CN112296981B - Driving system and driving method of micro-nano robot - Google Patents
Driving system and driving method of micro-nano robot Download PDFInfo
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- CN112296981B CN112296981B CN201910682206.XA CN201910682206A CN112296981B CN 112296981 B CN112296981 B CN 112296981B CN 201910682206 A CN201910682206 A CN 201910682206A CN 112296981 B CN112296981 B CN 112296981B
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Abstract
The invention provides a driving system and a driving method of a micro-nano robot, which comprises the following steps: the first scanning device is used for obtaining the information of the obstacles on the path where the micro-nano robot is located; the second scanning device is used for obtaining three-dimensional space information of the environment where the micro-nano robot is located and position information of the micro-nano robot in the environment; the control device is used for determining a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determining the motion speed and direction required by the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controlling the driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path, thereby realizing the real-time monitoring and adjustment of the micro-nano robot and further meeting the requirements of high-precision operation on the micro-nano robot.
Description
Technical Field
The invention relates to the technical field of nano robots, in particular to a driving system and a driving method of a micro-nano robot.
Background
The micro-nano robot is a micro robot with the dimension in the nanometer level. The micro-nano robot has good application prospects in the fields of biological medical treatment, environmental management, agriculture, forestry, military and the like, so that the micro-nano robot becomes a hot topic of current scientific and technological research and development.
Because the micro-nano robot works in an environment with a low Reynolds coefficient, namely an object can be regarded as moving in a very viscous, tiny and slow environment, the viscous force has a dominant effect, and the inertial force can be ignored, the micro-nano robot needs to be constantly powered if the micro-nano robot is driven to move.
The existing micro-nano robot mainly converts chemical energy into kinetic energy by utilizing chemical reaction, and obtains advancing kinetic energy by utilizing a recoil principle of gas release, however, the kinetic energy provided by the micro-nano robot and the motion track direction and the like are difficult to be accurately controlled, and the high-precision operation requirement cannot be met. In addition, in the process of the movement of the micro-nano robot, no corresponding control system is used for effectively controlling the micro-nano robot, an operator cannot control and change the internal chemical reaction rate, and no corresponding detection navigation system is used for reasonably planning the movement path of the micro-nano robot, so that the micro-nano robot is difficult to put into application in the fields of medicine and the like.
Disclosure of Invention
In view of this, the invention provides a driving system and a driving method for a micro-nano robot, which are used for monitoring and adjusting the operation of the micro-nano robot in real time so as to meet the requirement of high-precision operation.
In order to achieve the purpose, the invention provides the following technical scheme:
a driving system of a micro-nano robot comprises:
the first scanning device is used for obtaining the information of the obstacles on the path where the micro-nano robot is located;
the second scanning device is used for obtaining three-dimensional space information of the environment where the micro-nano robot is located and position information of the micro-nano robot in the environment;
the control device is used for determining a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determining a motion speed and a motion direction required by the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controlling the driving device to provide corresponding power for the micro-nano robot so as to enable the micro-nano robot to move along the motion path.
Optionally, the first scanning device comprises a nano infrared sensor;
the nanometer infrared sensor is installed on the head of the micro-nano robot.
Optionally, the nano infrared sensor includes a transmitting end and a receiving end, the transmitting end is configured to transmit an infrared signal, and the receiving end is configured to receive an infrared signal reflected by an obstacle, and obtain the obstacle information according to the infrared signal.
Optionally, the second scanning apparatus comprises a field emission scanning electron microscope.
Optionally, the device further comprises an imaging device and a display device;
the imaging device is used for forming an image by the three-dimensional space information obtained by the second scanning device and the position information of the micro-nano robot;
the display device is used for displaying the image formed by the imaging device so that a user can observe the motion information of the micro-nano robot in the three-dimensional space.
Optionally, the driving device is further configured to control power of the micro-nano robot according to an instruction of a user.
Optionally, the driving device provides power to a micro-nano engine of the micro-nano robot through an electric signal or an optical signal.
Optionally, the driving device is a laser emitting device or a wireless power supply device.
Optionally, the motion trajectory equation of the micro-nano robot is obtained by analyzing the motion environment of the micro-nano robot through a control equation obtained through a navier-stokes equation and a reynolds number.
