Gas sampling, collecting and detecting integrated robot and control device thereof

Abstract

The invention relates to a gas sampling, collecting and detecting integrated robot and a control device thereof. The gas sampling, collecting and detecting integrated robot comprises a robot body, a gas collecting container, a negative pressure mechanism, a preliminary analyzer, a sample collector and a PCR detector. On one hand, the preliminary analyzer is used for performing preliminary analysis treatment on the to-be-detected gas, whether the to-be-detected gas is exhaled gas with a potential infection characteristic or not can be quickly judged, and the detection efficiency is relatively high; on the other hand, after it is judged that the gas to be detected is exhaled gas with the potential infection characteristic, the enriched pathogen sample is detected through a PCR detector with the high detection precision, the detection precision and accuracy can be improved, and meanwhile due to the fact that the number of sample collectors is limited, more people can be screened after preliminary screening is conducted through a preliminary analyzer.

Description

Technical Field

[0001] The present application relates to the field of biosafety monitoring and measurement technology, and in particular to a gas sampling, collection and detection integrated robot and a control device thereof. Background Art

[0002] Early screening and diagnosis of infectious diseases are crucial to controlling the spread of diseases, improving treatment outcomes, and reducing mortality. Early screening can detect the presence of pathogens in a timely manner, take effective preventive and treatment measures, and reduce the spread of diseases. At the same time, real-time monitoring of pathogen locations can also enable more accurate monitoring of infectious diseases, thereby controlling their spread.

[0003] At present, the rapid screening methods for infectious diseases are constantly developing to meet the needs of rapid detection and diagnosis. The sampling methods include oropharyngeal swabs, nasopharyngeal swabs, respiratory extracts, bronchoalveolar lavage fluid, exhaled breath, ambient air gas collection, etc., and the research methods include PCR, rapid antigen detection technology, immunological methods, model prediction methods, etc. Among them, oropharyngeal swabs combined with rapid antigen detection technology are commonly used infectious disease monitoring methods in today's society. It has the advantages of short sampling time and simple sampling process, but it is often easy to cause certain harm to the subjects during sampling. With the development of science and technology, non-invasive sampling methods (exhaled breath or ambient air) are increasingly valued by people. It is undeniable that non-invasive sampling methods have disadvantages such as being susceptible to environmental influences, but because they are non-invasive to the subjects, easy to operate, require less labor costs, and are highly portable, they are increasingly valued by people. Air collection combined with real-time fluorescence quantitative PCR (real-time Q-PCR) technology can realize real-time monitoring of the types and quantities of pathogens in the air. The existing combination of the two is mostly in the form of large instruments stored in a closed place to detect the types and contents of viruses in the air at its location for a period of time.

[0004] However, when collecting samples, the pathogen samples need to be enriched first through a sample collector with substrates, enzymes, etc., and then analyzed through a PCR instrument. The analysis time of pathogen samples is relatively long, resulting in low detection efficiency, and the number of sample collectors is limited, which is not suitable for screening large populations. Summary of the invention

[0005] Based on this, it is necessary to overcome the defects of the prior art and provide a gas sampling, collection and detection integrated robot and its control device, which can improve the detection efficiency and data accuracy, and screen more people at the same time.

[0006] A gas sampling, collecting and detecting integrated robot, the gas sampling, collecting and detecting integrated robot comprising:

[0007] Robot body;

[0008] A gas collection container, the gas collection container is arranged on the robot body, the gas collection container is provided with an air inlet, and the gas collection container collects the gas to be tested through the air inlet;

[0009] A negative pressure mechanism, the negative pressure mechanism is arranged on the robot body, the negative pressure mechanism is connected to the gas collection container, and the negative pressure mechanism is used to generate a negative pressure in the gas collection container so that the gas to be tested enters the gas collection container through the air inlet;

[0010] A preliminary analyzer, which is arranged on the robot body and is connected to the gas collection container. The preliminary analyzer is used to perform preliminary analysis on the gas to be tested collected by the gas collection container and upload preliminary analysis data to a data processing device.

[0011] a sample collector, the sample collector being used to enrich the pathogen sample in the gas to be tested, the sample collector comprising a reaction chamber and an air intake door openably arranged on the reaction chamber, the sample collector being electrically connected to the data processing device, the sample collector opening the air intake door when the data processing device determines that the gas to be tested is exhaled air with potential infection characteristics, and closing the air intake door when the gas to be tested is exhaled air without potential infection characteristics; and

[0012] The PCR detector is connected to the sample collector and is also electrically connected to the data processing device. The PCR detector is capable of receiving pathogen samples collected by the sample collector, performing detection and processing on the pathogen samples, and outputting detection data to the data processing device.

[0013] In one embodiment, the number of reaction chambers is at least two.

[0014] In one embodiment, the sample collector also includes a bracket, all the reaction chambers are arranged on the bracket in sequence around the circumferential direction of the bracket, the air inlet door is rotatably arranged on the bracket, the air inlet door is provided with an air inlet hole, and the air inlet door cover is arranged on the top of each of the reaction chambers; the air inlet door rotates one circle on the bracket, which can drive the air inlet hole to connect with each of the reaction chambers in sequence.

