CN107315425B - Centroid control system and centroid control method - Google Patents
Centroid control system and centroid control method Download PDFInfo
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- CN107315425B CN107315425B CN201710695450.0A CN201710695450A CN107315425B CN 107315425 B CN107315425 B CN 107315425B CN 201710695450 A CN201710695450 A CN 201710695450A CN 107315425 B CN107315425 B CN 107315425B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000005674 electromagnetic induction Effects 0.000 claims abstract description 27
- 239000011324 bead Substances 0.000 claims abstract description 21
- 230000000694 effects Effects 0.000 abstract description 3
- 239000010410 layer Substances 0.000 description 47
- 239000008188 pellet Substances 0.000 description 20
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 239000002356 single layer Substances 0.000 description 6
- 230000008447 perception Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000001339 gustatory effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The disclosure provides a centroid control system and a centroid control method, and relates to the technical field of mechanical control. The centroid control system comprises: a plurality of first channels arranged along a first direction; a plurality of second channels arranged along a second direction; a plurality of magnetic beads, the motion trail along the first channel or along the second channel; the electromagnetic induction devices are positioned at the junction positions of the first channel and the second channel; and the control device is used for controlling the corresponding electromagnetic induction device to be electrified according to the target position of the mass center of the system so as to enable the magnetic small ball to move along the first channel or the second channel. The present disclosure may achieve the effect of controlling centroid changes.
Description
Technical Field
The disclosure relates to the technical field of mechanical control, and in particular relates to a centroid control system and a centroid control method.
Background
Virtual Reality (VR) technology mainly includes aspects of simulating environments, perception, natural skills, sensing devices, and the like. Where perception means that an ideal VR device should have all human perception, in addition to the visual perception generated by computer graphics technology, also have auditory, tactile, force, motion, etc. perception, even olfactory and gustatory, etc., also known as multi-perception. At present, VR technology mainly obtains visual and audible information, but the real world also has information such as touch sense and force sense. For example, a cup, the centroid of which changes as the water in the cup shakes, and the sense of realism of the VR experience can be enhanced if a corresponding feedback can be made to the hand holding the cup.
In addition, the change of the mass center can be involved in other fields such as grasping, sensing, balance training of robots and the like. As another example, the design of the exercise apparatus may be used to change the center of mass of the exercise apparatus in an active manner in a regular manner, thereby enabling the system to train to muscles at different locations.
Based on the above, the control technology of the centroid of the system has respective applications in different fields, so it is needed to design a system capable of controlling the centroid change to meet the demands of different fields.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
It is an object of the present disclosure to provide a centroid control system and a centroid control method that overcome, at least in part, one or more of the problems due to the limitations and disadvantages of the related art.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to one aspect of the present disclosure, there is provided a centroid control system comprising:
a plurality of first channels arranged along a first direction;
a plurality of second channels arranged along a second direction;
a plurality of magnetic beads, the motion profile being along the first channel or along the second channel;
the electromagnetic induction devices are positioned at the intersection positions of the first channel and the second channel; the method comprises the steps of,
and the control device is used for controlling the corresponding electromagnetic induction device to be electrified according to the target position of the system centroid so as to enable the magnetic small ball to move along the first channel or the second channel.
In an exemplary embodiment of the present disclosure, the first direction and the second direction are perpendicular to each other.
In an exemplary embodiment of the present disclosure, the first channel and the second channel are staggered.
In an exemplary embodiment of the present disclosure, the first channel and the second channel are each a multilayer structure.
In one exemplary embodiment of the present disclosure, a magnetic insulating layer is provided between adjacent layers of channels.
In an exemplary embodiment of the present disclosure, the first channels are arranged at equal intervals between adjacent first channels in the same layer, the second channels are arranged at equal intervals between adjacent second channels in the same layer, and the intervals between the adjacent first channels are equal to the intervals between the adjacent second channels.
In an exemplary embodiment of the present disclosure, the number of layers of the first channel and the second channel is the same, and the number of the first channel and the second channel of each layer is the same, and the centroid moving area of the centroid control system is a central 1/4 area of the whole system.
In one exemplary embodiment of the present disclosure, the electromagnetic induction apparatus includes an electromagnet.
According to one aspect of the present disclosure, there is provided a centroid control method including:
controlling the corresponding first electromagnetic induction device to be electrified according to the target position of the mass center of the system so as to enable the magnetic small ball to move along the first channel;
controlling the corresponding second electromagnetic induction device to be electrified according to the target position of the mass center of the system so as to enable the magnetic small ball to move along a second channel;
the electromagnetic induction device is positioned at the intersection position of the first channel and the second channel.
