Magnetic control device and method of magnetic body and computer program product

Abstract

The invention discloses a magnetic control device and method for a magnetic body and a computer program product in the technical field of magnetic field generation, and aims to solve the problems that high-degree-of-freedom geomagnetic field control cannot be considered and the size is small in the prior art. The method comprises the steps that a controller is used for controlling rotation of each rolling wheel, a sphere rolls in different directions and angles through rotation combination of the different rolling wheels, then the space angle posture of a permanent magnet is changed, and a background magnetic field meets the control requirement. After the ball body rolls, a plurality of rolling wheels can be used for changing the space angle posture of the permanent magnet according to the feedback rotation angle information, a heat dissipation part in a traditional magnetic induction coil is abandoned, the magnetic induction coil is suitable for the environment with limited use space such as medical treatment, and meanwhile the problem of heating in the use process is avoided; and the rotation angle freedom degree of the rolling wheels far exceeds that of a traditional mechanical arm, the multiple rolling wheels can be combined to form multi-freedom-degree rolling control, and the characteristics of high-freedom-degree magnetic field control and small size are considered.

Description

Technical Field

[0001] This invention relates to a magnetic control device, method, and computer program product for a magnetic body, belonging to the field of magnetic field generation technology. Background Technology

[0002] The magnetic body of the magnetic microrobot is controlled to move by a magnetic control device.

[0003] Magnetic control devices are mainly divided into two types: one type relies on permanent magnets to construct a magnetic field. Although the structure is simple and the cost is low, the magnetic field generated is relatively simple due to the upper limit of the deformation angle and stroke of the robotic arm joints, making it difficult to achieve complex, dynamic and highly free magnetic field control; the other type is based on an electromagnet array to achieve magnetic field regulation. However, the magnetic induction coil is prone to heat generation when generating a magnetic field, and the magnetic induction coil needs to be equipped with a large heat dissipation device, making the magnetic control device bulky and structurally inconvenient for use in the medical field.

[0004] Therefore, existing magnetic control devices suffer from the problem of not being able to simultaneously achieve high-degree-of-freedom magnetic field control and small size. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide a magnetic control device that takes into account both the generation of a high degree of freedom of background magnetic field and avoids bulky magnetic bodies, as well as a matching magnetic control method and computer program product.

[0006] To achieve the above objectives, this application employs the following technical solution: In a first aspect, this application provides a magnetic control device for a magnetic body, comprising: A sphere containing a permanent magnet for generating a background magnetic field; Rolling wheels, multiple rolling wheels are respectively connected to the ball in a transmission, and the rolling wheels are used to drive the ball to rotate; Feedback unit, used to provide feedback on the rotation angle information of the sphere; A controller, connected to the feedback device, is used to send control commands to the rolling wheel based on the rotation angle information and rotation command.

[0007] In some embodiments of the first aspect of this application, a spherical semi-fixing device is also included; The semi-fixed sphere device includes a first ball frame and a second ball frame that are detachably connected to each other. The first ball frame and the second ball frame are used to fix the position of the sphere. When the sphere rotates, the sphere slides within the first ball frame and the second ball frame.

[0008] In some embodiments of the first aspect of this application, the inner walls of the first ball frame and the second ball frame are embedded with a plurality of sliding beads, and the ball slides within the first ball frame and the second ball frame.

[0009] In some embodiments of the first aspect of this application, the first ball stand and the second ball stand are connected by bolts; The sphere comprises a first hemispherical shell and a second hemispherical shell that are threaded together.

[0010] In some embodiments of the first aspect of this application, a sleeve is provided inside the first hemispherical shell, the outer wall of the sleeve is threaded, and the inner wall of the sleeve matches the shape of the permanent magnet; after the second hemispherical shell is connected to the first hemispherical shell through the thread on the outer wall of the sleeve, the permanent magnet is fixed inside the sleeve.

[0011] In some embodiments of the first aspect of this application, a base and a stepper motor are further included, the stepper motor being signal-connected to the controller; the spherical semi-fixed device is mounted on the base; the stepper motor is used to drive the rolling wheel to rotate, and the stepper motor is also mounted on the base.

