Capsule robot, test system and test method of capsule robot micro motor

Abstract

The application belongs to the technical field of capsule robots, and provides a capsule robot, a test system and a test method for a micro motor of the capsule robot, the test system for the micro motor of the capsule robot comprising a test rack with a containing groove, a capsule robot, a voltage signal acquisition module and an upper computer. The capsule robot can be immersed in the containing groove and comprises a robot shell, a power supply, a motor driver, a micro motor, a sampling resistor, a microcontroller and a propeller. The voltage signal acquisition module is used for acquiring the voltage signal between the sampling resistor. The upper computer is used for communicating with the microcontroller to control the output voltage of the motor driver, and controlling the voltage signal acquisition module to acquire the voltage signal of the sampling resistor when the output end of the motor driver is short-circuited. The test system for the micro motor of the capsule robot provided by the application can fit the relationship between the input voltage of the micro motor and the rotating speed of the micro motor, which is beneficial to realizing high-precision control of the micro motor and the capsule robot.

Description

Technical Field

[0001] This application relates to the field of capsule robot technology, and specifically to a test system and test method for a capsule robot and its micro motor. Background Technology

[0002] Capsule robots play a vital role in painless gastrointestinal examinations, particularly in the early screening of digestive diseases. However, traditional magnetically controlled capsule robots rely on large external magnetic control devices for propulsion, limiting their applicability in practical applications. In contrast, capsule robots powered by micro-motor-driven propellers can perform gastrointestinal examinations independently, offering greater flexibility and thus a wider range of applications across various scenarios.

[0003] However, the internal space of capsule robots that use micro motors to drive propellers to generate power is often relatively small, making it inconvenient to measure the speed of the micro motors by installing encoders. Furthermore, different micro motors have different responses to input voltage, and the response characteristics of micro motors to input voltage are unclear. This makes it impossible to accurately control the micro motors during the use of capsule robots, and consequently, it is impossible to accurately control parameters such as the movement posture and speed of the capsule robot. Summary of the Invention

[0004] The purpose of this application is to provide a test system and test method for capsule robots and capsule robot micro motors, in order to solve the technical problem that different micro motors have different responses to input voltage in the prior art, and the response characteristics of micro motors to input voltage are unclear, which leads to the inability to accurately control micro motors during the use of capsule robots, and thus the inability to accurately control parameters such as the motion posture and speed of capsule robots.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a testing system for micro motors of capsule robots, the testing system for micro motors of capsule robots comprising:

[0006] A test fixture, including a frame, the frame having a receiving tank for containing liquid;

[0007] A capsule robot, which can be immersed in liquid within the container, includes a robot shell, a power supply, a motor driver, a micro motor, a sampling resistor, a microcontroller, and a wireless communicator disposed within the robot shell, and a propeller disposed outside the robot shell. The power supply is used to power the motor driver, the microcontroller, and the wireless communicator. The microcontroller is used to control the motor driver to drive the micro motor. The sampling resistor is connected in series between the motor driver and the micro motor. The propeller is connected to the power output terminal of the micro motor.

[0008] A voltage signal acquisition module is located inside or outside the robot housing and is used to acquire the voltage signal across the sampling resistor.

[0009] The host computer is used to communicate with the microcontroller via the wireless communicator to control the output voltage of the motor driver, and to control the voltage signal acquisition module to acquire the voltage signal across the sampling resistor when the output terminal of the motor driver is short-circuited.

[0010] In one embodiment, the voltage signal acquisition module is located inside the robot housing. The input terminal of the voltage signal acquisition module is connected to both ends of the sampling resistor, and the output terminal of the voltage signal acquisition module is connected to the analog signal acquisition port of the microcontroller. The microcontroller is used to transmit the voltage signal acquired by the voltage signal acquisition module to the host computer through the wireless communicator.

[0011] In one embodiment, the voltage signal acquisition module is located outside the robot housing; the test frame further includes a connecting arm and a fixing ring. The connecting arm is rotatably mounted on the frame about a first horizontal direction and is located above the receiving groove in the vertical direction. The fixing ring is located at the bottom end of the connecting arm. The inner side of the fixing ring is provided with at least two first conductive contacts. Each pair of the at least two first conductive contacts is connected to both ends of the voltage signal acquisition module via wires. The robot housing is fitted inside the fixing ring, and the driving direction of the micro motor, the length direction of the connecting arm, and the first horizontal direction are perpendicular to each other. The outer side wall of the robot housing is provided with at least two second conductive contacts. Each pair of the at least two second conductive contacts is electrically connected to at least two first conductive contacts, and each pair of the at least two second conductive contacts is electrically connected to both ends of the same sampling resistor via wires.

[0012] In one embodiment, the axial direction of the fixing ring is perpendicular to the length direction of the connecting arm and the first horizontal direction, the axial direction of the robot housing coincides with the axial direction of the fixing ring, and the driving direction of the micro motor is parallel to or coincides with the axial direction of the fixing ring; or, the axial direction of the fixing ring is perpendicular to the length direction of the connecting arm and parallel to the first horizontal direction, the axial direction of the robot housing coincides with the axial direction of the fixing ring, and the driving direction of the micro motor is perpendicular to the axial direction of the fixing ring.

[0013] In one embodiment, the middle part of the connecting arm is hinged to the frame, and the distance between the bottom end of the connecting arm and the hinge point between the connecting arm and the frame is greater than the distance between the top end of the connecting arm and the hinge point between the connecting arm and the frame. The testing system for the capsule robot micro motor also includes a pressure signal acquisition module, which is located on the frame and is used to abut against the top end of the connecting arm when the capsule robot is working, so as to acquire the pressure signal applied by the top end of the connecting arm.

[0014] In one embodiment, the test fixture further includes a contact ring fitted onto the top end of the connecting arm. The outer side wall of the contact ring has an arc-shaped protrusion for contacting the signal acquisition surface of the pressure signal acquisition module.

