CN102743175A - Method and system for remote locating on basis of at least four magnetic field sensor array planes - Google Patents
Method and system for remote locating on basis of at least four magnetic field sensor array planes Download PDFInfo
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Abstract
The invention provides a method and a system for remote locating on basis of at least four magnetic field sensor array planes, wherein the system comprises a location object, magnetic sensor arrays, magnetic field spatial analytical equipment and background magnetic field compensation sensors, and the location object needs to have a magnetic field, such as a capsule or a probe which contains a permanent magnet; and the magnetic sensor arrays comprise four or more than four non-fixed magnetic field sensor array planes, a Hall sensor and a magnetorsistive sensor. According to the method and the system for remote locating on the basis of at least four magnetic field sensor array planes, the target area is located among the four or more than four magnetic field sensor array planes, the strongest field intensity points of all the planes are found out, and through utilizing the solid geometry knowledge and combining with the magnetic field compensation information, the object can be remotely located.
Description
Technical field
The present invention relates to the magnetic field localization method, be specifically related to a kind of based on being no less than four array of magnetic field plane long range positioning method and system.
Background technology
Exploration wireless medical capsule is widely known by the people in medical profession.This exploration capsule can be beamed back one with data and place external reception and recording equipment.The patient swallows this capsule in the abdomen, and it will move ahead along digestive tract, collects and transmit data on the way to receiving and recording equipment.Generally speaking, after one to two day, this disposable capsule will excrete with Excreta, and will get off to be used for to analyze and/or storage transmission such as data record such as body temperature, pH value, blood pressure and haulage times.Generally the approval wireless medical capsule that is equipped with photographic head can be used for images acquired in the industry, and the capsule that has a medicine reservoir then can be with the drug release of various various dose each zone to digestive system.
Deployment and detection are used in, and miniature probe or pick off airtight, that can't visit perhaps remote space scouting are very useful in many environment.And the position of in deployment, confirming object is the comparison difficulty, and in the plurality of applications process, the volume of target environment possibly be no more than several cubic decimeters.However, people still can accurately locate a minimum target as much as possible, like probe or pick off.Remote sensing technology is widely used in fields such as industry or medical treatment by people; For example, as wireless capsule commonly used in the present medical field be wriggling get into gastral, and in this process; Capsular particular location is unknowable, or only can be similar to and know its Position Approximate.Same, in non-armarium, the probe capsule is to be brought into by fluid or action of gravity, is example with the tubing, only can know the position that it is general in the time of confirming.The shortage of positional information is a defective of present wireless capsule technology.For example, the doctor can't be known the pathological characters by this data show when the capsular data of inspection ex vivo, like the particular location of intestinal canal tumour.And for the exact position of detecting the problem place usually needs extra position fixing process, even need operation to accomplish.
In the middle of armarium now, some magnetic location technologies have appearred.Wherein a kind of is the patent of being developed by U.S. Acker 5,558,091, and it is to be utilized in the embedded magnetic sensor ligand external magnetic field work in the capsule in the body, thereby realizes following the trail of in the body.Though this method possibly be useful to a certain extent, it does not consider the interference effect in the extra magnetic field that possibly produced by electric current and ferromagnetic material such as earth's magnetic field or those.Another kind method then is 6,216, No. 028 patent by the Haynor of U.S. exploitation, and it is installed in Magnet such as on the such medical apparatus and instruments of probe tip, replants in the patient body, utilizes external sensor Distribution of Magnetic Field to reach localized effect then.This method proposes to use four magnetic sensors to measure at X, and the magnetic field of Y and Z axle is come modeling with the tip, magnetic field as magnetic dipole, confirms the position of magnetic dipole through finding the solution Nonlinear System of Equations.Because related complexity of the calculation, this method need sizable computing capability and/or great amount of time to accomplish.And the complexity of this method has also greatly increased the probability of error.
Be used for accurately judging the improved method and system of remote object position; As to locate wireless capsule and probe etc. be highly effective; And it has great advantage, and it can be exactly accurately matees the image that is detected or other parameter such as pH value, body temperature, blood pressure etc. with the position.And it is accurately instructing drug dose, is taking to have more potentiality and advantage aspect biopsy and the post-operative recovery.And aspect non-medical use, it can be used for pipe detection or liquid processing system.When capsule or probe are used in combination with the motor control ability, in time detect probe or capsular position and just become very favourable.Owing to above-mentioned and other reason, and its some potential advantages, utilize the improved localization method in magnetic field and system to possess greatly application prospect in application.
