CN116458829A - Capsule endoscope with self-collimating attitude adjustment - Google Patents

Abstract

The invention provides a capsule endoscope with an auto-collimation posture adjusting function, which comprises a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet. The invention avoids the problem of magnetic force and magnetic moment coupling by respectively controlling the space position and the gesture deflection of the capsule endoscope. The universal rotating module designed by the invention is matched with the control method of auto-collimation posture adjustment, so that the posture deflection precision of the capsule endoscope is directly determined by the control precision of the motor, and the capsule endoscope has the advantages of simplicity and convenience in control and high precision. The spatial position control method provided by the invention enables the horizontal position of the capsule endoscope to be directly determined by the central position of the magnetic field, has high control precision, and greatly reduces the control difficulty of the vertical position.

Description

Capsule endoscope with self-collimating attitude adjustment

technical field

The invention relates to the field of medical instruments, in particular to a capsule endoscope with self-collimating attitude adjustment.

Background technique

At present, the routine inspection of the human digestive tract using a capsule endoscope is a relatively advanced diagnostic method in the market. Compared with traditional gastroscopy, capsule endoscopy has the advantages of no need for anesthesia, no intubation, painless and non-invasive, and no risk of cross-infection, which can greatly reduce the pain of patients.

When the capsule endoscope is inspected, an external control system is required to adjust the position and posture of the capsule endoscope to capture images of the gastric wall for diagnostic analysis. Magnetically controlled capsule endoscope is a method of active control of capsule endoscope. It changes the magnetic field distribution in space by changing the orientation and attitude of the external magnet of the human body, thereby driving the capsule endoscope containing permanent magnets to change its position and orientation. It is a commonly used control method at present.

However, the current magnetically controlled capsule endoscope is very complicated to control, and the control accuracy is limited. Due to the coupling effect of the external magnetic field on the magnetic force and magnetic moment of the capsule endoscope, when the magnetic force is changed, the magnetic moment received by the capsule will also change, which greatly increases the difficulty of controlling the position and attitude of the capsule. At the same time, in order to realize the closed-loop control of the capsule endoscope in the suspended state, it is generally necessary to use multiple magnetic sources (usually a combination of permanent magnets and electromagnetic coils) on the in vitro device, and use magnetic sensing positioning and other technologies to obtain the pose information of the capsule endoscope, so as to carry out effective control. With multiple magnetic sources, the control of the capsule endoscope is more difficult. At the same time, due to the limited accuracy of the acquired capsule endoscope pose information and the problem of delay correction, it is difficult to achieve high control accuracy.

CN201310133128.0 discloses a capsule robot for gastrointestinal endoscopy, including a capsule shell, a built-in permanent magnet arranged inside the capsule shell, a gear transmission mechanism, an image acquisition unit, and a rotating leg that can extend out of the capsule shell; wherein the built-in permanent magnet can rotate under the drive of an external permanent magnet; the input end of the gear transmission mechanism is connected with the built-in permanent magnet for converting the rotational motion into a rotary motion around the main axis of the capsule robot. The rotating leg is driven to change the length extending out of the capsule shell; the image acquisition unit is used to photograph the inspected part, and sends the photographed image to the image receiving and processing device, thereby performing the endoscopic inspection process. A corresponding motion control system is also disclosed. Through the above invention, the active control process of the capsule endoscope can be flexibly executed, and at the same time, it has the characteristics of active walking, executable intestinal expansion, and long-lasting driving force supply.

CN201610254857.5 discloses a capsule endoscope control system, including: a capsule endoscope used to collect information about the digestive tract of a subject to be tested, and a permanent magnet is arranged inside the capsule endoscope; a capsule control device that controls the movement of the capsule endoscope through a permanent magnet; a control terminal for receiving and displaying digestive tract information and position information of the capsule endoscope, and controlling the operation of the capsule control device. After the capsule endoscope is controlled to move to the first position to be tested by the capsule control device, the capsule endoscope can send the detected digestive tract information of the first position to be tested to the control terminal and display it, enabling the medical staff to clearly observe the condition of the digestive tract of the subject to be tested. Then move the capsule endoscope to the second position to be tested for detection, and send the digestive tract information to the control terminal, so that all the positions to be tested can be detected, and the control terminal can also display the position of the capsule endoscope, so the movement of the capsule endoscope can be controlled more accurately and conveniently.

