Micro robot system, control method, control device and storage medium

Abstract

The present application discloses a microrobot system, a control method, a control device and a storage medium, including: an execution group and a magnetic field generator, the execution group includes multiple microrobots, the multiple microrobots have different magnetization directions, the multiple microrobots have different cutoff frequencies in a rotating magnetic field of the same field strength, and each cutoff frequency is obtained according to the frequency corresponding to the rotating magnetic field when the corresponding microrobot reaches the peak rate; the magnetic field generator is used to apply a rotating magnetic field to the execution group, and the angle, rotation direction and frequency of the rotating magnetic field are adjustable; the angle of the rotating magnetic field is used to control the microrobot to move along the target heading angle, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions, the first rotation direction is used to control the microrobot to move along the first movement direction, and the second rotation direction is used to control the microrobot to move along the second movement direction, and the frequency of the rotating magnetic field is used to control the microrobot to move at the peak rate.

Description

Technical Field

[0001] The present application relates to the field of micro-nano robot technology, and in particular to a micro-robot system, a control method, a control device and a storage medium. Background Art

[0002] Microrobots can be precisely controlled in complex fluid environments. Their in vivo biomedical applications include drug delivery, minimally invasive surgery, cell therapy, in situ sensing, and tissue engineering. Microrobots hold broad application prospects in future precision medicine.

[0003] Due to their size, microrobots move in the microscopic world, following very different patterns of motion from those in the macroscopic world. Under the low Reynolds number conditions of the microscopic world, inertial forces vanish, and viscous forces become the dominant force. An external driving field must exert continuous force on the microrobot. Magnetic field drive is a promising technology that can remotely control microrobots, with strong magnetic field penetration and high biosafety. The ability to selectively control magnetic microrobots moving in a magnetic field is of great significance for future precision medicine. For example, a group of microrobots could be used to simultaneously transport drugs to different targets or perform medical diagnoses on different lesions.

[0004] However, existing methods for selectively controlling microrobots are complicated and inconvenient to operate. Summary of the Invention

[0005] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a micro-robot system, control method, control device and storage medium that can solve the problems of traditional micro-robot selective control technology with cumbersome steps and inconvenient operation.

[0006] The micro-robotic system according to the first embodiment of the present application includes:

[0007] an execution group, the execution group comprising a plurality of microrobots, the plurality of microrobots having different magnetization directions, so that the plurality of microrobots have different cutoff frequencies in a rotating magnetic field of the same field strength, each cutoff frequency being obtained according to a frequency of the rotating magnetic field corresponding to when the corresponding microrobot reaches a peak velocity;

[0008] A magnetic field generator, configured to apply the rotating magnetic field to the execution group, wherein the angle, rotation direction and frequency of the rotating magnetic field are adjustable;

[0009] The angle of the rotating magnetic field is used to control the microrobot to move along the target heading angle, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions. The first rotation direction is used to control the microrobot to move along the first movement direction, and the second rotation direction is used to control the microrobot to move along the second movement direction. The first movement direction is opposite to the second movement direction. The frequency of the rotating magnetic field is used to control the movement rate of the microrobot so that the microrobot moves at the corresponding peak rate.

[0010] The micro-robotic system according to the embodiment of the first aspect of the present application has at least the following beneficial effects:

[0011] By adjusting the angle of the rotating magnetic field to the target heading angle, the microrobot moves along the target heading angle under the action of the rotating magnetic field; adjusting the rotation direction of the rotating magnetic field, the microrobot moves along the first movement direction or the second movement direction; adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the target microrobot reaches a peak rate under the action of the rotating magnetic field, so that the rate of the target microrobot is much higher than the rate of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, the microrobot system of the first embodiment of the present application only needs to magnetize multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and easy operation.

[0012] According to some embodiments of the present application, the microrobot includes two arms connected end to end, and an angle is set between the two arms.

[0013] According to some embodiments of the present application, the angle between the two arms is an obtuse angle.