[0015] In one embodiment, the sample collector is located inside the gas collection container.

[0016] In one embodiment, the gas sampling, collection and detection integrated robot also includes a GPS navigator arranged on the robot body; the GPS navigator is electrically connected to the data processing device, and the GPS navigator is used to obtain the geographical location of the robot body, and transmit the geographical location to the data processing device when the data processing device determines that the gas to be tested is exhaled breath with potential infection characteristics.

[0017] In one embodiment, the integrated gas sampling, collection and detection robot also includes a display screen, which is arranged on the robot body. The display screen is electrically connected to the data processing device, and the display screen is used to display the preliminary analysis and processing data of the preliminary analyzer, the judgment results of the data processing device and the detection and processing results of the PCR detector.

[0018] In one embodiment, the robot body is a quadruped dog-type robot.

[0019] In one of the embodiments, the gas sampling, collection and detection integrated robot also includes an alarm; the alarm is arranged on the robot body, and the alarm is electrically connected to the data processing device.

[0020] In one embodiment, the gas sampling, collecting and detecting integrated robot also includes a power supply, which is arranged on the robot body; the preliminary analyzer, the sample collector, the negative pressure mechanism and the PCR detector are all electrically connected to the power supply.

[0021] A control device for the integrated gas sampling, collecting and detecting robot comprises:

[0022] A moving module, the moving module is used to move the robot body to the side of the subject, and the distance between the robot body and the subject is controlled within a preset range;

[0023] A collection module, the collection module is used to activate the negative pressure mechanism so that the gas collection container generates negative pressure, and the gas to be tested around the subject enters the gas collection container through the air inlet;

[0024] A preliminary analysis and processing module, which is used to perform preliminary analysis and processing on the gas to be tested collected by the gas collection container through the preliminary analyzer after the gas to be tested is enriched in the gas collection container, and upload the preliminary analysis and processing data to the data processing device;

[0025] A data processing and judgment module, which is used to compare the preliminary analysis and processing data with the data model of organic matter in the exhaled breath of patients with infectious diseases to determine whether the gas to be tested is exhaled breath with potential infection characteristics;

[0026] A first execution module, wherein when it is determined that the gas to be tested is exhaled gas with potential infection characteristics, the first execution module is used to open the air inlet door, so that the gas to be tested enters the reaction chamber of the sample collector, the sample collector enriches the pathogen sample, and outputs the pathogen sample to the PCR detector; and

[0027] A PCR detection module is used to detect the pathogen sample and output the detection result to the data processing device.

[0028] The above-mentioned integrated gas sampling, collection and detection robot and its control device, when in use, the robot body moves to the side of the subject, the negative pressure mechanism is turned on to generate negative pressure in the gas collection container, and the gas to be tested around the subject enters the gas collection container through the air inlet. After the gas collection container enriches the gas to be tested, the gas to be tested collected by the gas collection container is preliminarily analyzed and processed by a preliminary analyzer, and the preliminary analysis and processing data is uploaded to a data processing device. The data processing device, for example, compares the preliminary analysis and processing data with the exhaled breath organic matter data model of infectious disease patients trained using clinical big data, and can determine whether the gas to be tested is exhaled breath with potential infection characteristics; when it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the air inlet door is opened, and the gas to be tested enters the reaction chamber of the sample collector, and the sample collector plays a role in enriching pathogen samples and can output the pathogen samples to the PCR detector; the PCR detector detects the pathogen samples, can obtain the type and quantity results of the infected pathogens, and outputs the detection results to the data processing device. It can be seen that the gas to be tested is first subjected to preliminary analysis and processing by the preliminary analyzer, and only after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the pathogens in the gas to be tested are enriched, and the enriched pathogens are detected and processed by the PCR detector. In this way, on the one hand, the preliminary analysis and processing of the gas to be tested by the preliminary analyzer can quickly determine whether the gas to be tested is exhaled breath with potential infection characteristics, and the detection efficiency is high; on the other hand, after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the enriched pathogen samples are detected and processed by the PCR detector with higher detection accuracy, which can improve the detection precision and accuracy. At the same time, due to the limited number of sample collectors, more people can be screened after preliminary screening by the preliminary analyzer. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a structural diagram of a gas sampling, collecting and detecting integrated robot according to an embodiment of the present application.

[0030] FIG. 2 is a top view of the device shown in FIG. 1 .

[0031] FIG. 3 is an exploded structural diagram of the sample collector in the device shown in FIG. 2 .

[0032] FIG4 is a flow chart of a control device of a gas sampling, collecting and detecting integrated robot according to an embodiment of the present application.

