Magnetic field control system

Abstract

The application discloses a magnetic field control system, and belongs to the technical field of magnetic field control. The magnetic field control system can include N coils, the N coils include M pairs of coils with same current, each pair of coils is parallel and coaxial with each other; one end of a magnetic field generating device is electrically connected with one end of a power supply, the magnetic field generating device is used for controlling the N coils to generate magnetic field in the direction of M mutually orthogonal axes under the condition of accessing the power supply; the other end of the magnetic field generating device is electrically connected with a control part; a working area part is arranged in a containing cavity of the magnetic field generating device, and the working area part includes a placing table used for fixing a controlled object; the control part includes an image acquisition device and a display device, the image acquisition device is used for acquiring the moving image of the controlled object fixed on the placing table under the magnetic field; and the display device is used for displaying the moving image.

Description

Technical Field

[0001] This application belongs to the field of magnetic field control technology, specifically relating to a magnetic field control system. Background Technology

[0002] With the development of science and technology, magnetic field control technology can be combined with the motion behavior of microrobots to form a magnetic field control system, which can realize remote cordless drive for microrobots and can be applied to medical scenarios such as in vivo drug delivery and in vivo microsurgical operations.

[0003] In related technologies, magnetic field control systems are often based on the connection between a signal generator and a power amplifier to achieve electrical signal output. However, this structure makes it impossible for the magnetic field control system to take into account both the size of the magnetic field and the size of the working space. This makes the magnetic field control system unusable in some scenarios, affecting the flexibility of the magnetic field control system and reducing its working efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a magnetic field control system that can solve the problem in the prior art that the magnetic field size and the size of the workspace cannot be taken into account simultaneously, resulting in poor flexibility and low efficiency in the operation of the magnetic field control system.

[0005] In a first aspect, embodiments of this application provide a magnetic field control system, including:

[0006] A magnetic field generating device includes N coils, each coil comprising M pairs of coils carrying the same current, with each pair of coils being parallel and coaxial. One end of the magnetic field generating device is electrically connected to one end of a power supply. The magnetic field generating device is used to control the N coils to generate magnetic fields in the directions of M mutually orthogonal axes when a power supply is connected, where N is an integer greater than 1 and M is an integer greater than 1. The other end of the magnetic field generating device is electrically connected to a control unit.

[0007] The working area is located in the cavity of the magnetic field generating equipment. The working area includes a platform for fixing the controlled object.

[0008] The control unit includes an image acquisition device and a display device. The image acquisition device is used to acquire motion images of the controlled object fixed on the platform under the magnetic field; the display device is used to display the motion images.

[0009] In this embodiment, a magnetic field generating device comprising N coils is used. The N coils include M pairs of coils carrying the same current, each pair being parallel and coaxial. One end of the magnetic field generating device is electrically connected to one end of a power supply. The magnetic field generating device, when powered, controls the N coils to generate magnetic fields in the directions of M mutually orthogonal axes. A working area is disposed within the cavity of the magnetic field generating device, including a platform for fixing the controlled object. The other end of the magnetic field generating device is electrically connected to a control unit. The control unit includes an image acquisition device and a display device. The image acquisition device acquires motion images of the controlled object fixed on the platform under the magnetic field. The display device displays the motion images. Thus, by controlling the N coils to generate magnetic fields in the directions of M mutually orthogonal axes, the power supply can provide M independent power outputs, each controlling the N coils to generate magnetic fields in the directions of the M mutually orthogonal axes, thereby achieving an adjustable magnetic field in any direction in space. Furthermore, by outputting electrical signals from multiple power sources to control the magnetic field strength generated by multiple pairs of coils, the central magnetic field strength corresponding to the directions of M mutually orthogonal axes can be adjusted. Thus, by placing the controlled object within the cavity of the magnetic field generating device, the magnetic field strength along the directions of the M mutually orthogonal axes can be arbitrarily adjusted to adapt to the size of the workspace and the controlled object. Therefore, the magnetic field control system provided in this application embodiment can balance the magnitude of the magnetic field and the size of the workspace, improving the flexibility and versatility of the magnetic field control system and increasing its working efficiency. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a magnetic field control system;

[0011] Figure 2 A schematic diagram of the architecture of a magnetic field control system provided in an embodiment of this application;

[0012] Figure 3 A schematic diagram of a three-dimensional Helmholtz coil provided in an embodiment of this application;