The applicant has applied for also simultaneously that also name is called two patents of invention of " based on single array of magnetic field plane remote object localization method and system " and " based on two array of magnetic field plane remote object localization method and system "; Though similar from seeing method therefor nominally, used in fact principle and method and emphasis are all different.The present invention is through finding out the maximum point of four or more field intensity, and the point that will find out again is linked to be line, finds out intersection point at last again, and the problem of solid geometry ideally is converted into the problem of plane geometry, makes it to be readily solved; And " based on single array of magnetic field plane remote object localization method and system " combines solid geometry and Algebraic Equation set to find out impact point smoothly through finding out a field intensity maximum point; And " based on two array of magnetic field plane remote object localization method and system " finds out impact point through two field intensity maximum points and measurement dipole moment, incorporated physics principle dexterously.In sum, three kinds of method and system likeness in form and god are not seemingly, and is each has something to recommend him, needs us to combine concrete problem concrete analysis, then which kind of method and system of decision utilization.
Summary of the invention
The technical problem that the present invention will solve is to overcome existing defective; With the target area between four or more array of magnetic field plane; Find out the strongest point of each plane field intensity, utilize the information of the knowledge combined magnetic field compensation of solid geometry to position again remote object.The method not only is fit to open environment, is equally applicable to enclosed environment, like digestion, liquid handling pipeline or some mechanical system.This method has been abandoned the drawback of traditional long range positioning, has accurate positioning, cost is low, efficient is high, need not advantages such as complicated calculations.
In order to solve the problems of the technologies described above, the invention provides following technical scheme:
The present invention is based on and be no less than four array of magnetic field plane long range positioning method and system, comprise following localization method:
Step 1, the anchored object that will contain magnetic field are placed in the target area, place the magnetic sensor array with detection of a target magnetic field;
Step 2, the target area is positioned at four or a plurality of array of magnetic field plane;
Array of magnetic field plane in step 3, the regulating step two of trying one's best, it is parallel to each other to make it top and bottom, and front-back is parallel to each other;
Step 4, utilize magnetic field sensor to find out that the strongest point of each plane field intensity;
Step 5, will be up and down the strongest point of field intensity found out of two planes be linked to be line, two points that the field intensity that former and later two planes are found out is the strongest are linked to be line, thereby utilize the magnetic field space analytical equipment to obtain the intersection point of two lines.
Step 6, the i.e. the strongest point of field intensity in the zone for this reason of intersection point that obtains two lines utilize the background compensation pick off to revise the bearing data in local measurement magnetic field, the accurate position that just can draw required anchored object at last.
Further, the target area in the said step 1 not only comprises open area, and comprises enclosed areas, such as the digestive tract of human body.
Comprise localized object, magnetic sensor array, magnetic field space analytical equipment and background magnetic field compensation sensor based on the system that is no less than four array of magnetic field plane long range positionings; Said localized object itself should have magnetic field, as contains the capsule or the probe of permanent magnet; Said magnetic sensor array comprises four or a plurality of on-fixed array of magnetic field plane, a Hall element, a magnetoresistive transducer.
Further, the planar quantity of said array of magnetic field is to be not less than four even number.
The invention provides based on being no less than four array of magnetic field plane long range positioning method and system; With the target area between four or more array of magnetic field plane; Find out the strongest point of each plane field intensity, utilize the information of the knowledge combined magnetic field compensation of solid geometry to position again remote object.The method not only is fit to open environment, is equally applicable to enclosed environment, like digestion, liquid handling pipeline or some mechanical system.This method has been abandoned the drawback of traditional long range positioning, has accurate positioning, cost is low, efficient is high, need not advantages such as complicated calculations.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of description, is used to explain the present invention with embodiments of the invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 the present invention is based on the macrostructure sketch that is no less than four array of magnetic field plane long range positioning method and system;
Fig. 2 is the planar preferred orientation method and system of four an array of magnetic field diagram example;
Fig. 3 is planar magnetic-field measurement of four array of magnetic field and location notion diagram.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for explanation and explains the present invention, and be not used in qualification the present invention.
