48 results about "Microbotics" patented technology

The invention relates to the technical field of electromagnetic driving, in particular to a multi-micro-robot formation control system and method based on a magnetic array platform and an ARA algorithm. According to the technical scheme, the system comprises a control module, a power supply module, a current driving module, a magnetic field array module and a current sampling module, the power supply module is connected with the current driving module and used for providing electric energy for the system, and the control module is connected with the current driving module and used for outputting multiple paths of high-precision current control signals. And the magnetic field array module is connected with the current driving module and is used for generating a series of local magnetic fields which can be independently controlled in a working area according to the current control signal so as to drive a plurality of magnetic micro-robots. The technical bottleneck of independent driving and accurate control of the multiple micro-robots is solved, the efficiency and robustness of group cooperation are improved through an intelligent algorithm, and the system is excellent in overall performance and high in practicability and has remarkable technical progress and industrial application value.

The invention discloses a path task planning method for a magnetic micro robot in a complex environment, and relates to the technical field of micro-nano control, and the method comprises the steps: carrying out the formalized coding of a multi-target task demand through employing linear sequential logic LTL; a decision module based on a DQN neural network is constructed, a real-time environment state and an action execution result are combined and input to a multi-level reward function coded by LTL to generate a reward and punishment signal, and the reward and punishment signal is fed back to the network to guide a path optimization decision; in the network optimization process, a logic correction state transition model is introduced to increase the probability of compliance action in a weighted manner, so that the state transition process of the magnetic micro robot is shifted towards the direction meeting LTL constraint. According to the method, task logic features are extracted through bidirectional GRU, and the task logic features are embedded into the neural network as priori knowledge of decision making, so that the problem of low efficiency of processing time sequence tasks through traditional DQN is solved, and the interpretability and safety of decision making are improved through explicit logic constraints.

Various embodiments of the present technology generally relate to systems and methods for providing a domain interface engine for virtual assistant applications. In an example, a method includes receiving, by a domain interface engine, a user query from a first client device. The domain interface engine may include multiple microbots, each of which is assigned to a respective backend domain. The domain interface engine may determine a first microbot for handling the user query. The first microbot may be assigned to a first backend domain and may retrieve a domain content from the first backend domain corresponding to the user query. The first microbot may also generate a query response based on the domain content and the domain interface engine may transmit the query response to the first client device.

The invention discloses a magnetic micro-robot dynamic path planning method based on a composite artificial potential field, and relates to the technical field of micro-nano operation, and the method comprises the steps: inputting map information to generate an initial path, optimizing path points in each path segment, and outputting a continuous and smooth global path; based on the position relation between the robot position and the global path, composite path adsorption attraction is applied; when the algorithm falls into a local minimum, constructing a disturbance sampling area based on the position of the robot, a target point and a global path, randomly generating a temporary gravitational point in the area, applying auxiliary disturbance gravitational force, and guiding the robot to jump out of a trap area; and the target point gravitation, the obstacle repulsive force, the composite path adsorption gravitation and the auxiliary disturbance gravitation are synthesized into control guiding force, and the robot is driven to move in the set target direction. The method integrates path guidance, dynamic obstacle avoidance and local optimization capabilities, and is suitable for path planning tasks of various intelligent moving bodies in a complex environment.

The application provides a chip hotspot heat dissipation system based on a micro robot, which comprises a magnetic field control device for generating a uniform magnetic field; a chip is placed in the uniform magnetic field; a heat dissipation channel is arranged on the surface of the chip, and a cooling medium for conducting convective heat exchange on a hotspot is circulated in the heat dissipation channel; a robot is made of a magnetic material and is placed in the cooling medium; and a processor is used for controlling the magnetic field control device to generate a magnetic field at a first target rotating frequency, so as to drive the robot to run in the cooling medium to a region where the hotspot of the chip is located; and the processor is also used for controlling the magnetic field control device to generate a magnetic field at a second target rotating frequency, so as to drive the robot to rotate in place in the region where the hotspot of the chip is located, so as to dissipate heat of the hotspot of the chip. The system provided by the application effectively solves the problem that the prior art is difficult to accurately match the dynamic migration characteristics of the hotspot; and the heat dissipation efficiency of the hotspot of the chip is improved.