[0033] 10. Robot body; 11. Carrying frame; 111. Frame; 20. Gas collection container; 21. Air inlet; 30. Negative pressure mechanism; 40. Preliminary analyzer; 50. Sample collector; 51. Reaction chamber; 52. Air inlet door; 521. Air inlet hole; 60. PCR detector; 61. Waste discharge hole; 71. First docking piece; 72. Second docking piece; 73. Third docking piece; 80. Display screen; 90. Power supply. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0035] 1 to 3 , an embodiment of the present application provides a gas sampling, collecting and detecting integrated robot, which includes: a robot body 10 , a gas collecting container 20 , a negative pressure mechanism 30 , a preliminary analyzer 40 , a sample collector 50 and a PCR detector 60 .

[0036] The robot body 10 is provided with a carrying frame 11, which is used to carry the precision instruments required for the sampling box analysis and can protect the precision instruments. The precision instruments include but are not limited to the gas collection container 20, the preliminary analyzer 40, the sample collector 50, the negative pressure mechanism 30, etc. In addition, a frame 111 is provided around the carrying frame 11, and each precision instrument is located within the area surrounded by the frame 111. The frame 111 can prevent the precision instruments from falling from the side of the carrying frame 11.

[0037] In addition, the gas collecting container 20 is disposed on the robot body 10 , and the gas collecting container 20 is provided with an air inlet 21 , and the gas collecting container 20 collects the gas to be tested through the air inlet 21 .

[0038] Optionally, the gas collection container 20 includes but is not limited to a gas collection tank or a gas collection cup. Specifically, the gas collection tank 20 in this embodiment is selected as a gas collection tank, and the gas collection tank is, for example, a cylindrical stainless steel cylinder, and three or other numbers of gas inlets and outlets can be provided. Among them, the opening size at the gas inlet 21 of the gas collection tank is smaller than the inner diameter size at the tank body of the gas collection tank, so that the gas to be tested is enriched inside the gas collection tank.

[0039] The air around the subject, that is, the gas to be tested, enters the gas collection container 20 under the negative pressure of the negative pressure mechanism 30 and can be enriched to a certain extent inside the gas collection container 20 to facilitate a series of subsequent inspections.

[0040] In addition, a negative pressure mechanism 30 is disposed on the robot body 10 , and the negative pressure mechanism 30 is connected to the gas collecting container 20 . The negative pressure mechanism 30 is used to generate negative pressure in the gas collecting container 20 so that the gas to be tested enters the gas collecting container 20 through the air inlet 21 .

[0041] Optionally, the negative pressure mechanism 30 includes but is not limited to a vacuum pump or an exhaust fan, such as a small vacuum pump or a small exhaust fan, etc. While providing negative pressure for the gas collection container 20, the volume and weight of the device are reduced, thereby facilitating the movement and adjustment of the position of the robot body 10.

[0042] The preliminary analyzer 40 is disposed on the robot body 10 and is connected to the gas collection container 20. The preliminary analyzer 40 is used to perform preliminary analysis and processing on the gas to be tested collected by the gas collection container 20, and upload the preliminary analysis and processing data to the data processing device.

[0043] Optionally, the preliminary analyzer 40 is used to analyze the organic components and content in the gas to be tested that is enriched in the gas collection container 20, and upload the analysis results of the organic components and content to the data processing device. The data processing device can determine whether the gas to be tested is a latent infection characteristic exhaled breath or a non-latent infection characteristic exhaled breath based on the analysis results of the organic components and content, that is, it can determine whether the subject is in a positive or negative state.

[0044] In this embodiment, the sample collector 50 is used to enrich the pathogen sample in the gas to be tested, and the sample collector 50 includes a reaction chamber 51 and an air intake door 52 which is openably arranged on the reaction chamber 51. The sample collector 50 is electrically connected to the data processing device, and the sample collector 50 opens the air intake door 52 when the data processing device determines that the gas to be tested is exhaled air with potential infection characteristics, and closes the air intake door 52 when the gas to be tested is exhaled air without potential infection characteristics.

[0045] The PCR detector 60 is connected to the sample collector 50, and is also electrically connected to the data processing device. The PCR detector 60 can receive pathogen samples collected by the sample collector 50, detect and process the pathogen samples, and output the detection data to the data processing device.

[0046] When the above-mentioned integrated robot for gas sampling, collection and detection is in use, the robot body 10 moves to the side of the subject, the negative pressure mechanism 30 is turned on to generate negative pressure in the gas collection container 20, and the gas to be tested around the subject enters the gas collection container 20 through the air inlet 21. After the gas collection container 20 enriches the gas to be tested, the gas to be tested collected by the gas collection container 20 is subjected to preliminary analysis and processing by the preliminary analyzer 40, and the preliminary analysis and processing data is uploaded to the data processing device. The data processing device, for example, compares the preliminary analysis and processing data with the data model of exhaled breath organic matter of infectious disease patients trained with clinical big data, and can determine whether the gas to be tested is the exhaled breath with potential infection characteristics; when it is determined that the gas to be tested is the exhaled breath with potential infection characteristics, the air inlet door 52 is opened, and the gas to be tested enters the reaction chamber 51 of the sample collector 50, and the sample collector 50 plays the role of enriching pathogen samples and can output the pathogen samples to the PCR detector 60; the PCR detector 60 detects the pathogen samples, can obtain the type and quantity results of the infected pathogens, and outputs the detection results to the data processing device. It can be seen that the gas to be tested is first subjected to preliminary analysis and processing by the preliminary analyzer 40, and only after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the pathogens in the gas to be tested are enriched, and the enriched pathogens are detected and processed by the PCR detector 60. In this way, on the one hand, the preliminary analysis and processing of the gas to be tested by the preliminary analyzer 40 can quickly determine whether the gas to be tested is exhaled breath with potential infection characteristics, and the detection efficiency is high; on the other hand, after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the enriched pathogen samples are detected and processed by the PCR detector 60 with higher detection accuracy, which can improve the detection accuracy and precision. At the same time, since the number of sample collectors 50 is limited, more people can be screened after preliminary screening by the preliminary analyzer 40.

