Micro / Nano Robot Sensor-Driven Control Integrated System and Control Method Based on Optical Communication Protocol

Abstract

This invention discloses an integrated sensing, driving, and control system and method for micro-nano robots based on an optical communication protocol. The system includes a control module and connected optical communication, multimodal sensing, driving, and power management modules. The optical communication module uses a preset protocol to achieve bidirectional conversion between optical and electrical signals. The downlink uses PWM encoding and near-infrared light, while the uplink uses Manchester encoding and blue light. The multimodal sensing module integrates multiple sensors, and the sampling parameters are dynamically configured by the control module. The driving module converts control commands into PWM signals to precisely drive micro-actuators. The power management module switches between working and sleep modes according to commands. The control module is responsible for command decoding and system scheduling. This system achieves efficient collaboration of communication, sensing, driving, and control on a single chip, featuring high integration, reliable communication, low latency, and low power consumption. It provides a core technology solution for the application of micro-nano robots in complex environments such as biomedicine and environmental monitoring.

Description

Technical Field

[0001] This invention relates to the field of micro-nano robotics, and in particular to a micro-nano robot sensing, driving, and control integrated system and control method based on an optical communication protocol. Background Technology

[0002] With the deep integration of micro-nano manufacturing, biomedical engineering, and artificial intelligence, intelligent micro-nano robots are showing great application potential in targeted drug delivery, monitoring of confined spaces, and precision industrial inspection. These systems must simultaneously achieve real-time coordination of multimodal perception, sub-millisecond low-latency command response, and high-precision motion control within complex and dynamically changing microenvironments (such as biological cavities and metal pipes). Limited by sub-millimeter physical scale, traditional electronic, mechanical, optical, and energy modules struggle to achieve high-density heterogeneous integration on a single platform. The core bottleneck lies in overcoming the constraints of microscale to achieve full-function on-chip integration and autonomous decision-making capabilities.

[0003] In existing technologies, micro-nano robotic systems mostly adopt a discrete architecture of "external field drive - microscopic vision - radio frequency communication." A typical example is a magnetic material robot, which achieves millimeter-level displacement through an external alternating magnetic field coupled with optical imaging and receives control commands via a wireless radio frequency link. Motion control relies on an external magnetic field generator for basic drive, but the magnetic field strength decreases sharply with distance, making it difficult to provide stable driving force in deep cavity environments. Environmental perception is indirectly acquired through optical imaging by a microscopic vision system, which is easily affected by illumination and occlusion, limiting information acquisition. Command transmission uses a radio frequency communication scheme, which suffers from severe signal attenuation in metallic environments. In summary, this architecture suffers from short communication distances, low integration, and poor reliability, thus limiting its application scenarios.

[0004] Therefore, there is an urgent need to develop a micro-nano robot system that integrates multimodal sensing, optical communication, driving and control functions. Summary of the Invention

[0005] The purpose of this invention is to provide a micro-nano robot sensing, driving, and control integrated system and control method based on optical communication protocol, so as to solve the problems of limited scene, signal delay, poor anti-interference ability and functional fragmentation caused by the reliance on external equipment in existing micro-nano robots.

[0006] This invention provides a micro / nano robot sensing, driving, and control integrated system based on an optical communication protocol, including a control module, and an optical communication module, a multimodal sensing module, a driving module, and a power management module connected to the control module. The optical communication module is configured to achieve bidirectional transmission of optical signals with an external system based on a preset optical communication protocol, and to complete the mutual conversion between optical signals and electrical signals; The multimodal sensing module integrates a sensor array and is configured to collect environmental parameters through dynamic configuration of the control module, and upload the collected data to an external terminal in real time via an optical communication module, while receiving sensing strategy adjustment instructions from the terminal. The drive module is configured to drive the micro-mechanical actuator to achieve multi-degree-of-freedom motion based on the PWM drive signal output by the control module; The power management module is configured to supply power to each module and control the system to switch between working mode and sleep mode according to the instructions in the preset optical communication protocol. The control module is used to decode the instructions received by the optical communication module in real time, dynamically configure the sampling parameters of the multimodal sensing module and the motion mode of the driving module according to the decoding results, upload the multimodal sensing data to the external terminal through the optical communication module, and receive the protocol adjustment instructions issued by the terminal.

[0007] Preferably, the preset optical communication protocol adopts an uplink / downlink asymmetric architecture, including: The downlink command link, built on a pulse width modulation coding mechanism, is used to transmit control commands from external terminals, including: The data frame encapsulation unit is configured to encapsulate control commands into downlink data frames containing a synchronization field, a command type field, a command parameter field, and a check field. The modulation execution unit is configured to perform PWM encoding on the downlink data frame and to characterize the binary data state by adjusting the optical pulse duty cycle. The first optical transmitting unit uses a near-infrared light source with a center wavelength of 850nm as a signal transmitting source and is configured to transmit the encoded optical signal to the optical communication module. The uplink data link, built on the Manchester coding and modulation mechanism, is used to transmit environmental data collected by the multimodal sensing module, including: The data frame construction unit is configured to encapsulate sensor data into an uplink data frame containing a sensor identifier field, a data value field, and a verification field. The encoding execution unit is configured to perform Manchester encoding on the uplink data frame and achieve clock self-synchronization through level transitions within each bit period; The second optical transmitting unit uses a blue light source with a center wavelength of 405nm as the signal transmitting source and is configured to transmit the encoded optical signal to an external terminal.

[0008] Preferably, the preset optical communication protocol data frame structure sequentially includes a preamble, a device identifier, an address field, a data field, and a checksum; wherein, the preamble is a fixed bit sequence used for clock synchronization and frame start positioning; the device identifier is used to address a specific target among multiple micro-nano robots; the address field is used to specify the target module receiving data, including the multimodal sensing module, the driving module, or the power management module; the data field is used to carry the transmitted data content; the checksum is used for data integrity verification; wherein, the control module distributes the data field content to the corresponding target module by parsing the address field.

[0009] Preferably, the optical communication module includes: The photoelectric conversion unit is configured to receive a PWM-modulated optical signal and convert it into a current signal; A transimpedance amplifier unit is configured to amplify the current signal and convert it into a voltage signal; The hysteresis comparison unit is configured to convert the voltage signal into a digital signal through dual threshold voltage judgment logic; The decoding unit is configured to decode the digital signal through clock recovery and data decision logic to recover the original binary instructions.

[0010] Preferably, the hysteresis comparison unit includes: When the amplitude of the voltage signal rises from a low level to exceed a preset positive threshold voltage, the output flips to a high level. When the amplitude of the voltage signal drops from a high level to below a preset reverse threshold voltage, the output flips to a low level. The difference between the forward threshold voltage and the reverse threshold voltage constitutes a hysteresis voltage, which is used to suppress output jitter caused by signal noise.

