CN114888798B - Micro-robot motion control system based on oscillating magnetic field platform - Google Patents
Micro-robot motion control system based on oscillating magnetic field platform Download PDFInfo
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- CN114888798B CN114888798B CN202210494160.0A CN202210494160A CN114888798B CN 114888798 B CN114888798 B CN 114888798B CN 202210494160 A CN202210494160 A CN 202210494160A CN 114888798 B CN114888798 B CN 114888798B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A micro-robot motion control system based on an oscillating magnetic field platform comprises a Helmholtz coil; the alternating current power supply is used for providing alternating current for the Helmholtz coil to generate an oscillating magnetic field, and is controlled by the computer, and the generated oscillating magnetic field can be adjusted by changing the magnitude and the frequency of the alternating current provided for the Helmholtz coil, so that the motion gesture of the micro-robot is controlled; the rotary table drives the Helmholtz coil to rotate and changes the direction of the oscillating magnetic field; a camera for shooting the micro robot to obtain an image of the micro robot; the computer is used for analyzing the obtained micro-robot image to obtain the gesture and position information of the micro-robot, and transmitting the analysis results to the alternating current power supply and the controller respectively; and a controller for adjusting the rotation angle of the rotary table according to the analysis result of the position information of the micro robot, and changing the direction of the oscillating magnetic field, thereby adjusting the movement direction of the micro robot.
Description
[ field of technology ]
The invention relates to the field of micro-robot control, in particular to a micro-robot motion control system based on an oscillating magnetic field platform.
[ background Art ]
Micro robots, in particular magnetically controlled micro robots, have wide application in biology, medicine, micro assembly and other fields. In order to realize accurate motion control of the magnetic control micro-robot, the prior art has utilized an OctoMag magnetic force operation system to generate a gradient magnetic field in a three-dimensional space, or a combination magnetic field generated by a Helmholtz coil and a Maxwell coil to control the motion state of the magnetic control micro-robot. Although a gradient magnetic field like an OctoMag magnetic force operating system can drive a magnetic control robot to move, the moving direction of the magnetic control micro-robot cannot be easily changed, and the stress calculation process of the magnetic control robot in the gradient magnetic field is complex; in addition, the combination of the Helmholtz coil and the Maxwell coil is used for generating a composite magnetic field, a mode of combining a plurality of groups of coils is adopted for forming a superimposed magnetic field, the price is high, the structure of the device is complex, the construction process of the device is complex, and the driving efficiency of the magnetic control micro-robot is low.
[ invention ]
The invention aims to provide a micro-robot motion control system based on an oscillating magnetic field platform, which utilizes a rotary table to drive a Helmholtz coil to rotate and generates an oscillating magnetic field with controllable rotation direction on a two-dimensional plane; and the real-time position of the micro-robot is also collected and analyzed, the alternating current provided to the Helmholtz coil and/or the rotation angle of the rotary table are/is adjusted according to the difference between the real-time position and the expected target position, the micro-robot is driven to move from the real-time position to the expected target position, and the movement posture of the micro-robot is adjusted in real time. The system has the advantages of simple structure, no magnetic field superposition, convenient control and capability of controlling the micro-robot to perform steering motion with high precision and high response speed.
The invention aims at realizing the following technical scheme:
a micro-robot motion control system based on an oscillating magnetic field platform, comprising:
a Helmholtz coil;
the alternating-current power supply is connected with the Helmholtz coil and used for providing alternating current for the Helmholtz coil so that the Helmholtz coil generates an oscillating magnetic field;
the rotary table is used for driving the Helmholtz coil to rotate and changing the direction of the oscillating magnetic field;
the workbench is arranged in an area covered by the oscillating magnetic field;
a micro robot provided on the table and movable on the table;
the camera is used for shooting the micro-robot to obtain an image of the micro-robot;
the computer is respectively connected with the camera and the alternating current power supply, and the controller is used for analyzing the images of the micro-robot to obtain the gesture and position information of the micro-robot and respectively transmitting the analysis results to the alternating current power supply and the controller;
the controller is respectively connected with the computer and the rotary table;
the controller adjusts the rotation angle of the rotary table according to the analysis result of the image of the micro-robot, and changes the direction of the oscillating magnetic field, thereby adjusting the movement direction of the micro-robot.