[0012] In some embodiments of the first aspect of this application, the rolling wheel includes a first rolling wheel and two second rolling wheels, and the rotation axes of the three rolling wheels are orthogonal to each other. It also includes a first stepper motor and a second stepper motor, the housings of the first stepper motor and the second stepper motor are mounted on the base by a motor bracket; the first stepper motor is connected to the first rolling wheel for torque transmission, the second stepper motor is connected to the input end of the commutator for torque transmission, and the output end of the commutator is connected to the second rolling wheel for torque transmission. The first rolling wheel or the second rolling wheel includes a rotating hub, and the rotating hub is provided with adapting wheels and rolling friction blocks spaced apart along the circumference. The rotation axis of the adapting wheel is orthogonal to the rotation axis of the rotating hub.

[0013] In some embodiments of the first aspect of this application, the feedback device is a BLE-IMU sensor, the feedback device is fixed to the permanent magnet, and the feedback device is connected to the controller via a Bluetooth signal.

[0014] Secondly, this application also provides a magnetic control method for a magnetic body, executed by a magnetic control device for the magnetic body described in any of the first aspects, comprising, Obtain rotation command; The rotation command is parsed into control commands for each rolling wheel, resulting in multiple parsed control commands. Each rolling wheel is controlled to rotate according to the control command; Obtain the rotation angle information; The control command is adjusted based on the rotation angle information.

[0015] Thirdly, this application also provides a computer device, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it performs the steps of the magnetic control method for a magnetic body as described in any embodiment of the first aspect.

[0016] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the magnetic control method for a magnetic body as described in any embodiment of the first aspect.

[0017] Fifthly, this application also provides a computer program product, including a computer program / instructions, characterized in that, when the computer program / instructions are executed by a processor, they implement the steps of the magnetic control method for the magnetic body described in any embodiment of the first aspect.

[0018] Compared with the prior art, the beneficial effects achieved by this application are as follows: The magnetic control device, method, and computer program product for the magnetic body provided in this application use a controller to control the rotation of each rolling wheel. By combining different combinations of rolling wheel rotations, the ball rolls in different directions and angles, thereby changing the spatial angle and attitude of the permanent magnet, achieving the required control of the background magnetic field, and realizing the control of the magnetic body. After the ball rolls, the rotation angle information fed back by the feedback device can also be used. Using multiple rolling wheels to change the spatial angle and attitude of the permanent magnet is compact and small, eliminating the need for the large heat dissipation components required by traditional magnetic induction coils. It is suitable for environments with limited space, such as medical settings, and also avoids the problem of overheating during use. Furthermore, the rotation angle freedom of the rolling wheels far exceeds that of traditional robotic arms. Multiple rolling wheels can be combined to create multiple degrees of freedom of rolling control, combining the characteristics of high degree of freedom of magnetic field control and small size. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the magnetic control device for the magnetic body provided in the embodiments of this application; Figure 2 yes Figure 1A schematic diagram of the structure of the magnetic control device after removing the sphere and the sphere semi-fixing device; Figure 3 yes Figure 1 Exploded view of the sphere and the semi-fixed sphere device of the central magnetic control device; Figure 4 yes Figure 1 Exploded view of the central magnetar control device; Figure 5 yes Figure 1 A schematic diagram of the structure of the first hemispherical shell in the medium sphere; Figure 6 yes Figure 6 A front view of the first hemispherical shell in the middle; Figure 7 yes Figure 1 A schematic diagram of the structure of the second hemispherical shell in the medium sphere; Figure 8 yes Figure 7 A front view of the second hemisphere shell; Figure 9 yes Figure 1 A schematic diagram of the structure of the first ball rack in the middle; Figure 10 yes Figure 9 A top view of the first ball rack in the middle; Figure 11 yes Figure 1 A schematic diagram of the structure of the rolling wheel; Figure 12 yes Figure 11 Top view of the middle scroll wheel; Figure 13 yes Figure 1 A schematic diagram of the structure of the feedback device; Figure 14 yes Figure 13 A schematic diagram of a feedback unit installed on a permanent magnet. Figure 15 yes Figure 1 Exploded view of a medium sphere; Figure 16 yes Figure 1 Exploded view of the central sphere and the semi-fixed sphere device; Figure 17 yes Figure 1 A schematic diagram of the sphere rolling within the semi-fixed sphere device; Figure 18 yes Figure 17 Schematic diagram of the structure of the second ball rack in the middle; Figure 19 yes Figure 18 A top-down view; Figure 20 yes Figure 1 A schematic diagram of the structure of a medium-sized stepper motor; Figure 21 yes Figure 1 A schematic diagram of the intermediate commutator; Figure 22 yes Figure 21 A schematic diagram of the commutator from another perspective; Figure 23 yes Figure 1 Schematic diagram of the structure of the permanent magnet; Figure 24 yes Figure 1 Schematic diagram of the sliding bead structure; Figure 25 This is a schematic diagram of the steps of the magnetic control method for a magnetic body provided in the embodiments of this application; Figure 26 This is a schematic block diagram of the computer device provided in the embodiments of this application; In the diagram: 1. Sphere; 1.1. First hemispherical shell; 1.1.1. Sleeve; 1.2. Second hemispherical shell; 2. Permanent magnet; 3. Rolling wheel; 3.1. First rolling wheel; 3.2. Second rolling wheel; 3.3. Rotating hub; 3.4. Adaptive wheel; 3.5. Rolling friction block; 4. Feedback device; 5.1. First ball frame; 5.2. Second ball frame; 5.3. Sliding ball; 5.4. First bolt hole; 5.5. Operating window; 6. Base; 7. Stepper motor; 8.1. First stepper motor; 8.2. Second stepper motor; 9. Motor bracket; 10. Commutator; 11. Fixing plate. Detailed Implementation

