CN118219259B - A control system and method for a throat swab sampling robot - Google Patents
A control system and method for a throat swab sampling robotInfo
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- CN118219259B CN118219259B CN202410322087.8A CN202410322087A CN118219259B CN 118219259 B CN118219259 B CN 118219259B CN 202410322087 A CN202410322087 A CN 202410322087A CN 118219259 B CN118219259 B CN 118219259B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1602—Program controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses a throat swab sampling robot control system and a throat swab sampling robot control method, wherein the throat swab sampling robot control system comprises a main control module, a hardware control module, a visual control module and a comprehensive control module which are sequentially in communication connection, wherein the main control module is used for receiving visual tracking information sent by the visual control module, sending prompt and running state information to the comprehensive control module and performing instruction information interaction with the hardware control module, the hardware control module is used for performing information interaction of a sampling mechanism with the visual control module and transmitting voice playing information to the comprehensive control module, and the visual control module is used for transmitting voice playing or text image prompt information to the comprehensive control module and receiving visual tracking activation information sent by the comprehensive control module, so that flexibility and expandability of the throat swab sampling robot are improved, and various uncertain problems possibly occurring in a sampling process can be intelligently handled.
Description
Technical Field
The application relates to the technical field of robots, in particular to a throat swab sampling robot control system and method.
Background
The throat swab sampling is a routine inspection operation in modern clinical medicine, and the throat swab sampling robot can replace human beings, and can complete inspection consumable access, personnel information acquisition, verification, target sampling position identification and positioning, throat swab scraping sampling, sampling effectiveness discrimination, sample collection, disinfection, sterilization, fault treatment and other works completely independently.
In the prior art, a throat swab sampling robot generally adopts a mode of a hardware control mechanical structure, but the hardware control programming of the existing throat swab sampling robot is relatively complex, the flexibility and the expandability are insufficient, the functions are relatively insufficient, and various uncertain problems possibly occurring in the sampling process can not be well solved.
Disclosure of Invention
In view of the above, the application provides a throat swab sampling robot control system and a throat swab sampling robot control method, which are used for solving the problems that the throat swab sampling robot with a hardware control mechanical structure in the prior art is insufficient in flexibility and expandability and cannot well cope with various uncertainty possibly occurring in the sampling process.
The application provides a throat swab sampling robot control system which comprises a main control module, a hardware control module, a visual control module and a comprehensive control module which are sequentially in communication connection;
The main control module is used for receiving the visual tracking information of the visual control module, releasing the visual tracking state of the throat swab sampling robot in real time according to the visual tracking information, simultaneously sending a text prompt message or an operation state message to the comprehensive control module, and controlling the comprehensive control module to display the text prompt message or the operation state message on a user interface of the throat swab sampling robot in real time;
The hardware control module is used for carrying out information interaction with the visual control module, issuing a motion instruction of a sampling mechanism of the throat swab sampling robot in real time according to information provided by the visual control module, transmitting voice playing information to the comprehensive control module, and controlling the comprehensive control module to control the throat swab sampling robot to play voice;
The visual control module is used for monitoring the throat of a patient, tracking the position of the throat, transmitting voice playing information or text image prompt information to the comprehensive control module, and controlling the throat swab sampling robot to start a visual servo tracking function after receiving the visual tracking activation message sent by the comprehensive control module;
the comprehensive control module is used for receiving the sampling information transmitted by the main control module, the hardware control module and the visual control module, displaying the sampling information on a user interface of the throat swab sampling robot in real time, sending the visual tracking activation message to the visual control module, and controlling the visual tracking function of the robot system.
