CN111207737B - Capsule robot posture measuring system and method based on three-dimensional coil - Google Patents
Capsule robot posture measuring system and method based on three-dimensional coil Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
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Abstract
The invention relates to a capsule robot posture measuring technology, in particular to a capsule robot posture measuring system and method based on a three-dimensional coil. The invention solves the problems that the existing capsule robot gesture measuring technology has inaccurate gesture measuring result and is not beneficial to realizing real-time gesture measurement. The capsule robot posture measuring system based on the three-dimensional coil comprises a wireless power transmitting coil A arranged outside the body, a wireless power transmitting coil B arranged outside the body, a three-dimensional wireless power receiving coil arranged on the capsule robot, an airborne circuit arranged on the capsule robot, a wireless signal receiving circuit arranged outside the body and an upper computer arranged outside the body; the wireless electric energy transmitting coil A and the wireless electric energy transmitting coil B are both Helmholtz coils and are arranged in a mutually orthogonal mode. The invention is suitable for the attitude determination of the capsule robot.
Description
Technical Field
The invention relates to a capsule robot posture measuring technology, in particular to a capsule robot posture measuring system and method based on a three-dimensional coil.
Background
The capsule robot is a micro robot which can enter the intestinal tract of a human body through the oral cavity or the anus, and can autonomously move in the intestinal tract to finish the non-invasive examination of the intestinal tract inner cavity. In the process of examination, the posture of the capsule robot changes randomly along with the change of the intestinal environment, so that the capsule robot cannot position the focus. For this reason, the posture of the capsule robot needs to be measured to realize the localization of the lesion. Under the prior art, the attitude measurement of the capsule robot is mainly carried out by adopting a nine-axis attitude sensor (consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer). However, in practical application, the existing capsule robot attitude determination technology is limited by its own principle, and has the following problems: first, the capsule robot is powered by a wireless power transmission system (consisting of a wireless power transmitting coil and a wireless power receiving coil). In a wireless power transmission system, a transmission medium of wireless power is an alternating magnetic field, and the alternating magnetic field can cause serious magnetic interference to a three-axis magnetometer in a nine-axis attitude sensor, so that the measurement result of the three-axis magnetometer is inaccurate, and the attitude measurement result is inaccurate. Secondly, the existing capsule robot attitude measurement technology has the problem of large computation amount when the attitude angle of the capsule robot is calculated, so that the existing capsule robot attitude measurement technology is not beneficial to realizing real-time measurement of the attitude. Therefore, the system and the method for measuring the posture of the capsule robot based on the three-dimensional coil are needed to be invented, so that the problems that the posture measurement result is inaccurate and the posture is not favorable for realizing real-time measurement of the posture in the existing capsule robot posture measurement technology are solved.
Disclosure of Invention
The invention provides a capsule robot attitude determination system and method based on three-dimensional coils, and aims to solve the problems that an existing capsule robot attitude determination technology is inaccurate in attitude determination result and not beneficial to achieving real-time determination of attitude.
The invention is realized by adopting the following technical scheme:
the capsule robot attitude determination system based on the three-dimensional coil comprises a wireless electric energy transmitting coil A arranged outside a body, a wireless electric energy transmitting coil B arranged outside the body, a three-dimensional wireless electric energy receiving coil arranged on a capsule robot, an onboard circuit arranged on the capsule robot, a wireless signal receiving circuit arranged outside the body and an upper computer arranged outside the body;
the wireless electric energy transmitting coil A and the wireless electric energy transmitting coil B are Helmholtz coils and are arranged in a mutually orthogonal mode;
the three-dimensional wireless power receiving coil comprises a coil a, a coil b and a coil c;
the coil a and the coil b are both rectangular coils; the coil c is a circular coil; the coils a, b and c are mutually orthogonally arranged pairwise, and the central axis of the coil c is superposed with the central axis of the capsule robot;
the airborne circuit comprises a sampling circuit a, a sampling circuit b, a sampling circuit c, an ADC module, a main control circuit, a wireless signal transmitting circuit, a rectifying circuit a, a rectifying circuit b, a rectifying circuit c and a voltage stabilizing circuit;
the input end of the sampling circuit a is connected with one end of the coil a; the input end of the sampling circuit b is connected with one end of the coil b; the input end of the sampling circuit c is connected with one end of the coil c; the output end of the sampling circuit a, the output end of the sampling circuit b and the output end of the sampling circuit c are connected with the input end of the ADC module; the output end of the ADC module is connected with the input end of the main control circuit; the output end of the main control circuit is connected with the input end of the wireless signal transmitting circuit;
two input ends of the rectifying circuit a are respectively connected with two ends of the coil a; two input ends of the rectification circuit b are respectively connected with two ends of the coil b; two input ends of the rectification circuit c are respectively connected with two ends of the coil c; the positive output end of the rectification circuit a is connected with the positive input end of the voltage stabilizing circuit; the negative output end of the rectification circuit a is connected with the positive output end of the rectification circuit b; the negative output end of the rectification circuit b is connected with the positive output end of the rectification circuit c; the negative output end of the rectification circuit c is connected with the negative input end of the voltage stabilizing circuit; the output end of the voltage stabilizing circuit is respectively connected with the power end of the ADC module, the power end of the main control circuit and the power end of the wireless signal transmitting circuit;
the output end of the wireless signal transmitting circuit is wirelessly connected with the input end of the wireless signal receiving circuit; the output end of the wireless signal receiving circuit is connected with the input end of the upper computer.
