CN209593110U - A kind of wireless power supply and capsule robot - Google Patents
A kind of wireless power supply and capsule robot Download PDFInfo
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- CN209593110U CN209593110U CN201920238649.5U CN201920238649U CN209593110U CN 209593110 U CN209593110 U CN 209593110U CN 201920238649 U CN201920238649 U CN 201920238649U CN 209593110 U CN209593110 U CN 209593110U
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Abstract
The utility model belongs to wireless power transmission technical field, specifically provides a kind of wireless power supply and capsule robot, including electric energy transmitting terminal, driving circuit and electric energy receiving end, and electric energy transmitting terminal includes MHC transmitting coil and tuning capacitor CrMHC transmitting coil includes multiple concatenated transmitting coils, the two transmitting coil the number of turns that are connected are unequal, driving circuit includes metal-oxide-semiconductor and power supply, the drain D of metal-oxide-semiconductor is connect with electric energy transmitting terminal both ends respectively with source S, metal-oxide-semiconductor and electric energy transmitting terminal connect to power supply, and electric energy receiving end includes hybrid resonant receiving coil, and hybrid resonant receiving coil and MHC transmitting coil generate resonant electrical generation.Pass through the fixing resonance coil inside capsule robot,, the efficient, real time charging stable to the capsule robot of operation in human body by way of magnetic coupling resonance, guarantee that it can continue shooting human lesion organic image, analyze lesion reason, and image and data are uploaded in real time to human-computer interaction interface, so that doctor makes a definite diagnosis.
Description
Technical field
The utility model belongs to wireless power transmission technical field, and in particular to a kind of wireless power supply and capsule machine
People.
Background technique
Wireless capsule endoscope (i.e. WCE) is the great invention that one kind is capable of comprehensive diagnostic human gastrointestinal tract (i.e. GI).This
Item technology makes doctor be possible to be diagnosed to be various diseases relevant to gastrointestinal tract, such as cancer, tumour, bleeding, ulcer.This
The advantage of technology, such as visualization of non-invasive, painless process and entire gastrointestinal tract, be all increase its popularity it is main because
Element.
However, the diagnosis effect of existing most of WCE is unsatisfactory, mainly since picture quality is bad, to capsule
Poverty of movement control, captured image direction is unknown, battery failures etc..If by existing Wireless capsule endoscope WCE technology
It is converted into endoscopic robot capsule (i.e. RCE), then the technology will have better image image quality, the fortune of energy active control capsule
Dynamic and camera direction.The main bottleneck for realizing this RCE is powered to capsule robot.
Up to the present, the main research and development in the field includes: the modeling of 3D energy receiving coil, 3D receiving coil
Middle ferrite doped calcium magnetic core improves the quality factor of transmitting and receiving coil, improves rectifier and driving circuit, efficiency optimization and
The analysis of tissue galvanomagnetic-effect.Nevertheless, the power conversion efficiency of existing design is still lower, efficiency is in 0.02-
In the range of 3.55%.In addition to this, existing research is not fully solved uniform magnetic field by power transmission coil, with
And the power reliability problem in the possible working region of capsule.
Summary of the invention
The purpose of the utility model is to overcome the difficult problems of the power supply of capsule robot in the prior art.
For this purpose, the utility model provides a kind of wireless power supply, including electric energy transmitting terminal, driving circuit and electric energy connect
Receiving end, the electric energy transmitting terminal include MHC transmitting coil and tuning capacitor Cr, the MHC transmitting coil includes multiple series connection
Transmitting coil, be connected two described transmitting coil the number of turns it is unequal, the driving circuit includes metal-oxide-semiconductor and power supply, the MOS
The drain D of pipe is connect with electric energy transmitting terminal both ends respectively with source S, the metal-oxide-semiconductor and electric energy transmitting terminal with the electricity
Source connection, the electric energy receiving end includes hybrid resonant receiving coil, the hybrid resonant receiving coil and the MHC emission lines
Circle generates resonant electrical generation.
Preferably, the MHC transmitting coil includes three transmitting coils, and each transmitting coil is equally spacedly wrapped in half
On the non-magnetic cylindrical magazine of diameter 20cm and high 30cm, and the equidistant size of transmitting coil is 15cm.