In one exemplary embodiment of the present disclosure, the magnetic beads moving along the first channel move simultaneously with the magnetic beads moving along the second channel.
The centroid control system provided in exemplary embodiments of the present disclosure has a plurality of magnetic beads that, once their relative positions change, may cause a change in the centroid position of the system. Based on this, the present exemplary embodiment controls the position of each magnetic pellet in the passage by the electromagnetic induction device provided at the intersection position of the first passage and the second passage, thereby achieving the purpose of adjusting the centroid position of the system.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
FIG. 1 schematically illustrates a schematic diagram of a centroid control system in an exemplary embodiment of the present disclosure;
FIG. 2 schematically illustrates a second structural schematic of a centroid control system in an exemplary embodiment of the present disclosure;
FIG. 3 schematically illustrates a motion schematic of a magnetic pellet in an exemplary embodiment of the present disclosure;
FIG. 4 schematically illustrates a schematic diagram of a centroid moving area in an exemplary embodiment of the present disclosure;
FIG. 5 schematically illustrates a flow chart of a centroid control method in an exemplary embodiment of the present disclosure;
fig. 6 schematically illustrates a centroid control system diagram of a 4 row 5 column single layer structure in an exemplary embodiment of the present disclosure.
Reference numerals:
101-a first channel; 102-a second channel; 103-magnetic pellets; 104-electromagnetic induction device.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
For ease of description, spatially relative terms, such as "below …," "below …," "lower," "above …," "upper," and the like, may be used herein to describe one element or feature's relationship to another element or feature (or other element or feature) as illustrated. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below …" may include orientations of both "above …" and "below …". The device may additionally be positioned (rotated 90 degrees or at other orientations) and the spatial relationship descriptors used herein interpreted accordingly.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The thickness and shape of the layers in the drawings do not reflect true proportions, but are merely for ease of illustration of the present disclosure. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
The present exemplary embodiment provides a centroid control system, as shown in fig. 1 and 2, comprising:
a plurality of first passages 101 arranged in a first direction;
a plurality of second channels 102 arranged in a second direction;
a plurality of magnetic beads 103 whose movement locus is along the first channel 101 or along the second channel 102;
a plurality of electromagnetic induction devices 104, which are positioned at the intersection position of the first channel 101 and the second channel 102, and are used for generating electromagnetic fields to control the movement track of the magnetic pellets; the method comprises the steps of,
and the control device is used for controlling the corresponding electromagnetic induction device 104 to be electrified according to the target position of the system centroid so as to enable the magnetic ball 103 to move along the first channel 101 or the second channel 104.
It should be noted that: the electromagnetic induction device 104 may be disposed at all the intersection positions of the first channel 101 and the second channel 102, that is, each intersection point may generate an electromagnetic field to attract the magnetic pellets 103; alternatively, the electromagnetic induction device 104 may be disposed only at a specific junction position of the first channel 101 and the second channel 102 as required, as long as the electromagnetic field generated by the electromagnetic induction device can control the movement track of the magnetic pellets 103.
The present exemplary embodiment provides a centroid control system having a plurality of magnetic beads 103 therein, which may cause a change in the centroid position of the system once the relative positions between the plurality of magnetic beads 103 are changed. Based on this, the present exemplary embodiment controls the position of each magnetic bead 103 in the channel by the electromagnetic induction device 104 provided at the intersection position of the first channel 101 and the second channel 102, thereby achieving the purpose of adjusting the centroid position of the system.
The electromagnetic induction device 104 may be an electromagnet, i.e., a spiral coil with a core. When energized, the electromagnet may generate a magnetic field, thereby attracting the surrounding magnetic beads 103; when the power is off, the magnetism of the electromagnet disappears, so that the surrounding magnetic pellets 103 are not influenced.
By way of example, as shown in fig. 3, in the absence of a magnetic field, the magnetic beads 103 at the dashed line position are in equilibrium by gravity and support; when the electromagnets at adjacent positions are electrified to generate a magnetic field, an electromagnetic attraction force is generated on the magnetic small ball 103 at the position of the dotted line, at the moment, the magnetic small ball 103 receives the attraction force directed to the electromagnets besides the action of gravity and supporting force, and when the moment of gravity is smaller than the moment of attraction force, the magnetic small ball 103 moves towards the electromagnets until the magnetic small ball moves right above the electromagnets to restore the balanced state and is static. The above process is a process that the magnetic small ball 103 is controlled to move to a designated position and is fixed and stationary, and the control of the movement track of the magnetic small ball 103 can be realized by this way.
