Magnetic Levitation Control of Capsule Robots with Magnetic Sensor and Visual Feedback

Capsule robot magnetic levitation control is suit-able for gastrointestinal endoscopy, where motion control of the capsule robot is required in order to move to the lesion location. However, existing motion control methods are generally not active motion control, and then the control used is open-loop feedback or single-loop feedback. In order to improve the control accuracy, this paper designs a magnetic levitation control system using magnetic sensors and visual feedback, which can achieve higher accuracy by fusion of magnetically controlled visual sensors. The magnetic levitation platform system is used to levitate the magnets and constrain the horizontal position of the magnets, and the active motion control of the capsule can be realized with the guide rail system. In this paper, the magnetic levitation test is carried out for tags in different states, and the results verify the effectiveness of the magnetic levitation control.