技术领域technical field
本发明属于自动化工程技术领域，涉及一种主、被动双半球结构胶囊机器人借助空间万向旋转磁矢量驱动在胃肠道内姿态任意调整和在沿弯曲肠道滚动行走的基本控制方法，前者是借助施加胃肠道接触面上方的旋转磁矢量驱动主动半球体相对被动半球体空转状态下与相应方位角旋转磁矢量的随动效应实现机器人在胃肠道内的姿态任意调整；后者是参考胶囊机器人前端摄像头无线传出图像分别调整旋转磁矢量方位角使机器人轴线与各段肠道弯曲方向基本一致，并在水平面内分别施加与肠道各段弯曲方向垂直的滚动旋转磁矢量驱动轴线处于水平面内并与肠道接触的主动半球体带动机器人分别沿肠道各段弯曲方向滚动行走。The invention belongs to the technical field of automation engineering, and relates to a basic control method for a capsule robot with an active and passive double hemisphere structure to adjust the posture in the gastrointestinal tract arbitrarily and to roll and walk along the curved intestinal tract by means of a space universal rotating magnetic vector drive. Applying the rotating magnetic vector above the gastrointestinal contact surface to drive the active hemisphere relative to the passive hemisphere in the idling state and the follow-up effect of the corresponding azimuth rotating magnetic vector can realize the arbitrary adjustment of the robot's attitude in the gastrointestinal tract; the latter is a reference capsule robot The front-end camera wirelessly transmits the image to adjust the azimuth of the rotating magnetic vector to make the axis of the robot basically consistent with the bending direction of each section of the intestinal tract, and respectively apply a rolling rotating magnetic vector perpendicular to the bending direction of each section of the intestinal tract in the horizontal plane. The driving axis is in the horizontal plane The active hemisphere in contact with the intestinal tract drives the robot to roll and walk along the bending directions of each section of the intestinal tract.
背景技术Background technique
依靠肠道蠕动被动行走的胶囊内窥镜已经临床应用，由于姿态与运动不可控，依然存在视觉检测盲区，一般胶囊内窥镜的漏检率在百分之二十左右，因此，胶囊内窥镜姿态与行走的主动控制非常重要，并极具挑战性。由于磁控胶囊机器人可靠性好、安全性高，磁场非接触控制已经成为国内外研究热点。Capsule endoscopes that rely on intestinal peristalsis to walk passively have been used clinically. Due to the uncontrollable posture and movement, there are still visual detection blind spots. Generally, the missed detection rate of capsule endoscopes is about 20%. Therefore, capsule endoscopes Active control of mirror pose and walking is very important and challenging. Due to the high reliability and high safety of magnetically controlled capsule robots, non-contact control of magnetic fields has become a research hotspot at home and abroad.
美国Sehyuk Yim等人采用一块外部大型永磁体产生磁场驱动体内一种软胶囊内窥镜来实现胃部诊疗。胶囊内窥镜头部和尾部分别安装两块永磁体，外壳软弹性体可避免损伤肠道，外磁场作用下增加一个轴向伸缩自由度用以释放和注射药物，并在外部永磁体旋转磁场的驱动下实现机器人在胃肠表面的滚动。缺点是永磁体磁场存在梯度，若采用外部永磁体驱动机器人到达指定位置，必须维持内、外永磁体间距离恒定，由于胶囊机器人在肠道中的精确位置无法实时监测，因此无法精确控制外部永磁体的磁力，机器人位置控制不精确，运动不连续、稳定性差，可能出现磁力过大现象，甚至出现磁力冲击而损伤胃肠组织的危险，采用外部永磁体改变磁场方向操作复杂、灵活性差，机器人在胃肠道内姿态调整与转弯滚动行走控制不灵便。Sehyuk Yim and others in the United States used a large external permanent magnet to generate a magnetic field to drive a soft capsule endoscope in the body to achieve gastric diagnosis and treatment. Two permanent magnets are installed at the head and tail of the capsule endoscope respectively. The soft elastic body of the shell can avoid damage to the intestinal tract. Under the action of an external magnetic field, an axial telescopic degree of freedom is added to release and inject drugs, and the magnetic field of the external permanent magnet rotates Driven to realize the rolling of the robot on the surface of the gastrointestinal tract. The disadvantage is that there is a gradient in the magnetic field of the permanent magnet. If an external permanent magnet is used to drive the robot to the designated position, the distance between the inner and outer permanent magnets must be kept constant. Since the precise position of the capsule robot in the intestinal tract cannot be monitored in real time, it is impossible to accurately control the external permanent magnet. The magnetic force, the position control of the robot is inaccurate, the movement is discontinuous, and the stability is poor. The phenomenon of excessive magnetic force may occur, and even the danger of damage to the gastrointestinal tissue due to magnetic shock. Using an external permanent magnet to change the direction of the magnetic field is complicated and has poor flexibility. Posture adjustment in the gastrointestinal tract and control of turning, rolling, and walking are inconvenient.
意大利比萨大学Federico Carpi等人提出采用美国St.Louis公司研制的一种磁导航系统来定位胶囊机器人在体内的位置，即采用两个大型磁体分别放在胶囊内窥镜的两侧产生均匀的静态磁场，胶囊机器人由以色列M2A胶囊内窥镜表面覆盖两片磁性外壳构成，安装在病床两侧的两块大型同轴永磁体可在区域内控制产生最大强度为0.08T的均匀磁场。透视扫描仪对人体模型的测试结果表明磁导航定位系统可实现胶囊内窥镜在三维空间内的方位控制。但采用该均匀磁场驱动胶囊机器人无法精确控制磁感应强度，因而无法控制机器人的旋转磁力矩；可以实现机器人的定位，由于磁场空间转向操作不便，不能实现机器人的移动行走。Federico Carpi of the University of Pisa in Italy and others proposed to use a magnetic navigation system developed by the St.Louis Company of the United States to locate the position of the capsule robot in the body, that is, two large magnets are placed on both sides of the capsule endoscope to generate a uniform static state. Magnetic field, the capsule robot is composed of two magnetic shells covered on the surface of the Israeli M2A capsule endoscope. Two large coaxial permanent magnets installed on both sides of the hospital bed can control and generate a uniform magnetic field with a maximum strength of 0.08T in the area. The test results of the perspective scanner on the human body model show that the magnetic navigation positioning system can realize the orientation control of the capsule endoscope in three-dimensional space. However, using the uniform magnetic field to drive the capsule robot cannot accurately control the magnetic induction intensity, so the rotational magnetic moment of the robot cannot be controlled; the positioning of the robot can be realized, but the movement and walking of the robot cannot be realized due to the inconvenient operation of the magnetic field space steering.
