Homogeneous microrobot systems and control methods

Abstract

This application discloses a homogeneous microrobot system and control method. The homogeneous microrobot system includes an execution group and a magnetic field generator. The execution group includes multiple microrobots with the same magnetization direction, so that the multiple microrobots have the same oscillation frequency and movement frequency under the same rotating magnetic field. The movement frequency is used to control each microrobot to rotate and move along a corresponding first target direction when a predetermined condition is met. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in the target straight line. The target straight line is perpendicular to the rotation plane of the rotating magnetic field. The oscillation frequency is used to control each microrobot to rotate at a speed lower than the rotation speed at the movement frequency, so that the magnetization direction corresponding to the microrobot rotates with the rotation of the microrobot. The magnetic field generator is used to apply a rotating magnetic field to the execution group, and the rotation frequency of the rotating magnetic field is adjustable.

Description

Technical Field

[0001] This application relates to the field of micro-nano robot technology, and in particular to a homogeneous micro-robot system and its control method. Background Technology

[0002] Artificial micro- and nanorobots are robots with sizes ranging from micrometers to nanometers. Because they can be effectively driven and navigated in fluid environments, they have broad application prospects in biomedical diagnostics such as drug delivery, cell delivery, microsurgery, and micro-imaging.

[0003] Under low Reynolds number microfluidic conditions, inertial forces disappear, and viscous forces dominate. Researchers have designed microrobots with different actuation methods to convert external fields into microrobot motion, such as chemical actuation, ultrasonic actuation, optical field actuation, and magnetic field actuation. Since magnetic fields can penetrate most materials (including biological materials), they are widely used for the remote power and control of microrobots. Compared with microrobots driven by gradient magnetic fields and oscillating magnetic fields, microrobots driven by rotating magnetic fields exhibit superior performance in terms of maneuverability and motion accuracy, especially at the micro- and nanoscale, where torque-driven rotating magnetic fields are more effective than force-driven magnetic fields. Compared to a single magnetic microrobot, the independent and cooperative control of multiple microrobots driven by rotating magnetic fields is more valuable for applications. For example, in the transfer of lesions in the human body, a single microrobot cannot accomplish the task; using a group of microrobots to transfer the lesion to different locations is necessary to effectively solve the problem.

[0004] However, traditional microrobot control methods are difficult to use for motion control of multiple homogeneous microrobots with the same magnetization direction. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a homogeneous microrobot system and control method, which can solve the problem that traditional homogeneous microrobot control methods are difficult to use for motion control of multiple homogeneous microrobots with the same magnetization direction.

[0006] The homogeneous microrobot system according to the first aspect of this application includes:

[0007] An execution group, comprising multiple microrobots, wherein the multiple microrobots have the same magnetization direction, such that the multiple microrobots have the same oscillation frequency and movement frequency under the same rotating magnetic field. The oscillation frequency is obtained based on the rotation frequency of the rotating magnetic field when the microrobot enters the oscillation state, and the movement frequency is obtained based on the rotation frequency of the rotating magnetic field when the microrobot enters the movement state. The movement frequency is used to control each microrobot to rotate and move along a corresponding first target direction when a predetermined condition is met. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in a target straight line, and the target straight line is perpendicular to the rotation plane of the rotating magnetic field. The oscillation frequency is used to control each microrobot to rotate at a speed lower than the rotation speed at the movement frequency, thereby causing the magnetization direction corresponding to the microrobot to rotate with the rotation of the microrobot.

[0008] A magnetic field generator is used to apply the rotating magnetic field to the execution group, the rotation frequency of the rotating magnetic field being adjustable.

[0009] The homogeneous microrobot system according to the first aspect of this application has at least the following beneficial effects:

[0010] By applying a rotating magnetic field to multiple microrobots, the microrobots are made to move. Since the magnetization directions of the multiple microrobots are the same, they have the same oscillation frequency and movement frequency in the rotating magnetic field. The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each microrobot to rotate, thereby causing the corresponding magnetization direction of the microrobot to rotate with the rotation of the microrobot. Since the rotation speed of the microrobot is lower than the rotation speed at the movement frequency, similarly, the rotation speed of the magnetization direction is lower than the rotation speed at the movement frequency, thus facilitating the adjustment of the first target direction corresponding to each microrobot, and thus facilitating the adjustment of the subsequent movement direction of each microrobot. When a predetermined condition is met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along the corresponding first target direction. The homogeneous microrobot system of the first aspect embodiment of this application, compared with traditional microrobot control technology, can realize motion control of multiple homogeneous microrobots.