Fig. 1 conceptual illustration is depicted as the concrete example of remote object localization method and system.In the operating environment [10] (the non-part that should invent); Such as the patient; Or narrow environment has at least a sensor array [12] on a particular configuration, to insert each other as in machinery, liquid handling and the hydraulic system, and this structure will be further in this explanation.Sensor array [12] comprises one or more independently sensor units [14], and be evenly distributed on and operating environment [10] on target area [16] the corresponding sensor plane.Sensor array [12] can be connected with suitable computer or data handling equipment [18] and be used for showing in real time result of calculation.Capsule [20] or probe are more suitable for being installed in the inside of target area [16].As a kind of armarium, it can be swallowed by people or animal; And in the middle of some other equipment, capsule then can be inserted in the sealing constrained environments such as pipeline, tank body or other conduits, mechanical Feng Cang.And under above-mentioned various conditions, the remote sensing system all can play effectiveness.Capsule [20] comprises a dipole magnetic field, and this magnetic field is preferably produced by permanent magnet.As a capsular part, the dipole magnetic field is represented by embedded image, shown in formula 1:
Like figure, sensor unit [14] comprises hall effect sensor, and its output voltage changes along with the variation in magnetic field; And magnetic resistance sensor, its resistance also changes along with the variation of external magnetic field.Effective investigative range of Hall element is very big, and magnetoresistive transducer then has higher detection accuracy.Magnetic sensor or combination sensor as for other types also can use under the condition that does not break away from the principle of the invention.Sensor array shown in Figure 1 [12] preferably comprises a plurality of pick offs in same plane.The typical case of system representative promptly is the field adaptability magnetic sensor of the common on the market 2mm of being of a size of x2mm at present in the organism.For example, the array of 5mm 2mm outside array of magnetic field when it detects magnetic field intensity and is 0.01 Gauss, uses the spatial resolution of these method and system can reach 0.05mm.Therefore, the position in magnetic field like magnetic dipole or capsule [20], can accurately be surveyed in the 1mm scope.In order to make the target area of being scanned greater than sensor array, simultaneously/or need an array in order to reduce the monomeric quantity of pick off, sensor array then can be moved into the target area so, and vice versa.The mobile best plane of magnetic sensor and/or target area along the sensor array place, and preferably operate according to mechanical guide, carry out along correct direction under the propelling of automatic or manpower to guarantee it.
In addition, owing to position the compensation that has taken into account magnetic field value in the calculation process at this, positioning accuracy also is improved.Such as the value in earth's magnetic field possibly be stored and be used to revise the capsule position of calculating gained based on magnetic field sensor.And field compensation pick off [22] can be used to survey the real offset in the magnetic field under certain position and the condition, the for example influence in earth's magnetic field, magnetic material or faradic magnetic field.Capsular position data is preferably by the field compensation data correction, and field compensation pick off [22] preferably is placed in the position of detection less than capsule [20] magnetic field.As everyone knows, the spatial parameter of the monomer [14] of array of magnetic field [12] constant preferably.
Below the main Fig. 2 that discusses, it has mainly embodied the preferred primary characteristic of method and system.Wherein target area [16] are positioned at four magnetic field sensor planes, are respectively 22A, 22B, and 22C and 22D, sensor plane preferably is between two parallel planes, and as shown in Figure 2: frontal plane 22A is parallel to back plane 22B, and left plane 22C is parallel to right plane 22D.The point that field intensity is the strongest is best to be judged by the magnetic field sensor on each plane, i.e. A among Fig. 2, B, C and D point.Field intensity peak on the opposite planar is respectively applied for confirms straight line AB and straight line CD.Collinear intersection point representes that X point place is the interior field intensity point of maximum intensity in target area [16], so the position of capsule [20] can provide in three-dimensional system of coordinate.Preferably can field compensation be applied to correction position information, this information is based on that magnetic field in the operating environment that people know draws, like earth's magnetic field and/or other local complementary field that detects.The expert in this field should be noted that, these need the data relevant with magnetic direction, do not need the magnetic moment value yet.When this method and system is high efficiency, low amount of calculation, low consumption in the advantage of this embodiment, and the relative lower complexity of prior art.
Shown in Figure 3 is planar magnetic-field measurement of four array of magnetic field and location notion diagram.Magnetic field sensor (among the figure [HMC5843]) evenly is embedded on the circuit board; Line number and columns can be confirmed with application request; Like 10*10; Sensor array on every circuit board can be confirmed a H plane, so four array of magnetic field planes need four circuit boards that are inlaid with magnetic field sensor be used for measuring and definite magnetic field.These four circuit boards are by I
2C is parallel to be connected on the nRFLE1, again with the magnetic field data that records through being wirelessly transmitted to nRFLU1, the magnetic field of further handling can be connected to pc port through USB interface, realizes real-time positioning and monitoring to target through display screen.
