A method and system for cleaning dirt based on a cluster type magnetic micro robot

Abstract

The application discloses a dirt cleaning method and system based on a cluster type magnetic micro robot, and relates to the technical field of cleaning and micro robot. A plurality of flexible robot units with magnetic responsiveness are placed in a fluid medium of a surface to be cleaned to form a robot cluster; a time-varying magnetic field and / or a spatial gradient magnetic field is generated by an external magnetic control device to drive the robot cluster to cooperatively perform at least one preset group motion mode in the fluid medium to remove dirt on the surface to be cleaned; and after cleaning is completed, a directional gradient magnetic field is applied by the magnetic control device to guide the robot cluster to a designated recovery area. Therefore, the application is non-contact driven based on a magnetic field, and reliable recovery of the robot is completed by applying a directional gradient magnetic field, without rigid contact in the whole process, so that damage to the surface to be cleaned is avoided, and recycling of the robot is realized.

Description

Technical Field

[0001] This application relates to the fields of cleaning technology and microrobot technology, and in particular to a dirt cleaning method and system based on a cluster of magnetic microrobots. Background Technology

[0002] In fields such as precision instrument manufacturing, biomedicine (e.g., endoscopes), microelectronics, and chemicals, thoroughly cleaning confined spaces such as narrow pipes, microchannels, and irregular cavities is a key challenge. Traditional methods (such as brushing, high-pressure water jetting, or chemical immersion) have blind spots and are prone to damaging fragile surfaces. Magnetic-driven soft robots are considered a potential solution due to their miniaturization, flexible movement, and non-contact control advantages. For example, an existing patent (CN202110783930.9) has demonstrated how a single robot can be driven by a magnetic field to perform peristaltic scraping inside a pipe.

[0003] However, existing technologies of this kind are generally limited to single-unit operation modes, resulting in three inherent drawbacks: First, the operating area is small, the cleaning efficiency is low, and if a single unit malfunctions or gets stuck in a narrow space, it will interrupt the task or even become a blockage, resulting in poor system robustness; second, its movement is highly dependent on preset fixed deformation patterns (such as extension and bending), making the cleaning action monotonous (mainly scraping), and it is difficult to adaptively switch cleaning strategies for different types of dirt such as loose particles and sticky biofilms; third, it lacks more refined and efficient multi-modal cleaning modes such as high-frequency vibration and tumbling, thus limiting its effectiveness when dealing with complex dirt adhesion states. Therefore, current technology still lacks a clustered solution that can balance efficient coverage, high reliability, and multi-modal intelligent cleaning. Summary of the Invention

[0004] This application provides a dirt cleaning method and system based on clustered magnetic microrobots, which solves the problems mentioned in the background art.

[0005] In a first aspect, embodiments of this application provide a dirt cleaning method based on a cluster of magnetic microrobots, comprising: S1: Multiple magnetically responsive flexible robot units are placed in a fluid medium on the surface to be cleaned to form a robot cluster; S2: A time-varying magnetic field and / or a spatial gradient magnetic field are generated by an external magnetic control device to drive the robot cluster to collaboratively execute at least one preset group motion mode in the fluid medium in order to remove dirt from the surface to be cleaned; S3: After cleaning is completed, the robot cluster is guided to the designated recycling area by applying a directional gradient magnetic field through the magnetic control device.

[0006] In conjunction with the first aspect, in one possible implementation, the group movement pattern is one of the following patterns or any combination thereof: S21: Sweeping mode, which causes the robot cluster to move directionally along the surface to be cleaned, either as a whole or in part. S22: Rotary grinding mode, which causes the magnetically responsive flexible robot units in the robot cluster to rotate and / or revolve. S23: Flipping and agitation mode, causing the magnetically responsive flexible robot units in the robot cluster to periodically tumble; S24: High-frequency vibration mode, which causes the robot cluster to reciprocate in a direction perpendicular to the surface to be cleaned; Wherein, any combination is a synchronous or sequential combination of at least two of the scraping mode, the rotary grinding mode, the flipping and stirring mode, and the high-frequency vibration mode.