Preferably, the number of turns of three transmitting coils is followed successively by 14 circles, 7 circles and 14 circles, and the transmitting coil uses
270 strands of AWG42 is twisted the coiling of Litz line and forms.
Preferably, the hybrid resonant receiving coil includes induction coil, the first tuning capacitance CpAnd second tuning capacitance
Cs, the induction coil and the first tuning capacitance CpAfter parallel connection again with the second tuning capacitance CsSeries connection.
Preferably, the diameter of the induction coil is 11.5mm, is highly 10mm.
Preferably, iron core, iron core model MnZn, the 3E6 type are equipped among the induction coil.
Preferably, the power supply is steady dc voltage original VDC。
Preferably, the working frequency of the electric energy transmitting terminal is 264KHz.
Preferably, the metal-oxide-semiconductor model IRF3710ZPBF MOSFET.
The utility model additionally provides a kind of capsule robot, and the power supply of the capsule robot is wireless power above-mentioned
Device, the electric energy receiving end are installed in the capsule robot.
The utility model proposes a kind of wireless power supply and capsule robot, by being installed inside capsule robot
Resonance coil, the efficient, real time charging stable to the capsule robot of operation in human body by way of magnetic coupling resonance.Work as glue
It when capsule robot electric quantity deficiency, without artificial replacement battery, can charge at any time for it, guarantee that it can continue shooting human lesion device
Official's image analyzes lesion reason, and uploads image and data in real time to human-computer interaction interface, so that doctor makes a definite diagnosis.Designer is also
A kind of novel electric power transmission coil that can generate uniform magnetic field is had devised, power stability is improved by uniform field, simultaneously
Unnecessary peak value electromagnetic radiation is minimized, reduces the injury to human body to the maximum extent.It can be provided for robot and stablize height
The electric energy of effect, ideal solves capsule robot powerup issue.
Compared with traditional capsule robot, the advantage of the capsule robot include: 1) capsule robot have it is more preferable
Image quality, can active control capsule movement and camera direction, be able to achieve gastrointestinal tract patient affected part visualization；2) glue
Capsule robot uses improved Helmholtz coil for capsule robot power supply, and the H field uniformity that improved coil obtains is than passing
The coil of system is higher；3) improved Helmholtz coil can also improve power stability, and by unnecessary peak value electromagnetism spoke
It penetrates and minimizes, reduce the injury to human body to the maximum extent；4) by the way of magnetic coupling resonance, receiving coil is using mixing
Resonance scheme, to realize the best power transmission of load；5) there is the capsule robot real-time control, 360 degree of high-definition images to catch
Catch, be low to human body side effect, operation steady in a long-term the characteristics of.
The utility model is described in further details below with reference to attached drawing.
Detailed description of the invention
Fig. 1 is the operation principle schematic diagram of the utility model wireless power supply and capsule robot；
Fig. 2 is the MHC transmitting coil circuit model figure of the utility model wireless power supply and capsule robot；
Fig. 3 is Helmholtz coil THC before the improvement of the utility model wireless power supply and capsule robot and changes
The cross section comparison diagram of Helmholtz coil MHC after；
Fig. 4 is the H field uniformity comparison diagram of the THC and MHC of the utility model wireless power supply and capsule robot；
Fig. 5 is H stabilizations of normalization of THC and the MHC generation of the utility model wireless power supply and capsule robot
Property figure；
Fig. 6 is three kinds of resonance manner circuit diagrams of the utility model wireless power supply and capsule robot；
Fig. 7 is the utility model wireless power supply and capsule robot for verifying three kinds of resonance manner circuit diagrams
Simulation model；
Fig. 8 is three kinds of resonance manner circuit energies reception comparison of the utility model wireless power supply and capsule robot
Figure；
Fig. 9 is the variety classes transmitting coil comparative bid parameter of the utility model wireless power supply and capsule robot；
Figure 10 is output work of the receiving coil in different location of the utility model wireless power supply and capsule robot
Rate figure；
Figure 11 is output work of the receiving coil in different location of the utility model wireless power supply and capsule robot
Rate stability diagram；
Figure 12 is that the overall performance of the utility model wireless power supply and capsule robot compares figure.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
All other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this is practical
Novel limitation.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes one or more of the features；In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two.