Contents of the invention

In order to solve the above-mentioned defects of the prior art, the object of the present invention is to provide a self-collimating attitude-adjusting capsule endoscope, which avoids the problem of magnetic force and magnetic moment coupling by separately controlling the spatial position and attitude deflection of the capsule endoscope.

Another object of the present invention is to provide a method for controlling the self-collimating posture-adjusting capsule endoscope.

The object of the present invention is achieved through the following scheme: a capsule endoscope with self-collimation posture adjustment, which includes a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet in the capsule shell.

The camera module is used to take images of the stomach wall;

The wireless communication module is used to receive and send image information;

The main control module, as the control center of the capsule endoscope, controls the working states of the camera module and the universal rotation module respectively according to the parameter instructions of the external host computer;

The battery module is responsible for powering the camera module, wireless communication module, main control module and universal rotation module;

The permanent magnet is used for position and attitude control in cooperation with an external magnetic field;

The universal rotation module is driven by a micro motor to control the magnetic pole deflection of the permanent magnet. By controlling the space position and attitude deflection of the capsule endoscope respectively, the coupling of magnetic force and magnetic moment is avoided.

The capsule endoscope has the advantages of simple control and high control precision.

In one embodiment of the present invention, a capsule endoscope is provided. The capsule endoscope includes a capsule shell; a camera module set in the capsule shell for taking pictures of stomach walls; a wireless communication module set in the capsule shell for receiving and sending information; a main control module set in the capsule shell for the control center of the capsule endoscope; a battery module set in the capsule shell for providing energy and power; The internal universal rotation module is used to control the magnetic pole deflection of the permanent magnet.

Further, the universal rotation module includes a first micromotor, a second micromotor, a first synchronous belt, a second synchronous belt, a first rotating shaft, a second rotating shaft, a third rotating shaft, a bevel gear set, a first rotating collar, and a second rotating collar. The first micro motor drives the first rotating shaft to rotate through the first synchronous belt, and the first rotating shaft is fixedly connected to the first rotating collar and can drive the first rotating collar to rotate together. The second micro motor drives the second rotating shaft to rotate through the second synchronous belt. The second rotating shaft is hinged to the first rotating collar, and does not affect the movement of the first rotating collar. The bevel gear set includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly connected to the second rotating shaft and can rotate synchronously with the second rotating shaft. The driven bevel gear and the driving bevel gear can cooperate to rotate through gear meshing. The third rotating shaft is fixedly connected to the driven bevel gear, and will rotate around the axis when driven by the driven bevel gear. The third rotation shaft is connected to the first rotation collar through a shaft hole, and the third rotation shaft will revolve around the axis of the first rotation shaft along with the first rotation sleeve. The outside of the second rotating collar is fixedly connected to the third rotating shaft, and the inside is fixedly connected to the permanent magnet.

Further, the first micromotor and the second micromotor can drive the permanent magnet to rotate around the first axis and the second axis through speed cooperation.

Further, the first rotating shaft and the second rotating shaft are aligned axially, and their axes coincide with the first axis.

Further, the second axis coincides with the axis of the third rotating shaft and is always perpendicular to the first axis. The second axis can follow the third rotation axis to rotate around the first axis.

Further, the universal rotation module realizes the control of the two degrees of freedom of the permanent magnet, and can make the magnetic pole of the permanent magnet deflect at any angle relative to the initial state.

In one embodiment of the present invention, a control method for self-collimation posture adjustment of a capsule endoscope is provided. Under the action of the external magnetic field, the orientation of the magnetic poles of the permanent magnets will always be consistent with the direction of the external magnetic field. In the initial state, the axis of the capsule shell 1 coincides with the direction of the magnetic poles of the permanent magnet, and remains upright under the action of a strong magnetic field in the vertical direction. After the external magnetic field is turned off, the magnetic poles of the permanent magnets are driven by the first micromotor and the second micromotor to deflect at a preset angle relative to the axis of the capsule shell. The motor stops working, and a strong vertical magnetic field is regenerated, so that the magnetic pole direction of the permanent magnet is deflected back to the vertical direction again, and the capsule shell is driven to deflect at a preset angle, thereby completing attitude control.

