Control method for driving organic micro-nano crystal and related equipment

Abstract

The embodiment of the invention provides an organic micro-nano crystal driving control method and related equipment. The method is applied to an organic micro-nano crystal driving control system. The system comprises a light source and a controller. The method comprises the following steps: obtaining the size and the heating expansion characteristic of a to-be-detected crystal; controlling the light source to carry out an irradiation pre-experiment on the to-be-tested crystal to determine an irradiation response rule of the to-be-tested crystal; and controlling the light source to irradiate the to-be-detected crystal based on the size, the heating expansion characteristic and the irradiation response rule of the to-be-detected crystal so as to drive the to-be-detected crystal to move towards the target position. According to the embodiment of the invention, the driving of the organic micro-nano crystal is realized based on the heating expansion characteristic of the crystal, the universality is high, and the realization process is simple. The embodiment of the invention can be widely applied to the technical field of optical drivers.

Description

Technical Field

[0001] This application relates to the field of optical driver technology, and in particular to a control method and related equipment for driving organic micro / nano crystals. Background Technology

[0002] Optical actuators are key intelligent devices that can convert light energy into mechanical motion, and they have broad application prospects in fields such as micro-nano robots, artificial muscles, cell manipulation, and targeted drug delivery. Among various photoresponsive organic materials, organic micro-nano crystals possess high driving stress and driving strength, and are considered excellent candidate systems for next-generation high-performance optical actuator materials, attracting attention from the research community.

[0003] In related technologies, the driving principle based on photoinduced isomerization reaction is commonly used to drive organic micro- and nano-crystals; however, this method suffers from problems such as low universality and complex process. These factors severely restrict the practical application of organic micro- and nano-crystals.

[0004] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention

[0005] The main objective of this application is to propose a control method and related equipment for driving organic micro / nano crystals. This method is based on the thermal expansion characteristics of crystals to drive organic micro / nano crystals, and has high versatility and a simple implementation process.

[0006] To achieve the above objectives, one aspect of this application proposes a control method for driving organic micro / nano crystals. The method is applied to a control system for driving organic micro / nano crystals; the system includes a light source and a controller; the light source is used to irradiate the crystal to cause it to thermally expand; the method includes the following steps: To obtain the dimensions and thermal expansion characteristics of the crystal under test; The light source is controlled to conduct a preliminary irradiation experiment on the crystal under test to determine the irradiation response rule of the crystal under test; the irradiation response rule indicates the correspondence between the irradiation frequency and the local displacement of the crystal when it is irradiated by the light source. Based on the size, thermal expansion characteristics, and irradiation response rules of the crystal under test, the light source is controlled to irradiate the crystal under test, thereby driving the crystal under test to move towards the target position.

[0007] In some embodiments, controlling the light source to perform a pre-experimental irradiation of the crystal under test to determine the irradiation response rules of the crystal under test includes: Select a measurement area on the crystal to be tested; The measurement area is periodically irradiated with light sources of different irradiation frequencies, and the changes in size, lateral displacement, and longitudinal displacement of the measurement area are measured at different irradiation frequencies to obtain the measurement results. The irradiation response rules of the crystal under test are determined by analyzing the measurement results of different measurement areas on the crystal under test.

[0008] In some embodiments, the light source includes a light source array; controlling the light source to irradiate the crystal under test based on the size, thermal expansion characteristics, and irradiation response rules of the crystal under test to drive the crystal under test to move towards a target position includes: The scanning frequency of the light source array is set according to the size and thermal expansion characteristics of the crystal under test; The length and number of dots of the light source array are set according to the size of the crystal to be tested; Based on the illumination response rules of the crystal under test and the target position, the moving trajectory of the light source array, the dot matrix scanning sequence, and the illumination power variation curve are determined. Based on the movement trajectory of the light source array and the illumination power change curve, the pre-set light source array is controlled to scan the crystal under test, thereby driving the crystal under test to move towards the target position.

