Automatic swab collection method and device

Abstract

The invention relates to the technical field of swab collection, in particular to an automatic swab collection method and device.The automatic swab collection method comprises the steps that image information, collected by an image collection device, of a collected part is obtained, and collection distance information of a swab for collection is determined according to the image information; a driving signal is sent to acquisition equipment, and the acquisition equipment comprises a swinging mechanical arm and a sampling telescopic arm and is used for enabling the swinging mechanical arm and the sampling telescopic arm to perform acquisition processing according to the acquisition distance information; and position information, measured by the first distance sensor, of the swing mechanical arm and the sampling telescopic arm is obtained, and when it is confirmed that the position information of the swing mechanical arm and the sampling telescopic arm is reset to the initial position, single-time collection is completed. According to the device, swab collection operation can be achieved without using a large mechanical arm, the device has the advantages of being compact in structure, small in size, capable of being installed in a narrow space and convenient to move, collection action control is accurate, correction can be conducted in time, and collection safety, precision and efficiency are all high.

Description

Technical Field

[0001] The present application relates to the technical field of swab collection, and in particular to an automatic swab collection method and device. Background Art

[0002] A swab is a small ball of absorbent material wrapped around one end of the handle. The main purpose of the swab is to collect clinical test specimens, including throat swabs, nasal swabs, etc. The specimens are collected by swabs and then tested to achieve the purpose of diagnosis.

[0003] When testing for the virus, manual or automatic collection methods can be used. Manual collection places higher demands on medical staff. Not only are medical staff required to wear strict clothing to avoid cross-infection, but also certain collection techniques are required for medical staff. Automatic collection requires the use of automatic collection equipment. Current equipment generally uses large six-axis robotic arms for collection. Collection equipment with multi-axis robotic arms is not only large in size and high in cost, but also has low collection efficiency. Summary of the Invention

[0004] In order to solve at least the above technical problems existing in the prior art, the present application provides a swab automatic collection method and device.

[0005] On the one hand, the present application provides an automatic swab collection method, the method comprising: acquiring image information of a collected part acquired by an image acquisition device, and determining collection distance information of a collection swab based on the image information; sending a driving signal to a collection device, the collection device comprising a swinging mechanical arm and a sampling telescopic arm, for causing the swinging mechanical arm and the sampling telescopic arm to perform collection processing based on the collection distance information; acquiring position information of the swinging mechanical arm and the sampling telescopic arm measured by a first distance sensor, and confirming that a single collection is completed when the position information of the swinging mechanical arm and the sampling telescopic arm is reset to a starting position.

[0006] In some embodiments, the method further includes: obtaining the spacing information between the gripping device and the swab tube measured by a second distance sensor; sending a driving signal to the gripping device, wherein the gripping device includes a horizontal clamping arm and a vertical clamping arm, and is used to enable the horizontal clamping arm and the vertical clamping arm to perform gripping processing according to the spacing information.

[0007] In some embodiments, the method of obtaining image information of the collected part collected by the image acquisition device and determining the collection distance information of the collection swab based on the image information includes: the image acquisition device includes at least two cameras, obtains image information sent by at least two of the cameras, and extracts feature point information from the image information; when the feature point information includes set feature point information, determines that the collection distance information of the collection swab is first distance information; when the feature point information does not include set feature point information, determines that the collection distance information of the collection swab is second distance information.

[0008] In some embodiments, the driving signal is sent to the collection device, and the collection device includes a swinging mechanical arm and a sampling telescopic arm, which is used to enable the swinging mechanical arm and the sampling telescopic arm to perform collection processing according to the collection distance information. The method also includes: obtaining collection pressure information of the collection swab detected by a first force sensor, and adjusting the collection distance information according to the collection pressure information.

[0009] In some embodiments, the method of adjusting the collected distance information according to the collected pressure information includes: when the pressure value in the collected pressure information is greater than a set threshold, reducing the distance value in the collected distance information.