Further, since the magnetic pole direction of the permanent magnet will be automatically calibrated by the strong magnetic field, the attitude deflection accuracy of the capsule endoscope provided by the present invention will be determined by the control accuracy of the motor, which has the advantages of simple control and high precision.

In one embodiment of the present invention, a method for manipulating the spatial position of a capsule endoscope is provided. Two identical circular electromagnetic coils are placed facing each other at a certain distance in the vertical direction, which can generate a magnetic field with controllable strength that can be turned on and off in the middle area. In the horizontal direction, the magnetic field has the characteristics of strong center and weak surrounding. Under the action of the magnetic field, the permanent magnet will always be stable in the middle of the magnetic field, so the horizontal position of the capsule endoscope can be controlled by horizontally moving the electromagnetic coil. In the vertical direction, the magnetic field has the characteristics of being weak in the middle and strong at both ends. In the vertical direction, closed-loop control should be adopted to control the vertical position of the capsule endoscope by changing the height of the electromagnetic coil or adjusting the current intensity in the electromagnetic coil.

Furthermore, the horizontal position of the capsule endoscope provided by the present invention is directly determined by the center position of the magnetic field, which has high control precision. At the same time, the change of the horizontal position of the capsule endoscope provided by the present invention will not affect the control of the vertical direction, thereby greatly reducing the difficulty of controlling the vertical position.

The idea, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the present invention.

Beneficial effects of the present invention

Compared with the prior art, the invention has the beneficial effect of avoiding the problem of magnetic force and magnetic moment coupling by separately controlling the spatial position and attitude deflection of the capsule endoscope. The universal rotation module designed in the present invention cooperates with the control method of self-collimation attitude adjustment, so that the attitude deflection accuracy of the capsule endoscope is directly determined by the control accuracy of the motor, which has the advantages of simple control and high precision. The spatial position control method provided by the present invention makes the horizontal position of the capsule endoscope directly determined by the center position of the magnetic field, which has high control accuracy and greatly reduces the difficulty of vertical position control.

Description of drawings

Fig. 1: the front view of a preferred embodiment of the present invention;

Fig. 2: the right view of a preferred embodiment of the present invention;

Fig. 3: the top view of a preferred embodiment of the present invention;

Fig. 4: Exploded view of universal rotating module and permanent magnet of a preferred embodiment of the present invention;

Fig. 5: the initial state schematic diagram of a preferred embodiment of the present invention;

Figure 6: a schematic diagram of the deflection state of a preferred embodiment of the present invention;

Explanation of symbols in the figure

1—capsule shell, 2—camera module, 3—wireless communication module,

4—main control module, 5—battery module, 6—universal rotation module,

7—permanent magnet, 8—first axis, 9—second axis,

Figure 4,

601—the first micro motor, 602—the second micro motor,

603 - the first timing belt, 604 - the second timing belt,

605—the first axis of rotation, 606—the second axis of rotation, 607—the third axis of rotation,

608 - bevel gear set,

609—the first rotating collar, 610 is the second rotating collar.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In one embodiment of the present invention, the self-collimating attitude-adjusting capsule endoscope includes a capsule shell, a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet.

As shown in Figures 1 and 2, the capsule shell 1 is made of a biocompatible polymer transparent material, which is non-toxic, harmless, acid-resistant and pressure-resistant, and has no adverse effects on the human body. The two ends of the capsule shell 1 are hemispherical, the middle part is a cylinder, and the overall shape is capsule-shaped, which is suitable for human body to swallow.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the camera module 2 is located at the hemispherical end of the capsule shell 1 and consists of a lens group, a CMOS camera chip and an annular array of LED light sources. During the exam, an LED light source will activate, illuminating the stomach wall in the camera's field of view. After the gastric wall image is converged by the lens group, the CMOS camera chip converts the optical signal into an electrical signal.

