磁场与视觉共融的多模态胶囊机器人人机交互控制

doi:10.13973/j.cnki.robot.170166

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张永顺, 杨慧远. 磁场与视觉共融的多模态胶囊机器人人机交互控制[J]. 机器人, 2018, 40(1): 72-80.DOI: 10.13973/j.cnki.robot.170166. ZHANG Yongshun, YANG Huiyuan. Human-Machine Interaction Control of the Capsule Robot withMultiple Modes Based on Magnetic and Visual Harmonization. ROBOT, 2018, 40(1): 72-80. DOI: 10.13973/j.cnki.robot.170166.

摘要为了实现磁驱动胶囊内窥镜基于定点悬停调姿的全景观察，提出一种欠驱动双半球胶囊机器人，突破了悬停调姿与滚动行走双重工作模态转换关键技术．为了在肠道弯曲环境内实现滚动行走，提出与视觉相融合的空间万向旋转磁场人机交互控制策略．理论上，依据正交变换推得经纬坐标系下以磁场轴线的侧摆角与俯仰角为独立变量的三相电流形式空间万向旋转磁场叠加公式，完成控制变量降维与解耦，实现磁场轴线沿侧摆或俯仰方向的单独调整；实践上，通过磁矩随动效应带动双半球形胶囊机器人摄像头分别实现侧摆与俯仰2个方向的独立扫描，使机器人轴线对准各段肠道弯曲方向，沿弯曲方向施加滚动磁矩实现胶囊机器人滚动转弯．最后，采用离体猪大肠模拟环境验证人机交互性能．试验表明，通过结合弯曲肠道图像与磁场方位的人机交互控制，既能实现双半球形胶囊机器人在被动模态下的姿态任意调整与全景观察，也能实现在主动模态下沿弯曲环境的滚动行走．

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	张永顺
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关键词 ：双半球胶囊机器人, 多模态转换, 空间万向旋转磁场, 正交变换, 人机交互

Abstract：In order to achieve the panoramic observation based on the suspended posture adjustment of the capsule endoscopy in an appointed position by magnetic actuation, an underactuated dual hemisphere capsule robot (DHCR) is proposed, which achieves the key breakthrough in the modal conversion between the suspended posture adjustment and the rolling locomotion. To realize the rolling locomotion in the bending gastrointestinal (GI) tract, a human-machine interaction control strategy integrating the vision and the spatial universal rotating magnetic field (SURMF) is put forwarded. Theoretically, the SURMF superposition formula in form of three phase currents using the azimuth and altitude angles of the SURMF axis as independent variables, is derived in the latitude and longitude coordinate systems according to the principle of the orthogonal transformation, achieving the dimension reduction and the decoupling of control variables. Furthermore, the individual adjustment of the SURMF axis along azimuth direction or altitude direction can be implemented respectively. Practically, the camera of the DHCR can scan along azimuth or altitude directions respectively by the magnetic torque servo effect until the DHCR axis is aligned with the bending direction in each section of the GI tract, and steering along each bending direction can be realized by applying the relevant rolling magnetic moment respectively. Finally, the in-vitro pig large intestine is employed as the simulation environment to verify the man-machine interactive performance. The experiments show that the panoramic observation based on the arbitrary posture adjustment under the passive mode, along with the rolling locomotion in the curved environment under the active mode, can be achieved by the proposed DHCR with the human-machine interaction combining the image of the curved GI tract and the SURMF orientation.

Key words： dual hemisphere capsule robot (DHCR) multiple mode conversion spatial universal rotating magnetic field (SURMF) orthogonal transformation human-machine interaction

收稿日期: 2017-03-24 录用日期: 2017-09-11

TP242

基金资助:国家自然科学基金（61773084，61175102，51277018）

通讯作者: 张永顺,zyshun@dlut.edu.cn E-mail: zyshun@dlut.edu.cn

作者简介: 张永顺(1965-),男,博士,教授,博士生导师.研究领域:机器人机电一体化技术等;
杨慧远(1985-),男,博士生.研究领域:球形胶囊机器人动力学及稳定性.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.170166 或 https://robot.sia.cn/CN/Y2018/V40/I1/72

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