Optionally, the main control module is used for receiving the visual tracking message sent by the visual control module, and the main control module is used for issuing the current visual tracking state of the throat swab sampling robot in real time after receiving the visual tracking message sent by the visual control module, the main control module is used for sending a text prompt message or an operation state message to the comprehensive control module, and the comprehensive control module is used for displaying the text prompt message or the operation state message on the throat swab sampling robot in real time after receiving the text prompt message or the operation state message;
the hardware control module is used for carrying out information interaction of a sampling mechanism with the visual control module and issuing a motion instruction of the sampling mechanism in real time according to the direction of deviation of a target point, and is used for transmitting voice playing information to the comprehensive control module, and the comprehensive control module receives the voice playing information and then controls the throat swab sampling robot to carry out voice playing in real time;
The visual control module is used for transmitting the voice playing information or the text image prompt information to the comprehensive control module, and the comprehensive control module receives the voice playing information or the text image prompt information and then controls the throat swab sampling robot to play voice or prompt text image in real time;
The integrated control module is used for receiving the text prompt message or the running state message sent by the main control module and displaying the text prompt message or the running state message on the throat swab sampling robot, the integrated control module is used for receiving the voice playing message transmitted by the hardware control module and displaying the voice playing message on the throat swab sampling robot, the integrated control module is used for receiving the voice playing message or the text image prompt message transmitted by the visual control module and displaying the voice playing message or the text image prompt message on the throat swab sampling robot, and the integrated control module is used for sending the visual tracking activation message to the visual control module.
Optionally, the main control module includes a monitoring window node and a main state machine node, the monitoring window node is communicatively connected to the main state machine node, and interaction between the operation state message and the manual intervention service is performed between the monitoring window node and the main state machine node;
The hardware control module comprises a hardware driving node and a servo sampling node, and the hardware driving node is in communication connection with the servo sampling node;
the main state machine node is in communication connection with the servo sampling node and is used for sending a sampling start message to the servo sampling node, and the monitoring window node is in communication connection with the hardware driving node and is used for executing instruction information interaction with the hardware driving node.
Optionally, the main control module further comprises a password verification node, wherein the password verification node is used for performing authority verification when medical staff logs in.
Optionally, the hardware driving node comprises a CAN communication driving node, a portal frame driving node, a mobile mask driving node, a 3-PRS driving node, a clamping jaw driving node and a motion control node;
the CAN communication driving node is used for completing bidirectional CAN communication between the upper computer and the lower computer;
the portal frame driving node and the movable mask driving node are used for controlling the motions of the portal frame of the sampling robot and the motor of the movable mask;
the 3-PRS driving node is used for controlling the motion of a 3-PRS sampling hand of the throat swab sampling robot;
The clamping jaw driving node is used for controlling the opening and closing of a swab clamping jaw of the sampling robot;
the motion control node is used for multi-mechanism cooperative motion control and mechanism modularization operation;
the servo sampling node is used for jointly controlling the portal frame, the movable mask and the sampling hand of the 3-PRS so as to realize force servo scraping sampling.
Optionally, the vision control module includes a face tracking node communicatively connected to the hardware driving node and the master state machine node, respectively;
the face tracking node is used for sending a visual tracking end message to the main state machine node and interacting position information and quick motion information of the sampling mechanism with the hardware driving node.
Optionally, the integrated control module includes a voice interaction node, a sampled window node and an identity verification node, where the identity verification node is respectively connected to the voice interaction node and the sampled window node in a communication manner, and the identity verification node is used for sending a voice playing message to the voice interaction node and sending a sampled information message to the sampled window node;
The voice interaction node is respectively connected with the face tracking node and the servo sampling node in a communication way, and is used for receiving voice playing information of the face tracking node and the servo sampling node;
The sampled window node is respectively in communication connection with the face tracking node and the main state machine node, and is used for receiving text prompt messages and running state messages of the face tracking node and the main state machine node;
the identity verification node is in communication connection with the face tracking node, and the identity verification node is used for sending a vision tracking activation message to the face tracking node.
Optionally, the main control module, the hardware control module, the visual control module and the comprehensive control module perform communication interaction through a first communication mode and a second communication mode of the ROS1 system;
the first communication mode is unilateral information release and information receiving, the information release and the information receiving are mutually independent and do not interfere, and the second communication mode is that a service request sends a request to a service provider, and the service provider responds and feeds back the request.