[0047] Please refer to Figure 2. In some embodiments, the integrated robot for gas sampling, collection and detection also includes a first docking piece 71 disposed between the gas collection container 20 and the preliminary analyzer 40. The preliminary analyzer 40 is connected to the gas collection container 20 through the first docking piece 71. The first docking piece 71 includes but is not limited to a docking tube or a docking joint, etc., as long as the preliminary analyzer 40 and the gas collection container 20 are quickly docked and connected. In addition, the integrated robot for gas sampling, collection and detection also includes a second docking piece 72 disposed between the gas collection container 20 and the negative pressure mechanism 30. The negative pressure mechanism 30 is connected to the gas collection container 20 through the second docking piece 72. The second docking piece 72 includes but is not limited to a docking tube or a docking joint, etc., as long as the negative pressure mechanism 30 and the gas collection container 20 are quickly docked and connected.

[0048] In one embodiment, the sample collector 50 includes but is not limited to being disposed inside the gas collection container 20. In this way, the gas collection container 20 can prevent the sample collector 50 from being exposed, and protect the sample collector 50; in addition, it can ensure that the gas to be tested entering the sample collector 50 is the same as the gas to be tested collected by the gas collection container 20, and comes from the same subject; in addition, when the air inlet door 52 is opened, under the negative pressure of the negative pressure mechanism 30, the gas to be tested inside the gas collection container 20 is in a flowing state, and can easily enter the sample collector 50, which can improve the pathogen sample collection effect compared to the method of being disposed outside the gas collection container 20.

[0049] Of course, as some optional solutions, the sample collector 50 can also be set outside the gas collection container 20, and for example directly obtain the gas to be tested around the subject, and also obtain the pathogen sample in the gas to be tested.

[0050] Optionally, the integrated gas sampling, collecting and detecting robot further includes a third docking piece 73 disposed between the sample collector 50 and the PCR detector 60. The PCR detector 60 passes through the gas collection container 20 through the third docking piece 73 and enters the interior of the gas collection container 20 to communicate with the sample collector 50. The third docking piece 73 includes but is not limited to a docking tube or a docking joint, etc., as long as the sample collector 50 and the PCR detector 60 are docked and connected.

[0051] In some embodiments, the reaction chamber 51 is used to store and load the substrates, primers and enzymes required for detection by the PCR detector 60. When the air inlet door 52 is opened, the gas to be tested can enter the interior of the reaction chamber 51, and the reaction chamber 51 can enrich the pathogen sample in the gas to be tested. The liquid enriched with the pathogen sample can be output to the PCR detector 60 under the negative pressure suction of the PCR detector 60, and the PCR detector 60 will detect and analyze the pathogen sample. Among them, after the PCR detector 60 completes the detection of the pathogen sample, the detected liquid is discharged to the outside through the waste discharge hole 61 to facilitate the next detection operation.

[0052] In addition, the PCR detector 60 is specifically, for example, a rapid PCR instrument, which has a high detection speed for pathogen samples, making the detection efficiency higher. Compared with the preliminary analyzer 40, the PCR detector 60 has a higher detection accuracy, which is used to further determine the gene type and quantity of the pathogen of the infectious disease suffered by the subject, and upload the results to the data processing device. Among them, the PCR technology used by the PCR detector 60 is a molecular diagnostic method, which amplifies the nucleic acid sequence of the pathogen through specific primers and polymerase chain reaction to achieve rapid detection of the pathogen. This technology adds fluorescent groups to the PCR reaction system, uses the accumulation of fluorescent signals to monitor the entire PCR process in real time, and finally performs quantitative analysis of unknown templates through standard curves.

[0053] In addition, when the data processing device determines that the gas to be tested is exhaled breath with potential infection characteristics based on the analysis results of the organic composition and content, that is, it determines that the subject is in a positive state, the data processing device, on the one hand, opens the air intake door 52, and the sample collector 50 begins to enrich the gas to be tested inside the gas collection container 20, and on the other hand, triggers the PCR detector 60, and the PCR detector 60 is ready to work. After the pathogen sample enters the PCR detector 60, the pathogen sample is diagnosed and analyzed. In addition, the diagnostic analysis results are uploaded to the data processing device. When the data processing device determines that the gas to be tested is not exhaled breath with potential infection characteristics based on the analysis results of the organic composition and content, that is, it determines that the subject is in a negative state, the air intake door 52 remains closed, and the PCR detector 60 is in a shutdown state or a standby state.