The utility model provides a kind of wireless power supply, including electric energy transmitting terminal, driving circuit and electric energy receiving end,
The electric energy transmitting terminal includes MHC transmitting coil and tuning capacitor Cr, the MHC transmitting coil includes multiple concatenated hairs
Ray circle, the two described transmitting coil the number of turns that are connected are unequal, and the driving circuit includes metal-oxide-semiconductor and power supply, the metal-oxide-semiconductor
Drain D is connect with electric energy transmitting terminal both ends respectively with source S, and the metal-oxide-semiconductor and electric energy transmitting terminal connect with the power supply
It connects, the electric energy receiving end includes hybrid resonant receiving coil, the hybrid resonant receiving coil and the MHC transmitting coil
Generate resonant electrical generation.After patient dresses this MHC transmitting coil, steady dc voltage VDC is passed to this MHC transmitting coil, this
DC voltage VDC passes through amplifying circuit and resonance circuit, is transferred electrical energy into capsule robot in a manner of magnetic coupling resonance
The receiving coil set, to provide stable, efficient electric energy for capsule robot.Meanwhile capsule robot passes through temperature, wet
The sensors such as degree, displacement, are transferred to central processing unit for the image of acquisition and data, by central processing unit to these data and figure
As being handled and being analyzed, and human-computer interaction interface is uploaded to, so that doctor makes a definite diagnosis.
Preferred scheme, the MHC transmitting coil include three transmitting coils, and each transmitting coil is equally spacedly wound
On the non-magnetic cylindrical magazine of radius 20cm and high 30cm, and the equidistant size of transmitting coil is 15cm.Thus
It is found that MHC transmitting coil is a kind of improved Helmholtz's transmitting coil, as shown in Fig. 2, the experiment proved that, in order in capsule
Working region obtain uniform magnetic field, while for transmission electric energy as far as possible, using equidistantly not equal three transmitting coil of circles
WPT system effect more preferably, MHC transmitting coil includes three transmitting coils, and three groups of transmitting coils are equally spacedly wrapped in radius
On the non-magnetic cylindrical magazine of r=20cm, high h=30cm, coil-span d=3r/4=15cm.
Preferred scheme, the number of turns of three transmitting coils are followed successively by 14 circles, 7 circles and 14 circles, and the transmitting coil
The coiling of Litz line is twisted using 270 strands of AWG42 to form.The number of turns of three transmitting coils be respectively as follows: from top to bottom 14 circles, 7 circles,
14 circles, total number of turns are 35 circles, and coil is twisted the coiling of Litz line using 270 strands of AWG42 and forms, while requiring the work of driving source
Working frequency is 264kHz, could improve the quality factor (Q of coil as far as possible in this wayTC), to improve its capable transport efficiency.
Preferred scheme, the hybrid resonant receiving coil include induction coil, the first tuning capacitance CpAnd second tuning
Capacitor Cs, the induction coil and the first tuning capacitance CpAfter parallel connection again with the second tuning capacitance CsSeries connection.
The diameter of preferred scheme, the induction coil is 11.5mm, is highly 10mm.
Preferred scheme, the induction coil centre are equipped with iron core, iron core model MnZn, the 3E6 type.Thus may be used
Know, 3-D receiving coil (diameter D=11.5mm, height h=10mm) using MRS mode that capsule robot is internally embedded and
Circuit for power conversion devises the core material of high permeability, uses ferromagnetic material to improve the receiving efficiency of receiving coil
The round cube (8mm side length) of (MnZn, 3E6 type), this material have under the frequency of 246kHz magnetic permeability be about
7500, bunch wire is twisted to be wound on the core to form 3D electric energy receiving coil, and the number of turns and number of share of stock in receiving coil are needed in capsule
It is adjusted in limited available space.
Preferred scheme, the power supply are steady dc voltage original VDC.Stable switch electricity is mainly provided to metal-oxide-semiconductor
Pressure.
Preferred scheme, the working frequency of the electric energy transmitting terminal are 264KHz.It is verified, in the present embodiment, driving source
Working frequency be 264kHz, the quality factor (QTC) of coil could be improved as far as possible in this way, thus improve its capable transport effect
Rate.
