Throat swab collection equipment

Abstract

The present disclosure relates to the technical field of automatic sampling manipulators, and provides a throat swab collection device, which includes a shell, a tongue depressor, an image vision system, a flexible actuator and a swing arm drive system; the tongue depressor is detachably arranged at the head end of the shell; the image vision system is arranged inside the shell, and can perform image vision collection of the oral cavity when the tongue depressor is in the open state; the flexible actuator is arranged inside the shell for flexibly clamping the swab; the swing arm drive system is arranged inside the shell and is connected to the flexible actuator; wherein the swing arm drive system can drive the flexible actuator to drive the swab to swing in all directions, rotate around itself, and move back and forth relative to the shell. The throat swab collection device enables the person being collected to complete the oral swab collection work by themselves, and the collection process is completed automatically. The collection process is safe and reliable, and the person being collected is highly comfortable. No medical staff participation is required throughout the process.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automatic sampling machinery, and in particular to a throat swab collection device. Background Art

[0002] Oral pharyngeal swab sampling and testing has become a routine and mature detection method for viral nucleic acid sampling such as influenza. In the existing technology, pharyngeal swab sampling mainly relies on manual operation by medical staff. This conventional manual sampling method, in addition to the inconsistent collection strength and quality of different medical staff, is likely to cause errors and misdiagnosis in nucleic acid sampling, and also has a certain risk of infection to the health of medical staff.

[0003] There are also mechanical devices in the existing technology that can be used for automatic sampling of throat swabs, but the existing automatic sampling equipment is large in size, and the use site is severely limited. In addition, the force feedback required during the collection process has poor accuracy, and it is difficult to provide baseline force feedback during the collection process. The actual use experience of the person being collected is not comfortable.

[0004] In view of this, the market is in urgent need of a convenient sampling device that accurately provides process force feedback to solve the problems of existing automatic throat swab sampling devices, such as large equipment size, limited use site, and discomfort for the person being collected. Summary of the Invention

[0005] The embodiments of the present disclosure provide a throat swab collection device to solve the problem in the prior art of automatic throat swab sampling devices that the device is large in size and easily causes discomfort to the person being collected.

[0006] The throat swab collection device provided in the embodiment of the present disclosure includes a housing, a tongue depressor, an image vision system, a flexible actuator, and a swing arm drive system;

[0007] The tongue depressor is detachably arranged at the head end of the housing;

[0008] The image visual system is arranged inside the housing and is capable of collecting images of the oral cavity when the tongue depressor is in the open state;

[0009] The flexible actuator is arranged inside the housing and is used for flexibly clamping the swab;

[0010] The swing arm drive system is arranged inside the housing and is transmission-connected to the flexible actuator;

[0011] The swing arm drive system can drive the flexible actuator to drive the swab to swing in all directions, rotate around itself, and move forward and backward relative to the housing.

[0012] In one embodiment, the flexible actuator includes a mounting housing, a pressure sensor, and a flexible spring;

[0013] One end of the mounting sleeve is provided with a clamping opening for clamping the swab, and the other end is provided with a mounting bearing;

[0014] The pressure sensor is arranged in the mounting housing and connected to the swab via a connecting assembly;

[0015] One end of the flexible spring is connected to the inner bottom of the mounting housing, and the other end is connected to the pressure sensor;

[0016] The swab can correspondingly squeeze the pressure sensor and the flexible spring when wiping, and at least partially shrink toward the mounting housing.

[0017] In one embodiment, the connecting assembly includes a swab sleeve, a first flexible locking rod, a second flexible locking rod and a connecting boss;

[0018] The swab shaft sleeve is correspondingly sleeved on the clamping rod end of the swab;

[0019] The first flexible locking rod is inserted into the clamping rod end of the swab in the radial direction;

[0020] The second flexible locking rod is spaced apart from and corresponding to the first flexible locking rod, and is plugged and connected to the end of the pressure sensor facing the swab;

[0021] The connecting boss is installed and connected to the first flexible locking rod and the second flexible locking rod respectively.

[0022] In one embodiment, the mounting sleeve is further provided with a flexible gasket in the clamping opening;

[0023] The swab shaft sleeve is correspondingly plug-fitted and clamped in the flexible gasket, and a raised stop edge is formed on the top end.

