CN116784771A - Design and control method of magnetic drive system for capsule robot - Google Patents

Abstract

The application discloses a capsule robot magnetic driving system design and control method, which relates to the technical field of medical detection equipment, and comprises a magnetic coupling device module, a control module and a motor module, wherein the magnetic coupling device module and the motor module are connected through a fixing component, the control module is connected with the motor module through signals, the magnetic coupling device module comprises a main permanent magnet unit, a secondary permanent magnet unit and a capsule robot, the motor module drives the main permanent magnet unit to rotate to generate a stable rotating magnetic field, the main permanent magnet unit generates non-contact magnetic acting force on the secondary permanent magnet unit inside the capsule robot under the action of the rotating magnetic field, the capsule robot synchronously rotates with an external rotating magnetic field to realize movement, the control module comprises a PC end and an operating handle, and the operating handle regulates and controls the motor module to control the movement of the capsule robot of the magnetic coupling device module. The application has the advantages of stable magnetic driving of the capsule robot and accurate and convenient control of the capsule robot.

Description

Design and control method of magnetic drive system for capsule robot

Technical field

The invention relates to the technical field of medical testing equipment, and specifically to a design and control method of a capsule robot magnetic drive system.

technical background

As a non-invasive and painless diagnosis and treatment tool in the human gastrointestinal tract, capsule robots can effectively improve the comfort of examination and patient tolerance, making it possible to examine blind areas such as the gastrointestinal tract in the body, and when detecting intestinal tumors and gastric cancer In the case of intestinal lesions, wireless capsule robots are also more accurate than magnetic resonance imaging systems. They use the interaction between permanent magnets and magnetic fields, and use electromagnetic control systems to drive the flexible movement of capsule robots. The application of electromagnetic fields has proven its functional advantages in clinical practice. , and the capsule robot driven by an external magnetic field is not constrained by the internal space of the robot, and can be highly miniaturized to facilitate clinical application.

At present, external magnetic field drive systems can be divided into electromagnetic coil drive systems and permanent magnet drive systems. Electromagnetic coil drive systems often require doctors to have a high level of operation and are costly, while permanent magnet drive systems are relatively simple and more applicable. Related technologies The permanent magnet drive system used in capsule robots is often not stable enough when magnetically driving the capsule robot, and the control of the capsule robot inside the human body is not precise and convenient enough, so there is room for improvement.

Contents of the invention

The purpose of the present invention is to provide a design and control method for a magnetic drive system of a capsule robot to solve the problems raised in the above background.

In order to achieve the above objects, the present invention provides the following technical solutions:

A design and control method for a magnetic drive system of a capsule robot, including a magnetic coupling device module, a control module and a motor module. A fixed component is provided at the connection between the magnetic coupling device module and the motor module. The motor module drives all The magnetic coupling device module performs magnetic coupling, the control module is signal-connected to the motor module, and the control module controls the motor module to realize drive control of the magnetic coupling device module;

The magnetic coupling device module includes a master permanent magnet unit, a slave permanent magnet unit and a capsule robot. The slave permanent magnet unit is disposed at the center of the capsule robot. The motor module drives the master permanent magnet unit to rotate to produce a stable Under the action of the rotating magnetic field, the main permanent magnet unit generates a non-contact magnetic force on the slave permanent magnet unit inside the capsule robot. The capsule robot rotates synchronously with the external rotating magnetic field to realize forward, backward and steering movement;

The control module includes a PC end and an operating handle. The PC end is connected to the capsule robot via signals and is used to receive visual feedback signals from the capsule robot. The operating handle is connected to the motor module via signals and is used to control the capsule robot. The motor module regulates how to control the movement of the capsule robot of the magnetic coupling device module.

Preferably, the motor module is configured as a DC motor, the DC motor is signal-connected to the control handle and is controlled by the control handle. An output shaft is provided on one side of the DC motor, and the output shaft is connected to the control handle. The fixed components are nested and fixedly connected, and are fixedly connected to the main permanent magnet unit for fixing the DC motor and the main permanent magnet unit to make the generated rotating magnetic field more stable.

