CN104983385A - Active and passive dual-hemispheroid capsule robot and posture adjustment and turning drive control method thereof - Google Patents
Active and passive dual-hemispheroid capsule robot and posture adjustment and turning drive control method thereof Download PDFInfo
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Abstract
The invention belongs to the technical field of automation engineering, and relates to a basic control method through which an active and passive dual-hemispheroid structure capsule robot can freely adjust the posture in a gastrointestinal tract and can roll along each bending section of an intestinal tract by the use of space universal rotation magnetic vectors. The robot can freely adjust the posture with the aid of a following-up effect with corresponding azimuth rotation magnetic vectors under a state that the rotation magnetic vectors applied above the contact surface of the gastrointestinal tract drive an active hemispheroid to idle relative to the passive hemispheroid. The axis of the robot is basically the same with the bending direction of each section of the intestinal tract through the adjustment of the rotation magnetic vector azimuth according to images wirelessly sent by a camera arranged at the front end of the capsule robot, and rolling rotation magnetic vectors perpendicular to the bending direction of each section of the intestinal tract are applied in the horizontal plane, so that the active hemispheroid is driven to drive the robot to roll along the bending direction of each section of the intestinal tract, wherein the axis of the active hemispheroid is in the horizontal plane and the active hemispheroid is in contact with the intestinal tract.
Description
Technical field
The invention belongs to automation engineering technical field, relate to a kind of active and passive pair of semiglobe capsule robot by the basic control method that space Universal rotary magnetic vector drives attitude in gastrointestinal tract to adjust arbitrarily and bending intestinal rolling is walked on edge, the former adjusts arbitrarily by realizing the attitude of robot in gastrointestinal tract with the servo-actuated effect of respective party parallactic angle rotary magnetic vector under the rotary magnetic vector driving applied above gastrointestinal tract the contact surface initiatively relatively passive hemisphere idling conditions of hemisphere; The latter be reference capsules robot front end photographic head wireless spread out of image adjust respectively rotary magnetic azimuth vector make robot axis and each section of intestinal bending direction basically identical, and in horizontal plane, apply the rolling rotary magnetic vector driving axis vertical with intestinal each section of bending direction be respectively in the active hemisphere band mobile robot contacted in horizontal plane and with intestinal and roll along intestinal each section of bending direction respectively and walk.
Background technology
Rely on the capsule endoscope clinical practice of intestinal peristalsis promoting passive walking, because attitude is uncontrollable with motion, still there is vision-based detection blind area, the loss of general capsule endoscope is about 20 percent, therefore, the ACTIVE CONTROL of capsule endoscope attitude and walking is extremely important, and has challenge.Because magnetic control capsule robot good reliability, safety are high, magnetic field non-contact control has become domestic and international study hotspot.
The people such as U.S. Sehyuk Yim adopt one piece of outside large-scale permanent magnet to produce in field drives body a kind of soft capsule endoscope to realize stomach diagnosis and treatment.Capsule endoscope head and afterbody install two pieces of permanent magnets respectively, shell mollielast can be avoided damaging intestinal, increase an axial stretching degree of freedom under external magnetic field in order to release and injectable drug, and under the driving of external permanent magnets rotating excitation field, realize the rolling of robot on gastrointestinal surface.Shortcoming is that magnetic field of permanent magnet exists gradient, assigned address is arrived according to external permanent magnets driven machine people, in must maintaining, outer permanent magnet spacing is constant, because the exact position of capsule robot in intestinal cannot Real-Time Monitoring, therefore the magnetic force of external permanent magnets cannot accurately be controlled, robot location controls inaccuracy, move discontinuous, poor stability, the excessive phenomenon of magnetic force may be there is, even there is magnetic impact and damage the danger of gastrointestinal tissue, external permanent magnets is adopted to change magnetic direction complicated operation, very flexible, robot in gastrointestinal tract pose adjustment and turning rolling travelling control not nimble.
The people such as Italy University of Pisa Federico Carpi propose to adopt a kind of magnetic navigation system of St.Louis company of U.S. development to locate capsule robot position in vivo, namely the both sides adopting two large-scale magnets to be placed on capsule endoscope respectively produce uniform static magnetic field, capsule robot is made up of Israel M2A capsule endoscope surface coverage two panels magnetic shell, and it is the uniform magnetic field of 0.08T that the two pieces of large-scale co-axial permanent magnets being arranged on sick bed both sides can control to produce maximum intensity in region.The test result of perspective scanner to anthropometric dummy shows that magnetic navigation navigation system can realize the control of azimuth of capsule endoscope in three dimensions.But adopt this uniform magnetic field to drive capsule robot accurately cannot control magnetic induction, the thus rotary magnetic moment of uncontrollable robot; The location of robot can be realized, due to the inconvenience of magnetic field space steering operation, being movably walking of robot can not be realized.
