Automatic blood drawing detection device for animal epidemic diseases

Abstract

The invention belongs to the technical field of animal epidemic disease detection, and particularly relates to an automatic blood drawing detection device for animal epidemic diseases, which comprises a blood sampling platform, a blood sampling mechanism and a fixing assembly, the two sides of the blood sampling platform are respectively provided with a neck shape acquisition module, and one side of the top of the blood sampling platform is fixedly provided with a mechanical arm; a blood vessel feature acquisition module is mounted at the tail end of the mechanical arm, and a blood sampling mechanism is also mounted at the tail end of the mechanical arm; the neck shape acquisition module is used for detecting the perimeter and longitudinal curvature of the neck of an animal, and the blood vessel feature acquisition module is used for detecting the blood vessel burial depth and the elasticity modulus of the vessel wall. According to the invention, the neck shape acquisition module is used for detecting the perimeter and longitudinal curvature of the neck of an animal, the blood vessel feature acquisition module is used for detecting the blood vessel burial depth and the elasticity modulus of the vessel wall, and the control module is used for generating a needle insertion depth evaluation coefficient according to the data, so that the needle insertion depth of the blood sampling mechanism is accurately controlled, and the blood sampling success rate is improved; and blood sampling failure or animal blood vessel injury caused by improper needle insertion is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of animal disease detection, and particularly to an automatic blood sampling and detection device for animal diseases. Background Art

[0002] Animal infectious diseases have a strong transmission ability and the possibility of rapidly spreading to the entire population, posing a significant threat to animal health, the breeding industry, and even public health security. Therefore, it is crucial to promptly detect and implement strict mandatory prevention and control strategies, including but not limited to quarantine, vaccination, epidemiological investigation, and purification of the epidemic source. The most effective way to promptly detect animal diseases is through regular blood sampling and testing.

[0003] When performing blood sampling and testing on most animals, a standing restraint method is used (the front limbs of the animal are just touching the ground but not collapsing, and the head and neck of the animal form an angle of 30° with the horizontal plane

[0004] or above), and then blood is drawn manually from the anterior jugular vein of the animal. It is difficult for humans to accurately grasp the vascular characteristics of different animals, and situations such as multiple punctures and failed blood collection are likely to occur, which not only increases the pain of the animals but also may affect the timeliness of the test results. On the other hand, manual operation is inefficient and difficult to meet the needs of large-scale animal disease detection. Especially during the outbreak of diseases, a large number of samples cannot be quickly obtained for testing and analysis, which is not conducive to the timely prevention and control of diseases. Summary of the Invention

[0005] Based on the technical problems existing in the prior art, the present invention proposes an automatic blood sampling and detection device for animal diseases.

[0006] An automatic blood sampling and detection device for animal diseases proposed by the present invention includes a blood sampling platform, a blood sampling mechanism, and a fixing component. Neck shape acquisition modules are respectively arranged on both sides of the blood sampling platform. One side of the top of the blood sampling platform is fixed with a robotic arm, and a vascular characteristic acquisition module is installed at the end of the robotic arm. The blood sampling mechanism is also installed at the end of the robotic arm. The neck shape acquisition module is used to detect the neck circumference and longitudinal curvature of the animal, and the vascular characteristic acquisition module is used to detect the vascular burial depth and wall elastic modulus. The animal is towed to the blood sampling position on the blood sampling platform, and then the animal is fixed by the fixing component. Then, the neck shape acquisition module detects the neck circumference and longitudinal curvature of the animal, and the vascular characteristic acquisition module detects the vascular burial depth and wall elastic modulus. Then, the control module receives the data collected by the neck shape acquisition module and the vascular characteristic acquisition module in real time, conducts comprehensive analysis, and then generates a needle insertion depth evaluation coefficient. By comparing the needle insertion depth evaluation coefficient with a pre-set reference threshold of the needle insertion depth evaluation coefficient, the needle insertion depth of the blood sampling mechanism is dynamically controlled.