[0007] In conjunction with the first aspect, in one possible implementation, the scraping mode is achieved by controlling the magnetic control device to make the driving magnetic field source perform linear or curvilinear reciprocating motion; The rotary grinding mode is achieved by controlling the magnetic control device to make the driving magnetic field source rotate around its axis, with the rotation frequency between 10Hz and 500Hz. The flipping and stirring mode is achieved by controlling the magnetic control device to periodically switch the direction of the magnetic field, with the switching frequency between 1Hz and 50Hz. The high-frequency vibration mode is achieved by controlling the magnetic control device to generate an alternating magnetic field, with the alternating frequency between 50Hz and 1000Hz.

[0008] In conjunction with the first aspect, in one possible implementation, the magnetically responsive flexible robotic unit employs a magnetic composite material comprising magnetic particles dispersed in an elastic polymer matrix; The magnetic particles include at least one of ferrite and rare earth permanent magnet materials. The elastic polymer matrix includes at least one of silicone rubber, polydimethylsiloxane, and thermoplastic elastomer; The shape of the magnetically responsive flexible robotic unit is capsule-shaped, spherical, rod-shaped, or biomimetic.

[0009] In conjunction with the first aspect, in one possible implementation, the magnetic control device is a multi-degree-of-freedom robotic arm with a permanent magnet fixed to its end, and / or an electromagnetic coil array system capable of synthesizing the required magnetic field vector and gradient within the workspace.

[0010] Secondly, embodiments of this application provide a clustered magnetic microrobot cleaning system for implementing the dirt cleaning method based on clustered magnetic microrobots as described in the first aspect or any possible implementation of the first aspect, including: A robot swarm, comprising multiple independent, magnetically responsive flexible robot units; A magnetic drive module is used to generate a time-varying magnetic field and / or a spatial gradient magnetic field to drive the movement of the robot swarm; The control module is communicatively connected to the magnetic drive module and is used to send control commands to the magnetic drive module to programmatically set and switch the group movement mode of the robot cluster.

[0011] In conjunction with the second aspect, in one possible implementation, the magnetic drive module includes a multi-degree-of-freedom robotic arm and a permanent magnet fixed to its end. The control module changes the magnetic field distribution generated by the permanent magnet by controlling the spatial pose and motion trajectory of the end effector of the multi-degree-of-freedom robotic arm.

[0012] In conjunction with the second aspect, in one possible implementation, the magnetic drive module is a three-dimensional electromagnetic coil array; The control module synthesizes a three-dimensional time-varying magnetic field and a spatial gradient magnetic field with the required strength and direction in the working area by independently adjusting the current magnitude and direction of each three-dimensional electromagnetic coil.

[0013] In conjunction with the second aspect, in one possible implementation, the magnetically responsive flexible robot unit is a soft structure made entirely of magnetic composite material, and its shape is a capsule with hemispherical ends.

[0014] In conjunction with the second aspect, in one possible implementation, the control module pre-stores multiple group movement mode control programs corresponding to different types of dirt or cleaning scenarios, and can automatically call or combine the control programs according to input instructions or sensor feedback.

[0015] One or more technical solutions provided in the embodiments of this application have at least the following technical effects: This application provides a method for cleaning dirt based on a cluster of magnetic microrobots. First, by deploying a robot cluster composed of multiple magnetically responsive flexible robot units, and utilizing a time-varying magnetic field and / or spatial gradient magnetic field generated by a magnetic control device for coordinated driving, the coverage area and overall efficiency of the cleaning operation are significantly improved, and the system exhibits strong robustness. Second, through programming control, the cluster executes various preset group movement modes, achieving diversified and precise cleaning of dirt with strong adaptability. Finally, the entire method is based on non-contact magnetic field driving, and reliable robot retrieval is completed by applying a directional gradient magnetic field, eliminating the need for rigid contact throughout the process, avoiding damage to the cleaned surface, and simultaneously enabling the recycling of the robots. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a dirt cleaning method based on a cluster of magnetic microrobots provided in an embodiment of this application; Figure 2 This is a schematic diagram of different modes in the group movement patterns provided in the embodiments of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of this application and for 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. Therefore, they should not be construed as limitations on this application. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" 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; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0020] This application provides a dirt cleaning method based on a cluster of magnetic microrobots, such as... Figures 1 to 2 As shown, the method includes steps S1 to S3: S1: Multiple magnetically responsive flexible robot units are placed in a fluid medium on the surface to be cleaned to form a robot cluster.

