Device and method for measuring the frictional resistance of a magnetic capsule robot

Abstract

The application relates to the technical field of friction measuring devices, and discloses a magnetic driving capsule robot motion friction resistance measuring device and a measuring method. The magnetic driving capsule robot motion friction resistance measuring device comprises a measuring platform, a magnetic driving force measuring module, a test support and a tension force measuring module; the magnetic driving force measuring module is arranged on the measuring platform and is provided with a permanent magnet; an intestinal tract simulation part arranged along the Y-axis direction is arranged on the test support, and a capsule robot is arranged in the intestinal tract simulation part; the tension force measuring module is used for pulling the capsule robot to move along the internal channel of the intestinal tract simulation part and measuring the pulling force in the moving process; the permanent magnet is radially magnetized, and the axial direction is parallel to the length direction of the intestinal tract simulation part or intersects the length direction in a different plane. Therefore, the device can measure the influence of driving magnetic field and speed and other parameters on the friction resistance of the capsule robot during motion, the measured data are real and effective, and thus technical reference can be provided for the friction mechanism and dynamics research of the magnetic driving capsule robot.

Description

Technical Field

[0001] This application relates to the field of friction force measurement technology between rigid bodies and soft materials, specifically to a device and method for measuring the motion friction resistance of a magnetically driven capsule robot. Background Technology

[0002] With the development of minimally invasive and non-invasive diagnostic and treatment technologies, wireless capsule robots have become a research hotspot in the field of gastrointestinal endoscopy, showing great promise for application in gastrointestinal diagnosis and treatment. Among existing active control methods for wireless capsule robots, magnetic field-driven control is currently one of the most widely researched and applied methods. Capsule robots contain radially magnetized annular permanent magnets and are ingested. Under the combined action of gastrointestinal peristalsis and external magnetic field drive, they perform complex movements to examine lesions within the gastrointestinal tract. The movement state of the capsule robot and its friction against the intestinal wall significantly affect the diagnostic and treatment outcomes, as well as patient comfort.

[0003] The current method for measuring the resistance of capsule robots inside a tube is to use a motor to drive the capsule robot at a constant speed through a rope. A tension sensor is installed on the rope. Since the capsule robot moves at a constant speed, the tension measured by the sensor on the rope is considered to be the frictional resistance experienced by the capsule robot.

[0004] Therefore, current methods for measuring the frictional resistance of capsule robots only consider tension and frictional resistance. However, in reality, capsule robots are actively controlled by external magnets to generate motion. When an external permanent magnet is added, the force state of the capsule robot changes, and its frictional resistance also changes accordingly. Therefore, existing measurement methods are limited and cannot accurately measure the frictional resistance of magnetically driven capsule robots. Summary of the Invention

[0005] The purpose of this application is to provide a device and method for measuring the motion friction resistance of a magnetically driven capsule robot, in order to overcome the shortcomings of the existing technology.

[0006] To achieve the above objectives, in a first aspect, this application provides a device for measuring the motion friction resistance of a magnetically driven capsule robot, comprising: Measurement platform; A magnetic drive force measurement module is mounted on the measurement platform, and a permanent magnet is provided at the end of the magnetic drive force measurement module. A test stand, positioned on the measurement platform and below the permanent magnet, has an intestinal simulator arranged along the Y-axis. The intestinal simulator contains a movable capsule robot. A tensile force measurement module is installed on the measurement platform and connected to the capsule robot, used to pull the capsule robot along the internal channel of the intestinal simulator and measure the drag force of the capsule robot during the movement. The permanent magnet is radially magnetized, and the magnetic field direction is parallel to or intersects with the length direction of the intestinal simulation component.

[0007] As a further improvement to the above technical solution: In one possible implementation, the test bracket includes a first clamp and a second clamp; The first clamping seat and the second clamping seat are aligned along the Y-axis direction, and the ends of the intestinal simulation component are fixed on the first clamping seat and the second clamping seat by cones respectively; The tensile force measurement module passes through the corresponding cone and the capsule robot.

