CN115067853A - Wireless charging system and method for capsule endoscope and storage medium - Google Patents
Wireless charging system and method for capsule endoscope and storage medium Download PDFInfo
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- 239000002775 capsule Substances 0.000 title claims abstract description 117
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000006698 induction Effects 0.000 claims abstract description 93
- 230000008878 coupling Effects 0.000 claims abstract description 17
- 238000010168 coupling process Methods 0.000 claims abstract description 17
- 238000005859 coupling reaction Methods 0.000 claims abstract description 17
- 230000014509 gene expression Effects 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 19
- 238000000338 in vitro Methods 0.000 claims description 13
- 230000035699 permeability Effects 0.000 claims description 8
- 230000001939 inductive effect Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 20
- 238000010586 diagram Methods 0.000 description 15
- 210000001035 gastrointestinal tract Anatomy 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005457 optimization Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000001808 coupling effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 125000004432 carbon atom Chemical group C* 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00025—Operational features of endoscopes characterised by power management
- A61B1/00027—Operational features of endoscopes characterised by power management characterised by power supply
- A61B1/00029—Operational features of endoscopes characterised by power management characterised by power supply externally powered, e.g. wireless
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
Abstract
The embodiment of the application is applicable to the technical field of medical equipment, and provides a wireless charging system, a wireless charging method and a wireless charging storage medium for a capsule endoscope, wherein the wireless charging method comprises the following steps: acquiring a magnetic field signal sensed by a magnetic induction array; determining the position and the direction of the charging receiving coil according to the magnetic field signal; determining a target position and a target direction of a charging transmitting coil according to the position and the direction of the charging receiving coil; moving the charging transmitting coil to the target position and towards the target direction by adjusting a mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction; and transmitting electric energy to the charging receiving coil through the charging transmitting coil. By adopting the method, the electric energy can be supplied to the capsule endoscope at any time so as to complete various working functions and solve the problem of insufficient battery power supply of the capsule endoscope.
Description
Technical Field
The embodiment of the application belongs to the technical field of medical equipment, and particularly relates to a wireless charging system and method of a capsule endoscope and a storage medium.
Background
The wireless capsule endoscope is an important technical means for the examination of the complete digestive tract, and has the characteristics of no pain, non-invasiveness and the like. Capsule endoscopic systems generally comprise three parts: capsule endoscopes, recorders, and workstations. The capsule endoscope has a capsule size, and generally comprises a dome-shaped optical housing, an optical lens, an image sensor, an illuminating lamp, a radio-frequency emitter, an antenna, a battery and the like. In the first stage of the operation of the capsule endoscope system, the capsule endoscope is swallowed by a patient into the gastrointestinal tract, then the gastrointestinal tract of the patient is shot, and the shot image data can be transmitted to the outside of the body through a transmitter and an antenna. And in the second stage, an antenna array consisting of a plurality of antennas and a data receiver outside the body receive data sent by the capsule endoscope, and the received data are stored in a storage unit of the recorder. And a third stage: the recorder transmits the stored data to a workstation for analysis or presentation to a physician for processing.
In the clinical application process, a battery in the capsule endoscope needs to supply power to modules such as an illumination lamp, an image sensor, wireless transmission and control and the like. The battery used by the existing capsule endoscope can only maintain the power supply for 7-8 hours generally, but the traditional capsule endoscope mainly depends on the natural peristalsis of the intestinal tract to advance in the human body, and the time for one-time complete gastrointestinal tract examination is usually more than 10-12 hours, which is far longer than the power supply time which can be maintained by the battery. Furthermore, when images with higher resolution and frame rate are to be captured in vivo, the power consumption of the battery in the capsule endoscope will be greater, and the service life of the capsule endoscope will be shorter.
Disclosure of Invention
In view of this, embodiments of the present application provide a wireless charging system, method and storage medium for a capsule endoscope, so as to achieve the purpose of supplying power to the capsule endoscope at any time and solve the problem of insufficient battery power supply of the capsule endoscope.
A first aspect of an embodiment of the present application provides a wireless charging system for a capsule endoscope, including a capsule endoscope, a magnetic induction array, an in vitro controller, and a mechanical arm; the capsule endoscope is provided with a charging circuit and a charging receiving coil electrically connected with the charging circuit, and the tail end of the mechanical arm is provided with a charging transmitting coil; wherein:
the magnetic induction array is used for inducing a magnetic field signal generated by the charging receiving coil and determining the position and the direction of the charging receiving coil according to the magnetic field signal;
the in-vitro controller is used for determining a target position and a target direction of the charging transmitting coil according to the position and the direction of the charging receiving coil, and moving the charging transmitting coil to the target position and towards the target direction by adjusting the mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
and the charging transmitting coil is used for transmitting electric energy to the charging receiving coil when the charging transmitting coil is at the target position and faces the target direction.
A second aspect of an embodiment of the present application provides a wireless charging method for a capsule endoscope, including:
acquiring a magnetic field signal induced by a magnetic induction array, wherein the magnetic field signal is generated by a charging receiving coil on the capsule endoscope in a power-on state;
determining the position and the direction of the charging receiving coil according to the magnetic field signal;
determining a target position and a target direction of a charging transmitting coil according to the position and the direction of the charging receiving coil, wherein the charging transmitting coil is arranged at the tail end of the mechanical arm;
moving the charging transmitting coil to the target position and towards the target direction by adjusting the mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
and transmitting electric energy to the charging receiving coil through the charging transmitting coil.