[0021] S2: By generating a time-varying magnetic field and / or a spatial gradient magnetic field through an external magnetic control device, the robot cluster is driven to collaboratively execute at least one preset group motion pattern in a fluid medium to remove dirt from the surface to be cleaned.

[0022] S3: After cleaning is completed, a directional gradient magnetic field is applied through a magnetic control device to guide the robot cluster to the designated recycling area.

[0023] It should be noted that the dirt cleaning method based on clustered magnetic microrobots provided in this application embodiment firstly improves the coverage area and overall efficiency of the cleaning operation by deploying a robot cluster composed of multiple magnetically responsive flexible robot units and using time-varying magnetic fields and / or spatial gradient magnetic fields generated by a magnetic control device for coordinated driving, and the system has strong robustness; secondly, by programming control, the cluster can execute a variety of preset group movement modes, realizing diversified and precise cleaning of dirt, with strong adaptability; finally, the entire method is based on non-contact magnetic field driving, and the robot is reliably retrieved by applying a directional gradient magnetic field, without rigid contact throughout the process, avoiding damage to the cleaned surface, and realizing the recycling of the robot.

[0024] In this embodiment of the application, the group movement pattern is one of the following patterns or any combination thereof: S21: Sweeping mode, which enables the robot cluster to move directionally along the surface to be cleaned, either as a whole or in part.

[0025] S22: Rotary grinding mode, which enables the magnetically responsive flexible robot units in the robot swarm to rotate and / or revolve; S23: Tumbling and agitation mode, which causes the magnetically responsive flexible robot units in the robot cluster to tumble periodically; S24: High-frequency vibration mode, which causes the robot cluster to reciprocate in a direction perpendicular to the surface to be cleaned.

[0026] The combination can be a synchronous or sequential combination of at least two of the following modes: scraping mode, rotary grinding mode, tumbling and stirring mode, and high-frequency vibration mode.

[0027] Furthermore, any combination can constitute a composite motion pattern in specific implementation.

[0028] It should be noted that the cluster-type magnetic microrobot cleaning method provided in this application, driven by a magnetic control device through programming, achieves multiple collaborative and complementary group movement modes, thereby improving cleaning efficiency and intelligence. Specifically, the scraping mode drives the entire robot cluster to move in a directional manner, efficiently scraping and pushing large areas of loose deposits; the rotary grinding mode utilizes the local high pressure and shear force generated by the high-speed rotation of the magnetically responsive flexible robot units to achieve grinding-type removal of attached dirt; the tumbling and agitating mode uses the rapid tumbling of the magnetically responsive flexible robot units to violently disturb the flow field, effectively impacting and peeling off sticky biofilms and grease, and promoting the mixing of cleaning agents; the high-frequency vibration mode causes the robot cluster to vibrate reciprocally in the vertical direction, overcoming surface adsorption and loosening and suspending particulate dirt in micro-grooves. More importantly, the composite movement modes can be executed synchronously or sequentially through programming according to the dirt distribution and surface morphology, forming adaptive and customizable composite movement modes, thereby achieving intelligent, efficient, and full-coverage cleaning of complex dirt.

[0029] In this embodiment, the scraping mode is achieved by controlling the magnetic control device to make the driving magnetic field source perform linear or curved reciprocating motion.

[0030] The rotary grinding mode is achieved by controlling the magnetic control device to make the driving magnetic field source rotate around its axis, with the rotation frequency between 10Hz and 500Hz.

[0031] The flipping and stirring mode is achieved by controlling the magnetic control device to periodically switch the direction of the magnetic field, with the switching frequency ranging from 1Hz to 50Hz.

[0032] The high-frequency vibration mode is achieved by controlling the magnetic control device to generate an alternating magnetic field, with the alternating frequency ranging from 50Hz to 1000Hz.