[0010] In some embodiments, the method further includes: obtaining the position information of the gripping device measured by the first photoelectric sensor, and when confirming that the position information of the gripping device is the loading position, sending a material receiving signal to the collection device to enable the swinging robotic arm and the sampling telescopic arm to move and clamp the collection swab.

[0011] In some embodiments, the method further includes: obtaining position information of the grasping device measured by a second photoelectric sensor, and confirming that a single grasping is completed when the position information of the grasping device is reset to a starting position.

[0012] In some embodiments, the sending of a driving signal to the acquisition device is used to enable the acquisition device to perform acquisition processing according to the acquisition distance information, and the sending of a driving signal to the gripping device is used to enable the gripping device to perform gripping processing according to the spacing information and operate synchronously.

[0013] On the other hand, the present application also provides an automatic swab collection device, including: an image processing module, the image processing module is configured to obtain image information of the collected part collected by the image collection device, and determine the collection distance information of the collection swab based on the image information; a signal sending module, the signal sending module is configured to send a driving signal to the collection device, the collection device includes a swinging mechanical arm and a sampling telescopic arm, used to enable the swinging mechanical arm and the sampling telescopic arm to perform collection processing according to the collection distance information; an acquisition module, the acquisition module is configured to obtain position information of the swinging mechanical arm and the sampling telescopic arm measured by a first distance sensor, and when it is confirmed that the position information of the swinging mechanical arm and the sampling telescopic arm is reset to the starting position, a single collection is completed.

[0014] In some embodiments, the acquisition module is further configured to acquire the spacing information between the gripping device and the swab tube measured by a second distance sensor; the signal sending module is further configured to send a driving signal to the gripping device, and the gripping device includes a horizontal clamping arm and a vertical clamping arm, for enabling the horizontal clamping arm and the vertical clamping arm to perform gripping processing according to the spacing information.

[0015] The present application provides an automatic swab collection method and device, which respectively controls a gripping device and a collection device to complete the swab gripping and material collection and swab collection actions. The collection action can be completed in an automated manner. Before collection, the collection distance is determined based on the image information. When the collection device is performing collection processing, the corresponding collection operation is completed based on the collection distance information. Similarly, before grabbing, the spacing information is determined. When the gripping device is performing grabbing processing, the corresponding grabbing operation is completed based on the spacing information. The technical solution of the present application can realize the swab collection operation without the use of a large robotic arm. It has a compact structure, a small size, can be installed in a small space, and is easy to move. The collection action is precisely controlled and can be corrected in time. The collection safety, accuracy and efficiency are all high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an illustrative and non-limiting manner, in which:

[0017] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0018] Figure 1 A reference diagram of the automatic collection robot in use in the automatic swab collection method provided in an embodiment of the present application;

[0019] Figure 2A schematic diagram of the structure of the automatic collection robot in the automatic swab collection method provided in an embodiment of the present application;

[0020] Figure 3 This is a flowchart of a single collection process in the automatic swab collection method provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of the image acquisition device in the automatic swab collection method provided in an embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of the structure of the swinging robotic arm in the automatic swab collection method provided in an embodiment of the present application;

[0023] Figure 6 This is a flowchart of a single grabbing process in the automatic swab collection method provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of the structure of the force-controlled clamp in the automatic swab collection method provided in an embodiment of the present application;

[0025] Figure 8 This is a schematic diagram of the structure of the grabbing device in the automatic swab collection method provided in an embodiment of the present application;

[0026] Figure 9 This is a schematic diagram of the structure of the second photoelectric sensor in the automatic swab collection method provided in an embodiment of the present application;

[0027] Figure 10 A flowchart of the automatic swab collection method provided in an embodiment of the present application;

[0028] Figure 11 This is a structural block diagram of the automatic swab collection device provided in an embodiment of the present application.