[0009] In some embodiments, determining the movement trajectory of the light source array, the dot matrix scanning sequence, and the irradiation power variation curve based on the irradiation response rule of the crystal under test and the target position includes: Determine the initial irradiation position of the crystal under test; If the crystal under test moves along a straight line toward the target position, the direction and distance of movement of the crystal under test are determined according to the line connecting the initial irradiation position and the target position. Based on the moving direction of the crystal under test, the moving trajectory of the light source array and the dot matrix scanning sequence are determined; Based on the moving distance and irradiation response rules of the crystal under test and the moving trajectory of the light source array, the irradiation power variation curve of the light source array is determined.

[0010] In some embodiments, the method further includes: If the crystal under test moves toward the target position along a preset trajectory, the preset trajectory is divided into several continuous line segments. The movement trajectory, dot matrix scanning sequence, and irradiation power change curve of the corresponding light source array on each line segment are determined according to the connection between the endpoints of each line segment. The preset trajectory includes broken lines, curves, and arcs. Based on the movement trajectory of the light source array corresponding to each line segment, the dot matrix scanning sequence, and the irradiation power change curve, the light source array is controlled to scan the crystal under test, so that the crystal under test moves towards the target position along the preset trajectory.

[0011] In some embodiments, the moving speed of the crystal under test is controlled in the following manner: Adjust the illumination power or scanning frequency of the light source array, and control the moving speed of the crystal under test based on the adjustment result.

[0012] To achieve the above objectives, another aspect of this application proposes a control system driven by organic micro / nano crystals, the system comprising a light source and a controller, wherein: The light source is used to irradiate the crystal, causing the crystal to expand due to heat. The controller is used to implement the above method.

[0013] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0014] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0015] To achieve the above objectives, another aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0016] The embodiments of this application include at least the following beneficial effects: This application provides a control method, system, electronic device, storage medium, and program product for driving organic micro / nano crystals. This scheme conducts a preliminary irradiation experiment based on the thermal expansion characteristics of the crystal under test, determines the correspondence between the irradiation frequency and the local displacement of the crystal when the crystal under test is irradiated by a light source, and finally, according to the size of the crystal, its thermal expansion characteristics, and the irradiation response rules, the crystal under test is irradiated by a light source to achieve directional movement of the crystal. On the one hand, thermal expansion characteristics are a characteristic possessed by most organic micro / nano crystals, so the method of this application has high universality. On the other hand, the crystal driving process of this application is simple; crystal driving can be achieved simply by providing a simple light source that can change the crystal temperature and designing the irradiation method of the light source on the crystal. Attached Figure Description

[0017] Figure 1This is a flowchart of a control method for driving organic micro / nano crystals provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating the process of driving the directional movement of organic micro / nano crystals according to an embodiment of this application; Figure 3 This is another schematic diagram illustrating the process of driving the directional movement of organic micro / nano crystals according to an embodiment of this application; Figure 4 This application provides a structural block diagram of an organic micro / nano crystal-driven control system. Figure 5 The hardware structure diagram of the electronic device provided in the embodiments of this application is shown. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0021] 1) Photoinduced isomerization reaction: Photoinduced isomerization reaction is a reversible structural change process that occurs when a molecule absorbs light energy. It can serve as the molecular basis for the conversion of light energy to mechanical energy in optical actuators. Its reversible molecular structural change provides the driving force for the device.

[0022] 2) Photothermal expansion: A physical phenomenon in which a material expands in volume as it absorbs light energy and converts it into heat energy when exposed to light. This process is essentially a secondary energy conversion from light to heat to mechanical energy: after absorbing photons of a specific wavelength, the material converts them into internal energy through processes such as nonradiative relaxation, which intensifies the thermal motion of molecules or crystal lattices, ultimately manifesting as macroscopic volume expansion.

[0023] Optical actuators are key intelligent devices that can convert light energy into mechanical motion, and they have broad application prospects in fields such as micro-nano robots, artificial muscles, cell manipulation, and targeted drug delivery. Among various photoresponsive organic materials, organic micro-nano crystals possess high driving stress and driving strength, and are considered excellent candidate systems for next-generation high-performance optical actuator materials, attracting attention from the research community.