[0033] It should be noted that, firstly, the rotational frequency range of 10Hz to 500Hz set for the rotary grinding mode ensures that the magnetically responsive flexible robot units can obtain sufficient angular velocity to generate effective local shearing and grinding effects, while avoiding motion instability or potential surface damage due to excessive rotational speed. Secondly, the magnetic field switching frequency of 1Hz to 50Hz set for the tumbling and agitation mode enables the magnetically responsive flexible robot units to perform periodic and sufficient tumbling, generating sufficiently intense fluid agitation to remove adhered dirt and ensuring the predictability of the overall behavior of the cluster. Furthermore, the alternating magnetic field frequency of 50Hz to 1000Hz set for the high-frequency vibration mode enables the robot cluster to generate significant vertical acceleration, effectively overcoming surface adhesion forces such as van der Waals forces at the microscale, and loosening deeply embedded particulate dirt. Therefore, this application enables the external magnetic control device to reliably and repeatedly drive the robot cluster to perform preset cleaning tasks, achieving an effective correlation between macroscopic motion modes and microscopic cleaning efficiency, and improving the controllability, adaptability, and final effect of the cleaning process.

[0034] In this embodiment, the magnetically responsive flexible robot unit is made of a magnetic composite material, which includes magnetic particles dispersed in an elastic polymer matrix.

[0035] Magnetic particles include at least one of ferrite and rare earth permanent magnet materials, used to impart sensitive response characteristics to external magnetic fields to the material; The elastic polymer matrix includes at least one of silicone rubber, polydimethylsiloxane, and thermoplastic elastomer, used to provide good flexibility, deformation recovery and safe contact properties with the surface to be cleaned.

[0036] The flexible robot units with magnetic responsiveness are in the shape of capsules, spheres, rods or biomimetic shapes to adapt to different cleaning scenarios and movement modes.

[0037] Specifically, the fabrication method of the magnetically responsive flexible robot unit is as follows: Weigh out a certain proportion of magnetic particles and mix them with the polymer matrix prepolymer, add an appropriate amount of diluent (such as n-hexane), and disperse them for 1-2 hours using an ultrasonic cell disruptor to form a uniform mixed slurry. The mixed slurry is injected into a combination mold of male and female molds with a cavity of the target shape (such as a capsule); Place the mold in a vacuum drying oven to remove air bubbles, and then heat it at a certain temperature (e.g., 80℃) for 2 hours to cure it. After curing, demolding is performed to obtain the desired flexible robot unit with magnetic responsiveness.

[0038] In this embodiment, the magnetic control device is a multi-degree-of-freedom robotic arm with a permanent magnet fixed to its end, and / or an electromagnetic coil array system capable of synthesizing the required magnetic field vector and gradient within the workspace.

[0039] It should be noted that multi-degree-of-freedom robotic arms with high-energy-product permanent magnets (such as neodymium iron boron) fixed at their ends can generate dynamically changing magnetic fields in complex, unstructured three-dimensional spaces by flexibly and continuously changing the spatial position and orientation of the permanent magnets. This allows the robotic swarm to adapt to scenarios such as curved pipes and irregular cavities. On the other hand, a computer-programmed electromagnetic coil array system can precisely and independently adjust the current of each coil to synthesize magnetic field vectors and gradients with arbitrary predetermined directions and intensities in real time within the target workspace, achieving digital and programmed precise control of the robotic swarm's motion. Both methods collaborate with a host controller (such as a PLC or industrial computer) to execute preset or real-time generated control programs, transforming diverse group motion patterns into specific magnetic field commands. Ultimately, this achieves automation, intelligence, and high controllability of cleaning operations, meeting comprehensive control needs from simple reciprocating motions to complex composite motions.

[0040] This application provides a clustered magnetic microrobot cleaning system for implementing the above-described dirt cleaning method based on clustered magnetic microrobots, including: A robot swarm consists of multiple independent, magnetically responsive, flexible robot units.

[0041] The magnetic drive module is used to generate time-varying magnetic fields and / or spatial gradient magnetic fields to drive the movement of robot swarms.

[0042] The control module communicates with the magnetic drive module and is used to send control commands to the magnetic drive module to programmatically set and switch the group movement mode of the robot cluster.

