Control system for micro-nano robot magnetic control platform

Abstract

Disclosed in the present invention is a control system for a micro-nano robot magnetic control platform. The system is arranged in a main control computer and is connected to a magnetic control platform terminal device. The system comprises a main control unit, a display unit, a magnetic field parameter setting unit, a camera parameter setting unit, a user-defined magnetic field setting unit, a keyboard operation unit, a micro-nano robot object detection unit, a magnetic field measurement unit, a printing output unit and a magnetic control platform state unit. By coordinating the functions and interactions of the units, the present invention helps to set magnetic field parameters, monitor the states of motion of micro-nano robots in real time, communicate with micro-nano robot magnetic control platform terminals and comprehensively calculate and store magnetic field sensor data, can control magnetic control platforms to generate any magnetic field type, and controls the magnetic control platforms by means of keyboard keys, so as to accurately and visually control the micro-nano robots.

Description

A control system for a micro-nano robot magnetic control platform Technical Field

[0001] The present invention relates to the technical field of micro-nano robot control, and more specifically, to a control system of a micro-nano robot magnetic control platform. Background Art

[0002] Micro-nano robots are nanomachines capable of converting various forms of energy into mechanical motion at the micro-nanoscale. Due to their small size and high loading capacity, micro-nano robots are capable of traversing biological tissues and have enormous potential for application in biomedical fields such as targeted drug delivery and precision tumor treatment. For example, after being delivered into a living organism, a magnetic control system controls the movement of the micro-nano robot, enabling it to perform multimodal movements within the organism and accomplish specific tasks. Technical issues

[0003] After analysis, the control system of the existing micro-nano robot magnetic control platform has the following main defects: it is inconvenient to set the magnetic field parameters; it is inconvenient to detect the status of the micro-nano robot in real time; it is inconvenient to control it through multiple input devices; it is inconvenient to set and generate any magnetic field type; it is inconvenient to communicate with the magnetic control platform terminal, and it is impossible to perform comprehensive reading and analysis of sensor data. Technical Solutions

[0004] The present invention aims to overcome the above-mentioned shortcomings of the prior art and provides a control system for a micro-nano robot magnetic control platform. The system is installed on a main control computer and connected to a magnetic control platform terminal device. The system includes a main control unit, a display unit, a magnetic field parameter setting unit, a camera parameter setting unit, a custom magnetic field setting unit, a keyboard operation unit, a micro-nano robot target detection unit, a magnetic field detection unit, a printout unit, and a magnetic control platform status unit, wherein:

[0005] The main control unit is respectively connected to the display unit, the magnetic field parameter setting unit, the camera parameter setting unit, the custom magnetic field setting unit, the keyboard operation unit, the micro-nano robot target detection unit, the magnetic field detection unit, the print output unit and the magnetic control platform status unit, and is used to perform comprehensive control of the micro-nano robot magnetic control platform;

[0006] The display unit is used to display relevant parameters of the micro-nano robot magnetic control platform;

[0007] The magnetic field parameter setting unit is used to set the magnetic field related parameters of the micro-nano robot magnetic control platform;

[0008] The camera parameter setting unit is used to set imaging related parameters of the micro-nano robot magnetic control platform;

[0009] The custom magnetic field setting unit is used to control the micro-nano robot magnetic control platform to generate set magnetic field parameters;

[0010] The keyboard operation unit allows the operator to control the movement of the micro-nano robot by pressing keys on the keyboard;

[0011] The micro-nano robot target detection unit is used to detect the real-time coordinates and posture of the micro-nano robot;

[0012] The magnetic field detection unit is used to obtain data collected by the sensor;

[0013] The print output unit is used to print out data;

[0014] The magnetic control platform status unit is used to display the working status of the magnetic control platform of the micro-nano robot.

[0015] In one embodiment, the relevant parameters displayed by the display unit include magnetic field setting parameters, imaging related parameters, micro-nano robot detection model setting parameters, X-axis sensor data, Y-axis sensor data, Z-axis sensor data, and a user interface.