[0024] In one embodiment, the swing arm drive system includes a rack mounting frame, a moving part and a swing head;

[0025] The rack mounting frame is arranged inside the housing along the length direction and is provided with a transmission rack;

[0026] The moving member is meshed with the transmission rack;

[0027] The swing head is connected to the moving part through a plurality of traction swing arms;

[0028] Wherein, the swing head is movably connected to the flexible actuator via a mounting bearing;

[0029] The moving part can drive the swing head to move back and forth along the transmission rack;

[0030] The plurality of traction swing arms can coordinately pull the swing head to tilt and drive the swab to swing in various directions.

[0031] In one embodiment, the moving part further includes a plurality of pulleys wound around its outer periphery;

[0032] The pulley is in rolling contact with the rubber gasket on the inner peripheral wall of the housing.

[0033] In one embodiment, the image vision system includes an annular surface light source and a vision camera;

[0034] The annular surface light source is correspondingly arranged on the inner peripheral wall of the shell member close to one end of the tongue depressor;

[0035] At least two visual cameras are arranged around the inner peripheral wall of the housing at intervals;

[0036] Wherein, at least two of the visual cameras are arranged to be inclined with respect to each other and have a visual intersection point facing the front end of the tongue depressor.

[0037] In one embodiment, the tongue depressor is further provided with a biting groove at one end close to the housing;

[0038] Furthermore, the biting groove can be clamped on the shell part during biting.

[0039] In one embodiment, a touch switch is further provided at the connection end between the housing and the tongue depressor;

[0040] When the tongue depressor is detachably mounted on the connecting end of the tongue depressor, the touch-pressure switch can be triggered accordingly.

[0041] In one embodiment, the housing is further provided with a loudspeaker for announcing its own working status;

[0042] The outside of the shell is also connected to an industrial controller for controlling its own working state and a driving motor for providing power.

[0043] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0044] The throat swab collection device provided in the disclosed embodiments enables the subject to complete oral swab collection independently. The collection process is safe and reliable, highly comfortable for the subject, and requires no medical staff involvement. The widespread application of this throat swab collection device can free medical workers from the arduous collection work and avoid the risk of viral infection caused by flying liquid during manual swab collection.

[0045] The pharyngeal swab collection device provided by the embodiment of the present disclosure can also effectively solve the problem of identifying the spatial position of the posterior pharyngeal wall. Through the shooting of the binocular vision camera in the image vision system and the real-time processing of the deep learning vision algorithm, it can ensure that the spatial position of the posterior pharyngeal wall can be automatically and accurately identified. This position is the designated position that the end of the swab needs to reach for collection.

[0046] The throat swab collection device provided by the embodiment of the present disclosure can also solve the problem of excessive pressure during the robot collection process causing harm to the person being collected. The flexible actuator can adaptively and flexibly retract when the swab is wiping the posterior pharyngeal wall for collection, ensuring the safety and comfort of the person being collected. The pressure sensor in the flexible actuator can detect and feedback the collection force, so that the swing arm drive system can adapt to adjust the relative position of the swab and the flexible actuator in the oral cavity, thereby making the pressure of the swab more stable and safer.

[0047] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings, in which several embodiments of the present disclosure are shown by way of example and not limitation, wherein:

[0049] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0050] Figure 1 A half-section diagram of a throat swab collection device provided by an embodiment of the present disclosure is shown;

[0051] Figure 2 A stereoscopic diagram of a throat swab collection device provided by an embodiment of the present disclosure is shown;

[0052] Figure 3 A schematic diagram of a throat swab collection device provided in an embodiment of the present disclosure is shown;

[0053] Figure 4A diagram showing the use of a throat swab collection device provided by an embodiment of the present disclosure is shown;

[0054] Figure 5 A schematic diagram of the operation flow of the throat swab collection device provided in an embodiment of the present disclosure is shown.