This seminar result of study shows that the rotating excitation field of large-scale monolithic rotor magnet is large gradient static magnetic field, in the magnetic coupling process of gradient magnetic and the embedded diametrical magnetization ndfeb magnet of capsule robot, the attitude of embedded diametrical magnetization neodymium iron boron has instability and nonuniqueness, namely the method adopting rotor magnet to carry out posture adjustment accurately can not control the attitude of embedded diametrical magnetization neodymium iron boron capsule robot, and the panorama that can not realize intestinal inside is observed; In the magnetic coupling process of gradient magnetic and the embedded axial magnetized ndfeb magnet of capsule robot, robot pose has uniqueness, but magnetic force is difficult to control, and capsule robot can be moved to and is close to intestinal wall state and makes, by rotary magnet posture adjustment, difficulty occurs by Magnet.Robot is pose adjustment and rolling turning travelling control poor stability in intestinal, and the larger change of Magnet distance can cause the danger of magnetic impact intestinal wall.Theory analysis and test show to adopt the static gradient magnetic of external magnet to control the method poor operability of embedded neodymium iron boron capsule robot attitude and motor control, limitation is large.
Freely walk in bending intestinal to realize capsule robot, reduce the damage to human body intestinal canal, this seminar, in acquired national inventing patent " in body medical miniature robot method for driving and controlling universal rotary magnetic field " (license number: ZL 200810011110.2), proposes the adjustable space of rotation axis universal Rotating with Uniform field drives control method.
In acquired national inventing patent " control method of universal superposition rotating excitation field rotation axis orientation, space and rotation direction " (license number: ZL 201210039753.4), by the combination type of drive of the related amplitude value that is input variable by a certain fixed axis azimuth, space and the various antiphase electric currents of the same frequency three phase sine current signal of phase place with based on the rotating shaft orientation in universal Rotating with Uniform magnetic field, space superposed in the orthogonal nested Helmholtz coil device of three axles and the Changing Pattern of rotation direction, achieve universal rotary magnetic field rotation axis orientation, space and the uniqueness of rotation direction in each quadrant of space coordinates controls, walk for the adjustment and directed driven that realize robot pose and lay a good foundation.
Research find homogeneous space universal rotary magnetic field and static gradient magnetic completely different, it utilizes the servo-actuated effect of embedded diametrical magnetization ndfeb magnet capsule robot axis and space universal rotary magnetic field rotation axis to realize robot pose to control, capsule robot is equivalent to the magneto gyrocompass rotated, good stability.Servo-actuated effect is a kind of dynamic magnetic effect, be in the attitude of robot in rotating excitation field and have uniqueness, therefore, space universal rotary magnetic field can overcome the defect of static rotating excitation field, the pose adjustment of accurate control capsule robot in gastrointestinal tract, the panorama in gastrointestinal tract is observed becomes possibility.
Seminar has carried out years of researches to helical capsule robot, show to form one deck hydrodynamic film in robot when capsule robot drives, belong to noncontact driving, improve in body and drive safety, test shows can be realized advancing, retreat and turning in bending intestinal by control by universal rotary magnetic field.But helical capsule robot is high to intestinal inner fluid conditional request, patient drinks too much liquid can change enteric juice physiological condition, when intestinal inner fluid is few and when not possessing hydrodynamic film drive condition, or when interstitial space is little and when there is gauffer, there is the risk of distortion intestinal in the spiral ribs of robot, easily causes patient uncomfortable.Test show elongated cylinder capsule robot or retrain by gauffer intestinal, or because magnetic field cancel and attitude instability, pose adjustment is more difficult, in gastrointestinal panorama observe be difficult to realization.Visible, there is limitation in the robot posture adjustment of spiral cylinder body capsule and turning travelling control.
Spherical structure than cylindrical shape in gastrointestinal non-structure environment pose adjustment with turn time motility and universal property good.In order to realize pose adjustment and Servo Control, we have carried out lot of experiments to the ball-type capsule robot of embedded diametrical magnetization neodymium iron boron magnetic body, although space universal rotary magnetic field technology makes a breakthrough, the uniqueness that the servo-actuated effect of robot axis and space universal rotary magnetic field can realize attitude controls, but during adjustment attitude capsule robot can in gastrointestinal tract random rolling and attitude instability miss region to be checked, affect by intestinal non-structure environment, the direction of ball shape robot rolling walking is also restive.
Roll in gastrointestinal tract in order to avoid ball shape robot during posture adjustment and ensure that robot axis is at original place and rotating excitation field synchronous follow-up, in conjunction with motility and the universal property of spherical structure posture adjustment and turning, according to stability and the uniqueness characteristic of the servo-actuated effect posture adjustment of space universal rotary magnetic field, the present invention proposes a kind of main, passive pair of hemispherical capsule robot, contour structures is made up of active hemisphere and passive hemisphere split, initiatively the endoscope of hemispherical Shell and embedded diametrical magnetization neodymium iron boron magnetic body is consolidated into initiatively hemisphere, initiatively hemisphere is connected with being suspended by bearing between passive hemisphere, space Universal rotary magnetic vector and the magnetic torque that is coupled of embedded diametrical magnetization neodymium iron boron magnetic body drive initiatively hemisphere, passive hemisphere is in below all the time under counterweight effect, be in drive lacking state, passive hemisphere under the restrictions of the frictional force contacted with gastrointestinal tract remains static, can prevent from rolling during robot posture adjustment, initiatively hemisphere is in top and does not contact with gastrointestinal tract or less with gastrointestinal tract contact area, initiatively hemisphere is positioned at static passive hemisphere idle running relatively below, above gastrointestinal tract contact surface, rotary magnetic vector is applied during adjustment attitude, the axis that servo-actuated effect makes robot axis the follow respective party parallactic angle rotating excitation field always attitude realized in gastrointestinal tract adjusts arbitrarily observes with panorama.