The application discloses a four-stage paddle thrombus-removing micro robot, a preparation method and a magnetic field driving thrombus-removing micro robot system, relates to the technical field of micro robots, and comprises a conical drill bit, a main straight rod and a four-stage paddle group, wherein the conical drill bit is made of a biodegradable material; the bottom of the conical drill bit is connected with the main straight rod; the main straight rod is internally provided with a thrombolytic drug; the four-stage paddle group is arranged on the outer circumferential surface of the main straight rod in an axial direction; the paddle group comprises three paddle blades which are centrally symmetrical to the axis of the main straight rod; the paddle blades in the adjacent two-stage paddle groups are arranged in a staggered manner; the paddle blades are of a round head structure; the thickness of the paddle blades gradually increases from outside to inside; and the surface of the micro robot is coated with a magnetic film and is subjected to directional magnetization treatment. The application can obtain strong movement ability and stable movement state under the accurate control of a movement system, realizes intravascular drilling and crushing of a thrombus, and can biodegrade and release the thrombolytic drug after surgery, so as to solve the problem of downstream vascular embolism after drilling.

This invention discloses a targeted drug delivery field-controlled microrobot, comprising a drug filament assembly and a carrier filament. The invention also provides an application of this targeted drug delivery field-controlled microrobot, in which the carrier filament is delivered into a patient's body. When the carrier filament reaches the target location, a magnetic control device controls the carrier filament to bend and deform until it breaks, allowing the first drug filament to release the drug within the patient's body. This invention further provides a fabrication apparatus for the targeted drug delivery field-controlled microrobot, including microfluidic devices and a printing nozzle, reducing the fabrication difficulty, production costs, and usage costs of the microrobot. Additionally, this invention provides a fabrication method for the targeted drug delivery field-controlled microrobot. Utilizing the aforementioned fabrication apparatus, the structure and relative positional relationship of the drug filament assembly and the carrier filament can be altered, improving the flexibility and adaptability of the targeted drug delivery field-controlled microrobot.

The invention discloses a macro-micro composite automatic feeding and positioning robot system and method, relates to the technical field of intelligent assembly and robots, and is used for solving the technical problems of dynamic response lag and low motion precision during macro-motion and micro-motion switching of an existing macro-micro robot motion system. The macro-micro composite automatic feeding and positioning robot system comprises a first displacement mechanism, a second displacement mechanism, a micro positioning mechanism, a sample storage chamber and a linear importer, wherein the micro-positioning mechanism is connected with the first displacement mechanism; the first displacement mechanism drives the micro-positioning mechanism to move in the vertical direction; the sample storage chamber is connected with the second displacement mechanism; the second displacement mechanism drives the sample storage chamber to move in the vertical direction and the horizontal direction; a clamping jaw and a cleaning frame are arranged at one end, close to the sample storage chamber, of the linear introducer.

The application discloses a cable parallel macro-micro spraying robot for large-scale surface coating, comprising a macro robot, a micro robot and a spraying module. The macro robot is composed of a frame, a macro robot driving assembly and an out-cable pulley, and realizes the movement of the whole robot in a two-dimensional plane; the micro robot comprises a cable parallel micro robot and a guide rail type micro robot, and can be selected according to actual task requirements and carried on the macro robot; the spraying module completes the paint spraying operation on a target surface under the control of the micro robot. The two-stage macro-cable-micro robot can realize the five-degree-of-freedom movement of a spraying gun in space, the macro robot and the micro robot are complementary, the movement space and the spraying precision are considered, and the spraying robot is suitable for large-range and high-quality paint spraying tasks.