In this exemplary embodiment, considering the complexity of the calculation process of the centroid position of the system, the present example may set the first channel 101 and the second channel 102 to be perpendicular to each other, that is, the first direction and the second direction are perpendicular to each other. Of course, the first channel 101 and the second channel 102 may be arranged in a non-vertical manner, which is only a relatively complex calculation process, so that the vertical arrangement is preferred in this embodiment.
In one embodiment, referring to fig. 1, the first channels 101 and the second channels 102 may be staggered in different layers; that is, one layer is provided with only the first channels 101 and the other layer is provided with only the second channels 102, and the two are staggered with each other.
In another embodiment, referring to fig. 2, the first channels 101 and the second channels 102 may also be staggered in layers; that is, the first channel 101 and the second channel 102 are included in the same layer at the same time, and are staggered with each other.
Since all channels are mutually communicated when the same layer is arranged, the probability of collision among the magnetic pellets 103 is relatively high, and therefore time factors are also required to be considered when the magnetic pellets 103 are controlled to move along each channel, the problems that the system is in a stable state and consumes too long time due to collision and the like are avoided, and the calculation process is relatively complex.
Based on this, the first channel 101 and the second channel 102 are preferably arranged in a staggered manner as shown in fig. 1. In this way, the channels of each layer can be independently controlled without considering excessive factors, so that the calculation process can be simplified and the calculation resources can be saved.
On this basis, in order to ensure independent control effects between different layers and prevent interference of the electromagnetic induction devices 104 of adjacent layers, the present exemplary embodiment may further provide a magnetic insulating layer between channels of adjacent layers.
In this example embodiment, both the first channel 101 and the second channel 102 may be a multilayer structure. For example, the first channels 101 may be arranged in m layers, each layer including I channels, and the second channels 102 may be arranged in n layers, each layer including J channels, and a magnetic insulating layer may be arranged between the channels of adjacent layers. Wherein m, n, I, J are positive integers greater than 1.
In this way, the multiple layers of first channels 101 may cooperate to control the position of the system centroid in a first direction, and the multiple layers of second channels 102 may also cooperate to control the position of the system centroid in a second direction, the cooperation of the two directions resulting in the desired final system centroid position. Because the embodiment adopts a multi-layer channel structure, and all layers of channels can be independently controlled without interference, the arrangement mode not only can simulate various mass systems, but also can more efficiently and quickly realize the adjustment and control of the mass center of the system.
In this exemplary embodiment, in order to simplify the calculation process of the control of the centroid of the system, the adjacent first channels 101 in the same layer may be arranged at equal intervals, the adjacent second channels 102 in the same layer may be arranged at equal intervals, and the interval between the adjacent first channels 101 and the interval between the adjacent second channels 102 may be equal, for example, equal to the unit distance 1.
For example, as shown in fig. 4, assuming that the mass of a single magnetic bead 103 is 1, the number of layers of the first channel 101 and the second channel 102 is the same, for example, n layers, the number of layers of the first channel 101 and the second channel 102 is the same, for example, a, the distance between adjacent first channels 101 is equal to the distance between adjacent second channels 102, for example, 1, the mass center unidirectional movement resolution of the mass center control system is 0.5/n/a, and the mass center movement area is the central 1/4 area (shaded portion in the figure) of the whole system.
It should be noted that: the control of the total mass of the system according to the present exemplary embodiment may be achieved by changing the number I of rows of the first channel 101, the number J of columns of the second channel 102, the number m of layers of the first channel 101, the number n of layers of the second channel 102, and the mass of the individual magnetic beads 103, while the control of the mass center moving region range may be achieved by changing the number I of rows of the first channel 101, the number J of columns of the second channel 102, and the number ratio m/n of layers of the first channel 101 and the second channel 102.
Based on the centroid control system, the present exemplary embodiment further provides a centroid control method, as shown in fig. 5, where the method may include:
s1, controlling a corresponding first electromagnetic induction device 104 to be electrified according to a target position of a system centroid so as to enable a magnetic small ball 103 to move along a first channel 101;
s2, controlling the corresponding second electromagnetic induction device 104 to be electrified according to the target position of the mass center of the system so as to enable the magnetic pellets 103 to move along the second channel 102.
Wherein the electromagnetic induction device 104 is located at the junction between the first channel 101 and the second channel 102.
The centroid control method provided by the exemplary embodiment of the disclosure utilizes the electromagnetic induction principle to control the position of each magnetic small ball 103 in the channel through the electromagnetic induction device 104 arranged at the intersection position of each channel, thereby achieving the purpose of controlling the centroid position of the system.