Under-actuated systems refers to that system independent control variable number is less than the system of degree of freedom in system number, under the servo-actuated effect effect of rotating excitation field, robot axis follows the axis of respective party parallactic angle space universal rotary magnetic field always, capsule robot under the servo-actuated effect effect of rotating excitation field has gyroscopic inertia, obviously ignore robot to swing and to only have a directed rotary freedom with the active hemisphere of intestinal relative sliding, if add passive hemisphere, namely a drive lacking degree of freedom is turn increased, there are two hemispherical robots of drive lacking hemispherical dome structure at saving energy, reduce and control difficulty, improve fault-tolerance, strengthen all more complete drive system in aspect such as system flexibility superior, improve the self-adaptative adjustment to non-structural intestinal environment and driving force.
Complicated intestinal three-dimensionalreconstruction based on image can't realize, realize capsule robot intestinal inside turn roll must by the wireless visual pattern in front end respectively segmentation adjustment Universal rotary magnetic vector azimuth, space make robot axis and every section of intestinal bending direction basically identical, and the rotary magnetic vector substantially vertical with intestinal each section of bending direction is applied respectively in the horizontal plane of every section of intestinal, servo-actuated effect makes robot axis be horizontal, main passive pair of hemisphere all contacts with intestinal, initiatively hemisphere produces roll drive power with intestinal under rotating excitation field effect, drive lacking hemisphere rolls as follower, achieve Robot this section of bending direction rolling limited distance.Repeat said process, just the interior observation of the panorama based on posture adjustment of the bending intestinal of realization is rolled with turning and is walked.Ball shape robot requires low to drive environment, no liquid is had in gastrointestinal tract, do not need to be full of liquid in intestinal yet, in intestinal, large viscosity liquid does not affect robot driving, experiment shows that ball shape robot still has wedge effect in a small amount of oil film intestinal of attachment, form a kind of dynamic pressure oil film, achieve the noncontact driving of robot and intestinal, both added and driven safety to turn increase rolling moment.
Main passive pair of hemispherical capsule robot posture adjustment good stability, turning roll capability is strong, and can overcome gauffer intestinal resistance and the servo-actuated posture adjustment of rotating excitation field, is expected to the diagnosis and treatment in gastrointestinal are come true.
Summary of the invention
The technical problem to be solved in the present invention is: provide two hemispherical capsule robots that a kind of structure is made up of active and passive two hemispheres, by being applied to rotary magnetic vector above gastrointestinal tract contact surface respectively in horizontal plane and the drived control method of the rotary magnetic vector vertical with intestinal bending direction, solving and do not occur to roll when should guarantee robot posture adjustment and miss viewing area and ensure that initiatively hemisphere axis is servo-actuated to horizontal plane and contact with intestinal again and realize robot active and to roll the contradiction between walking; Image Adjusting robot axis is spread out of and intestinal bending direction is basically identical by capsule robot front end photographic head is wireless, and the control method applying the rolling rotary magnetic vector vertical with intestinal bending direction in horizontal plane avoids the technical barrier that image technology can not realize overlapping intestinal three-dimensionalreconstruction, realizes robot in intestinal inside turn.
Technical scheme of the present invention is:
A kind of main passive pair of hemispherical capsule robot, comprise initiatively hemisphere and passive hemisphere two parts composition, the neodymium iron boron annulus inner driver of diametrical magnetization is embedded photographic head rear end be fixed as one, then initiatively hemispherical Shell is embedded in the lump, namely initiatively hemisphere is formed, namely passive hemispherical Shell and bearing abutment sleeve consolidation are formed passive hemisphere, main, passive hemisphere is suspended by two bearings and connects, round nut is installed to realize bearing axial location in bearing outer end, space universal rotary magnetic field drives the initiatively relative passive hemisphere of hemisphere to dally with the coupling magnetic torque of active hemisphere embedded diametrical magnetization neodymium iron boron annulus inner driver, passive hemisphere is in drive lacking state, drive lacking hemisphere structure enhances two stability of hemispherical capsule robot pose adjustment and the adaptive ability to non-structure environment.