The three-dimensional wireless power receiving coil is installed on the capsule robot through the magnetic core.
The sampling circuit a comprises a rectifier diode, a first voltage-dividing resistor and a second voltage-dividing resistor; the anode of the rectifier diode is used as the input end of the sampling circuit a; one end of the first voltage dividing resistor is connected with the cathode of the rectifier diode, and the other end of the first voltage dividing resistor is used as the output end of the sampling circuit a; one end of the second voltage-dividing resistor is connected with the cathode of the rectifier diode through the first voltage-dividing resistor, and the other end of the second voltage-dividing resistor is grounded; the structure of the sampling circuit b and the structure of the sampling circuit c are consistent with the structure of the sampling circuit a.
The resistance value of the first voltage-dividing resistor and the resistance value of the second voltage-dividing resistor are both larger than 10k omega.
The rectification circuit a, the rectification circuit b and the rectification circuit c are all full-wave rectification circuits.
The voltage stabilizing circuit is a linear low dropout voltage stabilizing chip.
The capsule robot posture measuring method based on the three-dimensional coil (the method is realized based on the capsule robot posture measuring system based on the three-dimensional coil), which is realized by adopting the following steps:
the method comprises the following steps: the wireless power transmitting coil B does not work, and the wireless power transmitting coil A starts to work; at the moment, the wireless electric energy transmitting coil A excites an alternating magnetic field, and the coil a, the coil b and the coil c respectively generate a path of induction voltage under the action of the alternating magnetic field; the three paths of induced voltages are sampled by a sampling circuit a, a sampling circuit b and a sampling circuit c respectively, then are subjected to AD conversion by an ADC module, and then are sent to an upper computer by a main control circuit, a wireless signal transmitting circuit and a wireless signal receiving circuit in sequence; in the process, the three paths of induced voltages are rectified by the rectifying circuit a, the rectifying circuit b and the rectifying circuit c respectively, then are superposed in series, and are stabilized by the voltage stabilizing circuit, so that stable working voltages are provided for the ADC module, the main control circuit and the wireless signal transmitting circuit;
step two: the wireless power transmitting coil A stops working, and the wireless power transmitting coil B starts working; at the moment, the wireless electric energy transmitting coil B excites an alternating magnetic field, and the coil a, the coil B and the coil c respectively generate a path of induction voltage under the action of the alternating magnetic field; the three paths of induced voltages are sampled by a sampling circuit a, a sampling circuit b and a sampling circuit c respectively, then are subjected to AD conversion by an ADC module, and then are sent to an upper computer by a main control circuit, a wireless signal transmitting circuit and a wireless signal receiving circuit in sequence; in the process, the three paths of induced voltages are rectified by the rectifying circuit a, the rectifying circuit b and the rectifying circuit c respectively, then are superposed in series, and are stabilized by the voltage stabilizing circuit, so that stable working voltages are provided for the ADC module, the main control circuit and the wireless signal transmitting circuit;
step three: the upper computer calculates the roll angle alpha, the pitch angle beta and the course angle gamma of the capsule robot in real time according to the induced voltage, the parameters of the alternating magnetic field and the parameters of the three-dimensional wireless power receiving coil, and displays and stores the calculation results in real time, so that the posture of the capsule robot is measured in real time; the specific calculation formula is as follows:
in formulae (1) to (6): epsilon aA 、ε bA 、ε cA Respectively representing the amplitudes of induction voltages generated by the coil a, the coil b and the coil c when the wireless power transmitting coil A works; epsilon aB 、ε bB 、ε cB Respectively representing the amplitudes of induction voltages generated by the coil a, the coil B and the coil c when the wireless power transmitting coil B works;
ω A respectively representing the amplitude and the frequency of an alternating magnetic field excited by the wireless electric energy transmitting coil A; />
ω B Respectively representing the amplitude and the frequency of an alternating magnetic field excited by the wireless electric energy transmitting coil B; n is a 、S a 、μ a Respectively showing the number of turns of the coil a, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; n is b 、S b 、μ b Respectively showing the number of turns of the coil b, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; n is c 、S c 、μ c Respectively showing the number of turns of the coil c, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; />
ω A 、/>
