Air aerosol sampling and detection integrated robot

Abstract

The application provides an air aerosol sampling and detecting integrated robot, which comprises a robot body, an aerosol sampling module, a motion module, a sample detecting module and a control module are arranged on the robot body; the aerosol sampling module comprises an air inlet pipe, an air outlet pipe, a sampling cup and a fan, the air inlet pipe is communicated with the sampling cup, the air inlet pipe is communicated with the air inlet of the fan, and the air outlet pipe is communicated with the air outlet of the fan; the motion module comprises a power wheel for providing power and a steering wheel for steering; the sample detecting module comprises a material storage device, a driving pump and a detecting device, the material storage device is connected with the driving pump through a pipeline, and the driving pump is connected with the detecting device through a pipeline; and the control module comprises a central control system. The robot can be flexibly moved to a specific area for sampling, the sampling range is wide, the sampling spectrum coverage is high, the sample can be detected through the sample detecting module, and the aerosol sampling and detecting integration is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biosafety monitoring, and particularly relates to an air aerosol sampling and detecting integrated robot. BACKGROUND

[0002] The aerosol refers to a gaseous dispersion system composed of solid or liquid particles suspended in a gaseous medium, wherein the gaseous phase is the continuous phase, and the solid or liquid particles are the dispersed phase, thereby forming the overall multiphase fluid characteristics. The dispersed phase composed of solid or liquid particles has significant differences in sources, such as the aerosol particles formed by plant pollen with a particle size of about 5-100 microns, and the aerosol particles formed by wood and tobacco combustion with a particle size of about 0.01-1000 microns. If the dispersed phase is microorganisms or their metabolites, it is called "biological aerosol", and the complexity is further increased. The dispersed phase in the biological aerosol may be toxins with a particle size of less than 0.01 microns, viruses with a particle size of 0.02-0.25 microns, bacteria with a particle size of 0.5-5 microns, and fungi with a particle size of 2-30 microns. If it is attached to other solid or liquid particles, the particle size is more complex, which also leads to significant differences in the fluid behavior of the stable continuous phase (air) and the diverse dispersed phase (solid or liquid particles) in the multiphase fluid. The toxins, viruses, bacteria, fungi and the like in the biological aerosol pose risks to health, disease control emergency and biological safety to varying degrees.

[0003] The purpose of collecting biological substances in the biological aerosol is to start subsequent in-depth analysis, and the enriched biological substances have the risk of increased biological hazards. In the prior art, the sampling device can only realize the sampling function during the sampling process of the biological aerosol, lacks the intelligent design of flexible movement and automatic sampling of the sampler, and only focuses on the hardware device. The device characteristics, sampling liquid characteristics, biological particles and subsequent analysis are not compatible, only the sampling function can be realized, and the compatibility design of the sampling liquid and the subsequent detection end is lacking.

[0004] Therefore, there is an urgent need for an air aerosol sampling and detecting integrated robot to solve the above problems. SUMMARY

[0005] The present application provides an air aerosol sampling and detecting integrated robot, which can make the robot move flexibly to a specific area for sampling by the central control system in the control module sending control signals to the aerosol sampling module and the motion module, has a wide sampling range, high sampling spectrum coverage, and can detect samples by the sample detection module, realizing aerosol sampling and detecting integration.

[0006] The present application provides an air aerosol sampling and detecting integrated robot, which comprises a robot body, wherein the robot body is provided with an aerosol sampling module, a motion module, a sample detection module and a control module.

[0007] The aerosol sampling module comprises an air inlet pipe, an air outlet pipe, a sampling cup and a fan, the air inlet pipe is communicated with the sampling cup, the air inlet pipe is communicated with the air inlet of the fan, and the air outlet pipe is communicated with the air outlet of the fan.

[0008] The motion module comprises a power wheel for providing power and a steering wheel for steering.

[0009] The sample detection module comprises a material storage device, a driving pump and a detection device, the material storage device is connected with the driving pump through a pipeline, and the driving pump is connected with the detection device through a pipeline.

[0010] The control module comprises a central control system, which can send control signals to the aerosol sampling module, the motion module and the sample detection module.

[0011] According to the air aerosol sampling and detection integrated robot provided by the application, the material storage device comprises a plurality of storage cavities for storing materials, each storage cavity is connected with the driving pump through a pipeline, and a piston is slidably arranged in each storage cavity.