[0024] In related technologies, the driving principle based on photoinduced isomerization reaction is commonly used to drive organic micro and nanocrystals. However, achieving crystal driving based on photoinduced isomerization reaction has high material requirements, sometimes even requiring the special design and synthesis of corresponding photosensitive molecular crystals. Furthermore, the process of driving crystals based on photoinduced isomerization reaction requires the design of complex optical systems and strict control of light wavelength, intensity, and polarization characteristics during the driving process. Therefore, crystal driving based on photoinduced isomerization reaction suffers from low universality and complex processes. These factors severely restrict the practical application of organic micro and nanocrystals.

[0025] In view of this, this application provides a control method, system, electronic device, storage medium, and program product for driving organic micro / nano crystals. This scheme conducts a pre-experimental irradiation experiment based on the thermal expansion characteristics of the crystal under test to determine the correspondence between the irradiation frequency and the local displacement of the crystal when the crystal under test is irradiated by a light source. Finally, based on the crystal size, thermal expansion characteristics, and irradiation response rules, the crystal under test is irradiated by a light source to achieve directional movement of the crystal. On the one hand, crystal driving based on the driving principle of photoinduced isomerization reaction has a high threshold for materials, and may even require the special design and synthesis of corresponding photosensitive molecular crystals. In contrast, thermal expansion characteristics are a characteristic of most organic micro / nano crystals, so the method of this application has high universality. On the other hand, the process of crystal driving based on the driving principle of photoinduced isomerization reaction requires the design of a complex optical system and strict control of the wavelength, intensity, and polarization characteristics of light during the driving process. However, the method of this application only needs to provide a simple light source that can change the crystal temperature and design the irradiation mode of the light source to achieve crystal driving.

[0026] The control method for driving organic micro / nano crystals provided in this application relates to the field of optical driver technology. The control method for driving organic micro / nano crystals provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle terminal, but is not limited thereto; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application implementing the control method for driving organic micro / nano crystals, but is not limited to the above forms.

[0027] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0028] Figure 1 This is an optional flowchart of an organic micro / nano crystal driving control method provided in an embodiment of this application. The method is applied to an organic micro / nano crystal driving control system; the system includes a light source and a controller. Figure 1 The method may include, but is not limited to, steps S100 to S300: Step S100: Obtain the dimensions and thermal expansion characteristics of the crystal to be tested.

[0029] The dimensions and thermal expansion characteristics of the crystal under test are obtained as a reference basis for subsequent design of crystal driving schemes. The method described in this application is universally applicable to organic micro / nano crystals that exhibit reversible absorption expansion upon absorbing near-infrared light.

[0030] Step S200: Control the light source to conduct a preliminary irradiation experiment on the crystal under test to determine the irradiation response rule of the crystal under test; the irradiation response rule indicates the correspondence between the irradiation frequency and the local displacement of the crystal when the crystal is irradiated by the light source.

[0031] A preliminary irradiation experiment was conducted on the crystal under test to determine the local displacement of the crystal when it undergoes reversible thermal expansion due to laser irradiation. This determined the correspondence between the irradiation frequency and the local displacement of the crystal when it is irradiated by the light source, serving as a reference basis for the subsequent design of the crystal driving scheme.

[0032] Step S300: Based on the size of the crystal under test, its thermal expansion characteristics, and the irradiation response rules, control the light source to irradiate the crystal under test, so as to drive the crystal under test to move towards the target position.

[0033] By designing a light source irradiation scheme based on crystal size, thermal expansion characteristics, and irradiation response rules, the crystal under test is irradiated by the light source. The directional movement of the crystal is achieved based on the correspondence between the irradiation frequency and the local displacement of the crystal. Existing methods generally use high-energy ultraviolet or blue light as the driving light source. These light sources easily cause significant photodamage to biological samples and have weak penetration ability in biological tissues, resulting in poor biocompatibility and severely limiting the application potential of this type of driving technology in biological environments. In contrast, the method of this invention can use near-infrared light to drive the movement of organic micro / nano crystals. Near-infrared light is bio-friendly and has the potential to be used in related research in biological environments.

