Design And Control Of Capsule Robot Magnetic Drive System

Capsule robots have great application prospects in the fields of biology,medicine,micro-assembly,micro-nano manufacturing,etc.Scientists at home and abroad are actively conducting a series of research on cable-free operation of capsule robots.Many scientists are aiming at magnetron capsules.Robot-driven research,by controlling the applied magnetic field to control the magnetic material to make the capsule robot movement.According to the current research results,the permanent magnet magnetic field can continuously provide a strong magnetic field without additional power consumption.The control of the permanent magnet controlled capsule robot is more intuitive and simple than the electromagnetic field control.In the clinical situation,the manual control of the doctor is more effective and convenient.In order to achieve more precise and active control,it is becoming a hot spot to help the doctors check by means of feedback control of the vision module.Aiming at the active precise control of capsule robots in gastrointestinal examination and the detection and localization of specific targets,this paper designs a capsule robot magnetic drive system based on uncalibrated visual servo.The goal is to control the capsule robot in three-dimensional space.Accurate spatial pose control,while visual information feedback to achieve rapid positioning and tracking of the target object,so that the capsule robot is aimed at the target feature.The subject is mainly composed of permanent magnet drive platform design,capsule robot structure design,magnetic drive algorithm design and visual feedback system design.The permanent magnet is used as the magnetic field generating device.Based on the magnetic dipole model,the mathematical model of the spatial magnetic field is constructed.The force and motion of the capsule robot in the driving magnetic field are analyzed,and the mapping relationship between the force and the moment of the joint space of the robot arm to the capsule robot is established.The magnetic drive algorithm establishes the mechanical arm joint by analyzing the force of the capsule robot.The mapping relationship between the angular space and the space pose of the capsule robot;the visual feedback system determines the relative positional relationship by identifying the feature points of the target,and uses the Kalman filter to estimate the image Jacobian online to drive the capsule robot more accurately.Under the control of the magnetic drive system,the capsule robot realized the open-loop control experiment of translation and rotation in space,analyzedits control performance,and determined the control strategy.Through the visual feedback,the tracking implementation of stationary objects and moving objects in space is realized.The experiment proves that the design requirements of system driving are satisfied.