CN112345985A - Measuring device and measuring method for axial direction of space universal rotating magnetic field - Google Patents
Measuring device and measuring method for axial direction of space universal rotating magnetic field Download PDFInfo
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Abstract
The invention belongs to the technical field of mechanical measurement, and provides a measuring device and a measuring method for the axial direction of a space universal rotating magnetic field. The device is fixed magnet on the support through the spherical pair, and magnet drives the shell and rotates around self axis, and magnet axis direction keeps unanimous with rotating magnetic field axis direction, through the optical amplification effect of the coaxial laser head in magnet top, enlargies and projects the terminal displacement variation distance of magnet axis to the coordinate dish, reads out universal rotating magnetic field axis direction information on the coordinate dish finally. The invention has important significance for realizing the closed-loop control of the space rotating magnetic field and improving the control precision of the magnetic field direction, and lays a foundation for realizing the precise control of the space universal rotating magnetic field to the capsule robot.
Description
Technical Field
The invention belongs to the technical field of mechanical measurement, and relates to a laser non-contact detection device and a laser non-contact detection method for measuring the axial direction of a space universal rotating magnetic field by utilizing the following effect of a rotating magnet in the magnetic field.
Background
The clinical application of the gastrointestinal capsule endoscope expands the medical diagnosis and treatment visual field, and makes the examination in the blind areas such as colon in vivo and the like possible. The capsule endoscope put into use at present mainly depends on gastrointestinal peristalsis and gravity to walk passively, and can not realize active control of posture and motion, and researches show that the capsule endoscope is about twenty percent in a missed detection area of the gastrointestinal tract and has the risk of being detained in the intestinal tract. If can realize capsule gesture and motion active control, the detection time of endoscope in the intestinal will shorten, is expected to improve and diagnoses efficiency, reduces the rate of lou examining, improves the endoscope and diagnoses the security. In addition, the active control is very important for expanding the capsule gastroscope function, such as the detection of the physiological parameters of the pH value of the gastrointestinal tract, the release of the medicine in the digestive tract, even the operation of minimally invasive surgery and the like, and has wide application prospect.
The gastrointestinal capsule robot has a complex working environment, the robot is required to be driven in a cable-free mode, researchers have invented capsule robots with various motion forms such as telescopic type, movable type and leg type, wherein the method for controlling the capsule robot by using an external magnetic field has the advantages of simplicity, reliability and wireless performance, the key problem of energy supply is solved, and the method is considered to be the most likely technical scheme for practical application. The external magnetic field control can be divided into two forms, namely dragging by using a permanent magnet and controlling the capsule robot by using a Helmholtz coil to generate a space universal rotating magnetic field. In the former, a gradient magnetic field is generated by using a permanent magnet, magnetic force and magnetic moment coexist, attitude control is unchanged, and precision is poor; the capsule robot can generate a uniform magnetic field, pure magnetic moment operation is realized, control precision is obviously improved, and in addition, the capsule robot is controlled by utilizing the space universal rotating magnetic field, so that the capsule robot has the characteristics of flexible turning and convenience in operation, and has a good application prospect. Therefore, researchers have conducted extensive research into the generation and control of space-universal magnetic fields.
In the invention patent of "control method of rotation axis direction and rotation direction of spatial universal superposition rotating magnetic field" applied by our subject group (patent No. ZL201210039753.4), sinusoidal current signals in a certain combination form are introduced into three groups of helmholtz coils, so that a uniform spatial universal rotating magnetic field can be generated inside the three groups of helmholtz coils, the amplitude and phase of the input sinusoidal current signals are changed, and the direction of the spatial universal rotating magnetic field can be changed, and the patent already obtains a superposition formula of the spatial universal rotating magnetic field as follows:
wherein,
alpha, beta and gamma are direction angles between the magnetic field direction vector and the x, y and z axes of the space Cartesian coordinate system respectively, B0The magnetic induction amplitude, ω is the angular velocity of the rotation of the magnetic field, and the direction of rotation is counterclockwise.