[0011] Preferably, the real-time decoding of instructions received by the optical communication module in the control module includes: The preamble synchronization judgment step detects whether a preset synchronization code pattern appears in the input signal. If so, the frame reception process is started; otherwise, synchronization is re-established. The ID matching and judgment steps involve extracting the device identification code field and verifying it against the pre-configured ID inside the chip. If a match is successful, the parsing continues; otherwise, the processing is terminated. The address and data extraction steps involve extracting the address field and the data payload field sequentially. The checksum determination process involves extracting the frame end checksum for verification. If the verification passes, the data is output to the specified register; otherwise, the data frame is discarded and a retransmission mechanism is triggered.

[0012] Preferably, the power management module receives a sleep command issued by the control module according to the optical communication protocol, and dynamically manages the power supply status of the multimodal sensing module and the drive module based on the command, so that the system enters a low-power sleep mode during the task idle phase, wherein the overall power consumption of the system in the sleep mode is less than 50μW.

[0013] Preferably, the multimodal sensing module includes at least two of temperature sensors, pressure sensors, and chemical sensors, and the corresponding sensing front end adopts a reconfigurable architecture. The gain of the programmable amplifier and the topology of the feedback network are dynamically adjusted by the control module. When the control module receives conflicting multi-sensor data, it prioritizes the data from the temperature sensor for environmental status determination based on a preset arbitration strategy.

[0014] Preferably, the drive module integrates an 8-bit resistive digital-to-analog converter and a multi-channel rail-to-rail high-voltage drive circuit, which can output a stable analog voltage signal to directly drive the actuator of the micro-manipulator; the drive module further includes a 6-channel addressable rail-to-rail amplifier configured to control the 6 degrees of freedom of the micro-manipulator respectively.

[0015] The present invention also provides a control method for the integrated sensing, actuation, and control system for micro / nano robots based on the aforementioned optical communication protocol, comprising the following steps: Command issuance and reception steps: Generate control commands according to the preset optical communication protocol and issue them to the micro-nano robot through the optical communication module; Command parsing and configuration steps: The control module decodes the received commands and dynamically configures the sampling parameters of the multimodal sensing module and the motion mode of the driving module according to the command content; Environmental perception and motion execution steps: The multimodal perception module collects environmental data, and the drive module executes corresponding actions based on the drive signals output by the control module. Data feedback and closed-loop control steps: The sensed data is fed back to the external terminal through the optical communication module. The external terminal generates new instructions based on the fed-back data to realize closed-loop control. Power management steps: Based on optical communication commands or system status information, control each module to dynamically switch between working mode and sleep mode.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. High communication reliability: It adopts an uplink and downlink asymmetric optical communication protocol, combined with Manchester encoding, hysteresis comparison and wavelength optimization, which effectively overcomes signal attenuation and interference in complex environments (liquid, metal), and realizes stable, low-latency bidirectional communication.

[0017] 2. High system integration: The five major functional modules of communication, sensing, driving, control and power management are integrated into a single chip, which is small in size and light in weight, meeting the stringent requirements of micro-nano scale applications.

[0018] High functional flexibility: Through a reconfigurable sensing front end and configurable driver modules, the system can adapt to a variety of task requirements, and has extremely high environmental adaptability and task flexibility.

[0019] Extremely low power consumption: Based on an event-driven, fine-grained power management strategy, intelligent switching between working and sleep modes is achieved, making the system power consumption less than 50μW in idle state, which greatly extends the battery life.

[0020] 4. High control precision: The precise driving capability of 6 degrees of freedom and closed-loop control algorithm enable micro-nano robots to perform complex operation tasks, making high-precision applications possible.

[0021] 5. The preset optical communication protocol adopted in this invention can effectively solve several key problems in micro-nano robot communication systems, bringing the following effects: 1) Enhanced signal stability and reliability: The use of light sources of different wavelengths (850nm and 405nm) optimizes the stability of uplink and downlink data transmission, especially in weak light environments such as liquid media or biological cavities, maintaining low signal attenuation and strong signal penetration; through the cooperation of optical bandpass filters and hysteresis comparators, the system can effectively isolate ambient light interference, improve the anti-interference capability of the receiver, and ensure stable conversion of optical signals. 2) Efficient data transmission and low-latency control: The combination of PWM modulation and Manchester encoding not only optimizes the efficiency of data transmission, but also achieves flexible data representation through precise control of the duty cycle. PWM modulation can ensure efficient data transmission with low power consumption, while Manchester encoding ensures data synchronization with the clock, reduces timing errors, and further reduces communication latency. 3) Flexible Control and High Compatibility: By designing registers with configurable IDs, addresses, and data formats, the system can support independent control between different micro / nano robots while ensuring reliable and efficient data transmission. It supports the transmission of various communication data types and control commands, enabling the robot to flexibly perceive, drive, and control operations according to task requirements. 4) Low Power Consumption and High-Efficiency Operation: By dynamically adjusting the operating mode of the optical communication module, especially entering a low-power mode during idle periods, overall power consumption is effectively reduced, extending the endurance of the micro / nano robot in complex environments. The power management module optimizes power management by selectively starting and stopping different modules, ensuring the system maintains high performance during task execution and remains in a sleep state during non-operational periods. Through these designs and optimizations, this optical communication protocol solves the problems of signal attenuation, interference, delay, and data management in micro / nano robot systems, providing an efficient, stable, and low-power communication solution suitable for various complex application environments. Attached Figure Description

[0022] Figure 1 This is a block diagram of a micro / nano robot sensing, driving, and control integrated system based on optical communication protocol in an embodiment of the present invention; Figure 2 This is a flowchart of optical communication encoding and decoding in an embodiment of the present invention; Figure 3 This is a flowchart of the optical communication data protocol in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The term "comprising" and its variations as used herein are open-ended inclusion, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0025] It should be noted that the concepts of "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0026] It should be noted that the terms "a" and "a plurality of" used in this application disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0027] This invention provides a micro / nano robot sensing, driving, and control integrated system based on an optical communication protocol, including a control module, an optical communication module, a multimodal sensing module, a driving module, and a power management module connected to the control module. An optical communication module is used to achieve bidirectional optical signal transmission with an external system based on a preset optical communication protocol, and to perform mutual conversion between optical and electrical signals. The optical communication module includes an optical transmitter and an optical receiver. The optical transmitter transmits uplink data signals, and the optical receiver receives downlink control signals and converts the optical signals into digital signals through a decoding circuit. The principle is that downlink control commands are received through a miniature optical receiver and decoded using pulse width modulation (PWM). Its internal photocurrent detection circuit uses a hysteresis comparator to achieve stable optical signal detection. Specific decoding logic completes the conversion from optical signal to digital signal and transmits it to the control module. Uplink data is sent to the host computer through the miniature optical transmitter, using Manchester encoding for data transmission to improve communication anti-interference capability and clock synchronization performance.

