新型胃肠道机器人无线能量传输系统的设计与实现

doi:10.16183/j.cnki.jsjtu.2021.228

上海交通大学学报 ›› 2022, Vol. 56 ›› Issue (8): 1057-1066.doi: 10.16183/j.cnki.jsjtu.2021.228

新型胃肠道机器人无线能量传输系统的设计与实现

付文浩^a^,^b, 姜萍萍^a^,^b(), 颜国正^a^,^b, 彭羽其^a, 费倩^a^,^b, 庄浩宇^a^,^b

a.上海交通大学电子信息与电气工程学院上海 200240
b.上海交通大学上海智慧戒毒与康复工程技术研究中心上海 200240

收稿日期:2021-06-25 出版日期:2022-08-28 发布日期:2022-08-26
通讯作者: 姜萍萍 E-mail:jpp99@sjtu.edu.cn
作者简介:付文浩(1995-),男,山东省济南市人,硕士生,从事胃肠道机器人的无线供能方向研究.
基金资助:
国家自然科学基金项目(81971767);上海市自然科学基金项目(21ZR1429900);上海市科研项目(19441910600);上海市科研项目(19441913800);上海市科研项目(19142203800);上海交通大学医疗机器人研究院项目(IMR2018KY05)

Design and Implementation of a New Type of Gastrointestinal Robot Wireless Power Transmission System

FU Wenhao^a^,^b, JIANG Pingping^a^,^b(), YAN Guozheng^a^,^b, PENG Yuqi^a, FEI Qian^a^,^b, ZHUANG haoyu^a^,^b

a. School of Electronic Information and Electrical Engineering, Shanghai 200240, China
b. Shanghai Engineering Research Center of Intelligent Detoxification and Rehabilitation Technology, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2021-06-25 Online:2022-08-28 Published:2022-08-26
Contact: JIANG Pingping E-mail:jpp99@sjtu.edu.cn

摘要/Abstract

摘要：

为确保微型胃肠道机器人在人体内部稳定运行,研制了一种新型无线供能系统.该系统基于电磁场谐振原理,参考电磁场理论计算和纺锤形三维接收线圈模型的优化结果,并创新性地结合了肠道机器人的工作能耗、姿态稳定性、供能稳定性、尺寸设计等要求.其中,发射线圈采用4组螺线管线圈产生均匀交变磁场,优化后的发射线圈通过与集成于肠道机器人内部的接收线圈互感,可产生稳定大于500 mW的能量用于机器人工作.经过相关实验验证,该无线供能系统的性能满足机器人在肠道内复杂环境的工作需求.

关键词: 无线能量传输, 三维接收线圈, 组合螺线管式发射线圈

Abstract:

In order to ensure the stable operation of the miniature gastrointestinal robot inside the human body, a new type of wireless power transmission (WPT) system is presented. To fulfill the requirements of the work energy consumption, posture stability, energy supply stability, and size limitation of the intestinal robot, the design refers to the calculation of electromagnetic field theory and the optimization results of the spindle-shaped three-dimensional receiving coil model which based on the principle of electromagnetic field resonance. Accordingly, the transmitting coil adopts four sets of solenoid coils to generate a uniform alternating magnetic field. With the receiving coil integrated inside, the optimized transmitting coil can generate a stable energy greater than 500 mW for a robot to work through mutual inductance. Relevant experimental verification indicates that performance of the wireless energy supply system satisfies the working requirements of the robot in the complex environment inside the intestine.

Key words: wireless power transmission (WPT), three-dimensional receiving coil, combined solenoid transmitting coil

中图分类号:

TH776

付文浩, 姜萍萍, 颜国正, 彭羽其, 费倩, 庄浩宇. 新型胃肠道机器人无线能量传输系统的设计与实现[J]. 上海交通大学学报, 2022, 56(8): 1057-1066.

FU Wenhao, JIANG Pingping, YAN Guozheng, PENG Yuqi, FEI Qian, ZHUANG haoyu. Design and Implementation of a New Type of Gastrointestinal Robot Wireless Power Transmission System[J]. Journal of Shanghai Jiao Tong University, 2022, 56(8): 1057-1066.

图/表 17

图1

图2

图3

图4

图5

图6

表1

3种发射线圈磁场均匀性指标

发射线圈结构	$B -$ ×10⁶/T	δ×10⁶/T	c_v/%
2组螺线管线圈	6.17	1.40	22.69
3组螺线管线圈	10.99	1.96	17.83
4组螺线管线圈	8.51	1.08	12.69

表1

图7

图8

图9

表2

图10

表3

图11

图12

图13

图14

参考文献 18

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线圈类型	匝数	等效串联电阻/Ω	电感/μH	Q
发射线圈	66	1.07	568.7	731
接收线圈组1	75	4.97	241.1	67.5
接收线圈组2	75	6.29	269	61.1
接收线圈组3	75	5.67	277.5	70.2

y/cm	标准差
y/cm	接收功率/mW	接收效率/%
0	85.16	0.1094
5	75.40	0.0957
10	80.70	0.1000
15	97.82	0.1297
20	244.05	0.3087

新型胃肠道机器人无线能量传输系统的设计与实现

Design and Implementation of a New Type of Gastrointestinal Robot Wireless Power Transmission System

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[3]	李达伟，姜萍萍，柯全，颜国正. 肠道机器人无线能量发射系统优化设计[J]. 上海交通大学学报（自然版）, 2018, 52(9): 1031-1037.
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[5]	辛文辉，颜国正，王文兴. 胶囊内窥镜无线供能模块的研制 [J]. 上海交通大学学报（自然版）, 2010, 44(08): 1109-1113.