本课题组研究结果表明大型单块转动磁铁的旋转磁场为大梯度静态磁场，梯度磁场与胶囊机器人内嵌径向磁化钕铁硼磁铁的磁耦合过程中，内嵌径向磁化钕铁硼的姿态具有非稳定性和非唯一性，即采用转动磁铁进行调姿的方法不能准确控制内嵌径向磁化钕铁硼胶囊机器人的姿态，不能实现肠道内部的全景观察；梯度磁场与胶囊机器人内嵌轴向磁化钕铁硼磁铁的磁耦合过程中，机器人姿态具有唯一性，但磁力难以控制，磁铁会将胶囊机器人拉到紧贴肠壁状态而使通过旋转磁铁调姿发生困难。机器人在肠道内姿态调整与滚动转弯行走控制稳定性差，磁铁距离的较大变化会引起磁力冲击肠壁的危险。理论分析与试验表明采用体外磁铁的静态梯度磁场控制内嵌钕铁硼胶囊机器人姿态与运动控制的方法可操作性差、局限性大。The research results of our research group show that the rotating magnetic field of a large single rotating magnet is a large gradient static magnetic field. It has instability and non-uniqueness, that is, the method of attitude adjustment using rotating magnets cannot accurately control the attitude of the embedded radial magnetized NdFeB capsule robot, and cannot realize the panoramic observation of the interior of the intestine; the gradient magnetic field and the embedded capsule robot During the magnetic coupling process of axially magnetized NdFeB magnets, the posture of the robot is unique, but the magnetic force is difficult to control. The magnet will pull the capsule robot close to the intestinal wall, making it difficult to adjust the posture by rotating the magnet. The stability of the robot's attitude adjustment and rolling turning walking control in the intestinal tract is poor, and a large change in the distance between the magnets will cause the danger of the magnetic force impacting the intestinal wall. Theoretical analysis and experiments show that the method of using the static gradient magnetic field of the external magnet to control the attitude and motion control of the embedded NdFeB capsule robot has poor operability and large limitations.
为了实现胶囊机器人在弯曲肠道中自由行走，减少对人体肠道的损伤，本课题组在已获得的国家发明专利“体内医疗微型机器人万向旋转磁场驱动控制方法”中(专利授权号：ZL 200810011110.2)，提出了旋转轴线可调的空间万向均匀旋转磁场驱动控制方法。In order to realize the capsule robot walking freely in the curved intestine and reduce the damage to the human intestine, the research group has obtained the national invention patent "In vivo medical micro-robot universal rotating magnetic field drive control method" (patent authorization number: ZL 200810011110.2 ), a drive control method for spatially universal rotating magnetic field with adjustable rotation axis was proposed.
在已获得的国家发明专利“空间万向叠加旋转磁场旋转轴线方位与旋向的控制方法”中(专利授权号：ZL 201210039753.4)，通过以空间某一固定轴线方位角为输入变量的相关幅值和相位的同频率三相正弦电流信号的各种反相位电流的组合驱动方式与三轴正交嵌套亥姆霍兹线圈装置内叠加的空间万向均匀旋转磁场的旋转轴方位和旋向的变化规律为基础，实现了空间万向旋转磁场旋转轴线方位与旋向在空间坐标系各个象限内的唯一性控制，为实现机器人姿态的调整与定向驱动行走奠定了基础。In the obtained national invention patent "Control Method of Rotation Axis Axis and Rotation Direction Superimposed by Universal Rotating Magnetic Field in Space" (patent authorization number: ZL 201210039753.4), through the relative amplitude of a certain fixed axis azimuth in space as the input variable Combination driving mode of various anti-phase currents of the same frequency three-phase sinusoidal current signal and three-axis orthogonal nested Helmholtz coil device The rotation axis orientation and direction of the spatially uniform rotating magnetic field superimposed in the three-axis orthogonal nested Helmholtz coil device Based on the change law of the space universal rotating magnetic field, the unique control of the orientation and direction of the rotation axis of the space universal rotating magnetic field in each quadrant of the space coordinate system is realized, which lays the foundation for the realization of the robot's attitude adjustment and directional drive walking.
研究发现均匀空间万向旋转磁场与静态梯度磁场截然不同，它是利用内嵌径向磁化钕铁硼磁铁胶囊机器人轴线与空间万向旋转磁场旋转轴线的随动效应实现机器人姿态控制，胶囊机器人相当于旋转的磁陀螺，稳定性好。随动效应是一种动态磁效应，处于旋转磁场中机器人的姿态具有唯一性，因此，空间万向旋转磁场可以克服静态旋转磁场的缺陷，准确控制胶囊机器人在胃肠道内的姿态调整，使胃肠道内的全景观察成为可能。The study found that the uniform spatial universal rotating magnetic field is completely different from the static gradient magnetic field. It uses the follow-up effect of the embedded radial magnetized NdFeB magnet capsule robot axis and the spatial universal rotating magnetic field rotation axis to achieve robot attitude control. The capsule robot is equivalent to It is more stable than the rotating magnetic gyroscope. The follow-up effect is a dynamic magnetic effect, and the attitude of the robot in the rotating magnetic field is unique. Therefore, the spatial universal rotating magnetic field can overcome the defects of the static rotating magnetic field, and accurately control the attitude adjustment of the capsule robot in the gastrointestinal tract, making the stomach Panoramic observation of the intestinal tract becomes possible.
课题组对螺旋胶囊机器人进行了多年的研究，胶囊机器人驱动时在机器人表明形成一层流体动压膜，属于非接触驱动，提高了体内驱动安全性，试验表明通过万向旋转磁场可以控制机器人在弯曲肠道内实现前进、后退与转弯。但螺旋胶囊机器人对肠道内流体条件要求高，患者喝下过多液体会改变肠道体液生理条件，当肠道内流体少而不具备流体动压膜驱动条件时，或者当肠道空间小并存在皱褶时，机器人的螺旋肋存在扭曲肠道的风险，易引起患者不适。试验表明长圆柱体胶囊机器人或者受皱褶肠道约束，或者因磁场取消而姿态失稳，姿态调整比较困难，胃肠内全景观察难以实现。可见，螺旋圆柱体胶囊机器人调姿与转弯行走控制存在局限性。The research group has conducted research on the spiral capsule robot for many years. When the capsule robot is driven, a layer of hydrodynamic pressure film is formed on the robot surface, which belongs to non-contact drive and improves the safety of driving in the body. The test shows that the robot can be controlled by the universal rotating magnetic field. Forward, backward, and turns are achieved by bending the gut. However, the spiral capsule robot has high requirements on the fluid conditions in the intestinal tract. If the patient drinks too much liquid, the physiological conditions of the intestinal fluid will be changed. When crumpled, the robot's helical ribs risk distorting the bowel, causing discomfort to the patient. Experiments have shown that the long cylindrical capsule robot is either constrained by the wrinkled intestine, or its posture is unstable due to the cancellation of the magnetic field. It is difficult to adjust the posture, and it is difficult to realize the panoramic observation of the gastrointestinal tract. It can be seen that there are limitations in attitude adjustment and turning walking control of the helical cylinder capsule robot.
球形结构比圆柱形状在胃肠非结构环境内姿态调整与转弯时的灵活性与万向性好。为了实现姿态调整与转弯控制，我们对内嵌径向磁化钕铁硼磁体的球形胶囊机器人进行了大量实验研究，尽管空间万向旋转磁场技术已经取得突破，机器人轴线与空间万向旋转磁场的随动效应可实现姿态的唯一性控制，但调整姿态时胶囊机器人会在胃肠道内随机滚动而姿态失稳并错过待检区域，受肠道非结构环境影响，球形机器人滚动行走的方向也难于控制。Compared with the cylindrical shape, the spherical structure has better flexibility and universality in attitude adjustment and turning in the unstructured environment of the gastrointestinal tract. In order to achieve attitude adjustment and turning control, we have conducted a lot of experimental research on spherical capsule robots embedded with radially magnetized NdFeB magnets. The dynamic effect can realize the unique control of the attitude, but when the attitude is adjusted, the capsule robot will roll randomly in the gastrointestinal tract, causing the attitude to be unstable and miss the area to be inspected. Due to the influence of the non-structural environment of the intestinal tract, the rolling direction of the spherical robot is also difficult to control. .