[0028] The multimodal sensing module integrates a sensor array to collect environmental parameters through dynamic configuration by a control module. The data is then uploaded in real-time to an external terminal via an optical communication module, while simultaneously receiving sensing strategy adjustment commands from the terminal. The multimodal sensing module includes at least one sensor and its associated signal conditioning circuit. The signal conditioning circuit can adjust its gain or topology according to the configuration of the control module to adapt to different types of sensing signals. Its principle involves integrating multiple miniature sensors, such as temperature, pressure, and chemical sensors, to perceive physical, chemical, and biological multimodal information of the surrounding environment in real time, and then transmitting the data to a host computer via the optical communication module. The sensing circuit employs a reconfigurable design, allowing the control module to change the gain of the internal programmable amplifier and the topology of the resistive feedback network, combined with a successive approximation analog-to-digital converter (SARADC) to achieve adaptive adjustment for different signal ranges.

[0029] The drive module, based on the PWM drive signal output from the control module, drives the micro-mechanical actuator to achieve multi-degree-of-freedom motion. The drive module includes a digital-to-analog converter circuit and a multi-channel drive circuit. The drive circuit can output rail-to-rail range drive signals to achieve precise multi-degree-of-freedom control of the micro-mechanical actuator. Its principle is that the internal 8-bit resistive digital-to-analog converter (R-2RDAC) converts the digital control commands from the control module into stable analog voltage signals with low latency. Through a multi-channel rail-to-rail high-voltage drive circuit supporting wide swing output, this signal can directly act on the actuator of the micro-mechanical arm, achieving high-precision and fast-response motion control. The module further integrates a 6-channel addressable rail-to-rail amplifier, capable of independently driving the six degrees of freedom of the micro-mechanical arm, giving it flexibility and adaptability in complex environments and meeting the refined motion execution requirements of multi-task scenarios.

[0030] The power management module supplies power to each module and controls the system to switch between working and sleep modes according to instructions in a preset optical communication protocol. The power management module adopts a multi-voltage domain design and can selectively shut down the multimodal sensing module or drive module under the scheduling of the control module to reduce power consumption and extend operating time. To achieve low-power operation, the power management module features a 3.3V / 1.8V dual-voltage domain circuit structure. Different modules are powered independently in their respective voltage domains according to functional requirements, ensuring power stability and avoiding cross-domain interference. Under the scheduling of the control module, this module can dynamically start and stop the multimodal sensing unit and drive unit according to the task execution status, enabling the system to maintain high performance during task execution and enter a low-power sleep mode during idle periods. Through this flexible switching between working and sleep states, the overall chip power consumption is significantly reduced, thereby extending the endurance and effective working time of the micro-nano robot in complex environments.

[0031] The control module decodes commands received by the optical communication module in real time, dynamically configures the sampling parameters of the multimodal sensing module and the motion mode of the drive module according to the command content, uploads multimodal sensing data to an external terminal via the optical communication module, and receives protocol adjustment commands from the terminal. The control module has a built-in customized instruction set and logic control unit for dynamically configuring the multimodal sensing module and the drive module based on downlink communication signals. Its principle is to design a customized instruction set, configure internal registers through downlink data from the optical communication module, and control the specific sensing mode of the multimodal sensing module and the drive output voltage of the drive module. The host computer processes the signals sensed by the multimodal sensing module and sends optical signal commands to the optical communication module according to a preset program, thereby controlling the control module to achieve autonomous operation of the micro-nano robot. Furthermore, the control module can control the chip to enter sleep mode upon receiving a sleep command from the optical communication module.

[0032] The aforementioned system-integrated chip achieves environmental isolation and protection through packaging technology, thereby maintaining stable communication and sensing / control functions in various scenarios such as biomedicine, environmental monitoring, and industrial inspection.

[0033] In this embodiment, the present invention provides a design and implementation scheme for an integrated sensing, driving, and control system for optical communication micro-nano robots. The system comprises an optical communication module, a multimodal sensing module, a driving module, a control module, and a power management module. These components work collaboratively to achieve multimodal sensing, high-precision driving, and autonomous control of the micro-nano robot. The optical communication module of this system uses miniature light-emitting diodes (LEDs) as light transmitters and miniature photodiodes (PDDs) as light receivers, completing uplink and downlink data transmission via an optical link. The transmitter uses a near-infrared light source with a center wavelength of 850nm to reduce scattering loss during transmission in liquid media; a 405nm light source is used for specific biological tissue penetration scenarios. The minimum detection light intensity of the PDD is no higher than 0.1μW / cm². 2This ensures stable reception under low-light conditions. The receiver is equipped with an optical bandpass filter to limit the optical bandwidth to ±10nm, and a hysteresis comparator with an adjustable threshold voltage of 200mV~900mV is used to suppress ambient light interference. The downlink uses PWM modulation, with a duty cycle of 5%~25% corresponding to logic "0", 30%~50% to logic "1", 55%~75% to the "start" command indicating the start of data transmission, and 80%~100% to the "end" command indicating the end of data transmission. The uplink uses Manchester encoding and sets "1010" as the preamble and "1011" as the parity bit for clock synchronization. The receiver uses a transimpedance amplifier and a hysteresis comparator to perform optical signal detection, achieving stable conversion of the optical signal to a digital signal, thereby sending commands to the control module. See [link to relevant documentation]. Figure 2 As shown.

[0034] The control module, as the core scheduling unit of the system, incorporates a customized lightweight instruction set and achieves low-latency instruction parsing and task distribution through an on-chip finite state machine. This module supports downlink optical communication commands to dynamically configure internal registers, thereby flexibly adjusting the sampling mode, amplification factor, and output parameters of the multimodal sensor and drive modules. After receiving the sensing data, the external host computer processes it, generates control commands according to a preset program, and sends them to the chip via optical communication, enabling the micro-nano robot to operate autonomously under specific tasks. This module also supports rapid switching between sleep and operating modes, with mode switching commands triggered via optical communication.

[0035] The multimodal sensing module integrates a pH sensor (output voltage change), a glucose sensor (output current change), a piezoresistive pressure sensor, and an on-chip temperature sensor. It is equipped with a reconfigurable front-end amplifier, supporting multiple sensor inputs with a gain switching delay of no more than 2μs. Seamless switching between 1x, 4x, 10x, and 100x is possible under high sampling rates. When data from multiple sensors conflict, the system prioritizes the temperature sensor data for environmental determination, improving environmental adaptability. The analog-to-digital converter (ADC) uses a 10-bit SARADC, consuming no more than 10μW at a 1kSPS sampling rate. Dynamic component matching technology is incorporated, using capacitor array rotation to reduce mismatch errors and ensure high-precision acquisition of weak signals. The reconfigurable sensing front-end, specifically the signal conditioning circuit, is the core of the reconfigurable design. It typically includes a programmable gain amplifier and a configurable feedback network. Dynamic adjustment: The control module can dynamically adjust the gain (e.g., 1x, 4x, 10x, 100x) by sending configuration words to the PGA via SPI or I2C bus. For example, when a weak chemical signal is detected, the control module switches the PGA gain to 100x to amplify the signal; when a strong signal is detected, it switches to 1x to avoid amplifier saturation. Topology switching: The configurability of the feedback network allows the front-end circuitry to adapt to different types of sensor outputs (such as voltage-type and current-type), optimizing signal conditioning matching. Data conflict arbitration: When multiple sensors operate simultaneously and output data, conflicts may occur (for example, a rise in temperature may simultaneously affect the readings of chemical sensors). To address this, the control module incorporates priority arbitration logic. In the event of a conflict, the system prioritizes the temperature sensor data as the benchmark for determining the environmental state. Because temperature is a fundamental parameter affecting almost all physical and chemical processes, using it as a benchmark for data fusion or correction can improve the accuracy and reliability of data from other sensors.