According to the relationship between the magnetic field strength and the current,
wherein, I0Is the amplitude of the input current, Kx，Ky，KzThe structural parameters of the three groups of coils are determined according to different overall dimensions.
According to the formulas of the formulas (1) and (2), the unique control of the direction and the rotating direction of the rotating axis of the space-universal rotating magnetic field in each quadrant of a space coordinate system can be realized by applying currents to the three groups of coils.
In the process of diagnosing the inside of the intestines and stomach by using the space universal magnetic field control capsule robot, in order to ensure the safety of diagnosis, the accuracy of the space universal rotating magnetic field direction must be ensured. In fact, due to the influence of factors such as errors of a control system, instability of input current, nonuniformity of generated magnetic field strength and the like, the direction of the actually generated space-universal rotating magnetic field cannot be consistent with the magnetic field direction calculated theoretically, and the direction of the space-universal rotating magnetic field needs to be measured and calibrated.
To measure the direction of the actually generated rotating magnetic field, the included angles α, β, γ between the vector of the axis direction of the actually generated rotating magnetic field and the three coordinate axes are measured, but it is very difficult to measure α, β, γ in the space coordinate system. Actually, in the patent "a space universal rotating magnetic field man-machine interaction control method" (patent No. ZL201610009285.4), the original universal rotating magnetic field direction control variables α, β, γ are replaced by the yaw angle θ and the pitch angle δ, so that the three-dimensional superposition problem of the space universal rotating magnetic field is converted into the two-dimensional superposition problem in the plane, which means that the direction of the space universal rotating magnetic field can be obtained as long as the yaw angle θ and the pitch angle δ of the magnetic field axis direction vector can be measured in a fixed coordinate system, and the relationship between the yaw angle θ and the pitch angle δ of the magnetic field direction vector and the coordinate system in the triaxial helmholtz coil is shown in fig. 1.
In order to measure the direction of the spatial universal rotating magnetic field axis conveniently, the direction of the rotating magnetic field axis needs to be visualized by means of other objects, and the direction of the rotating magnetic field axis needs to be indirectly measured. In research, it is found that the direction in which the axis of the magnet rotating in the magnetic field points always coincides with the vector direction of the magnetic field direction, and when the magnetic field direction changes, the rotating magnet is subjected to moment, and rapidly rotates from position 1 to position 2, and the direction coincides with the vector direction of the magnetic field after the change, which is called a follow-up effect, as shown in fig. 2. According to the magnetic coupling theory, the magnitude of the moment applied to the magnet block in the process can be calculated according to the following formula:
wherein m is a magnetThe magnitude of the magnetic moment, B is the strength of the rotating magnetic field,
the direction of T is shown in fig. 2 for the angle between the changed magnetic field direction and the original magnetic field direction.
And measuring the roll angle theta and the pitch angle delta of the magnet in the space universal rotating magnetic field to obtain the direction information of the space rotating magnetic field axis. Theoretically, the information about the yaw angle θ and the pitch angle δ of the magnet block can be directly measured by the sensor, but the following problems exist: because the space universal rotating magnetic field is formed by superposing magnetic fields generated by three groups of Helmholtz coils, the generated magnetic field continuously rotates, the magnetic field interferes with devices inside the sensor, and the information of the yaw angle theta and the pitch angle delta is difficult to directly obtain by the electronic sensor, so that the azimuth of the generated space universal rotating magnetic field cannot be measured and calibrated.
Aiming at the problems, the invention provides an optical measuring device and a measuring method for the axial direction of a space universal rotating magnetic field, the device indirectly measures the roll angle theta and the pitch angle delta of the axial vector of the rotating magnetic field by utilizing the following effect, can obtain the azimuth information of the axial direction of the actually generated rotating magnetic field, and lays a foundation for realizing the direction error detection of the universal space magnetic field and the accurate control of a capsule robot.