[0016] In one embodiment, the magnetic field parameter setting unit is used to set one or more of the type parameters, amplitude parameters, frequency parameters, direction parameters, and angle parameters of the magnetic field generated by the micro-nano robot magnetic control platform.

[0017] In one embodiment, the camera parameter setting unit is used to set one or more of the gain parameters, exposure time parameters, and white balance parameters of the industrial camera imaging in the micro-nano robot magnetic control platform.

[0018] In one embodiment, the custom magnetic field setting unit generates a set magnetic field by respectively setting the magnetic field timing of the X-axis coil, the Y-axis coil, and the Z-axis coil.

[0019] In one embodiment, the keyboard operation unit is used to control the magnetic field of the micro-nano robot magnetic control platform through the "up, down, left, and right" keys on the keyboard to control the movement trajectory of the micro-nano robot.

[0020] In one embodiment, the micro-nano robot target detection unit is used to select a model file in a local folder, initialize the model, and perform position and posture detection on the micro-nano robot in real-time imaging.

[0021] In one embodiment, the magnetic field detection unit is used to read the current parameters collected by the sensor placed in the center of the coil, and obtain the magnetic field magnitude by calculation.

[0022] In one embodiment, the printout unit is used to printout magnetic field related parameters, imaging related parameters, micro-nano robot detection model setting parameters, X-axis sensor data, Y-axis sensor data, and Z-axis sensor data.

[0023] In one embodiment, the magnetic control platform status unit is used to display the state type of the micro-nano robot magnetic control platform, including manual control operation state, automatic control operation state, warning state or stop state. Beneficial effects

[0024] Compared with the existing technology, the advantage of the present invention is that the control system of the provided micro-nano robot magnetic control platform improves the controllability of the micro-nano robot and the user experience by reasonably dividing multiple functional modules and controlling the communication between the modules. It can accurately and intuitively control the movement of the micro-nano robot and observe the movement status in real time, thereby efficiently achieving the predetermined tasks.

[0025] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0027] FIG1 is a schematic diagram of a control system of a micro-nano robot magnetic control platform according to an embodiment of the present invention. Best Mode for Carrying Out the Invention

[0028] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0029] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0030] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0031] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0032] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] A micro-nano robot refers to a small robot with a micro-nano scale. A micro-nano robot magnetic control platform typically includes a carrying platform, an imaging scanning device (such as a camera), and a control device. The carrying platform is used to carry the object to be measured with the micro-nano robot. The imaging scanning device scans the object to be measured to obtain the coordinates of the area to be measured within the object and the coordinates of the micro-nano robot. The control device controls the magnetic field size and polarity of the magnetic field unit based on the coordinates of the area to be measured and the coordinates of the micro-nano robot to control the precise movement of the micro-nano robot to the area to be measured. To further improve the control accuracy and intuitive observation of the micro-nano robot, the present invention designs a control system for the micro-nano robot magnetic control platform, which can be implemented through software.

[0034] As shown in Figure 1, the control system of the provided micro-nano robot magnetic control platform includes a main control unit 10, a display unit 11, a magnetic field parameter setting unit 12, a camera parameter setting unit 13, a custom magnetic field setting unit 14, a keyboard operation unit 15, a micro-nano robot target detection unit 16, a magnetic field magnitude detection unit 17, a print output unit 18 and a magnetic control platform status unit 19, etc.