Realize the universal adjustment of capsule robot attitude: below passive hemisphere is in all the time under counterweight effect as tumbler, above initiatively hemisphere is in all the time, passive hemisphere remains static under the constraint of contact intestinal, ensure that robot initial axis attitude vertically upward, for robot pose adjustment is provided convenience condition, can also support initiatively hemisphere not with intestinal contact internal walls or contact area very little, what apply due to pose adjustment is the rotary magnetic vector be positioned at above gastrointestinal tract contact surface, can prevent robot from occurring when posture adjustment roll and miss viewing area, posture adjustment good stability, the coupling magnetic torque in external rotation magnetic field drives the relatively passive hemisphere idle running of initiatively hemisphere, initiatively hemisphere axis (i.e. robot axis) moment of resistance of gauffer intestinal can be overcome under servo-actuated effect effect and respective party parallactic angle rotating excitation field axis servo-actuated, and then realize any adjustment of robot attitude in gastrointestinal tract, by Digital Control known rotary magnetic vector axis, just robot pose is aware of, below passive hemisphere is under counterweight effect, robot transfixion after rotating excitation field stops, ensure that the attitude after adjustment is constant, the wireless image spread out of by photographic head can carry out diagnostic observation, visual angle due to robot photographic head is 150 degree, therefore, control universal magnetic field, space within the scope of gravimetric plumb line 45 degree of semi-cone angle, be uniformly distributed four observed bearings, the panorama that just can realize in gastrointestinal tract is observed.When passive hemisphere is larger, be conducive to pose adjustment, viewing angle scope is larger.
Realize capsule robot to roll along intestinal bending direction: by capsule robot front end radio transmitting image adjustment Universal rotary magnetic vector azimuth, space make robot axis and intestinal bending direction basically identical, and the rotary magnetic vector vertical with intestinal bending direction is applied in horizontal plane, under servo-actuated effect effect, robot axis follows and horizontally rotates magnetic vector direction (if when the rotating speed of rotating excitation field is less, be not enough to change robot vertical axis with kinetic moment, passive hemisphere is in below under gravity, so robot axis can be advanced around the rolling of rotating excitation field axis), initiatively hemisphere all contacts with intestinal lower wall with passive hemisphere, coupling magnetic moment drives initiatively hemisphere contact intestinal lower wall initiatively to roll, drive lacking hemisphere and the passive rolling of intestinal lower wall, make two hemispherical capsule robot in intestinal along certain bending direction rolling limited distance.By that analogy, by the wireless ocular segmentation in capsule robot front end adjustment rotating excitation field azimuth make robot axis and each section of intestinal bending direction basically identical, and the rotating excitation field vertical with each section of intestinal bending direction is applied respectively in horizontal plane, just achieve the walking of capsule robot in bending intestinal.
Even if in horizontal plane apply rolling rotary magnetic vector and the intestinal bending direction error of perpendicularity is very large, as long as initiatively hemisphere contacts with intestinal lower wall, robot still can move ahead by roll and slide, but line speed is lower before error is larger, ball shape robot, to rotating excitation field orientation zmodem, makes the operability of rolling walking in intestinal unstructured moving grids become simple.
Initiatively hemisphere and passive hemispheroidal size affect posture adjustment and rolling characteristics.When active hemisphere is larger, be conducive to walking of rolling, viewing angle scope reduces; Otherwise roll capability reduces, viewing angle scope becomes large.When active hemisphere increases to whole spherome surface, just become complete drive ball anthropomorphic robot system, this system can only be rolled, and can not realize pose adjustment; When passive hemisphere increases to whole ball surface, initiatively hemisphere develops into inner rotation body, can only realize pose adjustment, can not realize rolling.The solution route simultaneously meeting posture adjustment stability and rolling characteristics be make initiatively hemisphere fewer than half, suitably increase the coefficient of friction of initiatively hemispherical Shell surfacing, as adopted latex surface etc.
By the control method being applied to rotary magnetic vector horizontal plane above the gastrointestinal tract contact surface rotary magnetic vector vertical with intestinal bending direction respectively, the present invention both ensure that robot did not occur roll and miss some observation on region when adjusting attitude, also ensure that initiatively hemisphere axis is servo-actuated to horizontal plane and contact with intestinal to realize robot active and to roll this difficult problem of walking, pose adjustment good stability, panorama in gastrointestinal tract can be realized observe, reduce loss.Two hemispherical robot is to the zmodem in rotating excitation field orientation, initiatively turn driving safely, reliably, less demanding to intestinal environment fluid condition, even if ball shape robot is a small amount of or be full of in large viscosity liquid and all can produce wedge effect, form hydrodynamic film, realize noncontact driving in intestinal, not only safety but also be of value to the increase of robot rolling moment.Image Adjusting robot axis is spread out of and intestinal bending direction is basically identical by capsule robot front end photographic head is wireless, and the Servo Control method applying the rolling rotary magnetic vector vertical with intestinal bending direction in horizontal plane avoids the technical barrier that image technology can not realize overlapping intestinal three-dimensionalreconstruction, achieve intestinal inside turn, only need the magnetic field applying clockwise rotation can realize advancing in the pose adjustment of robot and bending intestinal, retreating.