Preferably, the main permanent magnet unit includes two main permanent magnets, the main permanent magnets are cylindrical and symmetrically arranged, and the magnetization direction is the thickness direction. The two symmetrically arranged main permanent magnets are in the A stable superimposed rotating magnetic field can be generated under the drive of a DC motor. The slave permanent magnet unit includes a cylindrical slave permanent magnet. The magnetizing direction of the slave permanent magnet is radial magnetization. The slave permanent magnet is arranged on At the inner center of the capsule robot.

Preferably, the fixing assembly includes a coupling and fastening bolts. One side of the coupling is nested with the output shaft of the DC motor and fixed by fastening bolts. The other side of the coupling is The sides are respectively fixedly connected to the two main permanent magnets and fixed by fastening bolts.

Preferably, the capsule robot is manufactured by 3D printing, and is provided with a circle of external threads on the outside. The spiral groove on the external thread is used to convert the pressure of the liquid on the capsule robot into axial pressure to drive the capsule robot. Forward or backward movement.

Preferably, the operating handle includes a motor driver, a motor controller and a control panel, the motor driver and the motor controller are used for wireless drive control of the DC motor, and the control panel is used for wireless drive control of the DC motor. It can precisely control the speed and steering, and can display the command status and operating status of the DC motor.

Preferably, the control panel includes a speed adjustment knob, a steering adjustment button, a stop button, an on/off key and a digital display. The speed adjustment knob and the steering knob are used to control the steering and speed of the DC motor, thereby regulating The rotating magnetic field generated by the two main permanent magnets further controls the steering and speed of the capsule robot. The stop button is used to control the DC motor to stop operating. The rotating magnetic field disappears and the capsule robot stops moving. The digital display screen uses In order to display the instructions being executed by the operating handle and the rotation status and speed value of the DC motor.

Preferably, the speed adjustment knob is set to rotate forward and reversely. When the speed adjustment knob is rotated forward, the speed of the DC motor increases, and the capsule robot will also accelerate rotation accordingly, and the digital display screen The command status and the speed value of the DC motor at this time are displayed, and the speed of the motor will no longer increase after reaching the maximum protection limit speed value; when the speed adjustment knob is rotated in the reverse direction, the speed of the DC motor decreases, and the speed of the DC motor decreases. The capsule robot will also decelerate and rotate accordingly, and the digital display screen will display the command status and the speed value of the DC motor. As the speed adjustment knob continues to rotate, after reaching the 0 position, the speed of the motor will no longer change.

Preferably, the steering adjustment button is set as a forward rotation button and a reverse rotation button. When the forward rotation button is pressed on the control panel, the DC motor starts to rotate, and the capsule robot rotates along with the rotating magnetic field generated by the main permanent magnet. Rotate, the digital display screen displays the forward rotation and rotation speed value of the DC motor. Press the reverse button on the control panel. The direction of rotation of the DC motor is opposite to the direction of forward rotation, and the capsule robot then rotates. Rotate in the opposite direction, and the digital display screen displays the reverse rotation and rotation speed value of the DC motor.

Preferably, the DC motor is powered by a wired or wireless lithium battery and is arranged inside the matching housing. The fixing component is also arranged inside the matching housing. The two main permanent magnets are arranged outside the matching housing.

Compared with the prior art, the beneficial effects of the present invention are:

1. Through the cooperation of the operating handle of the control module and the PC end, the operating handle is connected to the motor module signal to achieve stable control of the motor module. The operating handle controls the rotation speed and direction of the motor module, and then controls the fixed connection with the motor module. The rotating magnetic field generated by the main permanent magnet unit is controlled to control the capsule robot with the slave permanent magnet unit inside. With the visual feedback signal from the capsule robot received by the PC, the environment of the capsule robot can be observed in real time and analyzed. For its control, the use of the operating handle makes the rotating magnetic field generated by the main permanent magnet unit fixedly connected to the motor module more stable, and the control of the capsule robot is also more stable and convenient.