为了避免调姿时球形机器人在胃肠道内滚动并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随动效应调姿的稳定性与唯一性特征，本发明提出一种主、被动双半球形胶囊机器人，外形结构由主动半球体和被动半球体拼合组成，主动半球壳和内嵌径向磁化钕铁硼磁体的内窥镜固结成主动半球体，主动半球体与被动半球体间由轴承悬浮连接，空间万向旋转磁矢量与内嵌径向磁化钕铁硼磁体的耦合磁力矩驱动主动半球体，被动半球体在配重作用下始终处于下方，处于欠驱动状态，与胃肠道接触的摩擦力约束下的被动半球体处于静止状态，可防止机器人调姿时发生滚动，主动半球处于上方不与胃肠道接触或者与胃肠道接触区域较小，主动半球体相对位于下面静止的被动半球体空转，调整姿态时在胃肠道接触面上方施加旋转磁矢量，随动效应使机器人轴线一直追随相应方位角旋转磁场的轴线实现胃肠道内的姿态任意调整与全景观察。In order to prevent the spherical robot from rolling in the gastrointestinal tract during attitude adjustment and ensure that the axis of the robot moves synchronously with the rotating magnetic field in situ, combined with the flexibility and universality of the spherical structure in attitude adjustment and turning, it is adjusted according to the follow-up effect of the universal rotating magnetic field in space. The stability and uniqueness of posture, the present invention proposes an active and passive double hemispherical capsule robot, the shape structure is composed of active hemisphere and passive hemisphere, the active hemispherical shell and the embedded radial magnetization NdFeB magnet The endoscope is consolidated into an active hemisphere, and the active hemisphere and the passive hemisphere are suspended and connected by bearings. The space universal rotating magnetic vector and the coupling magnetic torque of the embedded radially magnetized NdFeB magnet drive the active hemisphere, and the passive hemisphere Under the action of the counterweight, the body is always at the bottom and is in an underactuated state. The passive hemisphere is in a static state under the frictional force in contact with the gastrointestinal tract, which can prevent the robot from rolling when adjusting its posture. The active hemisphere is at the top and does not contact the gastrointestinal tract. The area in contact with the gastrointestinal tract or the contact area with the gastrointestinal tract is small. The active hemisphere is idling relative to the static passive hemisphere below. When adjusting the attitude, a rotating magnetic vector is applied above the gastrointestinal contact surface. The follow-up effect makes the axis of the robot follow the corresponding orientation all the time. The axis of the angular rotating magnetic field realizes arbitrary adjustment of posture and panoramic observation in the gastrointestinal tract.
欠驱动系统是指系统独立控制变量个数小于系统自由度个数的系统，在旋转磁场随动效应作用下，机器人轴线一直追随相应方位角空间万向旋转磁场的轴线，在旋转磁场随动效应作用下的胶囊机器人具有定轴性，显然忽略机器人摆动与肠道相对滑动的主动半球体只有一个定向的旋转自由度，如果增加了被动半球体，即又增加了一个欠驱动自由度，具有欠驱动半球形结构的双半球形机器人在节约能量、降低控制难度、提高容错性、增强系统灵活度等方面都较完全驱动系统优越，改善了对非结构肠道环境的自适应调整与驱动能力。An underactuated system refers to a system in which the number of independent control variables of the system is less than the number of degrees of freedom of the system. Under the action of the rotating magnetic field follow-up effect, the axis of the robot always follows the axis of the universal rotating magnetic field in the corresponding azimuth space. The capsule robot under the action has fixed axis. Obviously, the active hemisphere that ignores the robot’s swing and the relative sliding of the intestinal tract has only one directional rotational degree of freedom. The dual-hemispherical robot with a driving hemispherical structure is superior to the fully driven system in terms of energy saving, reduced control difficulty, improved fault tolerance, and enhanced system flexibility, and improves the adaptive adjustment and driving capabilities of the unstructured intestinal environment.
基于影像的复杂肠道三维重构还不能实现，实现胶囊机器人在肠道内转弯滚动必须借助前端无线视觉图像分别分段调整空间万向旋转磁矢量方位角使机器人轴线与每段肠道弯曲方向基本一致，并在每段肠道的水平面内分别施加与肠道各段弯曲方向基本垂直的旋转磁矢量，随动效应使机器人轴线处于水平位置，主被动双半球体均与肠道接触，主动半球体在旋转磁场作用下与肠道产生滚动驱动力，欠驱动半球体作为被动轮滚动，实现了机器人沿该段弯曲方向滚动有限距离。重复上述过程，便实现弯曲肠道内基于调姿的全景观察与转弯滚动行走。球形机器人对驱动环境要求低，胃肠道内有无液体均可，也不需要肠道内充满液体，肠道内大黏度液体不影响机器人驱动，实验表明球形机器人在附着少量油膜肠道内依然具有楔形效应，形成一种动压油膜，实现了机器人与肠道的非接触驱动，既增加了驱动安全性又增加了滚动力矩。Image-based 3D reconstruction of the complex intestinal tract cannot be realized. To realize the turning and rolling of the capsule robot in the intestinal tract, the front-end wireless vision images must be used to adjust the azimuth of the space universal rotation magnetic vector in segments so that the axis of the robot is basically the same as the bending direction of each intestinal tract. Consistent, and in the horizontal plane of each intestinal tract, apply a rotating magnetic vector that is basically perpendicular to the bending direction of each intestinal section. The follow-up effect makes the axis of the robot in a horizontal position. Both active and passive hemispheres are in contact with the intestinal tract. Under the action of the rotating magnetic field, the body generates a rolling driving force with the intestinal tract, and the underactuated hemisphere rolls as a passive wheel, realizing the limited distance of the robot rolling along the bending direction of this section. By repeating the above process, the panoramic observation based on posture adjustment and turning and rolling walking in the curved intestine can be realized. Spherical robots have low requirements on the driving environment. There is no need for liquid in the gastrointestinal tract, and there is no need for the intestinal tract to be filled with liquid. The high-viscosity liquid in the intestinal tract does not affect the driving of the robot. Experiments show that the spherical robot still has a wedge effect in the intestinal tract with a small amount of oil film. A dynamic pressure oil film is formed to realize the non-contact drive between the robot and the intestinal tract, which not only increases the driving safety but also increases the rolling moment.
主被动双半球形胶囊机器人调姿稳定性好，转弯滚动能力强，并能克服皱褶肠道阻力与旋转磁场随动调姿，有望使胃肠内的诊疗变成现实。The active and passive dual hemispherical capsule robot has good posture adjustment stability, strong turning and rolling ability, and can overcome the resistance of folded intestinal tract and follow the rotating magnetic field to adjust posture, which is expected to make the diagnosis and treatment of gastrointestinal tract a reality.
