies to realize precise operation in a narrow and closed complex environment.

[0003] However, due to the driving principle, the size of the force and the degree of freedom of motion of most non-contact methods are limited. Compared with other driving sources, the magnetic driving loss is mainly generated in the magnetic field and the circuit part that changes the magnetic field. A low-intensity, low-frequency magnetic field generated by energizing an electromagnetic coil can penetrate biological tissues and is harmless to living organisms. At the same time, by changing the current size, frequency and phase of the electromagnetic coil, various controllable magnetic fields of different types can be generated to realize arbitrary motion of the magnetic micro robot. Therefore, the magnetic field driving method can not only provide sufficient force, but also avoid direct damage to cells and other life structures caused by high-power lasers, currents, etc., while achieving flexible pose control in 3D space with multiple degrees of freedom.

[0004] For practical applications such as drug targeted transport and thrombus penetration, in order to adapt to the environment and complete the motion task, a reasonable control method is needed to effectively avoid obstacles. The most important technology is three-dimensional path tracking of the micro robot. However, the established rules on the macro level are no longer applicable in the micro-scale environment, so how to effectively transfer the macro control method is one of the difficulties in realizing the motion control of the micro robot. SUMMARY

[0005] The purpose of the present application is to provide a control system and method for a magnetic screw micro robot, an electronic device and a medium, which can solve the problem that the micro robot cannot switch control strategies according to different tasks and the motion pose of the micro robot is not stable in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] The present application provides a control method for a magnetic screw micro robot, which specifically comprises:

[0008] The coverage range of the solid foreign matter in the micro pipeline is determined by a visual gray scale detection method;

[0009] The control magnetic control system outputs a rotating magnetic field with adjustable frequency to drive the micro robot to advance along a predetermined trajectory in a drill bit shape;

[0010] Real-time dynamic information of the micro robot is acquired in real time by an image acquisition device;

[0011] The magnetic field of the micro robot is adjusted based on the real-time dynamic information until the micro robot can pass through a solid foreign matter area in the micro pipeline.

[0012] On the basis of the above technical solution, the application can also be improved as follows:

[0013] Further, the method for determining the coverage range of the solid foreign matter in the micro pipeline by the visual gray scale detection method comprises:

[0014] The pipe wall boundary of the model is identified by the image acquisition device;

[0015] The motion trajectory of the micro robot is determined by the method of taking the median value.

[0016] Further, the control magnetic control system outputs a rotating magnetic field with fixed frequency to drive the micro robot to advance along a predetermined trajectory in a drill bit shape, comprising:

[0017] The required magnetic field data are input through the user interface of the upper computer;

[0018] The magnetic field data are converted into corresponding current information, and the current information is sent to the lower computer;

[0019] The current signal is received by the lower computer, and the current signal is converted into a PWM signal;

[0020] The PWM signal is received by the driver and the current is output to the electromagnetic coil;

[0021] Different types of magnetic fields are generated by the current size, frequency and phase of the electromagnetic coil, so as to realize arbitrary motion of the magnetic micro robot.

[0022] Further, the magnetic field of the micro robot is adjusted based on the real-time dynamic information until the micro robot can pass through the solid foreign matter area in the micro pipeline, comprising:

[0023] When it is monitored that the micro robot reaches the edge of the solid foreign matter in the micro pipeline, the rotating frequency of the rotating magnetic field is appropriately changed so that the micro robot can maintain sufficient torque in the liquid environment with suddenly increased resistance to continue advancing; and the magnetic field of the micro robot is adjusted based on the change of the micro robot until the micro robot can pass through the solid foreign matter area in the micro pipeline.