ω B 、n a 、S a 、μ a 、n b 、S b 、μ b 、n c 、S c 、μ c Are all known amounts;
step four: and repeating the first step to the third step, thereby continuously measuring the posture of the capsule robot in real time.
Compared with the existing capsule robot attitude determination technology, the capsule robot attitude determination system and method based on the three-dimensional coil have the following advantages: firstly, the invention does not adopt a nine-axis attitude sensor, but directly utilizes the induced voltage of the three-dimensional wireless power receiving coil to realize the attitude determination of the capsule robot, so that the capsule robot cannot be interfered by the alternating magnetic field of a wireless power transmission system, and the attitude determination result is more accurate. Secondly, the method can realize the attitude angle calculation of the capsule robot by only utilizing simple trigonometric function operation, so that the calculation amount is smaller, and the method is favorable for realizing the real-time measurement of the attitude.
The invention effectively solves the problems that the attitude determination result of the existing capsule robot attitude determination technology is inaccurate and is not beneficial to realizing real-time determination of the attitude, and is suitable for the attitude determination of the capsule robot.
Drawings
FIG. 1 is a schematic structural diagram of a capsule robot attitude determination system based on three-dimensional coils according to the present invention.
Fig. 2 is a schematic diagram of a single-turn model of a wireless power transmitting coil a and a wireless power transmitting coil B according to the present invention.
Fig. 3 is a schematic diagram of a single-turn model of a three-dimensional wireless power receiving coil according to the present invention.
Fig. 4 is a schematic structural view of a three-dimensional wireless power receiving coil and a magnetic core according to the present invention.
Fig. 5 is a schematic view of the installation of the three-dimensional wireless power receiving coil and the magnetic core on the capsule robot in the invention.
Detailed Description
The capsule robot posture measuring system based on the three-dimensional coil comprises a wireless power transmitting coil A arranged outside the body, a wireless power transmitting coil B arranged outside the body, a three-dimensional wireless power receiving coil arranged on the capsule robot, an airborne circuit arranged on the capsule robot, a wireless signal receiving circuit arranged outside the body and an upper computer arranged outside the body;
the wireless electric energy transmitting coil A and the wireless electric energy transmitting coil B are both Helmholtz coils and are arranged orthogonally to each other;
the three-dimensional wireless power receiving coil comprises a coil a, a coil b and a coil c;
the coil a and the coil b are both rectangular coils; the coil c is a circular coil; the coils a, b and c are mutually orthogonally arranged pairwise, and the central axis of the coil c is superposed with the central axis of the capsule robot;
the airborne circuit comprises a sampling circuit a, a sampling circuit b, a sampling circuit c, an ADC module, a main control circuit, a wireless signal transmitting circuit, a rectifying circuit a, a rectifying circuit b, a rectifying circuit c and a voltage stabilizing circuit;
the input end of the sampling circuit a is connected with one end of the coil a; the input end of the sampling circuit b is connected with one end of the coil b; the input end of the sampling circuit c is connected with one end of the coil c; the output end of the sampling circuit a, the output end of the sampling circuit b and the output end of the sampling circuit c are connected with the input end of the ADC module; the output end of the ADC module is connected with the input end of the main control circuit; the output end of the main control circuit is connected with the input end of the wireless signal transmitting circuit;
two input ends of the rectifying circuit a are respectively connected with two ends of the coil a; two input ends of the rectifying circuit b are respectively connected with two ends of the coil b; two input ends of the rectifying circuit c are respectively connected with two ends of the coil c; the positive output end of the rectification circuit a is connected with the positive input end of the voltage stabilizing circuit; the negative output end of the rectification circuit a is connected with the positive output end of the rectification circuit b; the negative output end of the rectification circuit b is connected with the positive output end of the rectification circuit c; the negative output end of the rectification circuit c is connected with the negative input end of the voltage stabilizing circuit; the output end of the voltage stabilizing circuit is respectively connected with the power end of the ADC module, the power end of the main control circuit and the power end of the wireless signal transmitting circuit;
the output end of the wireless signal transmitting circuit is wirelessly connected with the input end of the wireless signal receiving circuit; the output end of the wireless signal receiving circuit is connected with the input end of the upper computer.