[0055] Explanation of the reference numerals in the figure: 1, housing; 11, rubber gasket; 12, touch switch; 13, speaker; 14, industrial controller; 15, drive motor;

[0056] 2. Tongue depressor; 21. Bite pressure groove;

[0057] 3. Image vision system; 31. Annular surface light source; 32. Vision camera;

[0058] 4. Flexible actuator; 41. Mounting housing; 411. Mounting bearing; 412. Flexible washer; 42. Pressure sensor; 43. Connecting assembly; 431. Swab sleeve; 432. First flexible retaining rod; 433. Second flexible retaining rod; 434. Connecting boss; 44. Flexible spring;

[0059] 5. Swing arm drive system; 51. Rack mounting bracket; 511. Transmission rack; 52. Moving parts; 521. Pulley; 53. Swing head; 531. Traction swing arm;

[0060] 6. Swab. DETAILED DESCRIPTION

[0061] To make the purposes, features, and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative work shall fall within the scope of protection of the present disclosure.

[0062] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0063] Combine Figure 1 and Figure 2As shown, an embodiment of the present disclosure provides a throat swab collection device, which includes a shell 1, a tongue depressor 2, an image vision system 3, a flexible actuator 4 and a swing arm drive system 5; the tongue depressor 2 is detachably arranged at the head end of the shell 1; the image vision system 3 is arranged inside the shell 1, and can perform image vision collection of the oral cavity when the tongue depressor 2 is in the open state; the flexible actuator 4 is arranged inside the shell 1, and is used to flexibly clamp the swab; the swing arm drive system 5 is arranged inside the shell 1, and is transmission-connected to the flexible actuator 4; wherein, the swing arm drive system 5 can drive the flexible actuator 4 to drive the swab to swing in all directions, rotate around itself, and move back and forth relative to the shell 1.

[0064] When the pharyngeal swab collection device is used, the person to be collected first inserts the swab 6 into the flexible actuator 4 in the shell 1, then the person to be collected holds the tongue depressor 2 in his mouth to depress the tongue, and fixes the tongue depressor 2 with his teeth, and inserts the tongue depressor 2 after occlusion into the head end of the shell 1. At this time, the image vision system 3 can perform image vision collection of the oral cavity, and after shooting, the deep learning algorithm is used to recognize and process the image of the posterior pharyngeal wall in the oral cavity in real time. After recognizing the image of the posterior pharyngeal wall, the algorithm of the image vision system 3 is used to calculate the spatial position of the part to be collected relative to the end of the swab 6. The swing arm drive system 5 can then drive the flexible actuator 4 accordingly, driving the swab 6 to swing, rotate around itself, and move back and forth relative to the shell 1 according to the spatial position calculated by the algorithm of the image vision system 3, so as to realize wiping and collection of the posterior pharyngeal wall of the person to be collected.

[0065] Moreover, the flexible actuator 4 arranged inside the shell 1 can flexibly clamp the swab 6. When the swab 6 wipes the posterior pharyngeal wall of the person being collected, the flexible actuator 4 will adaptively adjust its own clamping position of the swab 6 according to the size of the feedback pressure received, thereby ensuring the safety and comfort of the collection force for the person being collected, while keeping the collection pressure within a reasonable range, thereby ensuring the collection quality of the oral swab.

[0066] To sum up, the throat swab collection device provided by the embodiment of the present disclosure can identify the target spatial position of the posterior pharyngeal wall through the image vision system 3, adaptively adjust the clamping position of the swab 6 through the flexible actuator 4, and flexibly adjust the collection posture of the swab 6 through the swing arm drive system 5 according to the human oral structure and the soft and sensitive characteristics of the posterior pharyngeal wall, thereby realizing fully automatic, efficient, safe and comfortable oral swab collection.

[0067] In one embodiment, the flexible actuator 4 includes a mounting sleeve 41, a pressure sensor 42 and a flexible spring 44; one end of the mounting sleeve 41 is provided with a clamping port for clamping a swab, and the other end is provided with a mounting bearing 411; the pressure sensor 42 is arranged in the mounting sleeve 41 and is connected to the swab through a connecting component 43; one end of the flexible spring 44 is connected to the inner bottom of the mounting sleeve 41, and the other end is connected to the pressure sensor 42; wherein, when the swab is wiping, it can squeeze the pressure sensor 42 and the flexible spring 44 accordingly, and at least partially shrink toward the mounting sleeve 41.