[0015] To achieve the above objectives, this application also provides a capsule robot, which includes a robot shell, a power supply, a motor driver, a micro motor, a sampling resistor, a microcontroller, and a wireless communicator disposed inside the robot shell, and a propeller disposed outside the robot shell; the outer side wall of the robot shell is provided with at least two second conductive contacts, the power supply is used to supply power to the motor driver, the microcontroller, and the wireless communicator, the microcontroller is used to communicate with an external host computer through the wireless communicator and control the motor driver to drive the micro motor, the propeller is connected to the power output terminal of the micro motor, the sampling resistor is connected in series between the motor driver and the micro motor, and the two ends of the sampling resistor are electrically connected to the two second conductive contacts respectively through wires.

[0016] To achieve the above objectives, this application also provides a testing method for a capsule robot micromotor. This method is applied to the aforementioned capsule robot micromotor testing system, and the testing method for the capsule robot micromotor includes:

[0017] Power on the capsule robot, the voltage signal acquisition module, and the host computer;

[0018] Add an appropriate amount of liquid to the accommodating tank, and immerse the robot housing and the components inside the robot housing in the liquid;

[0019] The host computer sends control commands to the microcontroller, causing the microcontroller to send a PWM signal to the motor driver. The duty cycle of the PWM signal gradually increases from a first predetermined value to a second predetermined value in predetermined steps. Before the duty cycle of the PWM signal increases by one step, the microcontroller controls the output terminal of the motor driver to be short-circuited, and controls the voltage signal acquisition module to acquire the voltage signal across the sampling resistor and transmit it to the host computer when the output terminal of the motor driver is short-circuited.

[0020] The rotational speed of the micromotor is obtained based on the voltage signal across the sampling resistor, the resistance value of the sampling resistor, and the internal resistance value of the micromotor.

[0021] The output voltage of the motor driver and the rotational speed of the micro motor are fitted together.

[0022] In one embodiment, the voltage signal acquisition module is located outside the robot housing; the test frame further includes a connecting arm and a fixing ring. The connecting arm is rotatably mounted on the frame about a first horizontal direction and is located above the receiving slot in the vertical direction. The fixing ring is located at the bottom end of the connecting arm. The inner side of the fixing ring is provided with at least two first conductive contacts. Each pair of the at least two first conductive contacts is connected to both ends of the voltage signal acquisition module via wires. The robot housing is fitted inside the fixing ring, and the driving direction of the micro motor, the length direction of the connecting arm, and the first horizontal direction are perpendicular to each other. The outer side wall of the robot housing is provided with at least two second conductive contacts. Each pair of the at least two second conductive contacts is electrically connected to at least two first conductive contacts, and each pair of the at least two second conductive contacts is electrically connected to both ends of the same sampling resistor via wires. After the step of powering on the capsule robot, the voltage signal acquisition module, and the host computer, the test method further includes:

[0023] The capsule robot is fitted inside the fixed ring, and the two second conductive contacts electrically connected to the sampling resistor and the two first conductive contacts electrically connected to the voltage signal acquisition module are electrically connected respectively.

[0024] In one embodiment, the middle portion of the connecting arm is hinged to the frame, and the distance between the bottom end of the connecting arm and the hinge point between the connecting arm and the frame is greater than the distance between the top end of the connecting arm and the hinge point between the connecting arm and the frame. The test system for the capsule robot micro motor further includes a pressure signal acquisition module, which is located on the frame and is used to abut against the top end of the connecting arm when the capsule robot is working, to acquire the pressure signal applied to the top end of the connecting arm. After the steps of causing the microcontroller to control the output terminal of the motor driver to be short-circuited before the duty cycle of the PWM signal increases by one step, and controlling the voltage signal acquisition module to acquire the voltage signal across the sampling resistor and transmit it to the host computer when the output terminal of the motor driver is short-circuited, the test method further includes:

[0025] The pressure signal acquisition module is controlled to acquire the pressure signal applied to the top of the connecting arm and transmit it to the host computer when the output terminal of the motor driver is short-circuited.

[0026] Furthermore, after the step of obtaining the rotational speed of the micromotor based on the voltage signal across the sampling resistor, the resistance value of the sampling resistor, and the internal resistance value of the micromotor, the testing method further includes:

[0027] The rotational speed of the micro motor and the pressure signal applied to the tip of the connecting arm are fitted together.

[0028] The beneficial effects of the capsule robot and capsule robot micro motor testing system and testing method provided in this application are as follows: Compared with the prior art, the capsule robot micro motor testing system provided in this application allows for the following steps during use: First, the capsule robot, voltage signal acquisition module, and host computer are powered on. Then, an appropriate amount of liquid is added to the accommodating tank, and the robot shell and its internal components are immersed in the liquid. Next, the host computer sends control commands to the microcontroller, causing the microcontroller to send a PWM signal to the motor driver. The duty cycle of the PWM signal gradually increases from a first predetermined value to a second predetermined value in predetermined steps, and the microcontroller responds to each increase in the duty cycle of the PWM signal by one step. Before each step, the output terminal of the control motor driver is short-circuited, and the control voltage signal acquisition module acquires the voltage signal across the sampling resistor when the output terminal of the control motor driver is short-circuited and transmits it to the host computer. Finally, the rotational speed of the micromotor can be obtained based on the voltage signal across the sampling resistor, the resistance value of the sampling resistor, and the internal resistance value of the micromotor. The relationship between the input voltage and the rotational speed of the micromotor can be fitted to clarify the response characteristics of the micromotor's rotational speed to the input voltage. In this way, the output voltage value of the motor driver can be controlled according to the desired rotational speed of the micromotor to achieve micromotor calibration, thereby realizing high-precision control of the micromotor and the capsule robot. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the structure of the test system for the micro motor of the capsule robot provided in the embodiments of this application;

[0031] Figure 2 A partial structure of the test frame, a pressure signal acquisition module, and an exploded view of the capsule robot micro motor test system provided in this application embodiment are shown.