2. The operating handle includes a motor driver, a motor controller and a control panel. The motor driver and motor controller control the DC motor more stably. The control panel includes a speed adjustment knob, a steering adjustment button, a stop button and a digital display. Through the speed adjustment knob, the control panel The adjustment knob, steering adjustment button, and stop button can control the DC motor more accurately. The digital display can display the current command transition state of the control panel and the rotation speed value of the DC motor, thereby achieving precise control of the capsule robot.

Description of the drawings

Figure 1 is a structural diagram of a magnetic coupling module and a motor module of a magnetic drive design and control method for a capsule robot according to the present invention;

Figure 2 is a structural diagram of a control module of a capsule robot magnetic drive design and control method according to the present invention;

Figure 3 is a structural diagram of a capsule robot with a magnetic drive design and control method according to the present invention;

Figure 4 is an overall control principle diagram of the design and control method of the magnetic drive of a capsule robot according to the present invention;

In the picture: 1. Magnetic coupling device module; 11. Master permanent magnet unit; 111. Master permanent magnet; 12. Slave permanent magnet unit; 121. Slave permanent magnet; 13. Capsule robot; 131. External thread; 2. Control module ; 21. PC side; 22. Operating handle; 221. Motor driver; 222. Motor controller; 223. Control panel; 2231. Speed adjustment knob; 2232. Steering adjustment button; 22321. Forward rotation button; 22322. Reverse button ; 2233. Stop button; 2234. Digital display; 2232. On/off key; 3. Motor module; 31. DC motor; 311. Output shaft; 4. Fixed components; 41. Coupling; 42. Fastening bolts; 5 , matching shell.

Detailed ways

The present invention will be further described in detail below with reference to the embodiments and Figure 1, but the implementation of the present invention is not limited thereto.

The present application will be further described in detail below in conjunction with the accompanying drawings.

The invention discloses a design and control method of a magnetic drive system of a capsule robot, which includes a magnetic coupling device module 1, a control module 2 and a motor module 3. The magnetic coupling device module 1 and the motor module 3 are connected through a fixing component 4, and the motor module 3 The magnetic coupling device module 1 is driven to perform magnetic coupling, the control module 2 is connected with the motor module 3 via signals, and the control module 2 controls where the motor module 3 controls the drive control of the magnetic coupling device module 1 .

Referring to Figure 1, the magnetic coupling device module 1 includes a master permanent magnet unit 11, a slave permanent magnet unit 12 and a capsule robot 13. The slave permanent magnet unit 12 is disposed at the center of the interior of the capsule robot 13. The motor module 3 drives the master permanent magnet unit 11 to rotate. A stable rotating magnetic field is generated. Under the action of the rotating magnetic field, the main permanent magnet unit 11 generates a non-contact magnetic force on the slave permanent magnet unit 12 inside the capsule robot 13. The capsule robot 13 rotates synchronously with the external rotating magnetic field to realize forward, backward and Steering movement; the motor module 3 is configured as a DC motor 31. One side of the DC motor 31 is provided with an output shaft 311. The output shaft 311 is nested and fixedly connected to the fixed component 4. The fixed component 4 is in turn fixedly connected to the main permanent magnet unit 11. , used to fix the DC motor 31 and the main permanent magnet unit 11 to make the generated rotating magnetic field more stable.

In actual use, after the DC motor 31 is started, since the main permanent magnet unit 11 and the DC motor 31 are fixedly connected to the fixed component 4, the main permanent magnet unit 11 can generate a more stable rotating magnetic field driven by the DC motor 31, and generate The rotating magnetic field can be controlled by the DC motor 31. The capsule robot 13 with the permanent magnet 121 inside will rotate synchronously under the action of this stable rotating magnetic field. By controlling the DC motor 31, the capsule robot 13 can move forward and forward. Stable control of reverse and steering.