[0011] The homogeneous microrobot control method according to the second aspect of this application, applied to the homogeneous microrobot system as described above, includes:

[0012] A rotating magnetic field is applied to multiple microrobots to cause them to move; wherein the magnetization directions of the multiple microrobots are the same, such that the multiple microrobots have the same oscillation frequency and movement frequency in the rotating magnetic field, the movement frequency is used to cause the microrobots to rotate and move, and the oscillation frequency is used to cause the microrobots to rotate at a speed lower than the rotation speed at the movement frequency;

[0013] The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each of the microrobots to rotate, thereby causing the magnetization direction corresponding to the microrobot to rotate with the rotation of the microrobot;

[0014] When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that each microrobot rotates and moves along the corresponding first target direction. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in the target straight line, and the target straight line is perpendicular to the rotation plane of the rotating magnetic field.

[0015] The homogeneous microrobot control method according to the second aspect of this application has at least the following beneficial effects:

[0016] By applying a rotating magnetic field to multiple microrobots, the microrobots are made to move. Since the magnetization directions of the multiple microrobots are the same, they have the same oscillation frequency and movement frequency in the rotating magnetic field. The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each microrobot to rotate, thereby causing the corresponding magnetization direction of the microrobot to rotate with the rotation of the microrobot. Since the rotation speed of the microrobot is lower than the rotation speed at the movement frequency, similarly, the rotation speed of the magnetization direction of the microrobot is lower than the rotation speed at the movement frequency, thus facilitating the adjustment of the first target direction corresponding to each microrobot, and thus facilitating the adjustment of the subsequent movement direction of each microrobot. When a predetermined condition is met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along the corresponding first target direction. The homogeneous microrobot control method of the second aspect of this application, compared with traditional microrobot control technology, can realize the motion control of multiple homogeneous microrobots.

[0017] According to some embodiments of this application, the predetermined conditions include:

[0018] The first target direction corresponding to multiple microrobots is the same.

[0019] According to some embodiments of this application, the predetermined conditions include:

[0020] There are at least two of the microrobots whose targets are in opposite directions.

[0021] According to some embodiments of this application, applying a rotating magnetic field to a plurality of microrobots to cause the plurality of microrobots to move includes:

[0022] A rotating magnetic field in a horizontal plane is applied to the plurality of microrobots, causing the plurality of microrobots to move;

[0023] The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing the multiple microrobots to move vertically upward.

[0024] According to some embodiments of this application, adjusting the rotation frequency of the rotating magnetic field to the movement frequency when predetermined conditions are met, so that each of the microrobots rotates and moves along a corresponding first target direction, includes:

[0025] Adjust the plane of rotation of the rotating magnetic field so that the position of the target line is adjusted to the target position;

[0026] When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that each of the microrobots rotates and moves along the corresponding first target direction.

[0027] According to some embodiments of this application, it also includes:

[0028] A static magnetic field is superimposed on the rotating magnetic field;

[0029] The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that the multiple microrobots move along the magnetic field direction of the static magnetic field.

[0030] According to some embodiments of this application, adjusting the rotation frequency of the rotating magnetic field to a moving frequency, so that the plurality of microrobots move along the magnetic field direction of the static magnetic field, includes:

[0031] Adjust the cone angle to the target angle so that the magnetic field direction of the static magnetic field is oriented towards the second target direction, and the cone angle is the angle between the magnetic field direction of the static magnetic field and the rotating magnetic field;

[0032] The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that all the microrobots move along the second target direction.

[0033] According to some embodiments of this application, the position of the microrobot in the vertical plane is obtained through the following steps:

[0034] Acquire the first real-time image of the microrobot;

[0035] Obtain the ambiguity distance mapping relationship, which is the relationship between the ambiguity of the microrobot in the first real-time image and the distance the microrobot moves in the vertical plane;

[0036] The position of the microrobot in the vertical plane is obtained based on the mapping relationship between the first real-time image and the ambiguity distance.

[0037] According to some embodiments of this application, the position of the microrobot in the horizontal plane is obtained through the following steps:

[0038] Acquire a second real-time image of the microrobot;

[0039] Based on the centroid tracking algorithm, the position of the microrobot in the horizontal plane is obtained from the second real-time image.

[0040] A computer-readable storage medium according to a third aspect of this application stores a processor-executable program, which, when executed by a processor, is used to implement the homogeneous microrobot control method as described above.

[0041] The computer-readable storage medium according to the third aspect of the present application has at least the following advantages:

[0042] By applying a rotating magnetic field to multiple microrobots, the microrobots are made to move. Since the magnetization directions of the multiple microrobots are the same, they have the same oscillation frequency and movement frequency in the rotating magnetic field. The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each microrobot to rotate, thereby causing the corresponding magnetization direction of the microrobot to rotate with the rotation of the microrobot. Since the rotation speed of the microrobot is lower than the rotation speed at the movement frequency, similarly, the rotation speed of the magnetization direction of the microrobot is lower than the rotation speed at the movement frequency, thus facilitating the adjustment of the first target direction corresponding to each microrobot, and thus facilitating the adjustment of the subsequent movement direction of each microrobot. When a predetermined condition is met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along the corresponding first target direction. The computer-readable storage medium of the third aspect embodiment of this application, compared with conventional microrobot control technology, can realize motion control of multiple homogeneous microrobots.

