Flexible flagella-driven swimming micro-nanorobot and control method thereof

Abstract

The application provides a flexible flagellum-driven swimming micro-nano robot and a control method thereof, and relates to the technical field of micro-nano robots.The robot comprises a head and a flexible flagellum, the inside of the head is provided with a control component, a monitoring component, a driving component and a power source, the driving component is connected with the flexible flagellum, and the method comprises the following steps: a control chip reads chemical concentration or light field intensity information detected by an environmental sensor; the collected chemical concentration or light field intensity information is compared with historical time information; the driving frequency of a micro-actuator is switched according to the comparison result; and the swimming micro-nano robot is driven to swim.The application fully utilizes the complex fluid-structure coupling behavior between the flexible flagellum and the fluid, does not need a complex steering mechanism, only needs simple information storage and logical judgment to change the swing frequency of the flagellum, and can realize the autonomous navigation movement of the micro-nano robot in a complex environment, and gradually approaches the target along a variable-parameter spiral trajectory.

Description

Technical Field

[0001] This invention relates to the field of micro-nano robotics, and in particular to a flexible flagellated driven swimming micro-nano robot and its control method. Background Technology

[0002] In recent years, micro- and nanorobots have shown broad application prospects in targeted therapy and in vivo manipulation, but existing control strategies still have significant limitations. Current micro- and nanorobots mostly rely on external physical fields (such as magnetic, electric, acoustic, or optical fields) combined with imaging systems to locate and guide robot movement, or utilize the natural directional behaviors of biological cells (such as chemotaxis and phototaxis) to achieve autonomous navigation. While these methods have achieved some success under laboratory conditions, their practical application depends on large-scale external control equipment or complex biohybrid technologies, which not only increases the difficulty of system integration but also limits the feasibility of large-scale in vivo deployment and clinical translation of micro- and nanorobots. Furthermore, biohybrid systems are not yet mature in terms of stability, consistency, and manufacturing processes, making batch production, standardized operation, and long-term reliability still challenging. Therefore, how to reduce system complexity and improve application versatility while ensuring control accuracy and functional complexity remains one of the key issues that urgently need to be addressed in the development of micro- and nanorobots.

[0003] In summary, it is essential to design a flexible flagellated mobile micro / nano robot and its control method. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the purpose of this invention is to provide a flexible flagellated driven swimming micro / nano robot and its control method.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a control method for a flexible flagellum-driven swimming micro / nano robot, comprising: a head and a flexible flagellum; the head internally houses a control component, a monitoring component, a drive component, and a power source; the drive component is connected to the flexible flagellum; the monitoring component is used to collect monitoring information; the control component is used to receive the monitoring information from the monitoring component and convert it into control information for the drive component; the drive component is used to drive the flexible flagellum according to the control information; and the power source is used to provide power to each component.

[0007] Preferably, the monitoring component is an environmental sensor used to monitor the chemical concentration information or light field intensity information at the location of the swimming micro-nano robot, and the environmental sensor is connected to the control component.

[0008] Preferably, the control component is a control chip, used to receive chemical concentration information or light field intensity information collected by the environmental sensor, record signal values ​​at discrete time points, and convert the signal processing results into frequency control information for the driving component. The frequency control information includes frequency f1 and frequency f2. The environmental sensor is connected to the control chip, and the control chip is connected to the driving component.

[0009] Preferably, the driving component is a micro-actuator, used to drive the flexible flagellum to produce oscillating behavior according to frequency control information, the control chip is connected to the micro-actuator, and the micro-actuator drives the flexible flagellum.

[0010] This invention also provides a control method for a flexible flagellated motile micro / nano robot, applied to the aforementioned motile micro / nano robot, comprising:

[0011] Step 1: The control chip reads the chemical concentration or light field intensity information detected by the environmental sensor;

[0012] Step 2: Compare the collected chemical concentration or light field intensity information with historical time information;

[0013] Step 3: Based on the comparison results, switch the micro-actuator driving frequency to drive the swimming micro-nano robot to swim.

[0014] Preferably, in step 1, the control chip reads the chemical concentration or light field intensity information detected by the environmental sensor, specifically as follows:

[0015] The control chip reads chemical concentration or light field intensity information detected by the environmental sensor in a period of T, where the period T is:

[0016] (1)

[0017] In the formula, and Let the curvature of the two swimming trajectories be... and For the torsion of the two swimming trajectories, and These are two average swimming speeds.

[0018] Preferably, in step 2, the collected chemical concentration or light field intensity information is compared with historical time information, specifically as follows:

[0019] Generate a random number n that is uniformly distributed between 0 and 1. If n < 1, then... The operating frequency of the micro-actuator is randomly determined to be either f1 or f2, with a probability of 0.5 for each.

