WO2024050882A1 - 全方位观察欠驱动胶囊机器人及其轴线翻转磁控操作方法 - Google Patents

全方位观察欠驱动胶囊机器人及其轴线翻转磁控操作方法 Download PDF

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WO2024050882A1
WO2024050882A1 PCT/CN2022/121215 CN2022121215W WO2024050882A1 WO 2024050882 A1 WO2024050882 A1 WO 2024050882A1 CN 2022121215 W CN2022121215 W CN 2022121215W WO 2024050882 A1 WO2024050882 A1 WO 2024050882A1
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capsule
under
axis
capsule robot
magnetic field
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PCT/CN2022/121215
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English (en)
French (fr)
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张永顺
崔岩
董海
刘振虎
单庆
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大连理工大学
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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
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • 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
    • A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • 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
    • A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes

Definitions

  • the invention belongs to the field of automation engineering technology and relates to an all-round observation under-actuated capsule robot and its axis flipping magnetic control operation method. Specifically, it is a coaxial follower magnetic moment effect generated by a spatial gimbal rotating magnetic field on the overall under-actuated capsule robot.
  • the axis-turning motion trajectory implementation planning method realizes the magnetic control operation method for all-round observation and diagnosis and treatment in scenes such as the gastrointestinal tract.
  • cable-free active capsule robots with built-in magnet drivers mainly use external permanent magnets and electromagnetic devices to achieve capsule motion and attitude control.
  • the external permanent magnet driving method solves the problem of wireless energy supply for capsule robots and achieves clinical application, precise control of the movement and posture of the capsule through external permanent magnets is demanding and difficult to implement.
  • the reason is that the permanent magnet outside the body generates a gradient magnetic field, and the capsule is affected by magnetic force and magnetic moment at the same time.
  • the magnetic force and magnetic moment generated by the gradient magnetic field are coupled with each other, and follow the exponential rules 1/r 4 and 1/ respectively with the distance r from the capsule to the permanent magnet outside the body. r 3 decreases. Due to the difficulty in real-time detection and control of the distance r between the capsule and the magnet in the body during clinical operations, it will be difficult to control the static balance of the capsule due to large-scale changes in magnetic force and magnetic moment.
  • the static magnetic moment balance of permanent magnets is used to achieve high randomness in capsule attitude control. Since as the distance between the capsule and the external permanent magnet increases, the magnetic force on the capsule attenuates an order of magnitude faster than the magnetic moment. Therefore, when the capsule and the external permanent magnet reach a large appropriate distance r, the influence of the magnetic force can be ignored, which can be approximately considered The capsule is only affected by the magnetic moment, and it is believed that the decoupling of the magnetic force and the magnetic moment under the gradient magnetic field is achieved. Obviously, capsule attitude control under pure magnetic moment static equilibrium is easier. However, when the distance r is large, the magnetic moment attenuates greatly, and the magnetic moment may even be insufficient to overcome the viscous damping of the gastrointestinal tract, resulting in attitude control failure.
  • the operator in order to achieve internal gastric detection, the operator must use the buoyancy generated by the patient's drinking of liquid to overcome gravity, so that the capsule is in a state of force balance in the liquid. Therefore, not only can the position of the suspended capsule in the liquid be controlled through tiny magnetic forces, but also The posture of the suspended capsule in the liquid can be freely and flexibly adjusted through a small magnetic moment. The suspended capsule does not come into contact with the stomach wall, which avoids the failure of capsule posture control due to insufficient magnetic moment to overcome the viscous damping of the gastrointestinal tract.
  • the capsule adopts magnetic levitation control under static balance, although the liquid in the stomach will greatly hinder the movement of the capsule's magnetic sudden change, effectively avoiding the danger caused by impact on the inner wall of the organ, in order to find a suitable position and orientation inside the stomach
  • specialized operators must rely on experience and repeatedly adjust the position and orientation of the external permanent magnet to establish attitude control under the static magnetic moment balance of the capsule, making clinical popularization difficult.
  • using external permanent magnets to control the capsule posture is inefficient and difficult. Especially when the capsule is tightly wrapped by gastrointestinal tissue, the posture control will fail because the magnetic moment is insufficient to overcome the resistance of the tight wrapping of the gastrointestinal tissue.
  • capsule poses are sometimes non-unique.
  • the electromagnetic field can digitally control the size and orientation of the magnetic field through electric current.
  • the magnetic field adjustment is more flexible and convenient. In particular, it can produce uniform space in all directions through the superposition of three-axis orthogonal Helmholtz coils. Rotating magnetic field, the magnets embedded in the capsule only produce coupled pure magnetic moments in the uniform rotating magnetic field. The magnetic moments in the uniform area of the coil are constant and have no attenuation. The magnetic force and the magnetic moment are completely decoupled, that is, the influence of the magnetic force on the magnetic moment is eliminated. Pure magnetic moment control capsules have high posture accuracy, good flexibility, and good safety, and are expected to solve the problem of posture and motion control of capsules in the generous gastrointestinal environment.
  • ox 0 y 0 z 0 is the ground fixed coordinate system. It is assumed that the radial permanent magnet initially placed in the rotating magnetic field remains horizontal, and its central axis n B coincides with the y 0 axis. As shown in position 1 in Figure 1, radial magnetization The magnetic moment vector of the permanent magnet is m 1 . The radially magnetized permanent magnet rotates synchronously around the central axis under the action of the rotating magnetic field. The angular speed is ⁇ . m B is the magnetization intensity value of the radially magnetized permanent magnet. The radially magnetized permanent magnet is rotating. During the process, the magnetic moment vector m 1 is expressed in the coordinate system ox 0 y 0 z 0 as:
  • the magnetic moment experienced by a radially magnetized permanent magnet in a spatial universal rotating magnetic field is:
  • the average torque experienced by the radially magnetized permanent magnet in a single period in the spatial gimbal rotating magnetic field is the average torque rotating around the ox 0 axis. This torque is called the coaxial magnetic moment, and the average torque in other directions is 0.
  • Coaxial magnetic moment Under the action of , the radially magnetized permanent magnet deflects along with the normal vector of the rotating magnetic field, and finally reaches position 2, so that the direction of the central axis of the radially magnetized permanent magnet n B is consistent with the direction of the normal vector of the rotating magnetic field n f .
  • the coaxial follower magnetic moment effect is expected to solve the problem of capsule attitude drive and control.
  • a dynamic control method of capsule attitude driven by pure magnetic moment Different from the static balance control method of capsule attitude based on magnetic levitation, the high-speed rotating capsule robot driven by a rotating magnetic field has good dynamic balance characteristics and Anti-interference ability, the capsule attitude dynamic balance control process is simpler, faster and more convenient.
  • the capsule attitude can be adjusted.
  • it is difficult to achieve fixed-point posture control with a single-structure capsule because the capsule is prone to rolling when adjusting its posture.
  • the capsule endoscope has the best inspection effect in the small intestine, but it is more difficult to use in the generous environment of the gastrointestinal tract.
  • Easy to roll and difficult to control posture In the non-structured environment of the gastrointestinal tract, the rolling flexibility of the spherical capsule is the best.
  • the active hemisphere is always at the top
  • the passive hemisphere is at the bottom
  • the passive hemisphere is in a stationary state under the constraints of contact with the intestines.
  • the capsule will not roll and change the direction of the axis of the rotating magnetic field (in conjunction with (Scanning and observation within a cone with an angle of about 30 degrees from the vertical direction of the gastrointestinal tract surface). Under the effect of the coaxial magnetic moment, the axis of the capsule moves synchronously with the axis of the rotating magnetic field.
  • the "hovering" posture of the capsule can be arbitrary. Adjust to achieve panoramic observation.
  • the robot axis follows the direction of the horizontal rotating magnetic vector.
  • Both the active hemisphere and the passive hemisphere are in contact with the lower wall of the intestine.
  • the coupled magnetic moment drives the active hemisphere to contact the intestine.
  • the lower wall of the intestinal tract actively rolls, and the under-driven hemisphere and the lower wall of the intestine roll passively, allowing the double-hemispheric capsule robot to roll a limited distance along a certain bending direction in the intestine.
  • This method first utilizes the coaxial follow-up characteristics of the dual-hemispheric capsule robot axis and the gimbal magnetic field rotation axis, that is, the dual-hemispheric capsule robot axis, the camera optical axis and the gimbal magnetic field rotation axis all coincide, combining the same pitch angle and two
  • the two wirelessly transmitted images captured by the monocular camera at different side swing angles determine the attitude information of the double-hemispheric capsule robot; then combined with the obtained attitude information, the visual navigation of the double-hemispheric capsule robot is derived under the condition of a universal rotating magnetic field.
  • o-xyz is the universal magnetic field fixed coordinate system
  • I 0 is the amplitude of the sinusoidal current in the three sets of orthogonal Helmholtz coils
  • ⁇ is the angular frequency of the applied sinusoidal signal current
  • the dual-hemisphere capsule robot solves the problem of dual-mode conversion between fixed-point hovering posture adjustment and rolling walking, during the experiment, we found that the active and passive dual-hemisphere capsule robot still has problems such as small posture adjustment range and poor adaptability to non-structured complex environments. In particular, there is a contradiction between precise control of slow displacement and poor stability, which affects the clinical application effect of gastrointestinal disease detection.