Accompanying drawing explanation
Fig. 1 is a kind of space universal rotary magnetic field driving device for inspect in gastroenterology active and passive pair of hemispherical robot of the present invention and control system schematic diagram.
Fig. 2 (a) Shi Shuan hemispherical robot external structure partial enlarged drawing.
Fig. 2 (b) is two hemispherical robot interior structure partial enlarged drawings.
Fig. 3 (a) Shi Shuan hemispherical robot pose adjustment schematic diagram in intestinal.
Fig. 3 (b) is the adjustment process schematic diagram that two hemispherical robot axis aims at intestinal bending direction.
Fig. 3 (c) Shi Shuan hemispherical robot walks schematic diagram in corner bend pipe.
In figure: a control system operation interface; B controller; C sick bed; D patient; The orthogonal nested Helmholtz coil magnetic field superposition device of e tri-axle; F master's passive pair of hemispherical capsule robot; The flexible intestinal of g; ω rotating excitation field angular velocity; 1 active hemispherical Shell; 2 passive hemispherical Shells; 3 bearing abutment sleeves; 4 bearings; 5 round nuts; 6 multidiameters; 7 diametrical magnetization neodymium iron boron inner drivers; 8 photographic head and image transmission.
Detailed description of the invention
Specific embodiment is described in detail below in conjunction with technical scheme of the present invention and accompanying drawing.
Below in conjunction with accompanying drawing 1, a kind of space universal rotary magnetic field driving device for inspect in gastroenterology active and passive pair of hemispherical robot and control system are simply introduced at inspect in gastroenterology operation process.
Nestedly the orthogonal nested Helmholtz coil magnetic field superposition device e of three axles is mounted to by mutually orthogonal for three groups of coils, patient d is allowed to swallow main passive couple of hemispherical capsule robot f, and lie on sick bed c, the position of adjustment sick bed c makes patient d be in the central area of the orthogonal nested Helmholtz coil magnetic field superposition device e of three axles, in DSP28335 Digitizing And Control Unit operation interface a, the input amplitude relevant to robot axis azimuth and phase place strictly meet the three-phase drive electric current of formula (1), by driving the X of the orthogonal nested Helmholtz coil magnetic field superposition device e of dynamic triaxial after controller b power amplifier respectively, Y, Z tri-axial coil, finally in the certain space that the orthogonal nested Helmholtz coil magnetic field superposition device e of three axles surrounds, the desirable rotating excitation field of respective party parallactic angle rotation axis is synthesized in superposition.This device can digitized adjustment rotating excitation field orientation, field intensity, frequency, turn to, be suitable for driving in bending environment in intestinal.
Wherein, α, beta, gamma is respectively vector
with the x of dimensional Cartesian coordinates system, y, the deflection of z-axis,
i
0for the amplitude of sinusoidal signal electric current passed in three groups of orthogonal Helmholtz coils, ω is the angular velocity applying sinusoidal signal electric current, and the frequency applying sinusoidal signal electric current is
magnetic field rotation direction is clockwise, and is obtained for checking by simulation and experiment.
Following magnetic field rotation direction is clockwise, and the axis of rotating excitation field and the direction of rotation in magnetic field meet left hand rule, below repeat no more.
2 (a), (b) illustrate a kind of population structure leading passive pair of hemispherical capsule robot by reference to the accompanying drawings, it comprises initiatively hemisphere and passive hemisphere two parts, by diametrical magnetization neodymium iron boron annulus inner driver 7 and photographic head and image transmission 8 elastic conjunction, by multidiameter 6 also with photographic head and image transmission 8 elastic conjunction, finally photographic head and image transmission 8 assembly are formed again initiatively hemisphere with active hemispherical Shell 1 interference fit, bearing abutment sleeve 3 and passive hemispherical Shell 2 interference fit form passive hemisphere, initiatively hemisphere and passive hemisphere are as follows by the suspend process that is connected of bearing 4: be arranged on by bearing 4 on the multidiameter 6 of active hemisphere assembly, again the bearing 4 on active hemisphere assembly multidiameter 6 is loaded in bearing abutment sleeve 3 in the lump, bearing abutment sleeve 3 inside has a step to realize bearing 4 outer ring axial location, round nut 5 loads on multidiameter 6 with by bearing 4 inner ring axial location, round nut 5 can not be projected into beyond sphere, to prevent from driving round nut 5 and intestinal Contact Effect pose adjustment in active hemisphere rotation process.Rotating excitation field and the coupling magnetic moment of diametrical magnetization neodymium iron boron annulus inner driver 7 drive the active hemisphere that comprises photographic head and image transmission 8 to dally around passive hemisphere is relative, and initiatively hemisphere is in driving condition, and passive hemisphere is in drive lacking state.
