Intelligent robot for assisting in detecting tuberculosis

Abstract

The invention relates to the field of tuberculosis detection, in particular to an intelligent robot for assisting in tuberculosis detection, comprising: a detection table, the top of which is provided with a loading station, a detection station and an unloading station; the rotating table is rotationally connected to the top end of the detection table, bearing table assemblies are arranged at the top end of the rotating table corresponding to the feeding station, the detection station and the discharging station respectively, the bearing table assemblies are used for bearing slides, and through holes are formed in the positions, corresponding to the three slides, of the top end of the rotating table respectively; the first light source transmitter and the first light source receiver are arranged, the transmission image of the sputum sample is collected and analyzed, if the thickness of the sputum sample is thicker, the transmission image integrally shows a dark color, namely, the gray value is larger, otherwise, the transmission image shows a light color, namely, the gray value is smaller, the thickness of the sputum sample is detected, and the detection accuracy is improved. And unqualified samples are reduced, so that the accuracy of subsequent tuberculosis detection is improved.

Description

Technical Field

[0001] The invention relates to the field of tuberculosis detection, and in particular to an intelligent robot for assisting in detecting tuberculosis. Background Art

[0002] Mycobacterium tuberculosis, commonly known as tuberculosis bacillus, is the pathogen that causes tuberculosis. It can invade various organs throughout the body, but pulmonary tuberculosis is the most common. Tuberculosis is still an important infectious disease. Currently, hospitals usually detect the presence of tuberculosis by testing the patient's sputum smear.

[0003] For example, the invention patent with application number CN202111387798.6 discloses a Mycobacterium tuberculosis resistance detection system based on sputum smear acid-fast staining, including a box, a transfer module, a smear preparation module, a smear processing module, a coloring module, an isolation module and an environmental adjustment module. The isolation module is distributed inside the box and divides the internal space of the box into a smear preparation room, a pretreatment room, a coloring room and a microscopy table arranged from left to right. In the smear preparation room, pretreatment room and coloring room, the transfer module includes a workbench and a linear module, and the environmental adjustment module is installed on the upper rear side of the box.

[0004] In the above case, in the process of making sputum smear, sputum is smeared on the surface of the glass slide through the smear head to form a sputum sample on the glass slide. However, in the process of smearing sputum, the sputum viscosity may cause uneven sputum feeding, resulting in uneven thickness when smearing sputum samples. If the sputum sample is too thick, cells will accumulate, making it difficult to detect individual cells, increasing the difficulty of detection. If the sputum sample is too thin, the number of bacterial colonies will be low, which may easily lead to missed detection.

[0005] In the prior art, the thickness of sputum samples is usually detected manually, which not only increases the labor intensity, but also the detection accuracy depends on subjectivity and has a large error.

[0006] To this end, the present invention proposes an intelligent robot for assisting in detecting tuberculosis to solve the above problems. Summary of the invention

[0007] To achieve the above objectives, the technical solution adopted by the present invention is: an intelligent robot for assisting in the detection of tuberculosis, comprising:

[0008] A testing platform, wherein a loading station, a testing station and a unloading station are arranged on the top of the testing platform;

[0009] A rotating table, the rotating table is rotatably connected to the top of the detection table, the top of the rotating table is respectively provided with a bearing table assembly corresponding to the loading station, the detection station and the unloading station, the bearing table assembly is used to carry glass slides, and the top of the rotating table is respectively provided with through holes corresponding to the positions of the three glass slides;

[0010] A testing room, wherein the testing room is fixedly connected to the top of the testing table corresponding to the testing station;

[0011] A first light source transmitter, which is disposed in the detection chamber and is located directly above the glass slide;

[0012] A first light source receiver, which is disposed in the detection platform and is located directly below the glass slide;

[0013] The first light source transmitter transmits the first light source to the glass slide. After the first light source is absorbed and scattered by the sputum sample on the glass slide, it is received by the first light source receiver. After receiving the transmitted light source, the first light source receiver sends the transmitted image to the external computer. The external computer analyzes the transmitted image. The thicker the sputum sample, the darker the transmitted image appears, and vice versa, the lighter the image appears, so as to detect the thickness of the sputum sample.