Disclosure of Invention
The invention provides a device and a method for measuring the axial direction of a space universal rotating magnetic field, which firstly use the magnet following effect to convert the measurement of the axial direction of the rotating magnetic field into the measurement of the axial yaw angle theta and the pitch angle delta of a magnet block. Secondly, the measurement distance between the side-sway angle and the pitch angle is amplified through the projection amplification effect of the coaxial laser head at the top of the magnet, and the direction information of the axis of the magnet block is reflected to the coordinate disc. And finally, reading scales of a yaw angle and a pitch angle corresponding to the laser head cursor on the coordinate disc to finally obtain direction information of the space universal rotating magnetic field.
The technical scheme of the invention is as follows:
the device for measuring the axial direction of the space universal rotating magnetic field comprises a bracket 1, a positioning plate 2, a follow-up laser measuring component 3 and a coordinate disk 4, wherein the device has the following functions and installation modes:
the bracket 1 is used for supporting the whole device, and the bottom surface and the top of the bracket are kept horizontal. The support is made of non-magnetic materials, and preferably plastic, so that the weight of the measuring device can be reduced, and the influence of a magnetic field on the support and the measurement precision can be prevented.
Locating plate 2 installs in both sides around the support, and locating plate 2 is parallel with coordinate dish x axle, and the location when mainly used device is put into magnetic field puts into the inside back of three sets of helm coils with the device, and two locating plates are equal to the distance of same side coil around the adjustment support, and the plane that the locating plate was confirmed this moment is parallel with the plane that the both sides coil was confirmed, and coordinate dish x axle is unanimous with the inside coordinate system x axle direction of coil, can accomplish the initial positioning of device.
The following parts are included in the follow-up laser measuring part 3: the device comprises a spherical pair base 5, a spherical pair sphere 6, a device shell 7, a counterweight ring 8, a cylindrical magnet block 9, a power supply battery 10, a shell end cover 11 and a laser head 12. After the device is placed into a stable rotating magnetic field, the magnet block 9 drives the device shell 7 and the counterweight ring 8 to rotate around the spherical pair base 5 in a fixed-point universal mode, after the magnet block is stable, the laser head 12 prints a cursor on the coordinate disc 4, and direction information of the axis of the universal rotating magnetic field can be read out through scales on the coordinate disc 4.
The cylindrical magnet block 9 is fixedly connected with the device shell 7, the cylindrical magnet block is made in a radial magnetization mode, and when the magnet block 9 rotates along with the rotating magnetic field, the device shell 7 synchronously rotates. The device shell 7 is fixed with the spherical pair ball body 6 through threaded connection, and the spherical pair base is fixed on the support 1 in a threaded connection mode, so that the magnet block 9 and the shell 8 can be ensured to rotate around the axis of the magnet block, and the lateral swinging and pitching can be completed according to the change of the magnetic field direction. In order to facilitate the next measurement of the yaw angle and the pitch angle, the center point O of the spherical subsphere 6 is used as the origin of the coordinate system.
The counterweight ring 8 is made of non-magnetic-conductive material, preferably stainless steel, is coaxially and fixedly connected with the device shell 7, can synchronously rotate along with the magnet block 9, and has the functions of increasing the mass of the component 3, reducing vibration in the working process, enhancing the stability and ensuring the measuring precision of the device.