Preferred scheme, the metal-oxide-semiconductor model IRF3710ZPBF MOSFET.It follows that as depicted in figs. 1 and 2,
The maximum continuous drain current of the metal-oxide-semiconductor: 59A, maximum drain-source resistance: 18m Ω, theoretical power (horse-power) transfer efficiency are 100%.It uses
Be high pressure multilayer ceramic capacitor (model: 302S43W33KV4E) Lai Shixian PTC resonance.Driving circuit uses multiple capacitors
Device series connection, the problem of to reduce across condenser voltage raising caused by the high QTC of drive processes, then multiple series connection used in parallel
Condenser circuit, to reach desired frequency tuning PTC.This driving circuit can be 8KV, current effective value in voltage effective value
To work under the AC power source of 2A, meanwhile, capacitor in series and parallel group can tune in the range of 412.5pF-1.65nF.
The present embodiment additionally provides a kind of capsule robot, and the power supply of the capsule robot is wireless confession recited above
Electric installation, the electric energy receiving end are installed in the capsule robot.
It follows that as shown in Figure 1, the capsule machine of electric energy receiving end will be built-in with using the stomach of human body as experimental subjects
Device people protrudes into stomach and carries out corresponding medication work, passes through external steady dc voltage original VDCIt powers to electric energy transmitting terminal, benefit
With electromagnetic induction principle, the hybrid resonant receiving coil in multiple series connection transmitting coils and receiving end in electric energy transmitting terminal is generated
Resonance power supply.As shown in figure 3, experiments verify that, use 3r/4 and 2:1 as optimal separation ratio (coil-span) and the number of turns respectively
Than.As shown in figure 4, wherein z=0 and z=r/2, the experimental results showed that, it, to when load, is proposed when with 534mW power transmission
System power stability is at least up to 94.62%, PTE (energy transmission efficiency) and reaches 4.9%.As shown in figure 5, two coils make
With n=6 and r=20cm, experiments verify that, compared with traditional THC, this MHC peak value Occupational exposure to magnetic fields inhibiting rate is about 26%,
11.32% and 47.98% has been respectively increased in the uniformity of HZMHC (being generated by MHC), in large area, H that MHC is obtained
The minimum uniformity in field is 91.13%, and THC is only 49.47%, improves 41.66%.
As shown in fig. 6, three kinds of resonance manners of receiving coil: (mixing is humorous by PRS (parallel resonance), SRS (series resonance), MRS
Vibration) circuit diagram, it is assumed that robot capsule needs the mean power of 300mW under 3V power supply, capsule robot load electricity
Hindering ZL average value is 30 Ω or so, although in this case, SRS may show more preferably than PRS, both resonance sides
Case can not always guarantor unit's load factorIn order to solve this problem, MRS resonance manner, MRS are introduced
The value of capacitor in parallel and serial (CP and CS) can be calculate by the following formula The performance of these three resonance schemes is in the WPT mould solved using PSpice circuit
It is compared in type, then compares the reception power of PRS, SRS and MRS, the results showed that, transimission power can be increased to by MRS
500mW or so, and the transimission power of other two schemes is lower, therefore, this research has selected MRS scheme.
As shown in fig. 7, the simulation model of the WPT system for verifying MRS, SRS and PRS.Pass through setting Fig. 7 in conjunction with Fig. 8
In MRS, SRS and PRS power to the load, and compare the superiority and inferiority of three groups of resonance schemes.Fig. 9 is that energy transmitting coil implements parameter
Compare, three groups of transmitting coils use different turn ratio and coil-span, compare the height of its factor of quality QTC, experiment shows
The QTC highest of MHC scheme.Figure 10 and Figure 11 is output power (Pout) for receiving coil in different location, stablizes output
Comparison between power (Ps), wherein Figure 11 be PRC (energy receiving coil) position along y-axis at z=0 and z=r/2
When with 1cm interval variation, the change curve of output power Pout.Figure 11 is that the position of PRC passes through Z=0 and Z=r/2 along y-axis
When, stablize the change curve of output power Ps, the power stability based on the PTC of MHC in the radial line at z=0 proposed
Property improves 13.94%, MHC and significantly improves PS along radial line in z=0.5r, and on this line, Ps is improved
47.82%.Figure 12 is that the performance of the WPT system based on THCS, MHC, SRS and MRS compares.