[0014] Specifically, in the prior art, during the process of applying sputum with the applicator, the sputum viscosity may affect the sputum and easily lead to uneven sputum feeding. The thickness of the sputum sample is usually detected manually, which not only increases the labor intensity, but also the detection accuracy depends on subjectivity and has a large error. The technical solution can solve the above problems. The specific operation is as follows:

[0015] The glass slide is placed on the stage assembly at the loading station, and the glass slide can be transported to the stage assembly manually or by a conveyor belt (not shown in the figure);

[0016] Then, the rotating table is rotated to move the glass slide originally located at the loading station to the inspection station, and the glass slide is moved into the inspection room;

[0017] Then, the first light source is sent through the first light source transmitter, and the first light source can be selected from near-infrared light. After being absorbed and scattered by the sputum sample on the glass slide, the first light source is received by the first light source receiver, and the first light source receiver can be selected from a CCD camera for receiving. After receiving the transmitted light source, the first light source receiver sends a transmitted image to an external computer, and the transmitted image is analyzed by the external computer. The thicker the sputum sample, the darker the overall transmission image, that is, the larger the gray value, and vice versa, it is displayed as a light color, that is, the smaller the gray value;

[0018] In summary, if the gray value is within the set first threshold range, it means that the thickness of the sputum sample is moderate and the sputum sample is a qualified sample;

[0019] If the gray value of the entire transmission image exceeds the set first threshold value interval, it means that the sputum sample is thicker, otherwise it is thinner, and the sputum sample is an unqualified sample;

[0020] In addition, if the grayscale value of a local part of the transmission image exceeds the first threshold interval, while the grayscale value of the remaining area is within the set first threshold interval, it means that there is accumulation of cells in the local area of ​​the sputum sample or the sputum is turbid, and the sputum sample is still an unqualified sample. The thickness of the sputum sample can be tested, and unqualified samples can be reduced, which is conducive to improving the accuracy of subsequent tuberculosis detection.

[0021] Preferably, it also includes:

[0022] An upper arc-shaped guide rail frame, wherein the upper arc-shaped guide rail frame is fixedly connected to the top of the detection chamber, and the first light source transmitter is slidably connected to the upper arc-shaped guide rail frame;

[0023] A lower arc-shaped guide rail frame, wherein the lower arc-shaped guide rail frame is fixedly connected to the inner top wall of the detection platform, and the first light source receiver is slidably connected to the lower arc-shaped guide rail frame;

[0024] A rotation drive assembly is used to drive the first light source transmitter and the first light source receiver to slide along the upper arc guide frame and the lower arc guide frame respectively, so as to collect multiple groups of transmission images, reduce detection blind spots, and improve detection accuracy.

[0025] Preferably, the rotary drive assembly comprises:

[0026] An upper folding push frame, wherein the top of the upper folding push frame is symmetrically provided with a first straight groove, upper connecting pins are symmetrically fixedly connected on both sides of the first light source transmitter, the upper connecting pins are slidably connected in the first straight groove, and the bottom end of the upper folding push frame passes through the detection platform and is slidably connected to the detection platform;

[0027] A lower folding push frame, wherein the top of the lower folding push frame is symmetrically provided with a second straight groove, and lower connecting pins are symmetrically fixedly connected on both sides of the first light source receiver, and the lower connecting pins are slidably connected in the second straight groove, and the bottom end of the lower folding push frame is slidably connected in the detection table;

[0028] A pushing component is used to push the upper folding pushing frame and the lower folding pushing frame to move, so that the first light source transmitter and the first light source receiver slide along the upper arc guide frame and the lower arc guide frame respectively.

[0029] Preferably, the pushing assembly comprises:

[0030] A rotating disk, the rotating disk is rotatably connected in the detection table through a bracket, a servo motor is fixedly connected to the side wall of the bracket, and an output shaft of the servo motor is fixedly connected to the side wall of the rotating disk;

[0031] A third straight groove, the third straight groove is provided on the side wall of the bottom end of the upper folding push frame;

[0032] A fourth straight groove, the fourth straight groove being provided on the end side wall of the lower folding push frame;

[0033] Two push pins are fixedly connected to the side wall of the rotating disk, and the two push pins are slidably connected in the third straight groove and the fourth straight groove respectively.

[0034] Preferably, it also includes:

[0035] A second light source transmitter, which is disposed in the detection platform and is located above the side of the glass slide;

[0036] A second light source receiver, the second light source receiver is arranged in the detection table, and the second light source receiver is located above the other side of the glass slide;

[0037] After collecting multiple groups of transmission images, the second light source transmitter is started, and the second light source transmitter transmits the second light source to the glass slide. The second light source is irradiated to the sputum sample and reflected and received by the second light source receiver. After receiving the reflected light source, the second light source receiver sends the reflected image to the external computer. The external computer identifies the roughness of the sputum sample by analyzing the brightness change of the reflected image to further improve the detection accuracy of the sputum sample.

[0038] Preferably, it also includes:

[0039] A first rotating frame, wherein the first rotating frame is fixedly connected in the detection chamber, and the second light source transmitter is rotatably connected to the first rotating frame;

[0040] A second rotating frame, wherein the second rotating frame is fixedly connected in the detection chamber, and the second light source receiver is rotatably connected to the second rotating frame;

[0041] The rotary drive mechanism is used to drive the second light source transmitter and the second light source receiver to rotate so as to collect multiple groups of reflected images, reduce detection blind spots, and improve detection accuracy.