[0013] Figure 4 A schematic diagram of a two-dimensional Helmholtz coil provided in an embodiment of this application;

[0014] Figure 5 This is a partial structural schematic diagram of a magnetic field control system provided in an embodiment of this application;

[0015] Figure 6 This is one of the structural schematic diagrams of a magnetic field control system provided in the embodiments of this application;

[0016] Figure 7 This is a second schematic diagram of the structure of a magnetic field control system provided in an embodiment of this application;

[0017] Figure 8 One embodiment provided in this application is a schematic diagram of magnetic field lines;

[0018] Figure 9 This is a schematic diagram of the hardware structure of a control unit or detection device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0021] In related technologies, such as Figure 1 As shown, magnetic field control systems often output electrical signals through signal generators and power amplifiers. However, the magnetic fields generated by the signal generators and power amplifiers are not uniform and cannot take into account the magnitude of the magnetic field. This makes the size of the workspace where the controlled object is located uncontrollable, resulting in poor operational flexibility. Consequently, magnetic field control systems in related technologies cannot be used in some scenarios, thus reducing the working efficiency of the magnetic field control system.

[0022] To address the problems in related technologies, this application provides a magnetic field control system. This system comprises a magnetic field generating device with N coils, each consisting of M pairs of coils carrying the same current, with each pair parallel and coaxial. One end of the magnetic field generating device is electrically connected to one end of a power supply. When powered, the magnetic field generating device controls the N coils to generate magnetic fields in the directions of M mutually orthogonal axes. A working area is disposed within the cavity of the magnetic field generating device, including a platform for fixing a controlled object. The other end of the magnetic field generating device is electrically connected to a control unit. The control unit includes an image acquisition device and a display device. The image acquisition device acquires motion images of the controlled object fixed on the platform under the magnetic field. The display device displays the motion images. Thus, by controlling the N coils to generate magnetic fields in the directions of M mutually orthogonal axes, the power supply can provide M independent power outputs, each controlling the N coils to generate magnetic fields in the directions of the M mutually orthogonal axes, thereby achieving an adjustable magnetic field in any direction in space. Furthermore, by outputting electrical signals from multiple power sources to control the magnetic field strength generated by multiple pairs of coils, the central magnetic field strength corresponding to the directions of M mutually orthogonal axes can be adjusted. Thus, by placing the controlled object within the cavity of the magnetic field generating device, the magnetic field strength along the directions of the M mutually orthogonal axes can be arbitrarily adjusted to adapt to the size of the workspace and the controlled object. Therefore, the magnetic field control system provided in this application embodiment can balance the magnitude of the magnetic field and the size of the workspace, improving the flexibility and versatility of the magnetic field control system and increasing its working efficiency.

[0023] Based on this, the following is in conjunction with the appendix Figures 2 to 8 The magnetic field control system provided in this application will be described in detail through specific embodiments and application scenarios.

[0024] First, combined Figure 2 The magnetic field control system provided in the embodiments of this application will be described in detail.

[0025] Figure 2 This is a schematic diagram of a magnetic field control system provided in an embodiment of this application.

[0026] like Figure 2 As shown, the magnetic field control system 20 may include: a magnetic field generating device 201, a power supply 202, a control unit 203, and a working area unit 204.

[0027] The magnetic field generating device 201 includes N coils, each coil comprising M pairs of coils carrying the same current, with each pair of coils being parallel and coaxial. One end of the magnetic field generating device 201 is electrically connected to one end of a power supply. The magnetic field generating device 201 is used to control the N coils to generate magnetic fields in the directions of M mutually orthogonal axes when the power supply 202 is connected, where N is an integer greater than 1 and M is an integer greater than 1. The other end of the magnetic field generating device 201 is electrically connected to a control unit 203.

[0028] Power supply 202 includes multi-threaded AC / DC power supply or multi-channel programmable AC / DC power supply.

[0029] The control unit 203 includes an image acquisition device and a display device. The image acquisition device is used to acquire motion images of the controlled object fixed on the platform under a magnetic field; the display device is used to display the motion images.

[0030] The working area 204 is disposed in the cavity of the magnetic field generating device 201. The working area 204 includes a platform for fixing the controlled object.

[0031] The above magnetic field control system is described in detail below.

[0032] In one or more possible embodiments, the magnetic field generating device 201 is a Helmholtz coil, wherein the Helmholtz coil includes a two-dimensional Helmholtz coil, a three-dimensional Helmholtz coil, or a combination of Helmholtz coils.