A driving method of a micro-nano robot is applied to a driving system of the micro-nano robot, and comprises the following steps:
the method comprises the steps that a first scanning device obtains obstacle information on a path where the micro-nano robot is located;
the second scanning device obtains three-dimensional space information of the environment where the micro-nano robot is located and position information of the micro-nano robot in the environment;
the control device determines a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determines the motion speed and direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controls the driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
the invention provides a driving system and a driving method of a micro-nano robot, a first scanning device obtains obstacle information on a path where the micro-nano robot is located, a second scanning device obtains three-dimensional space information of an environment where the micro-nano robot is located and position information of the micro-nano robot in the environment, a control device determines a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determines the motion speed and direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controls a driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path, thereby realizing real-time monitoring of the micro-nano robot through the first scanning device and the second scanning device, and realizing adjustment of the motion state of the micro-nano robot through the control device and the driving device, and further, the requirements of high-precision operation on the micro-nano robot can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a driving system of a micro-nano robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another driving system of a micro-nano robot according to an embodiment of the present invention;
fig. 3 is a flowchart of a driving method of a micro-nano robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the above is the core idea of the present invention, and the above objects, features and advantages of the present invention can be more clearly understood. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a driving system of a micro-nano robot, as shown in fig. 1, including a first scanning device 10, a second scanning device 11, a control device 12, and a driving device 13.
Optionally, the driving device 13 is located outside the micro-nano robot and the environment where the micro-nano robot is located. Of course, the present invention is not limited to this, and in other embodiments, the driving device 13 may also be located inside the environment where the micro-nano robot is located.
Optionally, the driving device 13 provides power to a micro-nano engine of the micro-nano robot through an electrical signal or an optical signal. Further optionally, the driving device 13 is a laser emitting device or a wireless power supply device. Of course, the present invention is not limited to this, and in other embodiments, the driving device 13 may also provide power to the micro-nano robot through other manners.
In the embodiment of the invention, a first scanning device 10 is used for obtaining the information of the obstacles on the path where the micro-nano robot is located; the second scanning device 11 is used for obtaining three-dimensional space information of an environment where the micro-nano robot is located and position information of the micro-nano robot in the environment; the control device 12 is configured to determine a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information, and the position information, determine a motion speed and a motion direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and control the driving device 13 to provide corresponding power to the micro-nano robot, so that the micro-nano robot moves along the motion path.
Optionally, the first scanning device 10 includes a nano infrared sensor, and further optionally, the nano infrared sensor is a non-contact nano infrared sensor. The nano infrared sensor is installed on two sides of the head of the micro-nano robot, but the invention is not limited thereto.
The nano infrared sensor can detect an unknown obstacle in the advancing process of the micro-nano robot. The nano infrared sensor comprises a transmitting end and a receiving end, the transmitting end is used for transmitting infrared signals, the receiving end is used for receiving the infrared signals reflected by the obstacles, and the distance between the obstacles and the micro-nano robot is obtained according to the infrared signals.
That is to say, in the three-dimensional space of micro-nano robot motion, when infrared signal that infrared sensor launched meets the barrier in the detection direction, infrared signal returns through barrier reflection effect and is received by the receiver, and the distance between micro-nano robot and the barrier can be detected according to reflected light intensity to the inside controller of nano infrared sensor to obtain the barrier information.
It should be noted that, in the embodiment of the present invention, a user may further operate the nano infrared sensor through a fixed interface, mark a state of a controller inside the nano infrared sensor through Init (initialization), Pause (Pause), Start (Start), and End (End), obtain a motion speed, an acceleration, and a displacement of the current micro-nano robot through defining functions GetV, GetA, and GetS, and obtain an obstacle distance detected by the nano infrared sensor through defining a function GetDistance (). That is to say, in the embodiment of the present invention, the first scanning device may also operate according to an instruction of a user.
Alternatively, the second scanning means 11 comprises a field emission scanning electron microscope. Further optionally, the field emission scanning electron microscope is a GeminiSEM scanning electron microscope.