Referring to Figure 1, the main permanent magnet unit 11 includes two main permanent magnets 111. The main permanent magnets 111 are cylindrical and symmetrically arranged. The magnetizing direction is the thickness direction. The two symmetrically arranged main permanent magnets 111 are in the DC motor 31. A stable superimposed rotating magnetic field can be generated under the driving of the slave permanent magnet 121. The unit 12 includes a cylindrical slave permanent magnet 121. The magnetizing direction of the slave permanent magnet 121 is radial magnetization. The slave permanent magnet 121 is arranged on the capsule robot 13. at the inner center.

In actual use, the rotating magnetic field generated by the superposition of the two main permanent magnets 111 driven by the DC motor 31 exerts a stronger non-contact magnetic force on the slave permanent magnet 121, ensuring that the capsule robot 13 can stably receive non-contact magnetism when it is inside the human body. The magnetic force applied to each part of the capsule robot 13 is uniform, and position deviation caused by uneven force is less likely to occur during the control process. Shift, poor control effect.

Referring to Figure 1, the fixing assembly 4 includes a coupling 41 and fastening bolts 42. One side of the coupling 41 is nested with the output shaft 311 of the DC motor 31 and fixed by the fastening bolts 42. The other side of the coupling 41 One side is fixedly connected to the two main permanent magnets 111 and fixed by fastening bolts 42. The DC motor 31 is powered by a wired or wireless lithium battery and is set inside the matching housing 5. The fixing component 4 and the two main permanent magnets 111 are set Outside the matching housing 5.

In actual use, the DC motor 31 relies on the output shaft 311 to drive the two main permanent magnets 111 to rotate, and the coupling 41 plays a role in connecting and fixing them, ensuring the stability and safety of the main permanent magnets 111 during the rotation. The fastening bolts 42 are further fixed to provide double fixation protection for the stable generation of the rotating magnetic field. The DC motor 31 is powered by a lithium battery and can be charged wirelessly and wiredly, so that the power supply of the DC motor 31 is guaranteed. The DC motor 31 It is arranged in the matching housing 5 to protect and isolate the motor.

Referring to Figures 1 and 2, the control module 2 includes a PC terminal 21 and an operating handle 22. The PC terminal 21 is signal-connected to the capsule robot 13 for receiving visual feedback signals from the capsule robot 13. The operating handle 22 is signal-connected to the motor module 3. For regulating the motor module 3 and controlling the movement of the capsule robot 13 of the magnetic coupling device module 1, the operating handle 22 includes a motor driver 221, a motor controller 222 and a control panel 223. The motor driver 221 and the motor controller 222 are used to control the movement of the capsule robot 13 of the magnetic coupling device module 1. For wireless drive control of the DC motor 31, the control panel 223 is used to precisely control the rotation speed and steering of the DC motor 31, and can display the command status and operating status of the DC motor 31.

In practical applications, the DC motor 31 is started through the operating handle 22. The motor driver 221 and the motor controller 222 provided on the operating handle 22 strengthen and stabilize the wireless control of the mainstream motor by the operating handle 22. After the DC motor 31 is started, the main permanent magnet 111 generates Rotate the magnetic field and operate the handle 22 to control the capsule robot 13. According to the position environment of the capsule robot 13 received by the PC terminal 21, the capsule robot 13 can be accurately controlled through the control panel 223.

Referring to Figures 1 and 2, the control panel 223 includes a speed adjustment knob 2231, a steering adjustment button 2232, a stop button 2233, a switch key 2232 and a digital display 2234. The speed adjustment knob 2231 and the steering knob are used to control the steering and rotation of the DC motor 31. rotation speed, thereby regulating the rotating magnetic field generated by the two main permanent magnets 111, and further controlling the steering and rotation speed of the capsule robot 13. The stop button 2233 is used to control the DC motor 31 to stop operating, the rotating magnetic field disappears, and the capsule robot 13 stops moving, and the digital display The screen 2234 is used to display the instructions being executed by the operating handle 22 and the rotation status and speed value of the DC motor 31 .