  • Active mode rolling walking has the following problems: 1) There is a contradiction between posture stability and slow and precise displacement requirements. Since the capsule rolling speed is the same as the magnetic field rotation speed, a too fast magnetic field speed is not conducive to the precise control and observation of the capsule robot's displacement. If the magnetic field speed is low, the capsule robot will have poor stability and difficult to control the rolling direction. 2) The fault-tolerant scrolling function in complex environments is limited. When rolling in a curved intestine, if the rolling direction is different from the direction of intestinal curvature, the double-hemisphere capsule will come into contact with the intestinal wall to produce a power parasitic phenomenon of relative slipping or sliding, affecting the capsule's stability and rolling direction, and thus affecting its turning function. , the turning compliance ability needs to be improved.
  • the proposed patent application proposes an all-round observation overall under-actuated spherical capsule robot controlled by a spatial gimbal rotating magnetic field.
  • the entire capsule ball completely adopts an under-driven structure, that is, the radially magnetized NdFeB magnetic ring is installed into the inner cavity of the capsule sphere in a non-connected manner, and the NdFeB magnetic ring follows alone.
  • the rotating magnetic field rotates around the axis of the capsule and is completely suspended in the inner cavity of the capsule sphere filled with silicone oil.
  • the capsule sphere cannot rotate around the axis of the capsule at all despite the under-driven force (the capsule sphere is affected by the concave area of the intestine and mucus). constrained and stationary), but the capsule axis can flip synchronously with the magnetic field rotation axis. Therefore, by synchronously controlling the capsule axis flip motion trajectory planning through the universal magnetic field, the all-round fixed-point posture adjustment and tumbling walking of the under-actuated capsule can be realized: when the capsule axis trajectory is controlled to form a certain angle with the vertical axis direction of the gastrointestinal wall surface.
  • the proposed underactuated spherical capsule significantly improves the all-round observation performance and non-structural environment adaptability: 1) Significantly increases the capsule attitude adjustment range. Since the under-actuated capsule sphere contacts the gastrointestinal tissue and does not roll, the scanning range is not limited. The axis of the capsule can be flipped in all directions following the rotation axis of the magnetic field, and even all-round observation of the gastrointestinal wall including the lower part of the capsule is achieved. 2) Enhanced adaptability to the complex intestinal environment. Tests have shown that even when the capsule is wrapped in gastrointestinal tissue or trapped in a narrow concave area of the gastrointestinal tract, the coaxial follower magnetic moment can completely overcome the gastrointestinal wall resistance and adjust the capsule axis.
  • the capsule Following the axis of the rotating magnetic field, it flips synchronously in all directions. Since the capsule adopts dynamic posture control, the gastrointestinal wall damping is more conducive to the stable control of the capsule control, achieving online all-round observation of the gastrointestinal tract without the entire sphere rolling, and the visual observation effect is good. , which laid the foundation for expanding the functions of capsule sampling and fixed-point spraying. 3) The capsule has good vibration suppression effect, high precision in fixed-point posture adjustment and walking, and good visual observation effect. The reason is that the NdFeB magnetic ring that rotates independently following the rotating magnetic field is completely suspended in the inner cavity of the capsule sphere filled with silicone oil. The electronic modules such as vision are completely embedded in the sphere.
  • the capsule’s fault-tolerant tumbling ability is ensured in a non-structurally complex and curved intestinal environment.
  • the under-driven sphere contacts the intestinal wall and rolls adaptively, avoiding the power parasitic phenomenon of slipping or sliding, and improving the capsule's turning compliance ability.
  • the rolling speed of the capsule has nothing to do with the rotational speed of the rotating magnetic field.
  • a fast magnetic field speed is beneficial to the stability of the capsule.
  • the rolling speed of the capsule is related to the flipping speed of the magnetic field axis.
  • the stability of the capsule attitude and slow and precise displacement can be independently controlled.
  • the under-actuated spherical capsule to be patented also changes the shape of the inner cavity of the sphere filled with silicone oil to increase the dynamic pressure of the fluid oil film formed on the contact surface between the NdFeB magnetic ring and the inner cavity of the sphere, thereby avoiding direct contact with the outer shell of the sphere. It also reduces the effect of fluid viscosity torque on the spherical capsule, effectively preventing the magnetic ring from driving the capsule to rotate (rotate) and become unstable.
  • the present invention provides a whole-sphere under-actuated capsule structure composed of a radially magnetized neodymium iron boron magnetic ring installed in a completely suspended manner into an annular sealing cavity in a capsule sphere.
  • the capsule axis follows the magnetic field rotation axis to synchronously flip the motion trajectory planning to realize the magnetic field control method of the capsule's all-round fixed-point posture adjustment or tumbling walking.
  • An under-actuated capsule robot for all-round observation including an under-actuated sphere 1 and a radially magnetized NdFeB magnetic ring 2, which realizes universal fixed-point posture adjustment of the under-actuated sphere 1 in the gastrointestinal tract under the action of a spatial gimbal rotating magnetic field. It has two functions: scanning observation and rolling walking.
  • the under-driven sphere 1 includes an integral housing I, a camera module II, a wireless transmission module III and a power supply battery 11.
  • the power supply battery 11, camera module II, and wireless transmission module III are integrated in the under-driven sphere 1 to realize the power supply, image shooting, lighting, and image transmission functions of the capsule. Since the under-actuated sphere 1 cannot follow the spatial gimbal rotating magnetic field to rotate around the central axis of the capsule robot, the stability of the dynamic posture adjustment of the capsule robot and good visual observation are ensured.
  • the integral housing I includes a transparent end cover 3, an upper housing 4, a sealing ring 5 and a lower housing 6.
  • the transparent end cover 3, the upper shell 4 and the lower shell 6 fit into each other to ensure that the overall shape of the capsule robot is spherical and an annular sealed cavity is formed in the under-driven sphere 1.
  • the structure of the annular sealing cavity is as follows: a cylinder is provided in the center of the upper housing 4, and the tops of the two are fixed as one body through the connecting end surfaces, and the gap between the cylinder and the inner wall of the upper housing 4 forms an annular groove; the upper housing The inner wall of 4 serves as the outer annular surface, and the outer wall of the cylinder serves as the inner annular surface.
  • the outer annular surface has a plurality of cylindrical protrusions, the inner annular surface is smooth, and the surface of the connecting end surface located on one side of the annular groove has a plurality of cylindrical protrusions.
  • the sealing ring 5 is embedded in the annular groove inside the upper housing 4, and the end face of the sealing ring 5 opposite to the connection end face has multiple spherical protrusions, which together constitute the two end faces of the annular sealing cavity and the inner and outer annular faces;
  • the annular sealing cavity is filled with silicone oil, and the function of the sealing ring 5 is to provide an inner end surface with multiple spherical protrusions for the annular sealing cavity and prevent silicone oil from leaking.
  • the radially magnetized NdFeB magnetic ring 2 is placed on the cylinder in the center of the upper housing 4, and is installed in a non-connected manner into the annular sealing cavity of the under-driven sphere 1 filled with silicone oil.
  • the under-driven sphere 1 is completely under-driven. Posture, the under-actuated sphere 1 has good adaptability to non-structural environments such as the gastrointestinal tract, and is also the key to realizing the all-round fixed-point posture adjustment function.
  • the radially magnetized NdFeB magnetic ring 2 follows the rotating magnetic field alone to idling around the central axis of the capsule robot and is completely suspended in the annular sealing cavity of the under-driven sphere 1 filled with silicone oil.
  • the capsule is under-driven.
  • Sphere 1 is at rest.
  • Two poly-wedge spaces are respectively formed between the two end faces of the radially magnetized NdFeB magnetic ring 2 and the two end faces with multiple protrusions of the annular sealing cavity of the under-driven sphere 1; the radial A multi-wedge space is formed between the outer annular surface of the magnetized NdFeB magnetic ring 2 and the outer annular surface with multiple protrusions of the under-driven sphere 1.
  • the multi-wedge effect of the fluid is used to increase the radial magnetized NdFeB magnetic ring. 2.
  • the dynamic pressure of the fluid film between the annular sealing chamber and the fluid viscosity torque on the under-driven sphere 1 is reduced, and the radially magnetized NdFeB magnetic ring 2 is coaxial with the annular sealing chamber, thus avoiding contact with the annular sealing chamber.
  • the overall shell I is in direct contact, which effectively prevents the radially magnetized NdFeB magnetic ring 2 from driving the under-driven sphere 1 to rotate and causing instability in the capsule operation process.
  • the camera module II is composed of a camera element 7 and an LED lighting module 8 to realize the photography and lighting functions of the capsule robot.
  • the cylinder in the center of the upper housing 4 is provided with a groove, and the camera element 7 is embedded in the groove.
  • the LED lighting module 8 is installed above the camera element 7 and positioned by the surface of the cylinder.
  • the transparent end cover 3 is located on the camera element 7 Directly above, the imaging element 7 captures images of the external environment.
  • the wireless transmission module III is composed of a wireless transmitting device 9 and a wireless transmitting antenna 10 to realize the image transmission function of the capsule robot.
  • the wireless transmitting device 9 is embedded in the groove of the lower housing 6 , and its bottom is in contact with the power supply battery 11 .
  • the wireless transmitting antenna 10 is embedded in the annular groove around the lower housing 6 .
  • the power supply battery 11 supplies power to the camera element 7, the LED lighting module 8, and the wireless transmitting device 9.
  • the power supply battery 11 is embedded in the groove of the lower case 6 .
  • the magnetic control operation process of the described omnidirectional observation under-actuated capsule robot to realize the two functions of universal fixed-point scanning observation and tumbling walking is: under the action of the spatial universal rotating magnetic field, the radially magnetized NdFeB magnetic ring 2 is Driven by the coaxial follower magnetic moment, although the under-driven sphere 1 cannot rotate around the central axis of the capsule robot, the central axis of the under-driven sphere 1 can flip synchronously with the magnetic field rotation axis.