[0008] In one possible implementation, the first clamp and / or the second clamp are detachably connected to the measuring platform via fasteners; The measuring platform is provided with multiple locking holes for mounting the fasteners along the Y-axis.

[0009] In one possible implementation, the magnetic drive force measurement module includes: A mounting bracket is installed on the measuring platform; and A first tension sensor is mounted on the mounting bracket, and the measuring end of the first tension sensor is connected to the permanent magnet.

[0010] In one possible implementation, the magnetic drive force measurement module further includes a lifting mechanism, which is mounted on the mounting bracket. The first tension sensor is mounted on the lifting mechanism via a connecting column. The lifting mechanism can drive the first tension sensor and the permanent magnet to move up and down along the Z-axis.

[0011] Optionally, the lifting mechanism is a cylinder, hydraulic cylinder, electric cylinder, linear motor, electric push rod, or a screw drive mechanism arranged along the Z-axis.

[0012] In one possible implementation, the magnetic drive force measurement module is mounted on the measurement platform via a three-axis motion platform or a robotic arm.

[0013] In one possible implementation, the tensile force measurement module includes: A linear drive mechanism is mounted on the measuring platform; A second tension sensor is mounted on the linear drive mechanism; and A connecting rod is provided, with one end connected to the capsule robot and the other end connected to the second tension sensor. The diameter of the connecting rod is smaller than the inner diameter of the internal channel of the intestinal simulator.

[0014] Optionally, the linear drive mechanism is a cylinder, hydraulic cylinder, electric cylinder, linear motor, electric push rod, or a lead screw drive mechanism arranged along the Y-axis direction.

[0015] To achieve the above objectives, in a second aspect, this application also provides a method for measuring the motion friction resistance of a magnetically driven capsule robot, applied to the magnetically driven capsule robot motion friction resistance measuring device provided according to the first aspect above, the method comprising: S100: The capsule robot is pulled along the internal channel of the intestinal simulator at a preset speed by the tension measurement module, and the tension Fb of the capsule robot is measured in real time. At the same time, the magnetic force measurement module measures the magnetic force Fa of the permanent magnet on the capsule robot in the Y-axis direction in real time. S200: Based on the measured pulling force Fb of the capsule robot's motion, plot the Fb-t relationship curve; based on the magnetic field force Fa of the magnetic drive force measurement module, plot the Fa-t relationship curve. S300: Based on the formula f=Fa+Fb for calculating the frictional force f in the internal channel of the capsule robot in the intestinal simulator, the relationship curves of Fb-t and Fa-t are integrated to obtain the relationship curve of Fb-Fa. S400: Repeat steps S100 to S300 at least three times, and take the average value of the frictional force f; In each cycle, the speed of the capsule machine is kept constant or increased by a preset value.

[0016] In one possible implementation, the method further includes the following step before step S100: S80: Establish an interaction model between the permanent magnet component and the permanent magnet in the capsule robot, and calculate the relationship between the magnetic force and the distance between the two based on the external magnetic induction intensity of the permanent magnet component and the capsule robot. S90: Based on the calculated relationship between magnetic force and spacing, a suitable permanent magnet is selected and installed in the magnetically driven capsule robot motion friction resistance measuring device, and the vertical distance L between the permanent magnet and the capsule robot axis is adjusted. The permanent magnets built into the capsule robot are radially magnetized, and the interaction between them and the permanent magnets is an attractive force.

