Levitation control of capsule robot with 5-DOF based on arrayed Hall elements

Compared with traditional gastroscope, capsule robot has many advantages, such as painlessness, fast examination and convenient operation. It has a wide application prospect in the diagnosis and treatment of gastrointestinal diseases. However, the capsule robot in the current commercial market has some disadvantages, such as difficult control, low degree of freedom of motion, slow image transmission speed and so on. This paper proposes a magnetic control system of five degrees of freedom capsule robot based on square Helmholtz coils and gradient field. The system has smaller volume, lower energy consumption and higher control accuracy. It can effectively control the capsule robot to carry out a variety of movements in the simulated gastric environment. In addition, this paper proposes a positioning method based on simulated annealing, which has good positioning accuracy and can detect the position and rotation direction of the capsule robot in real time. It will assist in the accurate control of the capsule robot’s motion.