[0032] Figure 3 A schematic diagram of the capsule robot provided in the embodiments of this application. Figure 1 ;

[0033] Figure 4 A schematic diagram of the capsule robot provided in the embodiments of this application. Figure 2 ;

[0034] Figure 5A schematic diagram of the motor driver, sampling resistor, second conductive contact, and micromotor of the test system for the capsule robot micromotor provided in this application embodiment;

[0035] Figure 6 This is a schematic diagram of the structure of the host computer, the signal acquisition slave computer, the signal amplifier, and the first conductive contact of the test system for the micro motor of the capsule robot provided in the embodiments of this application.

[0036] The following are the labeling elements in the figure:

[0037] 100-Test fixture; 110-Frame; 111-Receiving groove; 120-Connecting arm; 130-Fixing ring; 131-First conductive contact; 140-Contact ring; 141-Arc-shaped protrusion;

[0038] 200 - Capsule robot; 210 - Shell; 211 - Second conductive contact; 220 - Power supply; 230 - Motor driver; 240 - Micro motor; 250 - Microcontroller; 260 - Propeller; 270 - Sampling resistor;

[0039] 300 - Voltage signal acquisition module; 310 - Signal amplifier; 320 - Signal acquisition slave device;

[0040] 400 - Host Computer;

[0041] 500-Pressure signal acquisition module. Detailed Implementation

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0043] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0045] Throughout this specification, references to "an embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0046] Please see Figures 1 to 3 The testing system for the micro motor of the capsule robot provided in this application embodiment will now be described. The testing system for the micro motor of the capsule robot includes a test rack 100, a capsule robot 200, a voltage signal acquisition module 300, and a host computer 400.

[0047] Please refer to Figure 1 The test fixture 100 includes a frame 110, on which a container 111 for holding liquid is provided.

[0048] The capsule robot 200 can be immersed in the liquid within the receiving tank 111. Please refer to [link / reference]. Figure 3 and Figure 5 The capsule robot 200 includes a robot housing 210, a power supply 220, a motor driver 230, a micro motor 240, a microcontroller 250, a propeller 260, a sampling resistor 270, and a wireless communicator. The power supply 220, motor driver 230, micro motor 240, microcontroller 250, sampling resistor 270, and wireless communicator are all located inside the robot housing 210. The propeller 260 is located outside the robot housing 210. Figure 3 In the illustrated embodiment, the propeller 260 may have an external shielding structure to prevent it from damaging the patient's digestive tract or other tissues. The propeller 260 is connected to the power output of the micro motor 240. The power supply 220 powers the motor driver 230, microcontroller 250, and wireless communicator. The microcontroller 250 controls the motor driver 230 to drive the micro motor 240. Please refer to... Figure 5 The sampling resistor 270 is connected in series between the motor driver 230 and the micro motor 240.

[0049] Please see Figure 1The voltage signal acquisition module 300 is located inside or outside the robot housing 210 and is used to acquire the voltage signal across the sampling resistor 270. It should be noted that... Figure 1 In the embodiment shown, the voltage signal acquisition module 300 is located outside the robot housing 210. The diagram showing the case where the voltage signal acquisition module 300 is located inside the robot housing 210 is not shown.

[0050] Please see Figure 1 The host computer 400 is used to communicate with the microcontroller 250 via a wireless communicator to control the output voltage of the motor driver 230, and to control the voltage signal acquisition module 300 to acquire the voltage signal across the sampling resistor 270 when the output terminal of the motor driver 230 is short-circuited.

[0051] When using the test system for the capsule robot micro motor provided in this embodiment, the capsule robot 200, voltage signal acquisition module 300, and host computer 400 can be powered on first. Then, an appropriate amount of liquid is added to the accommodating tank 111, and the robot shell 210 and its internal components are immersed in the liquid. Next, the host computer 400 sends a control command to the microcontroller 250, causing the microcontroller 250 to send a PWM signal to the motor driver 230. The duty cycle of the PWM signal gradually increases from a first predetermined value to a second predetermined value with a predetermined step size, and the microcontroller 250... Before the duty cycle of the WM signal increases by one step, the output terminal of the control motor driver 230 is short-circuited, and the control voltage signal acquisition module 300 acquires the voltage signal across the sampling resistor 270 when the output terminal of the motor driver 230 is short-circuited and transmits it to the host computer 400. Finally, the rotational speed of the micro motor 240 can be obtained based on the voltage signal across the sampling resistor 270, the resistance value of the sampling resistor 270, and the internal resistance value of the micro motor 240. The relationship between the output voltage of the motor driver 230 (i.e., the input voltage of the micro motor 240) and the rotational speed of the micro motor 240 can be fitted.

[0052] Therefore, the test system for the capsule robot micro motor provided in this embodiment can fit the relationship between the output voltage of the motor driver 230 and the rotational speed of the micro motor 240, and clarify the response characteristics of the rotational speed of the micro motor 240 to the input voltage. In this way, the output voltage value of the motor driver 230 can be controlled according to the desired rotational speed of the micro motor 240, which is beneficial to the precise control of the micro motor 240, thereby improving the accuracy of the control of the motion posture and speed of the capsule robot 200.

[0053] In another embodiment of this application, the voltage signal acquisition module 300 is located inside the robot housing 210. The input terminal of the voltage signal acquisition module 300 is connected to both ends of the sampling resistor 270, and the output terminal of the voltage signal acquisition module 300 is connected to the analog signal acquisition port of the microcontroller 250. The microcontroller 250 is used to transmit the voltage signal acquired by the voltage signal acquisition module 300 to the host computer 400 through a wireless communicator. It should be noted that the above situation is not shown in the figure.

[0054] Specifically, the voltage signal acquisition module 300 can be configured as a signal amplifier 310.