[0043] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0044] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0045] Figure 1 Flow chart of the homogeneous micro-robot control method in an embodiment of the present application;

[0046] Figure 2 Motion effect diagram of applying a rotating magnetic field in the YZ plane with a rotation frequency equal to the moving frequency to two magnetized robots in opposite directions of the first target direction in an embodiment of the present application;

[0047] Figure 3 Motion effect diagram of applying a rotating magnetic field in the XZ plane with a rotation frequency equal to the moving frequency to two magnetized robots in opposite directions of the first target direction in an embodiment of the present application;

[0048] Figure 4 Flow chart of applying a rotating magnetic field to multiple micro-robots in an embodiment of the present application;

[0049] Figure 5 Flow chart of making each micro-robot rotate and move along the corresponding first target direction in an embodiment of the present application;

[0050] Figure 6 Flow chart of superimposing a static magnetic field in an embodiment of the present application;

[0051] Figure 7 Schematic diagram of a conical magnetic field in an embodiment of the present application;

[0052] Figure 8 Flow chart of adjusting the cone angle of the conical magnetic field in an embodiment of the present application;

[0053] Figure 9 Flow chart of obtaining the position of the micro-robot in the vertical plane in an embodiment of the present application;

[0054] Figure 10 Flow chart of obtaining the position of the micro-robot in the horizontal plane in an embodiment of the present application;

[0055] [[ID=4​​​​​​​​​​​​​​

[0059] Figure 15 This is an experimental effect diagram showing the first-stage separation of multiple microrobots in one embodiment of this application;

[0060] Figure 16 This is an experimental effect diagram of the microrobots in part B1 of an embodiment of this application moving along the positive half-axis of the Y-axis.

[0061] Figure 17 This is an experimental diagram showing the effect of the microrobot achieving second-stage separation in part B2 of an embodiment of this application.

[0062] Figure 18 This is an experimental result diagram showing a group of microrobots in part B2 moving along the positive half-axis of the Y-axis in one embodiment of this application.

[0063] Figure 19 This is an experimental diagram showing the effect of the microrobot achieving third-level separation in part B2 of an embodiment of this application. Detailed Implementation

[0064] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0065] In the description of this application, it should be understood that the orientation descriptions, such as 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, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0066] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0067] In the description of this application, unless otherwise expressly defined, terms such as "setting," "installation," and "electrical connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0068] The following is based on Figures 1 to 19 This application describes a homogeneous microrobot system and control method according to embodiments thereof.

[0069] A homogeneous microrobot system according to an embodiment of this application includes: an execution group and a magnetic field generator. The execution group includes multiple microrobots, each with the same magnetization direction, such that the multiple microrobots have the same oscillation frequency and movement frequency under the same rotating magnetic field. The oscillation frequency is obtained based on the rotation frequency of the rotating magnetic field when the microrobot enters the oscillation state, and the movement frequency is obtained based on the rotation frequency of the rotating magnetic field when the microrobot enters the movement state. The movement frequency is used to control each microrobot to rotate and move along a corresponding first target direction when a predetermined condition is met. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in a target straight line, and the target straight line is perpendicular to the rotation plane of the rotating magnetic field. The oscillation frequency is used to control each microrobot to rotate at a speed lower than the rotation speed at the movement frequency, thereby causing the magnetization direction corresponding to the microrobot to rotate with the rotation of the microrobot. The magnetic field generator is used to apply a rotating magnetic field to the execution group, and the rotation frequency of the rotating magnetic field is adjustable.

[0070] In this embodiment, a rotating magnetic field is applied to multiple microrobots, causing them to move. Since the magnetization directions of the multiple microrobots are the same, they have the same oscillation frequency and movement frequency within the rotating magnetic field. The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each microrobot to rotate, thus rotating its corresponding magnetization direction. Because the rotation speed of the microrobots is lower than their rotation speed at the movement frequency, similarly, the rotation speed of their magnetization directions is lower than their rotation speed at the movement frequency. This facilitates adjusting the first target direction corresponding to each microrobot, and thus facilitating the adjustment of the subsequent movement direction of each microrobot. When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along its corresponding first target direction. The homogeneous microrobot system of the first aspect of this application, compared to traditional microrobot control technology, can achieve motion control of multiple homogeneous microrobots.

[0071] Understandably, the magnetic layer on the surface of the microrobot is made of cobalt metal, a ferromagnetic material with high coercivity. Therefore, using a higher field strength for magnetization results in a more uniform arrangement of magnetic domains and a better magnetization effect. The magnetized microrobot exhibits unique swimming characteristics, meaning it is insensitive to clockwise and counterclockwise rotation of the rotating magnetic field.

[0072] One embodiment of the homogeneous microrobot control method of this application is applied to the homogeneous microrobot system as described above, such as... Figure 1 As shown, steps S100, S200 and S300 are included, but are not limited to.