发明内容Contents of the invention
本发明要解决的技术问题是：提供一种结构上由主、被动两个半球体构成的双半球形胶囊机器人，通过分别施加在胃肠道接触面上方的旋转磁矢量和在水平面内并与肠道弯曲方向垂直的旋转磁矢量的驱动控制方法，解决既要确保机器人调姿时不发生滚动而错过观察区域又要保证主动半球体轴线随动到水平面并与肠道接触实现机器人主动滚动行走之间的矛盾；借助胶囊机器人前端摄像头无线传出图像调整机器人轴线与肠道弯曲方向基本一致，并在水平面内施加与肠道弯曲方向垂直的滚动旋转磁矢量的控制方法避开影像技术不能实现重叠肠道三维重构的技术难题，实现机器人在肠道内转弯。The technical problem to be solved by the present invention is to provide a double hemispherical capsule robot structurally composed of active and passive two hemispheres, through the rotating magnetic vector applied above the gastrointestinal tract contact surface and in the horizontal plane and with the The driving control method of the rotating magnetic vector perpendicular to the bending direction of the intestinal tract solves the problem of not only ensuring that the robot does not roll and miss the observation area when adjusting the posture, but also ensuring that the axis of the active hemisphere moves to the horizontal plane and contacts the intestinal tract to realize the robot’s active rolling and walking The contradiction between them; the control method of adjusting the axis of the robot to the bending direction of the intestinal tract by wirelessly transmitting images from the front-end camera of the capsule robot, and applying a rolling and rotating magnetic vector perpendicular to the bending direction of the intestinal tract in the horizontal plane avoids the impossibility of imaging technology The technical problem of overlapping three-dimensional reconstruction of the intestinal tract to realize the turning of the robot in the intestinal tract.
本发明的技术方案是：Technical scheme of the present invention is:
一种主被动双半球形胶囊机器人，包括主动半球体和被动半球体两部分组成，将径向磁化的钕铁硼圆环内驱动器嵌入摄像头后端固定为一体，然后一并嵌入主动半球壳，即构成主动半球体，将被动半球壳与轴承定位套筒固结即构成被动半球体，主、被动半球体由两个轴承悬浮连接，轴承外端安装圆螺母以实现轴承轴向定位，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内驱动器的耦合磁力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。An active and passive dual-hemispherical capsule robot, which consists of two parts, the active hemisphere and the passive hemisphere. The radially magnetized NdFeB ring driver is embedded in the rear end of the camera and fixed as a whole, and then embedded in the active hemispherical shell. That is, the active hemisphere is formed, and the passive hemisphere is formed by consolidating the passive hemisphere shell and the bearing positioning sleeve. The active and passive hemispheres are suspended and connected by two bearings, and a round nut is installed on the outer end of the bearing to realize the axial positioning of the bearing. The coupled magnetic torque of the rotating magnetic field and the driver embedded in the radially magnetized NdFeB ring in the active hemisphere drives the active hemisphere to idle relative to the passive hemisphere, and the passive hemisphere is in an underdriven state. The underdriven hemisphere structure enhances the dual hemisphere The stability of the attitude adjustment of the shaped capsule robot and the adaptive ability to the unstructured environment.
实现胶囊机器人姿态万向调整：被动半球体在配重作用下像不倒翁一样始终处于下面，主动半球体始终处于上面，被动半球体在接触肠道约束下处于静止状态，保证了机器人初始轴线姿态垂直向上，为机器人姿态调整提供了便利条件，还能支撑主动半球体不与肠道内壁接触或者接触面积很小，由于姿态调整所施加的是位于胃肠道接触面上方的旋转磁矢量，可防止机器人在调姿时发生滚动而错过观察区域，调姿稳定性好，外旋转磁场的耦合磁力矩驱动主动半球体相对被动半球体空转，主动半球体轴线(即机器人轴线)在随动效应作用下能克服皱褶肠道的阻力矩与相应方位角旋转磁场轴线随动，进而实现机器人在胃肠道内姿态的任意调整，通过数字化控制可知旋转磁矢量轴线，便知道了机器人姿态，由于被动半球体在配重作用下处于下面，旋转磁场停止后机器人静止不动，保证了调整后的姿态不变，通过摄像头传出的无线图像可进行诊断观察，由于机器人摄像头的视角为150度，因此，控制空间万向磁场在重力垂线45度半锥角范围内，均匀分布四个观察方位，便可实现胃肠道内的全景观察。当被动半球体较大时，有利于姿态调整，观察角度范围更大。Realize the universal adjustment of the attitude of the capsule robot: under the action of the counterweight, the passive hemisphere is always on the bottom like a tumbler, the active hemisphere is always on the top, and the passive hemisphere is in a static state under the constraint of touching the intestinal tract, ensuring that the robot’s initial axis posture is vertical Upward, it provides convenient conditions for the robot’s attitude adjustment, and it can also support the active hemisphere not to contact the inner wall of the intestinal tract or the contact area is very small. Since the attitude adjustment is applied by the rotating magnetic vector above the gastrointestinal tract contact surface, it can prevent The robot rolls during attitude adjustment and misses the observation area, and the attitude adjustment stability is good. The coupling magnetic moment of the external rotating magnetic field drives the active hemisphere to idle relative to the passive hemisphere, and the axis of the active hemisphere (that is, the axis of the robot) is under the action of the follow-up effect It can overcome the resistance moment of the folded intestinal tract and follow the axis of the corresponding azimuth rotating magnetic field, and then realize the arbitrary adjustment of the robot's posture in the gastrointestinal tract. Through digital control, the axis of the rotating magnetic vector can be known, and the robot's posture can be known. Due to the passive hemisphere Under the action of the counterweight, the robot remains still after the rotating magnetic field stops, ensuring that the adjusted posture remains unchanged. The wireless image transmitted by the camera can be used for diagnostic observation. Since the viewing angle of the robot camera is 150 degrees, the control The space universal magnetic field is within the 45-degree semi-cone angle range of the vertical line of gravity, and the four observation directions are evenly distributed, so that the panoramic observation of the gastrointestinal tract can be realized. When the passive hemisphere is larger, it is beneficial to attitude adjustment, and the viewing angle range is larger.
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无线传输图像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，在随动效应作用下，机器人轴线跟随到水平旋转磁矢量方向(如果旋转磁场的转速较小时，随动力矩不足以改变机器人垂直轴线，被动半球体在重力作用下处于下方，于是机器人轴线会绕旋转磁场轴线翻滚前进)，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。以此类推，借助胶囊机器人前端无线视觉分段调整旋转磁场方位角使机器人轴线与各段肠道弯曲方向基本一致，并在水平面内分别施加与各段肠道弯曲方向垂直的旋转磁场，便实现了胶囊机器人在弯曲肠道内的行走。Realize the rolling of the capsule robot along the direction of intestinal curvature: adjust the azimuth of the space universal rotation magnetic vector with the aid of wireless transmission of images from the front end of the capsule robot so that the axis of the robot is basically consistent with the direction of intestinal curvature, and apply a rotation perpendicular to the direction of intestinal curvature in the horizontal plane Magnetic vector, under the action of the follow-up effect, the axis of the robot follows the direction of the magnetic vector of horizontal rotation (if the rotational speed of the rotating magnetic field is small, the follow-up moment is not enough to change the vertical axis of the robot, and the passive hemisphere is below the action of gravity, so the robot The axis will roll around the axis of the rotating magnetic field), the active hemisphere and the passive hemisphere are in contact with the lower intestinal wall, the coupling magnetic moment drives the active hemisphere to contact the lower intestinal wall to roll actively, and the underactuated hemisphere is passive to the lower intestinal wall Roll to make the dual hemispherical capsule robot roll along a certain curved direction for a limited distance in the intestinal tract. By analogy, the azimuth of the rotating magnetic field is adjusted in sections with the help of the front-end wireless vision of the capsule robot so that the axis of the robot is basically consistent with the bending direction of each segment of the intestinal tract, and a rotating magnetic field perpendicular to the bending direction of each segment of the intestinal tract is applied in the horizontal plane to achieve Walking of a capsule robot in a curved intestine.
