Movable electromagnetic drive control system

Abstract

The utility model provides a mobile electromagnetic drive control system. The mobile electromagnetic drive control system comprises an upper computer, a motion control module, an electromagnetic drive module and a visual detection module, the motion control module comprises a three-axis moving platform, a driver and a controller; the electromagnetic driving module comprises an electromagnet, a power supply and a transparent carrying platform, the upper end of the carrying platform is used for placing the micro-robot, and the upper computer controls the micro-robot through the electromagnet; and the visual detection module is used for observing and collecting a position image of the micro-robot above and sending the image to the upper computer so as to realize real-time feedback of the position of the micro-robot. Through cooperative control of the motion control module and the electromagnetic driving module and in combination with real-time feedback of the visual detection module, the working space limitation of a traditional fixed system is broken through, and precise motion regulation and control of the micro robot in an expansion space are achieved; the system has the advantages that the working space range is expanded, real-time feedback control is achieved, and the control precision of the micro-robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical automation technology, and more specifically, to a mobile electromagnetic drive control system. Background Technology

[0002] Traditional fixed electromagnetic drive systems typically consist of multiple electromagnetic coils fixedly arranged around the target operating space. While such systems can generate and control the magnetic field within a static space by adjusting the magnitude, frequency, and direction of the coil current, thereby driving microrobots, they have significant limitations. First, the workspace of a fixed magnetic drive system remains constant, resulting in poor scalability. When operating larger targets, the system's maximum control bandwidth is significantly affected. Second, the structural design of fixed systems limits their adaptability to different application scenarios, making them unable to flexibly respond to the demands of complex and changing working environments.

[0003] Existing mobile electromagnetic drive systems typically consist of a robotic arm with multiple actuators connected in series, and electromagnets mounted at the end of the arm. While this system allows for rapid adjustment of the magnetic field within the working area upon activation of the moving device, thus improving drive flexibility, it also has significant limitations. First, the excessive number of connected moving mechanisms increases the system's cumulative error. Second, because the maximum magnetic field strength and maximum gradient strength are affected by the coil geometry, and such structures cannot support excessively heavy electromagnets, the demand for drive current is high. This large current introduces significant heat generation and energy consumption issues into the system when generating the magnetic field.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Utility Model Content

[0005] The purpose of this application is to provide a mobile electromagnetic drive control system, which has the advantages of expanding the workspace range, realizing real-time feedback control, and improving the control accuracy of micro-robots.

[0006] This application provides a mobile electromagnetic drive control system, the technical solution of which is as follows: It includes a host computer and a motion control module, an electromagnetic drive module, and a vision detection module connected to the host computer. The motion control module includes a three-axis motion platform, a driver, and a controller. The electromagnetic drive module includes an electromagnet, a power supply, and a transparent platform. The electromagnet is located above the platform and installed at the Z-axis end of the three-axis motion platform. The upper end of the platform is used to place a micro-robot. The host computer sends a current signal to the power supply, which outputs a corresponding current to the electromagnet to control the micro-robot. The vision detection module is located below the platform and is used to observe and collect the position images of the micro-robot above, and send the images to the host computer to achieve real-time feedback on the position control of the micro-robot.

[0007] Furthermore, this application also proposes a base plate and multiple support columns, with the support columns vertically fixed to the upper end of the base plate, and a three-axis moving platform fixedly installed at the upper end of the support columns.

[0008] Furthermore, this application also proposes that the three-axis moving platform includes an x-axis slide module, a y-axis slide module, and a z-axis slide module, and motors for driving the three slide modules respectively. The three-axis moving platform has an overall gantry structure.

[0009] Furthermore, this application also proposes that there are three drivers, each connected to one of the three motors, for reading motor information and controlling motor movement; the controller is connected between the host computer and the drivers for processing signals sent by the host computer and sending them to the drivers.

[0010] Furthermore, this application proposes that the visual inspection module includes a microscope lens, a light source, and a camera. The light source is used to provide stable and suitable ambient light. The microscope lens is mounted on the lens mount of the camera to magnify the image. The camera is vertically mounted on the base plate via a fixing piece on the base plate to observe and capture the position image of the microrobot through the platform. The image is sent to a host computer for processing to achieve real-time feedback on the position control of the microrobot.

