Non-contact detection method and system for fluid torsional moment of capsule robot

Abstract

The invention relates to the technical field of automation engineering, in particular to a non-contact detection method and system for a fluid torsional moment of a capsule robot. When the capsule robot turns steadily and reaches the critical gait, a critical coupling magnetic moment can be obtained; through calculation, the fluid torsional moment of the capsule robot in liquid is obtained. According to the method and system, the traversal time of the capsule robot in the intestinal tract can be shortened, accurate driving in the intestinal tract under multiple bending complex conditions is achieved, and the magnetic sensing intensity and frequency which meet the demand are provided. The online non-contact detection method is simple, reliable and high in operability, the fluid torsional moment in a bending environment can be detected under the condition of not making contact with the capsule robot, the required magnetic sensing intensity and fluid torsional moment which are required bythe robot during turning can be accurately determined, and the overall digestive tract is safely and online detected at low power consumption.

Description

technical field [0001] The invention relates to the technical field of automation engineering, in particular to a non-contact detection method and system for fluid torsion torque of a capsule robot. Background technique [0002] In recent years, with the rapid development of low-power, low-cost small image sensors and micro-integrated circuits, the realization of "swallowable" wireless capsule robots has become possible, and has gradually replaced traditional endoscopy. A typical capsule robot is similar in size and shape to a capsule. It is composed of a miniature camera, lighting system, battery and radio frequency circuit. It can take pictures of the inside of the digestive tract and send them out during the traversal inspection process. The external receiver obtains the images transmitted by the transmitting module. Patients were screened by analysis and comparison by gastrointestinal diagnosis and treatment experts. [0003] The United States and Japan have been resear...

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Problems solved by technology

[0005] In order to solve the above problems, the purpose of the present invention is to provide a non-contact detection method for the fluid torsional moment of the capsule robot, which can reduce the traversal time of the capsule robot in the intestinal tract, realize accurate driving under the complex conditions of multiple bends in the intestinal tract, and provide a solution that meets the needs. The magnetic induction intensity and frequency, the online non-contact detection method of the present invention is simple and reliable, and has strong operability. It can realize the fluid torsional moment detection in the bending environment without contacting the capsule robot, improve the utilization rate of the effective magnetic field, and reduce the coil drive system. The driving power and magnetic energy consumption of the robot effectively save medical resources, and can accurately determine the magnetic induction intensity and fluid torsional moment required for the robot to turn, and realize the safe online detection of the entire digestive tract with low power consumption; a capsule is also provided Non-contact Detection System of Fluid Torsion Moment in Robot

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