A magnetic source detection device fixedly connected with an external magnet and a magnetic sensor array
A technology of magnetic sensor and detection device, applied in magnetic sensor arrays, magnetic field sensors, electromagnetic measurement devices, etc., can solve the problems of affecting capsule positioning, difficult to calculate accurately, and to calculate the magnetic field error of external magnets, etc.
Active Publication Date: 2020-10-27
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 detection device that is fixedly connected with an external magnet and a magnetic sensor array, comprising: an external magnet guide module, an external magnet, a connection module, a data processing module, and a detection array composed of magnetic sensors; the external magnet guide module can Provides movement in all directions; the connection module is fixed at the end of the external magnet guide module, and the connection module connects the magnetic sensor and the external magnet, so that the external magnet and the magnetic sensor have a fixed relative position and attitude; the data processing module is used to obtain from the magnetic sensor Magnetic field signal, pose detection algorithm calculation and data communication with the outside world. The invention can accurately and quickly remove the magnetic field of the external magnet, thereby accurately and real-time positioning the position of the capsule robot.
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