Under the condition of variable pressure, the scanning electron microscope can establish a coordinate system within a few seconds, namely a three-dimensional Cartesian space coordinate system is established, and three-dimensional space information of the environment where the micro-nano robot is located is obtained. The micro-nano robot can be immediately positioned in the area under the scanning electron microscope, namely the position information of the micro-nano robot in the environment is obtained, so that image navigation can be efficiently completed and relevant data can be associated.
The scanning electron microscope comprises an energy selection backscatter detector, a secondary electron detector, an angle selection backscatter detector and the like, the energy selection backscatter detector, the secondary electron detector and the angle selection backscatter detector can be used for acquiring information of a material structure, a body surface and the like of the micro-nano robot, and after an incident electron beam of the scanning electron microscope acts with the micro-nano robot, the micro-nano robot is characterized according to secondary electrons and backscattered electrons escaping from the surface of the micro-nano robot, so that position information of the micro-nano robot can be acquired.
In the embodiment of the present invention, as shown in fig. 2, the driving system of the micro-nano robot further includes an imaging device 14 and a display device 15 connected to the second scanning device 11; the imaging device 14 is used for forming an image of the three-dimensional space information obtained by the second scanning device 11 and the position information of the micro-nano robot; the display device 15 is used to display an image formed by the imaging device. Under low voltage, the imaging device 14 can obtain a clear image with sub-nanometer resolution, and a user can observe the position information of the micro-nano robot in the three-dimensional space in the display device 15.
It should be noted that the control device 12 in the embodiment of the present invention may be a computer, the imaging device 14 may be a camera, and the like, and the display device 15 may be a display screen, and the like.
After a three-dimensional Cartesian space coordinate system is established in Newtonian fluid in which the micro-nano robot operates, a control equation can be obtained according to a Navier-Stokes equation and a Reynolds number, the motion environment of the micro-nano robot is analyzed, the force equation can be obtained by analyzing gravity, buoyancy, fluid shear stress, viscous force and pushing force which are applied to the micro-nano robot in the motion process, a corresponding motion model is established, the Lagrange method is adopted to carry out accurate real-time space positioning on the micro-nano robot, the whole motion process of the micro-nano robot in the fluid is tracked, physical quantities and change rules in the motion process can be recorded, the motion trace equation of the micro-nano robot is obtained, and therefore the motion direction and the operation speed which are required by the micro-nano robot can be estimated according to the motion trace equation and obstacle information, and then corresponding power can be provided for the micro-nano robot, and the motion of the micro-nano robot is accurately controlled.
Specifically, the fluid environment of the micro-nano robot motion is generally regarded as incompressible Newtonian fluid, a Cartesian coordinate system is established in a spatial three-dimensional physical domain, and according to the Navier-Stokes equation:
where ρ is the fluid density, constant; μ is the fluid viscosity, constant; p is pressure, constant;
is the velocity component in the xyz direction. Reynolds number through fluid
Judging that the micro-nano robot moves in a laminar flow environment, wherein rho is the density of fluid; v is the fluid mean velocity; l is the flow tube radius; μ is the fluid viscosity.
The micro-nano robot can be influenced by gravity, buoyancy, fluid shear stress, viscous force and driving force in the movement process. Relative to a fluid system, the micro-nano robot bears gravity G and buoyancy FBCancel each other and are negligible. The length of the simulated circular pipe fluid is dx, the radius of the simulated circular pipe fluid is r, the fluid pressure and the shearing force of the simulated circular pipe fluid are analyzed, and the distribution of the fluid pressure is determined
Newton's law of viscosity
Obtaining a laminar flow motion equation:
wherein L is the length of the flow tube; p is the pressure. Second law of Newton
Analyzing the stress of the micro-nano robot, neglecting the sonar of fluid viscosity and density due to pressure and temperature changes, and obtaining the stress balance equation of the micro-nano robot as follows:
in the formula (I), the compound is shown in the specification,
and tracking the whole motion process of the micro-nano robot in the fluid by adopting a Lagrange method, and recording each physical quantity and the change rule thereof in the motion process.