[0033] For example, such as Figure 3 As shown, the magnetic field generating device 201 can be a three-dimensional Helmholtz coil. Based on this, N can be 6 and M can be 3. The three-dimensional Helmholtz coil can include 6 coils, including 3 pairs of coils with the same current carrying capacity, such as coil 301 and coil 302, coil 303 and coil 304, and coil 305 and coil 306. Each pair of coils is parallel to each other and coaxial.

[0034] Or, such as Figure 4 As shown, the magnetic field generating device 201 can be a two-dimensional Helmholtz coil. Based on this, N can be 4 and M can be 2. The two-dimensional Helmholtz coil can include 4 coils, including 2 pairs of coils with the same current carrying capacity, such as coil 301 and coil 302, coil 303 and coil 304. Each pair of coils is parallel to each other and coaxial.

[0035] The image acquisition device in the control unit 103 may include a CMOS camera (or CCD camera) and an optical imaging device, wherein the optical imaging device may include a light source and a magnification device (such as a lens barrel). Figure 5As shown, a CMOS camera can be combined with a microscope tube to acquire motion images of a controlled object fixed on a stage 50 under a magnetic field. Here, a backlight can be used as the light source, and the motion images can be real-time microscopic images of the working area.

[0036] The controlled object in this application embodiment can be a magnetic object at the millimeter, nanometer, or micro-nano scale. Among them, the millimeter-scale magnetic object can be a magnetic hydrogel containing magnetic particles (which can be designed into different shapes); the micro-nano-scale magnetic object can be controlled by a magnetic field cluster of magnetic particles.

[0037] In another or more possible embodiments, one end of the magnetic field generating device includes M receiving ports, and one end of the power supply includes M output ports, with the M output ports connected one-to-one with the M receiving ports;

[0038] The M receiving ports are used to control M pairs of coils to generate magnetic fields in the directions of M mutually orthogonal axes when the magnetic field generating device is connected to a power source. The M pairs of coils correspond one-to-one with the M mutually orthogonal axes.

[0039] For example, such as Figure 6 As shown, taking a three-dimensional Helmholtz coil as an example, one end of the magnetic field generating device includes three receiving ports, and one end of the power supply can also include three output ports. The three output ports are connected one-to-one with the three receiving ports. That is, the power supply can be the output of an independent multi-channel programmable AC / DC power supply, which controls the three-dimensional Helmholtz coil to generate magnetic fields in three mutually orthogonal axes, such as the X-axis, Y-axis and Z-axis of the three-dimensional coordinate system, so that the three-dimensional Helmholtz coil can generate a spatially adjustable magnetic field.

[0040] Furthermore, the electrical signal received by the first interface of the three receiving ports can control the magnetic field generated by coils 301 and 302 in a first direction, such as the X-axis; the electrical signal received by the second interface of the three receiving ports can control the magnetic field generated by coils 303 and 304 in a second direction, such as the Y-axis; and the electrical signal received by the third interface of the three receiving ports can control the magnetic field generated by coils 305 and 306 in a third direction, such as the Z-axis.

[0041] In another possible embodiment, the control unit further includes a computing device electrically connected to the other end of the power supply. The computing device is used to send a first instruction to the power supply. The first instruction includes target data, which includes at least one of the following: voltage value, frequency, and phase. The first instruction is used to instruct the power supply to control the electrical signal output by each of the M output ports of the power supply according to the target data.

[0042] For example, such as Figure 7As shown, the power supply receives power-related data output by the computing device, including voltage value, frequency, phase, etc. Based on this, each of the three output ports in the power supply can be set with the same or different AC voltage, frequency, and DC voltage.

[0043] Thus, in this embodiment, the power supply can independently control each pair of coils in the magnetic field generating device through three power supplies, allowing each power supply to be set with different electrical signals to generate magnetic fields of different intensities along different directions between different pairs of coils. This adapts to different application scenarios, improving the working flexibility of the magnetic field control system while effectively increasing its working efficiency.

[0044] Based on this, specifically, M is 3, the M receiving ports include the first receiving port, the second receiving port and the third receiving port, the M output ports include the first output port, the second output port and the third output port, and the directions of the M mutually orthogonal axes include the first axis direction, the second axis direction and the third axis direction of the three-dimensional coordinate system;

[0045] The magnetic field generating device is also used to receive a first electrical signal output from a first output port through a first receiving port, and to control a first magnetic field generated in a first axial direction by a first pair of coils corresponding to the first receiving port according to the first electrical signal.