[0036] The drive module controls the motion actuators of the micro / nano robot. Internally, it features an 8-bit resistive DAC that rapidly converts digital control signals into analog voltages, achieving high-precision, low-latency actuation. The drive output section integrates a 6-channel addressable rail-to-rail amplifier, with an output swing covering the actuator's driving requirements, supporting precise control of the 6-DOF micromanipulator. To enhance reliability, each channel is equipped with overvoltage protection circuitry, and the gate clamping diodes have a trigger voltage of 3.6V. Furthermore, the channel isolation is greater than 45dB at 1kHz, effectively preventing signal crosstalk. The drive module integrates an 8-bit resistive digital-to-analog converter and a multi-channel rail-to-rail high-voltage drive circuit, capable of outputting stable analog voltage signals to directly drive the actuators of the micro-robotic arm. The drive module further includes a 6-channel addressable rail-to-rail amplifier, capable of independently controlling the 6 degrees of freedom of the micro-robotic arm. The drive circuit contains 6 independent channels, and the control module can selectively send drive signals to any one or more channels via address lines. Each channel drives an independent actuator (such as a microelectrode or piezoelectric ceramic arm). Through these 6 independently addressable channels, the system can precisely control a micro-robotic arm to achieve 6 degrees of freedom of motion (e.g., translation along the X / Y / Z axes and rotation around the X / Y / Z axes). This enables micro- and nano-robots to perform complex posture adjustments and operations in three-dimensional space, such as grasping, rotation, and precise positioning.

[0037] The power management module provides stable and reliable power support for all functional units of the system. Its input voltage is 1.8V, and it achieves dual regulation through an on-chip high-efficiency DC-DC converter and a low-dropout linear regulator (LDO), achieving a regulation accuracy of ±1% and an output ripple of no more than 10mV, ensuring low-noise power supply for sensitive circuits. The module has rapid recovery capability when the load current experiences transient fluctuations, with an output voltage stabilization time of less than 5μs. This module further incorporates a sleep management mechanism, which automatically shuts down high-power units, such as the multimodal sensing module and the driving module, during non-sampling and non-driving phases, keeping the overall average system power consumption below 100μW and sleep mode power consumption below 50μW, thereby achieving energy efficiency optimization and stability assurance for long-term operation. The power management module is key to achieving long system endurance, and its design embodies the refined power management concept of "powering on demand." Operating Modes: The system mainly operates in two modes: operating mode and sleep mode. Operating Mode: All modules (or modules required by the task) run at full speed, with high power consumption (e.g., several mW). Sleep Mode: This is the core low-power state of this invention. In this mode, the power management module cuts off or significantly reduces power supply to high-power modules (such as the driver module, most sensors in the multimodal sensing module, and the transmitting unit of the optical communication module). Only the core part of the control module, the low-power receiving unit of the optical communication module, and the power management module itself remain in standby mode. At this time, the overall system power consumption can be reduced to below 50μW, greatly extending battery life. Mode Switching Logic: Entering Sleep Mode: When an external terminal sends a specific "sleep command" to the system, the command is parsed by the optical communication module and the control module, and finally sent to the power management module in the form of a control signal. After receiving the signal, the power management module performs a series of switching operations, shutting down the power rails of non-essential modules, causing the system to enter sleep mode. Wake-up: In sleep mode, the receiving unit of the optical communication module continues to listen. When a valid "wake-up command" (also in the form of an optical signal) is received, its internal wake-up circuit (usually a low-power comparator) is triggered, generating an interrupt signal to the control module. The control module is then awakened and instructs the power management module to restore power to all modules. The system switches from sleep mode back to working mode in a very short time (<1ms) to prepare to execute new tasks.

[0038] In micro- and nano-robotic systems, especially in complex and dynamically changing microenvironments (such as biomedicine, environmental monitoring, and precision industrial inspection), communication systems face the following challenges: 1. Signal stability in low-light environments: In the application environments of micro- and nano-robotic systems, particularly in narrow, poorly lit environments such as liquid media or biological cavities, communication signals are severely attenuated or interfered with. Traditional wireless communication (such as radio frequency communication) performs poorly in these environments, especially when transmitted within liquid media or metal structures, where radio frequency signals are easily attenuated or shielded, leading to signal instability. 2. Insufficient anti-interference capability: External light sources and changes in ambient light can interfere with data transmission. Especially in dynamic environments, ambient light interference may occur, causing the receiver to be unable to accurately identify the optical signal. Traditional optical communication systems typically lack good anti-interference design and are easily affected by these factors, leading to mistransmission or packet loss. 3. Efficient data transmission and latency control: Micro- and nano-robotic systems typically need to respond to external commands and environmental changes in real time, requiring communication protocols to provide low-latency command transmission and data exchange. Traditional optical communication systems, especially those using simple modulation and demodulation techniques, may not meet the requirements for high efficiency and low latency. 4. Efficient Management of Multiple Data Types: Micro- and nano-robots need to process multiple types of data simultaneously (such as sensor data, control commands, and status feedback), which may have different priorities and transmission requirements. How to rationally arrange uplink and downlink data transmission to ensure the priority and synchronization between different data types is also a problem that optical communication protocols need to solve.

[0039] To address the aforementioned issues, the preset optical communication protocol employs an asymmetric uplink and downlink configuration, specifically including: A downlink command link is constructed based on a pulse width modulation (PWM) coding mechanism for transmitting control commands from an external terminal. This link includes: a data frame encapsulation unit for encapsulating control commands into downlink data frames containing synchronization fields, command type fields, command parameter fields, and check fields; a modulation execution unit using PWM coding to represent the binary data state by adjusting the optical pulse duty cycle; and a first optical emission unit using a near-infrared light source with a center wavelength of 850nm as the signal emission source to transmit the encoded optical signal to the optical communication module.