The three-dimensional wireless power receiving coil is installed on the capsule robot through the magnetic core.
The sampling circuit a comprises a rectifier diode, a first voltage-dividing resistor and a second voltage-dividing resistor; the anode of the rectifier diode is used as the input end of the sampling circuit a; one end of the first voltage-dividing resistor is connected with the cathode of the rectifier diode, and the other end of the first voltage-dividing resistor is used as the output end of the sampling circuit a; one end of the second voltage-dividing resistor is connected with the cathode of the rectifier diode through the first voltage-dividing resistor, and the other end of the second voltage-dividing resistor is grounded; the structure of the sampling circuit b and the structure of the sampling circuit c are consistent with the structure of the sampling circuit a.
The resistance value of the first voltage-dividing resistor and the resistance value of the second voltage-dividing resistor are both larger than 10k omega.
The rectification circuit a, the rectification circuit b and the rectification circuit c are all full-wave rectification circuits.
The voltage stabilizing circuit is a linear low dropout voltage stabilizing chip.
The capsule robot posture measuring method based on the three-dimensional coil (the method is realized based on the capsule robot posture measuring system based on the three-dimensional coil), which is realized by adopting the following steps:
the method comprises the following steps: the wireless power transmitting coil B does not work, and the wireless power transmitting coil A starts to work; at the moment, the wireless electric energy transmitting coil A excites an alternating magnetic field, and the coil a, the coil b and the coil c respectively generate a path of induction voltage under the action of the alternating magnetic field; the three paths of induction voltages are sampled by a sampling circuit a, a sampling circuit b and a sampling circuit c respectively, then subjected to AD conversion by an ADC module, and then sent to an upper computer through a main control circuit, a wireless signal transmitting circuit and a wireless signal receiving circuit in sequence; in the process, the three paths of induction voltages are rectified by the rectifying circuit a, the rectifying circuit b and the rectifying circuit c respectively, then are superposed in series, and are stabilized by the voltage stabilizing circuit, so that stable working voltage is provided for the ADC module, the main control circuit and the wireless signal transmitting circuit;
step two: the wireless power transmitting coil A stops working, and the wireless power transmitting coil B starts working; at the moment, the wireless electric energy transmitting coil B excites an alternating magnetic field, and the coil a, the coil B and the coil c respectively generate a path of induction voltage under the action of the alternating magnetic field; the three paths of induced voltages are sampled by a sampling circuit a, a sampling circuit b and a sampling circuit c respectively, then are subjected to AD conversion by an ADC module, and then are sent to an upper computer by a main control circuit, a wireless signal transmitting circuit and a wireless signal receiving circuit in sequence; in the process, the three paths of induced voltages are rectified by the rectifying circuit a, the rectifying circuit b and the rectifying circuit c respectively, then are superposed in series, and are stabilized by the voltage stabilizing circuit, so that stable working voltages are provided for the ADC module, the main control circuit and the wireless signal transmitting circuit;
step three: the upper computer calculates the roll angle alpha, the pitch angle beta and the course angle gamma of the capsule robot in real time according to the induced voltage, the parameters of the alternating magnetic field and the parameters of the three-dimensional wireless power receiving coil, and displays and stores the calculation results in real time, so that the posture of the capsule robot is measured in real time; the specific calculation formula is as follows:
in formulae (1) to (6): epsilon aA 、ε bA 、ε cA Respectively representing the amplitudes of induction voltages generated by the coil a, the coil b and the coil c when the wireless power transmitting coil A works; epsilon aB 、ε bB 、ε cB Respectively representing the amplitudes of induction voltages generated by the coil a, the coil B and the coil c when the wireless power transmitting coil B works;
ω A respectively representing the amplitude and the frequency of an alternating magnetic field excited by the wireless electric energy transmitting coil A; />
ω B Respectively representing wireless electric energyThe amplitude and frequency of the alternating magnetic field excited by the transmitting coil B; n is a 、S a 、μ a Respectively showing the number of turns of the coil a, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; n is a radical of an alkyl radical b 、S b 、μ b Respectively showing the number of turns of the coil b, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; n is c 、S c 、μ c Respectively showing the number of turns of the coil c, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; />
ω A 、/>
ω B 、n a 、S a 、μ a 、n b 、S b 、μ b 、n c 、S c 、μ c Are all known amounts;
step four: and repeating the first step to the third step, thereby continuously measuring the posture of the capsule robot in real time.