[0012] According to the air aerosol sampling and detection integrated robot provided by the application, the sample detection module further comprises an EP tube for storing reagents related to detection.

[0013] According to the air aerosol sampling and detection integrated robot provided by the application, the sample detection module further comprises a four-way joint, the EP tube is connected with the four-way joint through a pipeline, the driving pump is connected with the four-way joint through a pipeline, and the four-way joint is connected with the detection device through a pipeline.

[0014] According to the air aerosol sampling and detection integrated robot provided by the application, the sample detection module further comprises a temperature adjusting device for adjusting temperature.

[0015] According to the air aerosol sampling and detection integrated robot provided by the application, the control module further comprises at least one of an Internet of Things module, a two-dimensional code scanning module and a terminal display screen.

[0016] The Internet of Things module comprises one or any combination of a Bluetooth module, a 4G module, a 5G module or a WIFI module; the two-dimensional code scanning module can be used for scanning the two-dimensional code on the sampling cup; and the terminal display screen is a capacitive touch screen or a resistive touch screen.

[0017] According to the air aerosol sampling and detection integrated robot provided by the application, the motion module further comprises at least one of a laser radar and a data interface.

[0018] The laser radar is arranged on the robot body, and the laser radar can feed back a real-time state signal of the robot body during movement to the control module.

[0019] According to the air aerosol sampling and detection integrated robot, the sampling liquid interface is in communication with the sampling cup.

[0020] According to the air aerosol sampling and detection integrated robot, the aerosol sampling module further comprises a vortex flow guide device, an inner wall of the vortex flow guide device is provided with a spiral protrusion, an air inlet of the fan is in communication with the vortex flow guide device, the air inlet pipe is in communication with an opening in a side wall of the vortex flow guide device, and the sampling cup is in communication with the vortex flow guide device.

[0021] The inner cavity of the sampling cup is in a reverse conical structure.

[0022] According to the air aerosol sampling and detection integrated robot, a plurality of connecting pipes are connected to the air inlet pipe, the inner diameters of the connecting pipes are different, and outlet ends of the connecting pipes are in communication with the openings in the side wall of the vortex flow guide device.

[0023] A valve mechanism is arranged on each connecting pipe, the valve mechanism is used for controlling the opening and closing of the connecting pipe, and the central control system can send a control signal to each valve mechanism.

[0024] According to the air aerosol sampling and detection integrated robot, the air outlet pipe is provided with at least one of a flow meter, a pathogen filtering device and a silencing device.

[0025] According to the air aerosol sampling and detection integrated robot, the central control system in the control module sends a control signal to the aerosol sampling module and the movement module, the control signal controls the power wheel in the movement module to drive the robot to move and the steering wheel to drive the robot to turn, and the control signal can also control the fan in the aerosol sampling module to operate, so that the robot can be flexibly moved to a specific area for sampling, the sampling range is wide, the sampling spectrum coverage is high, the sample can be detected through the sample detection module, and aerosol sampling and detection integration is realized.

[0026] Additional aspects and advantages of the application will be described in the following description, become apparent from the following description, or be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0028] Figure 1 is a schematic view of an embodiment of the air aerosol sampling and detection integrated robot provided by the present application;

[0029] Figure 2 is a schematic view of a sample detection module in the air aerosol sampling and detection integrated robot provided by the present application;

[0030] Figure 3 is a schematic view of a material storage device in the air aerosol sampling and detection integrated robot provided by the present application;

[0031] Figure 4 is a schematic view of the internal structure of an embodiment of the air aerosol sampling and detection integrated robot provided by the present application;

[0032] Figure 5 is a schematic view of the back of the air aerosol sampling and detection integrated robot provided by the present application;

[0033] Figure 6 is a sectional view of an embodiment of the air aerosol sampling and detection integrated robot provided by the present application;

[0034] Figure 7 is a schematic view of the internal structure of an embodiment of the vortex flow guide device in the air aerosol sampling and detection integrated robot provided by the present application.

[0035] Reference signs:

[0036] 100, robot body; 101, body; 102, internal support frame; 103, screen fixing part;

[0037] 201, air inlet pipe; 202, air outlet pipe; 203, sampling cup; 204, fan; 205, sampling liquid interface; 206, vortex flow guide device; 207, flow meter; 208, pathogen filter device; 209, silencer;

[0038] 301, power wheel; 302, steering wheel; 303, laser radar; 304, data interface; 401, central control system; 402, Internet of Things module; 403, two-dimensional code scanning module; 404, terminal display screen;

[0039] 501, material storage device; 5011, storage cavity; 5012, piston; 502, drive pump; 503, detection device; 504, EP tube; 505, four-way joint; 506, temperature adjusting device;

[0040] 600, battery module. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0042] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0044] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0045] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0046] The following will be described in combination with Figures 1-7 The air aerosol sampling and detection integrated robot of the present application is described.