[0068] Specific, combined Figure 3 To further explain in detail, the flexible actuator 4 is specifically configured to include a mounting sleeve 41, a pressure sensor 42 and a flexible spring 44, and one end of the mounting sleeve 41 is provided with a clamping port for clamping the swab 6, and the other end is provided with a mounting bearing 411, so that the mounting bearing 411 can make the mounting sleeve 41 rotate around its own axis to realize the self-rotation of the swab 6; in addition, the pressure sensor 42 is arranged in the mounting sleeve 41 and connected to the swab through the connecting component 43, and one end of the flexible spring 44 is connected to the inner bottom of the mounting sleeve 41, and the other end is connected to the pressure sensor 4 2 connection, so that when the swab 6 wipes the posterior pharyngeal wall, it will transmit the pressure it receives to the pressure sensor 42 and compress the flexible spring 44 accordingly, so that the swab 6 can retract adaptively to avoid causing discomfort to the person being collected due to the wiping pressure. In addition, the pressure sensor 42 can also feed back the pressure information detected by itself in real time to the swing arm drive system 5, so that the swing arm drive system 5 can further adapt to adjust the relative positions of the swab 6 and the flexible actuator 4 in the oral cavity according to the real-time pressure information, so that the pharyngeal swab collection device can self-feedback and adjust, thereby further improving the collection comfort of the person being collected.

[0069] The specific configuration of the flexible actuator 4 has the beneficial effects of simple structure, high degree of automatic intelligence, and the ability to fully ensure the user's collection comfort.

[0070] In one embodiment, the connecting assembly 43 includes a swab sleeve 431, a first flexible locking rod 432, a second flexible locking rod 433 and a connecting boss 434; the swab sleeve 431 is correspondingly sleeved on the clamping rod end of the swab; the first flexible locking rod 432 is radially inserted into the clamping rod end of the swab; the second flexible locking rod 433 is spaced apart from the first flexible locking rod 432 and is inserted and connected to the end of the pressure sensor 42 facing the swab; the connecting boss 434 is respectively installed and connected to the first flexible locking rod 432 and the second flexible locking rod 433.

[0071] Specific, combined Figure 3Further detailed description, the connecting component 43 is specifically configured to include a swab sleeve 431, a first flexible locking rod 432, a second flexible locking rod 433 and a connecting boss 434. The swab sleeve 431 can stably fit the clamping rod end of the swab 6 to ensure the installation stability of the swab 6 in the clamping port of the mounting sleeve 41; the first flexible locking rod 432 and the second flexible locking rod 433 can be respectively inserted into the clamping rod end of the swab and the end of the pressure sensor 42 facing the swab, and are correspondingly installed and connected through the connecting boss 434, thereby realizing the limited connection of the swab 6 and the pressure sensor 42.

[0072] The specific arrangement of the connecting assembly 43 has the beneficial effects of being simple in structure and being able to achieve stable and limited installation of the swab 6 on the flexible actuator 4 .

[0073] In one embodiment, the mounting sleeve 41 is further provided with a flexible gasket 412 in the clamping opening; the swab sleeve 431 is correspondingly plugged and clamped in the flexible gasket 412, and a raised retaining edge is formed on the top end.

[0074] Specific, combined Figure 3 To further explain in detail, the mounting sleeve 41 is further provided with a flexible gasket 412 in the clamping port. The flexible gasket 412 can be specifically but not limited to being set as a rubber gasket, so that the clamping rod end of the swab 6 can be correspondingly plugged into the flexible gasket 412 through the swab sleeve 431, and the top of the swab sleeve 431 forms a raised stop edge, which can also prevent the clamping rod end of the swab 6 from being over-inserted.

[0075] The specific arrangement of the flexible gasket 412 and the swab shaft sleeve 431 can ensure that the swab is stably inserted into the mounting housing 41 and prevent the swab from being over-inserted.