Below in conjunction with accompanying drawing 3 (a), a kind of main passive pair of hemispherical capsule robot pose adjustment detailed description of the invention is described, rotating excitation field frequency is selected to be 5Hz, when robot is in gastrointestinal tract, because passive hemispheroidal weight is greater than initiatively hemisphere, to remain static under flexible intestinal g retrains below passive hemisphere is positioned at all the time under gravity as tumbler, above initiatively hemisphere is positioned at all the time, maintenance robot axis is gravimetric plumb line, photographic head and image transmission 8 are in vertically upward, make initiatively hemisphere not with intestinal contact internal walls or contact area very little, effectively prevent robot roll when the inner posture adjustment of gastrointestinal tract and occur undetected region, attitude stability is good.Initial attitude vertically upward under robot counterweight effect is conducive to robot pose control and the walking of the driving in bending intestinal.
External rotation magnetic field and the magnetic torque that is coupled of diametrical magnetization neodymium iron boron inner driver 7 drive the passive hemisphere of initiatively hemisphere geo-stationary to dally, initiatively hemisphere axis is servo-actuated with respective party parallactic angle rotating excitation field rotation axis under servo-actuated effect effect, realizes the attitude of robot in gastrointestinal tract and adjusts arbitrarily.As shown in Fig. 3 (a), first apply n
1the magnetic vector in direction, n
1deflection is (90 °, 90 °, 0 °), and now robot photographic head and image transmission 8 point to top n
1, initiatively hemisphere rotates around robot axis with rotating excitation field angular velocity omega, and the object in applying vertical rotary magnetic field is Reliable guarantee robot initial orientation is gravimetric plumb line, makes follow-up pose adjustment drive more convenient, reliable with turning.
Below passive hemisphere is in all the time under counterweight effect as tumbler, after certain orientation rotation magnetic field stops, attitude after ball-type capsule robot can be kept to adjust is constant, because the visual angle of robot photographic head and image transmission 8 is 150 degree, therefore, universal magnetic field, space is controlled within the scope of gravimetric plumb line 45 degree of half-angle cones, for convenience's sake, in coordinate plane, be uniformly distributed four observed bearings just can cover whole region, four orientation vector n
2, n
3, n
4, n
5, deflection is respectively (90 °, 45 °, 45 °), (45 °, 90 °, 45 °), (90 °, 135 °, 45 °), (135 °, 90 °, 45 °), apply above azimuth rotary magnetic vector respectively, initiatively hemisphere rotor directly will point to above-mentioned direction respectively under magnetic torque Following effect, and the panorama that just can realize in gastrointestinal tract is observed.
Illustrate below in conjunction with accompanying drawing 3 (b) and a kind ofly lead passive pair of hemispherical capsule robot and realize by radio transmitting image the method for adjustment that intestinal bending direction is aimed at by robot, when a kind of main passive pair of hemispherical capsule robot is in one section of bending intestinal, first, n is applied
1the magnetic vector in direction, although photographic head and image transmission 8 axis (robot axis) are all the time straight up under counterweight effect, but it is more consistent with vertical magnetic vector direction with the error of perpendicularity footpath of image transmission 8 inceptive direction to eliminate photographic head under magnetic vector servo-actuated effect effect straight up, make the pose adjustment of follow-up servo-actuated effect more reliable.Then, according to the servo-actuated effect principle that robot axis is consistent all the time with magnetic vector direction, observe the servo-actuated arrival of robot axis and magnetic vector direction by repeatedly adjusting magnetic vector direction until by the radio transmitting image of photographic head and image transmission 8 and intestinal bending direction basically identical, specific implementation process is, first, several rotary magnetic vector is applied in YOZ plane, the process in Digital Control magnetic vector orientation is that input is positioned at the drive current that the relevant amplitude in YOZ plane magnetic vector azimuth and phase place strictly meet formula (1) in DSP28335 Digitizing And Control Unit operation interface a, by driving the X of the orthogonal nested Helmholtz coil magnetic field superposition device e of dynamic triaxial after controller b power amplifier respectively, Y, Z tri-axial coil, finally in the certain space that the orthogonal nested Helmholtz coil magnetic field superposition device e of three axles surrounds, the desirable rotating excitation field of respective party parallactic angle rotation axis is synthesized in superposition.By the radio transmitting image of photographic head and image transmission 8, until observe axis (robot axis) n in YOZ vertical plane of photographic head and image transmission 8
6intestinal bending direction is aimed in direction, now, by the rotation axis measurement of Digitizing And Control Unit determination rotating excitation field, also just indirectly determines angle of pitch δ and the intestinal bending direction of robot axis.Then, keep the intestinal bending direction angle of pitch δ in YOZ plane constant, in like manner, apply several rotary magnetic vector in X-axis and horizontal direction, by the radio transmitting image of photographic head and image transmission 8, until the axis observing photographic head and image transmission 8 is at n
7the bending direction of intestinal is aimed in direction, because applied magnetic vector direction is identical with robot axis, namely determines the yaw angle θ of robot axis, so far determines intestinal bending direction vector n
7=(sin θ, cos θ cos δ, cos θ sin δ), and complete robot and intestinal bending direction aim at operation.