[0047] As Figure 1 and Figure 2 As shown in the overall view of the air aerosol sampling and detection integrated robot embodiment and the schematic view of the sample detection module provided by the present application, respectively. The air aerosol sampling and detection integrated robot of the present embodiment comprises a robot body 100, wherein the robot body 100 is provided with an aerosol sampling module, a motion module, a sample detection module and a control module;

[0048] The aerosol sampling module comprises an air inlet pipe 201, an air outlet pipe 202, a sampling cup 203 and a fan 204, wherein the air inlet pipe 201 is in communication with the sampling cup 203, the air inlet pipe 201 is in communication with the air inlet of the fan 204, and the air outlet pipe 202 is in communication with the air outlet of the fan 204;

[0049] The motion module comprises a power wheel 301 for providing power and a steering wheel 302 for steering;

[0050] The sample detection module comprises a material storage device 501, a drive pump 502 and a detection device 503, wherein the material storage device 501 is connected with the drive pump 502 through a pipeline, and the drive pump 502 is connected with the detection device 503 through a pipeline;

[0051] The control module comprises a central control system 401, which can send control signals to the aerosol sampling module, the motion module and the sample detection module.

[0052] Specifically, in the embodiment of the present application, the bottom of the robot body 100 is provided with two driving wheels 301 and two steering wheels 302, the steering wheel 302 adopts a universal wheel, which facilitates the robot to turn in any direction, the two driving wheels 301 are arranged at the rear end of the bottom of the robot body 100, and the two steering wheels 302 are arranged at the front end of the bottom of the robot body 100, so that the robot body 1 can be stably supported and the movement is more stable. The diameter of the driving wheel 301 is larger than that of the steering wheel 302, and the driving wheel 301 and the steering wheel 302 cooperate to realize the movement and direction adjustment of the robot, the steering wheel 302 can make the robot realize large-angle rotation and small-radius turning, and under the driving action of the driving wheel 301, the robot has the ability to go uphill and downhill. The air outlet of the fan 204 is connected with the air outlet pipe 202 through a sealing connector, which can effectively prevent gas leakage. In the embodiment, the detection device 503 takes a fluorescence detection device as an example.

[0053] The air aerosol sampling and detection integrated robot provided by the present application can make the robot move flexibly to a specific area for sampling through the central control system in the control module sending control signals to the aerosol sampling module and the movement module, the control signals controlling the driving wheels in the movement module to drive the robot to move and the steering wheels to drive the robot to turn, and the control signals also being able to control the fan in the aerosol sampling module to operate, so that the sampling range is wide, the sampling spectrum coverage is high, and the sample detection module can be used to detect the sample, realizing the aerosol sampling and detection integration.

[0054] As shown in Figure 3 In the embodiment of the present application, the material storage device 501 includes a plurality of storage cavities 5011 for storing materials, each storage cavity 5011 is connected with the driving pump 502 through a pipeline, and each storage cavity 5011 is slidably connected with a piston 5012. The plurality of storage cavities 5011 arranged on the material storage device 501 can store different reagents or liquids used in the detection process, and the reagents or liquids can be sent into the driving pump 502 by pushing the corresponding piston 5012, and then sent into the detection device 503 by the driving pump 502, so as to adjust the dosage of each reagent entering the detection link.

[0055] As shown in Figure 2 In the embodiment of the present application, the sample detection module further includes an EP tube 504 for storing reagents involved in the detection.

[0056] As shown in Figure 2As shown, in this embodiment of the present invention, the sample detection module further includes a four-way connector 505. The EP tube 504 is connected to the four-way connector 505 via a pipeline. The drive pump 502 is connected to the four-way connector 505 via a pipeline. The four-way connector 505 is connected to the detection device 503 via a pipeline. By providing the four-way connector 505, the on / off and switching of one of the reagents in the material storage device 501 can be controlled.

[0057] like Figure 2 As shown, in this embodiment of the present invention, the sample detection module further includes a temperature adjustment device 506 for adjusting the temperature, so as to adjust the temperature to a suitable temperature according to the difference between the detection sample and the detection environment.