The method and system of this invention have plurality of advantages, as: utilize based on the measurement in magnetic field and analyze accurate location remote object, high efficiency, low cost etc., it also has some other advantage in addition.When this invention was specialized by practical application, its meaning just had been not limited only to this.For example, in the practical application, do not breaking away under some specified conditions of the principle of the invention, material and step can change and reconfigure.Though say with regard to plane or plane geometry this respect, what mention here all is that now main flow is selected, if adopt the present invention, substitutes the plane with curved surface, and calculating according to selected curvature also is feasible in practical application.In addition, on the basis that does not deviate from the principle of the invention, the peaked method of calculating is applicable to too finds the solution minima or optional intermediate value.With reference to accompanying drawing and related description, for professional person in the industry, these examples and some other applying examples based on this invention, correction wherein, combination and other advantage all are conspicuous.
The above is merely the preferred embodiments of the present invention; Be not limited to the present invention; Although the present invention has been carried out detailed explanation with reference to previous embodiment; For a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. the present invention is based on and be no less than four array of magnetic field plane long range positioning methods, it is characterized in that said method is following:
Step 1, the anchored object that will contain magnetic field are placed in the target area, place the magnetic sensor array with detection of a target magnetic field;
Step 2, the target area is positioned at four or a plurality of array of magnetic field plane;
Array of magnetic field plane in step 3, the regulating step two of trying one's best, it is parallel to each other to make it top and bottom, and front-back is parallel to each other;
Step 4, utilize magnetic field sensor to find out that the strongest point of each plane field intensity;
Step 5, will be up and down the strongest point of field intensity found out of two planes be linked to be line, two points that the field intensity that former and later two planes are found out is the strongest are linked to be line, thereby utilize the magnetic field space analytical equipment to obtain the intersection point of two lines.
Step 6, the i.e. the strongest point of field intensity in the zone for this reason of intersection point that obtains two lines utilize the background compensation pick off to revise the bearing data in local measurement magnetic field, the accurate position that just can draw required anchored object at last.
2. according to claim 1 based on being no less than four array of magnetic field plane long range positioning methods, it is characterized in that: the target area in the said step 1 not only comprises open area, and comprises enclosed areas.
3. based on the described four array of magnetic field plane long-range positioning system (Loran)s that are no less than of claim 1; Comprise localized object, magnetic sensor array, magnetic field space analytical equipment and background magnetic field compensation sensor, it is characterized in that: said localized object itself should have magnetic field; Said magnetic sensor array comprises four or a plurality of on-fixed array of magnetic field plane, a Hall element, a magnetoresistive transducer.
4. according to claim 3 based on being no less than four array of magnetic field plane long-range positioning system (Loran)s, it is characterized in that: the planar quantity of said array of magnetic field is to be not less than four even number.
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| CN103163560A (en) * | 2013-02-06 | 2013-06-19 | 成都实时技术实业有限公司 | Method using magnetoresistive effect to search and locate animal body |
| CN108828471A (en) * | 2018-06-11 | 2018-11-16 | 中国科学院地质与地球物理研究所 | A kind of multi -components seabed Measurement Method for Magnetic Field and device |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
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| CN117883192A (en) * | 2024-03-18 | 2024-04-16 | 华中科技大学同济医学院附属协和医院 | Electromagnetic positioning system and positioning method based on magnetic marks |
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| CN103163560A (en) * | 2013-02-06 | 2013-06-19 | 成都实时技术实业有限公司 | Method using magnetoresistive effect to search and locate animal body |
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| CN110960319A (en) * | 2018-09-28 | 2020-04-07 | 柯惠有限合伙公司 | Intelligent expansion working channel position |
| US10814113B2 (en) | 2019-01-03 | 2020-10-27 | Vibrant Ltd. | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| US11020018B2 (en) | 2019-01-21 | 2021-06-01 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| US11052018B2 (en) | 2019-02-04 | 2021-07-06 | Vibrant Ltd. | Temperature activated vibrating capsule for gastrointestinal treatment, and a method of use thereof |
| CN110927470A (en) * | 2019-12-05 | 2020-03-27 | 昆明品启科技有限公司 | Low-frequency electric field positioning system and method |
| CN111158055B (en) * | 2019-12-31 | 2021-03-05 | 浙江大学 | Three-dimensional magnetic source dynamic detection system and detection method |
| CN111158055A (en) * | 2019-12-31 | 2020-05-15 | 浙江大学 | Three-dimensional magnetic source dynamic detection system and detection method |
| CN117883192A (en) * | 2024-03-18 | 2024-04-16 | 华中科技大学同济医学院附属协和医院 | Electromagnetic positioning system and positioning method based on magnetic marks |
| CN117883192B (en) * | 2024-03-18 | 2024-06-11 | 华中科技大学同济医学院附属协和医院 | Electromagnetic positioning system and positioning method based on magnetic marks |
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Application publication date: 20121024 |