[0046] The second receiving port receives the second electrical signal output from the second output port, and controls the second pair of coils corresponding to the second receiving port to generate a second magnetic field in the second axial direction according to the second electrical signal.

[0047] The third electrical signal is received from the third receiving port and output from the third output port, and the third magnetic field generated by the third pair of coils corresponding to the third receiving port in the third axis direction is controlled according to the third electrical signal.

[0048] Among them, at least two of the first, second, and third electrical signals are different.

[0049] like Figure 8As shown, taking a three-dimensional Helmholtz coil as an example, one end of the magnetic field generating device includes three receiving ports, and one end of the power supply can also include three output ports. The three output ports are connected one-to-one with the three receiving ports, that is, the power supply can be the output of three independent programmable AC and DC power supplies, which respectively control the three-dimensional Helmholtz coil to generate magnetic fields in three mutually orthogonal axes. For example, the first electrical signal received by the first interface of the three receiving ports can control the magnetic field generated by coils 303 and 304 in the first direction, such as the X-axis; the second electrical signal received by the second interface of the three receiving ports can control the magnetic field generated by coils 301 and 302 in the second direction, such as the Y-axis; the third electrical signal received by the third interface of the three receiving ports can control the magnetic field generated by coils 305 and 306 in the third direction, such as the Z-axis. Each receiving port can separately receive AC and DC power and output them to the xyz group of the coil, thereby realizing the generation of three-dimensional magnetic fields in three directions of the three-dimensional coordinate system. In this way, in scenarios where real-time motion images are used to determine the assembly morphology of magnetite nanoparticles, the cluster assembly morphology can be acquired by changing the target data of each power source.

[0050] In another possible embodiment, in order to obtain clearer and more accurate motion images, the working area in this application embodiment further includes a telescopic rotation component for controlling the platform to move along any preset direction.

[0051] Alternatively, the telescopic rotating assembly is electrically connected to the control unit, and the working area is also used to control the table to move in the direction indicated by the second instruction output by the control unit.

[0052] For example, a user can adjust the position of the shelf by using a telescopic rotating component, thereby changing the position of the controlled object.

[0053] Alternatively, based on the acquired motion images, if the working area detects that the acquired motion images do not meet the preset image display conditions, the movement direction of the platform can be adjusted based on the acquired motion images to ensure that clearer and more accurate motion images can be acquired. For example, if the controlled object is a magnetically controlled micro-nano robot, which can be used for micro-operation surgery in vivo, the working area can determine the position of the magnetically controlled micro-nano robot based on the acquired real-time motion images, and then adjust the position of the platform through the telescopic and rotating components to change the position of the controlled object.

[0054] In another or more possible embodiments, the computing device is further configured to receive user input, the input being a preset motion state indicating the controlled object; and according to the preset motion state, to obtain a target dataset corresponding to the preset motion state, the target dataset including target data corresponding to each of the M output ports;

[0055] A third instruction is output to the power supply. The third instruction is used to instruct the power supply to control the output of each of the M output ports to the electrical signal corresponding to the target data in the target dataset, based on the target dataset.

[0056] For example, firstly, the system can receive user input regarding the desired motion state of the controlled object. Based on this input, a preliminary experiment can be conducted to obtain the magnetic field in three-dimensional space. Next, the magnetic field in three-dimensional space is decomposed into three directions of three-dimensional coordinates. Furthermore, calculations can be performed using electromagnetic generation theories (such as Ampere's law, the law of electromagnetic induction, and Ohm's law). Specifically, given the resistance of the coils, the magnetic field generated by each pair of coils can be calculated by providing the voltage and frequency. This calculation is performed for each direction, and the results are summed as spatial vectors to obtain the magnetic field distribution in three-dimensional space. Furthermore, based on the magnetic field strength in the three directions of three-dimensional coordinates, such as the first, second, and third directions, the voltage value, frequency, and phase corresponding to each magnetic field strength in each direction are calculated. Then, the voltage value, frequency, and phase corresponding to each magnetic field strength in each direction are sent to the power supply, so that the power supply controls the output of each output port of the power supply to correspond to the electrical signal of the target data in the target dataset according to the voltage value, frequency, and phase corresponding to each magnetic field strength in each direction.