[0040] The downlink command link can be understood as follows: it employs wide-modulation coding, the core of which lies in a level transition in the middle of each bit cycle. This not only carries data information but also implicitly contains clock information, achieving clock self-synchronization and avoiding reception errors caused by clock drift. In noisy environments, this coding method's anti-interference capability is far superior to NRZ (non-return-to-zero) and other coding methods. Physical layer: It uses an 850nm near-infrared light source. This band has good penetration in biological tissues and liquid media such as water, with low scattering loss, making it suitable for command transmission in liquid environments such as biomedicine. Data frame encapsulation: Commands are encapsulated into structured data frames, including a synchronization field (e.g., 10101010, used by the receiver to lock the frame start), a command type field (e.g., 00 represents sensing configuration, 01 represents motion control), a command parameter field (specific configuration values), and a check field (e.g., CRC-8, ensuring data integrity).

[0041] An uplink is constructed based on the Manchester coding and modulation mechanism to transmit environmental data collected by the multimodal sensing module, including: The data frame construction unit is used to encapsulate sensor data into an uplink data frame containing a sensor identification field, a data value field, and a verification field; the encoding execution unit is used to perform Manchester encoding on the uplink data frame and achieve clock self-synchronization through level transitions within each bit cycle; the second optical transmission unit uses a blue light source with a center wavelength of 405nm as a signal transmission source to transmit the encoded optical signal to an external terminal.

[0042] The uplink implementation can be understood as follows: Pulse Width Modulation (PWM) coding is used. PWM represents "0" and "1" by changing the duty cycle (the proportion of high-level time) of the light pulse. This is simple, low-power, and allows for flexible adjustment of the data rate by adjusting the duty cycle, achieving adaptive bandwidth. The physical layer uses a 405nm blue light source. Blue light has high energy and strong penetration, especially when penetrating micro / nano robot encapsulation materials or thin tissues, ensuring effective signal transmission. Data frame construction: Sensor data is encapsulated into data frames containing a sensor identification field (indicating whether the data comes from a temperature, pressure, or pH sensor), a data value field (the quantized value from the sensor), and a check field (such as parity checking for simple error detection). Thus, the asymmetric design of this protocol is not only a separation of wavelengths but also a separation of coding strategy and performance indicators. The downlink prioritizes reliability over speed, while the uplink prioritizes speed over complexity. This customized design based on data flow characteristics is a core innovation that distinguishes it from general communication protocols (such as Bluetooth and Wi-Fi), enabling it to achieve optimal performance in resource-constrained micro / nano robot scenarios.

[0043] To establish the foundation for multi-robot collaboration and inter-module communication, a pre-defined optical communication protocol defines a standardized data frame structure. This data frame structure sequentially includes a preamble, a device identifier, an address field, a data field, and a checksum. The preamble is a fixed bit sequence (e.g., 1010) used for clock synchronization and frame start positioning, synchronizing the data frame. The device identifier, such as a 4-8 bit unique ID, is used to address a specific target among multiple micro- and nano-robots, assigning independent control commands to different micro-robots. The address field (4 bits) specifies the target module receiving the data, including internal register addressing and output drive signal addressing. For example, address 0001 represents data to be sent to the multimodal sensing module, 0010 represents the drive module, and 0011 represents the power management module. After parsing this field, the control module distributes the data field content to the corresponding module via the internal bus, achieving on-chip module routing. The target module includes the multimodal sensing module, drive module, or power management module. The control module distributes the data field content to the corresponding target module by parsing the address field. Data Field: 8-bit data corresponds to DAC output data or switch on / off states, carrying specific instructions or data content. Checksum: Used for data transmission verification to ensure data integrity. This data structure design ensures that each register not only has a unique identifier but also guarantees communication reliability and flexibility, supporting independent control between multiple robots. Working Logic: When the control module receives a data frame, it first synchronizes via a preamble and then checks if the device ID matches. If they don't match, the frame is discarded. If they match, the address field is parsed, and the data field content is written into the corresponding module's register. For example, if a frame's address field points to the drive module, and the data field content is "Motor A speed 50%", the control module will write this parameter into the drive module's control register to adjust the motor speed.

[0044] Furthermore, the preset optical communication protocol further includes an adaptive power control sub-protocol in its implementation logic. This sub-protocol is executed by the control module in conjunction with the optical communication module, and its execution steps include: a. The optical communication module monitors the optical power intensity of the received optical signal in real time and reports the intensity value to the control module; b. The control module compares the optical power intensity with a preset threshold set. If the optical power intensity of N consecutive received frames is lower than the first threshold, the communication link quality is determined to be degraded. c. The control module generates a power boost instruction, which is encapsulated into a PWM encoded frame in accordance with the downlink logic to indicate an increase in optical transmission power; d. If the optical power intensity of M consecutive received frames exceeds the second threshold, the control module generates a power reduction command to optimize system power consumption, where N and M are preset positive integers. Traditional solutions either use a fixed high power to ensure communication even in the worst-case scenario, but this wastes energy and significantly shortens battery life; or they use a fixed low power to pursue long battery life, but this makes the system unable to work when channel conditions are slightly poor, resulting in extremely poor robustness. This embodiment, through real-time monitoring and dynamic adjustment, makes the system act like an intelligent "energy-saving manager," allocating energy "on demand." When the channel is good, it uses the lowest power consumption; when the channel is poor, it automatically increases power consumption to maintain connection. This dynamic balance ensures that the system can maintain stable communication in the most energy-efficient way under any environment, perfectly resolving the inherent contradiction between reliability and power consumption.

[0045] In one application scenario, a micro-nano robot is injected into the blood vessels of a laboratory animal to detect plaque within the blood vessels. An external terminal (a high-precision optical control console) is located outside the animal and is responsible for controlling the robot's movement and receiving the sensory data it transmits.

[0046] 1. Scene setup and parameter initialization System parameters: Optical power monitoring: The receiving end (photodiode and TIA) of the optical communication module integrates an optical power monitoring circuit, which can estimate the received optical power intensity (unit: dBm) in real time and report this value to the control module through an internal bus (such as I2C).

[0047] Threshold set: First threshold (degradation threshold): -50dBm. This is the minimum optical power threshold required for the system to stably decode Manchester code. Below this value, the bit error rate will increase dramatically.

[0048] Second threshold (excellent threshold): -30dBm. At this optical power, the signal quality is very good and the bit error rate is extremely low.

[0049] counter: N (Degradation Counter): Default is 5. This means that a link degradation is only determined after 5 consecutive frames of signal strength are below -50dBm, preventing false triggering due to momentary interference.

[0050] M (Goodness Counter): Default is 10. This means that 10 consecutive frames of signal strength above -30dBm are required to determine that the link quality is good, ensuring a more robust decision to reduce power.

[0051] Optical transmit power levels: Low power: 1mW. Default operating level with the lowest power consumption; Medium power: 3mW; High power: 5mW. Maximum power level, used to cope with the most severe channel conditions.

[0052] 2. Detailed Explanation of Implementation Steps Phase 1: Initial state (superficial blood vessels, good channel conditions) Action: The micro-nano robot has just been injected into a superficial blood vessel near the skin. At this time, the tissue's absorption and scattering of light are weak, and the intensity of the 850nm light signal emitted by the external terminal is relatively high when it reaches the robot.