A third aspect of the embodiments of the present application provides a wireless charging device for a capsule endoscope, including:
the magnetic field signal acquisition module is used for acquiring a magnetic field signal sensed by the magnetic induction array, and the magnetic field signal is generated by a charging receiving coil on the capsule endoscope in a power-on state;
the position and direction determining module is used for determining the position and the direction of the charging receiving coil according to the magnetic field signal;
the target position and target direction determining module is used for determining the target position and target direction of a charging transmitting coil according to the position and direction of the charging receiving coil, and the charging transmitting coil is installed at the tail end of the mechanical arm;
the mechanical arm adjusting module is used for moving the charging transmitting coil to the target position and facing the target direction by adjusting the mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
and the charging module is used for transmitting electric energy to the charging receiving coil through the charging transmitting coil.
A fourth aspect of embodiments of the present application provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the wireless charging method of a capsule endoscope as described in the second aspect above when executing the computer program.
A fifth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the wireless charging method for a capsule endoscope as described in the second aspect above.
A sixth aspect of embodiments of the present application provides a computer program product which, when run on a computer, causes the computer to execute the wireless charging method of a capsule endoscope of the second aspect described above.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the embodiment of the application, the charging transmitting coil is additionally arranged at the tail end of the mechanical arm outside the body, the charging receiving coil is additionally arranged in the capsule endoscope, and a wireless charging system with the external coil coupled with the internal coil magnetic field can be formed, so that the wireless charging of the battery in the capsule is realized. According to the embodiment of the application, on the basis of positioning the capsule, the maximum charging coupling effect can be obtained by determining the optimal target position and target direction of the external charging transmitting coil. Adopt the wireless charging system that this application embodiment provided, can provide the electric energy to the capsule at any time, accomplish various work functions of capsule, solve the not enough problem of capsule battery power supply.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic diagram of a wireless charging system for a capsule endoscope according to an embodiment of the present application;
FIG. 2 is a schematic view of a capsule endoscope provided by an embodiment of the present application;
fig. 3 is a schematic diagram illustrating a positioning principle of a charging receiving coil according to an embodiment of the present application;
fig. 4 is a schematic diagram of a charging principle provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a wireless charging method for a capsule endoscope according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an implementation manner of S502 in a wireless charging method for a capsule endoscope according to an embodiment of the present application;
fig. 7 is a schematic diagram of an implementation manner of S503 in a wireless charging method for a capsule endoscope according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a wireless charging device for a capsule endoscope provided by an embodiment of the present application;
fig. 9 is a schematic diagram of a computer device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The technical solution of the present application will be described below by way of specific examples.
Referring to fig. 1, a schematic diagram of a wireless charging system of a capsule endoscope provided in an embodiment of the present application is shown, including a capsule endoscope 101, a magnetic induction array 102, an extracorporeal controller (not shown in fig. 1), and a robotic arm 103. The end of the robot arm 103 may be mounted with a charging transmitting coil 1031, the capsule endoscope 101 located in the human body may be charged by the charging transmitting coil 1031, and the charging receiving coil 1011 in the capsule endoscope 101 may receive the electric power transmitted by the charging transmitting coil 1031, thereby extending the working time of itself.
Specifically, the magnetic induction array 102 may induce a magnetic field signal generated by the charging receiving coil 1011, and determine the position and the direction of the charging receiving coil 1011 according to the magnetic field signal. The position and orientation of the charge-receiving coil 1011 may be transmitted by the magnetic induction array 102 to an external controller. In this way, the in vitro controller can determine the target position and the target direction of the charging transmission coil 1031 located outside the body according to the position and the direction of the charging reception coil 1011. The above-mentioned target position and target direction may mean that the electromagnetic coupling between the charging transmission coil 1031 and the charging reception coil 1011 reaches a maximum when the charging transmission coil 1031 is located at the target position and faces the target direction. Accordingly, after determining the target position and the target direction of the charging transmission coil 1031, the in vitro controller may move the charging transmission coil 1031 to the above target position and toward the target direction by adjusting the robot arm 103. Then, the charging transmitting coil 1031 may transmit electric energy to the charging receiving coil 1011 at the target position and toward the target direction.
Next, a process of charging the capsule endoscope by using the wireless charging system of the capsule endoscope according to the embodiment of the present application will be described in detail. In the present embodiment, unless otherwise specified, the "capsule" and the "capsule endoscope" are both the capsule endoscope 101 in fig. 1.
With reference to fig. 1 and fig. 2, fig. 2 is a schematic diagram of a capsule endoscope provided in an embodiment of the present application. As is apparent from fig. 2, one capsule endoscope 101 includes a charging circuit 1012 electrically connected to a charging receiver coil 1011, a capsule controller 1013, a battery 1014, an antenna 1015, an image sensor 1016, a light emitting tube 1017, a lens 1018, an optical cover 1019, and the like, in addition to the charging receiver coil 1011. When the wireless charging system of the capsule endoscope provided by the embodiment of the present application is used to charge the battery 1014, the charging receiving coil 1011 may receive the electric energy transmitted by the external charging transmitting coil 1031, and the charging circuit 1012 may store the received electric energy in the battery 1014.