[0034] In step 200 of some embodiments, the process of controlling the light source to perform a pre-experiment of irradiation on the crystal under test to determine the irradiation response rules of the crystal under test may include, but is not limited to, steps S210 to S230: Step S210: Select the measurement area on the crystal to be tested.

[0035] Select a local area as the test object.

[0036] Step S220: Periodically irradiate the measurement area with light sources of different irradiation frequencies and measure the size change, lateral displacement, and longitudinal displacement of the measurement area under different irradiation frequencies to obtain the measurement results.

[0037] The method of this application can use a single Gaussian beam as a light source, periodically irradiate the crystal surface with a single Gaussian beam of different laser frequencies, gradually change the irradiation power, and finally measure the size and transverse and longitudinal displacement of the illuminated area of ​​the crystal by optical microscopy.

[0038] Step S230: Analyze the measurement results of different measurement areas on the crystal under test to determine the irradiation response rules of the crystal under test.

[0039] Based on the correspondence between the irradiation power of the light source and the local displacement / temperature rise, and by comparing different irradiation positions (both ends or sides of the crystal), the overall propulsion direction caused by local expansion is determined, thus forming the "irradiation position - movement direction" correspondence rule of the crystal.

[0040] In some embodiments, step S300 includes a light source array; the process of irradiating the crystal under test with the light source based on the size, thermal expansion characteristics, and irradiation response rules of the crystal under test to drive the crystal under test to move towards the target position may include, but is not limited to, steps S310 to S340: Step S310: Set the scanning frequency of the light source array according to the size and thermal expansion characteristics of the crystal to be tested.

[0041] Regarding the selection of scanning frequency, the method of this application uses a light source array as the driving light source. The scanning frequency of the linear dot matrix of the light source is set according to the thermal response time in the thermal expansion characteristics of the crystal, so that the expansion and contraction of the crystal can produce obvious periodicity with the change of the light spot.

[0042] Step S320: Set the lattice length and number of dots of the light source array according to the size of the crystal to be tested.

[0043] Regarding the setting of the scanning length and the dot matrix, the method of this application designs the length and number of points of the linear dot matrix of the light source according to the size of the crystal, thereby reasonably setting the dot spacing to ensure that adjacent light spots have a certain overlap in space, so as to form a continuous local strain wave.

[0044] Step S330: Based on the illumination response rules of the crystal under test and the target position, determine the moving trajectory of the light source array, the dot matrix scanning sequence, and the illumination power change curve.

[0045] Based on the illumination response rules of the crystal under test and the target position, the illumination mode of the light source array is set, such as the movement trajectory, the dot matrix scanning sequence, and the illumination power change curve, so as to accurately drive the crystal to the specified position.

[0046] Step S340: Based on the moving trajectory of the light source array and the irradiation power change curve, the crystal under test is scanned by the set light source array to drive the crystal under test to move towards the target position.

[0047] The linear lattice sequence of the light source can act only on a localized area of ​​the organic micro / nano crystal, causing regular crystal expansion and contraction, generating a driving force to propel the crystal in a directional manner. The linear lattice sequence is generated by the setup of an acousto-optic deflector, which controls the diffraction angle of the beam by changing the characteristics of the acoustic waves, thus modulating the position of the laser beam. The method in this application scans the crystal under test according to the pre-set light source array and corresponding illumination scheme, achieving directional driving of the crystal. For example... Figure 2 The diagram shown is a schematic representation of the process of driving the directional movement of organic micro / nano crystals according to an embodiment of this application. Specifically, it illustrates the process of driving the directional movement of organic micro / nano crystals using a scanning laser beam. Figure 3 The diagram shown is another schematic representation of the process of driving the directional movement of organic micro / nano crystals according to an embodiment of this application. Figure 3 Figure a in the image is an experimental optical micrograph showing the upward movement of organic micro / nano crystals driven by near-infrared light. Figure 3 Figure b is an experimental optical micrograph showing the upward movement of organic micro / nano crystals driven by near-infrared light.