As shown in FIG. 1 and FIG. 2 , the wireless communication module 3 is adjacent to the camera module 2 and is mainly responsible for wireless communication with the host computer. The wireless communication module 3 compresses the image signal generated by the camera module 2 and sends it to the external host computer in real time while receiving the parameter instruction from the external host computer.

As shown in Figures 1 and 2, the main control module 4 is close to the wireless communication module 3 and contains a microcontroller, which is the control center of the capsule endoscope. The main control module 4 will control the working states of the camera module 2 and the universal rotation module 6 according to the parameter instruction of the external host computer.

As shown in FIG. 1 and FIG. 2 , the battery module 5 is located directly below the main control module 4 and installed on the upper partition in the capsule shell 1 . The battery module 5 adopts a button battery, and is responsible for supplying power to the camera module 2, the wireless communication module 3, the main control module 4 and the universal rotation module 6.

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the permanent magnet 7 is generally spherical, and is made of NdFeB ferromagnetic material, and its magnetization direction is the same as the normal direction of the second rotating collar 610 in the universal rotating module 6 .

As shown in Figures 1, 2 and 4, the universal rotation module 6 is composed of a first micromotor 601, a second micromotor 602, a first synchronous belt 603, a second synchronous belt 604, a first rotating shaft 605, a second rotating shaft 606, a third rotating shaft 607, a bevel gear set 608, a first rotating collar 609 and a second rotating collar 610. The first micromotor 601 and the second micromotor 602 are all fixed on the lower partition in the capsule shell 1, and a motor magnetic shield is installed to prevent the magnetic field interference of the motor from affecting the control of the permanent magnet 7. The first synchronous belt 603 and the second synchronous belt 604 are respectively connected with the first rotating shaft 605 and the second rotating shaft 606 below through the openings on both sides of the lower partition. The first micro motor 601 can drive the first rotating shaft 605 to rotate through the first synchronous belt 603 , and the second micro motor 602 can drive the second rotating shaft 606 to rotate through the second synchronous belt 604 . One end of the first rotating shaft 605 is in clearance fit with the shaft hole of the inner wall of the capsule shell 1 , and the other end is fixedly connected with the first rotating collar 609 , which can drive the first rotating collar 609 to rotate together. One end of the second rotating shaft 606 is in clearance fit with the shaft hole of the inner wall of the capsule shell 1 , and the other end is hemispherical and hinged with the spherical groove on the first rotating collar 609 . The second rotating shaft 606 only supports the first rotating collar 609 and does not affect the rotational movement of the first rotating collar 609 .

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the bevel gear set 608 includes a driving bevel gear and a driven bevel gear. The driving bevel gear is in interference fit with the second rotating shaft 606 through the shaft hole, and can rotate synchronously with the second rotating shaft 606 . The overall design of the active bevel gear is bowl-shaped, which matches the hemispherical bottom of the capsule shell 1, making the structure more compact. The driven bevel gear and the driving bevel gear can cooperate to rotate through gear meshing. The third rotating shaft 607 is in interference fit with the driven bevel gear through the shaft hole, and will rotate around the axis when driven by the driven bevel gear. The third rotating shaft 607 is in clearance fit with the first rotating collar 609 through the shaft hole, and the third rotating shaft 607 will revolve around the first axis 8 along with the first rotating collar 609 . The outer wall of the second rotating collar 610 is interference fit with the third rotating shaft 607 through the shaft hole, and the inner wall of the second rotating collar 610 is interference fitting with the permanent magnet 7 , and the second rotating collar 610 and the permanent magnet 7 will rotate synchronously with the third rotating shaft 607 .

In the embodiment of the present invention, the first rotating shaft 605 and the second rotating shaft 606 are installed axially and concentrically, and their axes coincide with the first axis 8 . The second axis 9 coincides with the axis of the third rotation axis 607 and is always perpendicular to the first axis 8 . The second axis 9 follows the third rotation shaft 607 to rotate around the first axis 8 . The first axis 8 and the second axis 9 intersect at the spherical center of the permanent magnet 7, so that the center position of the permanent magnet 7 will not change during the rotation process.