[0017] In one possible implementation, step S80 includes: Both the permanent magnet component and the capsule robot are cylindrical permanent magnets. A Cartesian coordinate system is established, where the axis of the radially magnetized permanent magnet is the Z-axis. The external magnetic induction intensity of the permanent magnet component and the capsule robot is calculated using the following formula:

[0018] In the above formula, the definition is The coordinate vector of the field point This is the coordinate vector of the field source, using cylindrical coordinates, with the source point coordinates as follows: The field point coordinates are The distance between the two points is ,in:

[0019]

[0020] Differential operators: B(r) is the magnetic flux density, μ0 is the free permeability, and M s R is the magnetization intensity, h is the radius of the cylindrical permanent magnet, θ is the height of the permanent magnet, and θ is the angle between the normal direction of any point on the surface of the permanent magnet and the magnetization direction. The relationship between the magnetic force and the distance between the permanent magnet and the capsule robot is calculated using the following formula:

[0021] In the above formula, F is the magnetic force between the two permanent magnets, and B... ext Where R is the external magnetic flux density, and R is the radius of the cylindrical permanent magnet. The equivalent volume magnetic charge density, This is the equivalent surface magnetic charge density.

[0022] Compared to existing technologies, the beneficial effects of this application are: This application provides a device and method for measuring the motion friction resistance of a magnetically driven capsule robot. The device indirectly measures the force exerted by the magnetic field on the capsule robot during its movement through a magnetic drive force measurement module, and measures the drag force during its movement through a tension force measurement module. Therefore, the device can simultaneously measure both the magnetic field force and the drag force during movement. The friction resistance of the capsule robot in the direction of movement can be obtained by calculating the vector sum of the drag force and the magnetic drive force. It can measure the influence of parameters such as the driving magnetic field and velocity on the friction resistance during the capsule robot's movement. The measurement data is accurate and valid, thus providing a technical reference for the study of the friction mechanism and dynamics of magnetically driven capsule robots.

[0023] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate this application and form part of the specification. They are used together with the following detailed description to explain this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings: Figure 1 This paper presents a three-dimensional structural schematic diagram of a motion friction resistance measuring device for a magnetically driven capsule robot according to an embodiment of this application. Figure 2 This paper shows a schematic diagram of the force analysis of a partial structure of the magnetically driven capsule robot motion friction resistance measuring device provided in an embodiment of this application; Figure 3 A flowchart of a method for measuring the motion friction resistance of a magnetically driven capsule robot provided in an embodiment of this application is shown; Figure 4 The figure shows the relationship between the tension Fb and the magnetic drive force Fa of the capsule robot at a motion speed of 1 mm / s in the magnetic drive capsule robot motion friction resistance measurement device provided in the embodiment of this application. The Fb0 curve in the figure is the change of the tension force on the capsule robot when there is no magnetic field. Figure 5 The figure shows the relationship between the tension Fb and the magnetic drive force Fa of the capsule robot at a motion speed of 4 mm / s in the magnetic drive capsule robot motion friction resistance measurement device provided in the embodiment of this application. The Fb0 curve in the figure represents the change of the tension force on the capsule robot when there is no magnetic field. Figure 6 The figure shows the relationship between the tension Fb and the magnetic drive force Fa of the capsule robot at a motion speed of 8 mm / s in the magnetic drive capsule robot motion friction resistance measurement device provided in the embodiment of this application. The Fb0 curve in the figure represents the change of the tension force on the capsule robot when there is no magnetic field. Figure 7 A schematic diagram of the geometric model of a toroidal permanent magnet is shown; Figure 8 A schematic diagram of the interaction model of two toroidal permanent magnets is shown.

[0025] Explanation of reference numerals in the attached figures: 100. Measurement platform; 200. Magnetic drive force measurement module; 210. Mounting bracket; 220. First tension sensor; 230. Lifting mechanism; 240. Connecting column; 300. Test bracket; 310. First clamp; 320. Second clamp; 330. Fastener; 340. Intestinal simulant; 400. Tensile force measuring module; 410. Linear drive mechanism; 420. Second tensile force sensor; 430. Connecting rod; 440. Cross-head nut; 500. Permanent magnet components; 600. Capsule robot. Detailed Implementation

[0026] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the embodiments of this application.

