Throat swab double-arm sampling robot and sampling method based on machine vision guidance

A machine vision and robot technology, applied in the field of visual control, can solve the problems of affecting the quality of swab sampling, endangering the personal safety of medical staff, and complicated throat swab sampling.

Active Publication Date: 2020-11-10
湖南爱米家智能科技有限公司 +1
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Problems solved by technology

At present, nucleic acid inspection is the main detection method for the new coronavirus. Patients must be sampled with throat swabs. During the process, they need to be in close contact with the patients. Due to the patient's breathing and coughing,

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  • Throat swab double-arm sampling robot and sampling method based on machine vision guidance
  • Throat swab double-arm sampling robot and sampling method based on machine vision guidance
  • Throat swab double-arm sampling robot and sampling method based on machine vision guidance

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Embodiment Construction

[0064] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0065] Such as figure 1 with Figure 5 As shown, a throat swab sampling dual-arm robot based on machine vision guidance includes a vision acquisition module, a mobile platform control module, a mechanical dual-arm control module, a data processing module, a remote control module, Power module and throat swab sampling module;

[0066] Wherein, the visual acquisition module, the mechanical dual-arm control module and the data processing module are all connected by network cables, the mobile platform control module and the mechanical dual-arm control module are controlled by the remote control module, and the mobile robot body is provided with dual arms. The throat swab sampling module is set on the arms of the mobile robot body, and is controlled by the mechanical arm control module, and the power supply module supplies power to the mobile robot body; ...

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Abstract

The invention discloses a throat swab double-arm sampling robot and sampling method based on machine vision guidance. A robot system utilizes an industrial depth camera for acquiring cloud informationof an RGB-D depth point, oral space environment is recognized and processed, a deep learning algorithm is adopted, three-dimensional coordinates of a tongue tip and a throat deep part are determinedto serve as expected coordinates of two arms, collaborative motion planning of moving of the two arms is completed on the basis of a moveit function package, a robot control system performs wireless communication with ROS on the basis of ROS system development through human-computer interaction control, and remote control and real-time monitoring functions are realized. According to the robot, medical staff can be prevented from making direct contact with infectious substances in a body of a patient, completion of a complex throat swab sampling process by the double-arm robot is monitored, high execution precision and success rate are guaranteed, and accidental risks such as an injury occurring in the sampling process of the patient are avoided.

Description

technical field [0001] The invention belongs to the field of visual control, and relates to a throat swab dual-arm sampling robot and a sampling method guided by machine vision. Background technique [0002] In view of the human-to-human transmission ability of the new coronavirus, respiratory droplets and close contact are the main routes of transmission. At present, nucleic acid inspection is the main detection method for the new coronavirus. Patients must be sampled with throat swabs. During the process, they need to be in close contact with the patients. Due to the patient's breathing and coughing, a large number of viral infectious substances are produced, which will endanger medical services. The personal safety of personnel, and throat swab sampling is complicated, and the fear of medical staff will also affect the quality of swab sampling. [0003] Due to the severe situation of the epidemic, there is an urgent need for an intelligent robot for throat swab sampling,...

Claims

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Application Information

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IPC IPC(8): B25J9/16A61B10/00G06T17/00
CPCB25J9/1602B25J9/1697B25J9/1682A61B10/0045G06T17/00
Inventor 张辉陈瑞博刘理钟杭李晨陈煜嵘王耀南
Owner 湖南爱米家智能科技有限公司
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