In practical applications, the DC motor 31 is controlled through the speed adjustment knob 2231, the steering adjustment button 2232 and the stop button 2233 on the control panel 223. The DC motor 31 affects the rotating magnetic field generated by the main permanent magnet 111, and how to control the internal secondary permanent magnets. 121 of the capsule robot 13, through the digital display 2234 on the control panel 223, you can further observe the instructions being executed by the DC motor 31 at this time, including forward and reverse steering and rotation speed values.

Referring to Figures 1 and 2, the speed adjustment knob 2231 is set to forward rotation and reverse rotation. When the speed adjustment knob 2231 is rotated forward, the speed of the DC motor 31 increases, and the capsule robot 13 will also accelerate and rotate accordingly. The digital display 2234 displays the command status and the speed value of the DC motor 31 at this time, and the motor speed will no longer increase after reaching the maximum protection limit speed value; when the speed adjustment knob 2231 is rotated in the reverse direction, the speed of the DC motor 31 decreases, and the capsule robot 13 will also decelerate and rotate accordingly. The digital display screen 2234 displays the command status and the speed value of the DC motor 31. As the speed adjustment knob 2231 continues to rotate, after reaching the 0 position, the speed of the motor no longer changes.

In practical applications, the speed adjustment knob 2231 on the control panel 223 of the handle 22 can be used to regulate the speed of the DC motor 31, thereby affecting the rotation speed of the capsule robot 13, and realizing the acceleration or deceleration control of the capsule robot 13, such as When the speed adjustment knob 2231 is rotated forward, the speed of the DC motor 31 will increase, and the capsule robot 13 will accelerate accordingly, realizing the acceleration of the capsule robot 13; when the speed adjustment knob 2231 is rotated in the reverse direction, the speed of the DC motor 31 will decrease, and the capsule robot 13 will be accelerated. 13 then decelerates and rotates to realize the deceleration of the capsule robot 13. At the same time, the speed value of the DC motor 31 can be observed on the digital display 2234.

Referring to Figures 1 and 2, the steering adjustment button 2232 is set as a forward rotation button 22321 and a reverse rotation button 22322. Press the forward rotation button 22321 on the control panel 223, the DC motor 31 starts to rotate, and the capsule robot 13 is generated along with the main permanent magnet 111. The digital display 2234 displays the forward rotation and rotation speed value of the DC motor 31. Press the reverse button 22322 on the control panel 223. The DC motor 31 rotates in the opposite direction to the forward rotation. The capsule robot 13 Following the reverse rotation, the digital display screen 2234 displays the reverse rotation and rotation speed values of the DC motor 31 .

In practical applications, the forward or reverse movement of the capsule robot 13 is controlled through the steering adjustment button 2232 on the control panel 223. Press the forward button 22321, the DC motor 31 starts to rotate normally, and the capsule robot 13 rotates forward; press the reverse button. Turn the button 22322, the DC motor 31 rotates in the reverse direction, which is opposite to the forward rotation direction, and the capsule robot 13 rotates in the reverse direction to achieve direction change. At the same time, the forward and reverse rotation status of the DC motor 31 can be observed on the digital display 2234.

Referring to Figure 3, the capsule robot 13 is manufactured by 3D printing, and is provided with a circle of external threads 131 on the outside. The spiral groove on the external thread 131 is used to convert the pressure of the liquid on the capsule robot 13 into axial pressure, which is beneficial to driving the capsule robot 13. Forward or backward movement.

Referring to Figure 4, the design and control method of a capsule robot magnetic drive system of the present invention is divided into the following steps:

Step 1, press the switch key 2232 on the control panel 223, and the operating handle 22 starts to work

Step 2: Press the forward rotation button 22321 on the control panel 223 to start the DC motor 31 and rotate forward;

Step 3: Rotate the rotation speed adjustment knob 2231 on the control panel 223 forward and clockwise. As the motor speed increases, the capsule robot 13 will also accelerate its rotation;

Step 4: Rotate the rotation speed adjustment knob 2231 on the control panel 223 counterclockwise. The motor speed will decrease, and the capsule robot 13 will also decelerate and rotate accordingly;

Step five, press the reverse button 22322 on the control panel 223, the DC motor 31 rotates in the reverse direction, which is opposite to the forward rotation direction of the DC motor 31, and the capsule robot 13 rotates in the reverse direction to achieve direction change;

Step 6: Press the pause button on the control panel 223, the DC motor 31 stops rotating, and the capsule robot 13 stops rotating;

Step 7: After the detection is completed, press the switch key 2232 on the control panel 223 again to close the operating handle 22.