[0011] Furthermore, this application also proposes that a liquid environment suitable for microrobots be provided on the upper part of the platform.

[0012] Furthermore, this application also proposes that the electromagnet includes an iron core and an excitation coil, wherein the excitation coil is formed by copper wire wound on the iron core.

[0013] This application has the following beneficial effects:

[0014] This application provides a mobile electromagnetic drive control system that, through the coordinated control of a three-axis mobile platform and an electromagnetic drive module, combined with real-time feedback from a vision detection module, breaks through the workspace limitations of traditional fixed systems and enables precise motion control of microrobots within an expanded space. It has the advantages of expanding the workspace range, achieving real-time feedback control, and improving the manipulation accuracy of microrobots. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a mobile electromagnetic drive control system according to this utility model;

[0017] Figure 2 This is a schematic diagram of the motion drive module in one embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the electromagnet structure in one embodiment of this utility model;

[0019] The diagram shows the following components: 1. Host computer; 2. Motion control module; 3. Electromagnetic drive module; 4. Vision inspection module; 5. Three-axis moving platform; 6. Electromagnet; 7. Power supply; 8. Loading platform; 9. Base plate; 10. Support column; 11. X-axis slide module; 12. Y-axis slide module; 13. Z-axis slide module; 14. Motor; 15. Driver; 16. Controller; 17. Microscope lens; 18. Light source; 19. Camera; 20. Iron core; 21. Excitation coil; 22. Fixing component. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0021] Depend on Figures 1 to 3 As shown, this embodiment of the present invention provides a mobile electromagnetic drive control system.

[0022] In existing technologies, fixed electromagnetic drive systems use an array of electromagnetic coils arranged around the operating space to generate a magnetic field, controlling the movement of a microrobot by adjusting the coil current parameters. The workspace of such systems is limited by the coil layout; expanding the operating range requires increasing the number of coils, leading to increased system size and reduced control bandwidth. Furthermore, static coil arrays cannot dynamically adjust the magnetic field source position according to the target location, easily causing magnetic field inhomogeneity when operating large targets. Moreover, the excessive series connection of motion mechanisms in traditional mobile electromagnetic drive systems increases the cumulative error of the system. Additionally, because such structures cannot support excessively heavy electromagnets, they require a large driving current, which introduces significant heat generation and energy consumption problems when generating the magnetic field.

[0023] To solve the above problems, it is first necessary to overcome the limitations of fixed coil arrays on the workspace. Analysis revealed that using a movable magnetic field source instead of fixed coils can dynamically cover a larger operating area.

[0024] Considering that the movement accuracy of electromagnet 6 directly affects the magnetic field positioning effect, a three-axis moving platform 5 was selected as the actuator. Simultaneously, the use of a gantry structure effectively increases the system's maximum load, allowing it to accommodate larger electromagnets and reducing the demand for drive current, thereby reducing heat generation and energy consumption. Finally, to address the spatial interference problem between visual observation and electromagnetic drive, a layout combining a transparent platform 8 and bottom imaging was adopted.

[0025] Therefore, this application proposes a system including a host computer 1 and a motion control module 2, an electromagnetic drive module 3, and a vision inspection module 4, which are respectively connected to the host computer 1. The motion control module 2 includes a three-axis moving platform 5, a driver 15, and a controller 16; the electromagnetic drive module 3 includes an electromagnet 6, a power supply 7, and a transparent loading platform 8. The electromagnet 6 is located above the loading platform 8 and is installed at the Z-axis end of the three-axis moving platform 5. The upper end of the loading platform 8 is used to place the micro-robot. The host computer 1 sends a current signal to the power supply 7, and the power supply 7 outputs a corresponding current to the electromagnet 6; the vision inspection module 4 includes a microscope lens 17, a light source 18, and a camera 19, which is located below the loading platform 8 and is used to observe and collect position images of the micro-robot and send the images to the host computer 1.