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0028] In the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] 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.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0032] Example Please see Figure 1 and Figure 2 This embodiment provides a magnetically driven capsule robot motion friction resistance measurement device, used to measure the friction resistance of the capsule robot 600 when it moves in the intestine.

[0033] In this embodiment, the motion friction resistance measuring device for the magnetically driven capsule robot includes a measuring platform 100, a magnetic drive force measuring module 200, a test bracket 300, and a tension measuring module 400. The measuring platform 100 is horizontally placed, with its length direction defined as the Y-axis, its width direction as the X-axis, and its vertical direction as the Z-axis. The Z-axis, Y-axis, and X-axis are perpendicular to each other. Of course, in some embodiments, the measuring platform 100 may also be placed vertically or at a preset angle.

[0034] A magnetic force measurement module 200 is mounted on a measurement platform 100, and a permanent magnet 500 is mounted at the end of the magnetic force measurement module 200. The magnetic force measurement module 200 can indirectly measure the force exerted by the magnetic field on the capsule robot 600 during its movement.

[0035] The test stand 300 is mounted on the measurement platform 100 and located below the permanent magnet 500. An intestinal simulator 340 is mounted on the test stand 300 and arranged along the Y-axis. A movable capsule robot 600 is housed within the intestinal simulator 340. The intestinal simulator 340 simulates the environment of the capsule robot 600 within the intestine. Optionally, the intestinal simulator 340 can be a soft tubing that closely resembles the internal environment of the intestine, or it can be derived from the intestines of an animal. The soft tubing can be a highly elastic latex tubing or a silicone tubing.

[0036] A tensile force measurement module 400 is mounted on the measurement platform 100 and connected to the capsule robot 600. The tensile force measurement module 400 is used to pull the capsule robot 600 along the internal channel of the intestinal simulator 340, and also to measure the resistance during the movement of the capsule robot 600.

[0037] Furthermore, in this embodiment, the permanent magnet 500 is columnar, such as prism, cylinder, or cylindrical ring, and the permanent magnet 500 is radially magnetized. The axial direction of the permanent magnet 500 is parallel to or intersects with the length direction of the intestinal simulation component 340. In this embodiment... Figure 1 The example shows a view in which the magnetic field direction of the permanent magnet 500 is arranged parallel to the length direction of the intestinal simulator 340.

[0038] It should be noted that the current method for measuring the resistance of the capsule robot 600 within the tube involves a motor driving the capsule robot 600 at a constant speed via a rope. A tension sensor is installed on the rope. Because the capsule robot 600 moves at a constant speed, the tension measured by the sensor on the rope is assumed to be the frictional resistance experienced by the capsule robot 600. However, when measuring the frictional resistance of the capsule robot 600, only tension and frictional resistance are considered. In reality, the capsule robot 600 is actively controlled by an external magnet. When an external permanent magnet 500 is added, the force state of the capsule robot 600 changes, and its frictional resistance also changes accordingly. Therefore, the existing measurement method is limited and cannot accurately measure the frictional resistance of the magnetically driven capsule robot.

[0039] Thus, the magnetically driven capsule robot motion friction resistance measuring device provided in this embodiment indirectly measures the force exerted by the magnetic field on the capsule robot 600 during its movement through the magnetic drive force measuring module 200, and measures the drag force of the capsule robot 600 during its movement through the tension measuring module 400. Therefore, the magnetically driven capsule robot motion friction resistance measuring device provided in this application can simultaneously measure the influence of the magnetic field force and motion resistance on the friction resistance of the capsule robot 600 during its movement. The measurement data is accurate and valid, allowing for better study of the movement of the capsule robot 600, and providing technical guidance and methodological basis for practical operations.

[0040] To more clearly describe the technical solution of this application, the following is a detailed description of each module in the magnetically driven capsule robot motion friction resistance measuring device provided in this embodiment: The aforementioned test support 300 includes a first clamping seat 310 and a second clamping seat 320. The first clamping seat 310 and the second clamping seat 320 are aligned along the Y-axis. The ends of the intestinal simulator 340 are respectively fixed to the first clamping seat 310 and the second clamping seat 320 via cones. The tensile force measurement module 400 passes through the corresponding cones and engages with the capsule robot 600.