In the present embodiment, the charging circuit 1011 may apply an electrical signal to the charging reception coil 1011 under the control of the capsule controller 1013, so that the charging reception coil 1011 generates a magnetic field signal. In this way, the magnetic induction array 102 can sense the magnetic field signal generated by the charging receiving coil 1011, so that the position and the direction of the charging receiving coil 1011 can be determined according to the magnetic field signal. Note that the position of the charging receiver coil 1011 may refer to a center position of the charging receiver coil 1011, and the center position may be represented by coordinates (a, b, c).The direction of the charging reception coil 1011 may refer to a main axis direction of the charging reception coil 1011, and the main axis direction may be expressed by (m, n, p). Thus, H 0 ＝[m,n,p] T Can be used to characterize the vector in the direction of the major axis of the charge receiving coil 1011.
In a particular implementation, the magnetic induction array 102 may be mounted below the examination table. When capsule endoscope 101 is used to perform gastrointestinal tract examination on a patient, the patient can lie on an examination table, and the working space of capsule endoscope 101 is ensured to be within the monitoring range of magnetic induction array 102. 104 and 105 in fig. 1 may represent the abdomen and back of the patient, respectively. Therefore, the capsule endoscope 101 is interposed between the abdomen 104 and the back 105 in fig. 1, which means that the capsule endoscope 101 is located in the human body.
In the present embodiment, the magnetic induction array 102 may include a plurality of magnetic inductors, which may be three-axis magnetic inductors. Since the purpose of applying the electric signal to the charging receiving coil 1011 by the charging circuit 1012 is to enable the magnetic induction array 102 to monitor the magnetic field signal generated by the charging receiving coil 1011, so as to determine the position and the direction of the charging receiving coil 1011, after a preset number of magnetic inductors sense the magnetic field signal generated by the charging receiving coil 1011, the charging circuit 1012 can stop applying the electric signal to the charging receiving coil 1011, thereby reducing the power consumption of the battery 1014. The preset number may be determined according to actual needs, and in this embodiment of the application, the preset number may be a number exceeding 5, that is, it should be at least ensured that after 5 or more magnetic inductors in the magnetic induction array 102 can sense the magnetic field signal generated by the charging receiving coil 1011, the charging circuit 1012 can stop applying the electric signal to the charging receiving coil 1011.
In the embodiment of the present application, the magnetic induction array 102 may first determine the magnetic induction intensity of the magnetic field signal sensed by each magnetic inductor at the position. Since each magnetic inductor constituting the magnetic induction array 102 is a three-axis magnetic inductor, the magnetic induction induced by each three-axis magnetic inductor at the respective position may be composed of magnetic induction components in three different directions, that is, any magnetic induction is composed of magnetic induction components in the X direction, the Y direction, and the Z direction. On the basis, the magnetic induction array 102 can respectively calculate the magnetic induction component errors of each three-axis magnetic inductor in three different directions, and construct a target error function according to the magnetic induction component errors. The magnetic induction array 102 can determine the position and the direction of the charging receiving coil 1011 by using the target error function constructed above; the position and the direction of the charging reception coil 1011 may be the position and the direction corresponding to the minimum value of the target error function.
Next, a process of determining the position and the direction of the charging reception coil 1011 will be described in detail with reference to a specific illustration.
Fig. 3 is a schematic diagram illustrating a positioning principle of a charging receiving coil according to an embodiment of the present application. Assuming that the center position of the charging reception coil 1011 in the capsule endoscope 101 is (a, b, c), the main axis direction thereof is H 0 (m, n, p). When the capsule controller 1013 in the capsule 101 controls the charging circuit 1012 to apply a current to the charging receiving coil 1011 for a certain time interval and amplitude, the charging receiving coil 1011 can generate a sufficiently strong magnetic field strength at the periphery. The charging receiving coil 1011 is located at a certain point in space (for example, a position (x) of a certain three-axis magnetic inductor in fig. 3) l 、y l 、z l ) 1, 2, … N), which can be described mathematically by a magnetic dipole model:
in the above formula, B l Is a position (x) l ,y l ,z l ) The magnetic induction intensity of the spot; b is lx ,B ly and Blz 3 magnetic induction intensity components at the position can be obtained by measuring with a three-axis magnetic inductor; n is the total number of three-axis magnetic inductors in the magnetic induction array 102; mu.s r In general, mu is a relative magnetic permeability in the human body and air r ≈1；μ 0 Is a vacuum magnetic permeability, mu 0 ＝4π×10 -7 T·m/A；M T A current, number of turns, and size related constants characterizing the charge receiving coil 1011; r l Is P l Of (2) a die, P l Is the vector of the position of the l-th three-axis magnetic inductor relative to the center position of the charging receiving coil, P l ＝[x l -a,y l -b,z l -c] T 。H 0 (＝[m,n,p] T ) To characterize the vector in the direction of the main axis of the charge receiving coil 1011, the vector is two-dimensional with the constraint:
m 2 +n 2 +p 2 ＝1……(2)
by developing the above formula (1), the following can be obtained:
wherein ,
passing position (x) l ,y l ,z l ) The three-axis magnetic inductor can measure B lx ,B ly and Blz . Now, the equations (2) to (5) are required to solve for [ a, b, c [ ]] T And [ m, n, p] T . Because 5 unknown parameters need to be solved, the number of the three-axis magnetic inductors is required to ensure that N is more than or equal to 5.
An objective error function is defined as follows:
E＝E x +E y +E z ……(6)
wherein ,Ex ，E y and Ez For a defined error in X, Y, Z direction related to the magnetic field strength:
thus, the above solution [ a, b, c [ ]] T And [ m, n, p ]] T Can be converted into a non-linear least squares solution problem. When the number of three-axis magnetic inductors is more than the number of unknown variables (5), the optimum [ a, b, c ] is found by using an optimization algorithm such as the Levenberg-Marquart algorithm] T And [ m, n, p ]] T The position and direction of the charging reception coil 1011 can be solved by minimizing the value of the target error function E.