[0024] Further, the magnetic field of the microrobot is adjusted based on the real-time dynamic information until the microrobot can pass through the solid foreign matter area in the micro pipeline, comprising:

[0025] The magnetic field of the microrobot is adjusted according to formula 1;

[0026]

[0027] Wherein, represents the direction vector of the rotating magnetic field; P(t) is the position of the micro drill; L left and L right represent the left edge and right edge of the solid foreign matter in the micro pipeline, which is regarded as a boundary condition for changing the advancing direction; C setting and C current represent the color threshold of the solid foreign matter in the micro pipeline;

[0028] When C current -C setting < δ, the drilling movement is considered to be completed, and the microrobot leaves the solid foreign matter area in the micro pipeline; otherwise, the microrobot continues to drill in the steering area; under the magnetic drive, the microrobot moves along the required trajectory, switches the movement mode and changes the rotation frequency.

[0029] A control system of a magnetic control spiral microrobot, comprising:

[0030] A host computer for determining the coverage of the solid foreign matter in the micro pipeline by a visual gray scale detection method, and controlling the magnetic control system to output a rotating magnetic field with adjustable frequency to drive the microrobot to advance along a predetermined trajectory with a drill bit shape;

[0031] An image acquisition device for acquiring real-time dynamic information of the microrobot in real time;

[0032] The host computer is further used for:

[0033] Adjusting the magnetic field of the microrobot based on the real-time dynamic information until the microrobot can pass through the solid foreign matter area in the micro pipeline.

[0034] Further, the control system of the magnetic control spiral microrobot further comprises a lower computer, a driver and an electromagnetic coil;

[0035] The host computer is further used for inputting the required magnetic field data based on a user interface, converting the magnetic field data into corresponding current information, and sending the current information to the lower computer;

[0036] The lower computer is used for receiving the current signal and converting the current signal into a PWM signal;

[0037] The driver is used for receiving the PWM signal and outputting current to the electromagnetic coil.

[0038] The electromagnetic coil is used for generating different types of magnetic fields by the current size, frequency and phase of the electromagnetic coil, realizing arbitrary motion of the magnetic micro robot.

[0039] Further, the upper computer is also used for:

[0040] When it is monitored that the micro robot reaches the edge of the solid-state foreign matter in the micro pipeline, the rotation frequency of the rotating magnetic field is appropriately changed to make the micro robot maintain sufficient torque in the liquid environment with suddenly increased resistance to continue to advance, and the magnetic field of the micro robot is adjusted based on the change of the micro robot until the micro robot can pass through the solid-state foreign matter area in the micro pipeline.

[0041] An electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the steps of the method when executing the computer program.

[0042] A non-transitory computer readable medium has a computer program stored thereon, and the computer program is executed by a processor to implement the steps of the method.

[0043] The present application has the following advantages:

[0044] The control method of the magnetic control spiral micro robot in the present application determines the coverage range of the solid-state foreign matter in the micro pipeline through a visual gray scale detection method, controls the magnetic control system to output a rotating magnetic field with a fixed frequency to drive the micro robot to advance in a bit shape along a predetermined trajectory, acquires real-time dynamic information of the micro robot in real time through an image acquisition device, adjusts the magnetic field of the micro robot based on the real-time dynamic information until the micro robot can pass through the solid-state foreign matter area in the micro pipeline, realizes visual feedback of the micro robot through the image acquisition device, and timely selects or adjusts the motion control strategy based on the current environment and the situation faced by the micro robot, thereby solving the problems that the micro robot cannot switch the control strategy according to different tasks and the motion posture of the micro robot is not stable in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0046] Figure 1 It is a flowchart of the control method of the magnetic control spiral micro robot.

[0047] Figure 2 Block diagram of the control system of the magnetic control spiral micro robot of the present application;

[0048] Figure 3 Structural schematic diagram of the magnetic control system of the present application;

[0049] Figure 4 Structural schematic diagram of the magnetic control system of the present application;

[0050] Figure 5 Experimental effect diagram of the control method of the magnetic control spiral micro robot of the present application;

[0051] Figure 6 Electronic device physical structure schematic diagram provided by the present application.