[0041] In this embodiment, the first clamping seat 310 and / or the second clamping seat 320 are detachably connected to the measuring platform 100 via fasteners 330. The measuring platform 100 has multiple locking holes along the Y-axis for mounting the fasteners 330.

[0042] Therefore, when it is necessary to adjust the distance between the first clamping seat 310 and the second clamping seat 320, the fastener 330 can be removed first, and then the movable first clamping seat 310 or the second clamping seat 320 can be moved to complete the distance adjustment. After that, the fastener 330 can be installed and inserted into the corresponding locking hole to lock the movable first clamping seat 310 or the second clamping seat 320. It should also be mentioned that, without replacing the intestinal simulator 340, by adjusting the distance between the first clamping seat 310 and the second clamping seat 320 to lengthen or shorten the intestinal simulator 340 (which has a certain degree of flexibility), the size of the internal channel of the intestinal simulator 340 can be changed, thereby simulating intestines of different sizes. There is no need to replace the intestinal simulator 340 used for measurement, making the operation more convenient and improving the measurement efficiency.

[0043] Alternatively, fastener 330 can be selected as a combination of bolts and nuts.

[0044] The aforementioned magnetic force measurement module 200 includes a mounting bracket 210 and a first tension sensor 220. The mounting bracket 210 is vertically mounted on the measurement platform 100. The first tension sensor 220 is mounted on the mounting bracket 210, and the measuring end of the first tension sensor 220 is connected to a permanent magnet 500, that is, the permanent magnet 500 is located at the end of the first tension sensor 220 furthest from the mounting bracket 210.

[0045] Optionally, the permanent magnet 500 has a cylindrical structure.

[0046] Furthermore, the magnetic force measurement module 200 also includes a lifting mechanism 230, which is mounted on the mounting bracket 210. The first tension sensor 220 is mounted on the lifting mechanism 230 via a connecting column 240. The lifting mechanism 230 can drive the first tension sensor 220 and the permanent magnet 500 to move up and down along the Z-axis, thereby adjusting the distance between the permanent magnet 500 and the intestinal simulator 340.

[0047] Please see Figure 1 Optionally, the vertical distance L (outer edge distance) between the permanent magnet 500 and the axis of the capsule robot 600 can be adjusted between 0 and 50 mm. Preferably, the vertical distance L is 10 to 15 mm.

[0048] Optionally, the lifting mechanism 230 may be a pneumatic cylinder, hydraulic cylinder, electric cylinder, linear motor, electric push rod, or a screw drive mechanism arranged along the Z-axis. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0049] In some embodiments, the magnetic drive force measurement module 200 is mounted on the measurement platform 100 via a three-axis motion platform or a robotic arm. This allows for adjustment of the magnetic drive force measurement module 200 in the X, Y, and Z directions, providing greater flexibility in adjustment.

[0050] The aforementioned tension measurement module 400 includes a linear drive mechanism 410, a second tension sensor 420, and a connecting rod 430. The linear drive mechanism 410 is mounted on the measurement platform 100; the second tension sensor 420 is mounted on the linear drive mechanism 410; one end of the connecting rod 430 is connected to the capsule robot 600, and the other end is connected to the second tension sensor 420. Thus, the linear drive mechanism 410 can pull or push the capsule robot 600 within the internal channel of the intestinal simulator 340 via the connecting rod 430.

[0051] In this embodiment, the other end of the connecting rod 430 is connected via a cross-head nut 440 on the second tension sensor 420.

[0052] Furthermore, the diameter of the connecting rod 430 is smaller than the inner diameter of the internal channel of the intestinal simulator 340, thereby avoiding measurement errors caused by the connecting rod 430 contacting the inner wall of the internal channel of the intestinal simulator 340.