[0021] The technical solutions of this application / the embodiments thereof will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application / the embodiments thereof, and not all embodiments thereof. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application / the application thereof or its application or use. Example 1

[0022] This embodiment provides a magnetic control device for a magnetic body to solve the problem that existing magnetic control devices cannot simultaneously achieve small size and high degree of freedom control.

[0023] refer to Figures 1 to 24 The magnetic control device for the magnetic body provided in this embodiment includes, Sphere 1, with a permanent magnet 2 inside for generating a background magnetic field; Rolling wheels 3, multiple rolling wheels 3 are respectively connected to the ball 1 for transmission, and the rolling wheels 3 are used to drive the ball 1 to rotate; Feedback unit 4 is used to provide feedback on the rotation angle information of sphere 1; The controller is connected to the feedback device 4 and is used to send control commands to the rolling wheel 3 based on the rotation angle information and rotation command.

[0024] In use, the controller rotates each rolling wheel 3, and different combinations of rotation of the rolling wheels 3 cause the ball 1 to roll in different directions and angles, thereby changing the spatial angle and attitude of the permanent magnet 2, so that the background magnetic field meets the control requirements, and the magnetic body is controlled. After the ball 1 rolls, the rotation angle information fed back by the feedback device 4 can also be used.

[0025] The magnetic control device for the magnetic body provided in this embodiment uses multiple rolling wheels 3 to change the spatial angle and orientation of the permanent magnet 2. It is compact and small, eliminating the need for the large heat dissipation components required by traditional magnetic induction coils. It is suitable for environments with limited space, such as medical settings, and also avoids the problem of overheating during use. Furthermore, the rotation angle freedom of the rolling wheels 3 far exceeds that of traditional robotic arms, and multiple rolling wheels 3 can be combined to create multiple degrees of freedom for rolling control. Therefore, it can be considered that the magnetic control device provided in this embodiment combines the characteristics of high degree of freedom in magnetic field control with small size. Example 2

[0026] This embodiment provides a magnetic control device for a magnetic body. This embodiment is an optimization based on Embodiment 1 to improve the technical effect and refine the technical solution. For details not described in this embodiment, please refer to Embodiment 1.

[0027] As one embodiment, reference Figure 1 , Figure 4 , Figure 3 , Figure 9 , Figure 10 , Figure 16 , Figure 17 , Figure 18 and Figure 19 The magnetic control device also includes a semi-fixed sphere device that fixes the spatial position of the sphere 1 without hindering its spatial rolling. The semi-fixed sphere device includes a first ball frame 5.1 and a second ball frame 5.2 that are detachably connected to each other. The first ball frame 5.1 and the second ball frame 5.2 are used to fix the position of the sphere 1. The weight of the sphere 1 is supported by the first ball frame 5.1 or the second ball frame 5.2, and the spatial stress it experiences is also offset by the first ball frame 5.1 or the second ball frame 5.2. When the sphere 1 rotates, the inner walls of the first ball frame 5.1 and the second ball frame 5.2 slide against each other, that is, the sphere 1 slides inside the first ball frame 5.1 and the second ball frame 5.2, thereby preventing the first ball frame 5.1 and the second ball frame 5.2 from hindering the spatial rolling of the sphere 1.