The implementation principle of the design and control method of the magnetic drive system of a capsule robot in the embodiment of the present application is as follows: the DC motor 31 is started and regulated through the operating handle 22, the DC motor 31 rotates, and drives the DC motor 31 fixedly connected through the fixing assembly 4. The two main permanent magnets 111 rotate to generate a rotating magnetic field. The slave permanent magnet 121 located at the center of the interior of the capsule robot 13 receives a non-contact magnetic force under the action of the rotating magnetic field. The capsule robot 13 rotates synchronously with the external rotating magnetic field to achieve operation. The handle 22 controls the capsule robot 13, and the motor driver 221 and motor controller 222 on the operating handle 22 make the wireless signal connection between the operating handle 22 and the DC motor 31 more stable. The speed adjustment knob 2231 and steering adjustment on the control panel 223 The button 2232 and the stop button 2233 enable more precise rotational speed and steering control of the DC motor 31, thereby enabling more precise control of the capsule robot 13.

The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application shall be covered by the scope of protection of the present application. Inside.

Claims (10)

1. A capsule robot magnetic drive system design and control method, characterized in that it includes a magnetic coupling device module (1), a control module (2) and a motor module (3). The magnetic coupling device module (1) and the A fixed component (4) is provided at the connection point of the motor module (3). The motor module (3) drives the magnetic coupling device module (1) to perform magnetic coupling. The control module (2) and the motor module (3) Signal connection, the control module (2) controls the motor module (3) to realize the drive control of the magnetic coupling device module (1); The magnetic coupling device module (1) includes a master permanent magnet unit (11), a slave permanent magnet unit (12) and a capsule robot (13). The slave permanent magnet unit (12) is arranged on the capsule robot (13). At the inner center, the motor module (3) drives the main permanent magnet unit (11) to rotate to generate a stable rotating magnetic field. Under the action of the rotating magnetic field, the main permanent magnet unit (11) affects the capsule robot (13). The internal permanent magnet unit (12) generates non-contact magnetic force, and the capsule robot (13) rotates synchronously with the external rotating magnetic field to achieve forward, backward and turning movements; The control module (2) includes a PC terminal (21) and an operating handle (22). The PC terminal (21) is signally connected to the capsule robot (13) and is used to receive visual feedback signals from the capsule robot (13). , the operating handle (22) is signally connected to the motor module (3), and is used to regulate the motor module (3) and control the capsule robot (13) of the magnetic coupling device module (1). sports. 2. A capsule robot magnetic drive system design and control method according to claim 1, characterized in that the motor module (3) is configured as a DC motor (31), and the DC motor (31) and the The operating handle (22) is connected with signals and controlled by the operating handle (22). An output shaft (311) is provided on one side of the DC motor (31), and the output shaft (311) is connected to the fixed component (311). 4) Nested arrangement and fixed connection, the fixing component (4) is fixedly connected to the main permanent magnet unit (11), and is used to fix the DC motor (31) and the main permanent magnet unit (11), so that The resulting rotating magnetic field is more stable. 3. A capsule robot magnetic drive system design and control method according to claim 1, characterized in that the main permanent magnet unit (11) includes two main permanent magnets (111), and the main permanent magnet (111) 111) is cylindrical and arranged symmetrically, and the magnetization direction is the thickness direction. The two symmetrically arranged main permanent magnets (111) can generate a stable superposed rotating magnetic field driven by the DC motor (31). The slave permanent magnet unit (12) includes a cylindrical slave permanent magnet (121), the magnetizing direction of the slave permanent magnet (121) is radial magnetization, and the slave permanent magnet (121) is arranged at At the inner center of the capsule robot (13). 