[0042] Preferably, the rotary drive mechanism comprises:

[0043] First gears on both sides, wherein the two first gears are coaxially fixed to the second light source transmitter and the second light source receiver respectively;

[0044] Two racks, the two racks are symmetrically slidably connected to the top wall of the detection chamber, and the two racks are respectively meshed with the two first gears;

[0045] Two driving plates, the two driving plates are respectively fixedly connected to the side walls of the rack, the top of the driving plate is provided with a driving slide groove, and the driving slide groove includes a first guiding straight groove, a guiding inclined groove and a second guiding straight groove;

[0046] Two connecting frames are symmetrically fixedly connected to the top side walls of the upper folding push frame, and the bottom ends of the connecting frames are fixedly connected with driving pins, which are slidably connected in the driving slide grooves.

[0047] Preferably, the carrier platform assembly comprises:

[0048] A plurality of electric telescopic rods are provided, wherein the bottom ends of the electric telescopic rods are fixedly connected to the top end of the rotating platform, the top ends of the telescopic ends of the electric telescopic rods are fixedly connected to the mounting platform, and an empty slot is provided in the middle of the mounting platform.

[0049] Preferably, it also includes:

[0050] A driving motor, wherein the driving motor is fixedly connected in the testing platform, and a second gear is fixedly connected to the top of an output shaft of the driving motor;

[0051] A plurality of teeth, wherein the plurality of tooth arrays are fixedly connected to the outer side wall of the bottom end of the rotating platform, and the second gear is meshed with the teeth.

[0052] Preferably, electric gates are symmetrically arranged on both sides of the detection chamber.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] 1. The present invention sets a first light source transmitter and a first light source receiver, and sends the first light source through the first light source transmitter. After the first light source is absorbed and scattered by the sputum sample on the glass slide, it is received by the first light source receiver. After receiving the transmitted light source, the first light source receiver sends the transmitted image to the external computer, and the transmitted image is analyzed by the external computer. If the sputum sample is thicker, the overall transmission image is darker, that is, the gray value is larger, otherwise it is displayed as a light color, that is, the gray value is smaller, thereby realizing the detection of the thickness of the sputum sample, reducing unqualified samples, and thus facilitating improving the accuracy of subsequent tuberculosis detection.

[0055] 2. The present invention sets a second light source transmitter and a second light source receiver, and transmits the second light source to the glass slide through the second light source transmitter. The second light source irradiates the sputum sample and is reflected and received by the second light source receiver. After receiving the reflected light source, the second light source receiver sends the reflected image to the external computer. The external computer identifies the roughness of the sputum sample by analyzing the brightness change of the reflected image, and verifies the above detection results according to the flatness of the surface of the sputum sample to further improve the detection accuracy of the sputum sample.

[0056] 3. The present invention sets a first gear and a rack. During the movement of the upper folding push frame, the driving pin moves along the driving slide groove. The driving pin first moves along the first guide straight groove, and waits until the first light source transmitter and the first light source receiver complete the acquisition of the transmission image. Then, the driving pin moves along the guide bevel groove. Driven by the guide bevel groove, the two racks move, thereby driving the first gear to rotate, so that the second light source transmitter and the second light source receiver rotate, thereby adjusting different illumination angles, thereby acquiring multiple groups of different reflection images, which is beneficial to improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0058] Figure 2 It is a top cross-sectional view of the detection chamber in the present invention;

[0059] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0060] Figure 4 It is a cross-sectional view of the overall structure of the present invention;

[0061] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0062] Figure 6 A position relationship diagram of the first light source transmitter and the first light source receiver in the present invention;

[0063] Figure 7 A position relationship diagram of the second light source transmitter and the second light source receiver in the present invention;

[0064] Figure 8 It is a schematic diagram of the connection between the upper arc-shaped guide rail frame and the upper folding push frame in the present invention;

[0065] Fig. 9 It is a schematic diagram of the connection between the lower arc-shaped guide rail frame and the lower folding push frame in the present invention;

[0066] Fig.10 It is a connection diagram of the first gear and the rack in the present invention.