To better illustrate the graduation marks on the coordinate disk, the following assumptions are made: when the axial direction of the actually generated magnetic field is coincident with the z-axis, the laser just hits the central point O of the coordinate disk 41At this time, the pitch angle of the magnetic field is 90 °, and the yaw angle of the magnetic field is 0 °. When the direction of the actually generated magnetic field axis coincides with the x-axis, the laser is parallel to the plane of the coordinate disk 4, and cannot be read on the coordinate disk 4, at this time, the pitch angle of the magnetic field is 0 °, and the yaw angle of the magnetic field is 0 °. Under this premise, assuming that a laser is made to strike a point P on the coordinate disk 4, O is measured on the coordinate disk 41The included angle between the P and the x axis is the side swing angle theta of the magnetic field, and the distance from the P point to the central point O of the coordinate disc 4 is measured1The pitch angle δ in the magnetic field direction can be obtained, wherein the relationship between l and the pitch angle δ is shown in fig. 3, and the calculation formula of the pitch angle δ is as follows:
wherein h is the distance from the spherical pair sphere center point O to the coordinate disk 4 above the bracket.
In order to conveniently and rapidly read out the pitch angle delta value from the coordinate disk 4, scales can be drawn on the coordinate disk 4 at equal angles, the scale division of the pitch angle is shown in fig. 4, and if each cell on the coordinate disk represents the pitch angle delta, the distance l between each cell on the coordinate paper is assumed to beiCan be expressed as:
the pitch coordinate value for each grid point may be determined according to the following equation:
δi＝90°-i*Δδ (6)
the smaller the value of delta is, the more accurate the pitch angle degree can be measured. When the laser light cursor is positioned at the pitch angle coordinate value deltai-1And deltaiAt point A, coordinate value delta can be measured by using a ruleri-1And deltaiA distance l betweeniAnd point A and coordinate value deltai-1The pitch angle coordinate value of point a is calculated according to the following formula:
a measuring method by using a space universal rotating magnetic field axis direction device comprises the following steps:
1) placing a measuring device into the three groups of Helmholtz coils, adjusting the position of the device to enable the bottom surface of the measuring device to be parallel to a plane determined by the bottom coil, enabling a positioning plate on a device support to be parallel to a plane determined by the side coils, ensuring that the x-axis direction of a coordinate disk is consistent with the x-axis direction of a coordinate system in the coils, and turning on a power supply of the device;
2) opening the space universal rotating magnetic field generating device, inputting parameters such as frequency, pitch angle, yaw angle and the like, and waiting for the stability of the follow-up laser measuring component;
3) and reading a pitch angle scale and a side swing angle scale corresponding to a cursor printed on the coordinate disc by a laser head, and acquiring the information of the axial direction of the actually generated rotating magnetic field.
The invention has the advantages that:
the invention provides a measuring device and a measuring method for the axial direction of a space universal rotating magnetic field, which convert the measurement of the axial direction of the rotating magnetic field into the measurement of the axial direction of a magnet block by utilizing the magnet following effect, amplify the displacement change distance of the tail end of the axial line of the magnet and project the amplified distance to a coordinate disk by the optical amplification effect of a laser head coaxial with a cylindrical magnet, and finally read the axial direction information of the universal rotating magnetic field on the coordinate disk. The invention realizes the measurement of the yaw angle and the pitch angle of the rotating magnetic field, determines the direction of the axis of the actually generated space universal rotating magnetic field, and can obtain the direction error of the generated magnetic field by comparing the direction with the theoretical direction. The method has important significance for realizing closed-loop control of the space rotating magnetic field and improving the precision of the magnetic field direction, and is favorable for accurately controlling the capsule robot by the space universal rotating magnetic field.
Drawings
FIG. 1 is a schematic diagram of the pitch and roll directions of a space-gimbal rotating magnetic field.
Fig. 2 is a schematic diagram of the following effect of the magnet in the space-universal rotating magnetic field.
FIG. 3 is a schematic diagram of magnetic field pitch angle versus coordinate disk scale.
FIG. 4 is a schematic diagram of the relationship between the magnetic field pitch angle scale and the coordinate dish pitch angle scale.
FIG. 5 is a device for measuring the direction of a space-gimbal rotating magnetic field according to the present invention.
Fig. 6 is a detailed composition diagram of the device part 3 of the present invention.
Fig. 7 is a simplified diagram of a coordinate system of the proposed apparatus in accordance with the present invention.
