CN113064429B - Independent driving control system for magnetic micro-robot group - Google Patents
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Abstract
The invention discloses a magnetic micro-robot group independent driving control system, which relates to the field of micro-nano robot intelligent control and comprises a micro-coil platform, a current controller, a visual feedback control platform and a magnetic micro-robot, wherein the current controller is respectively connected with the micro-coil platform and the visual feedback control platform and is used for controlling the current magnitude, the current direction and the current on-off of each micro-coil group in the micro-coil platform and activating the micro-coil groups around the magnetic micro-robot to generate driving force; the visual feedback control platform is used for generating an optimal planning path of the magnetic micro-robot based on a time sequence task, monitoring an actual motion path of the magnetic micro-robot, and adjusting the current of the micro-coil platform through a feedback control algorithm to realize closed-loop control on the magnetic micro-robot. The micro-coil array generates a plurality of local magnetic fields in a working space, and the magnetic micro-robots in the local magnetic fields are independently driven, so that a new idea is provided for group cooperation and parallel control tasks of the micro-robots.
Description
Technical Field
The invention relates to the field of intelligent control of micro-nano robots, in particular to a magnetic micro-robot group independent driving control system.
Background
The application of the micro-nano robot is ubiquitous, the driving technology is the research core of the micro-nano robot, the driving mechanism comprises electrostatic, thermal, optical, biological and electromagnetic methods, and the magnetic driving technology is most widely applied. Most of the micro-robots currently used are made of permanent magnetic materials, ferromagnetic materials or paramagnetic materials, which are responsive to a magnetic field generated by an external electromagnetic coil, so that the magnetic micro-robot can be controlled by adjusting the magnitude and direction of a current flowing through the electromagnetic coil in a work space. However, due to the nature of the magnetic micro-robot's interaction with the global magnetic field, most systems can only drive one magnetic micro-robot independently at a time. Therefore, the invention provides a magnetic micro-robot group independent driving control system, which solves the problems of the traditional magnetic driving technology.
Disclosure of Invention
The invention provides a magnetic micro-robot group independent driving control system aiming at the problems and the technical requirements, and realizes independent closed-loop control of a plurality of magnetic micro-robots by generating a local magnetic field to replace a global magnetic field.
The technical scheme of the invention is as follows:
a magnetic micro-robot population independent driving control system comprises the following steps:
the magnetic micro-robot driving device comprises a micro-coil platform, a current controller, a visual feedback control platform and a magnetic micro-robot, wherein the current controller is respectively connected with the micro-coil platform and the visual feedback control platform and is used for controlling the current magnitude, the current direction and the current on-off of each micro-coil group in the micro-coil platform and activating the micro-coil groups around the magnetic micro-robot to generate driving force; the visual feedback control platform is used for generating an optimal planning path of the magnetic micro-robot based on a time sequence task, monitoring an actual motion path of the magnetic micro-robot, and adjusting the current of the micro-coil platform through a feedback control algorithm to realize closed-loop control on the magnetic micro-robot.
The further technical scheme is that the current controller comprises a direct current stabilized voltage power supply, an H-bridge driving circuit and a plurality of relays which are sequentially connected in series, each relay is connected with each micro-coil group in a corresponding micro-coil platform, the direct current stabilized voltage power supply and the relays are communicated and interacted with the visual feedback control platform, the micro-coil groups around the magnetic micro-robot on the optimal planning path are activated according to an instruction issued by the visual feedback control platform, and each magnetic micro-robot is independently controlled.
The visual feedback control platform comprises a CCD camera and an upper computer which are connected, the CCD camera is used for shooting an actual motion path of the magnetic micro robot on the micro-coil platform, the upper computer is also connected with a current controller, the position information of the magnetic micro robot is obtained by a computer vision method and is compared with each path point of the optimal planning path, the difference value is used as a feedback input signal, and the actual motion path is closer to the optimal planning path by adjusting the current of the micro-coil platform.