[0067] In the figure: detection table 1, rotating table 2, teeth 3, driving motor 4, second gear 5, electric telescopic rod 6, mounting table 7, glass slide 8, through hole 9, detection chamber 10, electric gate 11, first light source transmitter 12, upper connecting pin 1201, first light source receiver 13, lower connecting pin 1301, upper arc guide frame 14, lower arc guide frame 15, upper folding push frame 16, first straight groove 1601, third straight groove 1602, lower folding push frame 17, second straight groove 1701, fourth straight groove 1702, rotating disk 18, pushing pin 1801, servo motor 19, first rotating frame 20, second light source transmitter 21, second rotating frame 22, second light source receiver 23, first gear 24, rack 25, driving plate 26, driving slide 2601, connecting frame 27, driving pin 28. DETAILED DESCRIPTION

[0068] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0069] like Figures 1 to 10 An intelligent robot for assisting in detecting tuberculosis is shown, comprising:

[0070] Testing table 1, the top of which is provided with a loading station, a testing station and a unloading station;

[0071] The rotating table 2 is rotatably connected to the top of the detection table 1. The top of the rotating table 2 is respectively provided with a bearing table assembly corresponding to the loading station, the detection station and the unloading station. The bearing table assembly is used to carry the glass slide 8. The top of the rotating table 2 is respectively provided with through holes 9 at positions corresponding to the three glass slides 8;

[0072] The testing room 10 is fixedly connected to the top of the testing platform 1 corresponding to the testing station;

[0073] A first light source transmitter 12, which is disposed in the detection chamber 10 and is located directly above the glass slide 8;

[0074] A first light source receiver 13, which is disposed in the detection platform 1 and is located directly below the glass slide 8;

[0075] The first light source transmitter 12 transmits the first light source to the glass slide 8. After the first light source is absorbed and scattered by the sputum sample on the glass slide 8, it is received by the first light source receiver 13. After receiving the transmitted light source, the first light source receiver 13 sends the transmitted image to the external computer. The external computer analyzes the transmitted image. The thicker the sputum sample, the darker the transmitted image appears, and vice versa, the lighter the image appears, so as to detect the thickness of the sputum sample;

[0076] The carrier assembly includes:

[0077] Several electric telescopic rods 6, the bottom ends of several electric telescopic rods 6 are fixedly connected to the top of the rotating platform 2, the top ends of the telescopic ends of several electric telescopic rods 6 are fixedly connected to the mounting platform 7, and an empty slot is opened in the middle of the mounting platform 7;

[0078] Also includes:

[0079] A driving motor 4, which is fixedly connected to the testing platform 1, and a second gear 5 is fixedly connected to the top of the output shaft of the driving motor 4;

[0080] A plurality of teeth 3, wherein the plurality of teeth 3 are fixedly connected in array to the outer side wall of the bottom end of the rotating platform 2, and the second gear 5 is meshed with the teeth 3;

[0081] Specifically, in the prior art, during the process of applying sputum with the applicator, the sputum viscosity may affect the sputum and easily lead to uneven sputum feeding. The thickness of the sputum sample is usually detected manually, which not only increases the labor intensity, but also the detection accuracy depends on subjectivity and has a large error. The technical solution can solve the above problems. The specific operation is as follows:

[0082] At the loading station, the glass slide 8 is placed on the mounting table 7, and the glass slide 8 can be transported to the mounting table 7 manually or by a conveyor belt (not shown in the figure);

[0083] Then, by starting the driving motor 4, the output shaft of the driving motor 4 rotates, the second gear 5 rotates, and under the action of the meshing transmission, the rotating table 2 rotates 120 degrees, so that the glass slide 8 originally located at the loading station moves to the detection station, and the glass slide 8 moves into the detection chamber 10;

[0084] Then, the first light source is sent by the first light source transmitter 12. The first light source can be near-infrared light. After being absorbed and scattered by the sputum sample on the glass slide 8, the first light source is received by the first light source receiver 13. The first light source receiver 13 can be a CCD camera for receiving. After receiving the transmitted light source, the first light source receiver 13 sends the transmitted image to the external computer. The transmitted image is analyzed by the external computer. The thicker the sputum sample, the darker the overall transmission image, that is, the larger the gray value. On the contrary, it is displayed as a light color, that is, the smaller the gray value.

[0085] In summary, if the gray value is within the set first threshold range, it means that the thickness of the sputum sample is moderate and the sputum sample is a qualified sample;

[0086] If the grayscale value of the entire transmission image exceeds the set first threshold interval, it means that the sputum sample is thicker, otherwise it is thinner, and the sputum sample is an unqualified sample;

[0087] In addition, if the gray value of a part of the transmission image exceeds the first threshold interval, while the gray value of the rest of the area is within the set first threshold interval, it means that there is accumulation of cells in the local area of ​​the sputum sample or the sputum is turbid, and the sputum sample is still an unqualified sample;

[0088] If the thickness of the sputum sample is unqualified (too thick or too thin), wait until the mounting table 7 moves the glass slide 8 to the unloading station, then start the electric telescopic rod 6 to move the mounting table 7 upward. If the thickness of the sputum sample is appropriate, the electric telescopic rod 6 will not be started, which is convenient for the auxiliary personnel to observe and facilitate the personnel to classify and take out the glass slides 8 with inappropriate sputum sample thickness and sputum sample thickness with appropriate sputum sample, thereby realizing the detection of the thickness of the sputum sample, reducing unqualified samples, and thus facilitating improving the accuracy of subsequent tuberculosis detection.