While specific embodiments of the invention have been described above, it will be understood by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (6)
1. A capsule robot posture measuring method based on three-dimensional coils is characterized in that: the method is realized based on a capsule robot posture measuring system based on a three-dimensional coil, and the system comprises a wireless electric energy transmitting coil A arranged outside the body, a wireless electric energy transmitting coil B arranged outside the body, a three-dimensional wireless electric energy receiving coil arranged on the capsule robot, an onboard circuit arranged on the capsule robot, a wireless signal receiving circuit arranged outside the body and an upper computer arranged outside the body;
the wireless electric energy transmitting coil A and the wireless electric energy transmitting coil B are Helmholtz coils and are arranged in a mutually orthogonal mode;
the three-dimensional wireless power receiving coil comprises a coil a, a coil b and a coil c;
the coil a and the coil b are both rectangular coils; the coil c is a circular coil; the coils a, b and c are mutually orthogonally arranged pairwise, and the central axis of the coil c is superposed with the central axis of the capsule robot;
the airborne circuit comprises a sampling circuit a, a sampling circuit b, a sampling circuit c, an ADC module, a main control circuit, a wireless signal transmitting circuit, a rectifying circuit a, a rectifying circuit b, a rectifying circuit c and a voltage stabilizing circuit;
the input end of the sampling circuit a is connected with one end of the coil a; the input end of the sampling circuit b is connected with one end of the coil b; the input end of the sampling circuit c is connected with one end of the coil c; the output end of the sampling circuit a, the output end of the sampling circuit b and the output end of the sampling circuit c are connected with the input end of the ADC module; the output end of the ADC module is connected with the input end of the main control circuit; the output end of the main control circuit is connected with the input end of the wireless signal transmitting circuit;
two input ends of the rectifying circuit a are respectively connected with two ends of the coil a; two input ends of the rectifying circuit b are respectively connected with two ends of the coil b; two input ends of the rectifying circuit c are respectively connected with two ends of the coil c; the positive output end of the rectification circuit a is connected with the positive input end of the voltage stabilizing circuit; the negative output end of the rectification circuit a is connected with the positive output end of the rectification circuit b; the negative output end of the rectification circuit b is connected with the positive output end of the rectification circuit c; the negative output end of the rectification circuit c is connected with the negative input end of the voltage stabilizing circuit; the output end of the voltage stabilizing circuit is respectively connected with the power end of the ADC module, the power end of the main control circuit and the power end of the wireless signal transmitting circuit;
the output end of the wireless signal transmitting circuit is wirelessly connected with the input end of the wireless signal receiving circuit; the output end of the wireless signal receiving circuit is connected with the input end of the upper computer;
the method is realized by adopting the following steps:
the method comprises the following steps: the wireless power transmitting coil B does not work, and the wireless power transmitting coil A starts to work; at the moment, the wireless electric energy transmitting coil A excites an alternating magnetic field, and the coil a, the coil b and the coil c respectively generate a path of induction voltage under the action of the alternating magnetic field; the three paths of induced voltages are sampled by a sampling circuit a, a sampling circuit b and a sampling circuit c respectively, then are subjected to AD conversion by an ADC module, and then are sent to an upper computer by a main control circuit, a wireless signal transmitting circuit and a wireless signal receiving circuit in sequence; in the process, the three paths of induced voltages are rectified by the rectifying circuit a, the rectifying circuit b and the rectifying circuit c respectively, then are superposed in series, and are stabilized by the voltage stabilizing circuit, so that stable working voltages are provided for the ADC module, the main control circuit and the wireless signal transmitting circuit;