The technical scheme is that the micro-coil platform is integrated in a PCB, the PCB is provided with through holes, two micro-coils arranged in parallel form a group of micro-coil sets, the micro-coil sets are arranged in a parallel and staggered mode and overlapped mode to form a micro-coil array, each micro-coil set is correspondingly connected with a current controller through the through holes, and the magnetic micro-robot is transited from one micro-coil set to an adjacent micro-coil set through driving force.
The PCB is provided with four layers, for two adjacent micro-coil sets, two micro-coils of the first micro-coil set are respectively positioned on the second layer and the third layer of the PCB, two micro-coils of the second micro-coil set are respectively positioned on the first layer and the fourth layer of the PCB, and the first micro-coil set and the second micro-coil set are partially overlapped.
Its further technical scheme does, the shape of magnetism micro robot is based on disc magnet shape design, a part of cutting disc magnet, the cutting plane is no longer than the magnetic core of disc magnet, at the disc magnet edge installation steel ball for the cutting plane as the afterbody of magnetism micro robot, the steel ball quality is less than the quality of cutting back disc magnet, the barycenter and the magnetic core of magnetism micro robot do not coincide, the magnetism micro robot is with the direction relative with the afterbody as the direction of motion.
For the design of an optimal planning path, firstly determining all path points of a micro-coil platform according to static balance points of a magnetic micro-robot, and constructing a group control weighted switching system based on the path planning of a linear sequential logic theory; secondly, defining an LTL formula according to a time sequence task to be completed by the magnetic micro robot and constraint conditions, and converting the LTL formula into a Buchi automaton; and finally, carrying out Cartesian product on the group control weighted switching system and the Buchi automaton to obtain a task feasible network topological structure, and carrying out global search on the task feasible network topological structure by combining a path search algorithm to obtain an optimal planning path.
The magnetic micro-robot comprises two static balance points, wherein the center of each micro-coil group is a first static balance point when the driving force is attractive force, the middle point of the common diagonal line of any four micro-coil groups is a second static balance point when the driving force is repulsive force, and the first static balance point and the second static balance point are both used as path points of the micro-coil platform.
The further technical scheme is that the group control weighting switching system is formed based on an individual control weighting switching system and comprises the following steps:
individually controlled weighted switching system wTS for magnetic micro-robotsiIs a tuple defined as
Wherein:
Airepresenting a set of motion sets, simplifying the micro-coil platform into a rectangular array, wherein the available motion comprises moving along the diagonal and straight line of the rectangular array;
Constructing a group control weighted switching system PTS by the individually controlled weighted switching system of each magnetic micro-robot to represent the combination of all possible states of the robot group, defined as
Wherein:
QPTS＝Q1×Q2×…×QNrepresenting a set of state sets;
APTS＝A1×A2×…×ANrepresenting a set of actions;
will be defined in a set of atom topics APTSThe above LTL formula is converted into Buchi automaton B, defined as
Wherein:
QBrepresents a finite set of states;
The further technical proposal is that the task feasible network topology structure PBA P is defined as
QP＝QPTS×QBrepresenting a set of state sets;
wP(qP,q′P)＝wPTS(qPTS，q′PTS) Represents a handover cost, where qP＝(qPTS，qB)，q′P＝(q′PTS，q′B)；
the task feasible network topological structure comprises environment path points and task information to be executed, the initial state, the final state and the global path cost minimum constraint of the task feasible network topological structure are determined, all feasible paths are searched, and the path with the minimum cost is selected from all feasible paths to serve as the optimal planning path.
The beneficial technical effects of the invention are as follows:
optimal planning route based on time sequence task, the electric current size of each micro-coil group of current controller independent control, current direction and electric current break-make, make the micro-coil array produce a plurality of local magnetic fields in the working space, the magnetism micro robot in each local magnetic field of independent drive, realize that magnetism micro robot colony moves along respective optimal path, shape through designing the magnetism micro robot, can also realize the directional control to the magnetism micro robot, realize the closed-loop control to the magnetism micro robot through visual feedback control platform, the control system that this application provided provides new thinking for the colony cooperation and the parallel control task of micro robot.