[0055] The capsule robot micromotor testing system provided in this embodiment places the voltage signal acquisition module 300 inside the robot housing 210, integrating the voltage signal acquisition module 300 and the capsule robot 200 into a single unit. The microcontroller 250 is configured to acquire the voltage signal collected by the voltage signal acquisition module 300 and then transmit the voltage signal to the host computer 400 wirelessly via a wireless communicator. This design eliminates the need for any wires or fixing structures on the outer wall of the robot housing 210. When the capsule robot 200 moves within the receiving slot 111, it is not involved with other components, closely mimicking the scenario of the capsule robot 200 being used in tissues such as the digestive tract, which helps improve the accuracy of the test.

[0056] In another embodiment of this application, please refer to Figure 1 and Figure 2 The voltage signal acquisition module 300 is located outside the robot housing 210; the test frame 100 also includes a connecting arm 120 and a fixing ring 130, the connecting arm 120 being arranged around a first horizontal direction ( Figure 1 and Figure 2 The X-direction shown is rotatably mounted on the frame 110, and in the vertical direction (as shown) Figure 1 and Figure 2 Located above the receiving groove 111 in the Z direction (as shown), the fixing ring 130 is located at the bottom end of the connecting arm 120. The inner surface of the fixing ring 130 has at least two first conductive contacts 131. Each pair of the at least two first conductive contacts 131 is connected to both ends of the voltage signal acquisition module 300 via wires. The robot housing 210 is fitted inside the fixing ring 130. The driving direction of the micro motor 240, the length direction of the connecting arm 120, and the first horizontal direction are all perpendicular to each other. Please refer to [reference needed]. Figure 3 and Figure 4The outer wall of the robot housing 210 is provided with at least two second conductive contacts 211. The at least two second conductive contacts 211 are electrically connected to at least two first conductive contacts 131 respectively, and the at least two second conductive contacts 211 are electrically connected to the two ends of the same sampling resistor 270 in pairs through wires.

[0057] Specifically, please refer to Figure 1 and Figure 6 In this embodiment, the voltage signal acquisition module 300 may include a signal amplifier 310 and a signal acquisition slave device 320. The signal amplifier 310 is used to amplify the voltage across the sampling resistor 270. The amplified voltage signal is acquired by the signal acquisition slave device 320, which converts the acquired analog voltage signal into a digital signal and then sends it to the host computer 400.

[0058] It should be noted that the number of the first conductive contact 131 and the second conductive contact 211 are equal and their positions correspond. The number of the first conductive contact 131 and the second conductive contact 211 is related to the number of micro motors 240 in the capsule robot 200, and can be two, four, six, etc. For example, when the capsule robot 200 has one micro motor 240, the corresponding number of sampling resistors 270 is also one. The number of the first conductive contact 131 and the second conductive contact 211 can both be set to two. The two first conductive contacts 131 and the two second conductive contacts 211 are electrically connected. The two first conductive contacts 131 are electrically connected to the two ends of the signal amplifier 310 through wires, and the two second conductive contacts 211 are electrically connected to the two ends of the sampling resistor 270 through wires. For example, when the capsule robot 200 has two micro motors 240, the corresponding number of sampling resistors 270 is also two. The number of first conductive contacts 131 and second conductive contacts 211 can both be set to four. The four first conductive contacts 131 and the four second conductive contacts 211 are electrically connected. The four first conductive contacts 131 are connected in pairs to the two ends of the signal amplifier 310 through wires. Two of the four second conductive contacts 211 are connected to the two ends of one of the two sampling resistors 270 through wires. The other two of the four second conductive contacts 211 are connected to the two ends of the other sampling resistor 270 through wires.

[0059] In the illustrated embodiment, there are eight first conductive contacts 131 and eight second conductive contacts 211, which can test the capsule robot 200 equipped with four micro motors 240, and can simultaneously fit the relationship between the rotational speed and input voltage of each of the four micro motors 240, thereby improving testing efficiency.

[0060] The capsule robot micro motor testing system provided in this embodiment only introduces a sampling resistor 270 inside the capsule robot 200, which helps to simplify the internal circuit structure of the capsule robot 200, avoids occupying too much internal space of the capsule robot 200, and reduces the internal power consumption of the capsule robot 200.

[0061] Furthermore, by setting a first conductive contact 131 on the fixed ring 130 and a second conductive contact 211 on the robot housing 210, the sampling resistor 270 is connected to the voltage signal acquisition module 300 outside the robot housing 210. Voltage signals are acquired from the sampling resistor 270 outside the capsule robot 200. The size and power of the voltage signal acquisition module 300 are not limited by the robot housing 210, which makes it easy to set up a high-precision and high-sensitivity voltage signal acquisition module 300, thereby improving the accuracy and sensitivity of signal measurement.

[0062] In another embodiment of this application, please refer to Figure 1 and Figure 2 The axial direction of the fixed ring 130 is perpendicular to the length direction of the connecting arm 120 and the first horizontal direction. The axial direction of the robot housing 210 coincides with the axial direction of the fixed ring 130. The driving direction of the micro motor 240 is parallel to or coincides with the axial direction of the fixed ring 130. Alternatively, the axial direction of the fixed ring 130 is perpendicular to the length direction of the connecting arm 120 and parallel to the first horizontal direction. The axial direction of the robot housing 210 coincides with the axial direction of the fixed ring 130. The driving direction of the micro motor 240 is perpendicular to the axial direction of the fixed ring 130. It should be noted that this case is not shown in the figure.

[0063] The capsule robot micromotor testing system provided in this embodiment can test propulsion capsule robots (where the driving direction of the micromotor 240 is parallel or coincident with the axis of the robot shell 210) when the axis of the fixing ring 130 is set to be perpendicular to the length direction of the connecting arm 120 and the first horizontal direction. When the axis of the fixing ring 130 is set to be perpendicular to the length direction of the connecting arm 120 and parallel to the first horizontal direction, it can test torsion capsule robots (where the driving direction of the micromotor 240 is perpendicular to the axis of the robot shell 210). The testing system has good adaptability.