[0029] In the picture:

[0030] 100: Automatic collection robot; 200: Object to be collected;

[0031] 110: Camera mounting plate; 120: Left camera; 130: Right camera;

[0032] 1: Image acquisition device; 2: Horizontal distance sensor; 3: Swinging robotic arm; 31: First force sensor; 4: Vertical distance sensor; 5: Sampling telescopic arm; 6: Horizontal clamping arm; 61: Second photoelectric sensor; 7: Vertical clamping arm; 8: Force-controlled clamping claw; 9: Second distance sensor; 10: Control box; 11: Control button; 12: Swab tube. DETAILED DESCRIPTION

[0033] In order to make the purpose, features, and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0034] The embodiment of the present application provides a swab automatic collection method. During the automatic collection process, an automatic collection robot completes the automatic collection operation based on the swab automatic collection method. Figure 1 As shown, the automatic collection robot 100 is placed on a work surface, and the object 200 to be collected stands or sits in front of the automatic collection robot 100 , and the automatic collection robot 100 completes the collection operation of the object 200 to be collected.

[0035] like Figure 2 As shown, the automatic collection robot 100 includes an image acquisition device 1, a horizontal distance measuring sensor 2, a swinging mechanical arm 3, a vertical distance measuring sensor 4, a sampling telescopic arm 5, a horizontal clamping arm 6, a vertical clamping arm 7, a force-controlled gripper 8, a second distance measuring sensor 9, a control box 10, and a control button 11. The various structures of the automatic collection robot 100 provide an automatic swab collection method based on the embodiment of the present application to implement a swab collection operation; wherein, the gripping device, i.e., the horizontal clamping arm and the vertical clamping arm, is used to grip the swab material. For example, the swab material is placed in a swab tube. The gripping device grips and moves the swab to the loading position. The collection device, i.e., the swinging mechanical arm 3 and the sampling telescopic arm 5, grip the swab at the loading position. Then, the collection operation is completed by retracting and retracting.

[0036] The following is a detailed description of the automatic swab collection method and device provided in the embodiments of the present application in conjunction with the accompanying drawings.

[0037] like Figure 3 As shown, in the embodiment of the present application, the method for single acquisition includes:

[0038] S11: Acquire image information of the sampled area and determine the collection distance of the swab based on the image information. The collection device must perform standard collection actions, ensuring that the collection standard is met while also avoiding any harm to the subject. For example, when collecting a throat swab, the swab must ensure that the sample is collected around the throat and does not exert excessive pressure on the subject.

[0039] like Figure 4As shown, in the embodiment of the present application, image information is acquired through an image acquisition device 1. For example, image acquisition device 1 is a camera, which is located at the front end of the device and takes a picture of the object 200 being acquired. Taking a throat swab as an example, the device includes two left and right cameras, namely a left camera 120 and a right camera 130. The two cameras are symmetrically arranged about the centerline on a camera mounting plate 110 to form binocular stereo vision. The cameras are equipped with a light source system, which turns on and off simultaneously to provide light to the oral cavity. The visual system dynamically identifies and tracks the posterior pharyngeal wall, tonsils, and uvula inside the patient's mouth.

[0040] In an embodiment of the present application, after acquiring the image information, the intermediate coordinate information is determined, and the feature point information in the image information is extracted. When the feature point information includes the set feature point information, the collection distance information of the collection swab is determined to be the first distance information. When the feature point information does not include the set feature point information, the collection distance information of the collection swab is determined to be the second distance information.

[0041] The acquisition action of the captured object may be standard, close to standard, or non-standard. Different acquisition distances can be selected for different situations. The acquisition distance is determined based on the feature point information. For example, the acquisition distance can be determined based on the presence or absence of feature points, or based on the number of feature points.

[0042] Taking throat swab collection as an example: if the posterior pharyngeal wall and tonsils are adequately exposed in the image (i.e., feature point information for these areas can be obtained), the posterior pharyngeal wall and tonsils are selected for swabbing. If the posterior pharyngeal wall and tonsils are inadequately exposed in the image (i.e., feature point information for these areas cannot be obtained), both sides of the uvula can be swabbed.