[0020] If n≥ The collected chemical concentration or light field intensity information is compared with historical time information. If the collected chemical concentration or light field intensity information is the same as the maximum value in the historical time information, then calculation is performed. ,like The micro-actuator is set to operate at a frequency of f1; if This causes the micro-actuator to operate at a frequency of f2;

[0021] If the collected chemical concentration or light field intensity information is the same as the minimum value in the historical time information, then calculate... ,like The micro-actuator is made to operate at a frequency of f2; if This causes the micro-actuator to operate at a frequency of f3.

[0022] Preferably, the for:

[0023] (2)

[0024] The range of ϵ is 0 < <0.3.

[0025] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0026] This invention provides a flexible flagellum-driven swimming micro / nano robot and its control method. The robot includes a head and flexible flagella. The head internally houses the control component, monitoring component, drive component, and power source. The drive component is connected to the flexible flagella. The method includes a control chip reading chemical concentration or light field intensity information detected by environmental sensors, comparing the collected chemical concentration or light field intensity information with historical time information, and switching the micro-actuator drive frequency according to the comparison result to drive the swimming micro / nano robot. This invention fully utilizes the complex fluid-structure interaction behavior between the flexible flagella and the fluid, eliminating the need for complex steering mechanisms. Only simple information storage and logical judgment are needed to change the flagellar oscillation frequency to achieve autonomous navigation of the micro / nano robot in complex environments, gradually approaching the target along a variable-parameter spiral trajectory. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the flexible flagella-driven swimming micro / nano robot structure according to an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the intrinsic curvature and torsion of a flexible flagellum;

[0030] Figure 3 This is a schematic diagram illustrating the verification of the control method using numerical simulation.

[0031] Reference numerals: 1. Head; 2. Flexible flagella; 3. Environmental sensor; 4. Power source; 5. Control chip; 6. Micro-actuator. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The purpose of this invention is to provide a flexible flagellated driven swimming micro / nano robot and its control method. It does not require complex external driving devices, external positioning devices, or complex steering mechanisms. It only requires controlling the micro / nano robot to collect environmental information of its current position and store several historical information for simple comparison calculations. Switching between two states can achieve autonomous navigation. It has the advantages of simple structure, simple control algorithm, and low technical implementation difficulty.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1 As shown, the present invention provides a flexible flagellum-driven swimming micro / nano robot, comprising: a head 1 and a flexible flagellum 2. The head 1 is internally configured with a control component, a monitoring component, a drive component, and a power source 4. The drive component is connected to the flexible flagellum 2. The monitoring component is used to collect monitoring information. The control component is used to receive the monitoring information from the monitoring component and convert it into control information for the drive component. The drive component is used to drive the flexible flagellum 2 according to the control information. The power source 4 is used to provide power to each component.

[0036] The monitoring component is an environmental sensor 3, which is used to monitor the chemical concentration information or light field intensity information at the location of the swimming micro-nano robot. The environmental sensor 3 is connected to the control component.

[0037] The flexible flagellum 2 possesses a non-zero intrinsic curvature and torsional rate, such as Figure 2As shown, the interaction between the flagella and the fluid causes the micro-nano robot to move in a spiral trajectory in three-dimensional space.

[0038] The length of the flexible flagellum 2, Young's modulus, and the range of excitation frequency parameters of the micro-actuator 6 are optimized so that changes in the excitation frequency will cause significant changes in the curvature and torsion of the swimming spiral trajectory, thereby changing the direction of the spiral's centerline and realizing a change in the overall motion direction of the micro-nano robot.

[0039] The control component is a control chip 5, which receives chemical concentration information or light field intensity information collected by the environmental sensor 3, records signal values ​​at discrete time points, and converts the signal processing results into frequency control information for the driving component. The control chip 5 controls the micro-actuator 6 to drive the flexible flagellum 2 to switch between two frequencies, f1 and f2. The two driving frequencies correspond to two different curvatures of the swimming trajectory. and The torsion of the two swimming trajectories and and two average swimming speeds and The environmental sensor 3 is connected to the control chip 5, and the control chip 5 is connected to the drive component.

[0040] The driving component is a micro actuator 6, which is used to drive the flexible flagellum 2 to produce oscillating behavior according to frequency control information. The control chip 5 is connected to the micro actuator 6, and the micro actuator 6 drives the flexible flagellum 2.

[0041] This invention also provides a control method for a flexible flagellated motile micro / nano robot, applied to the aforementioned motile micro / nano robot, comprising:

[0042] Step 1: Control chip 5 reads the chemical concentration or light field intensity information detected by environmental sensor 3;

[0043] Step 2: Compare the collected chemical concentration or light field intensity information with historical time information;

[0044] Step 3: Based on the comparison results, switch the driving frequency of micro-actuator 6 to drive the swimming micro-nano robot to swim.

