Cooperative control system of large-scale ferrofluid droplet robot

The invention provides a cooperative control system for large-scale ferrofluid droplet robots. The system accurately controls a droplet robot group with superparamagnetism through a distributed magnetic field. The system comprises a driving module, a control module and a robot detection-tracking-positioning module, and programmable reconstruction, separation, combination and shape transformation are achieved. The driving module generates a local non-uniform gradient magnetic field through an electromagnet array, and addressable operation and accurate control are carried out. The control module synchronously manages the distributed magnetic field, and the detection module feeds back the position information of the robot in real time through the visual system to realize closed-loop control. The system is suitable for complex environments and minimally invasive surgeries, and the operation precision and application potential of the ferrofluid droplet robot are improved. 本发明提供一种大规模铁磁流体液滴机器人的协同控制系统，该系统通过分布式磁场精确操控具