[0043] In the embodiment of the present application, there is no limitation on the method for determining the intermediate coordinate information and extracting the feature point information.

[0044] Once the distance information is confirmed, the collection device can perform collection operations based on the distance information. Specific steps are as follows.

[0045] Step S12: sending a driving signal to the acquisition device, so as to enable the acquisition device to perform acquisition processing according to the acquisition distance information.

[0046] like Figure 2 and Figure 5 As shown, the collection device includes a swinging robotic arm 3 and a sampling telescopic arm 5. A clamping structure is provided at the end of the sampling telescopic arm 5, and the clamping structure is used to connect the collection swab. The extension distance of the swinging robotic arm 3 and the sampling telescopic arm 5 is the collection distance information confirmed in step S11.

[0047] In the embodiment of the present application, the specific forms of the swinging robotic arm 3 and the sampling telescopic arm 5 are not limited. For example, the sampling telescopic arm 5 is a linear screw structure, and the linear screw structure includes a stepper motor. By adjusting the number of driving turns of the stepper motor, the telescopic distance of the linear screw can be adjusted.

[0048] The swinging robot arm 3 includes a swinging head, which swings along a set direction to complete the collection action.

[0049] For example, the swing head includes a clamping end, a connecting end, and multiple sets of adjustable steel wire structures; the clamping end is used for collecting swabs, the connecting end is connected to a linear telescopic structure, and the clamping end and the connecting end are movably connected; the adjustable steel wire structure includes a wire reel, a wire drive, and a wire body, the wire drive is connected to the wire reel and is provided at the connecting end, one end of the wire body is connected to the wire reel, and the other end is connected to the clamping end; the orientation of the clamping end is adjusted by adjusting the length of the multiple sets of wire bodies. For example, the clamping end and the connecting end are connected by a universal head, and multiple adjustable steel wire structures are evenly arranged around the circumference of the clamping end and the connecting end. The movement of the clamping section can be adjusted by adjusting the steel wire structures. For example, when moving in one direction, the adjustable steel wire structure on one side tightens the wire body by rotating the wire reel, while the other side loosens the wire body, thereby achieving directional adjustment of the clamping end.

[0050] In an embodiment of the present application, during the collection process, the collection distance can also be dynamically adjusted according to the actual collection situation. Specifically, the collection device moves along the collection distance information determined in step S11 and starts collection. During collection, the collection pressure information of the collection swab is obtained in real time, and the collection distance information is adjusted according to the collection pressure information. The purpose of adjusting the collection distance information is to avoid the collection swab from applying excessive pressure to the collected object.

[0051] For example, the clamping structure securely holds the collection swab, and at least one first force sensor 31 is disposed on the clamping structure. The first force sensor 31 detects the reverse force applied to the collection swab. When the force exceeds a preset value, it indicates that the current pressure is excessive and the collection swab needs to be retracted appropriately. The retraction distance can be proportional to the pressure value; for example, the greater the pressure value, the greater the required retraction distance, and vice versa.

[0052] After the collection action is completed, the collection device exits and the collected swab is stored. For example, the swinging mechanical arm 3 and the sampling telescopic arm 5 move the collection swab to a set position, and the collection swab is received and placed by other gripping structures. Alternatively, for example, the swinging head adjusts the direction of the collection swab, and the shearing structure cuts off the collection head of the collection swab for collection.

[0053] Step S13: Acquire the location information of the acquisition device, and when it is confirmed that the location information of the acquisition device is reset to the starting position, the single acquisition is completed.

[0054] After the storage of the collection swab is completed, the collection device is reset, for example, by swinging the mechanical arm 3 and the sampling telescopic arm 5 to reset the clamping structure to the starting position. When it is reset to the starting position, it indicates that the current collection action is completed and the collection device can perform a new collection action.

[0055] For example, at least one first distance sensor is set around the initial position, such as the first sensor includes a horizontal distance sensor 2 and a vertical distance sensor 4, and the distance information between the acquisition device and the acquisition device is obtained through the horizontal distance sensor 2 and the vertical distance sensor 4. When the distance information is the same as the preset starting position distance information, it indicates that the acquisition device has been reset.