[0048] In some embodiments, step S330, the process of determining the moving trajectory of the light source array, the dot matrix scanning sequence, and the irradiation power variation curve based on the irradiation response rules of the crystal under test and the target position, may include, but is not limited to, steps S331 to S334: Step S331: Determine the initial irradiation position of the crystal to be tested.

[0049] Determine the initial irradiation position of the crystal under test as an initial reference for designing the light source irradiation scheme.

[0050] Step S332: If the crystal to be tested moves along a straight line toward the target position, determine the direction and distance of movement of the crystal to be tested based on the line connecting the initial irradiation position and the target position.

[0051] If the driving crystal moves along a straight line, the direction of crystal movement is determined by the line connecting the initial irradiation position and the target position, and the distance to be moved is determined by the line.

[0052] Step S333: Determine the movement trajectory of the light source array and the scanning sequence of the dot matrix based on the movement direction of the crystal under test.

[0053] The starting position of the irradiation crystal and the scanning sequence of the dot matrix will determine the direction of crystal movement. The movement trajectory of the light source array and the scanning sequence of the dot matrix are set according to the direction of crystal movement.

[0054] Step S334: Determine the irradiation power variation curve of the light source array based on the moving distance of the crystal under test, the irradiation response rule, and the moving trajectory of the light source array.

[0055] When approaching the target location, the irradiation power needs to be reduced to slow down and eventually stop the crystal, thereby achieving precise control over the crystal's movement distance. To this end, the method of this application determines the irradiation power variation curve of the light source array based on the distance the crystal needs to move, the irradiation response rules, and the movement trajectory of the light source array.

[0056] In some embodiments, the method of this application further includes: Step S350: If the crystal to be tested moves towards the target position along the preset trajectory, the preset trajectory is divided into several continuous line segments. The movement trajectory of the light source array, the dot matrix scanning sequence, and the irradiation power change curve of each line segment are determined according to the connection between the endpoints of each line segment. The preset trajectory includes broken lines, curves, and arcs.

[0057] In addition to enabling the crystal to move in a straight line, this application also allows the crystal to move towards a target position along different trajectories. The overall motion path is decomposed into multiple continuous segments. Within each segment, a corresponding scan line direction, power, and frequency are set, causing the crystal to move sequentially along the directions of each segment. When the crystal reaches the set position, it switches to the next segment, thus achieving movement along arbitrary trajectories such as polygonal lines, curves, and arcs.

[0058] Step S360: Based on the moving trajectory of the light source array, the dot matrix scanning sequence, and the irradiation power change curve corresponding to each line segment, the light source array is used to scan the crystal under test so that the crystal under test moves towards the target position along the preset trajectory.

[0059] During crystal movement, the direction of crystal movement can be changed by designing the movement trajectory of the light source array and the scanning sequence of the lattice, thereby altering the orientation angle of the linear lattice or offsetting the irradiation area to different sides of the crystal. Furthermore, an irradiation power variation curve can be designed to reduce the irradiation power or scanning frequency in a short time when facing sharp turns, slowing down the movement and ensuring smooth turning.

[0060] In some embodiments, the moving speed of the crystal under test in the method of this application is controlled in the following manner: Adjust the irradiation power or scanning frequency of the light source array, and control the moving speed of the crystal under test based on the adjustment results.

[0061] The crystal's moving speed can be controlled by adjusting the irradiation power and scanning frequency of the light source array (and thus the single-point irradiation time), thereby controlling the temperature rise and expansion of the illuminated area of ​​the crystal and achieving the desired moving speed.