[0052] Explanation of reference signs

[0053] Host computer 10, lower computer 20, driver 30, electromagnetic coil 40, image acquisition device 50, electronic device 60, processor 601, memory 602, bus 603. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0055] The technical scheme of the present application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and some embodiments may not be described again for the same or similar concepts or processes.

[0056] Figure 1 Flow chart of the control method of the magnetic control spiral micro robot of the present application, as shown in Figure 1 The control method of the magnetic control spiral micro robot provided by the embodiments of the present application includes the following steps:

[0057] S101, determining the coverage range of the solid foreign matter in the micro pipeline by a visual gray scale detection method;

[0058] Specifically, the coverage range of the solid foreign matter in the micro pipeline is defined as the area to be drilled through and passed by the micro robot.

[0059] S102, controlling the magnetic control system to output a rotating magnetic field with adjustable frequency to drive the micro robot to drill bit-shaped advance along the predetermined trajectory;

[0060] Specifically, the micro robot encounters obstacles, the system outputs a magnetic field frequency, gradually moving to a more viscous medium or encountering obstacles, the system outputs a slightly lower frequency than before. But the frequency is also higher than the smooth surface of the micro robot movement frequency. Because with the increase of liquid viscosity, the maximum rotation frequency that the micro robot can withstand will decrease, if the magnetic field frequency is not reduced, the micro robot will appear out of step problem, leading to increased jitter, or even stop. Therefore, in order to prevent the above problems, the rotation frequency of the driving magnetic field will be appropriately reduced, and the frequency is also the maximum frequency that the micro robot can withstand in high viscosity liquid, which ensures the optimal motion performance.

[0061] The required magnetic field data is input through the user interface of the host computer 10;

[0062] The magnetic field data is converted into corresponding current information, and the current information is sent to the lower computer 20;

[0063] The current signal is received by the lower computer 20 and converted into a PWM signal;

[0064] The PWM signal is received by the driver 30 and the current is output to the electromagnetic coil 40;

[0065] Different types of magnetic fields are generated by the current size, frequency and phase of the electromagnetic coil 40, and the arbitrary motion of the magnetic micro robot is realized.

[0066] The computer as the host computer 10 is mainly responsible for the current calculation of each electromagnetic coil 40 and the implementation of the motion control algorithm. The single-chip microcomputer as the lower computer is mainly responsible for the current control and state parameter feedback of the electromagnetic coil 40. The communication between the host computer 10 and the lower computer 20 ensures that the magnetic control system can generate dynamic and accurate magnetic fields to realize the motion control of the micro robot.

[0067] The micro robot is defined as a black moving object, and a simulated 3D model is constructed to verify that the composite magnetic field control method can drive the spiral micro robot to achieve long-distance movement and complete the task of drilling through solid foreign matter in high-viscosity micro pipes.

[0068] In the process of drilling through solid foreign matter in high-viscosity micro pipes, first of all, the bottom microscope is used to identify the pipe wall boundary of the model, and the median value method is used to determine the motion trajectory of the micro robot. The optimal motion trajectory is the center line of the simulation model. The micro robot is defined as a black moving object; after the experiment starts, first control the magnetic control system to output a rotating magnetic field with a fixed frequency to drive the micro robot to achieve drill-like propulsion along the predetermined trajectory. The position of the robot can be tracked in real time under the feedback of the image acquisition device 50;

[0069] When the micro robot with magnetic material is in a magnetic field, it will be affected by the magnetic field force and the magnetic moment, and the magnetic moment and the magnetic field strength are related to the size and direction. We assume that the micro robot to be controlled is a magnetized body, and its magnetic moment M is in units of amperes per square meter (A / m2). For soft magnetic bodies, the magnetic moment depends on the applied magnetic field and cannot be assumed to be rigidly attached to the object, i.e. the magnetic moment can rotate relative to the micro robot body, and its size can change greatly with the change of the applied magnetic field. The torque (T) in Newton units acts on the magnetic object exposed to the externally applied magnetic field, and the magnetic flux density is B = μ0H (μ0 = 4π × 10 -7 Tm / A, vacuum permeability);