In one embodiment, the helmholtz coil includes a first circular conductor coil and a second circular conductor coil coaxially disposed in parallel; the work bench is placed between the first circular conductor coil and the second circular conductor coil.
In one embodiment, the ac power source provides sinusoidal ac current to the helmholtz coil.
In one embodiment, the rotary table comprises a base and a motor arranged below the base and in driving connection with the base.
In one embodiment, the controller is connected to the motor for providing different drive currents to the motor, thereby enabling the motor to drive the base to rotate in different directions and/or angles.
In one embodiment, the computer analyzing the micro-robot image includes: and the computer performs recognition processing on the image of the micro-robot to obtain the current position coordinate of the micro-robot on the workbench and the posture of the micro-robot.
In one embodiment, the computer generates a first control signal according to a difference between a current position coordinate of the micro robot and a desired target position coordinate of the micro robot on the workbench, and inputs the first control signal to the controller, so that the controller provides different driving currents to the motor.
In one embodiment, the computer generates a second control signal according to the difference between the current gesture of the micro-robot and the expected motion gesture of the micro-robot on the workbench, and inputs the second control signal to the alternating current power supply, so as to adjust the magnitude and/or frequency of the alternating current provided by the alternating current power supply to the Helmholtz coil.
Compared with the prior art, the invention has the following beneficial effects:
according to the micro-robot motion control system based on the oscillating magnetic field platform, the Helmholtz coil is driven to rotate by the rotary table, and an oscillating magnetic field with controllable rotation direction is generated on a two-dimensional plane; and the real-time position of the micro-robot is also collected and analyzed, the alternating current provided to the Helmholtz coil and/or the rotation angle of the rotary table are adjusted according to the difference between the real-time position and the expected target position and between the real-time gesture and the expected gesture, the micro-robot is driven to move from the real-time position to the expected target position, and the motion gesture of the micro-robot is adjusted in real time. The system has the advantages of simple structure, no magnetic field superposition, convenient control and capability of controlling the micro-robot to perform steering motion with high precision and high response speed.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a schematic structural diagram of a motion control system of a micro-robot based on an oscillating magnetic field platform provided in the present application.
Fig. 2 is a schematic three-dimensional structure diagram of a rotating table and a helmholtz coil in the oscillating magnetic field platform-based motion control system of the micro-robot shown in fig. 1.
Fig. 3 is a schematic side view of the structure corresponding to fig. 2.
Fig. 4 is a schematic top view of the structure corresponding to fig. 2.
Fig. 5 is a schematic diagram of a control flow of the micro-robot motion control system based on the oscillating magnetic field platform shown in fig. 1.
Fig. 6 is a schematic diagram of an oscillating magnetic field generated by the oscillating magnetic field based motion control system of the micro-robot shown in fig. 1.
FIG. 7 is a schematic three-dimensional view of the spiral micro-robot in one embodiment of the oscillating magnetic field platform based motion control system of the micro-robot shown in FIG. 1.
Fig. 8 is a schematic diagram of a motion trajectory of the spiral micro-robot shown in fig. 7 driven by a micro-robot motion control system.
Reference numerals: 10. a Helmholtz coil; 11. a first circular conductor coil; 12. a second circular conductor coil; 20. an alternating current power supply; 30. a rotary table; 31. a base; 32. a motor; 40. a work table; 41. a support rod; 42. a flat plate; 50. a camera; 60. a computer; 70. a controller; 80. a spiral micro-robot; 81. a conical head; 82. a spiral tail.
[ detailed description ] of the invention
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1 to 4, an oscillating magnetic field platform-based motion control system for a micro-robot according to an embodiment of the present application includes a helmholtz coil 10, an ac power source 20, a rotary table 30, a table 40, a camera 50, a computer 60, a controller 70, and a micro-robot.