[0043] It should be noted that the robot swarm, composed of multiple independent and magnetically responsive flexible robot units, provides the material basis for covering complex surfaces and confined spaces, and improves operational coverage and system robustness through swarm design. The magnetic drive module generates precisely customized time-varying and gradient magnetic fields, enabling non-contact, high-degree-of-freedom actuation of the swarm's diverse group motion patterns. The control module, as the intelligent core of the system, dynamically adjusts the magnetic field through programmed instructions, allowing cleaning strategies to adaptively switch and combine based on the type and distribution of dirt. This integrated system ultimately deeply integrates distributed micro-actuators, flexible drive fields, and intelligent control programs, achieving full-process automation from task planning to efficient execution, providing a controllable, programmable, and non-destructive cleaning solution for confined spaces.

[0044] In this embodiment, the magnetic drive module includes a multi-degree-of-freedom robotic arm and a permanent magnet fixed to its end. The control module changes the magnetic field distribution generated by the permanent magnet by controlling the spatial pose and motion trajectory of the end of the multi-degree-of-freedom robotic arm.

[0045] It should be noted that the magnetic drive scheme of the multi-degree-of-freedom robotic arm combined with the end-effector permanent magnet used in the embodiments of this application can generate a dynamic and continuously adjustable magnetic field distribution in the working area through highly flexible spatial movement, thereby realizing real-time and flexible control of the robot cluster's motion trajectory and posture. It is especially suitable for unstructured, large-scale or complex cleaning scenarios that require three-dimensional path tracking.

[0046] In this embodiment, the magnetic drive module is a three-dimensional electromagnetic coil array. The control module synthesizes a three-dimensional time-varying magnetic field and a spatial gradient magnetic field with the required strength and direction in the working area by independently adjusting the current magnitude and direction of each three-dimensional electromagnetic coil.

[0047] It should be noted that the three-dimensional electromagnetic coil array used in this application embodiment can synthesize a high-precision, programmable three-dimensional time-varying magnetic field and spatial gradient magnetic field in a closed or confined workspace through independent and coordinated current control. This enables precise, digital, silent, and highly repeatable control of the robot cluster's motion mode, speed, and distribution, and is especially suitable for precision scenarios with high requirements for consistency and controllability in the cleaning process.

[0048] In this embodiment, the magnetically responsive flexible robot unit is a soft structure made entirely of magnetic composite material, and its shape is a capsule with hemispherical ends. The term "capsule shape" in this application has the same meaning as "capsule-like".

[0049] It should be noted that the soft robot unit with a hemispherical capsule shape at both ends used in this application embodiment has a streamlined shape that helps reduce motion resistance in fluids and enhances the flexibility and stability of motion. The overall soft structure can ensure conformal and flexible contact with the cleaning surface, and can effectively transmit force and avoid surface damage in various motion modes such as rotation and tumbling, thus achieving a balance between efficient cleaning and safe operation.

[0050] In this embodiment, the control module pre-stores multiple group movement mode control programs corresponding to different types of dirt or cleaning scenarios, and can automatically call or combine control programs based on input commands or sensor feedback. This application reduces operational complexity, allowing non-professional users to start customized cleaning processes with simple commands; at the same time, with the help of sensor feedback, the system can identify dirt type, adhesion status, or environmental characteristics in real time, and autonomously match or fuse the most effective cleaning mode, thereby maintaining efficient and accurate cleaning performance in dynamically changing scenarios, truly realizing an intelligent operation closed loop integrating "perception-decision-execution" from "fixed program execution".

[0051] Furthermore, addressing the challenge of thoroughly removing dirt from the internal surfaces and narrow crevices of non-magnetic containers, this application proposes a cleaning solution based on swarming magnetic microrobots, inspired by the swarming behavior of fish. This solution utilizes an external magnetic control device to apply a time-varying magnetic field and / or a spatial gradient magnetic field, driving multiple magnetically responsive flexible robot units to form a swarm that collaboratively executes various programmable group motion modes on the surface to be cleaned. This not only enhances adaptability in complex, unstructured environments but also significantly improves the efficiency and thoroughness of dirt removal through multimodal collaborative operation.

[0052] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.

[0053] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A dirt cleaning method based on clustered magnetic microrobots, characterized in that, include: S1: Multiple magnetically responsive flexible robot units are placed in a fluid medium on the surface to be cleaned to form a robot cluster; S2: A time-varying magnetic field and / or a spatial gradient magnetic field are generated by an external magnetic control device to drive the robot cluster to collaboratively execute at least one preset group motion mode in the fluid medium in order to remove dirt from the surface to be cleaned; S3: After cleaning is completed, the robot cluster is guided to the designated recycling area by applying a directional gradient magnetic field through the magnetic control device.