即使水平面内所施加滚动旋转磁矢量与肠道弯曲方向垂直度误差很大，只要主动半球体与肠道下侧壁接触，机器人依然可连滚带滑前行，但误差越大前行速度越低，球形机器人对旋转磁场方位容错性好，使肠道非结构化环境内滚动行走的可操作性变得简单。Even if the applied rolling rotation magnetic vector in the horizontal plane has a large error in perpendicularity to the direction of intestinal curvature, as long as the active hemisphere is in contact with the lower side wall of the intestinal tract, the robot can still roll and slide forward, but the greater the error, the faster the forward speed. The low, spherical robot has good tolerance to the orientation of the rotating magnetic field, making the maneuverability of rolling walking in the unstructured environment of the intestine simple.
主动半球体与被动半球体的大小影响调姿与滚动性能。当主动半球体较大时，有利于滚动行走，观察角度范围减小；反之，滚动能力降低，观察角度范围变大。当主动半球体增大到整个球体表面时，便成为完全驱动球形机器人系统，该系统只能滚动，不能实现姿态调整；当被动半球体增大到整个球表面时，主动半球体演变为内部转动体，只能实现姿态调整，不能实现滚动。同时满足调姿稳定性与滚动性能的解决途径是使主动半球体少于一半，适当增加主动半球壳表面材料的摩擦系数，如采用乳胶表面等。The size of the active hemisphere and the passive hemisphere affect the attitude adjustment and rolling performance. When the active hemisphere is larger, it is beneficial to roll and walk, and the viewing angle range is reduced; otherwise, the rolling ability is reduced, and the viewing angle range is enlarged. When the active hemisphere is enlarged to the entire surface of the sphere, it becomes a fully driven spherical robot system, which can only roll and cannot achieve attitude adjustment; when the passive hemisphere is enlarged to the entire spherical surface, the active hemisphere evolves into an internal rotation body, only attitude adjustment can be realized, and rolling cannot be realized. The solution to simultaneously satisfy the attitude adjustment stability and rolling performance is to make the active hemispherical body less than half, and appropriately increase the friction coefficient of the surface material of the active hemispherical shell, such as using latex surface.
本发明通过分别施加在胃肠道接触面上方的旋转磁矢量和水平面与肠道弯曲方向垂直的旋转磁矢量的控制方法既确保了机器人调整姿态时不发生滚动而错过某些观察区域，也保证了主动半球体轴线随动到水平面并与肠道接触实现机器人主动滚动行走这一难题，姿态调整稳定性好，可以实现胃肠道内全景观察，减少漏检率。双半球形机器人对旋转磁场方位的容错性好，主动转弯驱动安全、可靠，对肠道环境流体条件要求不高，球形机器人即使在少量或者充满大黏度液体内均可产生楔形效应，形成流体动压膜，实现肠道内非接触驱动，既安全又有益于机器人滚动力矩的增加。借助胶囊机器人前端摄像头无线传出图像调整机器人轴线与肠道弯曲方向基本一致，并在水平面内施加与肠道弯曲方向垂直的滚动旋转磁矢量的转弯控制方法避开了影像技术不能实现重叠肠道三维重构的技术难题，实现了肠道内转弯，只需要施加顺时针方向的旋转的磁场即可实现机器人的姿态调整与弯曲肠道内前进、后退。The present invention not only ensures that the robot does not roll and miss some observation areas when the robot adjusts its attitude, but also ensures The axis of the active hemisphere moves to the horizontal plane and touches the intestinal tract to realize the active rolling and walking of the robot. The stability of the attitude adjustment is good, and it can realize the panoramic observation of the gastrointestinal tract and reduce the missed detection rate. The dual-hemispherical robot has good fault tolerance for the orientation of the rotating magnetic field, the active turning drive is safe and reliable, and it does not have high requirements for the fluid conditions in the intestinal environment. Pressing the film to realize the non-contact driving in the intestine, which is safe and beneficial to the increase of the rolling moment of the robot. With the help of the capsule robot’s front-end camera, the wireless image is adjusted to adjust the axis of the robot to the direction of the intestinal curvature, and the turning control method of applying a rolling and rotating magnetic vector perpendicular to the intestinal curvature direction in the horizontal plane avoids the overlapping intestinal tract that cannot be achieved by imaging technology. The technical problem of three-dimensional reconstruction realizes the turning in the intestinal tract, and only needs to apply a clockwise rotating magnetic field to realize the attitude adjustment of the robot and the forward and backward movement in the curved intestinal tract.
附图说明Description of drawings
图1是本发明一种用于胃肠道检测主、被动双半球形机器人的空间万向旋转磁场驱动装置与控制系统示意图。Fig. 1 is a schematic diagram of a space universal rotating magnetic field driving device and a control system of a master and passive dual hemispherical robot for gastrointestinal tract detection according to the present invention.
图2(a)是双半球形机器人外部结构局部放大图。Figure 2(a) is a partially enlarged view of the external structure of the dual hemispherical robot.
图2(b)是双半球形机器人内部结构局部放大图。Figure 2(b) is a partially enlarged view of the internal structure of the dual hemispherical robot.
图3(a)是双半球形机器人在肠道中姿态调整示意图。Figure 3(a) is a schematic diagram of the attitude adjustment of the dual hemispherical robot in the gut.
图3(b)是双半球形机器人轴线对准肠道弯曲方向的调整过程示意图。Fig. 3(b) is a schematic diagram of the adjustment process of the axis of the dual hemispherical robot to the direction of intestinal curvature.
图3(c)是双半球形机器人在转角弯管中行走示意图。Figure 3(c) is a schematic diagram of a dual hemispherical robot walking in a corner bend.
图中：a控制系统操作界面；b控制器；c病床；d患者；e三轴正交嵌套亥姆霍兹线圈磁场叠加装置；f主被动双半球形胶囊机器人；g柔性肠道；ω旋转磁场角速度；1主动半球壳；2被动半球壳；3轴承定位套筒；4轴承；5圆螺母；6阶梯轴；7径向磁化钕铁硼内驱动器；8摄像头与图像传输装置。In the figure: a control system operation interface; b controller; c hospital bed; d patient; e three-axis orthogonal nested Helmholtz coil magnetic field superposition device; f active and passive dual hemispherical capsule robot; g flexible intestine; ω Rotating magnetic field angular velocity; 1 active hemispherical shell; 2 passive hemispherical shell; 3 bearing positioning sleeve; 4 bearing; 5 round nut; 6 stepped shaft; 7 radial magnetized NdFeB inner drive; 8 camera and image transmission device.