[0073] Step S100: Apply a rotating magnetic field to multiple microrobots to make them move; wherein, the magnetization directions of the multiple microrobots are the same, so that the multiple microrobots have the same oscillation frequency and movement frequency in the rotating magnetic field. The movement frequency is used to make the microrobots rotate and move, and the oscillation frequency is used to make the microrobots rotate and the rotation speed is lower than the rotation speed at the movement frequency.

[0074] In this step, a rotating magnetic field is applied to multiple microrobots. Since all microrobots are magnetized, they move under the influence of the rotating magnetic field. Because the microrobots have the same structure and magnetization direction, meaning they are homogeneous, they have the same oscillation frequency and movement frequency in the rotating magnetic field. When the rotation frequency of the rotating magnetic field is the movement frequency, the microrobots rotate and move under its influence. When the rotation frequency of the rotating magnetic field is the oscillation frequency, the microrobots rotate under its influence, but their rotation speed is lower than their rotation speed at the movement frequency.

[0075] Understandably, when the rotation frequency of the rotating magnetic field is the same as the movement frequency, the microrobot rotates and moves, i.e., it moves in a rolling motion. As the rotation frequency of the rotating magnetic field gradually increases, when the rotation frequency exceeds a certain threshold, the microrobot can no longer keep up with the rotation frequency of the magnetic field and enters an oscillating state. In this oscillating state, the microrobot rotates at a significantly lower speed than at the movement frequency, meaning it rotates at a much slower speed.

[0076] It should be noted that the specific value of the movement frequency is not limited; the movement frequency can be any value within the first frequency range. If the rotation frequency of the rotating magnetic field is any value within the first frequency range, the microrobot within the rotating magnetic field will enter a movement state. Similarly, the specific value of the oscillation frequency is not limited; the oscillation frequency can be any value within the second frequency range. If the rotation frequency of the rotating magnetic field is any value within the second frequency range, the microrobot within the rotating magnetic field will enter an oscillation state. The first and second frequency ranges can be calibrated for different application scenarios. For example, the first frequency range could be 0Hz to 11Hz, and the second frequency range could be greater than 11Hz.

[0077] Step S200: Adjust the rotation frequency of the rotating magnetic field to the oscillation frequency so that each microrobot rotates, thereby causing the magnetization direction corresponding to the microrobot to rotate with the rotation of the microrobot;

[0078] In this step, by adjusting the rotation frequency of the rotating magnetic field to the oscillation frequency, each microrobot enters an oscillation state and slowly rotates, thereby causing the magnetization direction corresponding to the microrobot to slowly rotate with the microrobot's rotation. This allows the orientation of the magnetization direction corresponding to each microrobot to be adjusted, thus adjusting and determining the movement direction of the microrobot in subsequent steps.

[0079] Step S300: When the predetermined conditions are met, adjust the rotation frequency of the rotating magnetic field to the movement frequency so that each microrobot rotates and moves along the corresponding first target direction. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in the target line, and the target line is perpendicular to the rotation plane of the rotating magnetic field.

[0080] In this embodiment, under predetermined conditions, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, and each micro-robot moves along the corresponding first target direction under the action of the rotating magnetic field.

[0081] In this embodiment, a rotating magnetic field is applied to multiple microrobots, causing them to move. Since the magnetization directions of the multiple microrobots are the same, they have the same oscillation frequency and movement frequency within the rotating magnetic field. The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each microrobot to rotate, thus rotating its corresponding magnetization direction. Because the rotation speed of the microrobot is lower than its rotation speed at the movement frequency, similarly, the rotation speed of the magnetization direction is lower than its rotation speed at the movement frequency, making it easier to adjust the first target direction corresponding to each microrobot, and thus easier to adjust the subsequent movement direction of each microrobot. When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along its corresponding first target direction. The homogeneous microrobot control method of the second aspect of this application, compared to traditional microrobot control technology, can achieve motion control of multiple homogeneous microrobots in three-dimensional space.

[0082] In one embodiment of this application, the predetermined conditions in step S300 are further explained. The predetermined conditions include, but are not limited to, the first target direction corresponding to the multiple micro-robots being the same.

[0083] In this embodiment, multiple microrobots slowly rotate in an oscillating state. When it is determined that the first target directions corresponding to the multiple microrobots are all the same, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency so that the multiple microrobots move in the same direction.

[0084] In one embodiment of this application, the predetermined conditions in step S300 are further explained. The predetermined conditions include, but are not limited to: at least two microrobots have opposite first target directions.

[0085] In this embodiment, multiple microrobots slowly rotate in an oscillating state, such as Figure 2 As shown and Figure 3 As shown, when it is determined that there are at least two microrobots with opposite first target directions, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that the microrobots with opposite first target directions move in opposite directions.

[0086] It is understandable that when multiple microrobots have opposite first target directions, different motion results will occur due to the different relative positions of the multiple microrobots. For example, in one case, the multiple microrobots move towards their respective first target directions and separate, while in another case, the multiple microrobots move towards their respective first target directions and converge.