[0028] As one embodiment, reference Figure 3 , Figure 4 , Figure 16 , Figure 17 , Figure 18 , Figure 19 and Figure 24 The inner walls of the first ball holder 5.1 and the second ball holder 5.2 are embedded with multiple sliding beads 5.3. When the ball 1 rotates, the sliding beads 5.3 slide against the outer wall of the ball 1, thereby preventing the first ball holder 5.1 and the second ball holder 5.2 from hindering the spatial rolling of the ball 1. At the same time, the ball 1 is also supported by the first ball holder 5.1 and the second ball holder 5.2 through the multiple distributed sliding beads 5.3. As one embodiment, the sliding beads 5.3 can be made of copper to reduce friction. As another embodiment, a first groove only half the depth of the sliding beads 5.3 can be opened in the inner wall of the first ball holder 5.1 and the second ball holder 5.2. The sliding beads 5.3 are embedded in the first groove. When the ball 1 rolls, the sliding beads 5.3 also roll synchronously, and the first groove can effectively fix the spatial position of the sliding beads 5.3.

[0029] As one embodiment, reference Figure 4 , Figure 9 , Figure 10 , Figure 16 , Figure 18 and Figure 19 The first ball frame 5.1 and the second ball frame 5.2 are connected by bolts. Specifically, multiple bolt holes are arranged in a distributed circumferential manner at the connection section of the first ball frame 5.1 and the second ball frame 5.2. The distributed bolt connection can make the force between the first ball frame 5.1 and the second ball frame 5.2 more uniform. To facilitate the bolt connection between the first ball stand 5.1 and the second ball stand 5.2, refer to... Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 15 The sphere 1 includes a first hemispherical shell 1.1 and a second hemispherical shell 1.2 that are threaded together. The threaded connection can prevent the first hemispherical shell 1.1 and the second hemispherical shell 1.2 from coming off each other and can also confine the connection part inside the sphere 1.

[0030] In addition, as one embodiment, Figure 4 , Figure 5 , Figure 6 , Figure 15 and Figure 23 The first hemispherical shell 1.1 contains a sleeve 1.1.1, the outer wall of which is threaded. The inner wall of the sleeve 1.1.1 matches the shape of the permanent magnet 2. The second hemispherical shell 1.2 is connected to the first hemispherical shell 1.1 through the thread on the outer wall of the sleeve 1.1.1, and the permanent magnet 2 is fixed inside the inner wall of the sleeve 1.1.1. In this way, the sleeve 1.1.1 serves two purposes: providing a surface for the thread etching and fixing the permanent magnet 2.

[0031] As one embodiment, reference Figure 1 , Figure 4 and Figure 20 The magnetic control device also includes a base 6 and a stepper motor 7, which is connected to the controller via signals. A semi-fixed spherical device is mounted on the base 6. The stepper motor 7 drives the rotating wheel 3 and is also mounted on the base 6. The stepper motor 7 offers high control precision, and mounting it on the base 6 helps eliminate the reverse torque of the base 6. Mounting the semi-fixed spherical device on the base 6 also helps counteract the reaction torque and force exerted on the spherical device by the sphere 1.