[0062] The following are specific application examples of the crystal driving control method of this application: In one embodiment, a spatiotemporal scanning sequence of a single beam of Gaussian light with a wavelength in the bio-friendly near-infrared band (wavelength: 1064 nm) is used to act on a localized area of ​​the organic micro / nano crystal. The specific process is as follows: Organic micro / nanocrystals (crystal thickness: 0.1-1 μm, crystal length (width): 1-100 μm) exhibiting local expansion characteristics under near-infrared light are placed on a substrate surface in a room-temperature air environment. A linear lattice spatiotemporal scanning sequence of a single Gaussian beam (number of points: 1-10000; scanning frequency: 100-100000 Hz; length: 0.1-100 μm) is set up, and the laser power (0-1W) is adjusted to irradiate a local area of ​​the organic micro / nanocrystal. The photothermal expansion causes periodic expansion and contraction of the organic micro / nanocrystal, driving it to move in a directional manner (movement speed: 1-60 μm / s, continuous movement distance: 1-600 μm). By setting the parameters of the laser linear lattice spatiotemporal scanning sequence and modulating the local position of the beam irradiating the organic micro / nanocrystal, the direction and speed of the organic micro / nanocrystal's movement can be controlled.

[0063] In one embodiment, an organic micro / nano crystal sample with a thickness of 1 μm, a width of 1 μm, and a length of 4.7 μm is subjected to directional manipulation. The specific process is as follows: A linear lattice spatiotemporal scanning sequence (number of points: 1000; scanning frequency: 10000Hz; length: 4 μm) with a single Gaussian beam (wavelength: 1064 nm) was set, with the laser power set to 0.6 W. When the laser sequence was applied to the lower section of the organic micro / nano crystal, photothermal expansion caused periodic expansion and contraction of the lower portion of the crystal, driving it to move upwards in a directional direction (average velocity: 3 μm / s, continuous movement distance: 20 μm). The laser sequence was then adjusted to apply to the upper portion of the crystal, causing similar periodic expansion and contraction of the upper portion, which in turn drove it to move downwards in a directional direction (average velocity: 3 μm / s, continuous movement distance: 23 μm).

[0064] In summary, the embodiments of this application include, but are not limited to, the following beneficial effects: (1) This application uses a light source that can cause the crystal to expand due to heat to drive the crystal; the light source may include a single beam light source, a single beam laser, a light source array, and a laser array, etc., and the requirements for the light source itself are not high; the method of this embodiment can use near-infrared light to drive the organic micro-nano crystal to move. Near-infrared light is bio-friendly and has the potential to carry out related research in the biological environment.

[0065] (2) The driving mechanism of this application causes localized photothermal expansion of organic micro-nano crystals, which has the potential for universal application to a variety of organic micro-nano crystals.

[0066] (3) The present application scheme can control the directional motion and motion characteristics of organic micro-nano crystals by adjusting the interaction between the laser beam and the organic micro-nano crystals.

[0067] Please see Figure 4 This application also provides an organic micro / nano crystal-driven control system that can implement the above-described method. The system includes a light source and a controller, wherein: The light source is used to irradiate the crystal, causing it to expand due to heat. The controller is used to implement the methods described above.

[0068] It is understood that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0069] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0070] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0071] Please see Figure 5 , Figure 5 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 502 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 502 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 502 and is called and executed by the processor 501 using the methods described in the embodiments of this application. The input / output interface 503 is used to implement information input and output; The communication interface 504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 505 transmits information between various components of the device (e.g., processor 501, memory 502, input / output interface 503, and communication interface 504); The processor 501, memory 502, input / output interface 503, and communication interface 504 are connected to each other within the device via bus 505.

[0072] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0073] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0074] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0075] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0076] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0077] This application provides a control method, system, electronic device, storage medium, and program product for driving organic micro / nano crystals. The scheme is based on a preliminary irradiation experiment using the thermal expansion characteristics of the crystal under test. This determines the correspondence between the irradiation frequency and the local displacement of the crystal when irradiated by a light source. Finally, based on the crystal's size, thermal expansion characteristics, and irradiation response rules, the crystal is irradiated by the light source to achieve directional movement. On one hand, driving crystals based on the principle of photoinduced isomerization requires high material standards, sometimes even necessitating the design and synthesis of specific photosensitive molecular crystals. In contrast, thermal expansion is a characteristic possessed by most organic micro / nano crystals, thus the method in this application has high universality. On the other hand, the process of driving crystals based on the principle of photoinduced isomerization requires the design of complex optical systems and strict control of the wavelength, intensity, and polarization of light during the driving process. The method in this application, however, only requires providing a simple light source capable of changing the crystal temperature and designing the irradiation method of the light source to achieve crystal driving.