[0054] It can be seen that, after the preliminary analyzer 40 quickly detects the gas to be tested based on the exhaled breath analysis technology and screens out the exhaled breath with potential infection characteristics, the pathogen sample is enriched through the sample collector 50, and then the pathogen sample is diagnosed and analyzed through the PCR detector 60. The output and upload of the analysis results are fully automated, which minimizes the harm to the subjects and outputs the results in a very short time. At the same time, it can also save medical resources and alleviate the social pressure of the shortage of medical personnel.

[0055] In one embodiment, there are at least two reaction chambers 51, specifically, for example, 2, 3, 4, 5, 6, 10, 15 or more, which can be flexibly adjusted and set according to actual needs. Each reaction chamber 51 can be used one by one under the control of the data processing device, so that the gas sampling, collection and detection integrated robot can perform test analysis on the gas to be tested around more than one subject who is determined to be positive. Specifically, when the integrated gas sampling, collection and detection robot is at position A for example, and performs testing and analysis on the gas to be tested around a subject who is determined to be positive, it controls one of the reaction chambers 51 to be opened, and the other reaction chambers 51 to be closed. After one of the reaction chambers 51 collects a pathogen sample, it outputs it to the PCR detector 60 for testing and processing; then, the integrated gas sampling, collection and detection robot moves to position B again, and performs testing and analysis on the gas to be tested around a subject who is determined to be positive, it controls another reaction chamber 51 to be opened, and the other air inlet chamber doors 52 to be closed. After another reaction chamber 51 collects a pathogen sample, it outputs it to the PCR detector 60 for testing and processing; this continues until all reaction chambers 51 are used, and the sample collector is replaced.

[0056] Please refer to FIG. 2 and FIG. 3. On the basis of the above-mentioned embodiment, the sample collector 50 further includes a bracket (not shown in the figure). All reaction chambers 51 are sequentially arranged on the bracket in the circumferential direction of the bracket, and the air inlet door 52 is rotatably arranged on the bracket. The air inlet door 52 is provided with an air inlet hole 521, and the air inlet door 52 is covered on the top of each reaction chamber 51. The air inlet door 52 rotates on the bracket for one circle, which can drive the air inlet hole 521 to communicate with each reaction chamber 51 in sequence. In this way, after the reaction chamber 51 is connected with the gas collection container 20 through the air inlet hole 521, the gas to be tested inside the gas collection container 20 can enter the reaction chamber 51 through the air inlet hole 521. By gradually rotating the air inlet door 52, the air inlet hole 521 is sequentially connected with each reaction chamber 51, so that multiple detection operations of the gas to be tested can be realized, which is convenient to operate and has a simple structure.

[0057] In one embodiment, the integrated gas sampling, collecting and detecting robot further includes a GPS navigator (not shown in the figure) disposed on the robot body 10. The GPS navigator is electrically connected to the data processing device, and the GPS navigator is used to obtain the geographical location of the robot body 10, and transmit the geographical location to the data processing device when the data processing device determines that the gas to be tested is exhaled breath with potential infection characteristics.

[0058] Specifically, the GPS navigator is also used to transmit the geographical location to the data processing device when the data processing device determines that the gas to be tested is not a potentially infectious characteristic exhaled breath. That is, for each detection operation of the gas to be tested, the GPS navigator obtains the geographical location of the robot body 10 and transmits the geographical location to the data processing device, so that the data processing device can draw an intelligent map based on the detection results of the gas to be tested and the geographical location of the subject.

[0059] In this embodiment, specifically, the data processing device not only obtains the preliminary analysis and processing data of the gas to be tested of the subject by the preliminary analyzer 40, but also obtains the further diagnostic analysis data of the gas to be tested by the PCR detector 60, and can obtain the geographical location of the subject. In addition, the data processing device draws an intelligent map based on the geographical location of each subject in a certain area, the number of subjects, the test results of whether they are sick or not, and the types and quantities of pathogens carried. The infection situation in different geographical locations is displayed through the intelligent map, and the infectious disease patients are tracked in real time to achieve the purpose of monitoring, and the geographical location of the pathogen carrier and the types of pathogens carried can be fed back in the first time.

[0060] Please refer to FIG. 2 . In one embodiment, the integrated gas sampling, collection and detection robot further includes a display screen 80. The display screen 80 is disposed on the robot body 10. The display screen 80 is electrically connected to the data processing device. The display screen 80 is used to display the preliminary analysis and processing data of the preliminary analyzer 40, the judgment result of the data processing device and the detection and processing result of the PCR detector 60. Thus, by observing the display screen 80, the subject can quickly obtain whether he or she is sick, as well as information about the type and quantity of pathogen genes, and can also obtain the epidemic situation in other geographical locations.