An ac power source 20 is connected to the helm hertz coil 10 for supplying an ac current to the helm hertz coil 10, causing the helm hertz coil 10 to generate an oscillating magnetic field. Alternatively, the ac power source 20 may provide a sinusoidal alternating current to the helm-hertz coil 10, such that the helm-hertz coil 10 is capable of generating an oscillating magnetic field under the action of the sinusoidal alternating current that varies sinusoidally and periodically with time in both direction and intensity, while the magnetic field formed by the helm-hertz coil 10 is uniform at any time throughout the process, without having a gradient force.
The helmholtz coil 10 includes a first circular conductor coil 11 and a second circular conductor coil 12 that are coaxially disposed in parallel with each other. When the alternating current power supply 20 supplies alternating current to the first circular conductor coil 11 and the second circular conductor coil 12, an oscillating magnetic field is generated in the space between the first circular conductor coil 11 and the second circular conductor coil 12. Wherein the space between the first circular conductor coil 11 and the second circular conductor coil 12 generates an oscillating magnetic field as shown in fig. 6.
The stage 40 is disposed in an area covered by the uniform magnetic field, and the micro robot is disposed on the stage 40 and is movable on the stage 40. Alternatively, the worktable 40 is disposed between the first circular conductor coil 11 and the second circular conductor coil 12, so that it can be ensured that the micro-robot is always subjected to the oscillating magnetic field. The table 40 may include a support bar 41 and a plate 42. The support bar 41 is vertically disposed on the rotary table 30, and the flat plate 42 is fixedly disposed above the support bar 41 to provide a planar space region for the micro-robot to move. The support bar 41 and the flat plate 42 are each located between the first circular conductor coil 11 and the second circular conductor coil 12. The support bar 41 and the flat plate 42 may be made of a non-magnetic material such as plastic. The table 40 can remain stationary as the rotary table 30 rotates.
The rotary table 30 is used for driving the Helmholtz coil 10 to rotate, and changing the direction of the oscillating magnetic field. The rotary table 30 may include a base 31, and a motor 32 disposed below the base 31 and drivingly connected to the base 31. The base 31 has a circular flat plate structure as a whole. The driving output rod of the motor 32 may be connected to the center of the base 31, and the base 31 is driven to rotate with the axis passing through the center vertically as a rotation axis. When the base 31 is driven to rotate by the motor 32, the helm hertz coil 10 can be synchronously driven to rotate on a two-dimensional plane, so that the direction of the oscillating magnetic field is changed, and a controllable rotating oscillating magnetic field is obtained.
And a camera 50 disposed above the table 40 for photographing the micro-robot to obtain an image of the micro-robot. The video camera 50 may be, but is not limited to being, an industrial camera.
The computer 60 is connected to the camera 50, and is configured to receive the image of the micro-robot captured by the camera 50, and perform recognition processing on the image of the micro-robot, so as to obtain the current position coordinate of the micro-robot on the workbench 40 or the posture of the micro-robot.
Alternatively, the computer 60 may generate a first control end signal according to the difference between the current position coordinate of the micro-robot on the table 40 and the desired target position of the table, and input the first control end signal to the controller 70, where the controller 70 may provide different driving currents to the motor 32, so that the motor 32 drives the base 31 to perform angular rotations in different directions and/or magnitudes. The difference may include, but is not limited to, a distance difference and/or an azimuth difference between the current location coordinate and the desired target location coordinate.
Alternatively, the computer 60 may generate a second control terminal signal according to a difference between the current motion gesture of the micro-robot at the table 40 and the desired motion gesture at the table, and input the second control terminal signal to the ac power source 20, at which time the magnitude and/or frequency of the alternating current provided by the ac power source 20 to the helmholtz coil 10 is adjusted. The differences may include, but are not limited to, differences between the current motion speed and motion amplitude of the micro-robot and the desired motion speed and motion amplitude.
The computer 60 may generate a control side signal based on the difference between the coordinates or the difference between the poses using a proportional/integral/derivative (PID) algorithm on a per-deviation basis, ensuring that the subsequent controller 70 is able to precisely control the operation of the turntable 30.