[0014] According to some embodiments of the present application, the magnetization direction of each of the microrobots is one of the long axis magnetization direction, the short axis magnetization direction, the long arm magnetization direction and the vertical out-of-plane magnetization direction, and the execution group has at least two microrobots with different magnetization directions.

[0015] A microrobot control method according to an embodiment of the second aspect of the present application is applied to the microrobot system as described above, including:

[0016] Adjusting the angle of the rotating magnetic field to a target heading angle so that the microrobot moves along the target heading angle;

[0017] Adjusting the rotation direction of the rotating magnetic field so that the microrobot moves along a first motion direction or a second motion direction, wherein the first motion direction is opposite to the second motion direction, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions, wherein the first rotation direction is used to cause the microrobot to move along the first motion direction, and the second rotation direction is used to cause the microrobot to move along the second motion direction;

[0018] The frequency of the rotating magnetic field is adjusted to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed.

[0019] The microrobot control method according to the second embodiment of the present application has at least the following beneficial effects:

[0020] By adjusting the angle of the rotating magnetic field to the target heading angle, the microrobot moves along the target heading angle under the action of the rotating magnetic field; adjusting the rotation direction of the rotating magnetic field, the microrobot moves along the first movement direction or the second movement direction; adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the target microrobot reaches a peak speed under the action of the rotating magnetic field, making the speed of the target microrobot much higher than the speed of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, the microrobot control method of the second embodiment of the present application only needs to magnetize multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and easy operation.

[0021] According to some embodiments of the present application, the microrobot includes two arms connected end to end; the movement direction of the microrobot is determined by the following steps:

[0022] Adjust the rotation direction of the rotating magnetic field so that the two arms move along the first movement direction or the second movement direction, and the two arms rotate when moving along the first movement direction or the second movement direction, and the direction of the rotation is determined by the magnetization direction of the two arms and the rotation direction of the rotating magnetic field.

[0023] According to some embodiments of the present application, the microrobot includes two arms connected end to end; and adjusting the angle of the rotating magnetic field to a target heading angle so that the microrobot moves along the target heading angle includes:

[0024] The angle of the rotating magnetic field is adjusted to the target heading angle, so that the two arms move along the target heading angle.

[0025] According to some embodiments of the present application, adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed includes:

[0026] If there are multiple target micro-robots, determining the control order of the multiple target micro-robots from largest to smallest according to the peak rates corresponding to the multiple target micro-robots;

[0027] The frequency of the rotating magnetic field is adjusted in sequence according to the control sequence to the cutoff frequency corresponding to each target micro-robot, so that the multiple target micro-robots reach the corresponding peak rate according to the control sequence.

[0028] According to the third embodiment of the present application, the micro-robot control device includes:

[0029] An angle adjustment module, used to adjust the angle of the rotating magnetic field to a target heading angle, so that the micro robot moves along the target heading angle;

[0030] a direction adjustment module, configured to adjust the rotation direction of the rotating magnetic field so that the microrobot moves in a first motion direction or a second motion direction, wherein the first motion direction is opposite to the second motion direction, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions, wherein the first rotation direction is used to cause the microrobot to move in the first motion direction, and the second rotation direction is used to cause the microrobot to move in the second motion direction;

[0031] The frequency adjustment module is used to adjust the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed.

[0032] The micro-robot control device according to the third embodiment of the present application has at least the following beneficial effects:

[0033] By adjusting the angle of the rotating magnetic field to the target heading angle, the microrobot moves along the target heading angle under the action of the rotating magnetic field; adjusting the rotation direction of the rotating magnetic field, the microrobot moves along the first movement direction or the second movement direction; adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the target microrobot reaches a peak speed under the action of the rotating magnetic field, making the speed of the target microrobot much higher than the speed of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, the microrobot control device of the third embodiment of the present application only needs to magnetize multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and easy operation.