The invention provides a chip heat dissipation method and device. The method comprises the following steps: acquiring surface temperature distribution and heat flux density distribution of a chip to position hot spot positions of the chip; a cooling medium is guided to flow through the chip, the micro-robot suspended in the cooling medium is placed under the action of a magnetic field, and the micro-robot is controlled to move to the position above the hot spot position in the cooling medium; determining the initial heat exchange efficiency of the micro-robot above the hot spot; and according to the initial heat exchange efficiency, the magnetic field control parameters are continuously adjusted until the current heat exchange efficiency meets the expected heat exchange efficiency, and targeted heat dissipation is conducted on the chip hot spots. According to the invention, the hot spot position of the chip can be accurately positioned by acquiring the surface temperature distribution and the heat flux density distribution of the chip; the magnetic field control parameters are used for controlling the micro-robot to move to the position above the hot spot, and dynamic tracking and heat dissipation of the hot spot are achieved; in addition, the magnetic field control parameters can be continuously adjusted according to the initial heat exchange efficiency, and the purpose of effective heat dissipation of chip hot spots is achieved.

The invention discloses a pose estimation method and device of a magnetic control capsule and a computer program product in the technical field of magnetic micro-robot positioning, and aims to solve the problem that the pose estimation method is weak in multi-magnetic-source coupling processing capacity or lacks physical constraints. The method comprises the following steps of: processing three kinds of physical parameters, namely a three-axis magnetic field component, coordinates of magnetic sensors and a distance between the magnetic sensors; according to the obtained physical feature data packet, feature extraction is carried out on the most root physical parameters from the data of one-dimensional independent magnetic sensors, the data change between two-dimensional magnetic sensors and the three-dimensional magnetic field vector angle, and only after the features are analyzed and classified according to the geometric space angle, the feature extraction is carried out. The data is used for prediction by the pose residual neural network, so that pose prediction data with physical consistency can be output; pose estimation is carried out based on the pose residual neural network and the magnetic sensor array, the multi-magnetic-source coupling processing capacity is high, and the requirement for accurate positioning in the complex magnetic environment is met.

This invention belongs to, but is not limited to, the field of adaptive rehabilitation technology, and discloses an adaptive rehabilitation system and method based on a magnetic microrobot and a reinforcement learning framework. The system includes: a physical interaction end: serving as the physical carrier for the patient to directly perform rehabilitation tasks; a visual perception end: employing a high-resolution real-time imaging system, vertically fixed above the operation panel via an external bracket; the lens optical axis is vertically downward, and the field of view completely covers the entire operation panel, ensuring real-time acquisition of video stream data including the patient's affected limb and the microrobot without blind spots; a central control end: employing a data processing device equipped with a high-performance processor; its data input interface is connected to the visual perception end for receiving the video stream in real time; its communication output interface, such as a serial port or local area network, is connected to the driver of the magnetic drive unit for issuing control commands. This invention employs a magnetically coupled non-contact driving method, physically decoupling the microrobot from the drive device, supporting flexible expansion of diverse planar drive devices, and eliminating the risk of mechanical strain on the patient.

The invention discloses a multi-coil magnetic field real-time optimization method based on a particle swarm algorithm and a driving system. The magnetic field of a multi-coil magnetic driving system is optimized. The position parameters of the multiple coils are adjusted to generate a magnetic field in the space, and the position parameters of the coils are collected in the process of driving the micro-robot through simulation and experiments. A pre-optimized parameter interval is obtained through particle swarm optimization pre-optimization processing, in order to enable the system to have good real-time performance, small sample sampling is carried out in the pre-optimized parameter interval in the optimization process, the result in the pre-optimized parameter interval is closer to the optimal value through optimization processing, the sampling interval range is very small, and therefore the real-time performance of the system is improved. Small sample sampling can meet the accuracy of the magnetic field, and in addition, real-time optimization of a driving system can also be met. The pre-optimization process of the method can be realized in a simulation environment, the cost can be reduced, and the dependence of the optimization process on real operation is reduced.