4. A capsule robot magnetic drive system design and control method according to claim 2, characterized in that the fixed component (4) includes a coupling (41) and a fastening bolt (42), and the coupling One side of the shaft device (41) is nested with the output shaft (311) of the DC motor (31) and fixed by fastening bolts (42), and the other side of the coupling (41) is respectively connected with the output shaft (311) of the DC motor (31). The two main permanent magnets (111) are fixedly connected and fixed by fastening bolts (42). 5. The design and control method of a capsule robot magnetic drive system according to claim 1, characterized in that the capsule robot (13) is manufactured by 3D printing, and is provided with a circle of external threads (131) on the outside. The spiral groove on the thread (131) is used to convert the pressure of the liquid on the capsule robot (13) into axial pressure, driving the capsule robot (13) to move forward or backward. 6. A capsule robot magnetic drive system design and control method according to claim 4, characterized in that the operating handle (22) includes a motor driver (221), a motor controller (222) and a control panel (223) ), the motor driver (221) and the motor controller (222) are used for wireless drive control of the DC motor (31), and the control panel (223) is used for wireless drive control of the DC motor (31) It can accurately control the rotation speed and steering, and can display the command status and rotation speed value of the DC motor (31). 7. A capsule robot magnetic drive system design and control method according to claim 6, characterized in that the control panel (223) includes a speed adjustment knob (2231), a steering adjustment button (2232), a stop button ( 2233), switch key (2232) and digital display screen (2234), the speed adjustment knob (2231) and the steering adjustment button (2232) are used to control the steering and rotation speed of the DC motor (31), thereby Regulate the rotating magnetic field generated by the main permanent magnet (111) to further control the steering and rotation speed of the capsule robot (13). The stop button (2233) is used to control the DC motor (31) to stop operating and the rotating magnetic field disappears. , the capsule robot (13) stops moving, and the digital display screen (2234) is used to display the instructions being executed by the operating handle (22) and the rotation status and speed value of the DC motor (31). 8. A capsule robot magnetic drive system design and control method according to claim 7, characterized in that the speed adjustment knob (2231) is set to forward rotation and reverse rotation. When the speed adjustment knob is rotated forward, (2231), the speed of the DC motor (31) increases, the capsule robot (13) accelerates and rotates accordingly, and the digital display screen (2234) displays the command status and the status of the DC motor (31) at this time. The speed value, and the motor speed will no longer increase after reaching the maximum protection limit speed value; when the speed adjustment knob (2231) is rotated in the reverse direction, the speed of the DC motor (31) decreases, and the capsule robot (13) then decelerate and rotate, the digital display screen (2234) displays the command status and the speed value of the DC motor (31). As the speed adjustment knob (2231) continues to rotate, after reaching the 0 position, the mainstream motor (31) The rotation speed no longer changes. 9. A capsule robot magnetic drive system design and control method according to claim 7, characterized in that the steering adjustment button (2232) is set as a forward button (22321) and a reverse button (22322). When the forward rotation button (22321) is pressed on the control panel (223), the DC motor (31) starts to rotate, and the capsule robot (13) rotates with the rotating magnetic field generated by the main permanent magnet (111). The digital display screen (2234) displays the forward rotation and rotation speed value of the DC motor (31). Press the reverse button (22322) on the control panel (223), and the direction of rotation of the DC motor (31) is the same as the forward direction. The direction of rotation is opposite, and the capsule robot (13) rotates in the opposite direction accordingly, and the digital display screen (2234) displays the reverse rotation and rotation speed values of the DC motor (31). 10. A capsule robot magnetic drive system design and control method according to claim 9, characterized in that the DC motor (31) is powered by a wired or wireless lithium battery, and a matching shell ( 5) Inside, the fixing component (4) is also arranged inside the matching housing (5), and the two main permanent magnets (111) are arranged outside the matching housing (5).