[0034] According to the computer-readable storage medium of the fourth embodiment of the present application, a program executable by a processor is stored therein, and the program executable by the processor is used to implement the micro-robot control method as described above when executed by the processor.

[0035] The computer-readable storage medium according to the fourth aspect of the present application has at least the following beneficial effects:

[0036] By adjusting the angle of the rotating magnetic field to the target heading angle, the microrobot moves along the target heading angle under the action of the rotating magnetic field; adjusting the rotation direction of the rotating magnetic field to make the microrobot move along the first movement direction or the second movement direction; adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the target microrobot reaches a peak speed under the action of the rotating magnetic field, making the speed of the target microrobot much higher than the speeds of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, this method only requires magnetizing multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and convenient operation.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0039] Figure 1 This is a schematic diagram of a microrobot according to an embodiment of the present application;

[0040] Figure 2 Schematic diagram of the short-axis magnetization direction in one embodiment of the present application;

[0041] Figure 3 This is a schematic diagram of the perpendicular out-of-plane magnetization direction in one embodiment of the present application;

[0042] Figure 4 This is a schematic diagram of the long-axis magnetization direction in one embodiment of the present application;

[0043] Figure 5 This is a schematic diagram of the magnetization direction of the long arm in one embodiment of the present application;

[0044] Figure 6 This is a flow chart of a microrobot control method in one embodiment of the present application;

[0045] Figure 7 This is a schematic diagram of the movement of a microrobot in a rotating magnetic field in an embodiment of the present application;

[0046] Figure 8 This is a schematic diagram of the movement of the microrobot in a rotating magnetic field in the YZ plane in one embodiment of the present application;

[0047] Figure 9 This is a schematic diagram of the movement of the microrobot in the XZ plane rotating magnetic field in one embodiment of the present application;

[0048] Figure 10 This is a diagram showing the relationship between the speed and frequency of the microrobot in one embodiment of the present application;

[0049] Figure 11 This is a schematic diagram of the drift of the microrobot in one embodiment of the present application;

[0050] Figure 12 Schematic diagram of the movement of the micro-robot in the short-axis magnetization direction and the long-arm magnetization direction in one embodiment of the present application;

[0051] Figure 13 Schematic diagram of the movement of a microrobot with two short-axis magnetization directions and a microrobot with two long-arm magnetization directions in one embodiment of the present application;

[0052] Figure 14 This is a functional block diagram of a micro robot control device in one embodiment of the present application.

[0053] Reference numerals:

[0054] Micro robot control device 100; angle adjustment module 110; direction adjustment module 120; frequency adjustment module 130. DETAILED DESCRIPTION

[0055] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0056] In the description of this application, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0057] In the description of this application, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated.

[0058] In the description of this application, unless otherwise clearly defined, terms such as setting, installation, and electrical connection should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above terms in this application based on the specific content of the technical solution.

[0059] The following is based on Figures 1 to 14 The present invention describes a micro-robot system, a control method, a control device, and a storage medium according to embodiments of the present application.

[0060] A micro-robotic system according to an embodiment of the present application includes:

[0061] An execution group and a magnetic field generator, wherein the execution group includes multiple micro-robots, each of which has different magnetization directions, so that the multiple micro-robots have different cutoff frequencies in a rotating magnetic field of the same field strength, and each cutoff frequency is obtained according to the frequency of the rotating magnetic field when the corresponding micro-robot reaches the peak speed; the magnetic field generator is used to apply a rotating magnetic field to the execution group, and the angle, rotation direction and frequency of the rotating magnetic field are adjustable;

[0062] The angle of the rotating magnetic field is used to control the microrobot to move along the target heading angle. The rotation direction includes a first rotation direction and a second rotation direction in opposite directions. The first rotation direction is used to control the microrobot to move along the first movement direction, and the second rotation direction is used to control the microrobot to move along the second movement direction. The first movement direction is opposite to the second movement direction. The frequency of the rotating magnetic field is used to control the movement rate of the microrobot so that the microrobot moves at the corresponding peak rate.