The application discloses a drug-loaded magnesium-based micro-nano robot and an exogenous image auxiliary guided micro-nano robot delivery system, and belongs to the field of micro-nano robots. The method comprises the following steps: preparing a magnesium powder with a micron size as a main body magnesium-based drug-loaded micro-nano robot, and using hydrogen bubbles generated by the reaction of a bare magnesium notch and H+ in the environment as a self-driven driving source; establishing a stab card at an abdominal cavity part of an animal body, which is used for the insertion of an optical fiber endoscope and the injection of a magnesium-based positive and negative type micro robot in a tumor; and after the position of the tumor is found, the self-driven characteristics of the micro robot are used to inject the drug-loaded micro robot into the tumor, so that a high drug delivery effect is achieved. The magnesium-based micro-nano robot has the characteristics of a simple preparation method, good biocompatibility and self-driving, has a good application prospect in the field of cancer treatment, and improves the treatment effect of cancer.

The application belongs to the technical field of micro-robot preparation, and provides a magnetic micro-robot with ROS response and shape self-adaptability, a preparation method and application thereof. The preparation method comprises the following steps: mixing eight-arm polyethylene diamine, eight-arm succinimidyl carboxylate, iron oxide nanoparticles, antioxidant material, cell adhesion molecule and PBS buffer to obtain a mixture; mixing the mixture with n-hexane, liquid paraffin and span 80, and performing magnetic stirring, and then standing to obtain a magnetic micro-robot mixture; and separating the magnetic micro-robot mixture by using a permanent magnet to obtain magnetic gel microspheres, i.e. the magnetic micro-robot. The magnetic micro-robot prepared by the application has ROS response and good shape self-adaptability, and can be widely applied to the medical field.

The application discloses a kind of magnetic micro-robot parallel collaborative field navigation system, it is related to micro-nano operation technical field, and the micro resource conflict resolution scheduler MCDO in this system is based on the smooth single-machine path of dynamic evolution navigation planner DEN, the safety path constraint of conflict-aware evolutionary planner CAEP and the coil current with anti-interference control of double-field disturbance suppressor DFDS, to each magnetic micro-robot planning obstacle avoidance path and outputting multi-machine conflict-free instruction, to drive coil array to generate distributed gradient magnetic field, realize multi-robot independent drive;Micro-vision anchor MVAM is used to track the motion trajectory of magnetic micro-robot in real time, and provides robot pose data for MCDO and DFDS.The above-mentioned module realizes the whole process logic closed-loop management and control from path planning to physical drive, interference suppression to state monitoring, and is improved in path planning efficiency, anti-interference control accuracy, multi-machine cooperation capability, environment adaptation and the like.

The application discloses preparation of a core-shell structure hydrogel and application of the core-shell structure hydrogel in preparation of a magnetic control flexible micro robot, and belongs to the technical field of biomedical soft micro robot. The application adopts a core-shell structure to construct a hydrogel micro robot, wherein, a vanadium disulfide nanosheet rich in sulfur defects is used as a functional inner core, and has magnetic response and photoacoustic imaging capacity; a polyacrylamide polymer chain is used as a flexible outer shell, free radical initiation is carried out on the surface of the vanadium disulfide through vanadium-sulfur dynamic coordination bonds, and simple amide bond hydrogen bond crosslinking endows the hydrogel with three-dimensional printable performance. The prepared flexible micro robot can realize precise controllable movement under the action of an external magnetic field, and can realize robot posture monitoring and navigation positioning functions with the aid of photoacoustic imaging capacity, and has good application prospect in the fields of drug delivery, minimally invasive surgery and tissue treatment.