[0058] like Figure 1 As shown, in this embodiment of the present invention, the control module also includes an IoT module 402, which includes one or more of a Bluetooth module, a 4G module, a 5G module, or a WiFi module. IoT module 402 can receive remote commands and provide feedback on the robot's operating status and parameters. IoT module 402 manages the coordinated operation and network coverage of multiple sampling robots.

[0059] like Figure 1 As shown, in an embodiment of the present invention, the control module further includes a QR code scanning module 403, which can be used to scan the QR code on the sampling cup 203. Specifically, each sampling cup 203 is affixed with a corresponding QR code. After sampling is completed, the QR code scanning module 403 can be used to scan the QR code on the sampling cup 203. During sampling, different sampling cups 203 can be set to correspond to different sampling areas. By scanning the QR code on the sampling cup 203 with the QR code scanning module 403, the sampling environment areas can be respectively mapped to unique codes and entered into the system, laying a solid foundation for subsequent data analysis.

[0060] like Figure 1 As shown, in this embodiment of the present invention, the control module also includes a terminal display screen 404, which is a capacitive touch screen or a resistive touch screen. By providing the terminal display screen 404, users can directly receive operating instructions on the terminal display screen 404, and the terminal display screen 404 can directly display the system operating status and parameters. In addition, the content displayed on the terminal display screen 404 is not limited to sampling operation information data, and it also has navigation and promotional functions, and can also assist personnel in completing data registration. In some embodiments, the terminal display screen can also use a screen with display functions other than a touch screen, and various control instructions can be output by means of control buttons / knobs arranged around the screen.

[0061] It needs to be explained that in the embodiment of the application, the robot body 100 comprises a machine body 101, the inside of the machine body 101 is provided with an internal support frame 102, the screen support frame 102 is provided with a screen fixing part 103, in the embodiment, the screen fixing part 103 adopts a frame structure, and the terminal display screen 404 is arranged in the screen fixing frame; the aerosol sampling module and the sample detection module are both arranged on the internal support frame 102, the gas inlet of the air inlet pipe 201 extends to the position where the screen fixing frame is located, in some embodiments, a connecting pipe with multiple branch pipes can be connected to the air inlet pipe, the gas inlets of the connecting pipes can be located at different heights and / or different orientations respectively, and the screen fixing frame is correspondingly provided with openings for gas passing, which facilitates the installation and fixation of the air inlet pipe 201 without affecting the aerosol collection. In some embodiments, the machine body 101, the screen support frame 102 and the internal support frame 102 can be integrated, which facilitates the increase of the integrity and integration of the device. In some embodiments, an adjusting structure can be arranged between the screen fixing part 103 and the screen support frame 102, which is used for adjusting the height, rotation angle and pitch angle of the terminal display screen 404, so as to adjust the terminal display screen 404 to a posture convenient for operation.

[0062] As shown in Figure 1 In the embodiment of the application, the motion module further comprises a laser radar 303, the laser radar 303 is arranged on the robot body 100, and the laser radar 303 can feed back a real-time state signal of the robot body 100 in the process of advancing to the control module. By arranging the laser radar 303, the state signal of the robot in the process of advancing can be fed back in real time, the function of autonomously avoiding obstacles can be realized, and the aerosol can also be sampled by fixed-point patrol. It needs to be explained that in the embodiment of the application, the number and installation position of the laser radar 303 are not limited, and the number and installation position of the laser radar 303 can be specifically arranged according to the shape of the machine body 101, the space occupation and mutual interference of each device / part. In some embodiments, an adjusting mechanism can also be arranged between the laser radar 303 and the machine body 101, so as to adjust the scanning angle of the laser radar 303, thereby expanding the scanning range of the laser radar 303 and improving the safety factor of the robot in the process of advancing.

[0063] As shown in Figure 6 In the embodiment of the application, the motion module further comprises a data interface 304, the data interface 304 can be used for transmitting data to the control module. Before sampling, the robot can pre-set the advancing route, transmit the advancing route to the control module through the data interface 304, and the central control system 401 sends a corresponding control signal to the motion module according to the received advancing route, so that the robot reaches the specified area to replace manual sampling, which can avoid the infection caused by the personnel sampling in the suspicious area.