[0070] T = vM x B

[0071] Where M is the volume magnetization of the object of a specific volume v in [A / m]. The torque tends to align the magnetization vector with the applied magnetic field. The relationship between the coil and the generated magnetic field can be expressed as a function of the current and the pose coordinates. For a coil with constant position, the magnetic field size is generally proportional to the coil current, and the spatial magnetic field distribution depends on the linear superposition of the multipole input;

[0072]

[0073] Assuming that the input unit current, each stage coil produces a magnetic induction value of B0 at the center position, then the relationship between the three-dimensional space magnetic field and the current of each stage can be written as:

[0074] [B x ,B y ,B z ] T = B0R[I1,…,I8] T #

[0075] Therefore, assuming that the magnetic field vector at the center position is taken as the reference standard, the corresponding current value required to generate the target magnetic field can be calculated by matrix operation. By solving the inverse of the above equation by inverse magnetic method, the mathematical relationship between the current and the magnetic field strength can be calculated. R is the direction matrix of the electromagnet, and the calculation formula of the output current is:

[0076]

[0077] S103, acquiring real-time dynamic information of the micro robot in real time through the image acquisition device;

[0078] Specifically, during operation, the required magnetic field data is input through the user interface of the upper computer 10. The upper computer 10 converts this magnetic field data into a corresponding current and sends this information to the lower computer 20. The current information is then converted into a PWM signal, which the driver 30 receives and outputs to the coil. During the experiment, the microscopic image is fed back to the upper computer 10 in real time so that the operator can adjust the input to control the robot.

[0079] S104, adjusting the magnetic field of the microrobot based on the real-time dynamic information until the microrobot can pass through the solid foreign matter area in the micro-channel;

[0080] Specifically, when the microrobot is monitored to have reached the edge of the solid foreign matter in the micro-pipe, the rotation frequency of the rotating magnetic field is appropriately changed so that the microrobot maintains sufficient torque to continue to propel itself in a liquid environment where the resistance suddenly increases; and the magnetic field of the microrobot is adjusted based on the changes in the microrobot until the microrobot is able to pass through the solid foreign matter area in the micro-pipe.

[0081] From the perspective of the external driving magnetic field, theoretically the rotation frequency at this time is lower than the frequency before encountering the obstacle.

[0082] Under the same external dimensions, the robot with pits on the surface has less movement resistance, higher maximum movement speed and forward speed than the robot with a smooth surface. So from this perspective, the rotation frequency of the external magnetic field is increased.

[0083] Adjust the magnetic field of the microrobot according to formula 1;

[0084]

[0085] in, represents the direction vector of the rotating magnetic field; P(t) is the position of the micro-drill; L left and L right represents the left and right edges of the solid foreign matter in the micro-channel, which is considered as the boundary condition for changing the forward direction; C setting and C current Color threshold representing solid foreign matter in microducts;

[0086] When C current -C setting When δ<δ, the drilling motion is considered to be completed and the microrobot leaves the solid foreign matter area in the microchannel; otherwise, the microrobot continues to drill in the manipulation area; under magnetic drive, the microrobot moves along the desired trajectory, the rotation speed of the robot and the rotation frequency of the magnetic field are almost synchronized, switching the motion mode and changing the rotation frequency.

[0087] The rotating magnetic field B is defined as the direction of the magnetic field around the unit vector n = [nx n y n z ]T rotating magnetic field. Thus, the rotating magnetic field B exists in a plane perpendicular to the rotation axis n, i.e. can be represented as:

[0088] B(t) = B0[cos(2πft)u + sin(2πft)v]

[0089] where u and v represent the base vectors on the rotating plane of the magnetic field B, both of which are perpendicular to n.