[0064] In another embodiment of this application, please refer to Figure 1 and Figure 2The middle part of the connecting arm 120 is hinged to the frame 110, and the distance between the bottom end of the connecting arm 120 and the hinge point between the connecting arm 120 and the frame 110 is greater than the distance between the top end of the connecting arm 120 and the hinge point between the connecting arm 120 and the frame 110. The test system for the capsule robot micro motor also includes a pressure signal acquisition module 500. The pressure signal acquisition module 500 is located on the frame 110 and is used to abut against the top end of the connecting arm 120 when the capsule robot 200 is working, so as to acquire the pressure signal applied by the top end of the connecting arm 120.

[0065] For ease of understanding and explanation, the connecting arm 120 from its bottom end to the hinge point between the connecting arm 120 and the frame 110 is defined as the long lever arm, and the connecting arm 120 from its top end to the hinge point between the connecting arm 120 and the frame 110 is defined as the short lever arm. The length of the long lever arm is greater than the length of the short lever arm. The capsule robot 200 is positioned at the end of the long lever arm away from the hinge point, and the pressure signal acquisition module 500 is positioned at the end of the short lever arm away from the hinge point. According to the lever principle, the pressure signal acquired by the pressure signal acquisition module 500 is greater than the driving force of the micro motor 240. The above design can first amplify the driving force of the micro motor 240, and then acquire the amplified pressure signal.

[0066] The capsule robot micromotor testing system provided in this embodiment sets the distance between the bottom end of the connecting arm 120 and the hinge point between the connecting arm 120 and the frame 110 to be greater than the distance between the top end of the connecting arm 120 and the hinge point between the connecting arm 120 and the frame 110. This makes the connecting arm 120 form a lever, which allows for the simultaneous calibration of the micromotor 240's rotational speed and the acquisition of the amplified driving force of the micromotor 240. In this way, the functional relationship between the input voltage and rotational speed of the micromotor 240, as well as the functional relationship between the rotational speed and driving force of the micromotor 240, can be established at the same time. This facilitates multi-dimensional calibration of the micromotor 240, and thus enables more precise control of the micromotor 240 and the capsule robot 200.

[0067] In another embodiment of this application, please refer to Figure 2The test fixture 100 also includes a contact ring 140, which is sleeved on the top end of the connecting arm 120. An arc-shaped protrusion 141 protrudes from the outer wall of the contact ring 140, and this protrusion 141 abuts against the signal acquisition surface of the pressure signal acquisition module 500. This configuration allows the top end of the connecting arm 120 to stably abut against the signal acquisition surface of the pressure signal acquisition module 500 via the arc-shaped protrusion 141. Furthermore, the small contact area between the arc-shaped protrusion 141 and the signal acquisition surface increases the pressure per unit area, making the pressure signal acquisition module 500 more sensitive to minute pressure changes and improving its overall sensitivity.

[0068] Please see Figures 3 to 5 This application also provides a capsule robot 200, which includes a robot housing 210, a power supply 220, a motor driver 230, a micro motor 240, a sampling resistor 270, a microcontroller 250, and a wireless communicator disposed inside the robot housing 210, and a propeller 260 disposed outside the robot housing 210. The outer wall of the robot housing 210 is provided with at least two second conductive contacts 211. The power supply 220 is used to power the motor driver 230, the microcontroller 250, and the wireless communicator. The microcontroller 250 is used to communicate with an external host computer 400 via the wireless communicator and control the motor driver 230 to drive the micro motor 240. The propeller 260 is connected to the power output terminal of the micro motor 240. The sampling resistor 270 is connected in series between the motor driver 230 and the micro motor 240, and the two ends of the sampling resistor 270 are electrically connected to the two second conductive contacts 211 respectively through wires.

[0069] It should be noted that in this embodiment, the number of second conductive contacts 211 is related to the number of micro motors 240. The number of second conductive contacts 211 can be equal to or greater than twice the number of micro motors 240, and the number of second conductive contacts 211 can be two, four, six, etc. In the illustrated embodiment, the number of second conductive contacts 211 is eight.

[0070] The capsule robot 200 provided in this embodiment has at least two second conductive contacts 211 on its robot housing 210, and a sampling resistor 270 is introduced into the robot housing 210. The two ends of the sampling resistor 270 are electrically connected to the two second conductive contacts 211 through wires. With this configuration, it is only necessary to connect the two second conductive contacts 211 connected to the sampling resistor 270 to the two ends of the external voltage signal acquisition module 300 to fit the functional relationship between the input voltage and speed of the micro motor 240 connected in series with the sampling resistor 270. After obtaining the functional relationship between the input voltage and speed of the micro motor 240, the input voltage of the micro motor 240 can be controlled according to the desired motor speed, so as to achieve more precise control of the micro motor 240 and the capsule robot 200 as a whole.

[0071] This application also provides a testing method for a micro motor 240 of a capsule robot 200. This method is applied to the aforementioned testing system for the micro motors of the capsule robot 200. The testing method for the micro motor 240 of the capsule robot 200 includes:

[0072] S101 powers on the capsule robot 200, voltage signal acquisition module 300, and host computer 400.

[0073] S102, add an appropriate amount of liquid to the accommodating tank 111, and immerse the robot housing 210 and the components inside the robot housing 210 in the liquid.

[0074] S103, the host computer 400 sends a control command to the microcontroller 250, causing the microcontroller 250 to send a PWM signal to the motor driver 230. The duty cycle of the PWM signal gradually increases from a first predetermined value x1% to a second predetermined value x2% with a predetermined step size Y. Before the duty cycle of the PWM signal increases by one step, the microcontroller 250 controls the output terminal of the motor driver 230 to be short-circuited, and controls the voltage signal acquisition module 300 to acquire the voltage signal across the sampling resistor 270 and transmit it to the host computer 400 when the output terminal of the motor driver 230 is short-circuited.