Drawings
FIG. 1 is a closed loop control schematic of the control system.
Fig. 2 is a schematic structural view of a micro-coil stage.
Fig. 3 is a schematic cross-sectional view of two adjacent microcoil sets.
Fig. 4 is a schematic structural view of a magnetic micro-robot.
Fig. 5 is a flow framework for an optimal planned path based on timing task constraints.
Fig. 6 is a schematic diagram of the time-sequential task-based movement of multiple magnetic micro-robots on a simplified micro-coil platform.
Fig. 7 is a schematic diagram of the motion of a plurality of magnetic micro-robots on a micro-coil platform.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
As shown in figure 1, the independent driving control system of magnetic micro robot group comprises a micro-coil platform 1, a current controller, a visual feedback control platform and a magnetic micro robot 2, wherein the current controller is respectively connected with the micro-coil platform 1 and the visual feedback control platform, the visual feedback control platform is used for monitoring the actual motion path of the magnetic micro robot 2, the current of the micro-coil platform 1 is adjusted through a feedback control algorithm, and the closed-loop control of the magnetic micro robot is realized.
Referring to fig. 2 and 3, the micro-coil platform is integrated in a PCB, the PCB is provided with a through hole, two micro-coils arranged in parallel form a set of micro-coil sets, the micro-coil sets are arranged in parallel and in an overlapping manner to form an 8 × 8 micro-coil array, each micro-coil set is correspondingly connected with a current controller through the through hole, so that the micro-coil array generates a plurality of local magnetic fields to generate a driving force, and the magnetic micro-robot is transited from one micro-coil set to an adjacent micro-coil set through the driving force.
Optionally, the size of the PCB is 53.09mm × 48.77mm, and four layers are provided, the thickness of each layer of coil is 0.03556mm, and the thickness of the insulating layer between the micro-coils is 0.32004 mm. For two adjacent micro-coil sets, two micro-coils of the first micro-coil set 101 are respectively located on the second layer and the third layer of the PCB, two micro-coils of the second micro-coil set 102 are respectively located on the first layer and the fourth layer of the PCB, and the first micro-coil set 101 and the second micro-coil set 102 are partially overlapped.
Optionally, considering factors such as size, current, and manufacturing process of the micro-coil, the diameter of each micro-coil is set to 6.22mm, and the trace and pitch are all 0.254 mm.
The current controller is used for controlling the current magnitude, the current direction and the current on-off of each micro-coil group in the micro-coil platform 1 and activating the micro-coil groups around the magnetic micro-robot to generate driving force. The current controller is including the direct current constant voltage power supply who establishes ties in proper order, H bridge drive circuit and 64 relays, each micro coil group links to each other in every relay and the corresponding micro coil platform, direct current constant voltage power supply and relay all carry out the communication interaction with the host computer in the visual feedback control platform, host computer step software can make things convenient for audio-visual output state that sets up the difference, according to the instruction that visual feedback control platform issued, activate the micro coil group around the magnetism micro robot on the optimal planning route, realize every magnetism micro robot of independent control.
Optionally, the dc regulated power supply adopts a varez dc regulated power supply, has four kinds of protection of overcurrent, overvoltage, overtemperature and overload, has the advantages of high efficiency, high precision, high stability and the like, can output 0-100A of current, and can simultaneously activate 64 groups of micro-coils because the maximum current flowing through each micro-coil is limited to 1A. The H-bridge driving circuit is realized by adopting the existing circuit structure, and the circuit structure of the H-bridge driving circuit is not described in detail in the application.