In this exemplary embodiment, the first channel 101 and the second channel 102 may each have a multi-layer structure, and the channels of each layer may be isolated by using a magnetic insulating material, so that the channels of each layer can be controlled independently. Based on this, the above steps S1 and S2 can be performed simultaneously, i.e., the magnetic beads 103 moving along the first channel 101 and the magnetic beads 103 moving along the second channel 102 can be simultaneously moved, thereby rapidly achieving switching from one state to another.
It should be noted that: the details of the centroid control method are described in detail in the corresponding centroid control system, and are not described herein.
The centroid control system and the control method thereof are specifically described below with reference to a specific embodiment.
Referring to fig. 4, assuming that the mass of each magnetic bead 103 is 1, the array structure of the centroid control system has I first channels 101, for example, transverse channels and J second channels 102, for example, longitudinal channels, and the transverse channels are m layers, the longitudinal channels are n layers, the mass of a single point is m+n at the maximum and 0 at the minimum, and the total mass of the system is i×m+j×n.
When only a transverse channel is present, the longitudinal position of the system centroid may be fixed at a neutral position, while the transverse position of the system centroid may be moved from the leftmost to the rightmost.
When only longitudinal channels are present, the lateral position of the system centroid may be fixed at a neutral position, while the longitudinal position of the system centroid may be moved from the uppermost side to the lowermost side.
The centroid control system in this embodiment can be fully described by the following six equations.
Let the mass of the ith row and jth column be M ij Then:
0≤M ij ≤m+n；
let the total mass of row i be MH i Then:
0≤MH i ≤J×n+m；
let the total mass of column j be MV j Then:
0≤MV j ≤I×m+n；
on this basis, the centroid movement resolution of the system is analyzed with reference to fig. 6, taking i=4, j=5 as an example. Here, the distance of one movement of the magnetic beads 103 is set to 1.
First, consider the case of a single layer channel.
(1) For the transverse channel, the upper left corner is taken as the origin of coordinates, the downward direction is the positive y-axis direction, and the rightward direction is the positive x-axis direction, so that the y-axis coordinate of the mass center of the single-layer transverse channel is I/2=2, and the x-axis coordinate range of the mass center of the single-layer transverse channel is [1/2, J-1/2] = [0.5,4.5].
The transverse channel comprises I magnetic pellets, and when one magnetic pellet is independently moved to the positive direction of the x axis by 1, the transverse centroid of the system is changed by 1/I.
For example: all magnetic pellets are in the first column, and the x-axis coordinate of the mass center of the system is 0.5; three magnetic pellets are in the first column, one magnetic pellet is in the second column, and the x-axis coordinate of the mass center of the system is 0.75; two magnetic pellets are arranged in a first column, two magnetic pellets are arranged in a second column, and the x-axis coordinate of the mass center of the system is 1; one magnetic sphere in the first row and three magnetic spheres in the second row, the x-axis coordinate of the mass center of the system is 1.25 … …
The x-axis coordinate of the centroid of the system is changed by (J-1) ×i+1=17.
(2) Similarly for a longitudinal channel, the x-axis coordinate of the centroid of the single layer longitudinal channel must be J/2=2.5 and the y-axis coordinate of the centroid of the single layer longitudinal channel ranges from [1/2, i-1/2] = [0.5,3.5].
The change of the y-axis coordinate of the centroid of the system is (I-1) ×j+1=16.
Second, consider the case of a multilayer channel.
The total mass of the m layers of transverse channels is I multiplied by m, and then the mass center position of the transverse channels is: ([ 0.5:1/(I.times.m): J-0.5], I/2);
the total mass of the n layers of longitudinal channels is J×n, and the mass center position of the longitudinal channels is: (J/2, [ 0.5:1/(J×n): I-0.5 ]);
and if the total mass of the system formed by the m layers of transverse channels and the n layers of longitudinal channels is I multiplied by m+J multiplied by n, the mass center position of the whole system is determined according to the following range:
minimum value of x-axis coordinates
Maximum value of x-axis coordinates
The x-axis resolution is 1/(J x n + I m);
the x-axis movement range is the difference between the maximum value and the minimum value
The minimum value of the y-axis coordinate is
Maximum value of y-axis coordinates
The y-axis resolution is 1/(j×n+i×m);
the y-axis movement range is the difference between the maximum value and the minimum value
If m=n and i=j=a, the system is a perfectly symmetrical system. In this case, the x-axis coordinate is [0.25 (a+1): 0.5/n/a:0.25 (3*a-1) ], and the x-axis coordinate is (a-1) ×n×n. If n=4 and a=5, the number is 64. Because of symmetry, the y-axis coordinates are the same as the x-axis coordinates, and also include the case of (a-1) x n. In this case, the step size of the system centroid moving on the plane is 0.5/n/a, i.e., the centroid movement resolution is 0.5/n/a.