[0090] The oscillating magnetic field sets an oscillation in the vertical plane and the horizontal plane, respectively represented as:

[0091] Vertical plane: the magnetic field B is defined as the magnetic field direction around the unit vector n = [n x n y n z ] T oscillating magnetic field, and the magnetic field direction is constrained in a vertical plane containing the vector n and perpendicular to the XY plane, with an oscillation amplitude of π. Thus, the vertical oscillating magnetic field B can be represented as:

[0092] B(t) = B0[|cos(2πft)|n + sin(2πft)u]

[0093] where B0is the magnetic flux density at the center of the working region, u = [0 0 1] T is the unit vector on the oscillation plane perpendicular to n.

[0094] Horizontal plane: the horizontal oscillating magnetic field B is defined as the magnetic field direction around the unit vector n = [n x n y n z ] T oscillating magnetic field, and the magnetic field direction is constrained in a horizontal plane containing n and parallel to the XY plane, with an oscillation amplitude of π. Thus, the horizontal oscillating magnetic field B can be represented as:

[0095] B(t) = B0[|cos(2πft)|n + sin(2πft)u]

[0096] where u = [-n y n x 0] T is the unit vector on the oscillation plane perpendicular to n.

[0097] As Figure 5As shown, the main target in controlling the micro-robot to operate is in the liquid environment. If the spiral micro-robot is driven to penetrate the viscous agglomerate material or thrombus blockage, it depends on the micro-robot to generate a strong torque to drill a gap, open a path to make the agglomerate material loose, and then use the flowing blood to carry away the agglomerate or obstacle. In this process, not only the external driving magnetic field is required to generate a rotating field to drive the micro-robot to rotate, but also an oscillating field is required to drive the micro-robot to swing flexibly to prevent being stuck by the viscous material. Therefore, the patent adopts a driving mode mainly using a rotating magnetic field to drive the micro-robot to realize the movement and "drilling" motion in the three-dimensional space; secondly, an oscillating field is used as an auxiliary to flexibly swing the body to escape when the micro-robot is trapped by the surrounding viscous material.

[0098] When it is detected that the micro-robot reaches the edge of the clot, the rotating frequency of the rotating magnetic field is appropriately changed so that the robot can maintain sufficient torque in the liquid environment where the resistance suddenly increases to continue to advance.

[0099] At this time, whether the motion speed of the robot is reduced or the micro-robot is stuck is monitored in real time by the image acquisition device 50, and if the micro-robot itself cannot maintain stable rotation due to severe shaking, it indicates that the micro-robot has encountered a more viscous obstacle, and the control system needs to generate an oscillating magnetic field to make the micro-robot swing rapidly to escape from the viscous block. Then switch to the rotating magnetic field to observe whether the micro-robot can continue to advance. This process needs to be repeated several times until the micro-robot can pass through the solid foreign matter area in the micro-pipe. The color threshold of the solid foreign matter in the micro-pipe represents the completion degree of the "thrombus removal" task of the micro-robot, and the lighter the color, the more the solid foreign matter in the micro-pipe in the area is dispersed and slowly dissolved in the surrounding liquid, and the darker the color, the more the solid foreign matter in the micro-pipe is not dispersed. The micro-robot will shuttle in the solid foreign matter area in the micro-pipe before the threshold value reaches the preset value. After completing the "thrombus removal" task, the micro-robot will continue to advance in the model under the driving of the rotating magnetic field.

[0100] The magnetic control method of the application can output a rotating and oscillating magnetic field, and according to the different tasks of the micro-robot, the two magnetic fields are combined to form a composite magnetic field control method.