In the embodiment of the present application, after solving the position where the charging receive coil 1011 is currently located and the direction of the main axis, the in vitro controller may determine the target position and the target direction of the charging transmit coil 1031 according to the position and the direction. The target position and the target direction of the charging transmission coil 1031 may refer to a position at which electromagnetic coupling between the charging transmission coil 1031 and the charging reception coil 1011 reaches a maximum value, that is, when the charging transmission coil 1031 is located at the target position and faces the target direction, the electromagnetic coupling between the charging transmission coil 1031 and the charging reception coil 1011 reaches a maximum value. The in vitro controller may move the charging transmitting coil 1031 to the above-described target position and direct it toward a target direction by adjusting the robot arm 103.
In the embodiment of the present application, the in vitro controller may first determine an expression of magnetic induction generated by the magnetic field generated by the charging transmit coil 1031 at the center position of the charging receive coil 1011 according to a magnetic dipole model when determining the target position and the target direction of the charging transmit coil 1031, where the expression may include expressions of magnetic induction components in three different directions, that is, X, Y, Z directions. Then, the in-vitro controller can calculate a magnetic induction value expression generated in the main axis direction of the charging reception coil 1011 based on the magnetic induction component expressions in three different directions. On the other hand, the charging transmit coil 1031 has a boundary constraint condition that may be determined according to the size of the spatial range in which the charging transmit coil 1031 allows movement. In this way, the in vitro controller can solve the target position and the target direction of the charging transmitting coil 1031 according to the magnetic induction intensity value expression and the boundary constraint condition. In general, the target position and the target direction of the charging transmitting coil 1031 may be the positions and directions corresponding to when the square of the value of the magnetic induction intensity value expression is maximum.
Next, a process of determining a target position and a target direction of the charging transmission coil 1031 will be described in detail with reference to a specific illustration.
Fig. 4 is a schematic diagram illustrating a charging principle provided in an embodiment of the present application. In determining the position [ a, b, c ] of the charging receive coil 1011 within the capsule 101] T And the directions [ m, n, p ]] T Thereafter, the target position of the external charging transmitting coil 1031 is calculated
And a target direction
It can also be converted into an optimization problem, namely: by solving for the optimum
And
the electromagnetic coupling between the charging transmission coil 1031 and the charging reception coil 1011 is maximized. Electromagnetic coupling is the mutual inductance between the transmitter coil and the receiver coil, and the maximum electromagnetic coupling is the maximum mutual inductance, that is, the maximum magnetic flux of the magnetic field generated by the transmitter coil into the receiver coil. At the same time, the charging efficiency is highest and the charging efficiency can be maximized as much as possibleGround ensures that a sufficiently high voltage is generated for charging.
The magnetic induction generated by the charging transmitting coil 1031 in the body can also be represented by using a magnetic dipole model, and the magnetic induction generated by the magnetic field generated by the charging transmitting coil 1031 at the charging receiving coil 1011 in the body can be represented as:
in the above formula, the first and second carbon atoms are,
B′ T is a constant related to the charging transmitting coil current, the number of turns and the size, in addition:
since the main axis direction of the charging reception coil 1011 in the capsule 101 is [ m, n, p ]] Y The magnetic induction intensity values generated in the direction of the main axis at this position are therefore:
B v ＝B′ x ·m+B′ y ·n+B′ z ·p……(14)
therefore, solving the above problem is to find the most suitable parameters
And
make B v Square of
And maximum.
Since the charging transmitting coil 1031 is located outside the human body near the upper side of the capsule 101, its displacement in three-dimensional space
Boundary constraint conditions are as follows:
wherein ,
and
is the minimum and maximum values of the coordinates of the charging transmitting coil 1031 in the X direction,
and
is the minimum and maximum values of the coordinates of the charging transmitting coil 1031 in the Y direction,
and
are the minimum and maximum values of the coordinates of the charging transmitting coil 1031 in the Z direction.
Obviously, the above problem of determining the target position and target direction of the charging transmitting coil 1031 is transformed into a nonlinear maximization optimization problem, which can be solved by using an optimization algorithm, such as the Levenberg-Marquart algorithm, and the result is obtained
And
the in vitro controller may adjust the robot arm 103 according to the solved result, thereby moving the charging transmitting coil 1031 to the above-mentioned target position and toward the target direction. Then, the charging transmitting coil 1031 may transmit power to the charging receiving coil 1011 while at the target position and toward the target direction.
In a specific implementation, when the charging transmitting coil 1031 moves to a target position and faces a target direction, the in vitro controller can achieve efficient magnetic field coupling to the charging receiving coil 1011 in the capsule 101 by applying an alternating current to the charging transmitting coil 1031, so as to obtain alternating electric energy. An electric charging coil 1011 in the capsule 101 forms electromagnetic induction to generate alternating voltage. Charging circuitry 1012 may convert the alternating voltage to a direct current electrical signal to effect charging of battery 1014 in capsule endoscope 101.
It should be noted that the wireless charging system provided in the embodiment of the present application may be used to charge the battery 1014 inside the capsule 101, either when the capsule 101 is in a stationary state or during the movement of the capsule 101. When the capsule 101 needs to be charged by the battery 1014 during movement, the position and direction of the charging receiving coil 1011 in the capsule 101 can be determined in real time, and the target position and target direction of the charging transmitting coil 1031 outside the body can be adjusted in real time by the mechanical arm 103, so as to provide electric energy to the capsule 101 reasonably and effectively.