[0064] In the embodiment of the present application, the robot body 100 is provided with a sampling liquid interface 205, and the sampling liquid interface 205 is in communication with the sampling cup 203. After sampling is completed, the sampling cup 203 needs to be replaced or the sampling liquid and aerosol mixture in the original sampling cup 203 needs to be treated. The cleaned sampling cup 203 after treatment can be used for next sampling. In the embodiment of the present application, the sampling cup 203 is provided with a sensing chip for sensing the liquid level, which can monitor the liquid level in the sampling cup 203 in real time. The sampling liquid interface 205 can be connected with a control module. The sampling liquid interface 205 can be externally connected with a sampling liquid storage device, and the timely and quantitative replenishment of the sampling liquid can be realized by using photoelectric sensing technology, so that the sampling cup 203 can maintain dynamic balance of liquid quantity for a long time, thereby enabling the robot to realize long-time continuous work.

[0065] As shown in Figure 4 and Figure 7 In the embodiment of the present application, the aerosol sampling module further comprises a vortex flow guide device 206, the inner wall of the vortex flow guide device 206 is provided with a spiral protrusion, the air inlet of the fan 204 is in communication with the vortex flow guide device 206, the air inlet pipe 201 is in communication with the opening on the side wall of the vortex flow guide device 206, and the sampling cup 203 is in communication with the vortex flow guide device 206. Specifically, in the embodiment, the air is turbulent flow in irregular motion after entering the air inlet pipe 201. After the gas reaches the vortex flow guide device 206, it enters from the opening provided on the side wall of the vortex flow guide device 206. Under the guiding action of the spiral protrusion on the inner wall of the vortex flow guide device 206, the irregularly moving gas outside can be converted into vortex-shaped regular motion gas with uniform flow and speed after entering the equipment pipeline. When the gas flows into the sampling liquid, the gas and the sampling liquid flow along the inner wall of the sampling cup 203 in turbulent motion. During the turbulent motion, the aerosol and the sampling medium form wall shear turbulent flow on different cross sections. Different flow rates on different cross sections can be used to enrich solid or liquid particles of different particle sizes and different properties. These particles are adsorbed by the sampling medium and then collected in the sampling medium, achieving the effect of aerosol collection. The stability of the airflow is beneficial to high-efficiency sampling operation of large-flow aerosol and further improves the sampling spectrum coverage. It should be noted that, in the embodiment of the present application, in order to consider the compatibility of the sampling liquid and the subsequent detection end, the sampling liquid is selected to be a biological safety type, which is beneficial to the combination of aerosol collection and the subsequent detection end link, suitable for preserving inactivated pathogenic microorganisms and facilitating subsequent rapid screening of microorganisms and transportation and preservation of samples. It should be noted that the spiral protrusion can be a continuous protrusion or an intermittent protrusion structure.

[0066] As shown in Figure 1As shown, in this embodiment of the present invention, the inner cavity of the sampling cup 203 has an inverted conical structure. By setting the inner cavity of the sampling cup 203 to an inverted conical structure, its inner diameter continuously decreases from the cup mouth to the cup bottom, which facilitates the sample liquid to adhere to the inner cavity wall to form a cone angle, matching the vortex-shaped moving gas. The technical characteristics of aerodynamics and fluid mechanics are utilized to create a slope to match the flow rate, facilitating efficient sampling.

[0067] In the embodiment of the present invention, a plurality of connecting pipes ( Figure 2 (not shown), each connecting pipe has a different inner diameter, and the outlet end of each connecting pipe is connected to an opening on the side wall of the vortex guide device; each connecting pipe is provided with a valve mechanism for controlling the opening and closing of the connecting pipe, and the central control system 401 can send a control signal to each valve mechanism. By providing multiple connecting pipes on the intake pipe 201 that are connected to the openings on the side wall of the vortex guide device 206, during air intake, the central control system 401 controls the opening and closing of the corresponding valve mechanisms (retaining one connecting pipe in communication with the vortex guide device 206), thereby controlling the corresponding connecting pipe to communicate with the vortex guide device 206. Because the ratio of the inner diameters between the intake pipe 201 and each connecting pipe is different (can be greater than 1 or less than 1), when gas enters the corresponding connecting pipe from the intake pipe 201, the gas flow rate increases or decreases according to the inner diameter ratio between the intake pipe 201 and the corresponding connecting pipe. Because aerosols of varying particle sizes exist in the air, controlling the connection between different connecting tubes and the vortex guide device allows for the controlled flow rate of air entering the vortex guide device 206 , thereby enabling the collection of aerosols of varying particle sizes (a broad spectrum) separately. For example, the inner diameter ratios between the air inlet tube 201 and the connecting tubes can be 1:3, 1:2, 1:1, 2:1, 3:1, and so on.