[0101] Figure 2 The flow chart of the control system for the magnetic control spiral micro-robot of the application is shown in the figure. Figure 2 As shown, the control system for the magnetic control spiral micro-robot provided by the embodiment of the application comprises the following steps:

[0102] The host computer 10 is used to determine the coverage range of the solid foreign matter in the micro-pipe by a visual gray scale detection method, and control the magnetic control system to output a rotating magnetic field with a fixed frequency to drive the micro-robot to advance like a drill along a predetermined trajectory;

[0103] an image acquisition device 50 for acquiring real-time dynamic information of the microrobot in real time;

[0104] The host computer 10 is further configured to:

[0105] adjust the magnetic field of the microrobot based on the real-time dynamic information until the microrobot can pass through the solid foreign matter area in the micro pipeline.

[0106] The control system of the magnetic control helical microrobot further comprises a lower computer 20, a driver 30 and an electromagnetic coil 40;

[0107] The host computer 10 is further configured to input the required magnetic field data based on the user interface, convert the magnetic field data into corresponding current information, and send the current information to the lower computer 20;

[0108] The lower computer 20 is configured to receive the current signal and convert the current signal into a PWM signal;

[0109] The driver 30 is configured to receive the PWM signal and output current to the electromagnetic coil 40;

[0110] The electromagnetic coil 40 is configured to generate different types of magnetic fields by the current size, frequency and phase of the electromagnetic coil 40, so as to realize arbitrary motion of the magnetic microrobot.

[0111] The host computer 10 is further configured to:

[0112] When it is monitored that the microrobot reaches the edge of the solid foreign matter in the micro pipeline, the rotation frequency of the rotating magnetic field is appropriately changed to make the microrobot maintain sufficient torque in the liquid environment with suddenly increased resistance to continue to advance; and the magnetic field of the microrobot is adjusted based on the change of the microrobot until the microrobot can pass through the solid foreign matter area in the micro pipeline.

[0113] As Figures 3-4As shown, the magnetic control system consists of eight electromagnets, four horizontally configured and four obliquely configured. The four horizontally configured electromagnets are 90 degrees apart from each other; the obliquely configured electromagnets are 45 degrees apart from the horizontal plane, and each obliquely configured electromagnet is also 45 degrees apart from the adjacent horizontally configured electromagnet. All eight coils are oriented towards the center and occupy a hemispherical space. Each coil is made of enameled copper wire with a diameter of 1.8 mm (13 AWG). The coil length and inner and outer radii are 80 mm, 15 mm, and 27 mm, respectively. The magnetic core is made of DT4 (high-quality steel with iron content of more than 99.5%), with a maximum permeability of about 6000 H / m. To reduce field loss and concentrate magnetic flux, the magnetic core is extended forward, with a total length of 100 mm. By measurement, the system can generate a magnetic field strength of 30 mT at the center of the working space when the four horizontal coils are charged with 3 A current. In addition, the magnetic field gradient at the center can reach 1.6 T / m when the horizontally adjacent coils are simultaneously charged with 3 A current. Through experiments, this system is suitable for long-term work without the need for heat dissipation, and can work continuously for more than 60 minutes.

[0114] In terms of structural support, the octupole electromagnet coils are fixed on 8 detachable supports, which are supported by profiled materials and fixed with angle steels to prevent structural deformation. The supports are installed on a base plate to ensure that the supports are installed on a horizontal plane.

[0115] We choose ESCON 50 / 5 as our driver. The PID control unit and current detection unit are integrated in the ESCON driver 30, which can quickly respond to changes in the duty cycle of the PWM signal. The rated power of the ESCON driver 30 is 250 W, which can continuously output 5 A current and temporarily reach a maximum of 15 A current.

[0116] For the power supply, the basic requirement is to be able to output sufficient power to ensure that the coils work at the appropriate current, in which case we choose MEANWELL's LRS-350, which has a standard power output of 350 W. Considering the inductance of the electromagnetic coils 40, the power provided should be greater than the rated power of the driver 30 to compensate for the loss due to the inductive reactance. By scaling and better obtaining the real-time motion state of the robot, a binocular orthogonal microscopic observation device is constructed, which is distributed on the upper and left side of the working space. Each channel is composed of a 1934x1456 microscope camera (MD028MU-SY, XIMEA) and a 25mm long-focus lens (FA2502D, CHIOPT), with a maximum resolution of 4.54μm. Through a USB3.0 connection to a data acquisition card, two 16fps grayscale image signals can be sent and recorded simultaneously.