This invention discloses a bioactive hybrid microrobot for removing antibiotic pollution from water bodies, its preparation method, and its application, belonging to the field of water pollution treatment technology. This invention couples *Chlamydomonas reinhardtii* with DBCO-PEG4-NHS, and then further assembles and modifies it through copper-free click chemistry (SPAAC) and a reaction with p-azidobenzoic acid (AzBA), further assembling the functionalized algae into microrobots. Relying on the stable self-driving characteristics of the algae, the microrobots achieve rapid adsorption of antibiotics (SMX). Throughout the reaction process, the synergistic effect of hydrogen bonds and π bonds between p-azidobenzoic acid and SMX ultimately achieves the dynamic removal of SMX from environmental water bodies. This invention develops a functionally active bioactive hybrid microrobot (AzBA-algal robot) that achieves highly efficient SMX removal. As an ecologically sound technical method, this technology opens up a new pathway for the removal of SMX from environmental water samples and provides innovative ideas for the dynamic removal research of other types of environmental pollutants.

The invention belongs to the technical field of acoustic flow control, and discloses an acoustic micro-robot control system and method based on an interface scattering coupling enhanced sound field, and the acoustic micro-robot control system based on the interface scattering coupling enhanced sound field comprises a micro-robot, a micro-flow control device, an acoustic transducer, a sound field and a micro-scale target; according to the invention, a coupling sound field with enhanced local sound energy radiation can be formed, motion control of the micro-robot, and local sound field motion and patterned structure control are carried out through background sound field motion or modulation, so that selective capture and precise control of a micro-scale target are realized, and the precision of the micro-scale target is improved. The limitation that a traditional micro-robot usually depends on mechanical force such as contact to conduct further micro-scale target operation is overcome, a novel functional micro-robot is achieved, the micro-robot has the capacity of constructing a local secondary physical field, secondary physical field construction and control based on the micro-robot are achieved, and the application range of the micro-robot is widened. And the non-contact control function of the micro-robot is realized.

The invention discloses a magnetic micro-robot screening method and system based on impedance adjustment control. The system comprises a mobile control platform, a magnetic field generation device, a visual feedback device, an upper computer control module, a sorting device and multiple magnetic micro-robots. The upper computer control module sends a displacement instruction to the mobile control platform; the closed-loop control unit based on impedance adjustment receives a coordinate signal transmitted by the visual feedback device, processes the coordinate signal and then sends a current instruction to the magnetic field generation device, and control over the magnetic micro-robot is achieved. Under the action of the magnetic field, the micro-robot and the sorting device cooperate to complete screening of the micro-robot. The method has the beneficial effects that collective screening and single screening of the micro-robots can be achieved only through a magnetic field; a magnetic field generating device and a movable control platform are combined, so that three-dimensional selective control and delivery of the micro-robot in a wider space are realized; the closed-loop control algorithm based on impedance adjustment control can be widely applied to the electromagnetic coil with the iron core.

Disclosed in the present invention are a deep-lung targeted delivery method, and a micro-robot swarm. The method comprises: preparing microgel particles including magnetic microparticles, imaging particles and cargo, and combining the prepared microgel particles to obtain a micro-robot swarm; controlling the movement, climbing and reconstruction of the micro-robot swarm in a non-fluid environment, so as to realize movement within a porous duct environment; and controlling the micro-robot swarm to move in a lung sample under the guidance of X-rays, and delivering the micro-robot swarm to a target bronchus in the lung sample; or controlling the micro-robot swarm to perform delivery in a target lung under the guidance of computed tomography imaging, and to release encapsulated cargo at a target bronchus. The micro-robot swarm provided by the present invention can realize targeted delivery in an air-filled lung environment, a lung environment with a mucus layer, and a deep-lung target bronchus.