[0089] As a further embodiment of the present invention, it also includes:

[0090] An upper arc-shaped guide rail frame 14, the upper arc-shaped guide rail frame 14 is fixedly connected to the top of the detection chamber 10, and the first light source transmitter 12 is slidably connected to the upper arc-shaped guide rail frame 14;

[0091] A lower arc-shaped guide rail frame 15, the lower arc-shaped guide rail frame 15 is fixedly connected to the inner top wall of the detection platform 1, and the first light source receiver 13 is slidably connected to the lower arc-shaped guide rail frame 15;

[0092] A rotation drive assembly, which is used to drive the first light source transmitter 12 and the first light source receiver 13 to slide along the upper arc guide frame 14 and the lower arc guide frame 15 respectively, so as to collect multiple sets of transmission images, reduce detection blind spots, and improve detection accuracy;

[0093] The rotary drive assembly includes:

[0094] An upper folding push frame 16, the top of which is symmetrically provided with a first straight groove 1601, the first light source transmitter 12 is symmetrically fixedly connected with upper connecting pins 1201 on both sides, the upper connecting pins 1201 are slidably connected in the first straight groove 1601, and the bottom end of the upper folding push frame 16 passes through the detection platform 1 and is slidably connected with the detection platform 1;

[0095] A lower folding push frame 17, the top of which is symmetrically provided with a second straight groove 1701, the first light source receiver 13 is symmetrically fixedly connected with lower connecting pins 1301 on both sides, the lower connecting pins 1301 are slidably connected in the second straight groove 1701, and the bottom of the lower folding push frame 17 is slidably connected in the detection platform 1;

[0096] A pushing component, which is used to push the upper folding pushing frame 16 and the lower folding pushing frame 17 to move, so that the first light source transmitter 12 and the first light source receiver 13 slide along the upper arc-shaped guide frame 14 and the lower arc-shaped guide frame 15 respectively;

[0097] The push components include:

[0098] A rotating disk 18, the rotating disk 18 is rotatably connected to the detection platform 1 through a bracket, a servo motor 19 is fixedly connected to the side wall of the bracket, and an output shaft of the servo motor 19 is fixedly connected to the side wall of the rotating disk 18;

[0099] A third straight groove 1602, which is formed on the bottom side wall of the upper folding push frame 16;

[0100] A fourth straight groove 1702, which is formed on the end side wall of the lower folding push frame 17;

[0101] Two push pins 1801, the two push pins 1801 are fixedly connected to the side wall of the rotating disk 18, and the two push pins 1801 are slidably connected in the third straight groove 1602 and the fourth straight groove 1702 respectively;

[0102] Specifically, when the grayscale value of the transmission image is within the set first threshold range, the servo motor 19 is started so that the output shaft of the servo motor 19 rotates, and the rotating disk 18 rotates, so that the two push pins 1801 rotate, and the two push pins 1801 move along the third straight groove 1602 and the fourth straight groove 1702 respectively, so that the upper folding push frame 16 pulls the first light source transmitter 12 to move, so that the first light source transmitter 12 moves along the upper arc guide frame 14, and at the same time, the lower folding push frame 17 pulls the first light source receiver 13 to move, so that the first light source receiver 13 moves along the lower arc guide frame 15, thereby adjusting the incident angle of the first light source, so that the first light source receiver 13 can collect multiple groups of transmission images at different angles, reduce detection blind spots, and improve detection accuracy.

[0103] As a further embodiment of the present invention, it also includes:

[0104] A second light source transmitter 21, which is disposed in the detection platform 1 and is located above the side of the glass slide 8;

[0105] A second light source receiver 23, which is disposed in the detection platform 1 and is located above the other side of the glass slide 8;

[0106] After collecting multiple groups of transmission images, the second light source transmitter 21 is started, and the second light source transmitter 21 transmits the second light source to the glass slide 8. The second light source is irradiated to the sputum sample and reflected and received by the second light source receiver 23. The second light source receiver 23 receives the reflected light source and sends the reflected image to the external computer. The external computer identifies the roughness of the sputum sample by analyzing the brightness change of the reflected image, so as to further improve the detection accuracy of the sputum sample.