[0117] The control system of the magnetically controlled spiral microrobot designed in the present invention has a relatively high magnetic field strength of 30mT; an integrated microscope observation system lays the foundation for realizing visual feedback control of the microrobot.

[0118] Figure 6 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as Figure 6 As shown, the electronic device 60 includes: a processor 601 (processor), a memory 602 (memory) and a bus 603;

[0119] Among them, the processor 601 and the memory 602 communicate with each other through the bus 603; the processor 601 is used to call the program instructions in the memory 602 to execute the methods provided by the above-mentioned method embodiments, for example, including: determining the coverage range of solid foreign matter in the micro-pipeline through a visual grayscale detection method; controlling the magnetic control system to output a rotating magnetic field with a fixed frequency to drive the micro-robot to advance in a drill-like manner along a predetermined trajectory; obtaining real-time dynamic information of the micro-robot in real time through the image acquisition device 50; and adjusting the magnetic field of the micro-robot based on the real-time dynamic information until the micro-robot can pass through the solid foreign matter area in the micro-pipeline.

[0120] This embodiment provides a non-transitory computer-readable medium, which stores computer instructions. The computer instructions enable a computer to execute the methods provided by the above-mentioned method embodiments, for example, including: determining the coverage range of solid foreign matter in the micro-pipeline through a visual grayscale detection method; controlling the magnetic control system to output a rotating magnetic field with a fixed frequency to drive the micro-robot to advance in a drill-like manner along a predetermined trajectory; obtaining real-time dynamic information of the micro-robot in real time through an image acquisition device 50; and adjusting the magnetic field of the micro-robot based on the real-time dynamic information until the micro-robot can pass through the solid foreign matter area in the micro-pipeline.

[0121] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned medium includes: ROM, RAM, disk or optical disk, etc. Various media that can store program codes.

[0122] The device embodiments described above are merely illustrative, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0123] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of software products, and the computer software products can be stored in a computer readable medium, such as ROM / RAM, magnetic disk, optical disk, etc., and include a plurality of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods of the embodiments or some parts of the embodiments.

[0124] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0125] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control device for a magnetically controlled spiral microrobot, characterized in that: The device specifically includes: A module for determining the coverage of solid foreign matter in micro-pipes by a visual grayscale detection method; A module for controlling the magnetic control system to output a rotating magnetic field with adjustable frequency to drive the microrobot to advance in a drill-like manner along a predetermined trajectory; A module for acquiring real-time dynamic information of the microrobot through an image acquisition device; A module for adjusting the magnetic field of the microrobot based on the real-time dynamic information until the microrobot is able to pass through the solid foreign matter area in the micro-pipeline, comprising: Adjust the magnetic field of the microrobot according to formula 1; in, represents the direction vector of the rotating magnetic field; P(t) is the position of the micro-drill; L left and L right represents the left and right edges of the solid foreign matter in the micro-channel, which is considered as the boundary condition for changing the forward direction; C setting and C current Color threshold representing solid foreign matter in microducts; When C current -C setting When δ<δ, the drilling motion is considered to be completed and the microrobot leaves the solid foreign matter area in the microchannel; otherwise, the microrobot continues to drill in the manipulation area; under magnetic drive, the microrobot moves along the desired trajectory, switches the motion mode and changes the rotation frequency.

2. The control device of the magnetically controlled spiral microrobot according to claim 1, characterized in that: The module for determining the coverage of solid foreign matter in a micro-pipeline by a visual grayscale detection method comprises: a submodule for identifying a pipe wall boundary of a model by an image acquisition device; A submodule for determining the motion trajectory of the microrobot by taking the median method.