As shown in fig. 4, the shape of the magnetic micro-robot is designed based on the shape of the disc magnet, a part of the disc magnet 201 is cut, the cutting surface does not exceed the magnetic core 202 of the disc magnet 201, a steel ball 203 is installed at the edge of the disc magnet opposite to the cutting surface as the tail of the magnetic micro-robot, the mass of the steel ball 203 is less than that of the disc magnet 201 after cutting, the mass center 204 of the magnetic micro-robot is not overlapped with the magnetic core 202 by changing the structure of the magnetic micro-robot, and the magnetic micro-robot takes the direction opposite to the tail as the moving direction. When the center of mass is offset from the core position, the net force experienced by the magnetic micro-robot is similar to the moment acting on the center of mass, which attempts to align the center of mass and the core position with the forces generated by the micro-coil assembly, so that by designing a magnetic micro-robot whose center of mass is offset from the core, the direction of motion of the robot can be controlled.
The visual feedback control platform is also used for generating an optimal planning path of the magnetic micro robot based on a time sequence task, and comprises a CCD camera and an upper computer which are connected, wherein the CCD camera is used for shooting the actual motion path of the magnetic micro robot on the micro-coil platform, the upper computer is also connected with a current controller, the position information of the magnetic micro robot is obtained by a computer vision method, the position information is compared with each path point of the optimal planning path, the difference value is used as a feedback input signal, and the actual motion path is closer to the optimal planning path by adjusting the current of the micro-coil platform.
For the design of the optimal planned path, the flow is shown in fig. 5, and includes:
(1) first, all path points of the micro-coil platform are determined according to the static equilibrium points of the magnetic micro-robot.
The magnetic micro-robot comprises two static balance points, wherein the center of each micro-coil group is a first static balance point when the driving force is attractive force, the middle point of a common diagonal line of any four micro-coil groups is a second static balance point when the driving force is repulsive force, and the first static balance point and the second static balance point are both used as path points of the micro-coil platform. In fig. 6, the entire microcoil platform is divided into 64 grids as a workspace, with points 1-64 representing first static balance points, and the remaining points, except for all outermost circle points of the rectangular array and points 1-64, representing second static balance points.
(2) And constructing a group control weighted switching system based on the path planning of the linear sequential logic theory.
The group control weighted switching system is formed based on an individual control weighted switching system and comprises the following components:
individually controlled weighted switching system wTS for magnetic micro-robotsiIs a tuple defined as
Wherein:
Airepresenting a set of motion sets, simplifying the micro-coil platform into a rectangular array, wherein the available motion comprises moving along the diagonal and straight line of the rectangular array;
Constructing a group control weighted switching system PTS by the individually controlled weighted switching system of each magnetic micro-robot to represent the combination of all possible states of the robot group, defined as
Wherein:
QPTS＝Q1×Q2×…×QNrepresenting a set of state sets;
APTS＝A1×A2×…×ANrepresenting a set of actions;
(3) And secondly, defining an LTL formula according to the time sequence task to be completed by the magnetic micro robot and the constraint condition.
In this embodiment, two magnetic micro-robots are independently controlled, and in fig. 6, "o" and "four" each indicate two magnetic micro-robots having the same operating radius, the great circle indicates the operating radius, the filling grid indicates an obstacle in the working space, the start position of "mity" is set to point 104, the target position is set to point 12, the start position of "∘" is set to point 108, and the target position is set to point 45. Two magnetic micro-robots move in a working space, and need to reach respective target positions, avoid obstacles in the working space and meet the distance constraint between the two magnetic micro-robots.
The timing tasks assigned to the two magnetic micro-robots are represented as:
wherein sequential task a) represents a "four-star" round-robin access point 45;
sequential task b) indicates that it avoids point 45 until it visits point 46 once, as shown in FIG. 6 (a);
sequential task c) indicates that once a "four-star" has accessed point 45, it avoids point 45 until a "o" has accessed point 16 once, i.e., a "four-star" may have accessed point 45 twice, as shown in fig. 6 (b);
timing task d) represents a "four-wheel" cycle access point 12;
timing task e) represents the "O" round robin access point 45, as shown in FIG. 6 (c);
the timing task f) indicates that both micro-robots are to avoid the obstacle.