[0107] Specifically, when the grayscale value of the transmission image is within the set first threshold interval, the second light source transmitter 21 and the second light source receiver 23 are set, and after the first light source receiver 13 has collected multiple groups of transmission images, the first light source transmitter 12 is turned off, and the second light source transmitter 21 and the second light source receiver 23 are started at the same time, and the second light source transmitter 21 emits a second light source to the glass slide 8, wherein the second light source is white light, and the second light source is irradiated to the sputum sample and reflected and received by the second light source receiver 23, wherein the second light source receiver 23 can use a CMOS camera, and the second light source receiver 23 sends the reflected image to an external computer after receiving the reflected light source, and the external computer identifies the roughness of the sputum sample by analyzing the brightness change of the reflected image, so as to further improve the detection accuracy of the sputum sample;

[0108] It should be noted that the peripheral computer can measure the ASM value of the sputum sample surface through the gray-level co-occurrence matrix algorithm. When the ASM value is large, it indicates that the texture of the sputum sample surface in the reflection image is relatively uniform, otherwise it indicates that the texture of the sputum sample surface in the reflection image is relatively rough.

[0109] Further explanation:

[0110] Case 1: When the grayscale value of the transmission image is within the set first threshold range, and the overall ASM value of the reflection image is within or exceeds the set second threshold range:

[0111] This indicates that the texture of the sputum sample surface is relatively uniform, making the overall thickness of the sputum sample relatively uniform, thereby supporting the above test results, that is, the thickness of the sputum sample belongs to a qualified sample, further improving the test accuracy;

[0112] Case 2: When the grayscale value of the transmission image is within the set first threshold range, and the overall ASM value in the reflection image is less than the second threshold range:

[0113] This indicates that the surface texture of the sputum sample is uneven and there is a difference in thickness, which is different from the above test results (it may be caused by a test error or because the sputum sample contains thin turbid sputum). The built-in alarm device can be used to alert the staff, and auxiliary testing can be performed manually, or the sputum sample can be directly marked as an unqualified sample.

[0114] As a further embodiment of the present invention, it also includes:

[0115] A first rotating frame 20, the first rotating frame 20 is fixedly connected in the detection chamber 10, and the second light source transmitter 21 is rotatably connected to the first rotating frame 20;

[0116] A second rotating frame 22, the second rotating frame 22 is fixedly connected in the detection chamber 10, and the second light source receiver 23 is rotatably connected to the second rotating frame 22;

[0117] A rotation drive mechanism, which is used to drive the second light source transmitter 21 and the second light source receiver 23 to rotate, so as to collect multiple groups of reflected images, reduce detection blind spots, and improve detection accuracy;

[0118] The rotary drive mechanism includes:

[0119] First gears 24 on both sides, the two first gears 24 are coaxially fixed to the second light source transmitter 21 and the second light source receiver 23 respectively;

[0120] Two racks 25, the two racks 25 are symmetrically slidably connected to the top wall of the detection chamber 10, and the two racks 25 are respectively meshed with the two first gears 24;

[0121] Two driving plates 26, the two driving plates 26 are respectively fixedly connected to the side walls of the rack 25, and a driving slide groove 2601 is opened at the top of the driving plate 26, and the driving slide groove 2601 includes a first guiding straight groove, a guiding inclined groove, and a second guiding straight groove;

[0122] Two connecting frames 27, the two connecting frames 27 are symmetrically fixedly connected to the top side wall of the upper folding push frame 16, and the bottom end of the connecting frame 27 is fixedly connected with a driving pin 28, and the driving pin 28 is slidably connected in the driving slide groove 2601;

[0123] Specifically, by setting the first gear 24 and the rack 25, during the movement of the upper folding push frame 16, the driving pin 28 moves along the driving slide groove 2601, and the driving pin 28 first moves along the first guide straight groove, and waits until the first light source transmitter 12 and the first light source receiver 13 complete the collection of the transmission image, and then the driving pin 28 moves along the guide bevel groove. Driven by the guide bevel groove, the two racks 25 move, thereby driving the first gear 24 to rotate, so that the second light source transmitter 21 and the second light source receiver 23 rotate, thereby adjusting different lighting angles, thereby collecting multiple groups of different reflection images, which is beneficial to improve the detection accuracy.

[0124] As a further implementation scheme of the present invention, electric gates 11 are symmetrically arranged on both sides of the detection chamber 10. By setting the electric gates 11, when the mounting table 7 drives the glass slide 8 to enter the detection chamber 10, the electric gates 11 are in an open state. When the glass slide 8 enters the detection chamber 10, the electric gates 11 are closed, thereby reducing the interference of external light and further improving the detection accuracy.

[0125] Working principle of the present invention: Place the glass slide 8 on the mounting table 7 at the loading station, and transport the glass slide 8 to the mounting table 7 manually or by a conveyor belt (not shown in the figure);

[0126] Then, by starting the driving motor 4, the output shaft of the driving motor 4 rotates, the second gear 5 rotates, and under the action of the meshing transmission, the rotating table 2 rotates 120 degrees, so that the glass slide 8 originally located at the loading station moves to the detection station, and the glass slide 8 moves into the detection chamber 10;

[0127] Then, the first light source is sent by the first light source transmitter 12. The first light source can be near-infrared light. After being absorbed and scattered by the sputum sample on the glass slide 8, the first light source is received by the first light source receiver 13. The first light source receiver 13 can be a CCD camera for receiving. After receiving the transmitted light source, the first light source receiver 13 sends the transmitted image to the external computer. The transmitted image is analyzed by the external computer. The thicker the sputum sample, the darker the overall transmission image, that is, the larger the gray value. On the contrary, it is displayed as a light color, that is, the smaller the gray value.

