适用于新型胃肠道胶囊机器人的二维矩形螺线管发射线圈设计与实验

doi:10.1007/s12204-024-2752-x

J Shanghai Jiaotong Univ Sci ›› 2025, Vol. 30 ›› Issue (4): 825-832.doi: 10.1007/s12204-024-2752-x

所属专题：智能机器人

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适用于新型胃肠道胶囊机器人的二维矩形螺线管发射线圈设计与实验

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:2023-09-22 接受日期:2023-11-14 出版日期:2025-07-31 发布日期:2025-07-31

Design and Experiment of 2D Rectangular Solenoid Transmitting Coil for Novel Gastrointestinal Capsule Robot

文人庆，颜国正，吴劲斌，王志武，邝帅，韩玎

Shanghai Engineering Research Center of Intelligent Addiction Treatment and Rehabilitation, Shanghai Jiao Tong University, Shanghai 200240, China

Received:2023-09-22 Accepted:2023-11-14 Online:2025-07-31 Published:2025-07-31

摘要/Abstract

摘要： 本文提出了一种二维矩形螺线管发射线圈，以解决三维接收线圈在胶囊机器人体内占用过多空间的问题。发射线圈由两对矩形螺线管线圈组成，沿人体径向分布排列。通过改变发射电流方向，可以产生覆盖整个中心平面的二维磁场。首先介绍了无线能量传输系统的工作机制，然后通过数学计算和有限元模拟分析了发射线圈产生的空间电磁场。最后搭建实验平台，确定系统的最佳谐振频率，并对其能量传输效率和接收线圈的接收功率进行了测试，验证了该系统的有效性。实验结果表明：当接收线圈位于中心处，接收功率为1416 mW，传输效率为3.96%。此外，当接收线圈工作在中心平面时，无论何种姿态均能接收到满足机器人工作需求的能量。

关键词: 胃肠道胶囊机器人, 无线能量传输系统, 二维发射线圈, 接收功率

Abstract: A two-dimensional rectangular solenoid transmitting coil is proposed to address the problem that the three-dimensional receiving coil occupies excessive space inside the capsule robot. The transmitting coil consists of two pairs of rectangular solenoid coils distributed radially along the human body. By changing the direction of current flow, it can generate a two-dimensional magnetic field covering the whole central plane. Firstly, the working mechanism of the wireless power transfer system is introduced, and then the spatial electromagnetic field generated by the transmitting coil is analyzed through both mathematical calculations and finite element simulations. Finally, an experimental platform is built to determine the optimal resonant frequency of the system and validate its feasibility based on the power transfer efficiency and the receiving power. The experimental results demonstrate that when the receiving coil is located at the center of the coil pair, the receiving power is 1 416mW and the power transfer efficiency is 3.96%. Additionally, when the receiving coil operates in the central plane, it can receive sufficient energy regardless of the orientation.

中图分类号:

TH776
R318

. 适用于新型胃肠道胶囊机器人的二维矩形螺线管发射线圈设计与实验[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(4): 825-832.

Wen Renqing, Yan Guozheng, Wu Jinbin, Wang Zhiwu, Kuang Shuai, Han Ding. Design and Experiment of 2D Rectangular Solenoid Transmitting Coil for Novel Gastrointestinal Capsule Robot[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(4): 825-832.

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适用于新型胃肠道胶囊机器人的二维矩形螺线管发射线圈设计与实验

Design and Experiment of 2D Rectangular Solenoid Transmitting Coil for Novel Gastrointestinal Capsule Robot

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