[0026] Among them, the host computer 1 refers to the computer device that serves as the control center, which can be implemented using an industrial control computer, and is used to coordinate the data interaction between the motion control module 2, the electromagnetic drive module 3, and the vision inspection module 4. The three-axis moving platform 5 refers to a mechanical device with three-dimensional spatial positioning capabilities, which can be implemented using a linear slide module driven by a stepper motor, and is used to support the electromagnet 6 for spatial position adjustment. The transparent loading platform 8 refers to a load-bearing surface that allows light to pass through, which can be implemented using tempered glass or acrylic sheets, and is used to place the micro-robot and cooperate with the vision inspection module 4 for imaging. The vision inspection module 4 refers to a device with image acquisition capabilities, which can be implemented using a combination of a CMOS camera and a microscope lens, and is used to capture the movement trajectory of the micro-robot in real time.

[0027] Specifically, after the host computer 1 generates control commands, it sends them to the controller 16. The controller 16 outputs corresponding motion signals to the driver 15, which drives the three-axis moving platform 5 to move the electromagnet 6 above the target area. The power supply 7 outputs corresponding current according to the commands, causing the electromagnet 6 to generate a predetermined magnetic field. The micro-robot moves under the influence of the magnetic field, and at this time, the vision detection module 4 under the platform 8 continuously collects its position images. The host computer 1 analyzes the position data through image processing algorithms, compares it with the preset trajectory, and adjusts the current parameters and platform coordinates to form a closed loop of position detection-magnetic field adjustment-motion control. Through the three-dimensional spatial movement of the electromagnet 6, the magnetic field can cover the entire area of ​​the platform 8, avoiding the limitation of the workspace imposed by the fixed coil layout. The combined design of the transparent platform 8 and the bottom vision detection eliminates the obstruction of the imaging optical path by the movement of the electromagnet 6, ensuring the continuity of feedback data.

[0028] Compared to existing technologies, fixed systems rely on the coordinated operation of multiple coils to expand the magnetic field range, while this solution achieves magnetic field spatial coverage by moving a single electromagnet 6, significantly reducing system complexity and energy consumption. Traditional methods require increasing the number of coils 21 when expanding the operating space, leading to more control signal channels and increased response delay. This solution, however, changes the magnetic field's point of application through three-axis platform displacement, maintaining the high response characteristics of a single control channel. Using only a combination of three sliding table modules effectively reduces the system's cumulative error and improves control accuracy. Furthermore, the gantry structure effectively increases the system's maximum load, allowing it to accommodate larger electromagnets 6, reducing the demand for drive current and thus reducing heat generation and energy consumption. This solution introduces a vision detection module 4 to form a closed-loop correction mechanism, effectively eliminating control errors caused by target offset or environmental interference.

[0029] Through the above technical solutions, this application achieves scalability of the electromagnetic drive system's workspace, covering a larger operating area without increasing the number of electromagnets 6. The coordinated movement of the three-axis moving platform 5 and the electromagnets 6 enables the magnetic field source to be accurately positioned to the target area, avoiding the magnetic field attenuation problem caused by long-distance operation in fixed systems. The real-time position data provided by the vision detection module 4 allows the host computer to dynamically adjust control parameters, significantly improving the tracking accuracy of the microrobot's motion trajectory. The layout of the transparent platform 8 and the bottom imaging system ensures the effectiveness of the magnetic field while achieving non-contact position monitoring, ensuring the long-term stability of the system.

[0030] This application further proposes a base plate 9 and multiple support columns 10, with the support columns 10 vertically fixed to the upper end of the base plate 9, and the three-axis moving platform 5 fixedly installed at the upper end of the support columns 10.

[0031] The base plate 9 refers to the mounting base for the various components of the load-bearing system. It can be made of sheet metal or composite material and machined to form a flat surface, providing a horizontal reference for the three-axis moving platform 5. The support column 10 refers to the rigid support component in the vertical direction. It can be made of aluminum alloy profile to achieve a fixed height and is used to establish the vertical space between the three-axis moving platform 5 and the base plate 9, avoiding interference between the vision inspection module 4 and the moving parts.