[0007] Preferably, the blood collection mechanism includes a needle insertion component and a blood extraction component. The needle insertion component includes a slide rail installed at the end of the robotic arm. A slider is slidably connected to the bottom of the slide rail. A screw rod rotatably connected within the slide rail is threadedly connected to the slider. A first motor is fixed to the outer end of the slide rail, and the output shaft of the first motor is fixedly connected to the end of the screw rod. The blood extraction component is arranged below the slider. After receiving the corresponding instruction sent by the control module, the first motor will start and drive the screw rod to rotate through the output shaft. Then, the screw rod drives the slider and the blood extraction component to move together, so as to insert the needle according to the depth given by the system.

[0008] Preferably, the blood extraction component includes a first push rod, a push plate, and a fixing structure for fixing the blood collection syringe. The push plate is fixedly connected to the output shaft of the first push rod. An arc-shaped opening capable of wrapping the piston rod of the blood collection syringe is provided at the bottom end of the push plate. After the needle insertion is completed, the control module will send a corresponding instruction to the first push rod. Then, the first push rod will drive the push plate to move outward through the output shaft, and then push the piston rod outward through the push plate, so as to extract blood.

[0009] Preferably, the fixing structure includes a pair of clamping blocks. The two clamping blocks are respectively fixedly connected to the output shafts of the corresponding second push rods. Fixed ears are respectively provided on both sides of the bottom of the slider. The second push rods are fixed to the corresponding fixed ears. A switch for controlling the two second push rods is fixed to the outside of one of the fixed ears. Place the blood collection syringe between the two clamping blocks and fix the positions of the piston rod and the push plate. Then, press the corresponding button on the switch, and the second push rods will push the two clamping blocks to clamp and fix the blood collection syringe. After the blood collection is completed, press another button to release the clamping and fixing of the blood collection syringe by the clamping blocks, so as to replace a new blood collection syringe.

[0010] Preferably, fixing plates are respectively fixed on both sides of the top of the blood collection platform. The neck shape acquisition module is fixed to the corresponding fixing plate. The blood vessel feature acquisition module is fixed to the slide rail at the end of the robotic arm. The control module is fixed to the top of the blood collection platform. In this way, it is possible to better detect the neck circumference and longitudinal curvature of the animal through the neck shape acquisition module, and better detect the blood vessel burial depth and wall elastic modulus through the blood vessel feature acquisition module.

[0011] Preferably, the neck shape acquisition module is located between the fixing component and the robotic arm. The fixing component includes a second motor, a winding drum, a pulling rope, and an arc-shaped neck support. The winding drum is fixedly connected to the output shaft of the second motor. One end of the pulling rope is wound around the winding drum, and the other end is fixedly connected to a fixing rod. The neck support is sleeved on the pulling rope. The second motor and the fixing rod are respectively fixed on the top of the blood collection platform. After the animal is towed to the blood collection position, at this time, the animal's neck is just above the neck support. Then, the second motor is manually started. The output shaft of the second motor drives the winding drum to rotate to wind up the pulling rope, and the neck support will gradually move upward and then be sleeved on the animal's neck to lift the animal's maxilla, so that the animal's front limbs are just touching the ground but cannot collapse, and the animal's head and neck form an angle of more than ° with the horizontal plane, so that the animal reaches the standard blood collection standing position.

[0012] Preferably, the calculation formula of the needle insertion depth evaluation coefficient is as follows:

[0013]

[0014] In the formula: C: neck circumference, R: longitudinal curvature radius, E: measured blood vessel elastic modulus, E0: reference elastic value, H: blood vessel burial depth, H0: reference depth.

[0015] Preferably, the control process of the blood collection mechanism is specifically as follows:

[0016] I. Three-dimensional positioning stage: Laser scanning to construct an error compensation algorithm for the three-dimensional model of the neck;

[0017] II. Blood vessel locking stage: The ultrasonic probe automatically finds the path to the best puncture point;

[0018] III. Dynamic puncture stage:

[0019] I. Dynamic control of the needle insertion speed: Initial speed: v0, the speed is reduced to v(t) when encountering resistance;

[0020] II. Dynamic control of the needle insertion depth: Based on the needle insertion depth evaluation coefficient, dynamically control the needle insertion depth of the blood collection mechanism;

[0021] IV. Safety termination condition:

[0022]

[0023] Immediately trigger the emergency withdrawal mechanism.

[0024] Preferably, the calculation formula of v(t) is as follows:

[0025]

[0026] In the formula: v(t): real-time needle insertion speed, v0: preset initial speed, t: duration after the resistance is triggered, τ: system response time constant.