[0087] One embodiment of this application further explains step S100, "applying a rotating magnetic field to multiple microrobots to cause the multiple microrobots to move," as follows: Figure 4 As shown, step S100 includes, but is not limited to, steps S110 and S120.

[0088] Step S110: Apply a rotating magnetic field in the horizontal plane to multiple microrobots to make them move;

[0089] Step S120: Adjust the rotation frequency of the rotating magnetic field to the movement frequency so that multiple micro-robots move vertically upward.

[0090] In this embodiment, since multiple microrobots are initially placed at the bottom of the solution environment, a rotating magnetic field in the horizontal plane is applied to them, causing them to move. By adjusting the rotation frequency of the magnetic field to the movement frequency, the microrobots move vertically upwards, suspending them all in the solution environment. This facilitates directional and motion control of the microrobots in subsequent steps.

[0091] Understandably, since the target line corresponding to the rotating magnetic field within the horizontal plane is vertical, the microrobot's initial target direction is either vertically upward or vertically downward. Adjusting the rotation frequency of the rotating magnetic field to the movement frequency causes the microrobot with its initial target direction of vertically upward to move vertically upward. Conversely, a microrobot with its initial target direction of vertically downward will collide with the bottom interface of the solution environment. Under the influence of the interaction force, the microrobot's initial target direction eventually changes to vertically upward, thus causing it to move vertically upward.

[0092] An embodiment of this application further illustrates the step S100 of “applying a rotating magnetic field to multiple microrobots so that the multiple microrobots move”. Step S100 also includes, but is not limited to, step S130.

[0093] Step S130: Turn off the rotating magnetic field, causing multiple micro-robots to move vertically downwards under the influence of gravity.

[0094] In this embodiment, by turning off the rotating magnetic field, multiple microrobots suspended in the solution environment can move vertically downward under the action of gravity, thereby achieving the vertical position adjustment of multiple microrobots.

[0095] One embodiment of this application further explains step S300, which involves "when predetermined conditions are met, adjusting the rotation frequency of the rotating magnetic field to the movement frequency, so that each microrobot rotates and moves along the corresponding first target direction." Figure 5 As shown, step S300 includes, but is not limited to, steps S310 and S320.

[0096] Step S310: Adjust the plane of rotation of the rotating magnetic field so that the position of the target line is adjusted to the target position;

[0097] Step S320: When the predetermined conditions are met, adjust the rotation frequency of the rotating magnetic field to the movement frequency so that each micro-robot rotates and moves along the corresponding first target direction.

[0098] In this embodiment, by adjusting the rotation plane of the rotating magnetic field, the position of the target straight line is adjusted to the target position, thereby controlling the first target direction corresponding to each microrobot to be along the target straight line direction of the target position. In other words, by adjusting the rotation plane of the rotating magnetic field, the movement direction of multiple microrobots can be controlled. When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along its corresponding first target direction.

[0099] It is understandable that by adjusting the plane of rotation of the rotating magnetic field, the position of the target line can be adjusted to any position, that is, the direction of the target line can be adjusted to any direction in space. Therefore, the movement direction of the micro-robot can also be adjusted to any direction in space.

[0100] According to one embodiment of this application, such as Figure 6 As shown, the homogeneous microrobot control method also includes, but is not limited to, steps S400 and S500.

[0101] Step S500: Superimpose a static magnetic field onto the rotating magnetic field;

[0102] Step S600: Adjust the rotation frequency of the rotating magnetic field to the movement frequency so that multiple microrobots move along the magnetic field direction of the static magnetic field.

[0103] In this embodiment, as Figure 7 As shown, a static magnetic field is superimposed on a rotating magnetic field to form a conical magnetic field. Under the influence of this conical magnetic field, regardless of the direction each microrobot is facing towards its primary target, when the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, all microrobots will move along the direction of the static magnetic field. Therefore, a conical magnetic field can be used to achieve motion control that allows multiple microrobots to move in the same direction.

[0104] One embodiment of this application further explains step S600, "adjusting the rotation frequency of the rotating magnetic field to the movement frequency, so that multiple microrobots move along the magnetic field direction of the static magnetic field," as follows: Figure 8 As shown, step S600 includes, but is not limited to, steps S610 and S620.

[0105] Step S610: Adjust the cone angle to the target angle so that the magnetic field direction of the static magnetic field is towards the second target direction. The cone angle is the angle between the magnetic field direction of the static magnetic field and the rotating magnetic field.

[0106] Step S620: Adjust the rotation frequency of the rotating magnetic field to the movement frequency so that multiple micro-robots move along the second target direction.

[0107] In this embodiment, by adjusting the cone angle of the conical magnetic field, i.e., adjusting the angle between the direction of the static magnetic field and the rotating magnetic field, the direction of the static magnetic field is made to face the second target direction, thereby adjusting the movement direction of multiple microrobots to the second target direction. The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, and under the influence of the rotating magnetic field, all multiple microrobots move along the second target direction.