In the embodiment of the present invention, when only the first micromotor 601 works and controls the permanent magnet 7 to rotate around the first axis 8, since the driven bevel gear of the bevel gear set 608 will also rotate around the first axis 8, and the driving bevel gear does not rotate, the driven bevel gear will drive the third rotating shaft 607 to rotate, and then drive the permanent magnet 7 to also rotate around the second axis 9. In order to allow the permanent magnet 7 to rotate only around the first axis 8, the second micro-motor 602 needs to work together to rotate at a matching speed.

In the embodiment of the present invention, the rotation of the permanent magnet 7 around the first axis 8 is not affected by the control of the second micromotor 602 . By rationally configuring the rotational speeds of the first micromotor 601 and the second micromotor 602 , the permanent magnet 7 can be rotated around the first axis 8 and the second axis 9 at the same time.

In the embodiment of the present invention, the universal rotation module 6 realizes the control of the two degrees of freedom of the permanent magnet 7, and can make the magnetic pole of the permanent magnet 7 deflect at any angle relative to the initial state.

In an embodiment of the present invention, a control method for self-collimation posture adjustment of a capsule endoscope is provided. Under the action of the external magnetic field, the orientation of the magnetic poles of the permanent magnet 7 will always be consistent with the direction of the external magnetic field. In the initial state, the axis of the capsule shell 1 coincides with the magnetic pole direction of the permanent magnet 7, and remains erect under the action of a strong magnetic field in the vertical direction. After the external magnetic field is turned off, the magnetic poles of the permanent magnet 7 are driven by the first micromotor 601 and the second micromotor 602 to deflect by a preset angle relative to the axis of the capsule shell 1 . The motor stops working, regenerates a strong vertical magnetic field, and makes the magnetic pole direction of the permanent magnet 7 deflect back to the vertical direction again, driving the capsule shell 1 to realize the deflection of the preset angle, thereby completing the attitude control.

As shown in Figure 5, two identical circular electromagnetic coils are placed facing each other at a certain distance in the vertical direction, forming a strong vertical magnetic field in the middle area. In the initial state, under the action of a strong vertical magnetic field, the axis of the capsule shell 1, the axis of the first rotating collar 609, the axis of the second rotating collar 610 and the magnetic pole direction of the permanent magnet 7 all coincide and are along the vertical direction. After the current in the electromagnetic coil is turned off, the strong magnetic field disappears, and the permanent magnet 7 is controlled by the second micro-motor 602 to rotate 90° clockwise around the second axis 9 . At this moment, the axis of the capsule housing 1 and the magnetic pole direction of the permanent magnet 7 will deviate from the vertical direction. After the motor stops working, power is supplied to the electromagnetic coil to re-form a strong vertical magnetic field. Under the action of the external magnetic field, the magnetic pole direction of the permanent magnet 7 will be automatically calibrated back to the vertical direction, thereby driving the capsule shell 1 to deflect together.

The deflected state is shown in Figure 6. The magnetic pole direction of the permanent magnet 7, the axis direction of the second rotating collar 610, and the direction of the external magnetic field are in the same direction, both being vertical directions; the axis direction of the capsule shell 1, the axis direction of the first rotating collar 609, and the direction of the external magnetic field are vertical and along the horizontal direction. At this time, the camera module 2 has a good view of the side wall of the stomach, and can conduct a comprehensive inspection of the side wall of the stomach.

In the embodiment of the present invention, the magnetic pole direction of the permanent magnet 7 will be automatically calibrated by the strong magnetic field, so the attitude deflection accuracy of the capsule endoscope will be determined by the control accuracy of the first micro motor 601 and the second micro motor 602, which has the advantages of simple control and high precision.

In an embodiment of the present invention, a method for manipulating the spatial position of a capsule endoscope is provided. As shown in Figure 5, two identical circular electromagnetic coils are placed facing each other at a certain distance in the vertical direction, and a magnetic field with controllable strength is generated in the middle area. In the horizontal direction, the magnetic field has the characteristics of strong center and weak surrounding. Under the action of the magnetic field, the permanent magnet 7 will always be stable in the middle of the magnetic field, so the horizontal position of the capsule endoscope can be controlled by moving the electromagnetic coil horizontally. In the vertical direction, the magnetic field has the characteristics of being weak in the middle and strong at both ends. In the vertical direction, closed-loop control should be adopted to control the vertical position of the capsule endoscope by changing the height of the electromagnetic coil or adjusting the current intensity in the electromagnetic coil.