[0128] In summary, if the gray value is within the set first threshold interval, it means that the thickness of the sputum sample is moderate and the sputum sample is a qualified sample. If the gray value of the entire transmission image exceeds the set first threshold interval, it means that the sputum sample is thicker, otherwise it is thinner, and the sputum sample is an unqualified sample.

[0129] In addition, if the gray value of a part of the transmission image exceeds the first threshold interval, while the gray value of the rest of the area is within the set first threshold interval, it means that there is accumulation of cells in the local area of ​​the sputum sample or the sputum is turbid, and the sputum sample is still an unqualified sample;

[0130] If the thickness of the sputum sample is unqualified and is too thick or too thin, wait until the mounting platform 7 moves the glass slide 8 to the unloading station, start the electric telescopic rod 6 to move the mounting platform 7 upward. If the thickness of the sputum sample is appropriate, the electric telescopic rod 6 will not be started, which is convenient for the auxiliary personnel to observe and facilitate the personnel to classify and take out the glass slides 8 with inappropriate sputum sample thickness and sputum sample thickness with appropriate sputum sample, thereby realizing the detection of the thickness of the sputum sample, reducing unqualified samples, and thus facilitating improving the accuracy of subsequent tuberculosis detection.

[0131] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. An intelligent robot for assisting in the detection of tuberculosis, characterized in that: include: A testing platform (1), wherein a loading station, a testing station and a discharging station are arranged on the top of the testing platform (1); A rotating table (2), the rotating table (2) being rotatably connected to the top of the detection table (1), the top of the rotating table (2) being provided with a bearing table assembly corresponding to the loading station, the detection station and the unloading station, the bearing table assembly being used to bear the glass slides (8), and the top of the rotating table (2) being provided with through holes (9) at positions corresponding to the three glass slides (8); A testing room (10), wherein the testing room (10) is fixedly connected to the top of the testing platform (1) corresponding to the testing station; A first light source transmitter (12), wherein the first light source transmitter (12) is arranged in the detection chamber (10), and the first light source transmitter (12) is located directly above the glass slide (8); A first light source receiver (13), wherein the first light source receiver (13) is arranged in the detection platform (1), and the first light source receiver (13) is located directly below the glass slide (8); The first light source transmitter (12) emits a first light source toward the glass slide (8). After the first light source is absorbed and scattered by the sputum sample on the glass slide (8), it is received by the first light source receiver (13). After receiving the transmitted light source, the first light source receiver (13) sends a transmitted image to an external computer. The transmitted image is analyzed by the external computer. The thicker the sputum sample, the darker the transmitted image appears, and vice versa. Thus, the thickness of the sputum sample is detected.

2. The intelligent robot for assisting in the detection of tuberculosis according to claim 1, characterized in that: Also includes: An upper arc-shaped guide rail frame (14), wherein the upper arc-shaped guide rail frame (14) is fixedly connected to the top of the detection chamber (10), and the first light source transmitter (12) is slidably connected to the upper arc-shaped guide rail frame (14); A lower arc-shaped guide rail frame (15), wherein the lower arc-shaped guide rail frame (15) is fixedly connected to the inner top wall of the detection platform (1), and the first light source receiver (13) is slidably connected to the lower arc-shaped guide rail frame (15); A rotation drive assembly is used to drive a first light source transmitter (12) and a first light source receiver (13) to slide along an upper arc-shaped guide frame (14) and a lower arc-shaped guide frame (15) respectively, so as to collect multiple groups of transmission images, reduce detection blind spots, and improve detection accuracy.

3. The intelligent robot for assisting in the detection of tuberculosis according to claim 2, characterized in that: The rotary drive assembly comprises: An upper foldable push frame (16), wherein a first straight groove (1601) is symmetrically provided at the top of the upper foldable push frame (16), upper connecting pins (1201) are symmetrically fixedly connected on both sides of the first light source transmitter (12), and the upper connecting pins (1201) are slidably connected in the first straight groove (1601), and the bottom end of the upper foldable push frame (16) passes through the detection platform (1) and is slidably connected to the detection platform (1); A lower folding push frame (17), wherein a second straight groove (1701) is symmetrically provided at the top of the lower folding push frame (17), lower connecting pins (1301) are symmetrically fixedly connected to both sides of the first light source receiver (13), the lower connecting pins (1301) are slidably connected in the second straight groove (1701), and the bottom end of the lower folding push frame (17) is slidably connected in the detection platform (1); A pushing assembly, the pushing assembly is used to push the upper folding pushing frame (16) and the lower folding pushing frame (17) to move, so that the first light source transmitter (12) and the first light source receiver (13) slide along the upper arc-shaped guide rail frame (14) and the lower arc-shaped guide rail frame (15) respectively.