[0063] In this embodiment, the angle of the rotating magnetic field is adjusted to the target heading angle by a magnetic field generator, so that the microrobot moves along the target heading angle under the action of the rotating magnetic field; the rotation direction of the rotating magnetic field is adjusted by a magnetic field generator, so that the microrobot moves along the first movement direction or the second movement direction; the frequency of the rotating magnetic field is adjusted to the cutoff frequency of the target microrobot by a magnetic field generator, so that the target microrobot reaches a peak rate under the action of the rotating magnetic field, so that the rate of the target microrobot is much higher than the rate of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, the microrobot system of the embodiment of the present application only needs to magnetize multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and easy operation.

[0064] In one embodiment of the present application, Figure 1 As shown, the micro robot includes two arms connected end to end, and an angle is set between the two arms.

[0065] In this embodiment, the microrobot has two arms with an angle between them. When the microrobot rolls in different postures, the two arms have different contact areas with the fluid in the direction of motion, experiencing different fluid resistances, resulting in different movement rates. By magnetizing the microrobots, multiple microrobots are given different magnetization directions. Under the influence of a rotating magnetic field, multiple microrobots with different magnetization directions move in different rolling postures. By utilizing the speed differences caused by different rolling postures and the different cutoff frequencies of the multiple microrobots, multiple microrobots can be selectively controlled, achieving effective control.

[0066] It is understandable that the microrobot can also be set to any other shape, such as having a larger number of arms, while ensuring that the contact surface areas of the microrobots in different rolling postures with the fluid in the moving direction are different.

[0067] In one embodiment of the present application, the angle between the two arms is an obtuse angle.

[0068] In this embodiment, since the microrobot has two arms and the angle between the two arms is an obtuse angle, when the microrobot moves in different rolling postures, the area difference between the contact surfaces of the two arms with the fluid in the direction of movement is greater, which can produce significant speed differences and facilitate selective control of multiple microrobots.

[0069] In one embodiment of the present application, Figures 2 to 5 As shown, the magnetization direction of each microrobot is one of the long axis magnetization direction, short axis magnetization direction, long arm magnetization direction and vertical out-of-plane magnetization direction, and the execution group has at least two microrobots with different magnetization directions.

[0070] In this embodiment, microrobots with different magnetization directions are subjected to different forces in a rotating magnetic field, and therefore have different motion postures. Microrobots with long-axis magnetization directions and long-arm magnetization directions roll around one end of their arm during motion, with a small contact area with the fluid in the direction of motion. This rolling action can obviously reduce the resistance caused by the fluid. Microrobots with short-axis magnetization directions and perpendicular out-of-plane magnetization directions, on the other hand, roll around their long-axis during motion, with a larger contact area with the fluid in the direction of motion and a stronger fluid resistance. Therefore, the speed difference between the two types of rolling microrobots is obvious, and they are effective in selective control.

[0071] It is understandable that if Figure 4 As shown in , the long axis magnetization direction is the same as the long axis direction of the micro robot. Figure 2 As shown, the short axis magnetization direction is the same as the short axis direction of the micro robot. Figure 5As shown in FIG, the magnetization direction of the long arm is the same as the axial direction of one arm of the micro robot. Figure 3 As shown, the perpendicular out-of-plane magnetization direction is the magnetization direction perpendicular to one surface of the microrobot arm and pointing outward.

[0072] In addition, an embodiment of the present application discloses a micro robot control method, which is applied to the micro robot system as described above. Figure 6 As shown, it includes but is not limited to step S100, step S200 and step S300.

[0073] Step S100: adjusting the angle of the rotating magnetic field to a target heading angle so that the microrobot moves along the target heading angle;

[0074] In this step, since the heading angle of the microrobot in the rotating magnetic field is consistent with the angle of the rotating magnetic field, the microrobot can move along the target heading angle by adjusting the heading angle of the rotating magnetic field to the target heading angle.