[0075] It should be noted that the output voltage of the motor drive is equal to the input voltage of the motor, and equal to the duty cycle of the PWM signal input to the motor driver 230 multiplied by the input voltage of the motor driver 230.

[0076] Furthermore, it can be understood that when the PWM signal duty cycle is x1%, the host computer 400 controls the output terminal of the motor driver 230 to be short-circuited, and acquires the voltage signal across the sampling resistor 270 acquired by the voltage signal acquisition module 300 one or more times in real time; when the PWM signal duty cycle increases to x1%+Y, the host computer 400 controls the output terminal of the motor driver 230 to be short-circuited, and acquires the voltage signal across the sampling resistor 270 acquired by the voltage signal acquisition module 300 one or more times in real time; when the PWM signal duty cycle increases to x1%+2Y, the host computer 400 controls the output terminal of the motor driver 230 to be short-circuited, and acquires the voltage signal across the sampling resistor 270 acquired by the voltage signal acquisition module 300 one or more times in real time; and so on, until the PWM signal duty cycle increases to x2%. During the above process, when the host computer 400 acquires the voltage signal acquired by the voltage signal acquisition module 300 multiple times, the accuracy of the test can be improved by averaging the multiple acquired voltage signals.

[0077] It should also be noted that for the capsule robot 200 with multiple micro motors 240, the testing process for different micro motors 240 can be carried out one by one after each increase of the PWM signal duty cycle, or the process can be repeated individually after the testing of one micro motor 240 is completed.

[0078] S104: The rotational speed of the micro motor 240 is obtained based on the voltage signal across the sampling resistor 270, the resistance value of the sampling resistor 270, and the internal resistance value of the micro motor 240.

[0079] Specifically, the rotational speed of the micro motor 240 can be obtained from the voltage signal across the sampling resistor 270, the resistance value of the sampling resistor 270, and the internal resistance value of the micro motor 240 using the following formulas 1 to 4.

[0080] There is a corresponding relationship between the electromotive force of the micro motor 240 and the rotational speed of the micro motor 240 as shown in Formula 1.

[0081] ω=kE (1)

[0082] Where ω is the motor speed, E is the electromotive force generated by the micro motor 240 during rotation, and k is a parameter related to the micro motor 240 itself, which can be obtained by prior measurement and is considered known here.

[0083] When the micro motor 240 rotates, after adjusting the PWM signal to short-circuit the output terminal of the motor driver 230, the circuit loop containing the micro motor 240 can be equivalent to a purely resistive circuit because the micro motor 240 generates electromotive force and current during rotation. The electromotive force generated by the micro motor 240 acts on the internal resistance of the micro motor 240 and the sampling resistor 270. The corresponding relationship between the electromotive force generated by the micro motor 240 and the voltage across the sampling resistor 270 is shown in Formula 2.

[0084]

[0085] Among them, R motor The internal resistance of the 240 micro motor can be measured in advance and is considered known here. R sample This is the resistance value of the sampling resistor 270V, V sample It is the voltage across the sampling resistor 270.

[0086] The voltage across sampling resistor 270 is amplified and then acquired by voltage signal acquisition module 300. The relationship between the voltage signal acquired by voltage signal acquisition module 300 and the original voltage signal across sampling resistor 270 is shown in Equation 3.

[0087] V res =αV sample (3)

[0088] Where α is the amplification factor of the original voltage signal across the sampling resistor 270, V res The original voltage signal across the sampling resistor 270 is amplified into an input signal, which can be understood as V. res It was eventually transmitted to the host computer 400.

[0089] Combining formulas 1 to 3, a functional relationship between the acquired voltage signal and the rotational speed of the micro motor 240 can be established as shown in formula 4:

[0090]

[0091] According to Formula 4 above, the rotational speed of the micro motor 240 can be obtained from the voltage signal across the sampling resistor 270, the resistance value of the sampling resistor 270, and the internal resistance value of the micro motor 240.

[0092] S105, the output voltage of the motor driver 230 and the rotational speed of the micro motor 240 are fitted.

[0093] The testing method for the micro motor 240 of the capsule robot 200 provided in this embodiment can fit the output voltage of the motor driver 230 and the rotational speed of the micro motor 240, that is, fit the relationship between the input voltage of the micro motor 240 and the rotational speed of the micro motor 240. In this way, the output voltage value of the motor driver 230 can be controlled according to the desired rotational speed of the micro motor 240, which is beneficial to the precise control of the micro motor 240, thereby improving the accuracy of the control of the motion posture and speed of the capsule robot 200.

[0094] In another embodiment of this application, please refer to Figure 1 and Figure 2 The voltage signal acquisition module 300 is located outside the robot housing 210. The test frame 100 also includes a connecting arm 120 and a fixing ring 130. The connecting arm 120 is rotatably mounted on the frame 110 around a first horizontal direction and is located above the receiving groove 111 in the vertical direction. The fixing ring 130 is located at the bottom end of the connecting arm 120. The inner side of the fixing ring 130 is provided with at least two first conductive contacts 131. Each pair of the at least two first conductive contacts 131 is connected to both ends of the voltage signal acquisition module 300 by wires. The robot housing 210 is fitted onto the fixing ring. Within 130, and with the driving direction of the micro motor 240, the length direction of the connecting arm 120, and the first horizontal direction perpendicular to each other, the outer wall of the robot housing 210 is provided with at least two second conductive contacts 211, each of which is electrically connected to at least two first conductive contacts 131, and each pair of the at least two second conductive contacts 211 is electrically connected to both ends of the same sampling resistor 270 via wires. After the step of powering on the capsule robot 200, the voltage signal acquisition module 300, and the host computer 400, the test method further includes:

[0095] S1012, the capsule robot 200 is fitted inside the fixing ring 130, and the two second conductive contacts 211 electrically connected to the sampling resistor 270 and the two first conductive contacts 131 electrically connected to the voltage signal acquisition module 300 are electrically connected respectively.