4. The intelligent robot for assisting in the detection of tuberculosis according to claim 3, characterized in that: The pushing component comprises: A rotating disk (18), the rotating disk (18) being rotatably connected to the detection platform (1) via a bracket, a servo motor (19) being fixedly connected to a side wall of the bracket, and an output shaft of the servo motor (19) being fixedly connected to a side wall of the rotating disk (18); A third straight groove (1602), the third straight groove (1602) being formed on the side wall at the bottom end of the upper folding push frame (16); A fourth straight groove (1702), the fourth straight groove (1702) being formed on the end side wall of the lower folding push frame (17); Two push pins (1801), the two push pins (1801) are fixedly connected to the side wall of the rotating disk (18), and the two push pins (1801) are slidably connected in the third straight groove (1602) and the fourth straight groove (1702) respectively.

5. The intelligent robot for assisting in the detection of tuberculosis according to claim 3, characterized in that: Also includes: A second light source transmitter (21), the second light source transmitter (21) being arranged in the detection platform (1), and the second light source transmitter (21) being located above the side of the glass slide (8); A second light source receiver (23), wherein the second light source receiver (23) is arranged in the detection platform (1), and the second light source receiver (23) is located above the other side of the glass slide (8); After collecting a plurality of sets of transmission images, the second light source transmitter (21) is started, and the second light source transmitter (21) emits a second light source toward the glass slide (8). The second light source irradiates the sputum sample and is reflected and received by the second light source receiver (23). The second light source receiver (23) receives the reflected light source and sends the reflected image to an external computer. The external computer identifies the roughness of the sputum sample by analyzing the brightness change of the reflected image, so as to further improve the detection accuracy of the sputum sample.

6. The intelligent robot for assisting in the detection of tuberculosis according to claim 4, characterized in that: Also includes: A first rotating frame (20), wherein the first rotating frame (20) is fixedly connected in the detection chamber (10), and the second light source transmitter (21) is rotatably connected to the first rotating frame (20); A second rotating frame (22), the second rotating frame (22) is fixedly connected in the detection chamber (10), and the second light source receiver (23) is rotatably connected to the second rotating frame (22); A rotation drive mechanism is used to drive the second light source transmitter (21) and the second light source receiver (23) to rotate so as to collect multiple groups of reflected images, thereby reducing detection blind spots and improving detection accuracy.

7. The intelligent robot for assisting in the detection of tuberculosis according to claim 5, characterized in that: The rotary drive mechanism comprises: First gears (24) on both sides, the two first gears (24) being coaxially fixed to the second light source transmitter (21) and the second light source receiver (23) respectively; Two racks (25), the two racks (25) are symmetrically slidably connected to the top wall of the detection chamber (10), and the two racks (25) are respectively meshed with the two first gears (24); Two driving plates (26), the two driving plates (26) are respectively fixedly connected to the side walls of the rack (25), the top of the driving plate (26) is provided with a driving slide groove (2601), and the driving slide groove (2601) includes a first guiding straight groove, a guiding inclined groove and a second guiding straight groove; Two connecting frames (27), the two connecting frames (27) are symmetrically fixedly connected to the top side walls of the upper folding push frame (16), and the bottom ends of the connecting frames (27) are fixedly connected with driving pins (28), and the driving pins (28) are slidably connected in the driving slide groove (2601).

8. The intelligent robot for assisting in the detection of tuberculosis according to claim 1, characterized in that: The carrier platform assembly comprises: A plurality of electric telescopic rods (6), the bottom ends of the plurality of electric telescopic rods (6) are fixedly connected to the top end of the rotating platform (2), the top ends of the telescopic ends of the plurality of electric telescopic rods (6) are fixedly connected to a mounting platform (7), and an empty slot is provided in the middle of the mounting platform (7).

9. The intelligent robot for assisting in the detection of tuberculosis according to claim 1, characterized in that: Also includes: A driving motor (4), the driving motor (4) being fixedly connected in the detection platform (1), and a second gear (5) being fixedly connected to the top end of an output shaft of the driving motor (4); A plurality of teeth (3), wherein an array of the plurality of teeth (3) is fixedly connected to the outer wall of the bottom end of the rotating platform (2), and the second gear (5) is meshed with the teeth (3).

10. The intelligent robot for assisting in the detection of tuberculosis according to claim 1, characterized in that: Electric gates (11) are symmetrically arranged on both sides of the detection chamber (10).

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