[0032] As one embodiment, Figures 1 to 4 ,as well as Figure 17 The rolling wheel 3 includes a first rolling wheel 3.1 and two second rolling wheels 3.2. The rotation axes of the three rolling wheels 3 are orthogonal to each other in pairs, and each is responsible for the rotation of the ball 1 in three degrees of freedom. The three rolling wheels 3, which are orthogonal to each other in pairs, form a universal wheel relative to the ball 1. Due to the universal characteristics of the universal wheel, the rotation direction of the ball 1 can be controlled in three degrees of freedom. Any rolling wheel 3 will adapt to the rolling of the ball 1 caused by the rotation of the other two rolling wheels 3, thereby avoiding the constraint on the movement of the other rolling wheels 3. As one embodiment, reference Figure 11 , Figure 12 as well as Figure 11The arrows indicate that the first rolling wheel 3.1 or the second rolling wheel 3.2 includes a rotating hub 3-3. Adaptive wheels 3-4 and rolling friction blocks 3-5 are sequentially spaced along the circumference of the rotating hub 3-3. The rotation axis of the adaptive wheel 3-4 is orthogonal to the rotation axis of the rotating hub 3-3. When the first stepper motor 8.1 or the second stepper motor 8.2 outputs torque, the first rolling wheel 3.1 or the second rolling wheel 3.2 rotates. Referring to the green arrows, the rotating hub 3-3 rotates in accordance with the green arrows. Because the rotation axis of the adaptive wheel 3-4 is orthogonal to the rotation axis of the rotating hub 3-3, the rotation of the rotating hub 3-3 does not drive the adaptive wheel 3-4 on this hub to follow the movement indicated by the red arrows. Instead, the adaptive wheel 3-4 and the rolling friction blocks 3-5 generate frictional force on the ball 1 in the direction of the green arrows, thereby driving the ball 1 to rotate. When sphere 1 is driven by the first rolling wheel 3.1 or the other second rolling wheel 3.2, referring to the blue arrow, the frictional force generated by sphere 1 relative to this rolling wheel can be decomposed into components along the green arrow and along the blue arrow. For the frictional component along the green arrow, the rotating hub 3-3 generates a corresponding follow-up motion to counteract the effect of this frictional component; for the frictional component along the blue arrow, since the rotation axis of the adapting wheel 3-4 is orthogonal to the rotation axis of the rotating hub 3-3, the adapting wheel 3-43 generates a corresponding follow-up motion to counteract the effect of this frictional component. The follow-up motion of the adapting wheel 3-43 can be seen from the red arrow in the figure. When the first rolling wheel 3.1 and the other two second rolling wheels 3.2 work together, they can form a universal wheel system for sphere 1.

[0033] The magnetic control device also includes a first stepper motor 8.1 and a second stepper motor 8.2. The housings of the first stepper motor 8.1 and the second stepper motor 8.2 are mounted on the base 6 via a motor bracket 9. The first stepper motor 8.1 is torsionally connected to the first rolling wheel 3.1, and the first stepper motor 8.1 directly drives the first rolling wheel 3.1, whose rotation axis is parallel to the base 6. When the base 6 is horizontal, since the three rolling wheels 3 are orthogonal to each other, only in some embodiments of this application is it difficult to make the rotation axes of the other two second rolling wheels 3.2 parallel to the base 6. (Refer to...) Figure 21 and Figure 22 Therefore, the second stepper motor 8.2 is connected to the input end of the commutator 10 for torque transmission, and the output end of the commutator 10 is connected to the second rolling wheel 3.2 for torque transmission. The output shaft of the second stepper motor 8.2 can be parallel to the base 6. Based on being parallel to the base 6, the output shaft of the second stepper motor 8.2 is then reversed by the commutator 10 and aligned with the rotation shaft of the second rolling wheel 3.2 to achieve the torque transmission connection between the second stepper motor 8.2 and the second rolling wheel 3.2.

[0034] As one embodiment, reference Figure 3 , Figure 4 , Figure 13 , Figure 14 and Figure 15 Feedback unit 4 is a BLE-IMU sensor, fixed to permanent magnet 2, and connected to the controller via Bluetooth. The BLE-IMU sensor has inertial measurement capabilities, transmitting the inertial measurement results as rotation angle information to the controller in real time via Bluetooth, achieving precise closed-loop control. The BLE-IMU sensor continuously senses its own motion state through its integrated inertial measurement unit. Specifically, it uses a three-axis accelerometer to measure linear acceleration and a three-axis gyroscope to capture angular velocity. This raw data is processed in real time by the sensor's built-in microprocessor using methods such as Kalman filtering, ultimately outputting high-precision attitude angle information, including pitch, roll, and yaw angles. After receiving this angle information via Bluetooth, the controller compares it with the system's preset target attitude or position, calculating the current attitude deviation. Subsequently, based on this deviation, the controller quickly calculates precise correction commands using control algorithms such as PID. These commands are sent to the first stepper motor 8.1 and the second stepper motor 8.2, driving the orthogonal rolling wheels 3 to adjust the attitude of the sphere 1 in real time.