[0027] Preferably, the dynamic control of the needle insertion depth of the blood collection mechanism based on the needle insertion depth evaluation coefficient is specifically as follows:

[0028]

[0029] In the formula: D: theoretical needle insertion depth;

[0030] Adaptive correction term: ΔD = 0.3×(real-time tissue impedance change rate).

[0031] Compared with the prior art, the present invention provides an automatic blood sampling and detection device for animal diseases, which has the following beneficial effects:

[0032] 1. An automatic blood sampling and detection device for animal diseases, which detects the neck circumference and longitudinal curvature of an animal through a neck morphology acquisition module, and detects the blood vessel burial depth and wall elastic modulus through a blood vessel feature acquisition module. The control module generates a needle insertion depth evaluation coefficient based on these data and accurately controls the needle insertion depth of the blood collection mechanism, greatly improving the blood sampling success rate and reducing blood sampling failure or damage to the animal's blood vessels caused by improper needle insertion.

[0033] 2. An automatic blood sampling and detection device for animal diseases, the automated operation of the blood collection mechanism, from needle insertion to blood sampling, is controlled by the system, reducing manual intervention and shortening the blood sampling time, which can meet the requirements of large-scale animal disease detection for sample collection speed and gain valuable time for disease prevention and control.

[0034] 3. An automatic blood sampling and detection device for animal diseases, the fixing component fixes the animal in a standard blood sampling position, reducing animal struggle, and the accurate needle insertion operation avoids the pain caused by multiple punctures to the animal, reflecting the attention to animal welfare.

[0035] 4. An automatic blood sampling and detection device for animal diseases, the control process of the blood collection mechanism covers multiple stages such as three-dimensional positioning, blood vessel locking, dynamic puncture and safety termination conditions, and realizes intelligent operation through technologies such as laser scanning and ultrasonic probes, adapts to different animal individual differences, and improves the versatility and reliability of the device.

[0036] 5. An automatic blood sampling and detection device for animal diseases, the dynamic control of the needle insertion speed and depth, is adjusted in real time according to the actual situation during needle insertion such as resistance change and tissue impedance change, ensuring the safety and stability of the blood sampling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic diagram of an automatic blood sampling and detection device for animal diseases proposed by the present invention;

[0038] Figure 2Schematic diagram of the overall structure of an automatic blood sampling and detection device for animal diseases proposed by the present invention;

[0039] Figure 3 Schematic diagram of a partial structure of an automatic blood sampling and detection device for animal diseases proposed by the present invention;

[0040] Figure 4 Schematic diagram of the robotic arm structure of an automatic blood sampling and detection device for animal diseases proposed by the present invention;

[0041] Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure at point A;

[0042] Figure 6 Schematic diagram of the bottom structure of the slider of an automatic blood sampling and detection device for animal diseases proposed by the present invention;

[0043] Figure 7 Schematic diagram of the structure of the fixing component of an automatic blood sampling and detection device for animal diseases proposed by the present invention.

[0044] In the figure: 1, blood sampling platform; 2, neck shape acquisition module; 3, robotic arm; 4, slide rail; 5, blood vessel feature acquisition module; 6, control module; 7, fixing plate; 8, slider; 9, screw; 10, first motor; 11, fixing ear; 12, second push rod; 13, clamping block; 14, switch; 15, first push rod; 16, push plate; 17, second motor; 18, reel; 19, pull rope; 20, neck support; 21, fixing rod. Specific embodiments

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0046] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0047] Refer to Figures 1 - 7, An automatic blood sampling and detection device for animal diseases, including a blood sampling platform 1, a blood sampling mechanism and a fixing component. On both sides of the blood sampling platform 1, a neck shape acquisition module 2 is respectively arranged. On one side of the top of the blood sampling platform 1, a robotic arm 3 is fixed. At the end of the robotic arm 3, a blood vessel feature acquisition module 5 is installed, and the blood sampling mechanism is also installed at the end of the robotic arm 3;

[0048] The neck shape acquisition module 2 is used to detect the neck circumference and longitudinal curvature of the animal, and the blood vessel feature acquisition module 5 is used to detect the blood vessel burial depth and wall elastic modulus;

