A multi-environment motion control method and system for a magnetically driven soft-bodied microrobot

CN122253183APending Publication Date: 2026-06-23JIANGNAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
JIANGNAN UNIV
Filing Date
2026-03-24
Publication Date
2026-06-23

AI Technical Summary

Technical Problem

Existing magnetically driven microrobots are difficult to control precisely in various environments. In particular, under complex backgrounds and lighting disturbances, the robot's feet and connecting components are not accurately positioned, resulting in large pose calculation errors and making it difficult to achieve stable and reliable motion control.

Method used

A multi-level threshold segmentation method is adopted to accurately lock the magnetically driven foot and connecting component areas by adjusting the threshold. Combined with pixel density and geometric features, the robot's pose information is obtained, and external magnetic field drive commands are generated to achieve precise control.

Benefits of technology

It improves the robot's pose recognition and control accuracy in various environments, enabling stable positioning under uneven lighting and complex backgrounds, and achieving effective control of magnetically driven soft microrobots.

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Abstract

The present application relates to the technical field of robot intelligent control, and particularly relates to a multi-environment motion control method and system for a magnetic drive soft micro robot. A current frame image of the robot is acquired and preprocessed into a grayscale image, a first threshold is used for segmentation to generate a first binary image, rectangular regions with size errors meeting requirements are screened as candidate magnetic drive foot regions, and then a preset size adjustment threshold is compared to determine a target magnetic drive foot region. A second threshold is used for segmentation on a local region between the feet, an elongated rectangle is extracted as a candidate region of a connecting member, and a length-width and included angle adjustment threshold is used to obtain a connecting member region. A longitudinal expansion is performed on the region between the feet, a third threshold is used for segmentation to generate a third binary image, a pixel density adjustment threshold is used to obtain a target expansion region, and the robot body position is determined accordingly. The current pose information is obtained by combining the center of the connecting member and the body position, an external magnetic field driving instruction is generated accordingly, the robot is precisely driven, and the control precision is effectively improved.
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