[0068] like Figure 4 As shown, in the embodiment of the present invention, a flow meter 207 is provided on the air outlet pipe 202. The flow meter 207 can represent and visualize the sampling flow value, and can realize the monitoring and adjustment of the aerosol flow in real time.

[0069] like Figure 4 As shown, in this embodiment of the present invention, a pathogen filter 208 is provided on the outlet pipe 202. During the exhaust process of the fan 204, the pathogen filter 208 prevents residual aerosol particles in the gas from escaping and causing secondary diffusion. Specifically, in this embodiment, the pathogen filter 208 can sterilize with ultraviolet light and / or negative ions. In this embodiment of the present invention, there is no limit on the number of stages of the pathogen filter 208; single-stage or multi-stage filtration can be configured according to actual conditions.

[0070] like Figure 4As shown, in the embodiment of the present application, the air outlet pipe 202 is provided with a silencer 209. The noise generated by the robot during sampling work can be effectively reduced, and the noise interference on the outside can be reduced.

[0071] It should be noted that, in the embodiment of the present application, the air outlet pipe 202 can include one pipe section, or can include multiple pipe sections, and the flow meter 207 and the silencer 209 can be arranged between adjacent pipe sections.

[0072] As shown, Figure 1 In the embodiment of the present application, the air aerosol sampling and detection integrated robot further includes a battery module 600 for power supply, which can be used to power the control module and / or the motion module. Specifically, in the embodiment, the battery module 600 is arranged inside the robot body 100, and the robot body 100 is further provided with a charging port for charging. The battery module 600 can be charged by connecting an external power supply through the charging port when the battery module 600 is low on power.

[0073] The working process of the air aerosol sampling and detection integrated robot provided by the present application will be described in detail below.

[0074] Before sampling, the preset robot travel route is transmitted to the central control system 401 of the control module through the data interface, the central control system 401 sends a control signal to the motion module to drive the power wheels 301 and the steering wheels 302 to move according to the preset travel route, and the central control system 401 sends a control signal to the aerosol sampling module to perform sampling work at the same time during the robot travel, the fan 204 drives air to enter the air inlet pipe 201, the irregularly moving gas in the air inlet pipe 201 is converted into vortex-shaped regular motion gas with uniform flow and speed under the action of the vortex flow guide device 206, when the gas flows into the sampling liquid, the gas and the sampling liquid flow along the inner wall of the sampling cup 203 together, and the biological aerosol contained in the gas is adsorbed by the sampling medium during the turbulent motion, so that the aerosol collection is achieved, and the air after the aerosol is absorbed is discharged through the air outlet pipe 202 under the action of the fan 204, and the flow meter 207, the pathogen filtering device 208 and the silencer 209 arranged on the air outlet pipe 202 can respectively play the roles of monitoring and controlling flow, filtering residual pathogens and reducing noise. The sampling robot can feed back the real-time state signal of the robot body travel process to the control module through the laser radar during the travel process, and can avoid obstacles in time to prevent collision. After sampling, the collected sample can be detected by the sample detection module, first, the reagent in each storage cavity 5011 of the material storage device 501 is squeezed into the drive pump 502 by the piston, and the drive pump 502 pumps the reagent into the fluorescence detection device for detection, in the embodiment of the application, the fluorescence detection device adopts a multi-spectrum fluorescence monitoring device, which can detect at least four pathogenic microorganism targets in the sample to be detected in real time, and realizes rapid screening of biological aerosol with multiple targets. During this period, the temperature adjusting device can be used to adjust the detection environment to a suitable temperature.

[0075] As can be known from the description of the above embodiments, the air aerosol sampling and detection integrated robot provided by the application has at least the following advantages.

[0076] In order to consider the compatibility of the sampling liquid and the subsequent detection module, the sample detection module is carried on the robot body 100, so that the microorganism detection and analysis can be performed on the aerosol after sampling, and the barrier between the sampling and detection links is broken;

[0077] The intelligent design of flexible movement and automatic sampling is adopted: the motion module can realize flexible movement and sampling of the sampling robot under the control of the control module; and the aerosol sampling module can realize automatic sampling operation under the control of the control module.