Optionally, the operation state message is the current operation state of the throat swab sampling robot issued by the main control module in real time, and the manual intervention service inputs configuration parameters and manual intervention instructions for medical staff in an interaction window.
Optionally, the position information of the sampling mechanism includes position information of a portal frame of the sampling mechanism and an end of a moving mask of the sampling mechanism, and the interaction of the rapid movement information of the sampling mechanism includes receiving a relative movement instruction of the sampling mechanism and driving the sampling mechanism to complete rapid following when visual servo throat tracking is completed.
The application also provides a throat swab sampling robot control method based on the throat swab sampling robot control system, which comprises the following steps:
The main control module receives the visual tracking information of the visual control module, issues the visual tracking state of the throat swab sampling robot in real time according to the visual tracking information, simultaneously sends a text prompt message or an operation state message to the comprehensive control module, and controls the comprehensive control module to display the text prompt message or the operation state message on a user interface of the throat swab sampling robot in real time;
The hardware control module performs information interaction with the visual control module, issues a motion instruction of a sampling mechanism of the throat swab sampling robot in real time according to information provided by the visual control module, transmits voice playing information to the comprehensive control module, and controls the comprehensive control module to control the throat swab sampling robot to play voice;
The vision control module monitors the throat of a patient, tracks the position of the throat, transmits voice playing information or text image prompt information to the comprehensive control module, and controls the throat swab sampling robot to start a vision servo tracking function after receiving a vision tracking activation message sent by the comprehensive control module;
The comprehensive control module receives the sampling information transmitted by the main control module, the hardware control module and the visual control module, displays the sampling information on a user interface of the throat swab sampling robot in real time, and sends the visual tracking activation message to the visual control module to control the visual tracking function of the robot system.
The application has the advantages that the application is different from the prior art, the software control system is divided into a plurality of independent functional modules according to the functional modules by arranging the main control module, the hardware control module, the visual control module and the comprehensive control module which are sequentially connected, each functional module comprises a plurality of program nodes which can independently operate, each node communicates with each other through information and service, the whole operation is realized, the main control module is used for receiving visual tracking information sent by the visual control module, sending prompt and running state information to the comprehensive control module and performing instruction information interaction with the hardware control module to realize the function of the main control module, and secondly, the hardware control module is used for carrying out information interaction of a sampling mechanism with the visual control module and transmitting voice playing information to the comprehensive control module, and thirdly, the visual control module is used for transmitting voice playing or text image prompt information to the comprehensive control module and receiving visual tracking activation information sent by the comprehensive control module, and is applied to the modularized development of the ROS1 system, and is based on the characteristics of communication, flexible and extensible, the robot software control system realizes the whole operation control of the robot by using the 1 operation system, has a certain expandability, is convenient for the new function, the expandability of the sensor can not be increased, and the intelligent sampling device can not be ensured, and the sampling process can not be ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic block diagram of a control system of a throat swab sampling robot of the present application;
FIG. 2 is a schematic diagram illustrating the operation of a preferred embodiment of the throat swab sampling robot control system of the present application;
fig. 3 is a flow chart of a preferred embodiment of the throat swab sampling robot control method of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the technical scheme of the present application, the following describes in further detail a throat swab sampling robot control system and method provided by the present application with reference to the accompanying drawings and detailed description. It is to be understood that the depicted embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," and the like in this disclosure are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The application provides a throat swab sampling robot control system and a throat swab sampling robot control method, which are used for solving the problems that in the prior art, the throat swab sampling robot with a hardware control mechanical structure is insufficient in flexibility and expandability and can not well cope with various uncertainty possibly occurring in the sampling process.
Referring to fig. 1 to 2, fig. 1 is a schematic block diagram of a control system of a throat swab sampling robot according to the present application, and fig. 2 is a schematic node diagram of a preferred embodiment of the control system of a throat swab sampling robot according to the present application.