[0035] As one embodiment, reference Figure 9 , Figure 10 and Figure 16 An operation window 5.5 is provided on the side of the first ball holder 5.1 near the base 6, through which a portion of the ball 1 is exposed, so as to facilitate... Figure 11 and Figure 12 The three rolling wheels 3 shown roll between the outer surface of the sphere 1 and the surface of the sphere 1.

[0036] As one embodiment, reference Figure 1 , Figure 3 and Figure 4 The magnetic control device also includes a fixing plate 11 for mounting the spherical semi-fixed device. Based on the aforementioned structural design, in order to facilitate installation, the commutators 10 connected to the two second stepper motors 8.2 can be set on both sides of the spherical semi-fixed device. Therefore, in this embodiment, a fixing plate 11 is also provided to facilitate the connection and fixation between the spherical semi-fixed device and the commutators 10 on both sides.

[0037] As one embodiment, the controller can perform the following magnetic control method: Obtain rotation command; The rotation command is parsed into control commands for each of the rolling wheels 3, resulting in multiple parsed control commands. Control each of the rolling wheels 3 to rotate according to the control commands; Obtain rotation angle information; The control commands are adjusted based on the rotation angle information.

[0038] In one embodiment, a cryogenic process is used during the assembly of sphere 1 and the spherical semi-fixed device: the surface of the micro copper beads is first moistened and placed into the first groove of the upper spherical semi-fixed device. Then, the entire assembly is placed in a low-temperature refrigeration environment to solidify the moisture, using the temporary bonding effect of ice to prevent the copper beads from shifting or falling off in subsequent operations. After the upper and lower sphere frames are assembled, they are installed and fixed to the commutator 10 together with the connecting parts to form a complete spherical permanent magnet motion mechanism.

[0039] In this embodiment, the rolling wheel 3 can drive the sphere 1 and its internal permanent magnet 2 to rotate in any direction, thus generating a magnetic field in any direction. By integrating with a three-axis precision displacement platform composed of multiple rolling wheels 3, precise drive control of the target area is achieved within a large space. Under specific control commands, three 42-step stepper motors 7, through the commutator 10 and friction with the rolling wheel 3, drive the sphere 1 within the semi-fixed sphere device to rotate in a specific direction. Simultaneously, the cylindrical permanent magnet 2 within the semi-fixed sphere device rotates accordingly, generating a strong magnetic field and gradient in any direction, thereby driving the magnetic microrobot. At the same time, with the help of an external moving platform, long-stroke displacement or large-angle adjustment can be performed during operation, forming a macro-micro collaborative mechanism with the magnetic control module, ultimately achieving high-precision, multi-degree-of-freedom composite motion control within a large workspace.

[0040] As one embodiment, it can also be implemented according to the following scheme: 1. Preparation: Complete the initial setup of the system and prepare the magnetic microrobot. The magnetic body inside the magnetic microrobot will be controlled by the magnetic control device provided above. 2. Motor array connection: Connect the motor array consisting of the first stepper motor 8.1 and the second stepper motor 8.2 to the output terminal of the motor driver, connect the motor control board to the input terminal of the motor driver, and connect the DC power supply. 3. Initial positioning: Install a top camera on the top of the magnetic control device, turn on the top camera and adjust the imaging field of view to initially position the magnetic robot using the camera; 4. Macroscopic operation of the motion platform: Control the base 6 and the three-axis displacement platform moving device mounted on the base 6 until they reach the appropriate position; 5. Host computer control: The host computer is connected to the handle, which is used to control the motor array and obtain general host computer control software. The host computer control software is started, and the action signals output by the handle are parsed by the host computer control software into command signals for controlling the motor array. 6. Macroscopic control of the motion platform: According to the application needs, the magnetic robot is moved to the target area of ​​the diagnosis and treatment application by moving the displacement platform, i.e., moving the base 6, and using the large magnetic field gradient force generated by the permanent magnet 2. 7. Precise Handle Control: Based on the robot's position displayed by the camera, the position of the joystick on the handle is precisely adjusted. After being analyzed by the host computer control software, three specific voltage signals are generated. These signals are driven by the motor driver to drive three stepper motors 7 to work together. The three rolling wheels 3 drive the spherical permanent magnet motion mechanism to generate a background magnetic field along a specific direction in space, forming a widely covered and high-intensity magnetic field environment. 8. Rolling motion of microrobots: As the spherical permanent magnet continues to rotate, the magnetic field it generates changes continuously, causing the magnetic robot to roll under the action of the magnetic field, thereby achieving micron-level motion accuracy; 9. Path tracking and direction adjustment: By combining the overall movement of the displacement platform and the continuous adjustment of the output voltage signal by the handle, the rotation direction of the spherical permanent magnet is changed, thereby controlling the rolling direction of the robot and realizing the tracking and behavior control of complex paths.