  • the radially magnetized NdFeB magnetic ring 2 can be
  • the 1 axis of the under-actuated sphere is driven to follow the magnetic field rotation axis to synchronously flip the motion trajectory planning to achieve all-round fixed-point posture adjustment or tumbling walking of the capsule.
  • the capsule robot's axis By controlling the capsule robot's axis by a universal magnetic field to scan sequentially within a conical range that forms a certain angle with the vertical direction, or by performing continuous circular flips in a vertical plane parallel to the bending direction of the environment to be measured, the capsule robot can be gimbaled. Observe diagnosis and walk in curved directions within constraints within the environment to be tested (e.g. gastrointestinal tract).
  • Step 1 Implement the initial calibration of the orientation of the omnidirectional under-actuated capsule robot: the normal vector of the applied rotating magnetic field is consistent with the vertical vector n 0 on the ground. Based on the coaxial follower magnetic moment effect, the axis n B of the capsule robot is finally maintained with the normal vector of the rotating magnetic field. consistent; consistent;
  • Step 2 Realize observation and diagnosis at the top of the environment to be tested:
  • the capsule is controlled based on the coaxial magnetic moment effect.
  • the robot axis n B follows the direction of the normal vector of the magnetic field for scanning and observation; where ⁇ ranges from 0 to 90°;
  • Step 3 Realize observation and diagnosis of the bottom of the environment to be tested: control the axis n B of the capsule robot to follow the magnetic field method when the trajectory of the axis n B of the capsule robot forms a certain angle - ⁇ with the vertical vector n 0 on the ground. Scan and observe in the vector direction.
  • Step 1 Complete the visual inspection of the bending direction of the environment to be measured: control the trajectory of the capsule robot axis n B to form a certain angle ⁇ with the ground vertical vector n 0 and conduct scanning and observation within the cone surface in sequence until the bending direction of the environment to be measured is basically determined. , and determine the bending direction of the environment to be measured through visual positioning method; among them, ⁇ ranges from 0 to 90°;
  • Step 2 Implement rolling walking in the linear environment to be tested:
  • the bending direction of the environment to be tested determined according to step 1 is the walking direction of the capsule robot flipping and rolling.
  • the rolling vector of the linear environment to be tested is n sa
  • the vertical vector n on the ground 0 and the linear rolling vector n sa continuously change the orientation of the normal vector n f of the rotating magnetic field in the vertical plane V 1 , that is, the axis n B of the capsule robot is controlled to make continuous circular flips in the vertical plane V 1 to realize the capsule robot under test
  • Step 3 Implement rolling walking in the curved environment to be tested:
  • the bending direction of the environment to be tested determined according to step 1 is the walking direction of the capsule robot flipping and rolling.
  • the bending vector of the curved environment to be tested is n sb
  • the vertical vector n on the ground 0 and the bending rolling vector n sb continuously change the orientation of the normal vector n f of the rotating magnetic field in the vertical plane V, and then control the capsule robot axis n B to make continuous circular flips in the vertical plane V.
  • the radially magnetized NdFeB magnetic ring is fully suspended into the annular sealing cavity of the capsule sphere filled with silicone oil.
  • the entire capsule ball adopts an under-actuated structure.
  • the radially magnetized NdFeB magnetic ring independently follows the rotating magnetic field and is completely suspended in the center of the capsule sphere's annular sealing cavity filled with silicone oil.
  • the multi-wedge effect of the fluid is utilized , increase the fluid oil film dynamic pressure between the radially magnetized NdFeB magnetic ring and the annular sealing cavity, and reduce the fluid viscosity torque on the spherical capsule, allowing the radial magnetized NdFeB magnetic ring to idle independently and completely suspended in the capsule ring
  • the central part of the sealing cavity is sealed, and the radially magnetized NdFeB magnetic ring is coaxial with the annular sealing cavity, which effectively prevents the capsule sphere from rotating and becoming unstable.
  • the The capsule axis follows the magnetic field rotation axis and is controlled in a synchronous flipping motion mode to achieve all-round fixed-point posture adjustment or tumbling walking of the capsule.
  • the invention improves the scanning range of the capsule in the complex environment of the human body, realizes all-round observation of various environments to be tested including the gastrointestinal wall of the lower part of the capsule, and enhances the adaptability of the complex intestinal environment.
  • the capsule is wrapped in the gastrointestinal tissue or Even when trapped in the narrow and concave area of the gastrointestinal tract, it can still achieve all-round observation, has good internal deformation in the curved intestine and has good adaptive tumbling walking capabilities. It has high precision in positioning the capsule at fixed points, stable tumbling walking, good visual observation effects, and good application prospects.
  • Figure 1 is a schematic diagram of the "coaxial follower magnetic moment effect" of a spatial gimbal rotating magnetic field.
  • Figure 2 is a schematic diagram of the magnetic field driving device and control system of the under-driven spherical capsule robot.
  • Figure 3 is a schematic diagram of the overall structure of the under-driven spherical capsule robot of the present invention.
  • Figure 4 is a cross-sectional view of the internal structure of the under-driven spherical capsule robot of the present invention.
  • Figure 5(a) is a schematic diagram of the installation structure of the annular sealing cavity inside the under-actuated capsule
  • Figure 5(b) is a cross-sectional view of the annular sealing cavity of the under-driven capsule.
  • Figure 6 is a schematic diagram of the omnidirectional scanning magnetic control operation of the under-actuated capsule robot.
  • Figure 7 is a schematic diagram of the magnetic control operation of the under-actuated capsule robot for rolling walking and turning.
  • ox 0 y 0 z 0 is the ground fixed coordinate system
  • o-xyz is the universal magnetic field fixed coordinate system
  • position 2 - the applied normal vector orientation n f After rotating the magnetic field, the radially magnetized permanent magnet 2 finally reaches the target posture
  • a-human-machine display interface b-control handle, c-wireless image receiver, d-magnetic field driver, e-subject, f-three-axis orthogonal nested Helmholtz coil magnetic field superposition device, g-full Under-actuated spherical capsule robot for azimuth observation, h-hospital bed;
  • Step 1 Place the radially magnetized NdFeB magnetic ring 2 into the annular groove of the upper housing 4, and fill the annular groove with silicone lubricating oil. Then insert the sealing ring 5 into the annular groove of the upper housing 4, and use sealing
  • the annular sealed cavity is formed by glue bonding, and three poly-wedge spaces are respectively formed around the radially magnetized NdFeB magnetic ring 2 and the annular sealed cavity.
  • Step 2 Insert the camera element 7 into the groove of the upper casing 4.
  • the LED lighting module 8 is installed above the camera element 7. Its center hole is coaxial with the protrusion above the camera element 7. Its power supply wire passes from the center of the upper casing 4. Pass through the rectangular hole.
  • Step 3 Insert the power supply battery 11 into the circular groove of the lower case 6, insert the wireless transmitting device 9 into the rectangular groove of the lower case 6, with its bottom in contact with the power supply battery 11, and insert the wireless transmitting antenna 10 around the lower case 6 within the annular gap.
  • Step 4 Connect the power cord of the power supply battery 11 to the camera module II and the wireless transmission module III, and connect the signal line of the camera module II to the signal line of the wireless transmission module III. Finally, the transparent end cover 3, the upper shell 4 and the lower shell 6 are fitted to each other to seal the entire capsule robot, forming the shape of the entire capsule robot and completing the assembly of the entire capsule robot.
  • Step 1 The subject e swallows the omnidirectional observation under-actuated spherical capsule robot g, and lies on the hospital bed h. Adjust the position of the bed h to ensure that the subject e is located in the superposition of the three-axis orthogonal nested Helmholtz coil magnetic field. Device f center area.
  • Step 2 Turn on the three-axis orthogonal nested Helmholtz coil magnetic field superposition device f through the magnetic field driver d, and the under-driven spherical capsule robot g moves in the human body, and takes real-time video of the gastrointestinal tract in the human body through the camera module II.
  • Module III transmits image signals.
  • Step 3 The image signal is received by the wireless image receiver c and displayed on the human-machine display interface a.
  • Step 4 The examiner observes the condition of the gastrointestinal tract in the subject e through the screen, and adjusts the direction of the magnetic field through the control handle b to align the intestinal curvature direction, thereby controlling the under-actuated spherical capsule robot g to move to the designated observation point. Adjust the posture of the capsule at the observation point to achieve all-round observation. Repeat the above process to realize the traversal inspection of the capsule robot in the gastrointestinal tract.
  • Step 1 Implement the initial calibration of the orientation of the under-actuated capsule robot: the normal vector of the rotating magnetic field applied through the control handle b is consistent with the vertical vector n 0 on the ground. Based on the coaxial magnetic moment effect, the capsule robot axis n B is finally consistent with the rotating magnetic field method The vectors remain consistent.
  • Step 2 Observe and diagnose the top of the gastrointestinal tissue: Use the control handle b to control the capsule robot axis n B trajectory and the vertical vector n 0 on the ground to form a certain angle ⁇ (0 ⁇ 90°) within the cone range of the capsule robot during sequential movement observation, based on Due to the coaxial magnetic moment effect, the capsule robot axis n B is controlled to follow the magnetic field normal vector direction n f1 ⁇ n f2 ⁇ n f3 ⁇ n f4 for scanning observation to achieve observation and diagnosis of the top of the gastrointestinal tissue, as shown in Figure 6.