[0056] like Figure 6 As shown, in the embodiment of the present application, the method for a single grab includes:

[0057] Step S21: obtaining the distance information between the gripping device and the swab tube; sending a driving signal to the gripping device to enable the gripping device to perform gripping processing according to the distance information.

[0058] like Figure 2 、 Figure 7 and Figure 9 As shown, the gripping device includes a force-controlled clamp 8, which is arranged above the material. The material includes multiple rows of swab tubes 12, the swab tubes 12 are arranged horizontally, and the swabs are horizontally inserted into the swab tubes 12 with the ends exposed. The force-controlled clamp 8 is located above the swab tube 12, and a second distance sensor 9 is provided on the outer wall of the force-controlled clamp 8. The distance information between the force-controlled clamp 8 and the swab tube 12 is obtained through the second distance sensor 9.

[0059] like Figure 8 As shown, the gripping device includes a horizontal clamping arm 6 and a vertical clamping arm 7. The horizontal clamping arm 6 and the vertical clamping arm 7 are linear moving modules. The force-controlled clamping claw 8 is connected to the slider of the horizontal clamping arm 6, and the horizontal clamping arm 6 is connected to the slider of the vertical clamping arm 7. The horizontal clamping arm 6 and the vertical clamping arm 7 can realize the movement of the force-controlled clamping claw 8 within a plane range.

[0060] For example, a force sensor is installed on the force-controlled gripper 8 to detect the pressure applied by the force-controlled gripper 8 on the swab tube, ensuring that the force-controlled gripper 8 effectively grips the swab tube. Each row of swab tubes in the material is spaced apart. After completing each gripping operation, the force-controlled gripper 8 moves horizontally to the top of the next swab tube. The distance sensor then determines the spacing information.

[0061] After determining the spacing information, the force-controlled clamping claw 8 moves vertically, and after moving the distance of the spacing information, the swab tube is grabbed. After completing the grabbing action, the swab tube is moved to the desired position by the grabbing device.

[0062] Step S22: Acquire the position information of the gripping device, and when confirming that the position information of the gripping device is the loading position, send a material receiving signal to the collection device to enable the collection device to move and clamp the collection swab.

[0063] For example, after the force-controlled clamp 8 completes the grasping action, it moves to the loading position, and a first photoelectric sensor / first photoelectric switch (not shown in the figure) is set at the loading position. If the first photoelectric sensor at this position is triggered, it means that the force-controlled clamp 8 has reached the loading position. At the loading position, the collection device extends, and the clamping structure clamps the end of the collection swab. Then, the collection device contracts and pulls the collection swab out of the swab tube. Subsequently, the grasping device is withdrawn from the loading position.

[0064] In step S22, the collection swab is transferred from the gripping device to the collection device. In the subsequent operation, the collection device runs the processing process from step S11 to step S13; and the gripping device continues the gripping operation.

[0065] In the embodiment of the present application, step S23: obtaining the position information of the grabbing device, and confirming that the position information of the grabbing device is reset to the starting position, a single grab is completed.

[0066] like Figure 9 As shown, the second photoelectric sensor 61 / second photoelectric switch is respectively set at the starting position of the horizontal clamping arm 6 and the vertical clamping arm on the grasping device, that is, it includes two second photoelectric sensors 61. When the two second photoelectric sensors 61 are triggered, it means that the force-controlled clamping claw 8 is detected at the starting position, the force-controlled clamping claw 8 has been reset, the current grasping operation is completed, and the next grasping operation can be carried out.

[0067] For example, when performing the next grabbing operation, the horizontal gripping arm 6 first moves a set distance, which is changed to the linear distance between two adjacent swab tubes in the same row. Since the previous swab tube has completed the grabbing operation, when the next swab tube is operated, the horizontal gripping arm 6 first drives the power-controlled gripping claw 8 to move directly above the next swab tube.