The application provides a throat swab sampling robot control system, which is shown in fig. 1 and 2, wherein the throat swab sampling robot control system comprises a main control module 51, a hardware control module 52, a visual control module 53 and a comprehensive control module 54 which are sequentially in communication connection, wherein the main control module 51 is used for receiving visual tracking information sent by the visual control module 53, the main control module 51 is used for sending current visual tracking state of the throat swab sampling robot in real time after receiving the visual tracking information sent by the visual control module 53, the comprehensive control module 51 is used for sending text prompt information or running state information to the comprehensive control module 54, the comprehensive control module 54 is used for sending the text prompt information or the running state information to the throat swab sampling robot in real time, the comprehensive control module 54 is used for interacting with execution instruction information of the hardware control module 52 and using execution instruction information to control the hardware control module 52, the hardware control module 52 is used for interacting with information of a sampling mechanism and sending a movement instruction of the sampling mechanism according to the direction of a target point deviation, the comprehensive control module 52 is used for sending voice playing information to the comprehensive control module 54, the comprehensive control module 54 is used for controlling the throat swab to play real-time after receiving the voice playing information, the real-time control module 54 receives the voice playing information, the text prompt information is used for playing the visual image information, the visual sampling robot is used for playing the visual image information, or the comprehensive control module is used for playing the visual information is used for playing the visual prompt information, or is used for playing the visual information, or is used for playing, for is used for real, the visual control module 53 starts the visual servo throat tracking function of the throat swab sampling robot after receiving the visual tracking activation message sent by the comprehensive control module 54, the comprehensive control module 54 is used for receiving the text prompt message or the running state message sent by the main control module 51 and displaying the text prompt message on the throat swab sampling robot, the comprehensive control module 54 is used for receiving the voice playing message transmitted by the hardware control module 52 and displaying the voice playing message on the throat swab sampling robot, the comprehensive control module 54 is used for receiving the voice playing message or the text image prompt message transmitted by the visual control module 53 and displaying the voice playing message or the text image prompt message on the throat swab sampling robot, and the comprehensive control module 54 is used for sending the visual tracking activation message to the visual control module 53.
In the embodiment, the software control system is divided into a plurality of independent functional modules according to the functional modules by arranging the main control module, the hardware control module, the visual control module and the comprehensive control module which are sequentially connected in a communication way, each functional module comprises a plurality of program nodes which can independently operate, the nodes are mutually communicated through messages and services to realize overall operation, the main control module is used for receiving visual tracking messages sent by the visual control module, sending prompt and running state messages to the comprehensive control module and performing instruction information interaction with the hardware control module to realize the function of the main control module, and secondly, the hardware control module is used for carrying out information interaction of a sampling mechanism with the visual control module and transmitting voice playing information to the comprehensive control module, and thirdly, the visual control module is used for transmitting voice playing or text image prompt information to the comprehensive control module and receiving visual tracking activation messages sent by the comprehensive control module, and is applied to the modularized development of an ROS1 system, and based on the characteristics of communication and flexible and extensible, and the robot software control system realizes overall operation control of a robot by using the ROS1 operation system, and has a certain expandability, so that the intelligent swab can not be ensured in the following steps.
Further, the main control module comprises a monitoring window node and a main state machine node, the monitoring window node is in communication connection with the main state machine node, interaction of operation state information and manual intervention service is carried out between the monitoring window node and the main state machine node, the hardware control module comprises a hardware driving node and a servo sampling node, the hardware driving node is in communication connection with the servo sampling node, interaction of sampling mechanism fast motion information, sampling mechanism position information and force feedback condition information is carried out between the hardware driving node and the servo sampling node, the main state machine node is in communication connection with the servo sampling node and is used for sending sampling start information to the servo sampling node, and the monitoring window node is in communication connection with the hardware driving node and is used for carrying out execution instruction information interaction with the hardware driving node.
The main state machine node is used for completing the whole flow control, fault monitoring and processing of the sampling robot, and the monitoring window node is used for the functions of operation control of medical personnel interaction windows, manual intervention of operation of the main state machine, parameter configuration, fault, log feedback and the like, and simultaneously provides the functions of screen locking and the like.