Meanwhile, the two micro-robots also meet the following constraint conditions: the distance between them is greater than the radius of interaction, and the expression:
wherein X represents the position of the magnetic micro-robot, RIThe interaction radius of the magnetic micro-robots is represented, and if the interaction radii of the two magnetic micro-robots are different, the larger interaction radius is taken as the interaction radius.
Thus, the global LTL formula may be expressed as: phi is phitask∧Φc。
(4) The LTL equation is converted to a Buchi automaton.
Will be defined in a set of atom topics APTSThe above LTL formula is converted into Buchi automaton B, defined as
Wherein:
QBrepresents a finite set of states;
(5) And finally, carrying out Cartesian product on the group control weighted switching system and the Buchi automaton to obtain a task feasible network topological structure, and carrying out global search on the task feasible network topological structure by combining a path search algorithm to obtain an optimal planning path.
After obtaining the corresponding group control weighted switching system and the Buchi automaton according to the time sequence task, the switching system and the task constraint are fused to ensure that the finally searched path not only meets the switching system but also meets the task constraint, and the PBA P is defined as
QP＝QPTS×QBrepresenting a set of state sets;
wP(qP,q′P)＝wPTS(qPTS，q′PTS) Represents a handover cost, where qP＝(qPTS，qB)，q′P＝(q′PTS，q′B)；
The task feasible network topological structure comprises environment path points and information of tasks to be executed, and the initial state of the task feasible network topological structure is determined
Final state
Searching all feasible paths with global path cost minimum constraint
Selecting a path with minimized cost from all feasible paths as an optimal planning path rp＝{r′p|minCost(r′p),r′p∈rpAnd finally, the schematic diagrams of the motion of the two magnetic micro-robots on the micro-coil platform are shown in fig. 7(a) - (c), which correspond to fig. 6, respectively, and the control system realizes the population control of the two magnetic micro-robots and can reach respective target positions.
It should be noted that (1) and (3) do not have a sequence and can be performed simultaneously.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (8)
1. A magnetic micro robot group independent driving control system is characterized by comprising a micro coil platform, a current controller, a visual feedback control platform and a magnetic micro robot, wherein the current controller is respectively connected with the micro coil platform and the visual feedback control platform and is used for controlling the current magnitude, the current direction and the current on-off of each micro coil group in the micro coil platform and activating the micro coil groups around the magnetic micro robot to generate driving force; the visual feedback control platform is used for generating an optimal planned path of the magnetic micro-robot based on a time sequence task, monitoring an actual motion path of the magnetic micro-robot, and adjusting the current of the micro-coil platform through a feedback control algorithm to realize closed-loop control on the magnetic micro-robot;
for the design of the optimal planning path, firstly, determining all path points of the micro-coil platform according to static balance points of the magnetic micro-robot, and constructing a group control weighted switching system based on the path planning of the linear sequential logic theory; secondly, defining an LTL formula according to a time sequence task to be completed by the magnetic micro robot and constraint conditions, and converting the LTL formula into a Buchi automaton; finally, carrying out Cartesian product on the group control weighted switching system and the Buchi automaton to obtain a task feasible network topological structure, and carrying out global search on the task feasible network topological structure by combining with a path search algorithm to obtain the optimal planning path;
the group control weighted switching system is formed based on an individual control weighted switching system and comprises the following components:
individually controlled weighted switching system wTS for the magnetic micro-robotiIs a tuple defined as
Wherein:
Airepresenting a set of motion sets, simplifying the microcoil platform into a rectangular array, with available motion including edgesDiagonal and linear movement of the rectangular array;
wi:
representing the cost of switching between the two states;
The PTS is constructed by the individually controlled weighted switching system of each magnetic micro-robot to represent the combination of all possible states of the robot group, defined as
Wherein:
QPTS＝Q1×Q2×…×QNrepresenting a set of state sets;
APTS＝A1×A2×…×ANrepresenting a set of actions;
will be defined in a set of atom topics APTSThe above LTL formula is converted into Buchi automaton B, defined as
Wherein:
QBrepresents a finite set of states;
2. The independent driving control system for the magnetic micro-robots in the population according to claim 1, wherein the current controller comprises a direct current stabilized power supply, an H-bridge driving circuit and a plurality of relays connected in series in sequence, each relay is connected with each micro-coil group in the corresponding micro-coil platform, the direct current stabilized power supply and the relays are in communication interaction with the visual feedback control platform, and according to instructions issued by the visual feedback control platform, the micro-coil groups around the magnetic micro-robots on the optimal planning path are activated to realize independent control of each magnetic micro-robot.