In the figure: position 1 initial position of space universal rotating magnetic field axis;
1, a bracket; 2, positioning a plate; 3 follow-up laser measurement component; 4, a coordinate disc; 5 spherical pair base; 6 spherical pair spheres; 7 a device housing; 8, a counterweight ring; 9 a cylindrical magnet block; 10 a power supply battery; 11 housing end caps; 12 laser heads.
Detailed Description
The following detailed description of specific embodiments of the invention refers to the accompanying drawings.
Fig. 5 shows a device designed according to the above steps and capable of measuring the axial direction of a universal rotating magnetic field, the device comprises a support 1, a positioning plate 2, a follow-up laser measuring component 3 and a coordinate disk 4, wherein the component 3 comprises a spherical pair base 5, a spherical pair ball 6, a device shell 7, a counterweight ring 8, a magnet block 9, a power supply battery 10, a shell end cover 11 and a laser head 12. The pitch angle range that the device can record is 30 ~ 90, and the side sway angle range is 0 ~ 360. The device is placed into three groups of Helmholtz coils according to a specific direction, then current is introduced into the three groups of Helmholtz coils, the magnet block 9 drives the device shell 7 and the counterweight ring 8 to rotate around the spherical pair base 5 in a fixed-point universal manner, the axis of the magnet block 9 points to the axis direction of the universal rotating magnetic field, the laser head 12 on the shell end cover 11 drives the cursor to the coordinate disk 4 shown in figure 7, and the side swing angle theta of the universal rotating magnetic field in the coordinate system can be obtained through the scale marked on the outer side of the maximum circle on the coordinate disk 4. By cursor from the centre point O1The pitch angle delta of the gimbal rotating magnetic field can be read out by the distance (i.e. the scale on each concentric circle). The direction information of the universal rotating magnetic field can be obtained according to the angles of the yaw angle theta and the pitch angle delta.
The method comprises the following specific steps:
1. the device is placed inside three groups of Helmholtz coils, the position of the device is adjusted, so that the bottom surface of the support is parallel to a plane determined by the coil 2 (shown in figure 1), the distances between the front positioning plate and the rear positioning plate of the support and the plane determined by the coil 1 are the same, and then the power supply of the device is turned on.
2. Starting the universal rotating magnetic field generating device, inputting parameters of current frequency of 8Hz, magnetic field pitch angle of 42 degrees and yaw angle of 123 degrees on a controller interface, and waiting for the device to be stable.
3. After the device is stabilized, the cursor of the laser head is marked on the point Q of the coordinate disc, as shown in FIG. 7, the pitch angle of the actually generated magnetic field can be read out to be 40 degrees according to the scale of the coordinate disc, and the yaw angle is 124 degrees. By comparing the theoretical input value with the actual value obtained by measurement, the magnetic field direction pitch angle error is 2 degrees, and the magnetic field direction yaw angle error is 1 degree.
Claims (6)
1. The utility model provides a measuring device of universal rotating field axis direction in space which characterized in that: the measuring device comprises a bracket (1), a positioning plate (2), a follow-up laser measuring component (3) and a coordinate disc (4);
the upper bottom surface and the lower bottom surface of the bracket (1) are kept horizontal, and two positioning plates (2) are arranged on the front side and the rear side of the bracket;
the follow-up laser measuring component (3) mainly comprises a spherical pair base (5), a spherical pair ball body (6), a device shell (7), a counterweight ring (8), a cylindrical magnet block (9), a power supply battery (10), a shell end cover (11) and a laser head (12); the device shell (7) is fixed with the spherical pair sphere (6) through threaded connection, the spherical pair sphere (6) is installed on the spherical pair base (5), the spherical pair base (5) is fixed on the support (1) through threaded connection, and the device shell (7) can rotate around the center of the spherical pair sphere (6) in a fixed-point universal manner; the counterweight ring (8) is coaxially and fixedly connected with the device shell (7) and synchronously rotates along with the device shell (7); the cylindrical magnet block (9) is magnetized in the radial direction, a power supply battery (10) and a laser head (12) are installed at the top of the cylindrical magnet block, the power supply battery (10) and the laser head (12) are separated by a shell end cover (11), the axis of the laser head (12) is overlapped with the rotation axis of the cylindrical magnet block (9), the laser head (12) prolongs the axis of the cylindrical magnet block (9), a cursor is printed on the coordinate disc (4), and the measuring distance of the angle is amplified; the central axis of the shell end cover (11) is superposed with the axis of the cylindrical magnet block (9), and a small hole is formed in the center of the shell end cover (11) for a power supply lead to pass through;
the coordinate disc (4) is installed at the top of the bracket (1), and the central point O of the coordinate disc (4)1Coinciding with the z-axis, the x-axis of the coordinate disk being parallel to the plane defined by the positioning plate (2), the coordinate disk(4) Is made of transparent material and is marked with specific pitch angle and side swing angle scales.