[0053] Protocol execution process: Step a (Monitoring and Reporting): The optical communication module monitors the received optical power intensity in real time as -25dBm, which is much higher than -30dBm. This value is continuously reported to the control module.

[0054] Step b (Comparison and Judgment): The control module compares -25dBm with the threshold set. It is higher than the second threshold (-30dBm), so the "good counter" starts to accumulate. When 10 consecutive frames (M=10) are higher than -30dBm, the control module determines that the current communication link quality is good.

[0055] Step d (Generate Power Reduction Command): The control module determines that the current 1mW transmit power is redundant. In order to save valuable onboard energy, it generates a power reduction command. This command is encapsulated into a PWM encoded frame, with the command type field being "Protocol Adjustment" and the command parameter field being "Set Transmit Power = 1mW".

[0056] Execution: This instruction is sent to the transmitter control logic of the optical communication module via the internal bus. The transmitter adjusts the laser drive current to the corresponding 1mW level.

[0057] System status: The system is operating stably with the lowest power consumption (1mW transmit power) and the battery life is maximized.

[0058] Phase Two: Link Degradation (Deepening into the underlying organization, channel conditions worsen) Action: The micro-nano robot moves with the blood flow, penetrating deep into the animal's organs (such as the liver). At this point, the light signal needs to pass through thicker biological tissue, where absorption and scattering effects are significantly enhanced, resulting in a sharp decrease in the intensity of the light signal reaching the robot.

[0059] Protocol execution process: Step a (Monitoring and Reporting): The optical communication module detects that the received optical power intensity drops sharply to -55dBm and immediately reports it to the control module.

[0060] Step b (Comparison and Judgment): The control module compares -55dBm with the first threshold (-50dBm) and finds it to be lower than the threshold. Therefore, the "degradation counter" begins to increment. Due to the continued deterioration of the channel, the signal strengths of the next four frames are -56dBm, -58dBm, -57dBm, and -55dBm, all lower than -50dBm. When five consecutive frames (N=5) are below the threshold, the control module officially determines that the communication link quality has degraded.

[0061] Step c (Generate Boost Command): To avoid communication interruption, the control module immediately generates a power boost command. This command is encapsulated into a PWM encoded frame, with the command type being "Protocol Adjustment" and the command parameter being "Set Transmit Power = 3mW" (first boost).

[0062] Execution: The transmitter of the optical communication module increases its power to 3mW. With the increased transmission power, the intensity of the optical signal reaching the robot increases accordingly, for example, rising back to -40dBm, restoring it to a level that can be stably decoded.

[0063] System status: The system successfully countered channel degradation by adaptively increasing power (to 3mW), ensuring continuous reception of control commands and allowing the mission to continue.

[0064] Phase 3: Further Link Degradation and Extreme Response Action: The robot moves to an area with slower blood flow and higher tissue pigmentation, further deteriorating channel conditions. Even with a transmission power of 3mW, the received optical power drops again to -52dBm.

[0065] Protocol execution process: Steps a & b: The optical communication module continues to report low power values. The control module's "degradation counter" increments to 5 again, indicating that the link has degraded again.

[0066] Step c: The control module generates a second power boost command with the parameter "Set transmit power = 5mW" (highest level).

[0067] Execution: Transmit power increased to 5mW, received optical power recovered to -35dBm, and communication link returned to stability.

[0068] System status: The system operates at maximum power (5mW). Although power consumption is increased, it ensures communication reliability in extremely harsh environments, which is the last guarantee for completing the mission.

[0069] Phase 4: Link Recovery (Return to Shallow Area) Action: Mission accomplished, the micro-nano robot returns to the superficial blood vessels near the skin via the blood flow.

[0070] Protocol execution process: Steps a & d: The optical communication module detects that the received optical power has recovered to -28dBm. The control module's "good counter" begins to accumulate. When 10 consecutive frames (M=10) are above -30dBm, the control module determines that the link quality is good.

[0071] Step d: The control module generates a power reduction command, initially reducing the power from 5mW to 3mW. After monitoring for a period of time, if the link remains good, a command is generated again to reduce the power from 3mW to 1mW.

[0072] System status: The system intelligently reduces power step by step, eventually returning to the lowest power consumption level of 1mW, thus reserving sufficient energy for the next task.

[0073] In one embodiment, the optical communication module includes: a photoelectric conversion unit for receiving a PWM-modulated optical signal and converting it into a current signal; and a transimpedance amplifier unit for amplifying the current signal and converting it into a voltage signal; typically, a high-sensitivity avalanche photodiode or PIN photodiode is used. When a PWM-modulated optical signal is received, it generates a weak current signal proportional to the light intensity. To avoid interference from ambient light, the receiver is equipped with an optical bandpass filter, limiting the optical bandwidth to ±50nm. This ensures high isolation between uplink and downlink signals and effectively shields the signal from the influence of stray light.

[0074] The hysteresis comparator unit is used to convert the voltage signal into a digital signal through dual threshold voltage judgment logic. In the photocurrent detection circuit, the hysteresis comparator stabilizes the optical signal conversion process with a fixed threshold voltage, further enhancing anti-interference capabilities. Under dynamic light source changes or ambient light interference, the hysteresis comparator suppresses false judgments through delayed response, ensuring accurate signal decoding. The optical signal conversion at the receiving end achieves stable conversion of the photocurrent signal through the cooperation of a transimpedance amplifier (TIA) and the hysteresis comparator. By adjusting the threshold voltage of the hysteresis comparator, the receiving end can automatically adapt to changes in signal strength under different lighting conditions, thereby maintaining stable signal reception capability. Its core function is to amplify and convert the weak current signal (nA~μA level) output by the photodiode into a usable voltage signal (mV~V level). Its performance indicators (such as transimpedance gain, bandwidth, and noise figure) directly determine the receiver's sensitivity. A high-performance TIA can operate under extremely weak light intensity (e.g., <0.1μW / cm²). 2 It can still output a recognizable signal.

[0075] The decoding unit is used to decode the digital signal through clock recovery and data decision logic to recover the original binary instruction. In this implementation, the downlink PWM modulation uses PWM modulation to represent data and instructions, transmitting different data by changing the duty cycle. Specifically, the design is as follows: 5%~25% duty cycle: logic "0", 30%~50% duty cycle: logic "1", 55%~75% duty cycle: instruction "start" (data transmission begins), 80%~100% duty cycle: instruction "end" (data transmission ends). This encoding method uses the change of duty cycle to transmit information, which can ensure the stability of downlink data transmission and simplify the implementation of modulation and demodulation.