[0049] It should be noted that the neck shape acquisition module 2 can be a three-dimensional laser profilometer (±0.1mm accuracy) or other devices capable of detecting the neck circumference and longitudinal curvature of the animal. The blood vessel feature acquisition module 5 can be a multi-band ultrasonic probe (5-15MHz bandwidth) or other devices capable of detecting the blood vessel burial depth and wall elastic modulus. The control module 6 is an embedded controller (such as the STM32 series) integrating a data fusion algorithm. Therefore, the neck shape acquisition module 2, the blood vessel feature acquisition module 5 and the control module 6 are not specifically defined here and can be selected according to actual needs;

[0050] During use, the animal is led to the blood sampling position on the blood sampling platform 1, and then the animal is fixed by the fixing component. Then, the neck shape acquisition module 2 detects the neck circumference and longitudinal curvature of the animal, and the blood vessel feature acquisition module 5 detects the blood vessel burial depth and wall elastic modulus. Then, the control module 6 receives the data collected by the neck shape acquisition module 2 and the blood vessel feature acquisition module 5 in real time, conducts comprehensive analysis, generates a needle insertion depth evaluation coefficient, and compares the needle insertion depth evaluation coefficient with a pre-set reference threshold of the needle insertion depth evaluation coefficient, so as to dynamically control the needle insertion depth of the blood sampling mechanism.

[0051] Among them, the blood sampling mechanism includes a needle insertion component and a blood extraction component. The needle insertion component includes a slide rail 4 installed at the end of the robotic arm 3. A slider 8 is slidably connected to the bottom of the slide rail 4. A screw rod 9 rotatably connected in the slide rail 4 is threadedly connected to the slider 8. A first motor 10 is fixed to the outer end of the slide rail 4, and the output shaft of the first motor 10 is fixedly connected to the end of the screw rod 9. The blood extraction component is arranged below the slider 8;

[0052] During use, after receiving the corresponding instruction sent by the control module 6, the first motor 10 will start and drive the screw rod 9 to rotate through the output shaft. Then, the screw rod 9 drives the slider 8 and the blood extraction component to move together, so as to insert the needle according to the depth given by the system.

[0053] Among them, the blood extraction component includes a first push rod 15, a push plate 16 and a fixing structure for fixing the blood sampling syringe. The push plate 16 is fixedly connected to the output shaft of the first push rod 15, and the bottom end of the push plate 16 has an arc-shaped opening capable of wrapping the piston rod of the blood sampling syringe;

[0054] During use, after the needle insertion is completed, the control module 6 will send a corresponding instruction to the first push rod 15, and then the first push rod 15 will drive the push plate 16 to move outward through the output shaft, and then push the piston rod outward through the push plate 16 to draw blood.

[0055] It should be noted that the input end and the output end of the neck shape acquisition module 2 are electrically connected to the output end and the input end of the control module 6 respectively, the input end and the output end of the blood vessel feature acquisition module 5 are electrically connected to the output end and the input end of the control module 6 respectively, and the output end of the control module 6 is electrically connected to the input ends of the robotic arm 3, the first motor 10 and the first push rod 15 respectively.

[0056] Among them, the fixing structure includes a pair of clamping blocks 13, the two clamping blocks 13 are respectively fixedly connected to the output shafts of the corresponding second push rods 12, fixing ears 11 are respectively arranged on both sides of the bottom of the slider 8, the second push rods 12 are fixed on the corresponding fixing ears 11, and a switch 14 for controlling the two second push rods 12 is fixed on the outside of one of the fixing ears 11;

[0057] During use, place the blood collection syringe between the two clamping blocks 13 and fix the positions of the piston rod and the push plate 16, and then press the corresponding button on the switch 14, and the second push rod 12 will push the two clamping blocks 13 to clamp and fix the blood collection syringe. After blood collection is completed, press another button to release the clamping and fixing of the blood collection syringe by the clamping blocks 13, so as to replace a new blood collection syringe.

[0058] Among them, fixing plates 7 are respectively fixed on both sides of the top of the blood collection platform 1, the neck shape acquisition module 2 is fixed on the corresponding fixing plate 7, the blood vessel feature acquisition module 5 is fixed on the slide rail 4 at the end of the robotic arm 3, and the control module 6 is fixed on the top of the blood collection platform 1;

[0059] During use, in this way, it is possible to better detect the neck circumference and longitudinal curvature of the animal through the neck shape acquisition module 2, and better detect the blood vessel burial depth and wall elastic modulus through the blood vessel feature acquisition module 5.