[0057] Based on this, in one or more possible embodiments, the magnetic field control system further includes a detection device;

[0058] The detection device is electrically connected to the computing device. The detection device is used to detect the magnetic field generated by the magnetic field generating device in the directions of M mutually orthogonal axes, and to obtain magnetic field data.

[0059] The computing device is also used to compare the magnetic field data obtained by the detection device and the motion state of the controlled object corresponding to the magnetic field data with the previous sample data to obtain the adjustment result.

[0060] The sample data includes the sample magnetic field data obtained by the previous detection device and the sample motion state of the controlled object corresponding to the sample magnetic field data. The adjustment result includes at least one of the following: target data carried by the first instruction and position information of the controlled object.

[0061] In summary, the magnetic field control system in this embodiment can be achieved by setting up a magnetic field generating device comprising N coils, wherein the N coils include M pairs of coils carrying the same current, each pair of coils being parallel and coaxial; one end of the magnetic field generating device is electrically connected to one end of a power supply, and the magnetic field generating device is used to control the N coils to generate magnetic fields in the directions of M mutually orthogonal axes when the power supply is connected; a working area is set in the receiving cavity of the magnetic field generating device, and the working area includes a stage for fixing the controlled object; and the other end of the magnetic field generating device is electrically connected to a control unit; the control unit includes an image acquisition device and a display device, the image acquisition device is used to acquire motion images of the controlled object fixed on the stage under the magnetic field; and the display device is used to display the motion images. Thus, by controlling the N coils to generate magnetic fields in the directions of M mutually orthogonal axes, the power supply can provide M independent power outputs, each controlling the N coils to generate magnetic fields in the directions of M mutually orthogonal axes, thereby achieving an adjustable magnetic field in any direction in space. Furthermore, by outputting electrical signals from multiple power sources to control the magnetic field strength generated by multiple pairs of coils, the central magnetic field strength corresponding to the directions of M mutually orthogonal axes can be adjusted. Thus, by placing the controlled object within the cavity of the magnetic field generating device, the magnetic field strength along the directions of the M mutually orthogonal axes can be arbitrarily adjusted to adapt to the size of the workspace and the controlled object. Therefore, the magnetic field control system provided in this application embodiment can balance the magnitude of the magnetic field and the size of the workspace, improving the flexibility and versatility of the magnetic field control system and increasing its working efficiency.

[0062] It should be noted that the control unit or detection device in the embodiments of this application can be a terminal, or it can be other devices besides a terminal. For example, the control unit can be a mobile phone, tablet computer, laptop computer, mobile internet device (MID), robot, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc. It can also be a server, network attached storage (NAS), personal computer (PC), or other devices with computing and display functions that have magnetic field analysis applications installed. The embodiments of this application do not specifically limit the scope.

[0063] The control unit or detection device in the embodiments of this application can be a device with an operating system. The operating system can be Android, iOS, or other possible operating systems, and this application does not specifically limit it.

[0064] Figure 9 This is a schematic diagram of the hardware structure of a control unit or detection device provided in an embodiment of this application.

[0065] The control unit or detection device 900 includes, but is not limited to, components such as: radio frequency unit 901, network module 902, audio output unit 903, input unit 904, sensor 905, display unit 906, user input unit 907, interface unit 908, memory 909, and processor 910.

[0066] Those skilled in the art will understand that the control unit or detection device 900 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 910 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 9 The structure of the control unit or detection device shown does not constitute a limitation on the electronic device. The control unit or detection device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0067] It should be understood that the input unit 904 may include a graphics processing unit (GPU) 9041 and a microphone 9042. The GPU 9041 processes image data of still images or videos acquired by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 906 may include a display panel, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 907 includes at least one of a touch panel 9071 and other input devices 9072. The touch panel 9071 is also called a touch screen. The touch panel 9071 may include two parts: a touch detection device and a touch display. Other input devices 9072 may include, but are not limited to, a physical keyboard, function keys (such as volume display buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0068] The memory 909 can be used to store software programs and various data. The memory 909 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 909 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 909 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0069] Processor 910 may include one or more processing units; optionally, processor 910 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless display signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 910.

[0070] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0071] The processor is the processor in the control unit or detection device in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0072] In addition, this application embodiment provides another chip, which includes a processor and a display interface. The display interface and the processor are coupled. The processor is used to run programs or instructions to implement the various processes of the above embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0073] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0074] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above embodiments and achieve the same technical effects. To avoid repetition, further details are omitted here.