[0096] The testing method for the micro motor 240 of the capsule robot 200 provided in this embodiment connects the sampling resistor 270 to the voltage signal acquisition module 300 outside the robot housing 210 by setting a first conductive contact 131 on the fixed ring 130 and a second conductive contact 211 on the robot housing 210. The voltage signal is acquired from the sampling resistor 270 outside the capsule robot 200, so that the size and power of the voltage signal acquisition module 300 are not limited by the robot housing 210. This makes it easier to set up a high-precision and high-sensitivity voltage signal acquisition module 300, improve the accuracy and sensitivity of signal measurement, and thus improve the accuracy of the test.

[0097] Furthermore, the testing method for the micro motor 240 of the capsule robot 200 provided in this embodiment only introduces a sampling resistor 270 inside the capsule robot 200, which helps to simplify the internal circuit structure of the capsule robot 200, avoid occupying too much internal space of the capsule robot 200, and reduce the internal power consumption of the capsule robot 200.

[0098] In another embodiment of this application, please refer to Figure 1 and Figure 2 The middle part of the connecting arm 120 is hinged to the frame 110, and the distance between the bottom end of the connecting arm 120 and the hinge point between the connecting arm 120 and the frame 110 is greater than the distance between the top end of the connecting arm 120 and the hinge point between the connecting arm 120 and the frame 110. The test system for the capsule robot micro motor also includes a pressure signal acquisition module 500. The pressure signal acquisition module 500 is located on the frame 110 and is used to abut against the top end of the connecting arm 120 when the capsule robot 200 is working, so as to acquire the pressure signal applied to the top end of the connecting arm 120. After the steps of the microcontroller 250 controlling the output terminal of the motor driver 230 to be short-circuited before each step increase of the duty cycle of the PWM signal, and controlling the voltage signal acquisition module 300 to acquire the voltage signal across the sampling resistor 270 and transmit it to the host computer 400 when the output terminal of the motor driver 230 is short-circuited, the test method also includes:

[0099] S1034, the control pressure signal acquisition module 500 acquires the pressure signal applied to the top of the connecting arm 120 and transmits it to the host computer 400 when the output terminal of the motor driver 230 is short-circuited.

[0100] Furthermore, after obtaining the rotational speed of the micromotor 240 based on the voltage signal across the sampling resistor 270, the resistance value of the sampling resistor 270, and the internal resistance value of the micromotor 240, the test method also includes:

[0101] S1045, fits the rotational speed of the micro motor 240 and the pressure signal applied to the top of the connecting arm 120.

[0102] The testing method for the micro motor 240 of the capsule robot 200 provided in this embodiment can fit the output voltage of the motor driver 230 and the rotational speed of the micro motor 240, that is, fit the relationship between the input voltage of the micro motor 240 and the rotational speed of the micro motor 240, and simultaneously fit the relationship between the rotational speed of the micro motor 240 and the driving force of the micro motor 240. In this way, the output voltage value of the motor driver 230 can be controlled according to the desired rotational speed of the micro motor 240, or according to the desired driving force, which is beneficial to more precise control of the micro motor 240, thereby improving the accuracy of controlling the motion posture and speed of the capsule robot 200.

[0103] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A testing system for micro motors of capsule robots, characterized in that, The testing system for the capsule robot's micro motors includes: A test fixture, including a frame, the frame having a receiving tank for containing liquid; A capsule robot, which can be immersed in liquid within the container, includes a robot shell, a power supply, a motor driver, a micro motor, a sampling resistor, a microcontroller, and a wireless communicator disposed within the robot shell, and a propeller disposed outside the robot shell. The power supply is used to power the motor driver, the microcontroller, and the wireless communicator. The microcontroller is used to control the motor driver to drive the micro motor. The sampling resistor is connected in series between the motor driver and the micro motor. The propeller is connected to the power output terminal of the micro motor. A voltage signal acquisition module is located inside or outside the robot housing and is used to acquire the voltage signal across the sampling resistor. The host computer is used to communicate with the microcontroller via the wireless communicator, so that the microcontroller sends a PWM signal to the motor driver. The duty cycle of the PWM signal gradually increases from a first predetermined value to a second predetermined value in predetermined steps. Before the duty cycle of the PWM signal increases by one step, the microcontroller controls the output terminal of the motor driver to be short-circuited, and controls the voltage signal acquisition module to acquire the voltage signal across the sampling resistor and transmit it to the host computer when the output terminal of the motor driver is short-circuited.

2. The testing system for the micro motor of the capsule robot according to claim 1, characterized in that, The voltage signal acquisition module is located inside the robot housing. The input terminal of the voltage signal acquisition module is connected to both ends of the sampling resistor, and the output terminal of the voltage signal acquisition module is connected to the analog signal acquisition port of the microcontroller. The microcontroller is used to transmit the voltage signal acquired by the voltage signal acquisition module to the host computer through the wireless communicator.

3. The testing system for the micro motor of the capsule robot according to claim 1, characterized in that, The voltage signal acquisition module is located outside the robot housing; the test frame also includes a connecting arm and a fixing ring. The connecting arm is rotatably mounted on the frame around a first horizontal direction and is located above the receiving groove in the vertical direction. The fixing ring is located at the bottom end of the connecting arm. The inner side of the fixing ring is provided with at least two first conductive contacts. Each pair of the at least two first conductive contacts is connected to both ends of the voltage signal acquisition module via wires. The robot housing is fitted inside the fixing ring, and the driving direction of the micro motor, the length direction of the connecting arm, and the first horizontal direction are perpendicular to each other. The outer side wall of the robot housing is provided with at least two second conductive contacts. Each pair of the at least two second conductive contacts is electrically connected to at least two first conductive contacts, and each pair of the at least two second conductive contacts is electrically connected to both ends of the same sampling resistor via wires.