2. The apparatus for measuring the axial direction of a space-gimbal rotating magnetic field as claimed in claim 1, wherein: when the side swing angle scale on the coordinate disc (4) is divided, the central point O of the coordinate disc is used1The radius of the circle is divided equally as a scale grid for the circle center, and the scale of the side swing angle is marked as the included angle between the radius and the x axis.
3. The space-gimbal rotating-field axis-direction measuring apparatus according to claim 1 or 2, wherein: when the pitch angle scale on the coordinate disc (4) is divided, the following principle is followed: the scale mark of the side swing angle is related to the distance h between the center of the spherical pair and the coordinate disc, and the distance between the side swing angle scales meets the following relational expression:
the pitch angle coordinate value of each grid point is determined according to the following formula:
δi＝90°-i*Δδ (2)
when the laser lamp cursor is positioned at the pitch angle scale coordinate value deltai-1And deltaiWhen the point A does not coincide with the pitch angle scale, the coordinate degree of the point adopts the following rule:
wherein, deltaAFor this point pitch angle reading, |iTo scale δ for coordinatesi-1And deltaiD is the distance between the point A and the coordinate scale deltai-1A distance of liAnd d is measured through a ruler.
4. The space-gimbal rotating-field axis-direction measuring apparatus according to claim 1 or 2, wherein: the bracket (1) and the counterweight ring (8) are made of non-magnetic-conductive materials.
5. The space-gimbal rotating-field axis-direction measuring apparatus according to claim 3, wherein: the bracket (1) and the counterweight ring (8) are made of non-magnetic-conductive materials.
6. A measuring method of a measuring device utilizing the axial direction of a space universal rotating magnetic field is characterized by comprising the following steps:
1) the measuring device is placed in the three groups of Helmholtz coils, the position of the device is adjusted, the bottom surface of the support (1) is parallel to a plane determined by the bottom coil, the positioning plate (2) is parallel to a plane determined by the side coils, the x-axis direction of the coordinate disk is consistent with the x-axis direction of a coordinate system in the coils, and the power supply of the device is turned on;
2) opening the space universal rotating magnetic field generating device, inputting parameters such as frequency, pitch angle and yaw angle, and waiting for the servo laser measuring component (3) to rotate stably;
3) and reading the pitch angle and the yaw angle scale corresponding to the cursor printed on the coordinate disc (4) by the laser head (12) to obtain the information of the axial direction of the actually generated rotating magnetic field.
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| CN113400317A (en) * | 2021-07-13 | 2021-09-17 | 上海交通大学 | Decoupling type control mechanism for magnetic field strong point and magnetic line direction |
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| 张永顺等: "一种新型双半球形胶囊机器人", 《机械工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400317A (en) * | 2021-07-13 | 2021-09-17 | 上海交通大学 | Decoupling type control mechanism for magnetic field strong point and magnetic line direction |
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| CN112345985B (en) | 2021-09-24 |
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