[0053] Understandably, when it is only necessary to move the capsule robot 600 within the internal channel of the intestinal simulator 340, the connecting rod 430 can also be replaced by a pull rope. Understandably, in this embodiment, the connecting rod 430 is used to both move the capsule robot 600 and push it to reset, in preparation for the next test, and also to measure the frictional resistance of the capsule robot 600's return motion.

[0054] Optionally, the linear drive mechanism 410 may be a cylinder, hydraulic cylinder, electric cylinder, linear motor, electric push rod, or a screw drive mechanism arranged in a horizontal direction. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0055] Please refer to the following: Figure 3 , Figure 4 , Figure 5 and Figure 6 Furthermore, this embodiment also provides a method for measuring the motion friction resistance of a magnetically driven capsule robot. This measurement method utilizes the aforementioned magnetically driven capsule robot motion friction resistance measuring device.

[0056] Specifically, the measurement method includes the following steps: S100: The tension measurement module 400 pulls the capsule robot 600 to move at a preset speed along the internal channel of the intestinal simulator 340 at a uniform speed, and measures the tension Fb of the capsule robot 600 in real time. At the same time, the magnetic force measurement module 200 measures the magnetic force Fa of the permanent magnet 500 on the capsule robot 600 in the Y-axis direction.

[0057] S200: Based on the measured pulling force Fb of the capsule robot 600, plot the Fb-t relationship curve; based on the magnetic field force Fa of the magnetic drive force measurement module 200, plot the Fa-t relationship curve.

[0058] S300: Based on the formula f=Fa+Fb for calculating the frictional force f in the internal channel of the capsule robot 600 in the intestinal simulator 340, the relationship curves of Fb-t and Fa-t are integrated to obtain the relationship curve of Fb-Fa.

[0059] S400: Repeat steps S100 to S300 at least three times, and take the average value of the frictional force f. During each cycle, maintain the capsule machine's movement speed consistently or increase it by a preset value.

[0060] Understandably, the movement speed of the capsule robot 600 can be controlled by the linear drive mechanism 410. In this embodiment, the movement speed of the capsule robot 600 is changed to 1mm / s, 2mm / s, 4mm / s, 6mm / s, 8mm / s, 10mm / s, 12mm / s, 14mm / s, or other speed values. During testing, the same speed is measured three times to avoid random errors, and this process is repeated.

[0061] Please refer to the following: Figure 7 and Figure 8 Furthermore, the above step S100 includes the following steps before: S80: Establish an interaction model between the permanent magnet component 500 and the permanent magnets in the capsule robot 600 (see [link]). Figure 8 , Figure 8 (Permanent magnet 1 and permanent magnet 2 are used to distinguish them), and the relationship between the magnetic force and the distance between the two is calculated based on the external magnetic induction intensity of permanent magnet 500 and capsule robot 600. S90: Based on the calculated relationship between magnetic force and spacing, a suitable permanent magnet 500 is selected for installation in the magnetically driven capsule robot motion friction resistance measuring device, and the vertical distance L between the permanent magnet 500 and the axis of the capsule robot 600 is adjusted. The permanent magnet built into the capsule robot 600 is radially magnetized and the force between it and the permanent magnet component 500 is mutual attraction.

[0062] Specifically, in this embodiment, step S80 includes: Both the permanent magnet component 500 and the capsule robot 600 have cylindrical permanent magnets. A Cartesian coordinate system is established, where the axis of the radially magnetized permanent magnet is the Z-axis. Therefore, the external magnetic induction intensity of the permanent magnet component 500 and the capsule robot 600 is calculated using the following formula (1): (1) In the above formula (1), the definition is: The coordinate vector of the field point This is the coordinate vector of the field source, using cylindrical coordinates, with the source point coordinates as follows: The field point coordinates are The distance between the two points is ,in:

[0063]

[0064] Differential operators: B(r) is the magnetic flux density, μ0 is the free permeability, and M s R is the magnetization intensity, h is the radius of the cylindrical permanent magnet, θ is the height of the permanent magnet, and θ is the angle between the normal direction of any point on the surface of the permanent magnet and the magnetization direction.