4. The testing system for the micro motor of the capsule robot according to claim 3, characterized in that, The axial direction of the fixed ring is perpendicular to the length direction of the connecting arm and the first horizontal direction. The axial direction of the robot housing coincides with the axial direction of the fixed ring. The driving direction of the micro motor is parallel to or coincides with the axial direction of the fixed ring. Alternatively, the axial direction of the fixed ring is perpendicular to the length direction of the connecting arm and parallel to the first horizontal direction. The axial direction of the robot housing coincides with the axial direction of the fixed ring. The driving direction of the micro motor is perpendicular to the axial direction of the fixed ring.

5. The testing system for the micro motor of the capsule robot according to claim 3, characterized in that, The middle part of the connecting arm is hinged to the frame, and the distance between the bottom end of the connecting arm and the hinge point between the connecting arm and the frame is greater than the distance between the top end of the connecting arm and the hinge point between the connecting arm and the frame. The testing system for the capsule robot micro motor also includes a pressure signal acquisition module, which is located on the frame and is used to abut against the top end of the connecting arm when the capsule robot is working, so as to acquire the pressure signal applied by the top end of the connecting arm.

6. The testing system for the micro motor of the capsule robot according to claim 5, characterized in that, The test fixture also includes a contact ring, which is sleeved on the top of the connecting arm. The outer side wall of the contact ring has an arc-shaped protrusion, which is used to abut against the signal acquisition surface of the pressure signal acquisition module.

7. A capsule robot, tested using the capsule robot micro-motor testing system as described in claim 1, characterized in that, The capsule robot includes a robot shell, a power supply, a motor driver, a micro motor, a sampling resistor, a microcontroller, and a wireless communicator disposed inside the robot shell, and a propeller disposed outside the robot shell; the outer side wall of the robot shell is provided with at least two second conductive contacts, the power supply is used to supply power to the motor driver, the microcontroller, and the wireless communicator, the microcontroller is used to communicate with an external host computer through the wireless communicator and control the motor driver to drive the micro motor, the propeller is connected to the power output terminal of the micro motor, the sampling resistor is connected in series between the motor driver and the micro motor, and the two ends of the sampling resistor are electrically connected to the two second conductive contacts respectively through wires.

8. A testing method for a micro motor of a capsule robot, wherein the method is applied to the testing system for the micro motor of the capsule robot as described in claim 1, characterized in that, The testing method for the micro motors of the capsule robot includes: Power on the capsule robot, the voltage signal acquisition module, and the host computer; Add an appropriate amount of liquid to the accommodating tank, and immerse the robot housing and the components inside the robot housing in the liquid; The host computer sends control commands to the microcontroller, causing the microcontroller to send a PWM signal to the motor driver. The duty cycle of the PWM signal gradually increases from a first predetermined value to a second predetermined value in predetermined steps. Before the duty cycle of the PWM signal increases by one step, the microcontroller controls the output terminal of the motor driver to be short-circuited, and controls the voltage signal acquisition module to acquire the voltage signal across the sampling resistor and transmit it to the host computer when the output terminal of the motor driver is short-circuited. The rotational speed of the micromotor is obtained based on the voltage signal across the sampling resistor, the resistance value of the sampling resistor, and the internal resistance value of the micromotor. The output voltage of the motor driver and the rotational speed of the micro motor are fitted together.

9. The test method for the micro motor of the capsule robot according to claim 8, characterized in that, The voltage signal acquisition module is located outside the robot housing; the test frame also includes a connecting arm and a fixing ring. The connecting arm is rotatably mounted on the frame around a first horizontal direction and is located above the receiving slot in the vertical direction. The fixing ring is located at the bottom end of the connecting arm. The inner side of the fixing ring is provided with at least two first conductive contacts. Each pair of the at least two first conductive contacts is connected to both ends of the voltage signal acquisition module via wires. The robot housing is fitted inside the fixing ring, and the driving direction of the micro motor, the length direction of the connecting arm, and the first horizontal direction are perpendicular to each other. The outer wall of the robot housing is provided with at least two second conductive contacts. Each pair of the at least two second conductive contacts is electrically connected to at least two first conductive contacts, and each pair of the at least two second conductive contacts is electrically connected to both ends of the same sampling resistor via wires. After the step of powering on the capsule robot, the voltage signal acquisition module, and the host computer, the test method further includes: The capsule robot is fitted inside the fixed ring, and the two second conductive contacts electrically connected to the sampling resistor and the two first conductive contacts electrically connected to the voltage signal acquisition module are electrically connected respectively.

10. The test method for the micro motor of the capsule robot according to claim 9, characterized in that, The middle part of the connecting arm is hinged to the frame, and the distance between the bottom end of the connecting arm and the hinge point between the connecting arm and the frame is greater than the distance between the top end of the connecting arm and the hinge point between the connecting arm and the frame. The test system for the capsule robot micro motor also includes a pressure signal acquisition module, which is located on the frame and is used to abut against the top end of the connecting arm when the capsule robot is working, so as to acquire the pressure signal applied to the top end of the connecting arm. After the steps of the microcontroller controlling the output terminal of the motor driver to short-circuit before the duty cycle of the PWM signal increases by one step, and controlling the voltage signal acquisition module to acquire the voltage signal across the sampling resistor and transmit it to the host computer when the output terminal of the motor driver is short-circuited, the test method further includes: The pressure signal acquisition module is controlled to acquire the pressure signal applied to the top of the connecting arm and transmit it to the host computer when the output terminal of the motor driver is short-circuited. Furthermore, after the step of obtaining the rotational speed of the micromotor based on the voltage signal across the sampling resistor, the resistance value of the sampling resistor, and the internal resistance value of the micromotor, the testing method further includes: The rotational speed of the micro motor and the pressure signal applied to the tip of the connecting arm are fitted together.

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