Defining the motion acceleration of the nano robot under a space coordinate system
The expressions of the speed and the acceleration in the three directions of the x axis, the y axis and the z axis are
The micro-nano robot starts from the starting time t ═ t0Moving distance dr through time dt, and integrating to obtain a motion trace equation of the micro-nano robot
It should be noted that, after the control device in the embodiment of the present invention estimates the movement speed and the movement direction required by the micro-nano robot, information such as the movement direction and the movement speed may be displayed on the display device 15, so that a user issues an instruction to the driving device 13 according to the information, and the driving device 13 provides corresponding power to the micro-nano robot according to the user instruction.
According to the driving system of the micro-nano robot provided by the invention, the first scanning device obtains the obstacle information on the path where the micro-nano robot is located, the second scanning device obtains the three-dimensional space information of the environment where the micro-nano robot is located and the position information of the micro-nano robot in the environment, the control device determines the motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determines the motion speed and the direction of the micro-nano robot according to the pre-established motion trace equation of the micro-nano robot and the obstacle information, and controls the driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path, so that the real-time monitoring of the micro-nano robot can be realized through the first scanning device and the second scanning device, and the adjustment of the motion state of the micro-nano robot can be realized through the control device and the driving device, and further, the requirements of high-precision operation on the micro-nano robot can be met.
An embodiment of the present invention further provides a driving method for a micro-nano robot, which is applied to the driving system for a micro-nano robot provided in any one of the above embodiments, and as shown in fig. 3, the method includes:
s101: the first scanning device obtains obstacle information on a path where the micro-nano robot is located;
s102: the second scanning device obtains three-dimensional space information of the environment where the micro-nano robot is located and position information of the micro-nano robot in the environment;
s103: the control device determines a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determines the motion speed and the motion direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controls the driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path.
Optionally, the first scanning device includes a nano infrared sensor, and further optionally, the nano infrared sensor is a non-contact nano infrared sensor. The nanometer infrared sensor is arranged at the head of the micro-nanometer robot.
The nano infrared sensor can detect an unknown obstacle in the advancing process of the micro-nano robot. The nano infrared sensor comprises a transmitting end and a receiving end, the transmitting end is used for transmitting infrared signals, the receiving end is used for receiving the infrared signals reflected by the obstacles, and the distance between the obstacles and the micro-nano robot is obtained according to the infrared signals.
That is to say, in the three-dimensional space of micro-nano robot motion, when infrared signal that infrared sensor launched meets the barrier in the detection direction, infrared signal returns through barrier reflection effect and is received by the receiver, and the distance between micro-nano robot and the barrier can be detected according to reflected light intensity to the inside controller of nano infrared sensor to obtain the barrier information.
Optionally, the second scanning means comprises a field emission type scanning electron microscope. Further optionally, the field emission scanning electron microscope is a GeminiSEM scanning electron microscope.
Under the condition of variable pressure, the scanning electron microscope can establish a coordinate system within a few seconds, namely a three-dimensional Cartesian space coordinate system is established, and three-dimensional space information of the environment where the micro-nano robot is located is obtained. The micro-nano robot can be immediately positioned in the area under the scanning electron microscope, namely the position information of the micro-nano robot in the environment is obtained, so that image navigation can be efficiently completed and relevant data can be associated.
The scanning electron microscope comprises an energy selection backscatter detector, a secondary electron detector, an angle selection backscatter detector and the like, the energy selection backscatter detector, the secondary electron detector and the angle selection backscatter detector can be used for acquiring information of a material structure, a body surface and the like of the micro-nano robot, and after an incident electron beam of the scanning electron microscope acts with the micro-nano robot, the micro-nano robot is characterized according to secondary electrons and backscattered electrons escaping from the surface of the micro-nano robot, so that position information of the micro-nano robot can be acquired.
Based on the method, the control device can determine the motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determine the motion speed and the motion direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and control the driving device to provide corresponding power for the micro-nano robot so as to enable the micro-nano robot to move along the motion path.