[0061] The air collection combined with real-time fluorescence quantitative PCR technology in the related art is large in size and difficult to move, so it cannot be a good helper for pathogen location tracking and individualized screening. In the related art, it is proposed to use mobile robots or remote APPs to collect infectious disease data, but it also has many disadvantages: First, many existing sampling robots lack obstacle avoidance capabilities, which limits their ability to perform fixed-point sampling in a changing actual environment. For example, in a complex medical or field environment, the robot may not be able to reach a specific sampling point autonomously, which requires human intervention to assist its positioning and movement. Based on this, in this embodiment, the robot body 10 includes but is not limited to the use of a four-legged dog-type robot. That is, the preliminary analyzer 40, the PCR detector 60 and the gas collection container 20 are combined with the four-legged dog-type robot to achieve the effect of fixed-point tracking. The four-legged dog-type robot has significant advantages in infectious disease screening and pathogen positioning. First of all, it has "field operation and obstacle avoidance capabilities" and can adapt to various complex environments to quickly detect and locate pathogens. Secondly, "it can participate in the detection of high-level infectious diseases". The use of four-legged dog-type robots for detection can reduce the direct contact between medical staff and infectious disease patients and reduce the risk of infection for medical staff. At the same time, the four-legged dog-type robots are easy to disinfect, which helps reduce the possibility of disease transmission.

[0062] The sample collection terminal uses a four-legged dog-shaped robot with mobility and obstacle avoidance capabilities as a carrier, which can better adapt to sampling tasks in complex terrain. At the same time, the use of robot sampling can reduce the risk of infectious diseases spreading between people and reduce the difficulty of disinfection.

[0063] In one embodiment, the gas sampling, collecting and detecting integrated robot further includes an alarm. The alarm is arranged on the robot body 10, and the alarm is electrically connected to the data processing device. Specifically, the alarm mode of the alarm may include but is not limited to at least one of light, voice, vibration and display, etc., which can be selected according to actual needs.

[0064] In one embodiment, the gas sampling, collecting and detecting integrated robot further includes a power supply 90. The power supply 90 is disposed on the robot body 10. The preliminary analyzer 40, the sample collector 50, the negative pressure mechanism 30 and the PCR detector 60 are all electrically connected to the power supply 90. In this way, the power supply 90 can power the preliminary analyzer 40, the sample collector 50, the negative pressure mechanism 30 and the PCR detector 60, so that the preliminary analyzer 40, the sample collector 50, the negative pressure mechanism 30 and the PCR detector 60 can each work normally.

[0065] In addition, the power supply 90 is also electrically connected to the display screen 80 to supply power to the display screen 80 so that the display screen 80 can operate normally.

[0066] Please refer to FIG. 2 to FIG. 4. In one embodiment, an embodiment of the present application further provides a control method of a gas sampling, collecting and detecting integrated robot, wherein the gas sampling, collecting and detecting integrated robot adopts the robot introduced in any of the above embodiments, and the control method comprises the following steps:

[0067] Step S100, after receiving the geographical location information of the subject, the robot body 10 goes to the specific location of the subject, specifically moves to the side of the subject, and controls the distance with the subject within a preset range;

[0068] Optionally, the preset range is, for example, within 1 meter.

[0069] Step S200, the negative pressure mechanism 30 is turned on to generate negative pressure in the gas collection container 20, and the gas to be tested around the subject enters the gas collection container 20 through the air inlet 21;

[0070] Specifically, the robot body 10 also moves around the subject to collect gas in all directions, and detects and processes the gas to be tested in different parts respectively, and determines whether it is harmful gas through the preliminary analyzer 40, thereby improving the detection accuracy. Optionally, the collection time of the gas to be tested is controlled to be, for example, 1 minute to 5 minutes.

[0071] Step S300: After the gas collection container 20 enriches the gas to be tested, the gas to be tested collected by the gas collection container 20 is subjected to preliminary analysis and processing by the preliminary analyzer 40, and the preliminary analysis and processing data is uploaded to the data processing device;

[0072] Step S400, the data processing device compares the data of the preliminary analysis and processing with the data model of organic matter in the exhaled breath of infectious patients trained with clinical big data, so as to determine whether the gas to be tested is the exhaled breath with potential infection characteristics;

[0073] Specifically, the organic matter content is tested to determine whether the subject is sick, thereby achieving preliminary screening for infectious diseases.

[0074] When it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the process proceeds to step S500; otherwise, when it is determined that the gas to be tested is exhaled breath without potential infection characteristics, the process proceeds to step S510.

[0075] Step S500, the air inlet door 52 is opened, and the gas to be tested enters the reaction chamber 51 of the sample collector 50, the sample collector 50 enriches the pathogen sample, and can output the pathogen sample to the PCR detector 60;

[0076] Step S510: the air inlet door 52 is closed, and the gas to be tested cannot enter the reaction chamber 51 of the sample collector 50, that is, the PCR test is not performed on the gas to be tested.

[0077] In step S600, the PCR detector 60 detects the pathogen sample, obtains the type and quantity of the infected pathogen, and outputs the detection result to the data processing device.