Compared with traditional capsule robot, the advantage of the capsule robot include: 1) capsule robot have it is more preferable
Image quality, can active control capsule movement and camera direction, be able to achieve gastrointestinal tract patient affected part visualization；2) glue
Capsule robot uses improved Helmholtz coil for capsule robot power supply, and the H field uniformity that improved coil obtains is than passing
The coil of system is higher；3) improved Helmholtz coil can also improve power stability, and by unnecessary peak value electromagnetism spoke
It penetrates and minimizes, reduce the injury to human body to the maximum extent；4) by the way of magnetic coupling resonance, receiving coil is using mixing
Resonance scheme, to realize the best power transmission of load；5) there is the capsule robot real-time control, 360 degree of high-definition images to catch
Catch, be low to human body side effect, operation steady in a long-term the characteristics of.
Exemplified as above is only to the utility model for example, not constituting to the protection scope of the utility model
Limitation, within all designs the same or similar with the utility model all belong to the scope of protection of the present invention.
Claims (10)
1. a kind of wireless power supply, it is characterised in that: including electric energy transmitting terminal, driving circuit and electric energy receiving end, the electricity
Energy transmitting terminal includes MHC transmitting coil and tuning capacitor Cr, the MHC transmitting coil includes multiple concatenated transmitting coils,
The two described transmitting coil the number of turns that are connected are unequal, and the driving circuit includes metal-oxide-semiconductor and power supply, the drain D of the metal-oxide-semiconductor with
Source S is connect with electric energy transmitting terminal both ends respectively, and the metal-oxide-semiconductor and electric energy transmitting terminal are connect with the power supply, described
Electric energy receiving end includes hybrid resonant receiving coil, and the hybrid resonant receiving coil and the MHC transmitting coil generate resonance
Power generation.
2. wireless power supply according to claim 1, it is characterised in that: the MHC transmitting coil includes three transmittings
Coil, each transmitting coil are equally spacedly wrapped on the non-magnetic cylindrical magazine of radius 20cm and high 30cm, and
The equidistant size of transmitting coil is 15cm.
3. wireless power supply according to claim 2, it is characterised in that: the number of turns of three transmitting coils is followed successively by
14 circles, 7 circles and 14 circles, and the transmitting coil is twisted the coiling of Litz line using 270 strands of AWG42 and forms.
4. wireless power supply according to claim 1, it is characterised in that: the hybrid resonant receiving coil includes induction
Coil, the first tuning capacitance CpAnd the second tuning capacitance Cs, the induction coil and the first tuning capacitance CpAfter parallel connection again with
The second tuning capacitance CsSeries connection.
5. wireless power supply according to claim 4, it is characterised in that: the diameter of the induction coil is 11.5mm,
Height is 10mm.
6. wireless power supply according to claim 4, it is characterised in that: be equipped with iron core, institute among the induction coil
State iron core model MnZn, 3E6 type.
7. wireless power supply according to claim 1, it is characterised in that: the power supply is that steady dc voltage is former
VDC。
8. wireless power supply according to claim 1, it is characterised in that: the working frequency of the electric energy transmitting terminal is
264KHz。
9. wireless power supply according to claim 1, it is characterised in that: the metal-oxide-semiconductor model IRF3710ZPBF
MOSFET。
10. a kind of capsule robot, it is characterised in that: the power supply of the capsule robot is described in any one of claim 1 to 9
Wireless power supply, the electric energy receiving end is installed in the capsule robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920238649.5U CN209593110U (en) | 2019-02-26 | 2019-02-26 | A kind of wireless power supply and capsule robot |
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| CN201920238649.5U CN209593110U (en) | 2019-02-26 | 2019-02-26 | A kind of wireless power supply and capsule robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4142125A1 (en) | 2021-08-26 | 2023-03-01 | Universidad de Alcalá (UAH) | Miniaturized electromagnetic rotary actuator |
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2019
- 2019-02-26 CN CN201920238649.5U patent/CN209593110U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4142125A1 (en) | 2021-08-26 | 2023-03-01 | Universidad de Alcalá (UAH) | Miniaturized electromagnetic rotary actuator |
| WO2023025939A1 (en) | 2021-08-26 | 2023-03-02 | Universidad De Alcala (Uah) | Miniaturized wirelessly powered electromagnetic rotary actuator |
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