[0068] like Figure 10 As shown, in the embodiment of the present application, the acquisition device and the gripping device are two independently operable devices. To improve acquisition efficiency, the acquisition device and the gripping device can operate synchronously. Specifically, a driving signal is sent to the acquisition device to cause the acquisition device to perform acquisition processing based on the acquisition distance information, and a driving signal is sent to the gripping device to cause the gripping device to perform gripping processing based on the spacing information.

[0069] During the first operation, the gripping device operates first, delivering the gripped collection swab to the loading position, where it clamps the swab. Subsequently, the collection device performs a collection operation, and synchronously resets, performing the gripping operation again. After completing one collection operation, the collection device can reset to its starting position or move to the receiving position (loading position) to wait for the gripping device to deliver the collection swab.

[0070] Taking the automated collection of throat swabs as an example, the automated swab collection method provided by the present invention is described.

[0071] The gripping device lowers the force-controlled gripper 8 to grip the swab tube 12 according to the spacing information, and then moves the swab tube 12 to the loading position. At the loading position, the collection device cooperates with the gripping device to transfer the collection swab to the collection device.

[0072] The subject being collected is in front of the automated throat swab collection device and needs to open his or her mouth to obtain image information of the inside of the subject's mouth. Based on the opening of the mouth, the collection distance information of the collection device is determined, that is, the depth of the collection device inserted into the mouth is determined.

[0073] Synchronously, the gripping device performs the next swab tube clamping operation.

[0074] The collection device is extended and retracted to insert the collection swab into the oral cavity, and the collection swab is rotated to perform the collection operation. During the collection process, the collection pressure feedback from the collection swab is obtained in real time. When the collection pressure exceeds the preset value, the collection swab needs to be appropriately retracted to adjust the collection pressure.

[0075] After the collection is completed, the collected collection swab is collected, and after the collection device is separated from the collection swab, the position is reset and a new collection swab delivered by the grasping device is received again.

[0076] like Figure 11 As shown, an embodiment of the present application provides an automatic swab collection device, including an image processing module, which is configured to obtain image information of the collected part and determine the collection distance information of the collection swab based on the image information; a signal sending module, which is configured to send a driving signal to the collection device, so as to enable the collection device to perform collection processing based on the collection distance information; and an acquisition module, which is configured to obtain the position information of the collection device. When it is confirmed that the position information of the collection device is reset to the starting position, a single collection is completed.

[0077] In some embodiments, the acquisition module is further configured to acquire the distance information between the gripping device and the swab tube; the signal sending module is further configured to send a driving signal to the gripping device, so as to enable the gripping device to perform gripping processing according to the distance information.

[0078] It should be noted that the description of the automatic swab collection device in the embodiment of the present disclosure is similar to the description of the automatic swab collection method embodiment described above, and has similar beneficial effects as the method embodiment, so it will not be repeated here. Figures 1 to 10 The present invention should be understood by referring to the description of any one of the accompanying drawings.

[0079] The present application provides an automatic swab collection method and device, which respectively controls a gripping device and a collection device to complete the swab gripping and material collection and swab collection actions. The collection action can be completed in an automated manner. Before collection, the collection distance is determined based on the image information. When the collection device is performing collection processing, the corresponding collection operation is completed based on the collection distance information. Similarly, before grabbing, the spacing information is determined. When the gripping device is performing grabbing processing, the corresponding grabbing operation is completed based on the spacing information. The technical solution of the present application can realize the swab collection operation without the use of a large robotic arm. It has a compact structure, a small size, can be installed in a small space, and is easy to move. The collection action is precisely controlled and can be corrected in time. The collection safety, accuracy and efficiency are all high.