[0075] Step S200: adjusting the rotation direction of the rotating magnetic field so that the microrobot moves in a first motion direction or a second motion direction, the first motion direction is opposite to the second motion direction, the rotation direction includes a first rotation direction and a second rotation direction that are opposite in direction, the first rotation direction is used to cause the microrobot to move in the first motion direction, and the second rotation direction is used to cause the microrobot to move in the second motion direction;

[0076] In this step, when the rotating magnetic field rotates in a first direction of rotation, under the action of the rotating magnetic field, the microrobot moves along the first direction of motion at the target heading angle. When the rotating magnetic field rotates in a second direction of rotation, the microrobot moves along the second direction of motion at the target heading angle. By adjusting the rotation direction of the rotating magnetic field, the movement direction of the microrobot can be selected so that the microrobot moves toward the target direction. For example, the first rotation direction is clockwise, the second rotation direction is counterclockwise, the first movement direction is the forward direction, and the second movement direction is the backward direction. When the rotating magnetic field rotates in a clockwise direction, the microrobot moves along the forward direction in terms of heading angle. When the rotating magnetic field rotates in a counterclockwise direction, the microrobot moves along the backward direction in terms of heading angle.

[0077] It is understandable that if Figure 7 As shown, the YZ plane rotating magnetic field rotates in the second rotation direction, and the micro robot moves along the -Y axis direction. Figure 8 As shown, the YZ plane rotating magnetic field rotates in the first rotation direction, and the micro robot moves along the +Y axis direction. Figure 9 As shown, the XZ plane rotating magnetic field rotates in a first rotation direction, and the micro robot moves along the +X axis direction.

[0078] Step S300: adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed.

[0079] In this embodiment, due to the different magnetization directions of the microrobots, multiple microrobots have different cutoff frequencies in a rotating magnetic field of the same field strength. By adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the speed of the target microrobot reaches its peak under the influence of the rotating magnetic field, making the speed of the target microrobot much higher than that of the other microrobots.

[0080] In this embodiment, by adjusting the angle of the rotating magnetic field to the target heading angle, the microrobot moves along the target heading angle under the action of the rotating magnetic field; adjusting the rotation direction of the rotating magnetic field, the microrobot moves along the first movement direction or the second movement direction; adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the target microrobot reaches a peak speed under the action of the rotating magnetic field, making the speed of the target microrobot much higher than the speed of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, the microrobot control method of the embodiment of the present application only needs to magnetize multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and easy operation.

[0081] In one embodiment of the present application, a microrobot includes two arms connected end to end; the movement direction of the microrobot is determined by the following steps:

[0082] Step S210: Adjust the rotation direction of the rotating magnetic field so that the two arms move along the first movement direction or the second movement direction, and the two arms rotate when moving along the first movement direction or the second movement direction, and the direction of rotation is determined by the magnetization direction of the two arms and the rotation direction of the rotating magnetic field.

[0083] In this embodiment, since the microrobot includes two arms connected end to end, the direction of the force exerted on the two arms in the rotating magnetic field is determined by the magnetization direction of the arms and the rotation direction of the rotating magnetic field. Therefore, adjusting the rotation direction of the rotating magnetic field can change the direction of the force exerted on the two arms, so that the two arms move along the first movement direction or the second movement direction, and the two arms rotate when moving along the first movement direction or the second movement direction.

[0084] In one embodiment of the present application, the microrobot includes two arms connected end to end; the step S100 of "adjusting the angle of the rotating magnetic field to the target heading angle so that the microrobot moves along the target heading angle" is further explained, and the step S100 includes but is not limited to the step S110.

[0085] Step S110: adjusting the angle of the rotating magnetic field to a target heading angle, so that the two arms move along the target heading angle.

[0086] In this embodiment, since the heading angles of the two arms in the rotating magnetic field are consistent with the angle of the rotating magnetic field, the two arms can be moved along the target heading angle by adjusting the heading angle of the rotating magnetic field to the target heading angle.