具体实施方式Detailed ways
以下结合本发明的技术方案和附图详细叙述具体实施例。Specific embodiments will be described in detail below in conjunction with the technical solutions of the present invention and the accompanying drawings.
下面结合附图1，对一种用于胃肠道检测主、被动双半球形机器人的空间万向旋转磁场驱动装置与控制系统在胃肠道检测作业过程进行简单介绍。The following is a brief introduction of a space universal rotating magnetic field drive device and control system for the active and passive double hemispherical robot for gastrointestinal tract detection in conjunction with accompanying drawing 1 .
将三组线圈相互正交嵌套安装成三轴正交嵌套亥姆霍兹线圈磁场叠加装置e，让患者d吞下主被动双半球形胶囊机器人f，并躺在病床c上，调整病床c的位置使患者d处于三轴正交嵌套亥姆霍兹线圈磁场叠加装置e的中心区域，向DSP28335数字化控制系统操作界面a中输入与机器人轴线方位角相关的幅值与相位严格满足公式(1)的三相驱动电流，通过控制器b功放后分别驱动三轴正交嵌套亥姆霍兹线圈磁场叠加装置e的X、Y、Z三轴线圈，最终在三轴正交嵌套亥姆霍兹线圈磁场叠加装置e包围的一定空间内叠加合成相应方位角旋转轴线的理想旋转磁场。该装置可以数字化调整旋转磁场的方位、场强、频率、转向，适于肠道内弯曲环境内驱动。Three groups of coils are orthogonally nested and installed to form a three-axis orthogonally nested Helmholtz coil magnetic field superposition device e, let the patient d swallow the active and passive double hemispherical capsule robot f, and lie on the hospital bed c, adjust the hospital bed The position of c makes the patient d be in the central area of the three-axis orthogonal nested Helmholtz coil magnetic field superposition device e, and input the amplitude and phase related to the azimuth angle of the robot axis into the operation interface a of the DSP28335 digital control system strictly satisfying the formula The three-phase drive current of (1) respectively drives the X, Y, and Z three-axis coils of the three-axis orthogonal nested Helmholtz coil magnetic field superposition device e through the power amplifier of the controller b, and finally in the three-axis orthogonal nesting In a certain space surrounded by the Helmholtz coil magnetic field superposition device e, the ideal rotating magnetic field of the corresponding azimuth rotation axis is superimposed and synthesized. The device can digitally adjust the orientation, field strength, frequency, and steering of the rotating magnetic field, and is suitable for driving in the curved environment of the intestinal tract.
其中,α，β，γ分别为向量与空间笛卡尔坐标系的x，y，z轴的方向角，I0为向三组正交亥姆霍兹线圈中通入的正弦信号电流的幅值，ω为施加正弦信号电流的角速度，施加正弦信号电流的频率为磁场旋转方向为顺时针，并通过仿真与实验都得到了验证。Among them, α, β, γ are vectors respectively Orientation angles with respect to the x, y, z axes of the spatial Cartesian coordinate system, I0 is the magnitude of the sinusoidal signal current passed into the three sets of orthogonal Helmholtz coils, ω is the angular velocity of the applied sinusoidal signal current, and the frequency of the applied sinusoidal signal current is The rotation direction of the magnetic field is clockwise, which has been verified by both simulation and experiment.
以下磁场旋转方向均为顺时针，旋转磁场的轴线与磁场的旋转方向符合左手定则，以下不再赘述。The rotation directions of the following magnetic fields are clockwise, and the axis of the rotating magnetic field and the rotation direction of the magnetic field conform to the left-hand rule, and will not be repeated below.
结合附图2(a)、(b)说明一种主被动双半球形胶囊机器人的总体结构，它包括主动半球体和被动半球体两部分，将径向磁化钕铁硼圆环内驱动器7和摄像头与图像传输装置8过盈装配，将阶梯轴6也与摄像头与图像传输装置8过盈装配，最后将摄像头与图像传输装置8组件再与主动半球壳1过盈配合构成主动半球体；轴承定位套筒3与被动半球壳2过盈配合构成被动半球体，主动半球体和被动半球体由轴承4悬浮连接的过程如下：将轴承4安装在主动半球体组件的阶梯轴6上，再将主动半球体组件阶梯轴6上的轴承4一并装入轴承定位套筒3中，轴承定位套筒3内部有一台阶实现轴承4外圈轴向定位，圆螺母5装入阶梯轴6上以将轴承4内圈轴向定位，圆螺母5不能突出到球面以外，以防止主动半球转动过程中带动圆螺母5与肠道接触影响姿态调整。旋转磁场与径向磁化钕铁硼圆环内驱动器7的耦合磁矩带动包括摄像头与图像传输装置8的主动半球体绕被动半球体相对空转，主动半球体处于驱动状态，被动半球体处于欠驱动状态。In conjunction with accompanying drawing 2 (a), (b) illustrate the general structure of a kind of active and passive double hemispherical capsule robot, it comprises two parts of active hemisphere and passive hemisphere, drive 7 and The camera and the image transmission device 8 are interference-fitted, and the stepped shaft 6 is also interference-fitted with the camera and the image transmission device 8, and finally the camera and the image transmission device 8 are interference-fitted with the active hemispherical shell 1 to form the active hemisphere; the bearing The interference fit between the positioning sleeve 3 and the passive hemispherical shell 2 constitutes the passive hemispherical body, and the process of suspending the active hemispherical body and the passive hemispherical body by the bearing 4 is as follows: install the bearing 4 on the stepped shaft 6 of the active hemispherical body assembly, and then place the The bearing 4 on the stepped shaft 6 of the active hemisphere assembly is put into the bearing positioning sleeve 3 together. There is a step inside the bearing positioning sleeve 3 to realize the axial positioning of the outer ring of the bearing 4. The round nut 5 is installed on the stepped shaft 6 to The inner ring of the bearing 4 is axially positioned, and the round nut 5 cannot protrude beyond the spherical surface, so as to prevent the round nut 5 from being brought into contact with the intestinal tract during the rotation of the active hemisphere to affect the attitude adjustment. The coupling magnetic moment of the rotating magnetic field and the driver 7 in the radially magnetized NdFeB ring drives the active hemisphere including the camera and the image transmission device 8 to rotate around the passive hemisphere relative to each other, the active hemisphere is in the driving state, and the passive hemisphere is in the underdriven state state.
以下结合附图3(a)说明一种主被动双半球形胶囊机器人姿态调整具体实施方式，选择旋转磁场频率为5Hz，在机器人处于胃肠道内时，由于被动半球体的重量大于主动半球体，被动半球在重力作用下像不倒翁一样始终位于下面并在柔性肠道g约束下处于静止状态，主动半球体始终位于上面，保持机器人轴线为重力垂线，摄像头与图像传输装置8处于垂直向上，使主动半球体不与肠道内壁接触或者接触面积很小，有效防止了机器人在胃肠道内部调姿时滚动而出现漏检区域，姿态稳定性好。机器人配重作用下的垂直向上初始姿态有利于机器人姿态控制和在弯曲肠道内的驱动行走。Below in conjunction with accompanying drawing 3 (a) illustrates a kind of active and passive dual hemispherical capsule robot posture adjustment specific implementation, select the frequency of the rotating magnetic field to be 5Hz, when the robot is in the gastrointestinal tract, because the weight of the passive hemisphere is greater than that of the active hemisphere, Under the action of gravity, the passive hemisphere is always located below like a tumbler and is in a static state under the constraint of the flexible intestine g. The active hemisphere is always located on the top, keeping the axis of the robot as the vertical line of gravity, and the camera and the image transmission device 8 are vertically upward, so that The active hemisphere does not contact the inner wall of the intestinal tract or the contact area is very small, which effectively prevents the robot from rolling when adjusting the posture inside the gastrointestinal tract and the missed detection area, and the posture stability is good. The vertical upward initial posture under the action of the robot's counterweight is beneficial to the robot's posture control and driving walking in the curved intestine.