  • Step 3 Observe and diagnose the bottom of the gastrointestinal tissue: Use the control handle b to control the capsule robot axis n B trajectory and the vertical vector n 0 on the ground to form a certain angle - ⁇ (0 ⁇ -90°) within the cone range for observation.
  • the capsule robot axis n B is controlled to follow the magnetic field normal vector direction n f5 ⁇ n f6 ⁇ n f7 ⁇ n f8 for scanning observation, observation and diagnosis of the bottom of the gastrointestinal tissue can be realized, as shown in Figure 6.
  • Step 1 Complete the visual detection of the curvature direction of the gastrointestinal tract: control the capsule robot axis n B through the control handle b, and perform the sequence within the cone range where the trajectory and the ground vertical vector n 0 form a certain angle ⁇ (0 ⁇ ⁇ 90°) Scan and observe until the direction of intestinal curvature is basically aligned, and determine the direction of intestinal curvature through visual positioning.
  • Step 2 Implement rolling walking in the linear gastrointestinal tract:
  • the intestinal curvature direction determined according to step 1 is the walking direction of the capsule robot flipping and rolling.
  • the linear intestinal rolling vector is n sa
  • the vertical vector n 0 on the ground and the straight line Continuously change the orientation of the rotating magnetic field normal vector n f n f1 ⁇ n f2 ⁇ n f3 ⁇ n f4 within the vertical plane V 1 (o a -n 0 n sa ) formed by the rolling vector n sa , that is, the capsule robot axis n B is controlled at Continuous circular flipping is performed in the vertical plane V 1 to realize the function of the capsule robot rolling and walking along a straight line o a n sa (P 0 -P 1 -P 2 -P 3 ) in the constrained environment inside the gastrointestinal tract.
  • the capsule can stop rolling at any time for all-round fixed-point observation as needed.
  • Step 3 Implement rolling walking in the curved gastrointestinal tract:
  • the intestinal curvature direction determined according to step 1 is the walking direction of the capsule robot flipping and rolling.
  • the intestinal curvature vector is n sb
  • the vertical vector n 0 on the ground and the curved rolling Continuously change the rotational magnetic field normal vector n f orientation n f5 ⁇ n f6 ⁇ n f7 ⁇ n f8 in the vertical plane V( ob -n 0 n sb ) formed by the vector n sb , and then control the capsule robot axis n B in the vertical plane Continuous circular flipping in V.
  • the under-actuated structure Since the under-actuated structure has good non-structural environmental adaptability, when rolling and walking in the curved intestine, if the rolling direction is different from the intestinal curvature direction, the under-actuated sphere 1 will automatically contact the intestinal wall. It adapts to rolling and avoids the power parasitic phenomenon of slipping or sliding. With the help of the intestinal force F N , the capsule robot can turn, improving the capsule's turning compliance ability. The capsule robot can be controlled to pass smoothly through the tortuous intestine.

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Abstract

本发明公开一种全方位观察欠驱动胶囊机器人及其轴线翻转磁控操作方法，将径向磁化钕铁硼磁环以非连接方式装入胶囊球体内腔，钕铁硼磁环单独跟随旋转磁场绕胶囊轴线空转并完全悬浮于胶囊球体充满硅油的内腔，在同轴随动磁矩驱动下，欠驱动胶囊球体不能绕胶囊轴线自转，但胶囊轴线能跟随磁场旋转轴同步翻转。通过万向磁场控制胶囊轴线与垂直方向成一定夹角的锥面范围内依次扫描或者在与肠道弯曲方向平行的竖直平面内作连续圆形翻转，便可分别实现胶囊机器人在体腔内的万向观察诊断和在包括胃肠道内部约束环境下沿弯曲方向的转弯行走。本发明提高了胶囊扫描范围，增强环境适应性，胶囊定点调姿精度高，翻滚行走稳定，视觉观察效果好，应用前景良好。

Description

全方位观察欠驱动胶囊机器人及其轴线翻转磁控操作方法 技术领域
本发明属于自动化工程技术领域，涉及全方位观察欠驱动胶囊机器人及其轴线翻转磁控操作方法，具体是一种由空间万向旋转磁场产生的同轴随动磁矩效应对整体欠驱动胶囊机器人轴线翻转运动轨迹实施规划的途径实现胃肠道等场景内全方位观察与诊疗的磁控操作方法。
背景技术
随着社会发展节奏的加快，胃肠疾病逐年增长，严重威胁人类健康。利用内窥镜对消化道疾病进行早期诊断能有效提高治愈率，但传统插入式胃肠镜操作复杂，并给患者带来不适感与心理恐惧，甚至带来伤害，因此，不适宜大规模胃肠疾病筛查。