[0087] In one embodiment of the present application, the step S300 of "adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed" is further explained. Step S300 includes but is not limited to:

[0088] Step S310: if there are multiple target micro-robots, determine the control order of the multiple target micro-robots from largest to smallest according to the peak rates corresponding to the multiple target micro-robots;

[0089] Step S320: adjusting the frequency of the rotating magnetic field to the cutoff frequency corresponding to each target micro-robot in sequence according to the control sequence, so that the multiple target micro-robots reach the corresponding peak rate in accordance with the control sequence.

[0090] In this embodiment, if there are multiple target micro-robots, since the magnetization directions of the multiple target micro-robots are different, the peak speeds and cutoff frequencies corresponding to the multiple target micro-robots are also different. When selectively controlling the multiple target micro-robots, the control order of the multiple target micro-robots is determined from large to small according to the peak speeds corresponding to the multiple target micro-robots, so that the frequency of the rotating magnetic field is adjusted to the cutoff frequency corresponding to each target micro-robot in sequence according to the control order. This ensures that among the multiple target micro-robots, the target micro-robot with the largest peak speed is controlled to reach the peak speed first and then moves, thereby achieving a good selective control effect on the multiple target micro-robots.

[0091] The microrobot control method of the present application is further illustrated below with specific examples.

[0092] Microrobots with different magnetization directions have different rolling forms. The speed-frequency test of these four magnetized microrobots was first conducted, and the results are as follows: Figure 10As shown in the figure, under a rotating magnetic field of 8 mT, the four magnetized microrobots in a 0.4% w / v methylcellulose solution environment exhibit significant differences in speed and cutoff frequency. The cutoff frequencies of the microrobots with the long axis magnetization direction and the long arm magnetization direction are 6 Hz and 10 Hz, respectively, and the corresponding average speed peaks are 87.14 μm / s and 74.23 μm / s, respectively. The cutoff frequencies of the microrobots with the perpendicular out-of-plane magnetization direction and the short axis magnetization direction are 7 Hz and 6 Hz, respectively, and the corresponding average speed peaks are 18.51 μm / s and 17.11 μm / s.

[0093] like Figure 10 As shown in the figure, under a fixed field strength, the rolling rate of the microrobot increases with the continuous increase of the magnetic field rotation frequency. When the magnetic field rotation frequency exceeds the cutoff frequency, the rotation of the microrobot will lag, resulting in the inability to rotate synchronously with the magnetic field. At this time, if the rotation frequency is continued to increase, the microrobot is no longer a pure roll, but swings forward, as shown in the figure. Figure 11 As shown, at this time the micromachine exhibits significant drift and the rate decays sharply.

[0094] Example 1: In order to make the selective control effect of the microrobot more obvious, a microrobot with short-axis magnetization direction (cutoff frequency of 6 Hz) and a microrobot with long-arm magnetization direction (cutoff frequency of 10 Hz) are used as the execution group. Figure 12 As shown in the figure, the short-axis magnetized microrobot is defined as R1*, and the long-arm magnetized microrobot is defined as R2*. Under a rotating magnetic field of 8mT and 10Hz, the magnetic field reaches the cutoff frequency of the microrobot with the long arm magnetization. The microrobot with the long arm magnetization direction rolls forward significantly longer than the microrobot with the short axis magnetization direction in 20 seconds. When the rotating magnetic field frequency is reduced to 6Hz, reaching the cutoff frequency of the short-axis magnetization microrobot, its speed is increased, and the displacement difference between it and the microrobot with the long arm magnetization direction is reduced.