[0078] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0079] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0080] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0083] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0085] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0086] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A control method for organic micro / nano crystal-driven systems, characterized in that, The method is applied to a control system driven by an organic micro / nano crystal; the system includes a light source and a controller; the light source is used to irradiate the crystal to cause it to thermally expand; the method includes the following steps: To obtain the dimensions and thermal expansion characteristics of the crystal under test; The light source is controlled to conduct a preliminary irradiation experiment on the crystal under test to determine the irradiation response rule of the crystal under test; the irradiation response rule indicates the correspondence between the irradiation frequency and the local displacement of the crystal when it is irradiated by the light source. Based on the size, thermal expansion characteristics, and irradiation response rules of the crystal under test, the light source is controlled to irradiate the crystal under test, thereby driving the crystal under test to move towards the target position.

2. The method according to claim 1, characterized in that, The step of controlling the light source to conduct a preliminary irradiation experiment on the crystal under test to determine the irradiation response rules of the crystal under test includes: Select a measurement area on the crystal to be tested; The measurement area is periodically irradiated with light sources of different irradiation frequencies, and the changes in size, lateral displacement, and longitudinal displacement of the measurement area are measured at different irradiation frequencies to obtain the measurement results. The irradiation response rules of the crystal under test are determined by analyzing the measurement results of different measurement areas on the crystal under test.

3. The method according to claim 1, characterized in that, The light source includes a light source array; controlling the light source to irradiate the crystal under test based on the size, thermal expansion characteristics, and irradiation response rules of the crystal under test, in order to drive the crystal under test to move towards the target position, includes: The scanning frequency of the light source array is set according to the size and thermal expansion characteristics of the crystal under test; The length and number of dots of the light source array are set according to the size of the crystal to be tested; Based on the illumination response rules of the crystal under test and the target position, the moving trajectory of the light source array, the dot matrix scanning sequence, and the illumination power variation curve are determined. Based on the movement trajectory of the light source array and the illumination power change curve, the pre-set light source array is controlled to scan the crystal under test, thereby driving the crystal under test to move towards the target position.

4. The method according to claim 3, characterized in that, The determination of the movement trajectory, dot matrix scanning sequence, and irradiation power variation curve of the light source array based on the irradiation response rule of the crystal under test and the target position includes: Determine the initial irradiation position of the crystal under test; If the crystal under test moves along a straight line toward the target position, the direction and distance of movement of the crystal under test are determined according to the line connecting the initial irradiation position and the target position. Based on the moving direction of the crystal under test, the moving trajectory of the light source array and the dot matrix scanning sequence are determined; Based on the moving distance and irradiation response rules of the crystal under test and the moving trajectory of the light source array, the irradiation power variation curve of the light source array is determined.

5. The method according to claim 4, characterized in that, The method further includes: If the crystal under test moves toward the target position along a preset trajectory, the preset trajectory is divided into several continuous line segments. The movement trajectory, dot matrix scanning sequence, and irradiation power change curve of the corresponding light source array on each line segment are determined according to the connection between the endpoints of each line segment. The preset trajectory includes broken lines, curves, and arcs. Based on the movement trajectory of the light source array corresponding to each line segment, the dot matrix scanning sequence, and the irradiation power change curve, the light source array is controlled to scan the crystal under test, so that the crystal under test moves towards the target position along the preset trajectory.

6. The method according to claim 3, characterized in that, The moving speed of the crystal under test is controlled in the following way: Adjust the illumination power or scanning frequency of the light source array, and control the moving speed of the crystal under test based on the adjustment result.

7. A control system driven by organic micro / nano crystals, characterized in that, The system includes a light source and a controller, wherein: The light source is used to irradiate the crystal, causing the crystal to expand due to heat. The controller is used to implement the method of any one of claims 1 to 6.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method of any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.

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