Magnetic source detecting device used for fixedly connecting external magnet and magnetic sensor array
A magnetic sensor and detection device technology, applied in the direction of magnetic sensor arrays, magnetic field sensors, electromagnetic measuring devices, etc., can solve the problems of real-time positioning difficulties, affecting capsule positioning, difficult calculation accuracy, etc., to reduce system complexity and eliminate influence , The effect of high-precision pose detection
Active Publication Date: 2019-03-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0002] Engineering a practical actively guided capsule endoscopy system still has many difficulties to be resolved
For example, when an external magnet guides a capsule robot, real-time positioning of the capsule is required; however, there is a strong external magnet magnetic field in the active capsule robot system guided by an external magnet, which affects the positioning of the capsule, and there are errors in calculating the external magnet magnetic field, making it difficult to calculate accurately , and at the same time cause great difficulties for real-time positioning, it is difficult to locate the actual position of the capsule in real time
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[0031] FIG. 1 is an embodiment of the magnetic source detection device of the present invention, which is described by taking the magnetic source to be detected as a capsule robot 9 as an example. As shown in FIG. 1 , the magnetic source detection device includes an external magnet guide module, an external magnet 6 , a connection module (the disk shown in the figure), a data processing module, and a detection array composed of magnetic sensors 5 . in,
[0032] Only a part of the external magnet guiding module is shown in the figure, that is, the flange plate 8 and the rotating shaft 7 that provide the end rotation and related connections (the translation mechanism with three degrees of freedom is not shown in the figure). The external magnet guide module can provide 6 directions of motion for the tip, and the position and attitude of the tip can be obtained through the internal integrated encoder.
[0033] The connecting module is fixedly connected to the end of the external...
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The invention discloses a magnetic source detecting device used for fixedly connecting an external magnet and a magnetic sensor array. The device includes an external magnet guide module, the externalmagnet, a connection module, a data processing module and a detection array consisting of magnetic sensors, wherein the motion in all the directions can be provided by the external magnet guide module, the connection module is fixedly connected with a tail end of the external magnet guide module, the connection module is used for connecting the magnetic sensors with the external magnet to make the external magnet and the magnetic sensors have fixed relative positions and attitudes, and the data processing module is used for acquiring magnetic field signals from the magnetic sensors and attitude detection algorithm for calculation and performing data communication. The device is advantaged in that the magnetic field of the external magnet can be accurately and rapidly removed, and the position of a capsule robot can be accurately and timely positioned.
Description
technical field [0001] The invention relates to the technical field of real-time detection of a moving magnetic source in the presence of an external magnet, in particular to a magnetic source detection device that is fixedly connected to an external magnet and a magnetic sensor array. Background technique [0002] The engineering of a practical actively guided capsule endoscopy system still has many difficulties to be resolved. For example, when an external magnet guides a capsule robot, real-time positioning of the capsule is required; however, there is a strong external magnet magnetic field in the active capsule robot system guided by an external magnet, which affects the positioning of the capsule, and there are errors in calculating the external magnet magnetic field, making it difficult to calculate accurately , and at the same time cause great difficulties for real-time positioning, and it is difficult to locate the actual position of the capsule in real time. Cont...
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IPC IPC(8): G01R33/10G01R33/02G01V3/40
CPCG01R33/02G01R33/10G01V3/40G01R33/0094G01R33/0005G01R33/0017G01R33/0206A61B5/062A61B1/041A61B2562/0223G01B7/004
Inventor 李敬周基阳黄强赵石雷张沛森
Owner BEIJING INSTITUTE OF TECHNOLOGYGY