The invention relates to the field of magnetic control micro-robots, in particular to a magnetic control drug-loaded robot for thrombus removal and treatment and a preparation method of the magnetic control drug-loaded robot. The magnetic control medicine carrying robot comprises a magnetic control robot body and a medicine carrying layer. The magnetic control robot body comprises a magnetic composite layer and a spiny skin layer. The medicine carrying layer is adhered to the surface of a magnetic composite layer of the magnetic control robot. The magnetic control medicine carrying robot carries the medicine carrying layer to be navigated to a target thrombus position in a blood vessel in a rolling or spiral movement mode, then a high-frequency rotating magnetic field is applied, the rolling movement or spiral movement speed of the magnetic control medicine carrying robot is increased accordingly, the spinous skin layer of the robot continuously rubs and collides with the thrombus, and medicine of the medicine carrying layer is released; the thrombus is broken, broken fresh platelets are taken away along with blood, fibrous protein is firmly attached to a spinous skin layer, thrombus fragments can be prevented from blocking other blood vessels, and the thrombus removing effect of the robot physical effect and drug therapy is achieved.

The application provides a chip hotspot heat dissipation method and device based on a micro robot. The method comprises the following steps: obtaining the surface temperature distribution and the heat flow density distribution of a chip to locate the chip hotspot position; guiding a cooling medium to flow through the chip, and placing a micro robot suspended in the cooling medium under the action of a magnetic field, and controlling the micro robot to move in the cooling medium to above the hotspot position; determining the initial heat flux change data of the micro robot above the hotspot; and continuously adjusting the magnetic field control parameters according to the initial heat flux change data until the current heat flux change data meets the expected heat dissipation target. The application can accurately locate the chip hotspot position. By controlling the micro robot to move in the cooling medium to the area where the chip hotspot is located, dynamic tracking and heat dissipation of the hotspot are realized; and by continuously adjusting the magnetic field control parameters according to the initial heat flux change data, effective heat dissipation of the chip hotspot is realized.

The application provides a control system and method of a magnetic control spiral micro robot, electronic equipment and a medium. The control method of the magnetic control spiral micro robot comprises the following steps: determining the coverage range of solid foreign matters in a micro pipeline by a visual gray scale detection method; controlling a magnetic control system to output a rotating magnetic field with adjustable frequency to drive the micro robot to advance in a drill bit shape along a predetermined track; acquiring real-time dynamic information of the micro robot in real time by an image acquisition device; and adjusting the magnetic field of the micro robot based on the real-time dynamic information until the micro robot can pass through the solid foreign matter area in the micro pipeline. The control method of the magnetic control spiral micro robot improves the problem that the micro robot in the prior art cannot switch control strategies according to different tasks and the motion posture of the micro robot is not stable enough.

The invention discloses a magnetic micro-robot parallel collaborative field navigation system, and relates to the technical field of micro-nano operation. A micro resource conflict resolution composer MCDO in the system plans an obstacle avoidance path for each magnetic micro robot and outputs a multi-machine conflict-free instruction based on a smooth single-machine path of a dynamic evolutionary navigation planner DEN, a safe path constraint of a conflict perception evolutionary planner CAEP and a coil current with anti-interference control of a double-field disturbance suppressor DFDS; a driving coil array is used for generating a distributed gradient magnetic field, and independent driving of multiple robots is achieved; the MVAM is used for tracking the motion trail of the magnetic micro-robot in real time and providing robot pose data for the MCDO and the DFDS. The above modules realize full-flow logic closed-loop control from path planning to physical driving, interference suppression to state monitoring, and are improved in the aspects of path planning efficiency, anti-interference control precision, multi-machine cooperation capability, environment adaptation and the like.

The application provides a multi-source adaptive enterprise micro group robot message intelligent pushing method and device, and relates to the technical field of computer application. The method realizes the format unification and effectiveness guarantee of different source business data through unified access and standardized preprocessing of multi-source business data, and realizes professional processing of massive real-time raw data through a distributed stream processing engine. Through the combination of multiple trigger modes and distributed lock control, reliable triggering of full-scene pushing tasks is realized, and the problem of repeated execution of tasks in a distributed cluster environment is completely solved. Through standardized content rendering and traffic control based on the token bucket algorithm, accurate adaptation of pushing content and enterprise micro robot API is realized, avoiding API ban problems in high-concurrency scenarios, and comprehensively improving the efficiency, success rate, stability and scene adaptation ability of enterprise micro group message pushing, which can meet the enterprise micro message pushing needs in multiple scenarios of the financial, Internet and other industries.