[0035] The main control unit 10 is responsible for comprehensive system control. It is connected to the display unit 11, magnetic field parameter setting unit 12, camera parameter setting unit 13, custom magnetic field setting unit 14, keyboard operation unit 15, micro-nano robot target detection unit 16, magnetic field magnitude detection unit 17, printout unit 18, and magnetic control platform status unit 19, enabling control, management, and monitoring of each unit. For example, the main control unit 10 can access the display unit 11, magnetic field parameter setting unit 12, camera parameter setting unit 13, micro-nano robot target detection unit 16, magnetic field magnitude detection unit 17, printout unit 18, and magnetic control platform status unit 19 through control software and conduct real-time monitoring. In the event of a warning from the magnetic control platform terminal device, the main control unit 10 uses the magnetic control platform terminal device to deactivate the coil. This design enhances the flexibility and convenience of controlling the magnetic control platform.

[0036] The display unit 11 is used to display the magnetic field setting parameters of the magnetic control platform, camera setting parameters, micro-nano robot detection model setting parameters, X-axis sensor data, Y-axis sensor data, Z-axis sensor data, and the software UI interface. For example, the magnetic field setting parameters include the current magnetic field type parameter, amplitude parameter, frequency parameter, direction parameter, angle parameter, etc. The display unit 11 can display the data and parameters in the form of tables or waveform graphs according to the characteristics of the data.

[0037] The magnetic field parameter setting unit 12 is used to set the magnetic field parameters of the micro-nano robot magnetic control platform, such as magnetic field type parameters, amplitude parameters, frequency parameters, direction parameters, and angle parameters. The use of the magnetic field parameter setting unit 12 enhances the flexibility of magnetic field parameter settings, allowing users to set parameters for specific tasks.

[0038] The camera parameter setting unit 13 is used to set the camera parameters of the micro-nano robot magnetic control platform, such as gain parameters, exposure time parameters, white balance parameters, etc.

[0039] The custom magnetic field setting unit 14 is used to set the parameters of the micro-nano robot magnetic control platform to generate an arbitrary magnetic field, including the magnetic field timing of the X-axis coil, Y-axis coil, and Z-axis coil, so as to generate the magnetic field required to achieve a specific task.

[0040] The keyboard operation unit 15 is used to control the micro-nano robot using keyboard keys. For example, the up, down, left, and right keys on the keyboard control the magnetic field of the magnetic control platform. This design allows the operator to control the micro-nano robot in a similar way to playing a "flying game," improving the user experience.

[0041] The micro-nano robot target detection unit 16 is used to select a model file from a local folder, initialize the model, and detect the position and posture of the micro-nano robot in real-time imaging. By setting up the micro-nano robot target detection unit 16, the operator can promptly understand the micro-nano robot's position and current posture, allowing for more precise control.

[0042] The magnetic field magnitude detection unit 17 is used to read the current parameters collected by the sensor placed in the center of the coil and obtain the magnetic field magnitude by calculation. The sensor is, for example, a Helmholtz sensor.

[0043] The printout unit 18 is used to printout the magnetic field setting parameters, camera setting parameters, micro-nano robot detection model setting parameters, X-axis sensor data, Y-axis sensor data, and Z-axis sensor data, thereby facilitating the operator to record the experimental conditions.

[0044] The magnetic control platform status unit 19 is used to display the working status of the micro-nano robot magnetic control platform, including manual control operation status, automatic control operation status, warning status or stop status, etc., so as to help the operator accurately understand the working status of the magnetic control platform and adopt effective countermeasures. Modes for Carrying Out the Invention

[0045] In one embodiment, the control system provided by the present invention is installed on a host computer and connected to the magnetron stage terminal device via USB. USB connection is preferred over other connection methods such as WiFi because it ensures high-speed data transmission, plug-and-play, supports multiple transmission modes, and is easy to carry.

[0046] It should be noted that in order to ensure the efficiency of the control system, different units can be executed through a multi-threaded architecture, and memory can be reasonably allocated according to the function and computing amount of each unit.

[0047] In summary, the control system for the magnetically controlled micro-nanorobotic platform provided by this invention incorporates multiple functional units tailored to the specific characteristics of the magnetically controlled platform and the operational features of the micro-nanorobotic system. A master control unit coordinates communication between these units and controls external communications. This design overcomes technical challenges associated with motion control and precise positioning of the micro-nanorobotic system.