2. The dirt cleaning method based on clustered magnetic microrobots according to claim 1, characterized in that, The group movement pattern is one of the following patterns or any combination thereof: S21: Sweeping mode, which causes the robot cluster to move directionally along the surface to be cleaned, either as a whole or in part. S22: Rotary grinding mode, which causes the magnetically responsive flexible robot units in the robot cluster to rotate and / or revolve. S23: Flipping and agitation mode, causing the magnetically responsive flexible robot units in the robot cluster to periodically tumble; S24: High-frequency vibration mode, which causes the robot cluster to reciprocate in a direction perpendicular to the surface to be cleaned; Wherein, any combination is a synchronous or sequential combination of at least two of the scraping mode, the rotary grinding mode, the flipping and stirring mode, and the high-frequency vibration mode.

3. The dirt cleaning method based on clustered magnetic microrobots according to claim 2, characterized in that, The scraping mode is achieved by controlling the magnetic control device to make the driving magnetic field source perform linear or curved reciprocating motion. The rotary grinding mode is achieved by controlling the magnetic control device to make the driving magnetic field source rotate around its axis, with the rotation frequency between 10Hz and 500Hz. The flipping and stirring mode is achieved by controlling the magnetic control device to periodically switch the direction of the magnetic field, with the switching frequency between 1Hz and 50Hz. The high-frequency vibration mode is achieved by controlling the magnetic control device to generate an alternating magnetic field, with the alternating frequency between 50Hz and 1000Hz.

4. The dirt cleaning method based on clustered magnetic microrobots according to claim 1, characterized in that, The magnetically responsive flexible robot unit employs a magnetic composite material, which comprises magnetic particles dispersed in an elastic polymer matrix. The magnetic particles include at least one of ferrite and rare earth permanent magnet materials. The elastic polymer matrix includes at least one of silicone rubber, polydimethylsiloxane, and thermoplastic elastomer; The shape of the magnetically responsive flexible robotic unit is capsule-shaped, spherical, rod-shaped, or biomimetic.

5. The dirt cleaning method based on clustered magnetic microrobots according to claim 1, characterized in that, The magnetic control device is a multi-degree-of-freedom robotic arm with a permanent magnet fixed at its end, and / or an electromagnetic coil array system capable of synthesizing the required magnetic field vector and gradient within the workspace.

6. A clustered magnetic microrobot cleaning system for implementing the dirt cleaning method based on clustered magnetic microrobots as described in any one of claims 1 to 5, characterized in that, include: A robot swarm, comprising multiple independent, magnetically responsive flexible robot units; A magnetic drive module is used to generate a time-varying magnetic field and / or a spatial gradient magnetic field to drive the movement of the robot swarm; The control module is communicatively connected to the magnetic drive module and is used to send control commands to the magnetic drive module to programmatically set and switch the group movement mode of the robot cluster.

7. The clustered magnetic microrobot cleaning system according to claim 6, characterized in that, The magnetic drive module includes a multi-degree-of-freedom robotic arm and a permanent magnet fixed to its end. The control module changes the magnetic field distribution generated by the permanent magnet by controlling the spatial pose and motion trajectory of the end effector of the multi-degree-of-freedom robotic arm.

8. The clustered magnetic microrobot cleaning system according to claim 6, characterized in that, The magnetic drive module is a three-dimensional electromagnetic coil array; The control module synthesizes a three-dimensional time-varying magnetic field and a spatial gradient magnetic field with the required strength and direction in the working area by independently adjusting the current magnitude and direction of each three-dimensional electromagnetic coil.

9. The clustered magnetic microrobot cleaning system according to claim 6, characterized in that, The magnetically responsive flexible robot unit is a soft structure made entirely of magnetic composite material, and its shape is a capsule with hemispherical ends.

10. The clustered magnetic microrobot cleaning system according to claim 6, characterized in that, The control module has multiple pre-stored group movement mode control programs corresponding to different types of dirt or cleaning scenarios, and can automatically call or combine the control programs according to input commands or sensor feedback.

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