外旋转磁场与径向磁化钕铁硼内驱动器7的耦合磁力矩驱动主动半球体相对静止的被动半球体空转，主动半球体轴线在随动效应作用下与相应方位角旋转磁场旋转轴线随动，实现机器人在胃肠道内的姿态任意调整。如图3(a)所示，首先施加n1方向的磁矢量，n1方向角为(90°,90°,0°)，此时机器人摄像头与图像传输装置8指向上方n1，主动半球体以旋转磁场角速度ω绕机器人轴线旋转，施加垂直旋转磁场的目的是可靠保证机器人初始方位为重力垂线，使后续的姿态调整与转弯驱动更加便利、可靠。The coupled magnetic torque of the external rotating magnetic field and the radially magnetized NdFeB inner driver 7 drives the active hemisphere to idle relative to the static passive hemisphere, and the axis of the active hemisphere follows the rotation axis of the corresponding azimuth rotating magnetic field under the action of the follow-up effect. The posture of the robot in the gastrointestinal tract can be adjusted arbitrarily. As shown in Figure 3(a), first apply a magnetic vector in the direction of n1 , and the direction angle of n1 is (90°, 90°, 0°). At this time, the robot camera and image transmission device 8 point upward to n1 , and the active hemisphere The body rotates around the axis of the robot at the angular velocity ω of the rotating magnetic field. The purpose of applying a vertical rotating magnetic field is to reliably ensure that the initial orientation of the robot is the vertical line of gravity, so that the subsequent attitude adjustment and turning drive are more convenient and reliable.
由于被动半球在配重作用下像不倒翁一样始终处于下面，一定方位旋转磁场停止后，可保持球形胶囊机器人调整后的姿态不变，由于机器人摄像头与图像传输装置8的视角为150度，因此，控制空间万向磁场在重力垂线45度半角锥范围内，为了方便起见，在坐标平面内均匀分布四个观察方位便可覆盖整个区域，四个方位矢量n2、n3、n4、n5，方向角分别为(90°,45°,45°)、(45°,90°,45°)、(90°,135°,45°)、(135°,90°,45°)，分别施加以上方位角旋转磁矢量，主动半球转动体在磁力矩跟随作用下将直接分别指向上述方向，便可实现胃肠道内的全景观察。Because the passive hemisphere is always under the action of the counterweight like a tumbler, after the rotating magnetic field stops at a certain orientation, the adjusted posture of the spherical capsule robot can be kept unchanged. Since the viewing angle of the robot camera and the image transmission device 8 is 150 degrees, therefore, The universal magnetic field in the control space is within the 45-degree half-angle cone range of the vertical line of gravity. For convenience, four observation orientations are evenly distributed in the coordinate plane to cover the entire area. The four orientation vectors n2 , n3 , n4 , n5 , the direction angles are (90°, 45°, 45°), (45°, 90°, 45°), (90°, 135°, 45°), (135°, 90°, 45°), Applying the above azimuth rotation magnetic vectors respectively, the active hemispherical rotating body will directly point to the above directions respectively under the action of magnetic moment following, so that the panoramic observation in the gastrointestinal tract can be realized.
以下结合附图3(b)说明一种主被动双半球形胶囊机器人借助无线传输图像实现机器人对准肠道弯曲方向的调整方法，一种主被动双半球形胶囊机器人在一段弯曲肠道内时，首先，施加n1方向的磁矢量，尽管在配重作用下摄像头与图像传输装置8轴线(机器人轴线)始终竖直向上，但在竖直向上磁矢量随动效应作用下可消除摄像头与图像传输装置8初始方向的垂直度误差径与垂直磁矢量方向更一致，使后续随动效应的姿态调整更可靠。然后，根据机器人轴线与磁矢量方向始终一致的随动效应原理，通过反复调整磁矢量方向直到由摄像头与图像传输装置8的无线传输图像观察到机器人轴线与磁矢量方向随动到达与肠道弯曲方向基本一致，具体实施过程是，首先，在YOZ平面内施加几个旋转磁矢量，数字化控制磁矢量方位的过程是向DSP28335数字化控制系统操作界面a中输入位于YOZ平面内磁矢量方位角相关的幅值与相位严格满足公式(1)的驱动电流，通过控制器b功放后分别驱动三轴正交嵌套亥姆霍兹线圈磁场叠加装置e的X、Y、Z三轴线圈，最终在三轴正交嵌套亥姆霍兹线圈磁场叠加装置e包围的一定空间内叠加合成相应方位角旋转轴线的理想旋转磁场。借助摄像头与图像传输装置8的无线传输图像，直至观察到摄像头与图像传输装置8的轴线(机器人轴线)在YOZ垂直平面内n6方向对准肠道弯曲方向，此时，可通过数字化控制系统确定旋转磁场的旋转轴线位置，也就间接确定了机器人轴线的俯仰角δ与肠道弯曲方向。然后，保持YOZ平面内的肠道弯曲方向俯仰角δ不变，同理，在X轴即水平方向施加几个旋转磁矢量，借助摄像头与图像传输装置8的无线传输图像，直至观察到摄像头与图像传输装置8的轴线在n7方向对准肠道的弯曲方向，由于所施加磁矢量方向与机器人轴线相同，即确定了机器人轴线的偏航角θ，至此确定了肠道弯曲方向向量n7＝(sinθ,cosθcosδ,cosθsinδ)，并完成了机器人与肠道弯曲方向的对准作业。The following describes an active and passive dual-hemispherical capsule robot with the help of wireless transmission of images to achieve the adjustment method for aligning the robot to the direction of intestinal curvature. When an active and passive dual-hemispherical capsule robot is in a curved intestinal tract, First, applya magnetic vector in the direction of n1. Although the axis of the camera and the image transmission device 8 (robot axis) is always vertically upward under the action of the counterweight, the following effect of the vertically upward magnetic vector can eliminate the movement between the camera and the image transmission. The perpendicularity error path in the initial direction of the device 8 is more consistent with the direction of the vertical magnetic vector, so that the attitude adjustment of the follow-up effect is more reliable. Then, according to the follow-up effect principle that the axis of the robot and the direction of the magnetic vector are always consistent, by repeatedly adjusting the direction of the magnetic vector until the wireless transmission image of the camera and the image transmission device 8 is observed, the axis of the robot and the direction of the magnetic vector follow the arrival and intestinal curvature. The direction is basically the same. The specific implementation process is, firstly, apply several rotating magnetic vectors in the YOZ plane, and the process of digitally controlling the magnetic vector azimuth is to input the relevant azimuth angle of the magnetic vector located in the YOZ plane to the operation interface a of the DSP28335 digital control system The amplitude and phase of the driving current strictly satisfy the formula (1), and then drive the X, Y, and Z three-axis coils of the three-axis orthogonal nested Helmholtz coil magnetic field superposition device e after passing through the power amplifier of the controller b, and finally in the three The ideal rotating magnetic field of the corresponding azimuth rotation axis is superimposed and synthesized in a certain space surrounded by the axis-orthogonal nested Helmholtz coil magnetic field superposition device e. By means of the wireless image transmission of the camera and the image transmission device 8, until it is observed that the axis (robot axis) of the camera and the image transmission device 8 is aligned with the direction of intestinal curvature in the n6 direction in the vertical plane ofYOZ , at this time, the digital control system can Determining the position of the rotation axis of the rotating magnetic field indirectly determines the pitch angle δ of the axis of the robot and the bending direction of the intestine. Then, keep the pitch angle δ of the curvature direction of the intestinal tract in the YOZ plane unchanged, and in the same way, apply several rotating magnetic vectors on the X axis, that is, the horizontal direction, and transmit images wirelessly by means of the camera and the image transmission device 8, until the camera and the image transmission device 8 are used to observe The axis of the image transmission device 8 is aligned with the bending direction of the intestinal tract in the direction n7 , since the direction of the applied magnetic vector is the same as the axis of the robot, that is, the yaw angle θ of the axis of the robot is determined, and the intestinal bending direction vector n7 is determined so far =(sinθ, cosθcosδ, cosθsinδ), and the alignment between the robot and the direction of intestinal curvature has been completed.