The ac power source 20 controls the motion gesture of the micro-robot by adjusting the magnitude and/or frequency of the ac power supplied to the helmholtz coil 10. And a controller 70 connected to the computer 60 and the turntable 30, respectively. The controller 70 may adjust the rotation angle of the rotation stage 30 according to the control end signal from the computer 60, and change the direction of the oscillating magnetic field, thereby controlling the movement direction of the micro-robot.
Referring to fig. 5, the ac power source 20 adjusts the magnitude and/or frequency of the ac power provided to the helmholtz coil 10 according to the second control side signal. When the magnitude and/or frequency of the alternating current supplied to the helm hertz coil 10 by the alternating current power supply 20 are changed, the magnitude and/or frequency of the oscillating magnetic field generated by the helm hertz coil 10 are changed synchronously, so that the magnetic torque of the micro-robot subjected to the oscillating magnetic field is also changed, and the motion state of the micro-robot on the workbench 30 is changed.
The controller 70 may also transmit a driving current signal to the motor 32 of the rotation stage 30 according to the first control end signal, thereby adjusting the rotation angle and/or direction of the base 31 of the rotation stage 30, i.e., the rotation angle of the base 31 in the clockwise direction or the counterclockwise direction, so as to change the rotation direction of the vibration magnetic field. Through the control flow, the motion of the micro-robot can be controlled in a closed loop, and the micro-robot can be accurately moved from the current position to the expected target position.
Referring to fig. 7 to 8, in practical applications, the micro-robot motion control system based on the oscillating magnetic field platform of the present application may be used to drive the spiral micro-robot 80 to move. The spiral micro-robot 80 has a cylindrical shape as a whole, wherein the diameter of the cylindrical shape may be 3mm and the length may be 12mm. The spiral micro-robot 80 may be composed of a tapered head 81 and a spiral tail 82, and three spirals are arranged at the periphery of the spiral tail 82. The tapered head 81 is embedded with a cylindrical permanent magnet to provide driving force for the screw micro robot 80. When the screw micro-robot 80 is in the oscillating magnetic field generated by the helm hertz coil 10, the conical head 81 receives the magnetic torque to make the screw micro-robot 80 perform high-speed rotation along the central axis of itself, and at the same time, the screw tail 82 converts the high-speed rotation into forward driving force to realize forward movement of the screw micro-robot 80.
Specifically, the process of driving the spiral micro robot 80 to move by the micro robot motion control system based on the oscillating magnetic field platform of the present application is as follows:
(1) Placing the spiral micro-robot 80 at a specific position of the table 40;
(2) An alternating current of 3A is provided to the Helmholtz coil 10 through the alternating power supply 20, so that an oscillating magnetic field is generated on a plane corresponding to the workbench 40, and the spiral micro-robot 80 is driven to move forwards in a straight line;
(3) The rotary table 30 is controlled to rotate so as to turn the spiral micro-robot 80; for example, the rotating table 30 is controlled to rotate 90 degrees, the direction of the oscillating magnetic field also rotates 90 degrees, and at the moment, the moving direction of the spiral micro-robot 80 is aligned with the direction of the oscillating magnetic field, so that the purpose of steering the spiral micro-robot 80 is achieved;
(4) When the screw micro-robot 80 moves to a desired target position, the alternating current of the helmholtz coil 10 is turned off, and the screw micro-robot 80 stops moving forward.
In actual operation, the above steps (3) and (4) may be repeatedly performed so that the spiral micro-robot 80 can move along the planned trajectory. As can be seen from fig. 8, the spiral micro-robot 80 can move along an "S" shaped track or a "U" shaped track in a two-dimensional plane under the drive of a micro-robot motion control system based on an oscillating magnetic field platform.
The foregoing is merely one specific embodiment of the invention, and any modifications made in light of the above teachings are intended to fall within the scope of the invention.