In the embodiment of the application, a charging transmitting coil is additionally arranged at the tail end of a mechanical arm outside a body, a charging receiving coil is additionally arranged in a capsule endoscope, so that a wireless charging system with an external coil coupled with a magnetic field of an internal coil can be formed, and wireless charging of a battery in a capsule is realized. According to the embodiment of the application, on the basis of positioning the capsule, the maximum charging coupling effect can be obtained by determining the optimal target position and target direction of the external charging transmitting coil. Adopt the wireless charging system that this application embodiment provided, can provide the electric energy to the capsule at any time, accomplish various work functions of capsule, solve the not enough problem of capsule battery power supply.
Referring to fig. 5, a schematic diagram of another wireless charging method for a capsule endoscope provided in the embodiment of the present application is shown, which may specifically include the following steps:
s501, magnetic field signals induced by the magnetic induction array are obtained, and the magnetic field signals are generated by a charging receiving coil on the capsule endoscope in a power-on state.
It should be noted that the method may be applied to a computer device, that is, the execution subject of the embodiment of the present application may be a computer device, and the computer device may be an external controller in the foregoing system embodiment.
In the embodiment of the application, the charging receiving coil in the capsule endoscope can generate a corresponding magnetic field signal when being in an electrified state, and each magnetic inductor in the magnetic induction array can sense the magnetic field signal.
In a specific implementation, an electrical signal can be applied to the charging receive coil by a charging circuit in the capsule endoscope, causing the charging receive coil to generate a magnetic field signal.
In an example of the embodiment of the present application, a capsule controller may be provided in the capsule endoscope, and when the capsule controller monitors that the battery storage in the capsule is insufficient, the capsule controller may actively control the charging circuit to apply an electric signal to the charging receiving coil to trigger the external charging transmitting coil to charge the capsule. In another example of the embodiment of the present application, controlling the charging circuit to apply the electrical signal to the charging receiving coil may also be implemented by a computer device located outside the body. For example, when it is detected that the capsule needs to be charged, the computer device may actively control the charging circuit in the capsule to apply an electrical signal to the charging receiving coil through an instruction, and the instruction may be directly sent to the capsule controller by the computer device outside the body, and the capsule controller forwards the instruction to the charging circuit.
And S502, determining the position and the direction of the charging receiving coil according to the magnetic field signal.
In an embodiment of the present application, the magnetic induction array may determine the position and orientation of the charging receiving coil according to the sensed magnetic field signal, and then transmit the position and orientation to a computer device outside the body. Or the magnetic induction array transmits the magnetic field signal to computer equipment outside the body after sensing the magnetic field signal, and the computer equipment determines the position and the direction of the charging receiving coil according to the data of the received magnetic field signal.
It should be noted that the magnetic induction array includes a plurality of magnetic inductors, and it is not necessary that all the magnetic inductors sense the magnetic field signal generated by the charging receiving coil to determine the position and the direction of the charging receiving coil. Thus, when a predetermined number of magnetic sensors sense a magnetic field signal sufficient for determining the position and orientation of the charging receive coil, the charging circuitry within the capsule may cease applying an electrical signal to the charging receive coil.
In one possible implementation manner of the embodiment of the present application, as shown in fig. 6, the determining, by the computer device, the position and the direction of the charging receiving coil according to the magnetic field signal may specifically include the following steps S5021 to S5023:
s5021, determining the magnetic induction intensity of the magnetic field signal induced by the position of each three-axis magnetic inductor, wherein the magnetic induction intensity is composed of magnetic induction intensity components in three different directions.
And S5022, respectively calculating the magnetic induction component errors of the three-axis magnetic inductors in the three different directions.
S5023, constructing a target error function according to the magnetic induction component error and determining the position and the direction of the charging receiving coil by adopting the target error function; and the position and the direction of the charging receiving coil are the corresponding position and direction when the value of the target error function is minimum.
In the embodiment of the present application, the target error function may be expressed as:
E＝E x +E y +E z
wherein ：
(a, b, c) coordinates constituting the center position of the charging-reception coil, (m, n, p) the major axis direction of the charging-reception coil, m 2 +n 2 +p 2 ＝1，(x l ,y l ,z l ) Coordinates constituting the position where the first three-axis magnetic inductor is located, B lx 、B ly 、B lz Respectively are magnetic induction intensity components of the first three-axis magnetic inductor in three different directions, and N is the total number of the three-axis magnetic inductors in the magnetic induction array;
μ r is relative magnetic permeability, mu 0 Is a vacuum permeability, M T To characterize the current, number of turns, and size-related constants of the charge-receiving coil, R l Is P l Of (2) a die, P l Is the vector of the position of the l-th three-axis magnetic inductor relative to the center position of the charging receiving coil, P l ＝[x l -a,y l -b,z l -c] T 。
S503, determining the target position and the target direction of a charging transmitting coil according to the position and the direction of the charging receiving coil, wherein the charging transmitting coil is installed at the tail end of the mechanical arm.
In an embodiment of the application, a computer device outside the body may determine a target position and a target orientation of a charging transmit coil at the end of the robotic arm based on the determined position and orientation of the charging receive coil. Wherein the electromagnetic coupling between the charging transmitting coil and the charging receiving coil reaches a maximum value when the charging transmitting coil is located at a target position and faces a target direction.