In the embodiment of the present invention, the horizontal position of the capsule endoscope is directly determined by the center position of the magnetic field, thus having high control precision. At the same time, the change of the horizontal position of the capsule endoscope will not affect the control of the vertical direction, so that the difficulty of controlling the vertical position is greatly reduced.

Claims (12)

1. A capsule endoscope with self-collimating posture adjustment, characterized in that the capsule shell (1) includes a camera module (2), a wireless communication module (3), a main control module (4), a battery module (5), a universal rotation module (6) and a permanent magnet (7), and under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet (7) will always remain consistent with the direction of the external magnetic field, wherein, The camera module (2) is used to take images of the stomach wall; The wireless communication module (3) is used to receive and send image information; The main control module (4), as the control center of the capsule endoscope, controls the working states of the camera module (2) and the universal rotation module (6) respectively according to the parameter instructions of the external host computer; The battery module (5) is responsible for feeding the camera module (2), the wireless communication module (3), the main control module (4) and the universal rotation module (6); The permanent magnet (7) is used for position and attitude control in cooperation with an external magnetic field; The universal rotation module (6) is driven by a micro motor to control the magnetic pole deflection of the permanent magnet. By controlling the space position and posture deflection of the capsule endoscope respectively, the coupling of magnetic force and magnetic moment is avoided. 2. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, the universal rotation module comprises a first micromotor (601), a second micromotor (602), a first timing belt (603), a second timing belt (604), a first rotation shaft (605), a second rotation shaft (606), a third rotation shaft (607), a bevel gear set (608), a first rotation collar (609) and a second rotation collar (610), The first micro motor (601) drives the first rotating shaft to rotate (605) through the first timing belt (603), and the first rotating shaft (605) is fixedly connected to the first rotating collar (609) to drive the first rotating collar (609) to rotate together; the second micro motor (602) drives the second rotating shaft (606) to rotate through the second timing belt (604), and the second rotating shaft (606) is hinged to the first rotating collar (609) without affecting The movement of the first rotating collar; the bevel gear set (608) includes a driving bevel gear and a driven bevel gear, the driving bevel gear is fixed to the second rotating shaft (606), and can rotate synchronously with the second rotating shaft (606); the driven bevel gear and the driving bevel gear can rotate in cooperation through gear meshing; the third rotating shaft (607) is fixed to the driven bevel gear, and will rotate around the second axis (9) when driven by the driven bevel gear; the third rotating shaft (607) and The first rotating collar (609) is connected through a shaft hole, and the third rotating shaft (607) will revolve around the first axis (8) of the first rotating shaft (605) with the first rotating sleeve (609); the second rotating collar (610) is fixed to the third rotating shaft (607) externally, and the second rotating collar (610) is fixed to the permanent magnet inside; the attitude control of the permanent magnet (7) is realized through the universal rotation module (6), so that the permanent magnet (7) The magnetic poles are deflected at any angle relative to the initial state. 3. The self-collimating attitude-adjusting capsule endoscope according to claim 1, characterized in that, The capsule shell (1) is made of a biocompatible polymer transparent material with hemispherical ends and a cylindrical capsule in the middle. 4. The self-collimating attitude-adjusting capsule endoscope according to claim 1 or 3, characterized in that the camera module (2) is located at the hemispherical end of the capsule shell (1), and is composed of a lens group, a CMOS camera chip, and an annular array of LED light sources. During inspection, the LED light source will be activated to illuminate the stomach wall in the field of view of the camera. After the images of the stomach wall are converged by the lens group, the CMOS camera chip converts the optical signal into an electrical signal and transmits it to the wireless communication module (3). 5. The capsule endoscope with self-collimating attitude adjustment according to claim 2, characterized in that, The first micromotor (601) and the second micromotor (602) drive the permanent magnet (7) to rotate around the first axis (8) and the second axis (9) through speed cooperation. 