3. The control device of the magnetically controlled spiral microrobot according to claim 1, characterized in that: The module for controlling the magnetic control system to output a rotating magnetic field of a fixed frequency to drive the micro-robot to advance in a drill-like manner along a predetermined trajectory includes: A submodule for inputting required magnetic field data through the user interface of the host computer; A submodule for converting the magnetic field data into corresponding current information and sending the current information to a lower computer; A submodule for receiving the current signal through a lower computer and converting the current signal into a PWM signal; a submodule for receiving the PWM signal through a driver and outputting current to the electromagnetic coil; A submodule for generating different types of magnetic fields by adjusting the current magnitude, frequency and phase of the electromagnetic coil to achieve arbitrary movement of the magnetic microrobot.

4. The control device of the magnetically controlled spiral microrobot according to claim 1, characterized in that: The module for adjusting the magnetic field of the microrobot based on the real-time dynamic information until the microrobot can pass through the solid foreign matter area in the micro-pipeline includes: The submodule is used to appropriately change the rotation frequency of the rotating magnetic field when monitoring that the microrobot reaches the edge of the solid foreign matter in the micropipe so that the microrobot maintains sufficient torque to continue to propel in a liquid environment with a sudden increase in resistance; and adjust the magnetic field of the microrobot based on the changes of the microrobot until the microrobot is able to pass through the solid foreign matter area in the micropipe.

5. A control system for a magnetically controlled spiral microrobot, characterized in that: include: The host computer is used to determine the coverage of solid foreign matter in the micro-pipeline through visual grayscale detection methods, and control the magnetic control system to output a rotating magnetic field with adjustable frequency to drive the micro-robot to advance along the predetermined trajectory in a drill-like manner; An image acquisition device, used for acquiring real-time dynamic information of the microrobot; The host computer is also used for: adjusting the magnetic field of the microrobot based on the real-time dynamic information until the microrobot is able to pass through the solid foreign matter area in the micro-channel; in, represents the direction vector of the rotating magnetic field; P(t) is the position of the micro-drill; L left and L right represents the left and right edges of the solid foreign matter in the micro-channel, which is considered as the boundary condition for changing the forward direction; C setting and C current Color threshold representing solid foreign matter in microducts; When C current -C setting When δ<δ, the drilling motion is considered to be completed and the microrobot leaves the solid foreign matter area in the microchannel; otherwise, the microrobot continues to drill in the manipulation area; under magnetic drive, the microrobot moves along the desired trajectory, switches the motion mode and changes the rotation frequency.

6. The control system of the magnetically controlled spiral microrobot according to claim 5, characterized in that: The control system of the magnetically controlled spiral microrobot also includes a lower computer, a driver and an electromagnetic coil; The upper computer is further configured to input the required magnetic field data based on the user interface, convert the magnetic field data into corresponding current information, and send the current information to the lower computer; The lower computer is used to receive the current signal and convert the current signal into a PWM signal; The driver is used to receive the PWM signal and output current to the electromagnetic coil; The electromagnetic coil is used to generate different types of magnetic fields through the magnitude, frequency and phase of the current in the electromagnetic coil, thereby realizing arbitrary movement of the magnetic microrobot.

7. The control system of the magnetically controlled spiral microrobot according to claim 5, characterized in that: The host computer is also used for: When the microrobot is monitored to have reached the edge of a solid foreign object in a micro-pipe, the rotation frequency of the rotating magnetic field is appropriately changed so that the microrobot maintains sufficient torque to continue to propel itself in a liquid environment where resistance suddenly increases; and the magnetic field of the microrobot is adjusted based on the changes in the microrobot until the microrobot is able to pass through the solid foreign object area in the micro-pipe.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

9. A non-transitory computer-readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

Images