[0078] It can be seen that the gas to be tested is first subjected to preliminary analysis and processing by the preliminary analyzer 40, and only after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the pathogens in the gas to be tested are enriched, and the enriched pathogens are detected and processed by the PCR detector 60. In this way, on the one hand, the preliminary analysis and processing of the gas to be tested by the preliminary analyzer 40 can quickly determine whether the gas to be tested is exhaled breath with potential infection characteristics, and the detection efficiency is high; on the other hand, after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the enriched pathogen samples are detected and processed by the PCR detector 60 with higher detection accuracy, which can improve the detection accuracy and precision. At the same time, since the number of sample collectors 50 is limited, more people can be screened after preliminary screening by the preliminary analyzer 40.

[0079] In some embodiments, the control method also includes step S700, which is located after step S600. In step S700, the data processing device draws an intelligent map based on the geographical locations of each subject in a certain area, the number of subjects, the test results of whether they are sick or not, and the types and quantities of pathogens carried.

[0080] Specifically, the smart map is also displayed, for example, through the display screen 80, and the infection situation in different geographical locations is displayed through the smart map, and infectious disease patients are tracked in real time to achieve the purpose of monitoring. The geographical location of the pathogen carrier and the type of pathogen carried can be fed back in the first time.

[0081] The PCR detector 60 uploads the test results to the data processing device, and then inputs the final results of the type and quantity of the infectious pathogens back to the electronic display screen 80, and uploads the data to the infectious disease smart map in real time. The type, quantity, and location of the pathogens infected by the subject are uploaded to the infectious disease smart map, providing powerful assistance for real-time monitoring of infectious disease prevention and control. In this embodiment, the preliminary analyzer 40 and the PCR detector 60 are combined to quickly generate test results and establish model positioning. More accurate infectious disease prevention and control should achieve real-time confirmation of the location of the pathogen to complete timely tracking, which better solves the problems of high manpower and material costs required for sampling in previous infectious disease screening, tracking, and prevention and control programs, increased risk of disease transmission by person-to-person sampling, long pathogen analysis time, difficulty in collecting predictive model data, and inability to dynamically track patient conditions.

[0082] In one embodiment, an embodiment of the present application also provides a control device for a gas sampling, collection and detection integrated robot, wherein the gas sampling, collection and detection integrated robot adopts the robot introduced in any of the above embodiments, and the control device includes: a moving module, a collection module, a preliminary analysis and processing module, a data processing and judgment module, a first execution module and a PCR detection module.

[0083] The moving module is used to move the robot body to the side of the subject, and the distance between the robot body and the subject is controlled within a preset range;

[0084] The collection module is used to activate the negative pressure mechanism to generate negative pressure in the gas collection container 20, so that the gas to be tested around the subject enters the gas collection container 20 through the air inlet 21;

[0085] The preliminary analysis and processing module is used to perform preliminary analysis and processing on the gas to be tested collected by the gas collection container 20 through the preliminary analyzer 40 after the gas to be tested is enriched in the gas collection container 20, and upload the preliminary analysis and processing data to the data processing device;

[0086] The data processing and judgment module is used to compare the preliminary analysis and processing data with the data model of exhaled organic matter of infectious disease patients trained with clinical big data, so as to determine whether the gas to be tested is the exhaled breath with potential infection characteristics;

[0087] Specifically, the organic matter content is tested to determine whether the subject is sick, thereby achieving preliminary screening for infectious diseases.

[0088] The first execution module is used to open the air inlet door 52 when it is determined that the gas to be tested is the exhaled gas with potential infection characteristics, so that the gas to be tested enters the reaction chamber 51 of the sample collector 50, and the sample collector 50 enriches the pathogen sample and can output the pathogen sample to the PCR detector 60;

[0089] Optionally, the control device further includes a second execution module. The second execution module is used to close the air inlet door 52 when it is determined that the gas to be tested is not exhaled gas with potential infection characteristics, so that the gas to be tested cannot enter the reaction chamber 51 of the sample collector 50, that is, the PCR test is not performed on the gas to be tested.

[0090] The PCR detection module is used to detect pathogen samples, obtain the type and quantity of infected pathogens, and output the detection results to the data processing device.

[0091] It can be seen that the gas to be tested is first subjected to preliminary analysis and processing by the preliminary analyzer 40, and only after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the pathogens in the gas to be tested are enriched, and the enriched pathogens are detected and processed by the PCR detector 60. In this way, on the one hand, the preliminary analysis and processing of the gas to be tested by the preliminary analyzer 40 can quickly determine whether the gas to be tested is exhaled breath with potential infection characteristics, and the detection efficiency is high; on the other hand, after it is determined that the gas to be tested is exhaled breath with potential infection characteristics, the enriched pathogen samples are detected and processed by the PCR detector 60 with higher detection accuracy, which can improve the detection accuracy and precision. At the same time, since the number of sample collectors 50 is limited, more people can be screened after preliminary screening by the preliminary analyzer 40.

[0092] It should be noted that the gas in this embodiment is not understood in a narrow sense as only including gas components, but should be understood in a broad sense, that is, it not only includes gas components, but also includes other components such as aerosols, so as to facilitate the detection of the number and type of viruses in the gas.