[0095] Example 2: Two microrobots with short-axis magnetization directions and two microrobots with long-arm magnetization directions are used as control groups for selective control in a Y-shaped flow channel. Figure 13As shown in the figure, the four microrobots initially remain stationary at the bottom of the Y-shaped flow channel with no significant displacement difference. A rotating magnetic field is applied in the YZ plane, with the rotating magnetic field at an angle of 90° to the X-axis. This means that the heading angle of the microrobots is consistent with the angle of the rotating magnetic field. Therefore, the heading angle of the four microrobots is 90°, and the microrobots begin to roll toward the +Y axis. The magnetic field rotation frequency is increased to 10 Hz, and the two microrobots in the long-arm magnetization direction reach the cutoff frequency, increasing their speed and gradually increasing the distance between them and the microrobots in the short-axis magnetization direction. The angle of the rotating magnetic field is adjusted so that the heading angle of the microrobots is directed toward the upper left branch of the Y-shaped flow channel. The two microrobots in the long-arm magnetization direction enter the upper left branch of the Y-shaped flow channel until they disappear from view. At this time, the two microrobots in the short-axis magnetization direction are still in the middle part of the Y-shaped flow channel. The frequency of the rotating magnetic field is reduced to 6 Hz, and the two microrobots in the short-axis magnetization direction reach the cutoff frequency, and the speed is increased. The angle of the rotating magnetic field is adjusted so that the heading angle of the microrobot is toward the upper right branch of the Y-shaped flow channel. The microrobot in the short-axis magnetization direction enters the upper right branch of the Y-shaped flow channel until it disappears from the field of view.

[0096] In addition, an embodiment of the present application also discloses a micro robot control device 100, such as Figure 14 Shown, including:

[0097] An angle adjustment module 110 is used to adjust the angle of the rotating magnetic field to a target heading angle so that the micro robot moves along the target heading angle;

[0098] a direction adjustment module 120, configured to adjust the rotation direction of the rotating magnetic field so that the microrobot moves in a first motion direction or a second motion direction, wherein the first motion direction is opposite to the second motion direction, and the rotation direction includes a first rotation direction and a second rotation direction that are opposite in direction, the first rotation direction is used to cause the microrobot to move in the first motion direction, and the second rotation direction is used to cause the microrobot to move in the second motion direction;

[0099] The frequency adjustment module 130 is used to adjust the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot, so that the speed of the target micro-robot reaches the peak speed.

[0100] In this embodiment, the angle of the rotating magnetic field is adjusted to the target heading angle by the angle adjustment module 110, so that the microrobot moves along the target heading angle under the action of the rotating magnetic field; the rotation direction of the rotating magnetic field is adjusted by the direction adjustment module 120, so that the microrobot moves along the first movement direction or the second movement direction; the frequency adjustment module 130 adjusts the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, so that the target microrobot reaches the peak rate under the action of the rotating magnetic field, so that the rate of the target microrobot is much higher than the rate of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, the microrobot control device 100 of the embodiment of the present application only needs to magnetize multiple microrobots in different directions to achieve selective control of multiple microrobots, with simple steps and convenient operation.

[0101] In addition, an embodiment of the present application further discloses a computer-readable storage medium, which stores a program executable by a processor. When the program executable by the processor is executed by the processor, it is used to implement the micro-robot control method as described above.

[0102] In this embodiment, by adjusting the angle of the rotating magnetic field to the target heading angle, the microrobot moves along the target heading angle under the action of the rotating magnetic field; adjusting the rotation direction of the rotating magnetic field to cause the microrobot to move along the first motion direction or the second motion direction; and adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target microrobot, the target microrobot reaches a peak speed under the action of the rotating magnetic field, making the speed of the target microrobot much higher than the speeds of other microrobots, thereby achieving selective control of the target microrobot. Compared with traditional microrobot control technology, selective control of multiple microrobots can be achieved by simply magnetizing multiple microrobots in different directions, with simple steps and convenient operation.

[0103] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0104] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application.