[0032] Specifically, the base plate 9 serves as the installation foundation, forming a layered structural layout through support columns 10. The support columns 10 are vertically fixed to the upper end of the base plate 9, and the three-axis moving platform 5 is fixed to the top of the support columns 10, forming a stable three-dimensional support frame. This structure allows the three-axis moving platform 5 to obtain a precise spatial positioning reference, and the workspace can be vertically expanded by adjusting the height of the support columns 10 or replacing them with different specifications. The layered layout provides installation space for the vision inspection module 4 between the base plate 9 and the loading platform 8, avoiding physical interference between the electromagnetic drive module 3 and the inspection module in traditional fixed systems.

[0033] Compared to existing technologies, traditional fixed electromagnetic drive systems employ a layout of fixed coils 21 surrounding the operating space. The workspace is limited by the size of the coil array 21, making it unsuitable for operating targets of varying sizes. This solution utilizes a modular mechanical frame constructed from a base plate 9 and support columns 10. This allows the three-axis moving platform 5 to be adjusted in height according to the support columns 10, enabling three-dimensional expansion. Simultaneously, the layered structure allows for independent installation of the electromagnetic drive module 3 and the vision inspection module 4, avoiding spatial conflicts.

[0034] Through the above technical solution, this application solves the problem of limited workspace in fixed systems. The support column 10 enables three-dimensional expansion of the operating space, improving space utilization within the same floor area and adapting to the control needs of micro-robots of different sizes. The layered layout avoids physical interference between modules, ensuring a stable working environment for the vision inspection module 4 and improving system control accuracy. The modular design allows the support column 10 and the base plate 9 to be disassembled and reassembled, enhancing the system's adaptability to different application scenarios.

[0035] This application further proposes a three-axis moving platform 5, including an x-axis slide module 11, a y-axis slide module 12, and a z-axis slide module 13, as well as motors 14 for driving the three slide modules respectively. The three-axis moving platform 5 has an overall gantry-type structure. The x-axis slide module 11 is used to support the electromagnet 6 to achieve lateral displacement, the y-axis slide module 12 is used to achieve longitudinal displacement, and the z-axis slide module 13 is used to adjust the height of the electromagnet 6. As one implementation, the slide modules can adopt a combination of ball screw slides. This is prior art and will not be described in detail here.

[0036] Specifically, the x-axis slide module 11 and the y-axis slide module 12 form a two-dimensional motion reference in the horizontal plane, and the z-axis slide module 13 is vertically mounted on the moving end of the y-axis slide module 12. When the three slide modules are driven by independent motors 14, the electromagnet 6 can move independently or in combination along the x, y, and z axes, forming continuous trajectory control in three-dimensional space. The electromagnet 6 is mounted on the moving end of the z-axis slide module 13, so that there is no mechanical obstruction above the loading platform 8.

[0037] Compared with existing technologies, fixed electromagnetic drive systems rely on a fixed coil array 21 to generate a magnetic field, and their working space is limited by the arrangement range of the coils 21. In contrast, this solution uses a three-axis moving platform 5 to drive the electromagnet 6 to actively move, so that the range of the magnetic field can be dynamically expanded with the position of the electromagnet 6.

[0038] Through the above technical solution, this application realizes the continuous and controllable movement of the electromagnet 6 in three-dimensional space, solving the problem of limited movement range of microrobots caused by the fixed workspace in fixed systems. The gantry structure, while ensuring motion accuracy, provides an unobstructed observation area for the loading platform 8, enabling the vision detection module 4 to completely capture the movement trajectory of the microrobot.

[0039] The system includes three drivers 15, each connected to one of the three motors 14, for reading information from the motors 14 and controlling their movement. The controller 16 is connected between the host computer 1 and the drivers 15, for processing signals sent by the host computer and sending them to the drivers 15.

[0040] Among them, the driver 15 refers to the execution unit that converts the control signal into the action of the motor 14. Specifically, it can be implemented by a stepper motor driver or a servo driver. By receiving the instructions of the controller 16, it can accurately adjust the speed and direction of the motor 14, thereby avoiding trajectory deviation caused by signal delay during multi-axis motion.