[0076] In one embodiment, the swing arm drive system 5 includes a rack mounting frame 51, a moving part 52 and a swing head 53; the rack mounting frame 51 is arranged inside the shell part 1 along the length direction and is provided with a transmission rack 511; the moving part 52 is engaged with the transmission rack; the swing head 53 is connected to the moving part 52 through a plurality of traction swing arms 531; wherein, the swing head 53 is movably mounted and connected to the flexible actuator 4 through the mounting bearing 411; the moving part 52 can drive the swing head 53 to move back and forth along the transmission rack; the plurality of traction swing arms 531 can coordinate the tilting of the traction swing head 53 to drive the swab to swing in all directions.

[0077] Specific, combined Figure 1 and Figure 4To further explain in detail, the swing arm drive system 5 is specifically configured to include a rack mounting frame 51, a moving part 52 and a swing head 53, and the transmission rack 511 in the rack mounting frame 51 is meshed and connected with the moving part 52, so that the moving part 52 can perform reciprocating linear motion along the rack mounting frame 51, thereby realizing the function of driving the swab to move back and forth relative to the shell part 1; and the swing head 53 is connected to the moving part 52 through a plurality of traction swing arms 531, so that the plurality of traction swing arms 531 can realize the relative tilt of the swing head 53 by pulling and pushing the swing head 53, thereby realizing the function of driving the swab to swing in various directions; in addition, the swing head 53 is also movably mounted and connected to the flexible actuator 4 through the mounting bearing 411, so that the flexible actuator 4 can rotate relative to the swing head 53 through the mounting bearing 411, thereby realizing the function of driving the swab to rotate.

[0078] The specific configuration of the swing arm drive system 5 has the beneficial effects of being simple in structure and being able to drive the swing arm to move forward and backward relative to the housing 1, to swing in all directions and to rotate.

[0079] In one embodiment, the moving member 52 further includes a plurality of pulleys 521 wound around its outer periphery; the pulleys 521 are in rolling contact with the rubber gasket 11 on the inner peripheral wall of the housing 1 .

[0080] Specific, combined Figure 1 and Figure 4 To further explain in detail, the moving part 52 is also provided with a plurality of pulleys 521 on its outer periphery, and the pulleys 521 are in rolling contact with the rubber gasket 11 on the inner peripheral wall of the shell part 1, so that when the moving part 52 moves forward and backward relative to the shell part 1, the pulleys 521 can support the forward and backward movement of the auxiliary moving part 52, and the friction force of the rolling contact between the pulleys 521 and the rubber gasket 11 can also improve the smoothness of the movement of the moving part 52, thereby improving the smoothness of the swab 6 when wiping back and forth, and avoiding the swab 6 causing discomfort to the person being collected due to wiping pressure.

[0081] In one embodiment, the image vision system 3 includes an annular surface light source 31 and a visual camera 31; the annular surface light source 31 is correspondingly arranged on the inner wall of the shell 1 near one end of the tongue depressor 2; at least two visual cameras 32 are arranged at intervals around the inner wall of the shell 1; wherein, at least two visual cameras 32 are arranged at an angle to each other and have a visual intersection point facing the head end of the tongue depressor 2.

[0082] Specific, combined Figure 1To further explain in detail, the image vision system 3 is specifically configured to include an annular surface light source 31 and a visual camera 32, and the annular surface light source 31 is correspondingly arranged on the inner circumferential wall of the shell 1 near one end of the tongue depressor 2, so that the annular surface light source 31 can produce a 360° lighting effect to avoid shadow obstruction; in addition, two visual cameras 32 can be specifically arranged radially at intervals on the inner circumferential wall of the shell 1, so that the two visual cameras 32 can form a binocular vision shooting effect, which is convenient for calculating the spatial coordinates of the posterior pharyngeal wall relative to the end of the swab 6 according to the binocular stereo vision algorithm.

[0083] The image vision system 3 has the beneficial effects of being simple in structure and being able to accurately calculate the spatial coordinates of the posterior pharyngeal wall relative to the end of the swab 6 .

[0084] In one embodiment, a biting groove 21 is further provided at one end of the tongue depressor 2 close to the housing 1 ; and the biting groove 21 can be clamped on the housing 1 when biting.

[0085] Specific, combined Figure 1 To further explain in detail, a biting groove 21 is provided at one end of the tongue depressor 2 close to the shell 1, and the biting groove 21 can be correspondingly clamped on the shell 1 when biting, so that the person being collected only needs to bite with his teeth to quickly install the tongue depressor 2, which has the beneficial effects of convenient installation and hygiene.