无痛式胶囊内窥镜给患者带来了福音，并成为小肠内无创检查的唯一手段。然而，目前用于临床的被动式胶囊内窥镜主要依靠重力及胃肠蠕动行走，胶囊内窥镜在人体胃肠宽裕环境内的位姿具有随机性，医生尚不能操控胶囊内窥镜对胃肠重点区域进行观察，存在漏检率高，检测效率低等问题，可见，被动式胶囊内窥镜在临床上依然具有局限性。
针对被动胶囊内窥镜存在的问题，以实现胶囊运动与姿态主动控制为目标，研究主动式胶囊机器人迫在眉睫，可望提高胃部及结肠等宽裕环境内的检测效率，并为定点施药与取样奠定基础。
目前，无电缆主动式胶囊机器人内嵌磁体驱动器，主要采用体外永磁体和电磁装置两种驱动方式实现胶囊的运动与姿态控制。尽管体外永磁体驱动方式解决了胶囊机器人无线能源供给问题，并实现了临床应用，但通过体外永磁体对胶囊进行运动与姿态精准控制条件苛刻、实施难度大。原因是体外永磁体产生梯度磁场，胶囊同时受到磁力与磁矩作用，梯度磁场产生的磁力与磁矩相互耦合，并分别随胶囊到体外永磁体的距离r以指数规律1/r 4和1/r 3下降，由于临床操作时体内胶囊与磁铁距离r的实时检测与控制困难，会因磁力与磁矩较大范围变化而导致胶囊静态平衡控制困难。
首先，采用永磁体的静态磁力平衡实现胶囊位置控制安全性差。由于胶囊所受磁力随胶囊到磁源距离r以指数变化，磁源到胶囊机器人距离的微小改变就会严重影响磁力的变化，对于体脂率变化较大的患者，胶囊机器人会因磁力的突变而失去平衡，并存在冲击器官内壁的危险。此外，磁力与磁矩耦合还会加剧磁力悬浮平衡控制的难度。
其次，采用永磁体的静态磁矩平衡实现胶囊姿态控制随机性高。由于随着胶囊和外部永磁体距离的增大，胶囊受到的磁力比磁矩衰减快一个数量级，因此，当胶囊与外部永磁体达到较大合适距离r时，便可忽略磁力影响，可近似认为胶囊只受磁矩作用，并认为实现了梯度磁场下磁力与磁矩的解耦。显然，纯磁矩静态平衡下的胶囊姿态控制更加容易，但由于距 离r较大时，磁矩衰减较大，甚至会出现磁矩不足以克服胃肠道粘性阻尼而导致姿态控制失败。临床上，为了实现胃内部检测，操作者必须借助患者喝下液体产生的浮力克服重力，使胶囊在液体内处于力平衡状态，于是，不仅能通过微小磁力实现液体内悬浮胶囊的位置控制，还能通过较小磁矩对液体内悬浮胶囊实施姿态的自由灵活调整。悬浮胶囊不与胃壁接触，避免了因磁矩不足以克服胃肠道粘性阻尼而导致胶囊姿态控制失败的情形。然而，由于胶囊采用静态平衡下的磁悬浮控制，尽管胃内液体会对胶囊磁力突变激励运动产生较大阻碍作用，有效避免冲击器官内壁带来的危险，但为了在胃内部找到合适的位置与方位视角对特定部位进行观察，专门操作人员必须凭借经验通过外部永磁体位置与方位的反复调整，才能建立胶囊静态磁矩平衡下的姿态控制，临床普及推广困难。可见，采用体外永磁体控制胶囊姿态效率低、难度大。尤其是当胶囊被胃肠组织紧密包裹时，会因磁矩不足以克服胃肠组织紧密包裹阻力而导致姿态控制失效。
最后，胶囊姿态有时具有非唯一性。胶囊机器人内嵌磁铁存在奇异面，在奇异面内胶囊姿态具有非唯一性，胶囊姿态处于失控状态。尤其是在肠胃宽裕环境内，通过体外磁铁对胶囊进行姿态与运动控制难度更大。上述因素制约了外部永磁体驱动胶囊的临床应用推广。
综上所述，尽管患者饮入液体会带来诸多不便，但根据外部永磁体磁力与磁矩的解耦特性和远距离衰减特征，只有采用磁矩驱动才能借助液体浮力实现胶囊位置与姿态的有效控制，并能保证安全性。尽管姿态调整效率低，但磁矩驱动方式为胶囊机器人姿态的有效控制提供了新的探索途径。
与外部永磁体产生的梯度磁场相比，电磁场可通过电流对磁场大小及方位实施数字化控制，磁场调整更加灵活、便利，尤其是可通过三轴正交亥姆霍兹线圈叠加产生空间万向均匀旋转磁场，胶囊内嵌磁体在均匀旋转磁场内只产生耦合纯磁矩，线圈均匀区内磁矩恒定且无衰减，完全实现磁力与磁矩解耦，即消除了磁力对磁矩的影响，通过纯磁矩控制胶囊的姿态精度高，灵活性好，安全性好，可望解决胶囊在胃肠宽裕环境内的姿态与运动控制难题。
为了克服永磁体以静态平衡控制胶囊姿态的局限性，鉴于纯磁矩操纵优势，我们提出采用空间万向旋转磁场的耦合纯磁矩操控胶囊姿态的动态平衡控制方案，同时，我们发现了同轴随动磁矩效应，即径向磁化圆柱磁体在跟随空间万向旋转磁场旋转时，其轴线方向始终跟随并最终与旋转磁场法向量方向(磁场旋转轴线)保持一致，同轴随动磁矩效应不仅为空间万向电机的驱动提供了新的探索途径，也为胶囊姿态的准确控制奠定了基础。在大连理工大学所申请的发明专利“一种电磁驱动两自由度球型机器人手腕及其控制方法”中(专利授权ZL202010484343.5)详细给出了“同轴随动磁矩效应”的数学证明如下：
o-x 0y 0z 0为地面固定坐标系，假设初始时放入旋转磁场中的径向永磁体保持水平，其中心轴线n B与y 0轴重合，如图1位置1所示，径向磁化永磁体的磁矩矢量为m 1，径向磁化永磁体在旋转磁场作用下绕中心轴线同步转动，角速度为ω，m B为径向磁化永磁体磁化强度值，则径向磁化永磁体在转动过程中磁矩矢量m 1在坐标系o-x 0y 0z 0中表示为：
Figure PCTCN2022121215-appb-000001
此时，施加方向为n f(侧摆角θ＝0，俯仰角δ＝λ)的空间万向旋转磁场，旋转磁矢量幅值为B 0，旋转磁矢量B 1在坐标系o-x 0y 0z 0可表示为：
Figure PCTCN2022121215-appb-000002
根据矢量外积公式，径向磁化永磁体在空间万向旋转磁场中受到磁力矩为：
Figure PCTCN2022121215-appb-000003
由式(3)可得径向磁化永磁体在空间万向旋转磁场中受到各个方向磁力矩T x,T y,T z均为周期函数，周期分别为:t x＝t y＝t z＝π/ω，在初始位置时俯仰角λ为定值，此时单个周期内径向磁化永磁体在各个方向所受到平均力矩为：
Figure PCTCN2022121215-appb-000004
由式(4)可知，径向磁化永磁体在空间万向旋转磁场中单个周期内所受到的平均力矩为绕ox 0轴旋转的平均力矩
Figure PCTCN2022121215-appb-000005
将此力矩称为同轴随动磁矩，其他方向所受到平均力矩为0。 在同轴随动磁矩
Figure PCTCN2022121215-appb-000006
的作用下，径向磁化永磁体跟随旋转磁场法向量偏转，最终到达位置2，使得径向磁化永磁体中心轴线方向n B与旋转磁场法向量n f方向一致。
可见，同轴随动磁矩效应可望解决胶囊姿态驱动与控制问题。为此，依据陀螺稳定性原理，我们提出纯磁矩驱动胶囊姿态的动态控制方法，与基于磁悬浮的胶囊姿态静平衡控制方式不同，旋转磁场驱动下的高速旋转胶囊机器人具有良好的动态平衡特性和抗干扰能力，胶囊姿态动平衡控制过程更简单、迅速、便利，通过控制旋转磁场轴线的改变，基于同轴随动磁矩效应，便可实现胶囊姿态的调整。研究中，我们还发现单体结构胶囊实现定点姿态控制困难，因为胶囊姿态调整时容易发生滚动，事实上，胶囊内窥镜在小肠内的检查效果最好，但在胃肠道宽裕环境下更容易翻滚，姿态控制难度大。在胃肠道非结构宽裕环境下，球形胶囊滚动灵活性最好，在胃肠道宽裕环境下检测时，为避免调姿时球形机器人发生滚动，且需保证机器人轴线在原地与旋转磁场同步随动，结合球形结构调姿与转弯的灵活性与万向性，依据空间万向旋转磁场同轴随动磁矩效应调姿的稳定性与唯一性特征，大连理工大学所申请的专利“一种主被动双半球形胶囊机器人及其姿态调整与转弯驱动控制方法”(专利授权号：ZL201510262778.4)中，提出一种主被动双半球胶囊机器人，空间万向旋转磁场与主动半球体内嵌径向磁化钕铁硼圆环耦合产生同轴随动磁矩，驱动主动半球体相对被动半球体空转，被动半球体处于欠驱动状态，欠驱动半球体结构增强了双半球形胶囊机器人姿态调整的稳定性和对非结构环境的自适应能力，实现定点悬停调姿和滚动行走双重控制模态的切换。实现双半球胶囊定点悬停调姿：主动半球体始终处于上方，被动半球体处于下方，被动半球体在接触肠道约束下处于静止状态，胶囊不会发生滚动，改变旋转磁场轴线方向(在与胃肠道表面垂直方向夹角约30度的锥面范围内扫描观察)，在同轴随动磁矩效应作用下，胶囊轴线与旋转磁场轴线同步随动，胶囊的“悬停”姿态可任意调整，实现全景观察。实现胶囊机器人沿肠道弯曲方向滚动：借助胶囊机器人前端图像传输装置调整空间万向旋转磁矢量方位角使机器人轴线与肠道弯曲法线方向基本一致，并在水平面内施加与肠道弯曲方向垂直的旋转磁矢量，在同轴随动磁矩效应作用下，机器人轴线跟随到水平旋转磁矢量方向，主动半球体和被动半球体均与肠道下壁接触，耦合磁矩驱动主动半球体接触肠道下壁主动滚动，欠驱动半球体与肠道下壁被动滚动，使双半球形胶囊机器人在肠道内沿一定弯曲方向滚动有限距离。