In one possible implementation manner of the embodiment of the present application, as shown in fig. 7, the determining, by the computer device, the target position and the target direction of the charging transmitting coil according to the position and the direction of the charging receiving coil specifically may include the following steps S5031-S5033:
s5031, determining, according to a magnetic dipole model, an expression of magnetic induction intensity generated by the magnetic field generated by the charging transmitting coil at the center of the charging receiving coil, where the expression includes expressions of magnetic induction intensity components in three different directions, and the charging transmitting coil has a boundary constraint condition.
S5032, calculating a magnetic induction intensity value expression generated in the main axis direction of the charging receiving coil based on the magnetic induction component expressions in three different directions.
S5033, solving the target position and the target direction of the charging transmitting coil according to the magnetic induction intensity value expression and the boundary constraint condition; and the target position and the target direction of the charging transmitting coil are the corresponding positions and directions when the square of the value of the magnetic induction intensity value expression is maximum.
In the embodiment of the present application, the magnetic induction intensity value expression may be:
B v ＝B′ x ·m+B′ y ·n+B′ z ·p
wherein ：
(a, b, c) coordinates constituting the center position of the charge-receiving coil, and (m, n, p) coordinates constituting the charge-receiving coilThe direction of the main axis of the coil,
coordinates of the center position of the charging transmission coil are constituted,
the main axis direction of the charging transmitting coil is formed,
the boundary constraint may be expressed as:
wherein ,
and
is the minimum and maximum of the coordinates in the x-direction of the charging transmit coil,
and
is the minimum and maximum values of the coordinates in the y-direction of the charging transmit coil,
and
is the minimum and maximum values of the coordinates in the z direction of the charged transmit coil.
S504, moving the charging transmitting coil to the target position and towards the target direction by adjusting the mechanical arm.
In this embodiment, the position and orientation of the charging transmitting coil can be adjusted by the external computer device through adjusting the mechanical arm, so that the charging transmitting coil is adjusted to a target position, and the main axis of the charging transmitting coil faces a target direction.
And S505, transmitting electric energy to the charging receiving coil through the charging transmitting coil.
When the charging transmission coil is located at a target position and faces a target direction, electromagnetic coupling between the charging transmission coil and a charging reception coil in the body is maximized. At this time, the computer device may control the charging transmission coil to transmit power to the charging reception coil. In particular, the computer device may control the circuitry to apply an alternating current to the charging transmit coil, thereby generating an alternating magnetic field. Therefore, the charging receiving coil in the capsule can generate alternating voltage under the action of the alternating magnetic field, the charging circuit can sense the alternating voltage, and the charging of the battery in the capsule can be realized by converting the alternating voltage into a direct current signal.
It should be noted that the specific implementation process of each step in the method is similar to that described in the foregoing system embodiment, and details are not described here, and reference may be made to the description in the foregoing system embodiment.
Referring to fig. 8, a schematic diagram of a wireless charging apparatus for a capsule endoscope provided in an embodiment of the present application is shown, and may specifically include a magnetic field signal acquiring module 801, a position and direction determining module 802, a target position and target direction determining module 803, a robot arm adjusting module 804, and a charging module 805, where:
a magnetic field signal acquisition module 801, configured to acquire a magnetic field signal induced by the magnetic induction array, where the magnetic field signal is generated by a charging receiving coil on the capsule endoscope in an energized state;
a position and orientation determining module 802, configured to determine a position and an orientation of the charging receiving coil according to the magnetic field signal;
a target position and target direction determining module 803, configured to determine a target position and a target direction of a charging transmitting coil according to the position and direction of the charging receiving coil, where the charging transmitting coil is installed at the end of the mechanical arm;
a robot arm adjusting module 804, configured to move the charging transmitting coil to the target position and towards the target direction by adjusting the robot arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
a charging module 805, configured to transmit electric energy to the charging receiving coil through the charging transmitting coil.
In this embodiment, the magnetic induction array includes a plurality of magnetic inductors, and the magnetic field signal obtaining module 801 may specifically be configured to: controlling a charging circuit in the capsule to apply an electrical signal to the charging receive coil to cause the charging receive coil to generate the magnetic field signal; and after the magnetic field signals are sensed by the magnetic inductors in the preset number, controlling the charging circuit to stop applying the electric signals to the charging receiving coil.
In this embodiment, the plurality of magnetic inductors may be three-axis magnetic inductors, and the position and direction determining module 802 may specifically be configured to: determining the magnetic induction intensity of the magnetic field signal sensed by each three-axis magnetic inductor at the position, wherein the magnetic induction intensity consists of magnetic induction intensity components in three different directions; respectively calculating the magnetic induction component errors of each three-axis magnetic inductor in the three different directions; constructing a target error function according to the magnetic induction component error and determining the position and the direction of the charging receiving coil by adopting the target error function; and the position and the direction of the charging receiving coil are the corresponding position and direction when the value of the target error function is minimum.