Below in conjunction with accompanying drawing 3 (c) illustrate a kind of lead passive pair of hemispherical capsule robot in bending intestinal by radio transmitting image control turn detailed description of the invention, in figure, one section of three dimensional angle elbow comprises AB and BC two sections, AB vector direction angle is (30 °, 60 °, 90 °), BC deflection is (30 °, 120 °, 90 °), lower mask body introduces robot pose adjustment process and rolling Servo Control process.
Robot, when AB section, first applies at A point the magnetic vector of direction straight up that deflection be (90 °, 90 °, 0), to ensure that magnetic vector direction is consistent with image transmission 8 direction with photographic head, then adjusts robot pose by servo-actuated effect.Then, radio transmitting image by photographic head and image transmission 8 also adjusts magnetic vector orientation repeatedly, according to servo-actuated effect principle, robot axis and the servo-actuated arrival in magnetic vector direction and intestinal bending direction is adjusted basically identical eventually through Digital Control, namely applied magnetic vector deflection and pipe bending direction and photographic head and image transmission 8 direction vector are (30 °, 60 °, 90 °), direction vector is
according to servo-actuated effect principle, be aware of the rotation axis measurement of space universal rotary magnetic field by Digital Control, be just aware of intestinal bending direction.After determining pipe bending direction, for the ease of control along the rolling walking of bending intestinal direction, by the restriction of control rolling rotary magnetic direction vector in a horizontal plane, rolling rotary magnetic direction vector computational process is as follows: by means of vector n=(0 under vertical sensing, 0,-1), then vertical with pipe bending direction in horizontal plane rolling magnetic vector direction is:
And can n be tried to achieve
8* deflection:
In DSP28335 Digitizing And Control Unit operation interface a input meet formula (1) and be (120 ° with magnetic vector deflection, 30 °, 90 °) the three-phase drive electric current of relevant amplitude and phase place, just create the rotating excitation field of corresponding orientation.Detailed process can with reference to Patents.
When robot motion is to B point, adjustment robot pose, makes photographic head and image transmission 8 along with rotary magnetic vectors directed BC direction,
recurring formula (2), (3) obtain the magnetic vector n that B point control is rolled
9* deflection is (60 °, 30 °, 90 °).
If intestinal has more bending, repeat above process, the turning that just can realize bending intestinal inner machine people is rolled.When needing pose adjustment to carry out panorama observation, first can carry out pose adjustment, then drive walking of turning, so just achieve the comprehensive diagnosis and treatment in bending environment.
The method realizing robot oppositely walking in bending intestinal is by rolling magnetic vector n
8and n *
9* in horizontal plane, turnback is revolved around vertical line respectively.
Claims (4)
1. master's passive pair of hemispherical capsule robot, is characterized in that:
External structure is made up of active hemisphere and passive hemisphere two parts, initiatively hemispheroidal assembling process is by diametrical magnetization neodymium iron boron annulus inner driver (7) and photographic head and image transmission (8) elastic conjunction, by multidiameter (6) also with photographic head and image transmission (8) elastic conjunction, finally photographic head and image transmission (8) assembly are realized with active hemispherical Shell (1) interference fit again, passive hemispheroidal assembling process is realized bearing abutment sleeve (3) and passive hemispherical Shell (2) interference fit, initiatively hemisphere and passive hemisphere are suspended by the realization of two bearings (4) and are connected and make the two relatively rotate, the assembling process connected that suspends is arranged on by bearing (4) on the multidiameter (6) of initiatively hemisphere assembly, again the bearing (4) in active hemisphere assembly multidiameter (6) is loaded in bearing abutment sleeve (3) in the lump, bearing abutment sleeve (3) inside has a step to realize bearing (4) outer ring axial location, round nut (5) loads bearing (4) inner ring axial location on multidiameter (6), space universal rotary magnetic field and the coupling magnetic torque that diametrical magnetization neodymium iron boron inner driver (7) produces drive the relative passive hemisphere of the active hemisphere comprising photographic head and image transmission (8) to dally, and passive hemisphere is in drive lacking state.
2. the main passive pair of hemispherical capsule robot of one according to claim 1, is characterized in that: initiatively hemispherical Shell (1) is cylinder or ellipsoid with the monnolithic case of passive hemispherical Shell (2).
3. a kind of pose adjustment and turning drived control method leading passive pair of hemispherical capsule robot described in claim 1 or 2, is characterized in that attitude universal adjustment control method is as follows,
The approach of counterweight is that the density of material or degree of compaction by changing passive hemispherical Shell (1) and initiatively hemispherical Shell (2) realizes, passive hemispheroidal weight is made to be greater than initiatively hemisphere, a kind of main passive pair of hemispherical capsule robot is stood as tumbler under gravity, above initiatively hemisphere is positioned at all the time, below passive hemisphere is positioned at all the time, keep photographic head and image transmission (8) axis (robot axis) straight up, make initiatively hemisphere not with intestinal contact internal walls or contact area very little, initial attitude is straight up conducive to the stability of robot pose adjustment, apply the rotary magnetic vector be positioned at above gastrointestinal tract contact surface and drive the relatively passive hemisphere idle running of initiatively hemisphere, and under servo-actuated effect effect robot axis and respective party parallactic angle magnetic field rotating axis servo-actuated, realize any adjustment of robot attitude in gastrointestinal tract, position is downwards and remain static under the constraint of flexible intestinal (g) all the time under counterweight effect for the passive hemisphere being in drive lacking state, prevent robot from occurring to roll when the inner posture adjustment of gastrointestinal tract and occurring undetected region, and then improve the reliability and stability that in gastrointestinal tract, panorama is observed.