[0108] One embodiment of this application, such as Figure 9 As shown, the position of the microrobot in the vertical plane is obtained through the following steps:

[0109] Step S700: Acquire the first real-time image of the microrobot;

[0110] Step S710: Obtain the ambiguity distance mapping relationship, which is the relationship between the ambiguity of the microrobot in the first real-time image and the distance the microrobot moves in the vertical plane;

[0111] Step S720: Obtain the position of the microrobot in the vertical plane based on the mapping relationship between the first real-time image and the ambiguity distance.

[0112] In this embodiment, by acquiring a first real-time image of the microrobot and obtaining a fuzzy distance mapping relationship, the position of the microrobot in the vertical plane can be obtained based on the first real-time image and the fuzzy distance mapping relationship, thereby positioning the microrobot in the vertical direction to facilitate control of the movement distance of the microrobot in the vertical plane.

[0113] It is understandable that the ambiguity of the microrobot in the first real-time image is calibrated using Fast Fourier Transform. There is a linear relationship between the ambiguity of the microrobot and the vertical movement distance. By using numerical fitting, the ambiguity fitting equation of the microrobot is obtained, that is, the ambiguity distance mapping relationship is obtained.

[0114] One embodiment of this application, such as Figure 10 As shown, the position of the microrobot in the horizontal plane is obtained through the following steps:

[0115] Step S800: Acquire a second real-time image of the microrobot;

[0116] Step S810: Based on the centroid tracking algorithm, obtain the position of the microrobot in the horizontal plane according to the second real-time image.

[0117] In this embodiment, by acquiring a second real-time image of the microrobot, the position of the microrobot in the horizontal plane can be obtained using the centroid tracking algorithm and the second real-time image, thereby enabling vertical positioning of the microrobot to facilitate control of its movement distance in the horizontal plane.

[0118] The following specific example illustrates a homogeneous microrobot control method according to an embodiment of this application.

[0119] Example 1: such as Figure 11 As shown, two miniature robots are controlled to move in a "mountain" shaped trajectory.

[0120] Step 1: Two microrobots are stationary at different positions at the bottom of a 0.6% w / v methylcellulose solution. A rotating magnetic field in the XY plane is applied to the two microrobots. The rotation frequency of the rotating magnetic field is adjusted to the movement frequency. Driven by the rotating magnetic field, the two microrobots move along the positive half of the Z-axis.

[0121] Step 2: Due to slight differences in manufacturing and magnetization, the two microrobots have slightly different displacements in the Z-axis direction. After rising 390μm, the rotating magnetic field is turned off, and the two microrobots move along the negative half of the Z-axis under their own gravity.

[0122] Step 3: Use the method based on fast Fourier transform to identify the ambiguity and calculate the Z-axis coordinate. When the Z-axis coordinate values of the two micro-robots are 0, apply a rotating magnetic field in the XY plane to the two micro-robots, and adjust the rotation frequency of the rotating magnetic field to the oscillation frequency, so that the two micro-robots enter the oscillation state and slowly rotate on their own axes;

[0123] Step 4: When the first target directions of the two micro-robots corresponding to the rotating magnetic field in the YZ plane are opposite, and the first target directions of the two micro-robots both point to the origin of the X axis, adjust the rotating magnetic field to the YZ plane, and adjust the rotation frequency of the rotating magnetic field to the moving frequency, so that the two micro-robots both move towards the straight line of X = 0;

[0124] Step 5: When the two micro-robots overlap, adjust the rotating magnetic field to the XY plane, so that the two micro-robots move along the positive half-axis direction of the Z axis.

[0125] Example 2: As Figure 12 shown, control the two micro-robots to move along a "middle" shaped trajectory.

[0126] Step 1: The two micro-robots are stationary at close positions at the bottom of a 0.6% w / v methylcellulose solution. Apply a rotating magnetic field in the XY plane to the two micro-robots, adjust the rotation frequency of the rotating magnetic field to the moving frequency, and move along the positive half-axis direction of the Z axis under the drive of the rotating magnetic field, and the two micro-robots overlap due to vortex;

[0127] Step : When the two micro-robots rotate and rise by 397 μm, then adjust the frequency of the rotating magnetic field to the oscillation frequency, and the two micro-robots enter the oscillation state and slowly rotate on their own axes;

[0128] Step 3: When the first target directions of the two micro-robots corresponding to the rotating magnetic field in the YZ plane are opposite, adjust the rotating magnetic field to the YZ plane, and adjust the rotation frequency of the rotating magnetic field to the moving frequency, so that the two micro-robots move in opposite directions along the X axis respectively and separate;

[0129] Step 4: When the micro-robot moving in the negative X-axis direction moves 475 μm and the micro-robot moving in the positive X-axis direction moves 500 μm, adjust the rotating magnetic field to the XY plane, so that the two micro-robots move along the positive half-axis direction of the Z axis to 434 μm and 430 μm respectively;

[0130] Step 5: Adjust the rotation frequency of the rotating magnetic field to the oscillation frequency, so that the two micro-robots enter the oscillation state and slowly rotate on their own axes again;

[0131] Step 6: When the first target directions of the rotating magnetic field in the YZ plane of the two microrobots are opposite, and the first target directions of the two microrobots both point to the origin of the X-axis, adjust the rotating magnetic field to the YZ plane and adjust the rotation frequency of the rotating magnetic field to the movement frequency so that the two microrobots move to the same point and coincide.