The invention provides a driving method of a micro-nano robot, a first scanning device obtains obstacle information on a path where the micro-nano robot is located, a second scanning device obtains three-dimensional space information of an environment where the micro-nano robot is located and position information of the micro-nano robot in the environment, a control device determines a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determines the motion speed and direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controls a driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path, thereby realizing real-time monitoring of the micro-nano robot through the first scanning device and the second scanning device, and realizing adjustment of the motion state of the micro-nano robot through the control device and the driving device, and further, the requirements of high-precision operation on the micro-nano robot can be met.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A driving system of a micro-nano robot is characterized by comprising:
the first scanning device is used for obtaining obstacle information on a path where the micro-nano robot is located;
the second scanning device is used for obtaining three-dimensional space information of the environment where the micro-nano robot is located and position information of the micro-nano robot in the environment;
the control device is used for determining a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determining a motion speed and a motion direction required by the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, and controlling the driving device to provide corresponding power for the micro-nano robot so as to enable the micro-nano robot to move along the motion path, so that the real-time monitoring of the micro-nano robot is realized through the first scanning device and the second scanning device, and the adjustment of the motion state of the micro-nano robot is realized through the control device and the driving device;
the micro-nano robot is used for moving in Newtonian fluid, after a three-dimensional Cartesian space coordinate system is established, a control equation is obtained according to a Navier-Stokes equation and a Reynolds number, the motion environment of the micro-nano robot is analyzed to obtain a stress equation of the micro-nano robot, a corresponding motion model is established, real-time space positioning is carried out on the micro-nano robot by adopting a Lagrange method, the whole motion process of the micro-nano robot in the fluid is tracked, physical quantities and the change rule of the physical quantities in the motion process of the micro-nano robot are recorded, and the motion trace equation of the micro-nano robot is obtained.
2. The system of claim 1, wherein the first scanning device comprises a nano-infrared sensor;
the nano infrared sensor is installed at the head of the micro-nano robot.
3. The system of claim 2, wherein the nano infrared sensor comprises a transmitting end and a receiving end, the transmitting end is configured to transmit an infrared signal, and the receiving end is configured to receive the infrared signal reflected by the obstacle and obtain the obstacle information according to the infrared signal.
4. The system of claim 1, wherein the second scanning device comprises a field emission type scanning electron microscope.
5. The system of claim 4, further comprising an imaging device and a display device;
the imaging device is used for forming an image by the three-dimensional space information obtained by the second scanning device and the position information of the micro-nano robot;
the display device is used for displaying the image formed by the imaging device so that a user can observe the motion information of the micro-nano robot in the three-dimensional space.
6. The system of claim 1, wherein the driving device is further configured to control the power of the micro-nano robot according to a user command.
7. The system according to claim 1, wherein the driving device provides power to a micro-nano engine of the micro-nano robot through an electrical signal or an optical signal.
8. The system of claim 7, wherein the driving device is a laser emitting device or a wireless power supply device.
9. A driving method of a micro-nano robot is applied to a driving system of the micro-nano robot as claimed in any one of claims 1 to 8, and the method comprises the following steps:
the method comprises the steps that a first scanning device obtains obstacle information on a path where the micro-nano robot is located;
the second scanning device obtains three-dimensional space information of the environment where the micro-nano robot is located and position information of the micro-nano robot in the environment;
the control device determines a motion path of the micro-nano robot according to the obstacle information, the three-dimensional space information and the position information, determines the motion speed and the motion direction of the micro-nano robot according to a pre-established motion trace equation of the micro-nano robot and the obstacle information, controls a driving device to provide corresponding power for the micro-nano robot so that the micro-nano robot moves along the motion path, achieves real-time monitoring of the micro-nano robot through the first scanning device and the second scanning device, and achieves adjustment of the motion state of the micro-nano robot through the control device and the driving device;
the micro-nano robot is used for moving in Newtonian fluid, after a three-dimensional Cartesian space coordinate system is established, a control equation is obtained according to a Navier-Stokes equation and a Reynolds number, the motion environment of the micro-nano robot is analyzed to obtain a stress equation of the micro-nano robot, a corresponding motion model is established, real-time space positioning is carried out on the micro-nano robot by adopting a Lagrange method, the whole motion process of the micro-nano robot in the fluid is tracked, physical quantities and the change rule of the physical quantities in the motion process of the micro-nano robot are recorded, and the motion trace equation of the micro-nano robot is obtained.
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