[0076] In one embodiment, the hysteresis comparator unit includes: when the amplitude of the voltage signal rises from a low level to exceed a preset positive threshold voltage, the output flips to a high level; when the amplitude of the voltage signal falls from a high level to below a preset reverse threshold voltage, the output flips to a low level; the difference between the positive threshold voltage and the reverse threshold voltage constitutes the hysteresis voltage, used to suppress output jitter caused by signal noise. The hysteresis comparator unit is the core of this invention; it is not a simple single-threshold comparator, but a Schmitt trigger with dual thresholds (positive threshold V_TH+ and reverse threshold V_TH-). When the voltage signal output by TIA rises from a low level, it must exceed V_TH+ for the output of the hysteresis comparator to flip to a high level; when the signal falls from a high level, it must fall below V_TH- for the output to flip to a low level. The difference between V_TH+ and V_TH- is called the hysteresis voltage. Anti-interference principle: At signal edges, if noise is present, the signal voltage may fluctuate back and forth around a single threshold, causing a common comparator to output multiple erroneous pulses (called "ringing" or "jitter"). Once the hysteresis comparator flips, a significant reverse change in the signal (hysteresis voltage) is required before it flips again, effectively filtering out noise and ensuring a "clean" and "stable" output digital signal. This is crucial for subsequent decoding. Utilizing a specific duty cycle range in PWM modulation, internal timers and counters detect the pulse width, thereby decoding the corresponding logic value or instruction. Ultimately, a string of PWM code stream is restored to the original binary instruction data.

[0077] In one embodiment, the real-time decoding of instructions received by the optical communication module in the control module includes: The preamble synchronization judgment step checks whether a consecutive 4-bit binary code 1010 appears in the input signal. If so, the frame reception process is started; otherwise, synchronization is re-established. The state machine considers the detection of the start of a valid frame and starts the frame reception process. If no frame is detected within a predetermined time, it re-enters the synchronization waiting state. This prevents the system from being falsely triggered by random noise.

[0078] The ID matching and judgment process involves extracting the device identifier field and comparing it with a pre-configured ID within the chip. If a match is found, parsing continues; otherwise, processing terminates. Upon successful synchronization, the state machine extracts the immediately following device identifier field and compares it with a pre-configured unique ID in the chip's EEPROM or register. If they do not match, it indicates the instruction was not intended for this robot, and the state machine immediately terminates processing of the current frame, discards all subsequent data, and returns to the synchronization waiting state. This achieves hardware-level authentication, preventing accidental operations.

[0079] The address and data extraction steps involve sequentially extracting the address field and data payload field. After successful ID matching, the state machine continues to extract the address field and data payload field and temporarily stores them in an internal buffer register. The checksum determination step involves extracting the frame tail checksum and comparing it with a preset value of 1011. If a match is found, data is output to a designated register; otherwise, the data frame is discarded and a retransmission is requested. The state machine extracts the frame tail checksum. In this invention, a fixed checksum of 1011 is used (or a more complex checksum such as CRC). The state machine compares the received checksum with the preset value. If a match is found, the data frame is considered to have no errors during transmission. The state machine writes the address and data content from the buffer register to the corresponding target module (such as the configuration register of the sensing module or the control register of the driver module), completing one instruction execution. If a mismatch is found, the data frame is considered corrupted. The state machine discards the frame and can send a NAK (Negative Acknowledgment) signal to the host computer via the optical communication module to request retransmission. This decoding logic constructs a multi-layered filtering and security mechanism. From frame synchronization of the preamble to identity authentication of the ID, and then to data integrity verification of the check code, each step is a "checkpoint" that ensures that only legal, complete, and correct instructions can be executed. This is crucial for applications with high reliability requirements, such as medical implants and precision industries.

[0080] See Figure 3 As shown, the control method of the above system in this embodiment of the invention is a complete closed-loop process, reflecting the collaborative work of each module of the system, including the following steps: Step S1: Command Issuance and Reception: The external terminal generates control commands conforming to the preset optical communication protocol of this invention (e.g., "Move to coordinate A, turn on pH sensor") according to task requirements. This command is encoded as a PWM modulation signal and sent to the micro-nano robot. The optical communication module on the robot receives and decodes the command.

[0081] Step S2: Instruction Parsing and Configuration: The control module parses the decoded instructions. Based on the address field in the instruction, it determines whether to send it to the drive module or the sensing module. If it is sent to the drive module, it parses the motion parameters and generates a PWM modulation signal with the corresponding duty cycle; if it is sent to the sensing module, it configures the sensor type and sampling frequency.

[0082] Step S3: Environmental Perception and Motion Execution: The drive module drives the micro-robotic arm to start moving according to the PWM modulation signal. At the same time, the multimodal perception module begins to collect environmental data (such as the pressure at the current location and the pH value of the target area) according to the configuration.

[0083] Step S4: Data Feedback and Closed-Loop Control: The multimodal sensing module packages the collected data and transmits it back to the external terminal via the optical communication module using Manchester-encoded signals. The software on the terminal receives the data and performs real-time analysis and processing. For example, if the analysis detects that the robot has deviated from the predetermined path or the pH value has not reached the target, the terminal will immediately generate a new correction command (such as "turn 5 degrees to the left and continue moving") and send it to the robot via the optical link, forming a real-time perception-decision-execution closed loop.

[0084] Step S5: Power Management: During the entire task, if the system enters a waiting state (such as waiting for a chemical reaction to occur), the external terminal can send a "sleep" command. Upon receiving the command, the power management module will shut down the drive module and most sensors, putting the system into sleep mode to save power. When the task needs to continue, it can be activated again via a "wake-up" command.

[0085] Example 1 This embodiment illustrates the application effect of the system integrated into the chip in a biomedical environment. The chip is integrated into the micro / nano robot body and tested in a simulated bodily fluid environment. The optical communication module serves as both uplink and downlink, enabling bidirectional data transmission between the robot and an external optical terminal. During continuous operation for over 30 minutes, communication remained stable, with no signal interruptions or significant interference, demonstrating the reliability of the optical communication module in complex media.

[0086] Under the same environment, the chemical and temperature sensors in the multimodal sensing module acquire environmental parameters in real time. The output signals are processed by the control module and uploaded to an external terminal via the optical communication module. Experimental results show that the sensing module can maintain high signal stability and sensitivity in complex backgrounds, with the temperature sensor achieving a measurement resolution better than 0.1℃.

[0087] To ensure long-term performance, the chip is encapsulated with a flexible biocompatible material with a thickness of about 50 micrometers, which can provide good protection in the body fluid environment and effectively reduce external interference to optical communication and sensing performance, thus verifying the feasibility and stability of the invention in biomedical scenarios.

[0088] Example 2 This embodiment illustrates the application effect of the system of the present invention in industrial inspection scenarios. The system is integrated into a chip embedded in a miniature inspection robot for inspection tasks in metal pipes or other confined spaces. Pressure and environmental sensors in the multimodal sensing module collect real-time information about the internal state of the pipe and upload the processed data to a host computer via an optical communication module. Results show that even in a confined metal space, the optical communication module can still ensure effective signal transmission, with a communication distance of up to tens of centimeters, avoiding the interference and attenuation problems common to traditional radio frequency communication in such scenarios.