Claims (7)
1. A micro-robot motion control system based on an oscillating magnetic field platform, comprising:
a Helmholtz coil (10);
an alternating current power supply (20), wherein the alternating current power supply (20) is connected with the Helmholtz coil (10) and is used for providing alternating current for the Helmholtz coil (10) so that the Helmholtz coil (10) generates an oscillating magnetic field;
the rotary table (30) is used for driving the Helmholtz coil (10) to rotate and changing the direction of the oscillating magnetic field;
a table (40), wherein the table (40) is arranged in an area covered by the oscillating magnetic field;
a micro robot provided on the table (40) and movable on the table (40);
the camera (50) is used for shooting the micro-robot to obtain an image of the micro-robot; the computer (60) is respectively connected with the camera (50), the alternating current power supply (20) and the controller (70) and is used for analyzing the image of the micro-robot to obtain the gesture and position information of the micro-robot and respectively transmitting the analysis result to the alternating current power supply (20) and the controller (70);
the controller (70) is respectively connected with the computer (60) and the rotary table (30);
the controller (70) adjusts the rotation angle of the rotary table (30) according to the analysis result of the image of the micro-robot, and changes the direction of the oscillating magnetic field, thereby adjusting the movement direction of the micro-robot;
the Helmholtz coil (10) comprises a first circular conductor coil (11) and a second circular conductor coil (12) which are coaxially arranged in parallel; the workbench (40) is arranged between the first circular conductor coil (11) and the second circular conductor coil (12).
2. The oscillating magnetic field platform based micro-robot motion control system according to claim 1, wherein the ac power supply (20) provides sinusoidal ac current to the helmholtz coil (10).
3. The oscillating magnetic field platform based micro-robot motion control system according to claim 1, characterized in that the rotary table (30) comprises a base (31) and a motor (32) arranged below the base (31) and in driving connection with the base (31).
4. A micro-robot motion control system based on an oscillating magnetic field platform according to claim 3, characterized in that the controller (70) is connected to the motor (32) for providing different driving currents to the motor (32) so that the motor (32) drives the base (31) to perform angular rotations in different directions and/or magnitudes.
5. The oscillating magnetic field platform based micro-robot motion control system of claim 4, wherein the computer (60) analyzing the micro-robot image comprises: the computer (60) performs recognition processing on the image of the micro-robot to obtain the current position coordinate of the micro-robot on the workbench and the posture of the micro-robot.
6. The oscillating magnetic field platform based micro-robot motion control system of claim 5, wherein the computer (60) generates a first control signal based on a difference between a current location coordinate of the micro-robot and a desired target location coordinate of the micro-robot at the table (40), and inputs the first control signal to the controller (70), thereby causing the controller (70) to provide different driving currents to the motor (32).
7. The oscillating magnetic field platform based micro-robot motion control system according to claim 6, wherein the computer (60) generates a second control signal according to a difference between a current posture of the micro-robot and a desired motion posture of the micro-robot at the table (40), and inputs the second control signal to the ac power supply (20), thereby adjusting a magnitude and/or a frequency of an ac current supplied from the ac power supply (20) to the helmholtz coil (10).
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| CN202210494160.0A CN114888798B (en) | 2022-05-05 | 2022-05-05 | Micro-robot motion control system based on oscillating magnetic field platform |
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| CN116019565A (en) * | 2022-10-28 | 2023-04-28 | 中国科学院深圳先进技术研究院 | Semi-open type magnetic control device for micro-robot |
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| KR101084720B1 (en) * | 2009-03-18 | 2011-11-22 | 전남대학교산학협력단 | Three-dimension eletromagnetic drive device |
| KR101092462B1 (en) * | 2009-09-25 | 2011-12-13 | 전남대학교산학협력단 | Drilling microrobot system using rotational electromagnetic field with precession motion |
| KR101450091B1 (en) * | 2013-05-08 | 2014-10-14 | 한국과학기술연구원 | Electromagnetic coil system for driving control of a micro-robot |
| CN107179780A (en) * | 2017-07-06 | 2017-09-19 | 哈尔滨工业大学深圳研究生院 | A kind of visual feedback 3 D electromagnetic Micro-Robot untethered driving control system |
| CN112700942A (en) * | 2020-12-16 | 2021-04-23 | 苏州大学 | Electromagnetic field platform and control system with same |
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