[0086] In one embodiment, a touch-pressure switch 12 is further provided in the connecting end of the shell 1 and the tongue depressor 2; when the tongue depressor 2 is detachably mounted on the connecting end of the tongue depressor 2, the touch-pressure switch 12 can be triggered accordingly.

[0087] Specific, combined Figure 1 Further detailed description, a touch-pressure switch 12 is further provided in the connection end of the housing 1 and the tongue depressor 2, and when the tongue depressor 2 is detachably mounted on the connection end of the tongue depressor 2, the touch-pressure switch 12 can be triggered accordingly, so that the pharyngeal swab collection device can be started and executed by the touch-pressure switch 12. Figure 5 The operation process in the process can improve the automation level of the throat swab collection equipment.

[0088] In one embodiment, the housing 1 is further provided with a loudspeaker 13 for announcing its own working status; the housing 1 is also externally connected with an industrial controller 14 for controlling its own working status and a drive motor 15 for providing power.

[0089] Specific, combined Figure 1 and Figure 2To further explain in detail, the shell body 1 is also provided with a loudspeaker 13 for broadcasting its own working status. Through the loudspeaker 13, the working progress of the pharyngeal swab collection device can be fed back to the person being collected in real time to prevent the person being collected from ending the collection prematurely; in addition, the outside of the shell body 1 is also connected to an industrial controller 14 for controlling its own working status and a drive motor 15 for providing power. In this way, the industrial controller 14 can automatically control the power input of the drive motor 15, and automatically realize the various drive state switching and start and stop of the swing arm drive system 5, thereby further improving the degree of automation of the pharyngeal swab collection device.

[0090] In summary, the throat swab collection device provided in the embodiments of the present disclosure enables the person being collected to complete the oral swab collection work independently. The collection process is completed independently by the throat swab collection device, and the collection process is safe and reliable, the person being collected is highly comfortable, and no medical staff is required to participate in the entire process. The promotion and application of this throat swab collection device can free medical workers from the heavy collection work and avoid the risk of viral infection caused by flying liquid during manual swab collection.

[0091] The pharyngeal swab collection device provided in the embodiment of the present disclosure can effectively solve the problem of identifying the spatial position of the posterior pharyngeal wall. Through the shooting of the binocular vision camera 32 in the image vision system 3 and the real-time processing of the deep learning vision algorithm, it can ensure that the spatial position of the posterior pharyngeal wall can be automatically and accurately identified. This position is the designated position that the end of the swab 6 needs to reach for collection.

[0092] The throat swab collection device provided by the embodiment of the present disclosure can also solve the problem of excessive pressure during the robot collection process causing harm to the person being collected. The flexible actuator 4 can adaptively and flexibly retract when the swab 6 wipes the posterior pharyngeal wall for collection, ensuring the safety and comfort of the person being collected. The pressure sensor 42 in the flexible actuator 4 can detect and feedback the collection force, so that the swing arm drive system 5 can adapt to adjust the relative position of the swab 6 and the flexible actuator 4 in the oral cavity, thereby making the pressure of the swab 6 more stable and safer.

[0093] The throat swab collection device provided by the embodiment of the present disclosure is highly practical, has a simple overall structure, is easy to achieve mass production, and has the advantage of low production cost.

[0094] The throat swab collection device provided in the embodiment of the present disclosure is based on the human oral structure and the soft and sensitive characteristics of the posterior pharyngeal wall. It has invented a throat swab collection device that can collect oral swabs fully automatically, focusing on the overall structural design of the collection robot, the recognition of the target spatial position of the posterior pharyngeal wall, the design of the flexible actuator 4, and the collection force feedback control method. After the person being collected has put it on, the announcer 13 issues a voice reminder and begins to identify the spatial position of the posterior pharyngeal wall through a binocular stereo vision camera and a deep learning algorithm. After the recognition is completed, the swing arm drive system 5 controls the flexible actuator 4 to extend and collect. During the collection process, the pressure sensor 42 monitors the positive pressure of the cotton swab on the person being collected in real time, and adjusts the swing arm drive system 5 in real time. While ensuring the safety of the person being collected, the collection pressure is kept within a reasonable range, thereby ensuring the collection quality of the oral swab.