为了利用双半球形胶囊无线传输图像对准并检测出肠道弯曲方向，实现弯曲肠道内胶囊的磁导航，在大连理工大学所申请的发明专利“一种双半球型胶囊机器人弯曲肠道内双图像视觉导航方法”(授权号：ZL201910227499.2)中，给出了利用无线传输图像的具体导航方法。该方法首先利用双半球型胶囊机器人轴线与万向磁场旋转轴线的同轴随动特性，即双半 球型胶囊机器人轴线、摄像机光轴和万向磁场旋转轴线都重合，结合同一俯仰角和两个不同侧摆角下单目摄像机所拍摄的两幅无线传输图像确定双半球型胶囊机器人的姿态信息；然后结合得到的姿态信息，在万向均匀旋转磁场条件下推导双半球型胶囊机器人的视觉导航方位，即通过计算固定坐标系下弯曲肠道图像暗区质心的方位来调整双半球型胶囊机器人姿态准确对准肠道弯曲方向，并确定双半球型胶囊机器人转弯滚动磁场轴线方向，实现双半球型胶囊机器人在肠道内的视觉辅助导航作业。
为了依据同轴随动磁矩效应对胶囊进行更为便捷的姿态控制，实现胶囊轴线与磁场控制旋转轴线的统一，必须解决以胶囊侧摆与俯仰角度为变量，实现空间万向旋转磁场方位的数字化控制。在大连理工大学所申请的发明专利“一种空间万向旋转磁场人机交互控制方法”(专利授权号：ZL 201610009285.4)中，为了叠加出以侧摆角θ与俯仰角δ为旋转轴线的空万向旋转磁场，具体给出了经纬坐标系内以侧摆角θ与俯仰角δ两个角度为输入变量的电流形式的空间万向旋转磁场叠加公式:
Figure PCTCN2022121215-appb-000007
其中o-xyz为万向磁场固定坐标系，
Figure PCTCN2022121215-appb-000008
I 0为三组正交亥姆霍兹线圈中正弦电流的幅值，ω为施加正弦信号电流的角频率，施加正弦信号电流的频率为f＝2π/ω。将空间万向旋转磁场的三维叠加问题转化为平面内的两维叠加问题，并通过两个操纵杆分别将侧摆与俯仰角度分离控制，实现低维度可分离变量交互式控制。
尽管双半球型胶囊机器人解决了定点悬停调姿和滚动行走双重模态的转换问题，试验中，我们发现主被动双半球胶囊机器人仍存在姿态调整范围小、非结构复杂环境适应性差等问题，尤其是存在慢速移位精确控制与稳定性差之间的矛盾，影响肠胃疾病检测的临床应用效果。
被动模态定点调姿存在的问题：1)姿态调整范围有限，无法实现包括胶囊下部胃肠壁的全方位观察。一般观察作业时双半球胶囊的姿态调整角度范围在与垂直方向夹角约30度的锥面范围内，如果姿态调整角度太大时，主动半球容易与胃肠组织接触并滚动，导致定点调姿失效。2)非结构复杂环境内胶囊姿态调整功能受限。当胶囊陷于胃肠道狭小下凹区域时，主动半球更容易与胃肠道接触，姿态角度调整范围更小，尤其是胶囊被胃肠组织完全紧密包裹时将导致姿态调整功能失效，事实上，为了拓展胶囊取样与定点喷药等功能，胶囊必须具备胃肠道非结构复杂环境内的万向姿态调整能力，这是极具挑战性的研究难题。3)偏心振动会影响定点姿态控制精度和视觉观察效果。调姿时内嵌径向磁化磁环的主动半球一直跟随磁 场旋转，主动半球增加了转子的转动惯量，如果径向磁化磁环与主动半球存在安装偏心误差，必然会发生振动而影响胶囊姿态控制的稳定性与精度。
主动模态滚动行走存在如下问题：1)姿态稳定与慢速精确移位需求之间存在矛盾。由于胶囊滚动速度与磁场旋转速度相同，磁场转速太快不利于胶囊机器人位移的精确控制与观察，磁场转速较低，则胶囊机器人稳定性差，滚动方向控制困难。2)复杂环境内的容错滚动功能受限。在弯曲肠道内滚动时，如果滚动方向与肠道弯曲方向不同，双半球胶囊将与肠壁接触产生相对滑转或滑移的功率寄生现象，影响胶囊稳定性与滚动行走方向，进而影响转弯功能，转弯顺应能力需改进。3)胶囊滚动行走时会影响视觉观察效果。尽管双半球胶囊视觉系统与被动半球固连，被动模态调整姿态时，视觉系统与被动半球不发生转动，但胶囊在主动模态滚动时，视觉系统连同被动半球会随主动半球一同滚动而直接影响视觉观察效果。
针对双半球胶囊姿态调整范围小和复杂环境适应能力受限等问题，拟申请专利提出一种由空间万向旋转磁场操控的全方位观察整体欠驱动球形胶囊机器人。与半球主动、半球欠驱动的双半球胶囊结构不同，胶囊整球完全采用欠驱动结构，即将径向磁化钕铁硼磁环以非连接方式装入胶囊球体内腔，钕铁硼磁环单独跟随旋转磁场绕胶囊轴线空转并完全悬浮于胶囊球体充满硅油的内腔，在同轴随动磁矩驱动下，尽管欠驱动胶囊球体完全不能绕胶囊轴线自转(胶囊球体受肠道下凹区域及粘液约束而静止)，但胶囊轴线能跟随磁场旋转轴同步翻转。因此，通过万向磁场同步控制胶囊轴线翻转运动轨迹规划，就能实现欠驱动胶囊的全方位定点调姿与翻滚行走：当控制胶囊轴线轨迹在与胃肠壁表面垂直轴线方向成一定夹角的锥面范围内(0～±90°)运动时，即可实现胶囊姿态的万向扫描观察；当控制胶囊轴线轨迹沿与肠道弯曲方向平行的竖直平面内作连续圆形翻转时，即实现胶囊翻滚式扫描观察。
所提出的欠驱动球形胶囊显著提高了全方位观察性能和非结构环境适应性：1)显著增加了胶囊姿态调整范围。由于欠驱动胶囊球体与肠胃组织接触不发生滚动，扫描范围不受限制，胶囊轴线可跟随磁场旋转轴线万向翻转，甚至实现了包括胶囊下部胃肠壁的全方位观察。2)增强了复杂肠道环境适应性，试验表明，即使胶囊在胃肠组织包裹下或者陷于胃肠道狭小下凹区域时，同轴随动磁矩完全能够克服胃肠壁阻力并使胶囊轴线跟随旋转磁场轴线同步万向翻转，由于胶囊采用动态姿态控制，胃肠壁阻尼更有利于胶囊控制的稳定控制，实现胃肠道在线全方位观察，而整个球体却不发生滚动，视觉观察效果好，为拓展胶囊的取样与定点喷药等功能奠定了基础。3)胶囊抑振效果好，定点调姿与行走精度高，视觉观察效果好。原因是跟随旋转磁场独立空转的钕铁硼磁环完全悬浮于胶囊球体充满硅油的内腔，视觉等电子模块完全嵌入球体，由于欠驱动球体不随磁场转动，因此，视觉观察效果不受影响，尤其是球 体内部器件的制造与安装偏心不会引起振动，因此，提高了胶囊的稳定性与姿态控制精度，视觉观察效果好。4)保证了胶囊在非结构复杂弯曲肠道环境内的容错翻滚行走能力。在弯曲肠道内翻滚行走时，如果滚动方向与肠道弯曲方向不同，欠驱动球体与肠壁接触发生自适应滚动，避免发生滑转或滑移的功率寄生现象，提高了胶囊转弯顺应能力。5)解决了姿态稳定与慢速精确移位需求之间存在的矛盾。胶囊滚动速度与旋转磁场转速无关，磁场转速快有利于胶囊稳定，机器人观察与控制，胶囊滚动速度与磁场轴线翻转转速有关，胶囊姿态稳定与慢速精确移位可以独立控制实现。
事实上，必须保证欠驱动球形胶囊不发生自转滚动，并实现姿态稳定控制，才能通过胶囊轴线翻转运动轨迹控制实现万向定点扫描与翻滚行走。由于跟随磁场空转的钕铁硼磁环悬浮于胶囊球体充满硅油的环形密封腔，为了防止油膜产生流体摩擦力矩带动胶囊球体转动(自转)，破坏定点调姿的稳定性，必须减小流体摩擦力矩。
在大连理工大学所申请的发明专利“一种胶囊机器人及其多楔形效应驱动控制方法”(专利授权号：ZL200910306805.8)中将“楔形效应”应用于圆柱形胶囊外廓形设计。使旋转胶囊在轴截面内与管壁之间构成多个楔形空间，多楔形效应可增大液体油膜动压力，减小了胶囊与管壁之间的流体粘性转矩，进而减小了对管壁的扭转作用。有鉴于此，拟申请专利的欠驱动球形胶囊也通过改变充满硅油的球体内腔廓形，增加钕铁硼磁环与球体内腔接触面形成流体油膜的动压力，避免与球体外壳直接接触，并减小对球形胶囊的流体粘性转矩作用，有效防止磁环带动胶囊转动(自转)而失稳。
据掌握的资料和立项查新显示，目前，国内外还没有采用空间万向旋转磁场同轴随动磁矩效应实现欠驱动胶囊在胃肠组织包裹下依然能够全方位扫描观察的相关资料报道，因此，本发明具有较为突出的原创性。
发明内容
为了提高主动胶囊在非结构复杂环境内的控制性能，本发明提供一种将径向磁化钕铁硼磁环以完全悬浮方式装入胶囊球体内的环形密封腔所构成的整球欠驱动胶囊结构，在空间万向旋转磁场同轴随动磁矩直接引导驱动下，通过胶囊轴线跟随磁场旋转轴同步翻转运动轨迹规划实现胶囊全方位定点调姿或者翻滚行走的磁场操控方法。
本发明的技术方案是：
一种全方位观察欠驱动胶囊机器人，包括欠驱动球体1和径向磁化钕铁硼磁环2，在空间万向旋转磁场作用下，实现欠驱动球体1在胃肠道内的万向定点调姿扫描观察和翻滚行走两种功能。
所述的欠驱动球体1包括整体外壳Ⅰ、摄像模块Ⅱ、无线传输模块Ⅲ以及供电电池11。供电电池11、摄像模块Ⅱ、无线传输模块Ⅲ集成于欠驱动球体1中，实现胶囊的供电、图像拍摄、照明以及图像传输功能。由于欠驱动球体1不能跟随空间万向旋转磁场绕胶囊机器人中心轴线自转，保证了胶囊机器人动态调姿的稳定性和良好的视觉观察效果。
所述整体外壳Ⅰ包括透明端盖3、上壳体4、密封圈5以及下壳体6。透明端盖3、上壳体4以及下壳体6相互嵌合，保证胶囊机器人整体形状为球形，且在欠驱动球体1内形成环形密封腔。
所述的环形密封腔的构成如下：上壳体4的中心设有一圆柱体，二者顶部通过连接端面固定为一体，圆柱体与上壳体4内壁之间的空隙构成环形槽；上壳体4的内壁作为外环形面，圆柱体的外壁作为内环形面，外环形面上带有多个圆柱形凸起，内环形面光滑，位于环形槽一侧的连接端面的表面上带有多个球形凸起，密封圈5嵌入上壳体4内部环形槽内，与连接端面相对的密封圈5的端面上带有多个球形凸起，共同构成环形密封腔的两个端面和内外环形面；环形密封腔内充满硅油，密封圈5的作用是为环形密封腔提供一个带多个球形凸起的内端面并防止硅油泄露。