4. pose adjustment according to claim 3 and turning drived control method, is characterized in that:
Realize by radio transmitting image the adjustment that intestinal bending direction is aimed at by robot, process is as follows;
Time in one section of bending intestinal, first, apply deflection magnetic vector straight up, although photographic head and image transmission (8) axis (robot axis) are all the time straight up under counterweight effect, but it is more consistent with vertical magnetic vector direction with the error of perpendicularity footpath of image transmission (8) inceptive direction to eliminate photographic head under magnetic vector servo-actuated effect effect straight up, make the pose adjustment of follow-up servo-actuated effect more reliable, then, according to the servo-actuated effect principle that robot axis is consistent all the time with magnetic vector direction, observe the servo-actuated arrival of robot axis and magnetic vector direction by repeatedly adjusting magnetic vector direction until by the radio transmitting image of photographic head and image transmission (8) and intestinal bending direction basically identical, specific implementation process is, first, several rotary magnetic vector is applied in YOZ plane, the process in Digital Control magnetic vector orientation is that input is positioned at the drive current that the relevant amplitude in YOZ plane magnetic vector azimuth and phase place strictly meet formula (1) in DSP28335 Digitizing And Control Unit operation interface (a), by driving the X of orthogonal nested Helmholtz coil magnetic field superposition device (e) of dynamic triaxial after controller (b) power amplifier respectively, Y, Z tri-axial coil, the desirable rotating excitation field of final superposition synthesis respective party parallactic angle rotation axis in the certain space that orthogonal nested Helmholtz coil magnetic field superposition device (e) of three axles is surrounded, by the radio transmitting image of photographic head and image transmission (8), observe photographic head and aim at intestinal bending direction with axis (robot axis) upper and lower some directions in YOZ vertical plane of image transmission (8), now, by the rotation axis measurement of Digitizing And Control Unit determination rotating excitation field, also the angle of pitch and the intestinal bending direction of robot axis is just indirectly determined, then, keep the intestinal bending direction angle of pitch in YOZ plane constant, in like manner, several rotary magnetic vector is applied in X-axis and horizontal direction, by the radio transmitting image of photographic head and image transmission (8), the axis observing photographic head and image transmission (8) aims at the bending direction of intestinal in X-axis horizontal direction, because applied magnetic vector direction is identical with robot axis, namely the yaw angle of robot axis is determined, so far determine intestinal bending direction, and complete robot and intestinal bending direction aim at operation,
Realize by radio transmitting image the control that robot rolls in bending intestinal, process is as follows:
After determining intestinal bending direction, intestinal direction rolling process is bent in order to simplify Robot, rolling rotary magnetic direction vector is limited in horizontal plane, rolling rotary magnetic direction vector computational process is as follows: because the axis of robot is consistent with rotary magnetic direction vector, supposes that photographic head and image transmission (8) axis direction vector are n
1=(cos α, cos β, cos γ), vertical line vector is straight down n=(0,0 ,-1), and the magnetic vector direction planar controlling rolling walking is n*=n
1× n, now, the direction of rolling magnetic vector n* and robot axis direction n
1mutually vertical, magnetic vector n* is applied in horizontal plane, now robot axis and rotating excitation field axis coaxle, although photographic head and image transmission (8) axis (robot axis) weigh directly upwards all the time under counterweight effect, but under the servo-actuated effect effect of horizontal level rotary magnetic vector, robot axis follows in horizontal plane, initiatively hemisphere all contacts with intestinal lower wall with passive pair of hemisphere, the coupling magnetic moment of external magnetic field drives initiatively hemisphere contact intestinal lower wall initiatively to roll, drive lacking hemisphere and the passive rolling of intestinal lower wall, make ball-type capsule robot in intestinal along certain bending direction rolling limited distance, by that analogy, by the wireless ocular segmentation in capsule robot front end adjustment universal rotary magnetic field azimuth, space make robot axis and intestinal bending direction basically identical, and the rotating excitation field substantially vertical with intestinal each section of bending direction is applied respectively in horizontal plane, just realize the rolling of capsule robot in bending intestinal, two hemispherical robot has good fault-tolerance to rotating excitation field orientation, and fault-tolerance makes the operability of walking in destructuring intestinal become simple, the method realizing robot oppositely walking in bending intestinal is that rolling magnetic vector is revolved turnback around vertical line in horizontal plane.
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