[0045] In step 1, the control chip 5 reads the chemical concentration or light field intensity information detected by the environmental sensor 3, specifically:

[0046] Control chip 5 reads environmental information detected by environmental sensor 3 in a cycle of T. Environmental information includes chemical concentration or light field intensity information, where the period T is:

[0047] (1)

[0048] In the formula, and Let the curvature of the two swimming trajectories be... and For the torsion of the two swimming trajectories, and These are two average swimming speeds.

[0049] In step 2, the collected chemical concentration or light field intensity information is compared with historical time information, specifically:

[0050] Historical time information refers to environmental information values ​​prior to time T, 2T, and 3T. , , ;

[0051] Will and , , A comparison is made, and the frequency of the micro-actuator 6 is changed or maintained based on the comparison result, causing the micro-nano robot to swim in the direction with a higher c value. Specifically:

[0052] Generate a random number n that is uniformly distributed between 0 and 1. If n < 1, then... The operating frequency of micro-actuator 6 is randomly determined to be either f1 or f2, with a probability of 0.5 for each.

[0053] If n≥ Then, the collected chemical concentration or light field intensity information is compared with historical time information:

[0054] like Then calculate ,like Make micro-actuator 6 operate at a frequency of f1; if This causes micro-actuator 6 to operate at a frequency of f2;

[0055] like Then calculate ,like Make micro-actuator 6 operate at a frequency of f2; if This causes the micro-actuator 6 to operate at a frequency of f1.

[0056] The for:

[0057] (2)

[0058] The range of ϵ is 0 < <0.3.

[0059] The present invention also provides an embodiment, specifically as follows: Figure 3 As shown, the control method is verified based on numerical simulation. Figure 3 The curve in the figure represents the midline of the spiral trajectory of multiple micro-nano robots with random initial positions and orientations in the concentration field c. The dots indicate the positions of the micro-nano robots at the end of the simulation. It can be seen that all micro-nano robots achieved autonomous turning and moved towards the direction with a higher c value under the control method proposed in this invention. Numerical simulation experiments show that the above algorithm can robustly control micro-nano robots to achieve autonomous navigation and move towards the direction with a high concentration of chemical attractant or a strong light field.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0061] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for a flexible flagellated driven swimming micro / nano robot, characterized in that, This invention relates to a mobile micro / nano robot, comprising a head and flexible flagella. The head contains a control component, a monitoring component, a drive component, and a power source. The drive component is connected to the flexible flagella. The monitoring component collects monitoring information. The control component receives the monitoring information and converts it into control information for the drive component. The drive component drives the flexible flagella according to the control information. The power source provides power to all components. The monitoring component is an environmental sensor used to monitor the chemical concentration information or light field intensity information at the location of the swimming micro-nano robot. The environmental sensor is connected to the control component. The control component is a control chip, which is used to receive chemical concentration information or light field intensity information collected by the environmental sensor, record signal values ​​at discrete time points, and convert the signal processing results into frequency control information for the drive component. The frequency control information includes frequency f1 and frequency f2. The environmental sensor is connected to the control chip, and the control chip is connected to the drive component. Control methods include: Step 1: The control chip reads the chemical concentration or light field intensity information detected by the environmental sensor; specifically: The control chip reads environmental information detected by the environmental sensors in cycles of T. Environmental information includes chemical concentration or light field intensity information, where the period T is: （1） In the formula, and Let the curvature of the two swimming trajectories be... and For the torsion of the two swimming trajectories, and These are two average swimming speeds; Step 2: Compare the collected chemical concentration or light field intensity information with historical time information; specifically: Historical time information refers to environmental information values ​​prior to time T, 2T, and 3T. , , ; Will and , , The comparison is made, and the frequency of the micro-actuator is changed or maintained based on the comparison result, causing the micro-nanorobot to swim in the direction with a high c-value. Specifically: Generate a random number n that is uniformly distributed between 0 and 1. If n < 1, then... The operating frequency of the micro-actuator is randomly determined to be either f1 or f2, with a probability of 0.5 for each. If n≥ Then, the collected chemical concentration or light field intensity information is compared with historical time information: like Then calculate ,like The micro-actuator is set to operate at a frequency of f1; if This causes the micro-actuator to operate at a frequency of f2; like Then calculate ,like The micro-actuator is made to operate at a frequency of f2; if This causes the micro-actuator to operate at a frequency of f1. The for: （2） The range of ϵ is 0 < <0.3; Step 3: Based on the comparison results, switch the micro-actuator driving frequency to drive the swimming micro-nano robot to swim.

2. The control method according to claim 1, characterized in that, The driving component is a micro-actuator, used to drive the flexible flagellum to produce oscillating behavior according to frequency control information. The control chip is connected to the micro-actuator, and the micro-actuator drives the flexible flagellum.

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