所述的径向磁化钕铁硼磁环2套在上壳体4中心的圆柱体上，以非连接方式装入欠驱动球体1充满硅油的环形密封腔内，欠驱动球体1完全处于欠驱动姿态，欠驱动球体1对胃肠道等非结构环境的适应性好，也是实现全方位定点调姿功能的关键。胶囊机器人在空间万向旋转磁场内部工作时，径向磁化钕铁硼磁环2单独跟随旋转磁场绕胶囊机器人中心轴线空转并完全悬浮于欠驱动球体1充满硅油的环形密封腔内，胶囊欠驱动球体1处于静止状态。
所述的径向磁化钕铁硼磁环2的两个端面与欠驱动球体1的环形密封腔的两个带多个凸起的端面之间分别形成两个多楔形空间；所述的径向磁化钕铁硼磁环2的外环形面与欠驱动球体1的带多个凸起的外环形面之间形成一个多楔形空间，利用流体多楔形效应，增加了径向磁化钕铁硼磁环2转动时与环形密封腔之间流体油膜的动压力，并减小对欠驱动球体1的流体粘性转矩，并使径向磁化钕铁硼磁环2与环形密封腔同轴，避免了与整体外壳Ⅰ直接接触，有效防止径向磁化钕铁硼磁环2带动欠驱动球体1转动而使胶囊操作过程发生失稳。
所述摄像模块Ⅱ由摄像元件7与LED照明模块8组成，实现胶囊机器人的拍照、照明功能。上壳体4中心的圆柱体上设有凹槽，摄像元件7整体嵌入凹槽之中，LED照明模块8安装于摄像元件7上方并由圆柱体表面进行定位，透明端盖3位于摄像元件7正上方，摄像元件7对外部环境进行摄像。
所述无线传输模块Ⅲ由无线发射装置9与无线发射天线10组成，实现胶囊机器人图像传输功能。无线发射装置9嵌入下壳体6的凹槽内，其底部与供电电池11接触，无线发射天线10嵌入下壳体6周围环形凹槽内。
所述供电电池11对摄像元件7与LED照明模块8、无线发射装置9进行供电。供电电池11嵌于下壳体6的凹槽内。
所述的一种全方位观察欠驱动胶囊机器人实现万向定点扫描观察和翻滚行走两种功能的磁控操作过程是：在空间万向旋转磁场作用下，径向磁化钕铁硼磁环2在同轴随动磁矩驱动下，尽管欠驱动球体1不能绕胶囊机器人中心轴线自转，但欠驱动球体1中心轴线可以跟随磁场旋转轴同步翻转，因此，可以通过径向磁化钕铁硼磁环2带动欠驱动球体1轴线跟随磁场旋转轴同步翻转运动轨迹规划实现胶囊全方位定点调姿或者翻滚行走。通过万向磁场控制胶囊机器人轴线与垂直方向成一定夹角的锥面范围内依次扫描或者在与待测环境弯曲方向平行的竖直平面内作连续圆形翻转，便可分别实现胶囊机器人万向观察诊断和在待测环境(如胃肠道)内部约束下沿弯曲方向的转弯行走。
其中，全方位观察欠驱动胶囊机器人全方位扫描观察控制过程是：
步骤1：实现全方位欠驱动胶囊机器人方位的初始标定：施加旋转磁场的法向量与地面垂直向量n 0一致，基于同轴随动磁矩效应，胶囊机器人轴线n B最终与旋转磁场法向量保持一致；
步骤2：实现待测环境顶部观察诊断：控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角α的锥面范围内依次运动观察时，基于同轴随动磁矩效应，控制胶囊机器人轴线n B依次跟随磁场法向量方向进行扫描观察；其中，α的范围为0～90°；
步骤3：实现待测环境底部观察诊断：控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角-α的锥面范围内依次运动观察时，控制胶囊机器人轴线n B依次跟随磁场法向量方向进行扫描观察。
其中，全方位观察欠驱动胶囊机器人直线与转弯翻滚行走控制过程是：
步骤1：完成待测环境弯曲方向的视觉检测：控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角±α的锥面范围内依次进行扫描观察，直到基本对待准测环境弯曲方向，并通过视觉定位方法确定待测环境弯曲方向；其中，α的范围为0～90°；
步骤2：在直线待测环境内实现滚动行走：根据步骤1判定的待测环境弯曲方向即为胶囊机器人翻转滚动的行走方向，当直线待测环境滚动向量为n sa时，在地面垂直向量n 0和直 线滚动向量n sa构成的竖直平面V 1内连续改变旋转磁场法向量n f方位，即控制胶囊机器人轴线n B在垂直平面V 1内作连续圆形翻转，实现胶囊机器人在待测环境内部约束环境下沿直线翻滚行走功能；
步骤3：在弯曲待测环境内实现滚动行走：根据步骤1判定的待测环境弯曲方向即为胶囊机器人翻转滚动的行走方向，当弯曲待测环境弯曲向量为n sb时，在地面垂直向量n 0和弯曲滚动向量n sb构成的竖直平面V内连续改变旋转磁场法向量n f方位，进而控制胶囊机器人轴线n B在垂直平面V内作连续圆形翻转。
本发明的效果和益处是：
一种由空间万向旋转磁场操控的全方位观察欠驱动球形胶囊机器人，将径向磁化钕铁硼磁环以完全悬浮方式装入胶囊球体充满硅油的环形密封腔，胶囊整球采用欠驱动结构，径向磁化钕铁硼磁环单独跟随旋转磁场空转并完全悬浮于胶囊球体充满硅油的环形密封腔中心部位，通过改变充满硅油的环形密封腔周围端面和环形面廓形，利用流体多楔形效应，增加径向磁化钕铁硼磁环与环形密封腔之间流体油膜动压力，并减小对球形胶囊的流体粘性转矩，使径向磁化钕铁硼磁环独立空转并完全悬浮于胶囊环形密封腔中心部位，并使径向磁化钕铁硼磁环与环形密封腔同轴，有效防止带动胶囊球体转动而失稳，在空间万向旋转磁场同轴随动磁矩直接引导驱动下，通过胶囊轴线跟随磁场旋转轴同步翻转运动方式的控制实现胶囊全方位定点调姿或者翻滚行走。
本发明提高了胶囊在人体复杂环境内的扫描范围，实现了包括胶囊下部胃肠壁等各种待测环境的全方位观察，增强了复杂肠道环境适应性，胶囊在胃肠组织包裹下或者陷于胃肠道狭小下凹区域时，依然能实现全方位观察，弯曲肠道内容错和自适应翻滚行走能力好，胶囊定点调姿精度高，翻滚行走稳定，视觉观察效果好，应用前景良好。
附图说明
图1是空间万向旋转磁场“同轴随动磁矩效应”原理图。
图2是欠驱动球形胶囊机器人磁场驱动装置与控制系统示意图。
图3是本发明欠驱动球形胶囊机器人整体结构示意图。
图4是本发明中欠驱动球形胶囊机器人内部结构剖面图。
图5(a)是欠驱动胶囊内部环形密封腔安装构成示意图；
图5(b)是欠驱动胶囊环形密封腔剖面图。
图6是欠驱动胶囊机器人全方位扫描磁控操作原理图。
图7是欠驱动胶囊机器人翻滚行走与转弯磁控操作原理图。
图中：o-x 0y 0z 0为地面固定坐标系，o-xyz为万向磁场固定坐标系，位置1-径向磁化永磁体2的初始位姿，位置2-施加法向量方位n f的旋转磁场后，径向磁化永磁体2最终到达的目标位姿；
a-人机显示界面，b-控制手柄，c-无线图像接收器，d-磁场驱动器，e-被检查者，f-三轴正交嵌套亥姆霍兹线圈磁场叠加装置，g-全方位观察欠驱动球形胶囊机器人，h-病床；
Ⅰ-整体外壳，Ⅱ-摄像模块，Ⅲ-无线传输模块；
1-欠驱动球体，2-径向磁化钕铁硼磁环，3-透明端盖，4-上壳体，5-密封圈，6-下壳体，7-摄像元件，8-LED照明模块，9-无线发射装置，10-无线发射天线，11-供电电池。
具体实施方式
下面结合附图和技术方案详细说明本发明的具体实施方式。
结合图3-4、5(a)、5(b)，说明欠驱动胶囊机器人安装过程如下：
步骤1：将径向磁化钕铁硼磁环2放入上壳体4环形槽内，并在环形槽内充满硅油润滑油，再将密封圈5嵌入上壳体4环形槽内，并采用密封胶水粘合，构成环形密封腔，径向磁化钕铁硼磁环2与环形密封腔周围分别形成三个多楔形空间。
步骤2：将摄像元件7嵌入上壳体4凹槽之中，LED照明模块8安装于摄像元件7上方，其中心孔与摄像元件7上方凸起同轴，其供电导线从上壳体4中心矩形孔内穿过。
步骤3：将供电电池11嵌入下壳体6圆形凹槽内，无线发射装置9嵌入下壳体6矩形凹槽内，其底部与供电电池11接触，无线发射天线10嵌入下壳体6周围的环形缝隙内。
步骤4：将供电电池11电源线与摄像模块Ⅱ以及无线传输模块Ⅲ连接，将摄像模块Ⅱ信号线与无线传输模块Ⅲ信号线连接。最后，将透明端盖3、上壳体4与下壳体6相互嵌合，使得整个胶囊机器人密封，构成整个胶囊机器人外形，完成整个胶囊机器人的装配。
下面以胃肠作为待测环境，结合图2-7说明胶囊机器人对人体胃肠疾病的检测过程：
步骤1：被检查者e吞下全方位观察欠驱动球形胶囊机器人g，并躺在病床h上，调整病床h位置，保证被检查者e位于三轴正交嵌套亥姆霍兹线圈磁场叠加装置f中心区域。
步骤2：通过磁场驱动器d开启三轴正交嵌套亥姆霍兹线圈磁场叠加装置f，欠驱动球形胶囊机器人g在人体内运动，通过摄像模块Ⅱ对人体内胃肠道实时摄像，通过无线模块Ⅲ发射图像信号。
步骤3：由无线图像接收器c接收图像信号，并在人机显示界面a显示。
步骤4：检查者通过画面观察被检查者e体内胃肠道状况，并通过控制手柄b调节磁场方向，对正肠道弯曲方向，从而控制欠驱动球形胶囊机器人g移动到指定观察点，在指定观 察点调整胶囊调姿，实现全方位观察，重复上述过程，便可实现胶囊机器人在胃肠道内的遍历检查。
结合图2、3、6说明欠驱动胶囊机器人全方位扫描观察的控制过程：