step two: the wireless power transmitting coil A stops working, and the wireless power transmitting coil B starts working; at the moment, the wireless electric energy transmitting coil B excites an alternating magnetic field, and the coil a, the coil B and the coil c respectively generate a path of induction voltage under the action of the alternating magnetic field; the three paths of induced voltages are sampled by a sampling circuit a, a sampling circuit b and a sampling circuit c respectively, then are subjected to AD conversion by an ADC module, and then are sent to an upper computer by a main control circuit, a wireless signal transmitting circuit and a wireless signal receiving circuit in sequence; in the process, the three paths of induced voltages are rectified by the rectifying circuit a, the rectifying circuit b and the rectifying circuit c respectively, then are superposed in series, and are stabilized by the voltage stabilizing circuit, so that stable working voltages are provided for the ADC module, the main control circuit and the wireless signal transmitting circuit;
step three: the upper computer calculates the roll angle alpha, the pitch angle beta and the course angle gamma of the capsule robot in real time according to the induced voltage, the parameters of the alternating magnetic field and the parameters of the three-dimensional wireless power receiving coil, and displays and stores the calculation results in real time, so that the posture of the capsule robot is measured in real time; the specific calculation formula is as follows:
in formulae (1) to (6): epsilon aA 、ε bA 、ε cA Respectively representing the amplitudes of induction voltages generated by the coil a, the coil b and the coil c when the wireless power transmitting coil A works; epsilon aB 、ε bB 、ε cB Respectively representing the amplitudes of induction voltages generated by the coil a, the coil B and the coil c when the wireless electric energy transmitting coil B works;
ω A respectively representing the amplitude and the frequency of an alternating magnetic field excited by the wireless electric energy transmitting coil A;
ω B respectively representing the amplitude and the frequency of an alternating magnetic field excited by the wireless electric energy transmitting coil B; n is a 、S a 、μ a Respectively showing the number of turns of the coil a, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area; n is b 、S b 、μ b Each representing a coil bThe number of turns, the area enclosed by the single turn and the effective magnetic conductivity of the enclosed area; n is c 、S c 、μ c Respectively showing the number of turns of the coil c, the enclosed area of a single turn and the effective magnetic conductivity of the enclosed area;
ω A 、
ω B 、n a 、S a 、μ a 、n b 、S b 、μ b 、n c 、S c 、μ c are all known amounts;
step four: and repeating the first step to the third step, thereby continuously measuring the posture of the capsule robot in real time.
2. The three-dimensional coil-based capsule robot pose measurement method of claim 1, wherein: the three-dimensional wireless power receiving coil is installed on the capsule robot through the magnetic core.
3. The three-dimensional coil-based capsule robot pose measurement method of claim 1, wherein: the sampling circuit a comprises a rectifier diode, a first voltage-dividing resistor and a second voltage-dividing resistor; the anode of the rectifier diode is used as the input end of the sampling circuit a; one end of the first voltage dividing resistor is connected with the cathode of the rectifier diode, and the other end of the first voltage dividing resistor is used as the output end of the sampling circuit a; one end of the second voltage-dividing resistor is connected with the cathode of the rectifier diode through the first voltage-dividing resistor, and the other end of the second voltage-dividing resistor is grounded; the structure of the sampling circuit b and the structure of the sampling circuit c are consistent with the structure of the sampling circuit a.
4. The three-dimensional coil-based capsule robot pose measurement method of claim 3, wherein: the resistance value of the first voltage-dividing resistor and the resistance value of the second voltage-dividing resistor are both larger than 10k omega.
5. The three-dimensional coil-based capsule robot pose measurement method of claim 1, wherein: the rectification circuit a, the rectification circuit b and the rectification circuit c are all full-wave rectification circuits.
6. The three-dimensional coil-based capsule robot pose measurement method of claim 1, wherein: the voltage stabilizing circuit is a linear low dropout voltage stabilizing chip.
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