Claims

1. A micro-robotic system, characterized in that include: an execution group, the execution group comprising a plurality of microrobots, the plurality of microrobots having different magnetization directions, so that the plurality of microrobots have different cutoff frequencies in a rotating magnetic field of the same field strength, each cutoff frequency being obtained according to a frequency of the rotating magnetic field corresponding to when the corresponding microrobot reaches a peak velocity; A magnetic field generator, configured to apply the rotating magnetic field to the execution group, wherein the angle, rotation direction and frequency of the rotating magnetic field are adjustable; The angle of the rotating magnetic field is used to control the microrobot to move along the target heading angle, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions. The first rotation direction is used to control the microrobot to move along the first movement direction, and the second rotation direction is used to control the microrobot to move along the second movement direction. The first movement direction is opposite to the second movement direction. The frequency of the rotating magnetic field is used to control the movement rate of the microrobot so that the microrobot moves at the corresponding peak rate.

2. The micro-robotic system according to claim 1, wherein: The micro robot comprises two arms connected end to end, with an angle being set between the two arms.

3. The micro-robotic system according to claim 2, characterized in that: The included angle between the two arm portions is an obtuse angle.

4. The micro-robotic system according to claim 2, wherein: The magnetization direction of each microrobot is one of the long axis magnetization direction, the short axis magnetization direction, the long arm magnetization direction and the perpendicular out-of-plane magnetization direction, and the execution group has at least two microrobots with different magnetization directions.

5. A micro robot control method, characterized in that: The micro-robot system according to any one of claims 1 to 4 comprises: Adjusting the angle of the rotating magnetic field to a target heading angle so that the microrobot moves along the target heading angle; Adjusting the rotation direction of the rotating magnetic field so that the microrobot moves along a first motion direction or a second motion direction, wherein the first motion direction is opposite to the second motion direction, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions, wherein the first rotation direction is used to cause the microrobot to move along the first motion direction, and the second rotation direction is used to cause the microrobot to move along the second motion direction; The frequency of the rotating magnetic field is adjusted to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed.

6. The microrobot control method according to claim 5, characterized in that: The microrobot comprises two arms connected end to end; the movement direction of the microrobot is determined by the following steps: Adjust the rotation direction of the rotating magnetic field so that the two arms move along the first movement direction or the second movement direction, and the two arms rotate when moving along the first movement direction or the second movement direction, and the direction of the rotation is determined by the magnetization direction of the two arms and the rotation direction of the rotating magnetic field.

7. The microrobot control method according to claim 5, characterized in that: The microrobot includes two arms connected end to end; and adjusting the angle of the rotating magnetic field to a target heading angle so that the microrobot moves along the target heading angle includes: The angle of the rotating magnetic field is adjusted to the target heading angle, so that the two arms move along the target heading angle.

8. The microrobot control method according to claim 5, characterized in that: The step of adjusting the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed includes: If there are multiple target micro-robots, determining the control order of the multiple target micro-robots from largest to smallest according to the peak rates corresponding to the multiple target micro-robots; The frequency of the rotating magnetic field is adjusted in sequence according to the control sequence to the cutoff frequency corresponding to each target micro-robot, so that the multiple target micro-robots reach the corresponding peak rate according to the control sequence.

9. A micro robot control device, characterized in that: include: An angle adjustment module, used to adjust the angle of the rotating magnetic field to a target heading angle, so that the micro robot moves along the target heading angle; a direction adjustment module, configured to adjust the rotation direction of the rotating magnetic field so that the microrobot moves in a first motion direction or a second motion direction, wherein the first motion direction is opposite to the second motion direction, and the rotation direction includes a first rotation direction and a second rotation direction in opposite directions, wherein the first rotation direction is used to cause the microrobot to move in the first motion direction, and the second rotation direction is used to cause the microrobot to move in the second motion direction; The frequency adjustment module is used to adjust the frequency of the rotating magnetic field to the cutoff frequency of the target micro-robot so that the speed of the target micro-robot reaches the peak speed.

10. A computer-readable storage medium, characterized in that A processor-executable program is stored therein, and when the processor-executable program is executed by the processor, it is used to implement the micro-robot control method according to any one of claims 5 to 8.

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