[0041] 10. Closed-loop control system regulation: Throughout the entire process, the BLE-IMU monitors the position and orientation information of the spherical permanent magnet in real time and transmits it to the controller. In this way, the control system can optimize the drive voltage signal supplied to the motor to achieve the effect of closed-loop control. As a result, the spherical permanent magnet can generate a more accurate background magnetic field, further improving the motion accuracy.

[0042] This system combines a BLE-IMU sensor module to provide real-time feedback on the permanent magnet's pose information and employs a PD controller for precise control, thereby enabling the flexible generation of static gradient magnetic fields and dynamic rotating magnetic fields. Simultaneously, it leverages the wide-range positioning capabilities of a three-axis precision displacement platform to achieve high-precision motion control across scales. Example 3

[0043] Figure 1 This is a flowchart illustrating a magnetic control method for a magnetic body according to Embodiment 3 of the present invention. This flowchart merely shows the logical sequence of the method described in this embodiment. Without conflict, different methods may be used in other possible embodiments of the present invention. Figure 1 Complete the steps shown or described in the order indicated.

[0044] See Figure 25 The method described in this implementation can be executed by the controller provided in Embodiment 1 or 2, and specifically includes the following steps: Obtain rotation command; The rotation command is parsed into control commands for each of the rolling wheels 3, resulting in multiple parsed control commands. Control each of the rolling wheels 3 to rotate according to the control commands; Obtain rotation angle information; The control commands are adjusted based on the rotation angle information.

[0045] The system allows for user input of rotation commands. In the initial time step, the camera performs preliminary positioning of the sphere 1's attitude. The controller then receives control commands for each rolling wheel 3 based on the sphere 1's attitude and the rotation command. These control commands are received by the stepper motor 7, which performs the corresponding action, causing the sphere 1 to rotate. The feedback unit 4 feeds back the rotation angle information to the controller based on the change in the sphere 1's rotation angle. In the second time step, the controller receives new control commands based on the rotation angle information and the new rotation command. This process continues in subsequent time steps, achieving precise control of the sphere 1's attitude and accurate regulation of the background magnetic field through closed-loop control. Example 4

[0046] This embodiment provides a computer device, including a processor and a memory connected to the processor. The memory stores a computer program, and when the computer program is executed by the processor, it performs the steps of the magnetic control method for a magnetic body as provided in Embodiment 3.

[0047] The computer device may be a server or an electronic terminal, as one embodiment, see reference. Figure 26 The computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The database stores data acquired and generated in the magnetic control method of the magnetic body. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the magnetic control method of the magnetic body provided in Embodiment 3.

[0048] Those skilled in the art will understand that Figure 26 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0049] The computer device provided in this embodiment has the same technical effects as that in Embodiment 3, and will not be described again here. Example 5

[0050] This embodiment provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the magnetic control method for a magnetic body provided in Embodiment 1 or Embodiment 2.

[0051] The computer-readable storage medium provided in this embodiment has the same technical effects as that in Embodiment 3, and will not be described again here. Example 6

[0052] This embodiment provides a computer program product on which a computer program is stored. When executed by a processor, this program implements the steps of the magnetic control method for a magnetic body provided in Embodiment 1 or Embodiment 2. The computer program product provided in this embodiment can be transmitted, distributed, and downloaded via the Internet in the form of signals.

[0053] The computer program product provided in this embodiment has the same technical effects as that in Embodiment 3, and will not be described again here.

[0054] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0055] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0058] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention 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 the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "located in," "equipped with," "located in," "installed," "set," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances. "Hinged connection" includes "rotational connection."