[0060] Among them, the neck shape acquisition module 2 is located between the fixing component and the robotic arm 3. The fixing component includes a second motor 17, a winding drum 18, a pulling rope 19 and an arc-shaped neck support 20. The winding drum 18 is fixedly connected to the output shaft of the second motor 17. One end of the pulling rope 19 is wound around the winding drum 18, and the other end is fixedly connected to a fixing rod 21. The neck support 20 is sleeved on the pulling rope 19, and the second motor 17 and the fixing rod 21 are respectively fixed on the top of the blood collection platform 1;

[0061] During use, after leading the animal to the blood collection position, with the animal's neck just above the neck support 20 at this time, then manually start the second motor 17. The output shaft of the second motor 17 drives the reel 18 to rotate to wind up the pulling rope 19, and the neck support 20 will gradually move upward, then be sleeved on the animal's neck, lift the upper jaw bone of the animal, make the front limbs of the animal just touch the ground but not collapse, and make the head and neck of the animal form an angle of more than 30° with the horizontal plane, so that the animal reaches the standard blood collection standing position.

[0062] In another embodiment, through the cooperation between the neck shape acquisition module 2, the blood vessel feature acquisition module 5, the control module 6 and the blood collection mechanism, the control process for dynamically controlling the needle insertion depth of the blood collection mechanism is as follows:

[0063] I. Three-dimensional positioning stage: Laser scanning to construct a three-dimensional model of the neck (error compensation algorithm);

[0064] II. Blood vessel locking stage: The ultrasonic probe automatically finds the path to the optimal puncture point;

[0065] III. Dynamic puncture stage:

[0066] (1) Dynamic control of the needle insertion speed: Initial speed: v0, the speed is reduced to v(t) when encountering resistance;

[0067] (2) Dynamic control of the needle insertion depth: The dynamic control of the needle insertion depth: Dynamically control the needle insertion depth of the blood collection mechanism based on the needle insertion depth evaluation coefficient;

[0068] IV. Safety termination condition:

[0069]

[0070] Immediately trigger the emergency retraction mechanism.

[0071] Among them, the needle insertion depth evaluation coefficient is established by using a multi-physical field coupling formula:

[0072]

[0073] In the formula: C: Neck circumference (cm), R: Longitudinal curvature radius (cm), E: Measured blood vessel elastic modulus (kPa), E0: Benchmark elastic value (this system takes 50 kPa), H: Blood vessel burial depth (mm), H0: Benchmark depth (this system takes 3 mm).

[0074] Among them, the calculation formula of v(t) is:

[0075]

[0076] Where: v(t): real-time needle insertion speed (mm / s), v0: preset initial speed (15 mm / s in this system), t: duration after resistance trigger (s), τ: system response time constant (0.2 s in this system).

[0077] Among them, the needle insertion depth of the blood collection mechanism is dynamically controlled based on the needle insertion depth evaluation coefficient as follows:

[0078]

[0079] Where: D: theoretical needle insertion depth (mm);

[0080] Adaptive correction term: ΔD = 0.3 × (real-time tissue impedance change rate).

[0081] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An automatic blood sampling and detection device for animal diseases, comprising a blood sampling platform (1), a blood sampling mechanism and a fixing component, characterized in that, On both sides of the blood collection platform (1), a neck shape acquisition module (2) is respectively arranged. On one side of the top of the blood collection platform (1), a robotic arm (3) is fixed. At the end of the robotic arm (3), a blood vessel feature acquisition module (5) is installed, and the blood collection mechanism is also installed at the end of the robotic arm (3). The neck shape acquisition module (2) is used to detect the neck circumference and longitudinal curvature of the animal, and the blood vessel feature acquisition module (5) is used to detect the blood vessel burial depth and wall elastic modulus. The control module (6) receives the data collected by the neck shape acquisition module (2) and the blood vessel feature acquisition module (5), generates a needle insertion depth evaluation coefficient, compares it with a preset reference threshold, and dynamically controls the needle insertion depth of the blood collection mechanism according to the comparison result.