The application discloses a lung deep layer targeted delivery method and a micro robot cluster, and comprises the following steps: preparing microgel particles containing magnetic microparticles, developing particles and cargos, and combining the prepared microgel particles to obtain the micro robot cluster; controlling the motion, climbing and reconstruction of the micro robot cluster in a non-fluid environment to realize the motion in a pipe environment with holes; controlling the motion of the micro robot cluster in a lung sample under the guidance of X-ray to deliver the micro robot cluster to a target bronchus of the lung sample; or controlling the delivery of the micro robot cluster in a target lung under the guidance of computer tomography imaging, and releasing the wrapped cargos in the target bronchus; and the micro robot cluster can realize the targeted delivery in the lung environment full of air, the lung environment with a mucous layer and a target bronchus in the lung deep layer.

This invention discloses an adaptive obstacle avoidance system and method for microrobots. An image acquisition module is positioned above the microfluidic device to acquire first image information reflecting the microrobot's activity in a target liquid environment. A wavelength calculation module determines the background sound field wavelength based on characteristic dimensions. A surface acoustic wave (SAW) transducer excites a background sound field with the background sound field wavelength in the target liquid environment. The background sound field, after being modulated by the target obstacle, forms a sound pressure obstacle avoidance channel that bypasses the obstacle. The sound pressure within the sound pressure obstacle avoidance channel is periodically distributed to form an obstacle avoidance potential well array. A driving device moves the SAW transducer, causing the modulated sound pressure obstacle avoidance channel in the target liquid environment to perform controlled movement, thereby driving the microrobot to perform obstacle avoidance actions through the obstacle avoidance potential well array. This invention enables adaptive obstacle avoidance for microrobots and can also drive microrobots to complete long-stroke continuous movements.

This invention discloses a method for coordinated morphology and trajectory control of a magnetic microrobot swarm, belonging to the field of micro-nano robotics. Step 1: Construct a state-space evolution model of the centroid and morphology of the microrobot swarm; Step 2: Based on the model in Step 1, design a spatiotemporal flow field perturbation observer that integrates multi-physics priors; Step 3: Based on the perturbation compensation in Step 2, design a centroid and morphology coordinated controller based on an event-triggered mechanism; Step 4: Implement coordinated morphology and trajectory control of the magnetic microrobot swarm based on the coordinated controller in Step 3. This invention addresses the problems of model mismatch, observation lag, and easy overload and overheating of actuators in existing magnetic microrobot swarm control systems.

The invention belongs to the technical field of sound stream control, and discloses an acoustic bionic micro-robot system based on sound field conformality and a manipulation method.The acoustic bionic micro-robot system based on sound field conformality comprises an acoustic bionic micro-robot, an acoustic transducer, a micro-fluidic device, a sound field and a micro-scale target; the acoustic bionic micro-robot can be driven to move in the micro-fluidic device through a sound field, the acoustic bionic micro-robot is designed in a conformal mode according to a sound field sound pressure distribution geometric structure, and the acoustic bionic micro-robot comprises a minimum potential energy structure and a sound energy capturing structure which aim at sound field node and antinode distribution. The two micro-robots obey geometric structures of a potential energy trap and a sound pressure gradient region respectively and are used for improving the motion stability, the control precision, the sound excitation sensitivity and the motion speed of the micro-robot; the geometric conformal design based on sound field pressure three-dimensional distribution allows the micro-robot to obtain accurate sound excitation by virtue of effects such as sound gradient force, so that accurate sound control is realized.