[0089] During the inspection task, the control module schedules the drive module in real time based on the collected environmental information, driving the robot's actuators to complete precise posture adjustments and motion operations. The drive module can flexibly control the six-degree-of-freedom actuators, enabling comprehensive inspection of different locations inside the pipeline.

[0090] In this scenario, the power management module dynamically starts and stops some sensing or driving units according to task requirements, thereby significantly reducing power consumption and enabling the robot to operate stably for extended periods within a confined space. Test results show that the chip of this invention maintains high reliability and low power consumption characteristics even with an average power consumption of less than 100uW, providing effective support for complex detection tasks.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A micro / nano robot sensing, driving, and control integrated system based on an optical communication protocol, characterized in that, This includes a control module, as well as an optical communication module, a multimodal sensing module, a driver module, and a power management module connected to the control module: The optical communication module is configured to achieve bidirectional transmission of optical signals with an external system based on a preset optical communication protocol, and to complete the mutual conversion between optical signals and electrical signals; The multimodal sensing module integrates a sensor array and is configured to collect environmental parameters through dynamic configuration of the control module, and upload the collected data to an external terminal in real time via an optical communication module, while receiving sensing strategy adjustment instructions from the terminal. The drive module is configured to drive the micro-mechanical actuator to achieve multi-degree-of-freedom motion based on the PWM drive signal output by the control module; The power management module is configured to supply power to each module and control the system to switch between working mode and sleep mode according to the instructions in the preset optical communication protocol. The control module is used to decode the instructions received by the optical communication module in real time, dynamically configure the sampling parameters of the multimodal sensing module and the motion mode of the driving module according to the decoding results, upload the multimodal sensing data to the external terminal through the optical communication module, and receive the protocol adjustment instructions issued by the terminal.

2. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The preset optical communication protocol adopts an uplink and downlink asymmetric architecture, including: The downlink command link, built on a pulse width modulation coding mechanism, is used to transmit control commands from external terminals, including: The data frame encapsulation unit is configured to encapsulate control commands into downlink data frames containing a synchronization field, a command type field, a command parameter field, and a check field. The modulation execution unit is configured to perform PWM encoding on the downlink data frame and to characterize the binary data state by adjusting the optical pulse duty cycle. The first optical transmitting unit uses a near-infrared light source with a center wavelength of 850nm as a signal transmitting source and is configured to transmit the encoded optical signal to the optical communication module. The uplink data link, built on the Manchester coding and modulation mechanism, is used to transmit environmental data collected by the multimodal sensing module, including: The data frame construction unit is configured to encapsulate sensor data into an uplink data frame containing a sensor identifier field, a data value field, and a verification field. The encoding execution unit is configured to perform Manchester encoding on the uplink data frame and achieve clock self-synchronization through level transitions within each bit period; The second optical transmitting unit uses a blue light source with a center wavelength of 405nm as the signal transmitting source and is configured to transmit the encoded optical signal to an external terminal.

3. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The preset optical communication protocol's data frame structure sequentially includes a preamble, a device identifier, an address field, a data field, and a checksum. The preamble is a fixed bit sequence used for clock synchronization and frame start positioning. The device identifier is used to address a specific target among multiple micro / nano robots. The address field specifies the target module receiving the data, including the multimodal sensing module, driving module, or power management module. The data field carries the transmitted data content. The checksum is used for data integrity verification. The control module distributes the data content to the corresponding target module by parsing the address field.

4. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The optical communication module includes: The photoelectric conversion unit is configured to receive a PWM-modulated optical signal and convert it into a current signal; A transimpedance amplifier unit is configured to amplify the current signal and convert it into a voltage signal; The hysteresis comparison unit is configured to convert the voltage signal into a digital signal through dual threshold voltage judgment logic; The decoding unit is configured to decode the digital signal through clock recovery and data decision logic to recover the original binary instructions.

5. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 4, characterized in that, The hysteresis comparison unit includes: When the amplitude of the voltage signal rises from a low level to exceed a preset positive threshold voltage, the output flips to a high level. When the amplitude of the voltage signal drops from a high level to below a preset reverse threshold voltage, the output flips to a low level. The difference between the forward threshold voltage and the reverse threshold voltage constitutes a hysteresis voltage, which is used to suppress output jitter caused by signal noise.

6. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The real-time decoding of instructions received by the optical communication module in the control module includes: The preamble synchronization judgment step detects whether a preset synchronization code pattern appears in the input signal. If so, the frame reception process is started; otherwise, synchronization is re-established. The ID matching and judgment steps involve extracting the device identification code field and verifying it against the pre-configured ID inside the chip. If a match is successful, the parsing continues; otherwise, the processing is terminated. The address and data extraction steps involve extracting the address field and the data payload field sequentially. The checksum determination process involves extracting the frame end checksum for verification. If the verification passes, the data is output to the specified register; otherwise, the data frame is discarded and a retransmission mechanism is triggered.

7. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The power management module receives the sleep command issued by the control module according to the optical communication protocol, and dynamically manages the power supply status of the multimodal sensing module and the drive module based on the command, so that the system enters a low-power sleep mode during the task idle phase, wherein the overall power consumption of the system in the sleep mode is less than 50μW.

8. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The multimodal sensing module includes at least two of the following: a temperature sensor, a pressure sensor, and a chemical sensor. The corresponding sensing front end adopts a reconfigurable architecture. The gain of the programmable amplifier and the topology of the feedback network are dynamically adjusted by the control module. When the control module receives conflicting multi-sensor data, it prioritizes the data from the temperature sensor for environmental status determination based on a preset arbitration strategy.

9. The integrated sensing, driving, and control system for micro / nano robots based on optical communication protocols according to claim 1, characterized in that, The drive module integrates an 8-bit resistive digital-to-analog converter and a multi-channel rail-to-rail high-voltage drive circuit, which can output a stable analog voltage signal to directly drive the actuator of the micro-manipulator; the drive module further includes a 6-channel addressable rail-to-rail amplifier, configured to control the 6 degrees of freedom of the micro-manipulator respectively.

10. A control method for a micro / nano robot sensing, driving, and control integrated system based on an optical communication protocol as described in any one of claims 1-9, characterized in that, Includes the following steps: Command issuance and reception steps: Generate control commands according to the preset optical communication protocol and issue them to the micro-nano robot through the optical communication module; Command parsing and configuration steps: The control module decodes the received commands and dynamically configures the sampling parameters of the multimodal sensing module and the motion mode of the driving module according to the command content; Environmental perception and motion execution steps: The multimodal perception module collects environmental data, and the drive module executes corresponding actions based on the drive signals output by the control module. Data feedback and closed-loop control steps: The sensed data is fed back to the external terminal through the optical communication module. The external terminal generates new instructions based on the fed-back data to realize closed-loop control. Power management steps: Based on optical communication commands or system status information, control each module to dynamically switch between working mode and sleep mode.

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