In the embodiment of the present application, the target error function is:
E＝E x +E y +E z
wherein ：
(a, b, c) coordinates constituting a center position of the charge-receiving coil, (m, n, p) a major axis direction of the charge-receiving coil, m 2 +n 2 +p 2 ＝1，(x l ,y l ,z l ) Coordinates constituting the position where the first three-axis magnetic inductor is located, B lx 、B ly 、B lz Respectively are magnetic induction intensity components of the l-th three-axis magnetic inductor in three different directions, and N is the total number of the three-axis magnetic inductors in the magnetic induction array;
μ r is relative magnetic permeability, mu 0 Is a vacuum permeability, M T To characterize the current, number of turns, and size-related constants of the charge-receiving coil, R l Is P l Of (2) a die, P l Is the vector of the position of the l-th three-axis magnetic inductor relative to the center position of the charging receiving coil, P l ＝[x l -a,y l -b,z l -c] T 。
In this embodiment, the target position and target direction determining module 803 may be specifically configured to: determining an expression of magnetic induction intensity generated by a magnetic field generated by the charging transmitting coil at the central position of the charging receiving coil according to a magnetic dipole model, wherein the expression comprises expressions of magnetic induction intensity components in three different directions, and the charging transmitting coil has a boundary constraint condition; calculating a magnetic induction intensity value expression generated in the main shaft direction of the charging receiving coil based on the magnetic induction component expressions in three different directions; solving the target position and the target direction of the charging transmitting coil according to the magnetic induction intensity value expression and the boundary constraint condition; and the target position and the target direction of the charging transmitting coil are the corresponding positions and directions when the square of the value of the magnetic induction intensity value expression is maximum.
In the embodiment of the present application, the expression of the magnetic induction intensity value may be:
B v ＝B′ x ·m+B′ y ·n+B′ z ·p
wherein ：
(a, b, c) coordinates constituting a center position of the charge-receiving coil, (m, n, p) a major axis direction of the charge-receiving coil,
coordinates constituting a center position of the charging transmission coil,
the main axis direction of the charging transmitting coil is formed,
the boundary constraint conditions are as follows:
wherein ,
and
is the minimum and maximum values of the coordinates in the x-direction of the charging transmission coil,
and
is the minimum and maximum values of the coordinates in the y-direction of the charging transmission coil,
and
is the minimum value and the maximum value of the coordinate in the z direction of the charging transmitting coil.
In this embodiment, the charging module 805 may be specifically configured to: when the charging transmitting coil moves to the target position and faces the target direction, the control circuit applies alternating current to the charging transmitting coil so that the charging transmitting coil generates an alternating magnetic field and the charging receiving coil generates alternating voltage; the alternating voltage is used for being converted into a direct current signal by a charging circuit in the capsule so as to charge the capsule endoscope.
The device embodiments are substantially similar to the method embodiments and the system embodiments, and therefore, the description is relatively simple, and reference may be made to the description of the method embodiments and the system embodiments for relevant points.
Referring to fig. 9, a schematic diagram of a computer device provided in an embodiment of the present application is shown. As shown in fig. 9, a computer apparatus 900 in the embodiment of the present application includes: a processor 910, a memory 920, and a computer program 921 stored in the memory 920 and operable on the processor 910. The processor 910, when executing the computer program 921, implements the steps in the various embodiments of the wireless charging method for a capsule endoscope described above, such as steps S501 to S505 shown in fig. 5. Alternatively, the processor 910, when executing the computer program 921, implements the functions of each module/unit in each device embodiment described above, for example, the functions of the modules 601 to 605 shown in fig. 6.
Illustratively, the computer program 921 may be partitioned into one or more modules/units, which are stored in the memory 920 and executed by the processor 910 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution of the computer program 921 in the computer device 900. For example, the computer program 921 may be divided into an acquisition module, a position and orientation determination module, a target position and target orientation determination module, a robot arm adjustment module, and a charging module, each of which functions specifically as follows:
the magnetic field signal acquisition module is used for acquiring a magnetic field signal sensed by the magnetic induction array, and the magnetic field signal is generated by a charging receiving coil on the capsule endoscope in a power-on state;
the position and direction determining module is used for determining the position and the direction of the charging receiving coil according to the magnetic field signal;
the target position and target direction determining module is used for determining the target position and target direction of a charging transmitting coil according to the position and direction of the charging receiving coil, and the charging transmitting coil is installed at the tail end of the mechanical arm;
the mechanical arm adjusting module is used for moving the charging transmitting coil to the target position and facing the target direction by adjusting the mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
and the charging module is used for transmitting electric energy to the charging receiving coil through the charging transmitting coil.
The computer device 900 may be an external controller in the foregoing system embodiments and method embodiments, and the computer device 900 may be a desktop computer, a cloud server, or other computing devices. The computer device 900 may include, but is not limited to, a processor 910, a memory 920. Those skilled in the art will appreciate that fig. 9 is only one example of a computer device 900 and is not intended to limit the computer device 900 and that computer device 900 may include more or less components than shown, or some of the components may be combined, or different components may be combined, e.g., computer device 900 may also include input and output devices, network access devices, buses, etc.
The Processor 910 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 920 may be an internal storage unit of the computer device 900, such as a hard disk or a memory of the computer device 900. The memory 920 may also be an external storage device of the computer device 900, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device 900. Further, the memory 920 may also include both internal and external storage units of the computer device 900. The memory 920 is used for storing the computer program 921 and other programs and data required by the computer apparatus 900. The memory 920 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also discloses a computer device which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the wireless charging method of the capsule endoscope according to the previous embodiments.
The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the wireless charging method of the capsule endoscope according to the previous embodiments.