[0075] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0076] Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0077] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0078] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A magnetic field control system, characterized by, include: A magnetic field generating device includes N coils, wherein the N coils include M pairs of coils carrying the same current, and each pair of coils is parallel to each other and coaxial; One end of the magnetic field generating device is electrically connected to one end of the power supply. The magnetic field generating device is used to control the N coils to generate magnetic fields in the directions of M mutually orthogonal axes when the power supply is connected, where N is an integer greater than 1 and M is an integer greater than 1. The other end of the magnetic field generating device is electrically connected to the control unit. The working area is located in the cavity of the magnetic field generating device, and the working area includes a platform for fixing the controlled object. The control unit includes an image acquisition device, a display device, and a computing device. The image acquisition device is used to acquire motion images of a controlled object fixed on the platform under a magnetic field. The display device is used to display the motion images. The computing device is electrically connected to the other end of the power supply and is used to send a first instruction to the power supply. The first instruction includes target data and is used to instruct the power supply to control the electrical signals output by each of the M output ports of the power supply according to the target data. The computing device is also configured to receive user input, the input being a preset motion state indicating the controlled object; and to obtain a target dataset corresponding to the preset motion state based on the preset motion state, the target dataset including target data corresponding to each of the M output ports; A third instruction is output to the power supply, the third instruction being used to instruct the power supply to control the output of each of the M output ports to correspond to the target data in the target dataset according to the target dataset; The magnetic field control system further includes a detection device; the detection device is electrically connected to the computing device, and the detection device is used to detect the magnetic field generated by the magnetic field generating device in the directions of the M mutually orthogonal axes to obtain magnetic field data; the computing device is also used to compare the magnetic field data obtained by the detection device and the motion state of the controlled object corresponding to the magnetic field data with the previous sample data to obtain an adjustment result; wherein, the sample data includes the sample magnetic field data obtained by the detection device in the previous time and the sample motion state of the controlled object corresponding to the sample magnetic field data, and the adjustment result includes at least one of the following: target data carried by the first instruction and position information of the controlled object to be adjusted.

2. The system of claim 1, wherein, The magnetic field generating device is a Helmholtz coil, wherein the Helmholtz coil includes a two-dimensional Helmholtz coil, a three-dimensional Helmholtz coil, or a combination of Helmholtz coils.

3. The system of claim 1, wherein, The power supply includes a multi-threaded AC / DC power supply or a multi-channel programmable AC / DC power supply.

4. The system of claim 1 or 3, wherein, One end of the magnetic field generating device includes M receiving ports, and one end of the power supply includes M output ports. The M output ports are connected to the M receiving ports in a one-to-one correspondence. The M receiving ports are used to control M pairs of coils to generate magnetic fields in the directions of M mutually orthogonal axes when the magnetic field generating device is connected to the power supply. The M pairs of coils correspond one-to-one with the M mutually orthogonal axes.

5. The system of claim 4, wherein, The target data includes at least one of the following: voltage value, frequency, and phase.

6. The system of claim 5, wherein, M is 3, the M receiving ports include a first receiving port, a second receiving port and a third receiving port, the M output ports include a first output port, a second output port and a third output port, and the directions of the M mutually orthogonal axes include the first axis direction, the second axis direction and the third axis direction of the three-dimensional coordinate system; The magnetic field generating device is further configured to receive a first electrical signal output from the first output port through the first receiving port, and control a first pair of coils corresponding to the first receiving port to generate a first magnetic field in the first axial direction according to the first electrical signal. The second receiving port receives the second electrical signal output from the second output port, and controls the second pair of coils corresponding to the second receiving port to generate a second magnetic field in the second axial direction according to the second electrical signal. The third receiving port receives the third electrical signal output from the third output port, and controls the third magnetic field generated by the third pair of coils corresponding to the third receiving port in the third axis direction according to the third electrical signal. Among them, at least two of the first, second, and third electrical signals are different.

7. The system of claim 1, wherein, The work area also includes a telescopic and rotating assembly for controlling the platform to move in any preset direction.

8. The system of claim 7, wherein, The telescopic rotating assembly is electrically connected to the control unit, and the working area is also used to control the platform to move in the direction indicated by the second instruction output by the control unit.

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