[0041] Among them, the controller 16 refers to the core unit for signal processing and instruction allocation. Specifically, it can be implemented using an embedded microcontroller or a programmable logic controller. By parsing the motion trajectory instructions from the host computer and generating split-axis control signals, it ensures the synchronization of the three-axis motion. At the same time, it collects the motor 14 running status data fed back by the driver 15 to form a closed-loop control.

[0042] Specifically, after the host computer 1 generates the target motion path, the controller 16 decomposes the path into motion commands for three independent axes and sends them to the corresponding drivers 15. Each driver 15 independently adjusts the rotation parameters of the corresponding motor 14, such as pulse frequency and direction signals, according to the received commands, and simultaneously feeds back the real-time speed and position information of the motor 14 to the controller 16. The controller 16 dynamically adjusts the control signals output to the drivers 15 by comparing the deviation between the actual motion data and the target path, forming a closed-loop control circuit. This control structure enables precise synchronization of the three-axis motion in the spatial coordinate system.

[0043] The light source 18 is used to provide stable and suitable ambient light; the microscope lens 17 is mounted on the lens mount of the camera 19 to magnify the image; the camera 19 is vertically mounted on the base plate 9 via the fixing piece 22 on the base plate 9, and is used to observe and capture the position image of the micro robot through the loading platform 8. The image is sent to the host computer 1 for processing to achieve real-time feedback on the position control of the micro robot.

[0044] Among them, microscope lens 17 refers to the magnifying optical component used to magnify the motion images of the microrobot, which can be implemented using a high-magnification optical lens. Its function is to capture the microscopic motion details of the microrobot by magnifying the image, thereby improving the position detection accuracy. Light source 18 refers to the device that provides uniform illumination for image acquisition, which can be implemented using an LED array or a cold light source. Its function is to reduce the interference of light fluctuations on image acquisition by using stable and moderate ambient light, ensuring the reliability of visual inspection. Camera 19 refers to the photoelectric conversion device used to acquire images, which can be implemented using a CMOS or CCD sensor camera. Its function is to provide real-time feedback data to the host computer by capturing the position image of the microrobot on the platform 8. Fixing component 22 refers to the mechanical structure used to fix the position of camera 19, which can be implemented using a metal bracket with threaded holes and bolt connection. Its function is to vertically fix camera 19 to keep it perpendicular to the platform 8, avoiding image distortion caused by viewing angle deviation. The specific structural shape will not be described in detail here.

[0045] Specifically, light emitted from light source 18 penetrates the transparent platform 8 and illuminates the microrobot. Microscope lens 17 magnifies the microrobot's motion image, which is then captured by camera 19. Camera 19 is vertically mounted below the base plate 9 via fixing member 22, ensuring its optical axis is perpendicular to the platform 8, thus avoiding image distortion caused by tilted viewing angles. The captured image is transmitted to host computer 1, where image processing algorithms extract the microrobot's real-time position information. Based on this information, the host computer adjusts the current parameters of the electromagnetic drive module 3, forming a closed-loop control feedback. Thus, the microrobot's position error is corrected in real time, improving control stability.

[0046] Through the above technical solution, this application realizes real-time acquisition and feedback of the position information of the micro-robot. The host computer can dynamically correct the control parameters according to the actual position, avoiding control failure caused by accumulated errors or environmental interference. At the same time, the stable illumination of the light source 18 combined with the high magnification of the microscope lens 17 ensures the clarity and accuracy of image acquisition, further improving the reliability of position detection.

[0047] This application further proposes to set up a liquid environment (not shown in the figure) suitable for microrobots on the upper part of the cargo platform 8.

[0048] The liquid environment refers to the fluid medium covering the surface of the platform 8, which is loaded by setting the top of the platform 8 into a trough-like structure. Specifically, it can be water, an oily solution, or a liquid containing surfactants. The microrobot floats on the liquid surface due to being attracted by an electromagnet. Because it has no contact with the bottom, its movement resistance is greatly reduced. At the same time, the liquid medium can buffer mechanical vibrations caused by changes in the volume of the target object, avoiding interference with the system's control bandwidth. Furthermore, the combination of the liquid environment and the transparency of the platform 8 can reduce image noise caused by interface refraction or air bubbles during visual inspection.