Further, the main control module further comprises a password verification node, and the password verification node is used for performing authority verification when medical staff logs in.
The medical staff password verification service comprises the steps of inputting a medical staff ID, a name and a password, feeding back whether a user has machine operation authority and whether the password is matched, wherein the manual intervention service is to input configuration parameters of an interaction window of the medical staff and feed back manual intervention instructions to be a state machine response result, and the operation state information is the current operation state issued by the main control module in real time.
Further, the hardware driving nodes comprise CAN communication driving nodes, portal frame driving nodes, mobile mask driving nodes, 3-PRS driving nodes, clamping jaw driving nodes and motion control nodes;
The CAN communication driving node is used for completing bidirectional CAN communication between the upper computer and the lower computer;
the portal frame driving node and the movable mask driving node are used for controlling the movement of motors of the portal frame and the movable mask of the sampling robot;
the 3-PRS driving node is used for controlling the movement of a 3-PRS sampling hand of the throat swab sampling robot;
the clamping jaw driving node is used for controlling the opening and closing of a steering engine of a swab clamping jaw of the sampling robot;
The motion control node is used for realizing complex multi-mechanism cooperative motion control and mechanism modularization operation;
the servo sampling node is used for jointly controlling the portal frame, the movable mask and the sampling hand of the 3-PRS so as to realize force servo scraping sampling.
The hardware driving node further comprises a force sensor driving node, a seat control node, a UPS monitoring node and other equipment driving nodes, wherein the force sensor driving node is used for interacting with the force sensor, the seat control node is used for controlling the liftable seat, the UPS monitoring node is used for monitoring the working state of an Uninterruptible Power Supply (UPS), and the other equipment driving nodes are used for controlling mechanisms including a movable door plate, test tube storage, swab storage and the like and communicating with sensors such as a photoelectric door and the like.
Further, the vision control module comprises a face tracking node which is respectively connected with the hardware driving node and the main state machine node in a communication way;
the face tracking node is used for sending a visual tracking end message to the main state machine node, and interacting the position information and the quick motion information of the sampling mechanism with the hardware driving node, and can also be used for completing the functions of face recognition, image acquisition, mouth opening detection, throat three-dimensional positioning and the like.
Further, the comprehensive control module comprises a voice interaction node, a sampled window node and an identity verification node, wherein the identity verification node is respectively in communication connection with the voice interaction node and the sampled window node, and is used for sending a voice playing message to the voice interaction node and sending a sampled information message to the sampled window node;
The voice interaction node is respectively connected with the face tracking node and the servo sampling node in a communication way, and is used for receiving voice playing information of the face tracking node and the servo sampling node;
the sampled window node is respectively connected with the face tracking node and the main state machine node in a communication way, and is used for receiving text prompt messages and running state messages of the face tracking node and the main state machine node;
the identity verification node is in communication connection with the face tracking node, and the identity verification node is used for sending a vision tracking activation message to the face tracking node.
The identity verification node can also acquire and verify identity information of the sampled person through the modes of identity card reading or face recognition and the like, the voice interaction node can also generate voice prompt in a sampling stage, and the window node of the sampled person can also face the visual interface of the sampled person to display prompt characters, information of the sampled person, image guidance/prompt information and the like.
Further, the main control module, the hardware control module, the visual control module and the comprehensive control module are in communication interaction through a first communication mode and a second communication mode of the ROS1 system;
the first communication mode is a 'message' mode, namely unilateral information release and information receiving, the information release and the information receiving are mutually independent and do not interfere with each other or are not synchronous, the second communication mode is a 'service' mode, namely a service request sends a request to a service provider, and the service provider responds and feeds back the request, so that the method has synchronism.
Further, the operation state information is the current operation state of the throat swab sampling robot issued by the main control module in real time, and the manual intervention service inputs configuration parameters and manual intervention instructions for medical staff in an interaction window.