[0132] Step 7: Apply a conical magnetic field to the two microrobots so that the two microrobots, after merging, move along the positive half-axis of the Z-axis to a position of 474 μm;

[0133] Step 8: Turn off the cone-shaped magnetic field. Under the influence of gravity, the two microrobots move along the negative half of the Z-axis and fall back to the bottom of the methylcellulose solution.

[0134] Example 3: such as Figure 13 As shown, multiple micro-robots are controlled to perform three-stage separation motion.

[0135] Step 1: Apply a rotating magnetic field in the XY plane to multiple microrobots, adjusting the rotation frequency of the magnetic field to the movement frequency, so that the multiple microrobots move along the positive Z-axis, such as... Figure 14 As shown.

[0136] Step 2: Adjust the rotation frequency of the rotating magnetic field to the oscillation frequency, so that multiple microrobots enter an oscillation state and slowly rotate.

[0137] Step 3: When the first target direction corresponding to the microrobot part A points to the negative half-axis of the X-axis, and the first target direction corresponding to the microrobot part B points to the positive half-axis of the X-axis, a rotating magnetic field in the YZ plane is applied to the multiple microrobots. The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that the microrobot part A moves along the negative half-axis of the X-axis to obtain the microrobot part A1, and the microrobot part B moves along the positive half-axis of the X-axis to obtain the microrobot part B1. This achieves the first-stage separation of the multiple microrobots. Figure 15 As shown;

[0138] Step 4: Superimpose a static magnetic field with the direction of the positive Y-axis, so that both the A1 and B1 parts of the microrobot move along the positive Y-axis. Figure 16 As shown;

[0139] Step 5: Turn off the static magnetic field and adjust the rotation frequency of the rotating magnetic field to the rotation frequency, so that multiple microrobots enter an oscillation state and slowly rotate.

[0140] Step 6: When the first target direction of some microrobots in part A1 points to the negative half-axis of the X-axis, and the first target direction of another part of the microrobots points to the positive half-axis of the X-axis, and the first target direction of some microrobots in part B1 points to the negative half-axis of the X-axis, and the first target direction of another part of the microrobots points to the positive half-axis of the X-axis, a rotating magnetic field in the YZ plane is applied to the multiple microrobots. The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that some of the microrobots in part A1 move along the negative half-axis of the X-axis, and others move along the positive half-axis of the X-axis, resulting in two groups of microrobots in part A2; and some of the microrobots in part B1 move along the negative half-axis of the X-axis, and others move along the positive half-axis of the X-axis, resulting in two groups of microrobots in part B2. This achieves the second-level separation of the multiple microrobots. Figure 17 As shown;

[0141] Step 7: Superimpose a static magnetic field with the positive Y-axis direction onto a group of microrobots in group A2 and a group of microrobots in group B2, causing both groups of microrobots in group A2 and group B2 to move along the positive Y-axis direction, such as... Figure 18 As shown;

[0142] Step 8: When the first target direction of some microrobots in group A2 points to the negative half-axis of the X-axis, and the first target direction of another group of microrobots points to the positive half-axis of the X-axis, and the first target direction of some microrobots in group B1 points to the negative half-axis of the X-axis, and the first target direction of another group of microrobots points to the positive half-axis of the X-axis, apply a rotating magnetic field in the YZ plane to the microrobots in groups A2 and B2, and adjust the rotation frequency of the rotating magnetic field to the movement frequency, so that some of the microrobots in group B2 move along the negative half-axis of the X-axis, and the other part moves along the positive half-axis of the X-axis, resulting in two groups of microrobots in group A3; and some of the microrobots in group B2 move along the negative half-axis of the X-axis, and the other part moves along the positive half-axis of the X-axis, resulting in two groups of microrobots in group B3, thus achieving the third-level separation of multiple microrobots. Figure 19 As shown.

[0143] In addition, one embodiment of this application discloses a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to implement the homogeneous microrobot control method described above.