[0049] Specifically, the liquid environment covers the loading area where the microrobot is located, reducing frictional resistance and enabling the magnetic force generated by the electromagnet 6 to drive the microrobot's movement more efficiently. When the volume of the target changes, the liquid absorbs some mechanical disturbances through viscous resistance, preventing control signal delays or fluctuations caused by sudden load changes. During visual inspection, the liquid and the loading platform 8 form a continuous optical interface, reducing light spot interference caused by reflections from the air-solid interface and ensuring the clarity of the positional image acquired by the camera 19. This provides accurate feedback data to the host computer 1, enabling closed-loop control.

[0050] Through the above technical solutions, this application can improve the control precision of micro-robots under electromagnetic drive, reduce control signal fluctuations caused by changes in target volume, and achieve highly reliable closed-loop feedback control by improving image acquisition quality, thereby enhancing the system's adaptability to complex operating scenarios.

[0051] This application further proposes that the electromagnet 6 includes an iron core 20 and an excitation coil 21, wherein the excitation coil 21 is composed of copper wire wound on the iron core 20.

[0052] Among them, the iron core 20 refers to the magnetic circuit structure made of magnetically conductive material, specifically electrical pure iron DT4C, which is used to concentrate and enhance the magnetic field strength and reduce magnetic flux leakage.

[0053] Through the above technical solution, this application can improve the efficiency of magnetic field generation, reduce current transmission loss, and enhance the dynamic response capability of magnetic field regulation, thereby achieving precise control of the motion trajectory of micro-robots.

[0054] In summary, this application effectively reduces the cumulative error of the system and improves control accuracy by using only a combination of three slide modules. Furthermore, the gantry structure effectively increases the maximum load of the system, allowing it to accommodate larger electromagnets 6, reducing the demand for drive current and thus reducing heat generation and energy consumption. This, in turn, improves magnetic field control efficiency and enhances the stability of the drive force control for microrobots, demonstrating broad market application prospects.

[0055] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mobile electromagnetic drive control system, characterized by, It includes a host computer and a motion control module, an electromagnetic drive module, and a vision detection module, which are respectively connected to the host computer; The motion control module includes a three-axis motion platform, a driver, and a controller; The electromagnetic drive module includes an electromagnet, a power supply, and a transparent platform. The electromagnet is located above the platform and is mounted on the Z-axis end of the three-axis moving platform. The upper end of the platform is used to place the micro-robot. The host computer sends a current signal to the power supply, which then outputs a corresponding current to the electromagnet to control the micro-robot. The visual detection module is located below the platform and is used to observe and collect the position images of the micro-robot above, and send the images to the host computer to achieve real-time feedback on the position control of the micro-robot.

2. A mobile electromagnetic drive control system according to claim 1, characterized in that It also includes a base plate and multiple support columns, with the support columns vertically fixed to the upper end of the base plate and the three-axis moving platform fixedly installed at the upper end of the support columns.

3. A mobile electromagnetic drive control system according to claim 2, characterized in that The three-axis moving platform includes an x-axis slide module, a y-axis slide module, and a z-axis slide module, and motors for driving the three slide modules respectively. The three-axis moving platform has an overall gantry structure.

4. A mobile electromagnetic drive control system according to claim 3, characterized in that The driver is configured with three units, each connected to one of the three motors, for reading motor information and controlling motor movement; the controller is connected between the host computer and the driver, for processing signals sent by the host computer and sending them to the driver.

5. A mobile electromagnetic drive control system according to claim 2, characterized in that The visual inspection module includes a microscope lens, a light source, and a camera. The light source provides stable and suitable ambient light. The microscope lens is mounted on the lens mount of the camera to magnify the image. The camera is vertically mounted on the base plate via a fixing member and is used to observe and capture the position image of the microrobot through the platform. The image is sent to the host computer for processing to achieve real-time feedback on the position control of the microrobot.

6. A mobile electromagnetic drive control system according to claim 2, characterized in that The upper part of the platform is provided with a liquid environment suitable for the microrobot.

7. A mobile electromagnetic drive control system according to claim 2, characterized in that The electromagnet includes an iron core and an excitation coil, wherein the excitation coil is composed of copper wire wound on the iron core.

Images