[0080] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0081] 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 description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0082] The above are only specific embodiments of the present application, but the scope of protection of this application 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 application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A swab automatic collection method, characterized in that: The method comprises: Acquiring image information of the collected part collected by the image collection device (1), and determining the collection distance information of the collection swab based on the image information; Sending a driving signal to a collection device, the collection device comprising a swinging mechanical arm (3) and a sampling telescopic arm (5), for causing the swinging mechanical arm (3) and the sampling telescopic arm (5) to perform collection processing according to the collection distance information; The position information of the swinging mechanical arm (3) and the sampling telescopic arm (5) measured by the first distance sensor is obtained, and when it is confirmed that the position information of the swinging mechanical arm (3) and the sampling telescopic arm (5) is reset to the starting position, a single acquisition is completed.

2. The automatic swab collection method according to claim 1, characterized in that: The method further comprises: obtaining distance information between the gripping device and the swab tube (12) measured by a second distance sensor (9); A driving signal is sent to the gripping device, which includes a horizontal gripping arm (6) and a vertical gripping arm (7), so that the horizontal gripping arm (6) and the vertical gripping arm (7) perform gripping processing according to the spacing information.

3. The automatic swab collection method according to claim 1, characterized in that: The method for obtaining image information of the collected part collected by the image collection device (1) and determining the collection distance information of the collection swab according to the image information comprises: The image acquisition device (1) comprises at least two cameras, acquires image information sent by at least two cameras, and extracts feature point information from the image information; When the feature point information includes the set feature point information, the collection distance information of the collection swab is determined to be the first distance information. When the feature point information does not include the set feature point information, the collection distance information of the collection swab is determined to be the second distance information.

4. The automatic swab collection method according to claim 1, characterized in that: The driving signal is sent to the collection device, the collection device comprising a swinging mechanical arm (3) and a sampling telescopic arm (5), and is used to make the swinging mechanical arm (3) and the sampling telescopic arm (5) perform collection processing according to the collection distance information, and the method further comprises: Acquiring collection pressure information of the collection swab detected by a first force sensor (31), and adjusting the collection distance information according to the collection pressure information.

5. The automatic swab collection method according to claim 4, characterized in that: The method for adjusting the collected distance information according to the collected pressure information includes: When the pressure value in the collected pressure information is greater than a set threshold, the distance value in the collected distance information is reduced.

6. The automatic swab collection method according to claim 2, characterized in that: The method further comprises: The position information of the gripping device measured by the first photoelectric sensor is obtained, and when it is confirmed that the position information of the gripping device is a loading position, a material receiving signal is sent to the collection device to cause the swinging mechanical arm (3) and the sampling telescopic arm (5) to move and clamp the collection swab.

7. The automatic swab collection method according to claim 6, characterized in that: The method further comprises: The position information of the gripping device measured by the second photoelectric sensor (61) is obtained, and when it is confirmed that the position information of the gripping device is reset to the starting position, a single gripping is completed.

8. The automatic swab collection method according to claim 2, characterized in that: The sending of a driving signal to the acquisition device is used to enable the acquisition device to perform acquisition processing according to the acquisition distance information, and the sending of a driving signal to the gripping device is used to enable the gripping device to perform gripping processing according to the spacing information and operate synchronously.

9. An automatic swab collection device, characterized in that: include: an image processing module configured to obtain image information of the collected part collected by the image collection device, and determine collection distance information of the collection swab based on the image information; a signal sending module, the signal sending module being configured to send a driving signal to a collection device, the collection device comprising a swinging mechanical arm and a sampling telescopic arm, for causing the swinging mechanical arm and the sampling telescopic arm to perform collection processing according to the collection distance information; An acquisition module is configured to acquire position information of the swinging robotic arm and the sampling telescopic arm measured by a first distance sensor, and when it is confirmed that the position information of the swinging robotic arm and the sampling telescopic arm is reset to the starting position, a single acquisition is completed.

10. The automatic swab collection device according to claim 9, characterized in that: The acquisition module is further configured to acquire distance information between the gripping device and the swab tube measured by the second distance sensor; The signal sending module is further configured to send a driving signal to the gripping device, which includes a horizontal gripping arm and a vertical gripping arm, so that the horizontal gripping arm and the vertical gripping arm perform gripping processing according to the spacing information.

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