2. The automatic blood sampling and detection device for animal diseases according to claim 1, characterized in that, The blood collection mechanism includes a needle insertion component and a blood extraction component. The needle insertion component includes a slide rail (4) installed at the end of the robotic arm (3). A slider (8) is slidably connected to the bottom of the slide rail (4). A screw rod (9) rotatably connected in the slide rail (4) is threadedly connected to the slider (8). At the outer end of the slide rail (4), a first motor (10) is fixed, and the output shaft of the first motor (10) is fixedly connected to the end of the screw rod (9). The blood extraction component is arranged below the slider (8).

3. The automatic blood sampling and detection device for animal diseases according to claim 2, wherein, The blood extraction component includes a first push rod (15), a push plate (16), and a fixing structure for fixing the blood collection syringe. The push plate (16) is fixedly connected to the output shaft of the first push rod (15). At the bottom end of the push plate (16), there is an arc-shaped opening capable of wrapping the piston rod of the blood collection syringe.

4. The automatic blood sampling and detection device for animal diseases according to claim 3, characterized in that, The fixing structure includes a pair of clamping blocks (13). The two clamping blocks (13) are respectively fixedly connected to the output shafts of the corresponding second push rods (12). On both sides of the bottom of the slider (8), fixing ears (11) are respectively provided. The second push rods (12) are fixed to the corresponding fixing ears (11). On the outside of one of the fixing ears (11), a switch (14) for controlling the two second push rods (12) is fixed.

5. The automatic blood sampling and detection device for animal diseases according to claim 2, wherein, On both sides of the top of the blood collection platform (1), fixing plates (7) are respectively fixed. The neck shape acquisition module (2) is fixed on the corresponding fixing plate (7). The blood vessel feature acquisition module (5) is fixed on the slide rail (4) at the end of the robotic arm (3). The control module (6) is fixed on the top of the blood collection platform (1).

6. The automatic blood sampling and detection device for animal diseases according to claim 1, characterized in that, The neck shape acquisition module (2) is located between the fixing component and the robotic arm (3). The fixing component includes a second motor (17), a winding drum (18), a pull rope (19), and an arc-shaped neck support (20). The winding drum (18) is fixedly connected to the output shaft of the second motor (17). One end of the pull rope (19) is wound around the winding drum (18), and the other end is fixedly connected to a fixing rod (21). The neck support (20) is sleeved on the pull rope (19). The second motor (17) and the fixing rod (21) are respectively fixed on the top of the blood collection platform (1).

7. An automatic blood sampling and detection device for animal diseases according to claim 1, characterized in that, The calculation formula for the needle insertion depth evaluation coefficient is as follows: In the formula: C: neck circumference, R: longitudinal curvature radius, E: measured blood vessel elastic modulus, E0: reference elastic value, H: blood vessel burial depth, H0: reference depth.

8. The automatic blood sampling and detection device for animal diseases according to claim 7, characterized in that, The control process of the blood collection mechanism is specifically as follows: I. Three-dimensional positioning stage: Laser scanning to construct a three-dimensional model of the neck (error compensation algorithm); II. Vascular locking stage: The ultrasound probe automatically finds the optimal puncture point by pathfinding; III. Dynamic puncture stage: (I) Dynamic control of needle insertion speed: Initial speed: v0, the speed is reduced to v(t) when encountering resistance; (II) Dynamic control of needle insertion depth: Dynamically control the needle insertion depth of the blood collection mechanism based on the needle insertion depth evaluation coefficient; IV. Safety termination condition: Immediately trigger the emergency retraction mechanism.

9. The automatic blood sampling and detection device for animal diseases according to claim 8, characterized in that, The calculation formula of the said v(t) is: In the formula: v(t): Real-time needle insertion speed, v0: Preset initial speed, t: Duration after the resistance is triggered, τ: System response time constant.

10. The automatic blood sampling and detection device for animal diseases according to claim 1, characterized in that, Dynamically controlling the needle insertion depth of the blood collection mechanism based on the needle insertion depth evaluation coefficient is specifically as follows: In the formula: D: Theoretical needle insertion depth; Adaptive correction term: ΔD = 0.3×(Real-time tissue impedance change rate).

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