[0078] In order to establish the remote management and networking collaborative Internet of Things system, the terminal control screen, the Internet of Things module and the central control system 401 are arranged in the control module, and multiple sampling robots work collaboratively through the Internet of Things module 402, and the networking coverage can be achieved, and the remote instructions can be received through the Internet of Things module 402, and the system working state and parameters can be fed back;

[0079] In order to focus on high-level biological safety protection, the aerosol sampling module contains a pathogen filtering device 208, which is located at the outlet of the equipment air outlet pipe 202, and filters the residual particles before exhaust, so as to prevent the secondary diffusion caused by the overflow of the residual particles outside the equipment;

[0080] In order to reduce the occupation of human resources and the possibility of infection caused by the sampling of personnel in suspicious areas, the data interface of the motion module can be connected with the control module, the motion route of the sampling robot can be set in advance, and the sampling work can be performed by the robot instead of manual operation;

[0081] In order to solve the problem of frequent replenishment of sampling liquid due to consumption, the sampling cup and the sampling liquid interface of the aerosol sampling module are connected with the control module, and the optical sensing technology is used to realize the timely replenishment of the sampling liquid.

[0082] Finally, it should be pointed out that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An air aerosol sampling and detecting integrated robot, characterized in that, The robot body is provided with an aerosol sampling module, a movement module, a sample detection module and a control module; The aerosol sampling module comprises an air inlet pipe, an air outlet pipe, a sampling cup and a fan, the air inlet pipe is communicated with the sampling cup, the air inlet pipe is communicated with the air inlet of the fan, and the air outlet pipe is communicated with the air outlet of the fan; The movement module comprises a power wheel for providing power and a steering wheel for steering; The sample detection module comprises a material storage device, a driving pump and a detection device, the material storage device is connected with the driving pump through a pipeline, and the driving pump is connected with the detection device through a pipeline; The control module comprises a central control system, which can send control signals to the aerosol sampling module, the movement module and the sample detection module; The material storage device comprises a plurality of storage cavities for storing materials, each storage cavity is connected with the driving pump through a pipeline, and a piston is slidably arranged in each storage cavity; The sample detection module further comprises an EP tube for storing reagents involved in detection; The sample detection module further comprises a four-way joint, the EP tube is connected with the four-way joint through a pipeline, the driving pump is connected with the four-way joint through a pipeline, and the four-way joint is connected with the detection device through a pipeline; The aerosol sampling module further comprises a vortex flow guide device, the inner wall of the vortex flow guide device is provided with a spiral protrusion, the air inlet of the fan is communicated with the vortex flow guide device, the air inlet pipe is communicated with the opening on the side wall of the vortex flow guide device, and the sampling cup is communicated with the vortex flow guide device; The inner cavity of the sampling cup is in a reverse conical structure; A plurality of connecting pipes are connected to the air inlet pipe, the inner diameters of the connecting pipes are different, and the outlet ends of the connecting pipes are communicated with the openings on the side wall of the vortex flow guide device; A valve mechanism is arranged on each connecting pipe, the valve mechanism is used for controlling the on-off of the connecting pipe, and the central control system can send control signals to each valve mechanism.

2. The air aerosol sampling and detection integrated robot according to claim 1, wherein, The sample detection module further comprises a temperature adjusting device for adjusting temperature.

3. The air aerosol sampling and detection integrated robot according to claim 1, wherein, The control module further comprises at least one of an Internet of Things module, a two-dimensional code scanning module and a terminal display screen; The Internet of Things module comprises one or any combination of a Bluetooth module, a 4G module, a 5G module or a WIFI module; the two-dimensional code scanning module can be used for scanning a two-dimensional code on the sampling cup; and the terminal display screen is a capacitive touch screen or a resistive touch screen.

4. The air aerosol sampling and detection integrated robot of claim 1, wherein, The movement module further comprises at least one of a laser radar and a data interface; The laser radar is arranged on the robot body, and the laser radar can feed back real-time state signals of the robot body during travel to the control module; and the data interface can be used for transmitting data to the control module.

5. The air-aerosol sampling and detection integrated robot of claim 1, wherein, A sampling liquid interface is arranged on the robot body, and the sampling liquid interface is communicated with the sampling cup.

6. The integrated robot for air aerosol sampling and detection of any one of claims 1-5, wherein, The air outlet pipe is provided with at least one of a flowmeter, a pathogen filtering device and a silencing device.

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