Considering the precision of the system, a >10 can be used, the coordinate range of the x axis and the y axis can be simplified to be [0.25×a:0.75×a ], and the movable range of the mass center position of the system is the middle 1/4 area of the whole system plane. The control accuracy of the system centroid is very high, taking 10 rows, 10 columns and 10 layers as an example, and the control accuracy of the system centroid can reach 0.005 unit.
Based on the above description, the control method of the system centroid according to the present embodiment is as follows:
for the lateral channels, the state of the magnetic beads in a layer of lateral channels is represented by a matrix M of I rows and J columns.
The layer transverse channel state 1:
the magnetic globule of the ith transverse channel at the junction with the kth longitudinal channel:
m1 is a sparse matrix with only one value of 1 for each row and the rest of 0.
The layer transverse channel state 2:
the magnetic globule of the i-th transverse channel at the intersection with the qi-th longitudinal channel:
m2 is a sparse matrix with only one value of 1 for each row and the remainder of 0.
Md＝M2-M1。
If ki=qi, then the i-th row of Md is all 0, no movement is required;
if ki+.qi, then qi column of the ith row of Md is 1, ki column is-1, the pellet needs to move from ki column to qi column;
if Ki < qi, sequentially powering on the electromagnets of the ki+1, ki+2, … and qi rows, and moving the pellets from the Ki row to the qi row;
if Ki > qi, then the electromagnets of columns Ki-1, ki-2, …, qi are energized in sequence to move the pellets from column Ki to column qi.
The method of operation for the longitudinal channels is similar and will not be described in detail here.
The control of the system centroid position can be realized based on the above process. On the one hand, the centroid control system and the control method thereof provided by the present exemplary embodiment can be applied to scenes involving centroid changes in VR technology, such as simulating liquid flow, and the like, and parallel control between multiple layers of channels can be realized through the above state conversion algorithm, so that the centroid position of the system can be quickly converted, and the sense of realism when the centroid of a simulated object moves can be increased. On the other hand, the centroid control system and the centroid control method provided by the example embodiment can also be applied to the design of body-building equipment, and are helpful for researching the influence of centroid distribution of the body-building equipment on muscle exercise, such as dumbbell with variable centroid, etc.; or can be applied to a balancing device having a fixed movement pattern, such as changing the center of mass of a balancing plate, which is sunk on one side, where the user needs to coordinate himself to maintain balance, so that a better exercise effect can be achieved.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (9)
1. A centroid control system, comprising:
a plurality of first channels arranged in a first direction, each layer including a plurality of the first channels;
a plurality of layers of second channels arranged in a second direction, each layer including a plurality of the second channels;
a plurality of magnetic beads, the motion profile being along the first channel or along the second channel;
the electromagnetic induction devices are positioned at the intersection positions of the first channel and the second channel; the method comprises the steps of,
and the control device is used for sequentially electrifying the electromagnetic induction device between the current position of the magnetic small ball and the target position of the magnetic small ball according to the target position of the mass center of the system, so that the magnetic small ball is moved to the target position along the first channel or is moved to the target position along the second channel.
2. The centroid control system of claim 1 wherein the first direction and the second direction are perpendicular to each other.
3. The centroid control system of claim 1 wherein the first channel and the second channel are staggered.
4. A centroid control system according to claim 3, characterised in that a magnetic insulating layer is provided between adjacent layers of channels.
5. The centroid control system of claim 1 wherein adjacent first channels are equally spaced apart in a common layer, adjacent second channels are equally spaced apart in a common layer, and the spacing between adjacent first channels is equal to the spacing between adjacent second channels.
6. The centroid control system of claim 5 wherein the number of layers of the first channel and the second channel is the same and the number of layers of the first channel and the second channel is the same, the centroid movement zone of the centroid control system is the central 1/4 zone of the overall system.
7. The centroid control system of claim 1 wherein the electromagnetic induction means comprises an electromagnet.
8. A centroid control method for controlling the centroid of the centroid control system of claim 1, the centroid control method comprising:
sequentially powering on an electromagnetic induction device between the current position of the magnetic small ball and the target position of the magnetic small ball according to the target position of the mass center of the system so as to enable the magnetic small ball to move to the target position along a first channel;
and sequentially powering on the electromagnetic induction devices between the current position of the magnetic small ball and the target position of the magnetic small ball according to the target position of the mass center of the system so as to enable the magnetic small ball to move to the target position along the second channel.
9. The centroid control method of claim 8 wherein the magnetic beads moving along the first channel move simultaneously with the magnetic beads moving along the second channel.
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