6. The self-collimation posture-adjusting capsule endoscope according to claim 2, characterized in that, The first rotating shaft ( 605 ) and the second rotating shaft ( 606 ) are axially aligned and assembled, and their axes coincide with the first axis ( 8 ). 7. The self-collimating attitude-adjusting capsule endoscope according to claim 2, characterized in that, The second axis (9) coincides with the axis of the third rotation axis (607) and is always perpendicular to the first axis; the second axis (9) can follow the rotation of the third rotation axis (607) around the first axis (8). 8. The capsule endoscope with self-collimating attitude adjustment according to claim 2, characterized in that the normal direction of the second rotating collar (610) in the universal rotation module 6 is the same as the magnetization direction of the permanent magnet (7), and the permanent magnet (7) is spherical as a whole, and NdFeB strong magnetic material is selected. 9. The capsule endoscope with self-collimation attitude adjustment according to claim 1, characterized in that the wireless communication module (3) is adjacent to the camera module (2) and is responsible for wireless communication with the host computer, and the wireless communication module (3) compresses the image signal generated by the camera module (2) and sends it to the external host computer in real time while receiving parameter instructions from the external host computer. 10. The self-collimating attitude-adjusting capsule endoscope according to claim 1, characterized in that the battery module (5) adopts a button battery, is located directly below the main control module (4), and is installed on the upper partition in the capsule shell 1. 11. The control method of a self-collimating attitude-adjusting capsule endoscope according to any one of claims 2 to 8, characterized in that, under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet (7) will always remain consistent with the direction of the external magnetic field, that is, the magnetic pole direction of the permanent magnet will be automatically calibrated by the strong magnetic field; In the initial state, the axis of the capsule shell (1) coincides with the magnetic pole direction of the permanent magnet (7), and remains upright under the action of a strong vertical magnetic field; after the external magnetic field is turned off, the magnetic poles of the permanent magnet (7) are driven to deflect by a preset angle relative to the axis of the capsule shell (1) through the first micromotor (601) and the second micromotor (602) of the universal rotation module (6); the motor stops working, and a strong vertical magnetic field is regenerated, so that the magnetic pole direction of the permanent magnet (7) is reset Deviating back to the vertical direction drives the capsule shell (1) to achieve a deflection at a preset angle, thereby completing attitude control. 12. The control method of the capsule endoscope with self-collimation posture adjustment according to claim 11, characterized in that, the external magnetic field is two identical circular electromagnetic coils vertically spaced apart from each other and placed facing each other, and a magnetic field with controllable strength is generated in the middle area of the two identical circular electromagnetic coils; in the horizontal direction, the magnetic field has the characteristics of strong center and weak surrounding, and the permanent magnet (7) will always be stabilized in the middle of the magnetic field, that is, the horizontal position of the capsule endoscope is controlled by moving the electromagnetic coil horizontally. The horizontal position of the mirror is directly determined by the center position of the magnetic field; in the vertical direction, the external magnetic field has the characteristics of being weak in the middle and strong at both ends. In the vertical direction, closed-loop control is adopted to control the vertical position of the capsule endoscope by changing the height of the electromagnetic coil or adjusting the current intensity in the electromagnetic coil; In the initial state, under the action of a strong vertical magnetic field, the axis of the capsule shell (1), the axis of the first rotating collar (609), the axis of the second rotating collar (610) and the magnetic pole direction of the permanent magnet (7) are all coincident and along the vertical direction; after the current in the electromagnetic coil is turned off, the strong magnetic field disappears, and the second micromotor (602) controls the permanent magnet (7) to rotate clockwise 90° around the second axis (9). At this time, the axis of the capsule shell (1) and the permanent magnet ( The magnetic pole direction of 7) will deviate from the vertical direction; after the motor stops working, power is supplied to the electromagnetic coil to re-form a strong vertical magnetic field. Under the action of the external magnetic field, the permanent magnet (7) will automatically calibrate the magnetic pole direction back to the vertical direction, thereby driving the capsule shell (1) to deflect together.