The embodiment of the application also discloses a computer program product which enables a computer to execute the wireless charging method of the capsule endoscope in the previous embodiments when the computer program product runs on the computer.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A wireless charging system of a capsule endoscope is characterized by comprising the capsule endoscope, a magnetic induction array, an in vitro controller and a mechanical arm; the capsule endoscope is provided with a charging circuit and a charging receiving coil electrically connected with the charging circuit, and the tail end of the mechanical arm is provided with a charging transmitting coil; wherein:
the magnetic induction array is used for inducing a magnetic field signal generated by the charging receiving coil and determining the position and the direction of the charging receiving coil according to the magnetic field signal;
the in-vitro controller is used for determining a target position and a target direction of the charging transmitting coil according to the position and the direction of the charging receiving coil, and moving the charging transmitting coil to the target position and towards the target direction by adjusting the mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
the charging transmitting coil is used for transmitting electric energy to the charging receiving coil when the target position faces the target direction.
2. The system of claim 1, wherein the charging circuit is configured to apply an electrical signal to the charge-receiving coil to cause the charge-receiving coil to generate the magnetic field signal.
3. The system of claim 2, wherein the magnetic induction array comprises a plurality of magnetic inductors, and the charging circuit is further configured to stop applying the electrical signal to the charging receive coil after a predetermined number of the magnetic inductors sense the magnetic field signal.
4. The system of any of claims 1-3, wherein the magnetic induction array comprises a plurality of magnetic inductors, the plurality of magnetic inductors being three-axis magnetic inductors, the magnetic induction array being configured to:
determining the magnetic induction intensity of the magnetic field signal sensed by each three-axis magnetic inductor at the position, wherein the magnetic induction intensity consists of magnetic induction intensity components in three different directions;
respectively calculating the magnetic induction component errors of each three-axis magnetic inductor in the three different directions;
constructing a target error function according to the magnetic induction component error and determining the position and the direction of the charging receiving coil by adopting the target error function; and the position and the direction of the charging receiving coil are the corresponding position and direction when the value of the target error function is minimum.
5. The system of claim 4, wherein the target error function is:
E＝E x +E y +E z
wherein ：
(a, b, c) coordinates constituting a center position of the charge-receiving coil, (m, n, p) a major axis direction of the charge-receiving coil, m 2 +n 2 +p 2 ＝1，(x l ,y l ,z l ) Coordinates constituting the position where the first three-axis magnetic inductor is located, B lx 、B ly 、B lz Respectively are magnetic induction intensity components of the l-th three-axis magnetic inductor in three different directions, and N is the total number of the three-axis magnetic inductors in the magnetic induction array;
μ r is relative magnetic permeability, mu 0 Is a vacuum magnetic permeability, M T To characterize the charge receiving coil current, number of turns, and size related constants, R l Is P l Of (2) a die, P l Is the vector of the position of the ith three-axis magnetic inductor relative to the center position of the charging receiving coil, P l ＝[x l -a,y l -b,z l -c] T 。
6. The system according to any one of claims 1-3 or 5, wherein the extracorporeal controller is specifically configured to:
determining an expression of magnetic induction intensity generated by a magnetic field generated by the charging transmitting coil at the central position of the charging receiving coil according to a magnetic dipole model, wherein the expression comprises expressions of magnetic induction intensity components in three different directions, and the charging transmitting coil has a boundary constraint condition;
calculating a magnetic induction intensity value expression generated in the main shaft direction of the charging receiving coil based on the magnetic induction component expressions in three different directions;
solving the target position and the target direction of the charging transmitting coil according to the magnetic induction intensity value expression and the boundary constraint condition; and the target position and the target direction of the charging transmitting coil are the corresponding positions and directions when the square of the value of the magnetic induction intensity value expression is maximum.
7. The system of claim 6, wherein said magnetic induction intensity values are expressed as:
B v ＝B′ x ·m+B′ y ·n+B′ z ·p
wherein ：
(a, b, c) coordinates constituting a center position of the charge-receiving coil(m, n, p) constitutes a major axis direction of the charge-receiving coil,
coordinates constituting a center position of the charging transmission coil,
the main axis direction of the charging transmitting coil is formed,
the boundary constraint conditions are as follows:
wherein ,
and
is the minimum and maximum values of the coordinates in the x-direction of the charging transmission coil,
and
is the minimum and maximum values of the coordinates in the y-direction of the charging transmission coil,
and
is the minimum value and the maximum value of the coordinate in the z direction of the charging transmitting coil.
8. The system of any one of claims 1-3 or 5 or 7,
the extracorporeal controller is specifically configured to: when the charging transmitting coil moves to the target position and faces the target direction, applying alternating current to the charging transmitting coil to generate an alternating magnetic field so that the charging receiving coil generates alternating voltage;
the charging circuit is further configured to: converting the alternating voltage to a direct current signal to charge the capsule endoscope.
9. A wireless charging method for a capsule endoscope, comprising:
acquiring a magnetic field signal induced by a magnetic induction array, wherein the magnetic field signal is generated by a charging receiving coil on the capsule endoscope in a power-on state;
determining the position and the direction of the charging receiving coil according to the magnetic field signal;
determining a target position and a target direction of a charging transmitting coil according to the position and the direction of the charging receiving coil, wherein the charging transmitting coil is arranged at the tail end of the mechanical arm;
moving the charging transmitting coil to the target position and towards the target direction by adjusting the mechanical arm; wherein the electromagnetic coupling between the charging transmit coil and the charging receive coil reaches a maximum when the charging transmit coil is located at the target location and is oriented in the target direction;
and transmitting electric energy to the charging receiving coil through the charging transmitting coil.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, implements a method of wireless charging of a capsule endoscope according to claim 9.
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