3. The independent driving control system of the magnetic micro-robot population according to claim 1, wherein the visual feedback control platform comprises a CCD camera and an upper computer connected to each other, the CCD camera is used to photograph the actual movement path of the magnetic micro-robot on the micro-coil platform, the upper computer is further connected to the current controller, the position information of the magnetic micro-robot is obtained by a computer vision method, and compared with each path point of the optimal planned path, the difference value is used as a feedback input signal, and the actual movement path is made closer to the optimal planned path by adjusting the current of the micro-coil platform.
4. The population independent driving control system of claim 1, wherein said micro-coil platform is integrated in a PCB, said PCB is provided with a through hole, two micro-coils arranged in parallel form a set of micro-coil sets, the micro-coil sets are arranged in parallel, staggered and overlapped to form a micro-coil array, each of said micro-coil sets is correspondingly connected to said current controller through said through hole, and said magnetic micro-robot is transited from one micro-coil set to an adjacent micro-coil set by a driving force.
5. The system of claim 4, wherein the PCB has four layers, and for two adjacent micro-coil sets, two micro-coils of a first micro-coil set are respectively located on the second layer and the third layer of the PCB, two micro-coils of a second micro-coil set are respectively located on the first layer and the fourth layer of the PCB, and the first micro-coil set and the second micro-coil set are partially overlapped.
6. The population independent drive control system of claim 1, wherein the shape of said magnetic micro-robot is designed based on the shape of a disc magnet, a part of the disc magnet is cut, a cutting plane does not exceed a magnetic core of said disc magnet, a steel ball is installed at an edge of the disc magnet opposite to the cutting plane as a tail of said magnetic micro-robot, the mass of said steel ball is smaller than that of the disc magnet after cutting, the center of mass of said magnetic micro-robot is not coincident with the magnetic core, and the direction of said magnetic micro-robot opposite to the tail is taken as the moving direction.
7. The population independent actuation control system of claim 1, wherein said magnetic micro-robot comprises two static equilibrium points, the center of said micro-coil assembly being a first static equilibrium point when said actuation force is an attractive force, the middle point of the common diagonal of any four of said micro-coil assemblies being a second static equilibrium point when said actuation force is a repulsive force, said first and second static equilibrium points being the path points of said micro-coil platform.
8. The magnetic micro-robot population independent actuation control system of claim 1, wherein the task feasible network topology PBA P is defined as
QP＝QPTS×QBrepresenting a set of state sets;
wP(qP,q′P)＝wPTS(qPTS，q′PTS) Represents a handover cost, where qP＝(qPTS，qB)，q′P＝(q′PTS，q′B)；
the task feasible network topological structure comprises environment path points and task information to be executed, the initial state, the final state and the global path cost minimum constraint of the task feasible network topological structure are determined, all feasible paths are searched, and the path with the minimum cost is selected from all the feasible paths to serve as the optimal planning path.
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