以下结合附图3(c)说明一种主被动双半球形胶囊机器人在弯曲肠道内借助无线传输图像控制机器人转弯的具体实施方式，图中，一段空间转角弯头包括AB和BC两段，AB向量方向角为(30°，60°，90°)，BC方向角为(30°，120°，90°)，下面具体介绍机器人姿态调整过程及滚动转弯控制过程。The specific implementation of an active and passive double hemispherical capsule robot controlling the turning of the robot by means of wireless transmission image in the curved intestine is described below in conjunction with accompanying drawing 3 (c). In the figure, a space corner elbow includes two sections AB and BC, and AB The vector direction angle is (30°, 60°, 90°), and the BC direction angle is (30°, 120°, 90°). The robot attitude adjustment process and the rolling and turning control process are introduced in detail below.
机器人在AB段时，首先在A点施加方向角为(90°,90°,0)的竖直向上方向磁矢量，以保证磁矢量方向和摄像头与图像传输装置8方向一致，再通过随动效应调整机器人姿态。然后，借助摄像头与图像传输装置8的无线传输图像并反复调整磁矢量方位，根据随动效应原理，最终通过数字化控制调整机器人轴线与磁矢量方向随动到达与肠道弯曲方向基本一致，即所施加磁矢量方向角与管道弯曲方向以及摄像头与图像传输装置8方向向量均为(30°，60°，90°)，方向向量为根据随动效应原理，通过数字化控制知道了空间万向旋转磁场的旋转轴线位置，就知道了肠道弯曲方向。确定了管道弯曲方向后，为了便于控制机器人沿弯曲肠道方向滚动行走，将控制滚动旋转磁矢量方向限制在水平面中，滚动旋转磁矢量方向计算过程如下：借助于竖直指向下的向量n＝(0,0,-1)，则在水平面内与管道弯曲方向垂直的滚动磁矢量方向为：When the robot is in the AB segment, first apply a vertically upward magnetic vector with a direction angle of (90°, 90°, 0) at point A to ensure that the direction of the magnetic vector is consistent with the direction of the camera and the image transmission device 8, and then through the follow-up The effect adjusts the pose of the robot. Then, the image is transmitted wirelessly by the camera and the image transmission device 8, and the orientation of the magnetic vector is adjusted repeatedly. According to the principle of the follow-up effect, the axis of the robot and the direction of the magnetic vector are finally adjusted by digital control. The direction angle of the applied magnetic vector and the bending direction of the pipeline, as well as the direction vectors of the camera and the image transmission device 8 are all (30°, 60°, 90°), and the direction vector is According to the principle of the follow-up effect, if the position of the rotation axis of the space universal rotating magnetic field is known through digital control, the bending direction of the intestinal tract can be known. After determining the bending direction of the pipeline, in order to facilitate the control of the robot to roll and walk along the direction of the curved intestine, the direction of the control rolling rotation magnetic vector is limited to the horizontal plane. The calculation process of the rolling rotation magnetic vector direction is as follows: with the help of the vertically downward pointing vector n= (0,0,-1), then the direction of the rolling magnetic vector perpendicular to the bending direction of the pipeline in the horizontal plane is:
并可求得n8*的方向角：And the direction angle of n8 * can be obtained:
向DSP28335数字化控制系统操作界面a中输入满足公式(1)的并与磁矢量方向角为(120°，30°，90°)相关的幅值与相位的三相驱动电流，便产生了相应方位的旋转磁场。具体过程可参考相关专利。Input the three-phase driving current of amplitude and phase that satisfies the formula (1) and is related to the magnetic vector direction angle (120°, 30°, 90°) into the operation interface a of the DSP28335 digital control system, and the corresponding azimuth is generated rotating magnetic field. The specific process can refer to relevant patents.
当机器人运动到B点时，调整机器人姿态，使摄像头与图像传输装置8随着旋转磁矢量指向BC方向，重复公式(2)、(3)得到B点控制滚动的磁矢量n9*方向角为(60°，30°，90°)。When the robot moves to point B, adjust the posture of the robot so that the camera and the image transmission device 8 point to the direction of BC along with the rotating magnetic vector, Repeat formulas (2) and (3) to obtain the magnetic vector n9 *direction angle of point B controlling scrolling as (60°, 30°, 90°).
如果肠道有更多的弯曲，重复以上过程，便可实现弯曲肠道内机器人的转弯滚动。需要姿态调整进行全景观察时，可以先进行姿态调整，再驱动转弯行走，于是便实现了弯曲环境内的全方位诊疗。If there are more bends in the intestine, the above process can be repeated to realize the turning and rolling of the robot in the curved intestine. When it is necessary to adjust the posture for panoramic observation, the posture adjustment can be performed first, and then it can be driven to turn and walk, thus realizing all-round diagnosis and treatment in the curved environment.
实现机器人在弯曲肠道内反向行走的方法是将滚动磁矢量n8*和n9*分别在水平面内绕垂线旋转180度即可。The method for realizing the reverse walking of the robot in the curved intestinal tract is to rotate the rolling magnetic vectors n8 * and n9 * 180 degrees around the vertical in the horizontal plane respectively.
| Application Number | Priority Date | Filing Date | Title |
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| CN201510262778.4ACN104983385B (en) | 2015-05-21 | 2015-05-21 | An active and passive dual hemispherical capsule robot and its attitude adjustment and turning drive control method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201510262778.4ACN104983385B (en) | 2015-05-21 | 2015-05-21 | An active and passive dual hemispherical capsule robot and its attitude adjustment and turning drive control method |
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| CN104983385Atrue CN104983385A (en) | 2015-10-21 |
| CN104983385B CN104983385B (en) | 2017-01-04 |
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| CN201510262778.4AExpired - Fee RelatedCN104983385B (en) | 2015-05-21 | 2015-05-21 | An active and passive dual hemispherical capsule robot and its attitude adjustment and turning drive control method |
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