[0060] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A magnetic control device for a magnetic body, characterized in that, include, A sphere (1) contains a permanent magnet (2) for generating a background magnetic field. Rolling wheels (3), multiple rolling wheels (3) are respectively connected to the ball (1) for transmission, and the rolling wheels (3) are used to drive the ball (1) to rotate; Feedback unit (4) is used to provide feedback on the rotation angle information of the sphere (1); The controller is connected to the feedback device (4) and is used to send control commands to the rolling wheel (3) according to the rotation angle information and rotation command.

2. The magnetic control device for the magnetic body according to claim 1, characterized in that, It also includes a spherical semi-fixed device; The spherical semi-fixing device includes a first ball frame (5.1) and a second ball frame (5.2) that are detachably connected to each other. The first ball frame (5.1) and the second ball frame (5.2) are used to fix the position of the sphere (1). When the sphere (1) rotates, the sphere (1) slides within the first ball frame (5.1) and the second ball frame (5.2).

3. The magnetic control device for the magnetic body according to claim 2, characterized in that, The inner walls of the first ball frame (5.1) and the second ball frame (5.2) are embedded with a plurality of sliding beads (5.3). When the ball (1) slides in the first ball frame (5.1) and the second ball frame (5.2), the sliding beads (5.3) slide relative to the ball (1).

4. The magnetic control device for the magnetic body according to claim 2, characterized in that, The first ball holder (5.1) and the second ball holder (5.2) are connected by bolts; The sphere (1) comprises a first hemispherical shell (1.1) and a second hemispherical shell (1.2) that are threaded together.

5. The magnetic control device for the magnetic body according to claim 4, characterized in that, The first hemispherical shell (1.1) is provided with a sleeve (1.1.1), the outer wall of the sleeve (1.1.1) is threaded, and the inner wall of the sleeve (1.1.1) matches the shape of the permanent magnet (2); after the second hemispherical shell (1.2) is connected to the first hemispherical shell (1.1) through the thread on the outer wall of the sleeve (1.1.1), the permanent magnet (2) is fixed inside the sleeve (1.1.1).

6. The magnetic control device for the magnetic body according to any one of claims 2 to 5, characterized in that, It also includes a base (6) and a stepper motor (7), the stepper motor (7) being signal-connected to the controller; the spherical semi-fixed device is mounted on the base (6); the stepper motor (7) is used to drive the rolling wheel (3) to rotate, and the stepper motor (7) is also mounted on the base (6).

7. The magnetic control device for the magnetic body according to claim 6, characterized in that, The rolling wheel (3) includes a first rolling wheel (3.1) and two second rolling wheels (3.2), and the rotation axes of the three rolling wheels (3) are orthogonal to each other. It also includes a first stepper motor (8.1) and a second stepper motor (8.2), the housings of the first stepper motor (8.1) and the second stepper motor (8.2) are mounted on the base (6) via a motor bracket (9); the first stepper motor (8.1) is torsionally connected to the first rolling wheel (3.1), the second stepper motor (8.2) is torsionally connected to the input end of the commutator (10), and the output end of the commutator (10) is torsionally connected to the second rolling wheel (3.2); The first rolling wheel (3.1) or the second rolling wheel (3.2) includes a rotating hub (3-3), wherein the rotating hub (3-3) is provided with an adapting wheel (3-4) and a rolling friction block (3-5) at intervals along the circumference, and the rotation axis of the adapting wheel (3-4) is orthogonal to the rotation axis of the rotating hub (3-3).

8. The magnetic control device for the magnetic body according to claim 1, characterized in that, The feedback device (4) is a BLE-IMU sensor, the feedback device (4) is fixed to the permanent magnet (2), and the feedback device (4) is connected to the controller via Bluetooth signal.

9. A method for controlling a magnetic body, performed by a magnetic control device for the magnetic body according to any one of claims 1 to 8, characterized in that, include, Obtain rotation command; The rotation command is parsed into control commands for each rolling wheel (3), resulting in multiple parsed control commands; According to the control instructions, each rolling wheel (3) is controlled to rotate; Obtain the rotation angle information; The control command is adjusted based on the rotation angle information.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the magnetic control method for the magnetic body as described in claim 9.

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