[0048] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0049] A computer-readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure within a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse passing through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0050] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0051] The computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, Python, and conventional procedural programming languages ​​such as "C" or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, the state information of the computer-readable program instructions is used to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), so that the electronic circuit can execute the computer-readable program instructions, thereby implementing various aspects of the present invention.

[0052] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0053] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0054] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0055] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0056] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A control system for a micro-nano robot magnetic control platform, characterized in that: The system is set on a main control computer and connected to a magnetic control platform terminal device, and the system includes a main control unit, a display unit, a magnetic field parameter setting unit, a camera parameter setting unit, a custom magnetic field setting unit, a keyboard operation unit, a micro-nano robot target detection unit, a magnetic field detection unit, a print output unit, and a magnetic control platform status unit, wherein: The main control unit is respectively connected to the display unit, the magnetic field parameter setting unit, the camera parameter setting unit, the custom magnetic field setting unit, the keyboard operation unit, the micro-nano robot target detection unit, the magnetic field detection unit, the print output unit and the magnetic control platform status unit for performing comprehensive control of the micro-nano robot magnetic control platform; The display unit is used to display relevant parameters of the micro-nano robot magnetic control platform; The magnetic field parameter setting unit is used to set magnetic field related parameters of the micro-nano robot magnetic control platform; The camera parameter setting unit is used to set imaging related parameters of the micro-nano robot magnetic control platform; The custom magnetic field setting unit is used to control the micro-nano robot magnetic control platform to generate set magnetic field parameters; The keyboard operation unit allows the operator to control the movement of the micro-nano robot by pressing keyboard keys; The micro-nano robot target detection unit is used to detect the real-time coordinates and posture of the micro-nano robot; The magnetic field detection unit is used to obtain data collected by the sensor; The print output unit is used for printing output data; The magnetic control platform status unit is used to display the working status of the magnetic control platform of the micro-nano robot.

2. The system according to claim 1, characterized in that The relevant parameters displayed by the display unit include magnetic field setting parameters, imaging related parameters, micro-nano robot detection model setting parameters, X-axis sensor data, Y-axis sensor data, Z-axis sensor data, and a user interface.

3. The system according to claim 1, characterized in that The magnetic field parameter setting unit is used to set one or more of the type parameters, amplitude parameters, frequency parameters, direction parameters, and angle parameters of the magnetic field generated by the micro-nano robot magnetic control platform.

4. The system according to claim 1, characterized in that The camera parameter setting unit is used to set one or more of the gain parameters, exposure time parameters, and white balance parameters of the industrial camera imaging in the micro-nano robot magnetic control platform.

5. The system according to claim 1, characterized in that The custom magnetic field setting unit generates a set magnetic field by respectively setting the magnetic field timing of the X-axis coil, the Y-axis coil, and the Z-axis coil.

6. The system according to claim 1, characterized in that The keyboard operation unit is used to control the magnetic field of the micro-nano robot magnetic control platform through the "up, down, left, right" keys of the keyboard to control the movement trajectory of the micro-nano robot.

7. The system according to claim 1, characterized in that The micro-nano robot target detection unit is used to select a model file in a local folder, initialize the model, and perform position and posture detection on the micro-nano robot in real-time imaging.

8. The system according to claim 1, characterized in that The magnetic field detection unit is used to read the current parameters collected by the sensor placed in the center of the coil, and obtain the magnetic field size by calculation.

9. The system according to claim 1, characterized in that The print output unit is used to print out magnetic field related parameters, imaging related parameters, micro-nano robot detection model setting parameters, X-axis sensor data, Y-axis sensor data, and Z-axis sensor data.

10. The system according to claim 1, characterized in that The magnetic control platform status unit is used to display the type of working state of the micro-nano robot magnetic control platform, including manual control operation state, automatic control operation state, warning state or stop state.

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