Man-machine interaction control method for space universal rotating magnetic field

Abstract

The invention belongs to the technical field of automatic engineering, and discloses a man-machine interaction control method for a space universal rotating magnetic field. Man-machine interaction control of the direction of the rotating axis of the space universal magnetic field is achieved by applying a same-frequency sinusoidal signal current type space universal rotating magnetic field superposition formula with side sway and pitch angles of the axis of the magnetic field in a longitude and latitude coordinate system as related amplitude values and phases of input variables to a three-axis orthogonal nested Helmholtz coil device, controlling the side sway and pitch angles in a separated mode through two control rods respectively, forming the rotating magnetic field with the axis capable of being independently scanned in the directions of the side sway and pitch angles in the uniform area surrounded by the three-axis orthogonal nested Helmholtz coil device in an overlapped mode, and regulating the side sway and pitch angles of the axis of the magnetic field according to wirelessly-transmitted images of a camera at the front end of a capsule robot. Independent scanning of the robot in the two directions of side sway and pitch is achieved, the man-machine interaction operation is simple and rapid, and posture adjustment and rolling operability of the robot in the bent environment is improved.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to a method of respectively applying relative amplitude and phase to a three-axis orthogonally nested Helmholtz coil device with the side swing and pitch angle of the magnetic field axis in the longitude and latitude coordinate system as input variables The space universal rotating magnetic field superposition formula in the form of the same frequency sinusoidal signal current, and the roll and pitch angles are separately controlled by two joysticks, and the uniformity surrounded by the three-axis mutually orthogonally nested Helmholtz coil device Superimposed in the area to form a rotating magnetic field whose axes can be scanned separately along the side swing and pitch directions, refer to the wireless transmission image from the front-end camera of the active and passive dual hemispherical capsule robot, and adjust the magnetic field axis side swing and pitch azimuth a...

AI Technical Summary

Problems solved by technology

[0013] At present, no one has proposed the basic current superposition formula of the space universal rotating magnetic field based on the rotation axis of the capsule robot in the longitude and latitude coordinate system, and the basic current superposition formula of the side swing and pitch angle separately controlled by the capsule robot. The human-computer interaction control scheme of the orientation of the magnetic field rotation axis with the fusion of transmitted images has the remarkable advantage that the attitude angle control variables are less, from three attitude angles to two, and the dimensionality reduction of the attitude angle variables is realized. Eight quadrants in the space It has the same superimposed current formula (this patent only applies the four quadrants in the positive direction of the Z axis), the direction of the superimposed magnetic field is unique, and the human-computer interaction operation is simple

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