[0065] Next, the relationship between the magnetic force and the distance L between the permanent magnet 500 and the capsule robot 600 is calculated. The calculation formula (2) is as follows: (2) In the above formula (2), F is the magnetic force between the two permanent magnets, and B is the magnetic force between the two permanent magnets. ext Where R is the external magnetic flux density, and R is the radius of the cylindrical permanent magnet. The equivalent volume magnetic charge density, This is the equivalent surface magnetic charge density.

[0066] It should be noted that when a hollow annular cylindrical permanent magnet is selected for the permanent magnet component 500, the spatial magnetic flux density of the hollow annular cylindrical permanent magnet can be calculated by subtracting a solid cylinder from a concentric cylinder. When calculating the magnetic flux density when multiple permanent magnets of different sizes are placed together, the magnetic flux density generated by each permanent magnet can be calculated individually first, and then the total magnetic flux density at any point in space of the permanent magnet system can be calculated using the principle of vector superposition.

[0067] The method for measuring the motion friction resistance of the magnetically driven capsule robot provided in this application can simultaneously measure the influence of magnetic field force and motion resistance on the friction resistance of the capsule robot 600 during its motion. The measurement data is authentic and valid, which can better study the motion of the capsule robot 600 and provide technical guidance and methodological basis for practical operation.

[0068] The optional embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present application are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present application, various simple modifications can be made to the technical solutions of the embodiments of the present application, and these simple modifications all fall within the protection scope of the embodiments of the present application.

[0069] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, the embodiments of this application will not describe the various possible combinations separately.

[0070] Furthermore, various different implementation methods of the embodiments of this application can be combined arbitrarily, as long as they do not violate the spirit of the embodiments of this application, they should also be regarded as the content disclosed in the embodiments of this application.

Claims

1. A method for measuring the motion frictional resistance of a magnetically driven capsule robot, characterized in that, A device for measuring the motion friction resistance of a magnetically driven capsule robot, the device comprising: Measurement platform (100); A magnetic drive force measurement module (200) is disposed on the measurement platform (100), and a permanent magnet (500) is disposed at the end of the magnetic drive force measurement module (200). A test stand (300) is disposed on the measurement platform (100) and located below the permanent magnet (500). An intestinal simulator (340) is disposed on the test stand (300), the intestinal simulator (340) being arranged along the Y-axis. A movable capsule robot (600) is disposed within the intestinal simulator (340). A tensile force measurement module (400) is set on the measurement platform (100) and connected to the capsule robot (600) for pulling the capsule robot (600) along the internal channel of the intestinal simulator (340) and measuring the drag force of the capsule robot (600) during the movement. The permanent magnet (500) is radially magnetized, and the axial direction of the permanent magnet (500) is parallel to or intersects with the length direction of the intestinal simulation component (340). The method includes: S100: The capsule robot (600) is pulled along the internal channel of the intestinal simulator (340) at a preset speed by the tension measurement module (400), and the tension Fb of the capsule robot (600) is measured in real time. At the same time, the magnetic force measurement module (200) measures the magnetic force Fa of the permanent magnet (500) on the capsule robot (600) in the Y-axis direction. S200: Based on the measured pulling force Fb of the capsule robot (600) during motion, plot the Fb-t relationship curve; based on the magnetic field force Fa of the magnetic drive force measurement module (200), plot the Fa-t relationship curve; S300: Based on the formula f=Fa+Fb for calculating the frictional force f in the internal channel of the capsule robot (600) in the intestinal simulator (340), the relationship curves of Fb-t and Fa-t are integrated to obtain the relationship curve of Fb-Fa. S400: Repeat steps S100 to S300 at least three times, and take the average value of the frictional force f; In each cycle, the movement speed of the capsule robot is kept consistent or increased by a preset value.

2. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 1, characterized in that, The test bracket (300) includes a first clamp (310) and a second clamp (320); The first clamping seat (310) and the second clamping seat (320) are aligned along the Y-axis direction, and the ends of the intestinal simulation component (340) are fixed on the first clamping seat (310) and the second clamping seat (320) respectively by cones; The tensile force measurement module (400) passes through the corresponding cone and the capsule robot (600).

3. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 2, characterized in that, The first clamp (310) and / or the second clamp (320) are detachably connected to the measuring platform (100) via fasteners (330); The measuring platform (100) is provided with a plurality of locking holes along the Y-axis for mounting the fasteners (330).

4. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 1, characterized in that, The magnetic drive force measurement module (200) includes: Mounting bracket (210) is disposed on the measuring platform (100); and The first tension sensor (220) is mounted on the mounting bracket (210), and the measuring end of the first tension sensor (220) is connected to the permanent magnet (500).

5. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 4, characterized in that, The magnetic drive force measurement module (200) also includes a lifting mechanism (230), which is mounted on the mounting bracket (210). The first tension sensor (220) is mounted on the lifting mechanism (230) via a connecting column (240). The lifting mechanism (230) can drive the first tension sensor (220) and the permanent magnet (500) to move up and down along the Z-axis.

6. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 1, characterized in that, The magnetic drive force measurement module (200) is mounted on the measurement platform (100) via a three-axis motion platform or a robotic arm.

7. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 1, characterized in that, The tensile force measurement module (400) includes: A linear drive mechanism (410) is disposed on the measuring platform (100); The second tension sensor (420) is mounted on the linear drive mechanism (410); and A connecting rod (430) is connected at one end to the capsule robot (600) and at the other end to the second tension sensor (420). The diameter of the connecting rod (430) is smaller than the inner diameter of the internal channel of the intestinal simulator (340).

8. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 1, characterized in that, The procedure preceding step S100 also includes: S80: Establish an interaction model between the permanent magnet component (500) and the permanent magnet in the capsule robot (600), and calculate the relationship between the magnetic force and the distance between the two based on the external magnetic induction intensity of the permanent magnet component (500) and the capsule robot (600); S90: Based on the calculated relationship between magnetic force and spacing, a suitable permanent magnet (500) is selected for installation in the magnetically driven capsule robot motion friction resistance measuring device, and the vertical distance L between the permanent magnet (500) and the axis of the capsule robot (600) is adjusted. The permanent magnets built into the capsule robot (600) are radially magnetized and the force between them and the permanent magnets (500) is mutual attraction.

9. The method for measuring the motion frictional resistance of a magnetically driven capsule robot according to claim 8, characterized in that, Step S80 includes: Both the permanent magnet component (500) and the capsule robot (600) have cylindrical permanent magnets. A Cartesian coordinate system is established, where the axis of the radially magnetized permanent magnet is the Z-axis. The external magnetic induction intensity of the permanent magnet component (500) and the capsule robot (600) is calculated using the following formula: In the above formula, the definition is The coordinate vector of the field point This is the coordinate vector of the field source, using cylindrical coordinates, with the source point coordinates as follows: The field point coordinates are The distance between the two points is ,in: Differential operators: B(r) is the magnetic flux density, μ0 is the free permeability, and M s R is the magnetization intensity, h is the radius of the cylindrical permanent magnet, θ is the height of the permanent magnet, and θ is the angle between the normal direction of any point on the surface of the permanent magnet and the magnetization direction. The relationship between the magnetic force and the distance between the permanent magnet (500) and the capsule robot (600) is calculated using the following formula: In the above formula, F is the magnetic force between the two permanent magnets, and B... ext Where R is the external magnetic flux density, and R is the radius of the cylindrical permanent magnet. The equivalent volume magnetic charge density, This is the equivalent surface magnetic charge density.

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