[0095] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0096] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A throat swab collection device, characterized in that: include: Housing member (1); A tongue depressor (2) detachably arranged at the head end of the housing (1); An image visual system (3) is arranged inside the housing (1) and is capable of collecting images of the oral cavity when the tongue depressor (2) is in an open state; A flexible actuator (4) is arranged inside the housing (1) and is used to flexibly clamp the swab; A swing arm drive system (5) is arranged inside the housing (1) and is in transmission connection with the flexible actuator (4); The swing arm drive system (5) is capable of driving the flexible actuator (4) to drive the swab to swing in all directions, rotate around itself, and move forward and backward relative to the housing (1); The flexible actuator (4) comprises: A mounting sleeve (41) having a clamping opening for clamping a swab at one end and a mounting bearing (411) at the other end; A pressure sensor (42) is disposed in the mounting housing (41) and connected to the swab via a connecting assembly (43); a flexible spring (44), one end of which is connected to the inner bottom of the mounting housing (41), and the other end of which is connected to the pressure sensor (42); Wherein, when wiping, the swab can correspondingly squeeze the pressure sensor (42) and the flexible spring (44), and at least partially shrink toward the mounting housing (41); The swing arm drive system (5) comprises: A rack mounting frame (51) is arranged inside the housing (1) along the length direction and is provided with a transmission rack (511); A moving member (52) is meshed with the transmission rack; A swing head (53) connected to the moving part (52) via a plurality of traction swing arms (531); The swing head (53) is movably connected to the flexible actuator (4) via a mounting bearing (411); The moving member (52) can drive the swing head (53) to move back and forth along the transmission rack; The plurality of traction swing arms (531) can coordinately pull the swing head (53) to tilt and swing, thereby driving the swab to swing in various directions.

2. The throat swab collection device according to claim 1, characterized in that: The connecting component (43) comprises: A swab shaft sleeve (431) is correspondingly sleeved on the clamping rod end of the swab; A first flexible locking rod (432) is radially inserted into the clamping rod end of the swab; A second flexible locking rod (433) is spaced apart and arranged correspondingly to the first flexible locking rod (432), and is plugged and connected to an end of the pressure sensor (42) facing the swab; The connecting boss (434) is respectively installed and connected to the first flexible locking rod (432) and the second flexible locking rod (433).

3. The throat swab collection device according to claim 2, characterized in that: The mounting sleeve (41) is further provided with a flexible gasket (412) in the clamping opening; The swab shaft sleeve (431) is correspondingly plug-fitted and clamped into the flexible gasket (412), and a raised retaining edge is formed at the top end.

4. The throat swab collection device according to claim 1, characterized in that: The moving part (52) further includes a plurality of pulleys (521) wound around its outer periphery; The pulley (521) is in rolling contact with the rubber gasket (11) on the inner peripheral wall of the housing (1).

5. The throat swab collection device according to claim 1, characterized in that: The image vision system (3) comprises: An annular surface light source (31) is arranged in a corresponding ring on the inner peripheral wall of the shell (1) close to one end of the tongue depressor (2); At least two visual cameras (32) are arranged around the inner peripheral wall of the housing (1) at intervals; Wherein, at least two of the visual cameras (32) are arranged to be inclined relative to each other and have a visual intersection point facing the front end of the tongue depressor (2).

6. The throat swab collection device according to claim 1, characterized in that: The tongue depressor (2) is further provided with a biting groove (21) at one end close to the housing (1); Furthermore, the biting groove (21) can be clamped on the housing part (1) during biting.

7. The throat swab collection device according to claim 1, characterized in that: A touch-pressure switch (12) is also provided at the connection end between the housing (1) and the tongue depressor (2); When the tongue depressor (2) is detachably mounted on the connecting end of the tongue depressor (2), the touch-pressure switch (12) can be triggered accordingly.

8. The throat swab collection device according to any one of claims 1 to 7, characterized in that: The housing (1) is also provided with a loudspeaker (13) for announcing its own working status; The housing (1) is also externally connected to an industrial controller (14) for controlling its own working state and a drive motor (15) for providing power.

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