步骤1：实现欠驱动胶囊机器人方位的初始标定：通过控制手柄b施加旋转磁场的法向量与地面垂直向量n 0一致，基于同轴随动磁矩效应，胶囊机器人轴线n B最终与旋转磁场法向量保持一致。
步骤2：实现对肠胃组织顶部观察诊断：通过控制手柄b控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角α(0～90°)的锥面范围内依次运动观察时，基于同轴随动磁矩效应，控制胶囊机器人轴线n B依次跟随磁场法向量方向n f1→n f2→n f3→n f4进行扫描观察，实现对肠胃组织顶部观察诊断，如图6所示。
步骤3：实现对胃肠组织底部观察诊断：通过控制手柄b控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角-α(0～-90°)的锥面范围内依次运动观察时，控制胶囊机器人轴线n B依次跟随磁场法向量方向n f5→n f6→n f7→n f8进行扫描观察，可实现对肠胃组织底部观察诊断，如图6所示。
结合图2、3、7分别说明欠驱动胶囊机器人直线与转弯翻滚行走的控制过程：
步骤1：完成胃肠道弯曲方向的视觉检测：通过控制手柄b控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角±α(0～±90°)的锥面范围内依次进行扫描观察，直到基本对准肠道弯曲方向，并通过视觉定位方法确定肠道弯曲方向。
步骤2：在直线胃肠道内实现滚动行走：根据步骤1判定的肠道弯曲方向即为胶囊机器人翻转滚动的行走方向，当直线肠道滚动向量为n sa时，在地面垂直向量n 0和直线滚动向量n sa构成的竖直平面V 1(o a-n 0n sa)内连续改变旋转磁场法向量n f方位n f1→n f2→n f3→n f4，即控制胶囊机器人轴线n B在垂直平面V 1内作连续圆形翻转，实现胶囊机器人在胃肠道内部约束环境下沿直线o an sa翻滚行走功能(P 0-P 1-P 2-P 3)。在此过程中，根据需要胶囊可随时停止滚动进行全方位定点观察。
步骤3：在弯曲胃肠道内实现滚动行走：根据步骤1判定的肠道弯曲方向即为胶囊机器人翻转滚动的行走方向，当肠道弯曲向量为n sb时，在地面垂直向量n 0和弯曲滚动向量n sb构成的竖直平面V(o b-n 0n sb)内连续改变旋转磁场法向量n f方位n f5→n f6→n f7→n f8，进 而控制胶囊机器人轴线n B在垂直平面V内作连续圆形翻转，由于欠驱动结构具有较好的非结构环境适应性，在弯曲肠道内翻滚行走时，如果滚动方向与肠道弯曲方向不同，欠驱动球体1与肠壁接触发生自适应滚动，避免发生滑转或滑移的功率寄生现象，在肠道作用力F N的助推下，实现了胶囊机器人转弯，提高了胶囊转弯顺应能力。可控制胶囊机器人顺利通过弯曲肠道。

Claims (4)

  1. 一种全方位观察欠驱动胶囊机器人，其特征在于，所述的全方位观察欠驱动胶囊机器人包括欠驱动球体(1)和径向磁化钕铁硼磁环(2)；
    所述的欠驱动球体(1)包括整体外壳(Ⅰ)、摄像模块(Ⅱ)、无线传输模块(Ⅲ)以及供电电池(11)；供电电池(11)、摄像模块(Ⅱ)、无线传输模块(Ⅲ)集成于欠驱动球体(1)中，实现胶囊的供电、图像拍摄、照明以及图像传输功能；
    所述整体外壳(Ⅰ)包括透明端盖(3)、上壳体(4)、密封圈(5)以及下壳体(6)；透明端盖(3)、上壳体(4)以及下壳体(6)相互嵌合，保证胶囊机器人整体形状为球形，且在欠驱动球体(1)内形成环形密封腔；
    所述的环形密封腔的构成如下：上壳体(4)的中心设有一圆柱体，二者顶部通过连接端面固定为一体，圆柱体与上壳体(4)内壁之间的空隙构成环形槽；上壳体(4)的内壁作为外环形面，圆柱体的外壁作为内环形面，外环形面上带有多个圆柱形凸起，内环形面光滑，位于环形槽一侧的连接端面的表面上带有多个球形凸起，密封圈(5)嵌入上壳体(4)内部环形槽内，与连接端面相对的密封圈(5)的端面上也带有多个球形凸起，共同构成环形密封腔的两个端面和内外环形面；环形密封腔内充满硅油；
    所述的径向磁化钕铁硼磁环(2)套在上壳体(4)中心的圆柱体上，以非连接方式装入欠驱动球体(1)充满硅油的环形密封腔内，欠驱动球体(1)完全处于欠驱动状态；胶囊机器人在空间万向旋转磁场内部工作时，径向磁化钕铁硼磁环(2)单独跟随旋转磁场绕胶囊机器人中心轴线空转并完全悬浮于欠驱动球体(1)充满硅油的环形密封腔内，欠驱动球体(1)处于静止状态；
    所述的径向磁化钕铁硼磁环(2)的两个端面与欠驱动球体(1)的环形密封腔的两个带多个凸起的端面之间分别形成两个多楔形空间，所述的径向磁化钕铁硼磁环(2)的外环形面与欠驱动球体(1)的带多个凸起的外环形面之间形成一个多楔形空间；
    所述摄像模块(Ⅱ)由摄像元件(7)与LED照明模块(8)组成，实现胶囊机器人的拍照、照明功能；上壳体(4)中心的圆柱体上设有凹槽，摄像元件(7)整体嵌入凹槽之中，LED照明模块(8)安装于摄像元件(7)上方并由圆柱体表面进行定位，透明端盖(3)位于摄像元件(7)正上方，摄像元件(7)对外部环境进行摄像；
    所述无线传输模块(Ⅲ)由无线发射装置(9)与无线发射天线(10)组成，实现胶囊机器人图像传输功能；无线发射装置(9)嵌入下壳体(6)的凹槽内，其底部与供电电池(11)接触，无线发射天线(10)嵌入下壳体(6)周围环形凹槽内；
    所述供电电池(11)对摄像元件(7)与LED照明模块(8)、无线发射装置(9)进行供电；供电电池(11)嵌于下壳体(6)的凹槽内。
  2. 一种全方位观察欠驱动胶囊机器人的轴线翻转磁控操作方法，采用权利要求1所述的全方 位观察欠驱动胶囊机器人，用于实现万向定点扫描观察和翻滚行走两种功能，其特征在于，磁控操作过程是：在空间万向旋转磁场作用下，径向磁化钕铁硼磁环(2)在同轴随动磁矩驱动下，尽管欠驱动球体(1)不能绕胶囊机器人中心轴线自转，但欠驱动球体(1)中心轴线可以跟随磁场旋转轴同步翻转，因此，通过径向磁化钕铁硼磁环(2)带动欠驱动球体(1)轴线跟随磁场旋转轴同步翻转运动轨迹规划实现胶囊全方位定点调姿或者翻滚行走；通过万向磁场控制胶囊轴线与垂直方向成一定夹角的锥面范围内依次扫描，实现胶囊机器人对待测环境内部的万向观察诊断；通过万向磁场控制胶囊机器人轴线在与待测环境弯曲方向平行的竖直平面内作连续圆形翻转，便可实现胶囊机器人在待测环境内部约束下沿弯曲方向的转弯行走。
  3. 根据权利要求2所述的一种全方位观察欠驱动胶囊机器人的轴线翻转磁控操作方法，其特征在于，全方位观察欠驱动胶囊机器人全方位扫描观察控制过程是：
    步骤1：实现全方位欠驱动胶囊机器人方位的初始标定：施加旋转磁场的法向量与地面垂直向量n 0一致，基于同轴随动磁矩效应，胶囊机器人轴线n B最终与旋转磁场法向量保持一致；
    步骤2：实现待测环境顶部观察诊断：控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角α的锥面范围内依次运动观察时，基于同轴随动磁矩效应，控制胶囊机器人轴线n B依次跟随磁场法向量方向进行扫描观察；其中，α的范围为0～90°；
    步骤3：实现待测环境底部观察诊断：控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角-α的锥面范围内依次运动观察时，控制胶囊机器人轴线n B依次跟随磁场法向量方向进行扫描观察。
  4. 根据权利要求2所述的一种全方位观察欠驱动胶囊机器人的轴线翻转磁控操作方法，其特征在于，全方位观察欠驱动胶囊机器人直线与转弯翻滚行走控制过程是：
    步骤1：完成待测环境弯曲方向的视觉检测：控制胶囊机器人轴线n B轨迹与地面垂直向量n 0成一定夹角±α的锥面范围内依次进行扫描观察，直到基本对待准测环境弯曲方向，并通过视觉定位方法确定待测环境弯曲方向；其中，α的范围为0～90°；
    步骤2：在直线待测环境内实现滚动行走：根据步骤1判定的待测环境弯曲方向即为胶囊机器人翻转滚动的行走方向，当直线待测环境滚动向量为n sa时，在地面垂直向量n 0和直线滚动向量n sa构成的竖直平面V 1内连续改变旋转磁场法向量n f方位，即控制胶囊机器人轴线n B在垂直平面V 1内作连续圆形翻转，实现胶囊机器人在待测环境内部约束下沿直线翻滚行 走功能；
    步骤3：在弯曲待测环境内实现滚动行走：根据步骤1判定的待测环境弯曲方向即为胶囊机器人翻转滚动的行走方向，当弯曲待测环境弯曲向量为n sb时，在地面垂直向量n 0和弯曲滚动向量n sb构成的竖直平面V内连续改变旋转磁场法向量n f方位，进而控制胶囊机器人轴线n B在垂直平面V内作连续圆形翻转。
PCT/CN2022/121215 2022-09-06 2022-09-26 全方位观察欠驱动胶囊机器人及其轴线翻转磁控操作方法 WO2024050882A1 (zh)

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