[0144] By applying a rotating magnetic field to multiple microrobots, the microrobots are made to move. Since the magnetization directions of the multiple microrobots are the same, they have the same oscillation frequency and movement frequency in the rotating magnetic field. The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each microrobot to rotate, thereby causing the corresponding magnetization direction of the microrobot to rotate with the rotation of the microrobot. Since the rotation speed of the microrobot is lower than the rotation speed at the movement frequency, similarly, the rotation speed of the magnetization direction is lower than the rotation speed at the movement frequency, thus facilitating the adjustment of the first target direction corresponding to each microrobot, and thus facilitating the adjustment of the subsequent movement direction of each microrobot. When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing each microrobot to rotate and move along the corresponding first target direction. The computer-readable storage medium of the third aspect embodiment of this application, compared with conventional microrobot control technology, can realize motion control of multiple homogeneous microrobots.

[0145] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0146] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A homogeneous microrobot system, characterized in that, include: An execution group, comprising multiple microrobots, wherein the multiple microrobots have the same magnetization direction, such that the multiple microrobots have the same oscillation frequency and movement frequency under the same rotating magnetic field. The oscillation frequency is obtained based on the rotation frequency of the rotating magnetic field when the microrobot enters the oscillation state, and the movement frequency is obtained based on the rotation frequency of the rotating magnetic field when the microrobot enters the movement state. The movement frequency is used to control each microrobot to rotate and move along a corresponding first target direction when a predetermined condition is met. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in a target straight line, and the target straight line is perpendicular to the rotation plane of the rotating magnetic field. The oscillation frequency is used to control each microrobot to rotate at a speed lower than the rotation speed at the movement frequency, thereby causing the magnetization direction corresponding to the microrobot to rotate with the rotation of the microrobot. A magnetic field generator is used to apply the rotating magnetic field to the execution group, the rotation frequency of the rotating magnetic field being adjustable.

2. A control method for homogeneous microrobots, characterized in that, include: A rotating magnetic field is applied to multiple microrobots to cause them to move; wherein the magnetization directions of the multiple microrobots are the same, such that the multiple microrobots have the same oscillation frequency and movement frequency in the rotating magnetic field, the movement frequency is used to cause the microrobots to rotate and move, and the oscillation frequency is used to cause the microrobots to rotate at a speed lower than the rotation speed at the movement frequency; The rotation frequency of the rotating magnetic field is adjusted to the oscillation frequency, causing each of the microrobots to rotate, thereby causing the magnetization direction corresponding to the microrobot to rotate with the rotation of the microrobot; When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that each microrobot rotates and moves along the corresponding first target direction. The first target direction is the component direction of the magnetization direction corresponding to the microrobot in the target straight line, and the target straight line is perpendicular to the rotation plane of the rotating magnetic field.

3. The homogeneous microrobot control method according to claim 2, characterized in that, The predetermined conditions include: The first target direction corresponding to multiple microrobots is the same.

4. The homogeneous microrobot control method according to claim 2, characterized in that, The predetermined conditions include: There are at least two of the microrobots whose targets are in opposite directions.

5. The homogeneous microrobot control method according to claim 2, characterized in that, The application of a rotating magnetic field to multiple microrobots to cause them to move includes: A rotating magnetic field in a horizontal plane is applied to the plurality of microrobots, causing the plurality of microrobots to move; The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, causing the multiple microrobots to move vertically upward.

6. The homogeneous microrobot control method according to claim 2, characterized in that, When predetermined conditions are met, adjusting the rotation frequency of the rotating magnetic field to the movement frequency, so that each of the microrobots rotates and moves along the corresponding first target direction, includes: Adjust the plane of rotation of the rotating magnetic field so that the position of the target line is adjusted to the target position; When predetermined conditions are met, the rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that each of the microrobots rotates and moves along the corresponding first target direction.

7. The homogeneous microrobot control method according to claim 2, characterized in that, Also includes: A static magnetic field is superimposed on the rotating magnetic field; The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that the multiple microrobots move along the magnetic field direction of the static magnetic field.

8. The homogeneous microrobot control method according to claim 7, characterized in that, Adjusting the rotation frequency of the rotating magnetic field to a movement frequency, so that the multiple microrobots move along the magnetic field direction of the static magnetic field, includes: Adjust the cone angle to the target angle so that the magnetic field direction of the static magnetic field is oriented towards the second target direction, and the cone angle is the angle between the magnetic field direction of the static magnetic field and the rotating magnetic field; The rotation frequency of the rotating magnetic field is adjusted to the movement frequency, so that all the microrobots move along the second target direction.

9. The homogeneous microrobot control method according to claim 2, characterized in that, The position of the microrobot in the vertical plane is obtained through the following steps: Acquire the first real-time image of the microrobot; Obtain the ambiguity distance mapping relationship, which is the relationship between the ambiguity of the microrobot in the first real-time image and the distance the microrobot moves in the vertical plane; The position of the microrobot in the vertical plane is obtained based on the mapping relationship between the first real-time image and the ambiguity distance.

10. The homogeneous microrobot control method according to claim 2, characterized in that, The position of the microrobot in the horizontal plane is obtained through the following steps: Acquire a second real-time image of the microrobot; Based on the centroid tracking algorithm, the position of the microrobot in the horizontal plane is obtained from the second real-time image.

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