[0093] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0094] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0095] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0096] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0097] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0098] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A gas sampling, collecting and detecting integrated robot, characterized in that: The gas sampling, collecting and detecting integrated robot comprises: Robot body; A gas collection container, the gas collection container is arranged on the robot body, the gas collection container is provided with an air inlet, and the gas collection container collects the gas to be tested through the air inlet; A negative pressure mechanism, the negative pressure mechanism is arranged on the robot body, the negative pressure mechanism is connected to the gas collection container, and the negative pressure mechanism is used to generate a negative pressure in the gas collection container so that the gas to be tested enters the gas collection container through the air inlet; A preliminary analyzer, which is arranged on the robot body and is connected to the gas collection container. The preliminary analyzer is used to perform preliminary analysis on the gas to be tested collected by the gas collection container and upload preliminary analysis data to a data processing device. a sample collector, the sample collector being used to enrich the pathogen sample in the gas to be tested, the sample collector comprising a reaction chamber and an air intake door openably arranged on the reaction chamber, the sample collector being electrically connected to the data processing device, the sample collector opening the air intake door when the data processing device determines that the gas to be tested is exhaled air with potential infection characteristics, and closing the air intake door when the gas to be tested is exhaled air without potential infection characteristics; and The PCR detector is connected to the sample collector and is also electrically connected to the data processing device. The PCR detector is capable of receiving pathogen samples collected by the sample collector, performing detection and processing on the pathogen samples, and outputting detection data to the data processing device.

2. The integrated gas sampling, collecting and detecting robot according to claim 1 is characterized in that: The number of reaction chambers is at least two.

3. The integrated gas sampling, collecting and detecting robot according to claim 2 is characterized in that: The sample collector also includes a bracket, and all the reaction chambers are arranged on the bracket in sequence around the circumferential direction of the bracket. The air inlet door is rotatably arranged on the bracket, and an air inlet hole is provided on the air inlet door. The air inlet door cover is arranged on the top of each of the reaction chambers; the air inlet door rotates one circle on the bracket, which can drive the air inlet hole to communicate with each of the reaction chambers in sequence.

4. The integrated gas sampling, collecting and detecting robot according to claim 1, characterized in that: The sample collector is located inside the gas collection container.

5. The integrated gas sampling, collecting and detecting robot according to claim 1, characterized in that: The integrated gas sampling, collection and detection robot also includes a GPS navigator arranged on the robot body; the GPS navigator is electrically connected to the data processing device, and the GPS navigator is used to obtain the geographical location of the robot body, and transmit the geographical location to the data processing device when the data processing device determines that the gas to be tested is exhaled breath with potential infection characteristics.

6. The integrated gas sampling, collecting and detecting robot according to claim 1, characterized in that: The integrated gas sampling, collection and detection robot also includes a display screen, which is arranged on the robot body. The display screen is electrically connected to the data processing device, and is used to display the preliminary analysis and processing data of the preliminary analyzer, the judgment results of the data processing device and the detection and processing results of the PCR detector.

7. The integrated gas sampling, collecting and detecting robot according to claim 1, characterized in that: The robot body is a four-legged dog-type robot.

8. The integrated gas sampling, collecting and detecting robot according to claim 1, characterized in that: The gas sampling, collecting and detecting integrated robot also includes an alarm; the alarm is arranged on the robot body, and the alarm is electrically connected to the data processing device.

9. The integrated gas sampling, collecting and detecting robot according to any one of claims 1 to 8, characterized in that: The integrated gas sampling, collecting and detecting robot also includes a power supply, which is arranged on the robot body; the preliminary analyzer, the sample collector, the negative pressure mechanism and the PCR detector are all electrically connected to the power supply.

10. A control device for a gas sampling, collecting and detecting integrated robot according to any one of claims 1 to 9, characterized in that: include: A moving module, the moving module is used to move the robot body to the side of the subject, and the distance between the robot body and the subject is controlled within a preset range; A collection module, the collection module is used to activate the negative pressure mechanism so that the gas collection container generates negative pressure, and the gas to be tested around the subject enters the gas collection container through the air inlet; A preliminary analysis and processing module, which is used to perform preliminary analysis and processing on the gas to be tested collected by the gas collection container through the preliminary analyzer after the gas to be tested is enriched in the gas collection container, and upload the preliminary analysis and processing data to the data processing device; A data processing and judgment module, which is used to compare the preliminary analysis and processing data with the data model of organic matter in the exhaled breath of patients with infectious diseases to determine whether the gas to be tested is exhaled breath with potential infection characteristics; A first execution module, wherein the first execution module is used to open the air inlet door when it is determined that the gas to be tested is exhaled gas with potential infection characteristics, so that the gas to be tested enters the reaction chamber of the sample collector, the sample collector enriches the pathogen sample, and outputs the pathogen sample to the PCR detector; and A PCR detection module is used to detect the pathogen sample and output the detection result to the data processing device.

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