Further, the position information of the sampling mechanism comprises the position information of the end of a portal frame of the sampling mechanism and the position information of the end of a movable mask of the sampling mechanism, and the interaction of the rapid movement information of the sampling mechanism comprises the steps of receiving a relative movement instruction of the sampling mechanism and driving the sampling mechanism to complete rapid following when visual servo throat tracking is finished.
The execution instruction service is specifically a motor/equipment control instruction in the form of an input character string, the feedback execution is successful or not, the execution script service is specifically a motor/equipment control script file name in the form of the input character string, the feedback execution is successful or not, the force feedback condition information is specifically a reading of a force feedback sensor, the sampling mechanism position information is specifically a tail end position information of a sampling mechanism (comprising a portal frame and a movable mask), the sampling mechanism rapid movement information is specifically a relative movement instruction of the receiving sampling mechanism, the sampling mechanism is driven to complete corresponding actions (used for rapid following of the sampling mechanism when visual servo throat tracking), the sampling start information is specifically a received information, the sampling mechanism starts to execute sampling operation, and the sampling end information is specifically a successful/failed release of sampling after the sampling is ended.
Further, when the visual tracking activation message is monitored, the visual servo throat tracking is started, when the visual throat servo tracking is finished, the visual tracking finishing message is issued, and the voice playing message and the text prompting message are issued according to the deviating azimuth of the target point while the visual throat servo tracking is finished.
The visual tracking activation message is specifically that when the message is monitored, visual servo throat tracking is started, the visual tracking ending message is specifically that when the visual throat servo tracking is ended, the message is issued, the voice playing message is specifically that when the visual throat servo tracking is carried out, the voice prompt message and the text prompt message are issued according to the direction of deviation of the target point, the sampling mechanism rapid movement message is specifically that in the visual servo throat tracking process, the sampling mechanism movement instruction is issued in real time according to the direction of deviation of the target point, the image message is specifically that in the visual servo throat tracking process, the image of the throat part of a person to be sampled is issued after being highlighted and identified, and the image visual guidance of the image is provided for the person to be sampled.
In the integrated control module, the voice playing message is specifically a voice content in the form of a received character string, and plays corresponding audio, the text prompting message is specifically a text prompting content in the form of a received character string, and is displayed on a window of a sampled person, the information message of the sampled person is specifically a sampled person information obtained by issuing a code scanning or face recognition, the image message is specifically a received image message, and the image message is displayed on an interface in real time to the sampled person.
In some real-time examples, the throat swab sampling robot control system of the present application may be further based on an ROS1 system (i.e., a robot operating system (Robot Operating System, i.e., a robot operating system), where the control system is designed to be split according to the function according to the characteristics of the ROS1 system, each simple functional unit (node) may operate in the system independently and in parallel in a thread manner, and each node communicates with each other in a message and service manner to transfer necessary information.
Referring to fig. 3, fig. 3 is a flowchart of a method for controlling a throat swab sampling robot according to a preferred embodiment of the present application.
The application also provides a throat swab sampling robot control method based on the throat swab sampling robot control system of the embodiment, which comprises the following steps:
Step S100, the main control module receives the visual tracking information of the visual control module, issues the visual tracking state of the throat swab sampling robot in real time according to the visual tracking information, simultaneously sends a text prompt message or an operation state message to the comprehensive control module, and controls the comprehensive control module to display the text prompt message or the operation state message on a user interface of the throat swab sampling robot in real time;
Step 200, the hardware control module performs information interaction with the vision control module, issues a motion instruction of a sampling mechanism of the throat swab sampling robot in real time according to information provided by the vision control module, transmits voice playing information to the comprehensive control module, and controls the comprehensive control module to control the throat swab sampling robot to play voice;
Step 300, the vision control module monitors the throat of a patient and tracks the position of the throat, transmits voice playing information or text image prompt information to the comprehensive control module, and controls the throat swab sampling robot to start a vision servo tracking function after receiving a vision tracking activation message sent by the comprehensive control module;
And step 400, the comprehensive control module receives the sampling information transmitted by the main control module, the hardware control module and the visual control module, displays the sampling information on a user interface of the throat swab sampling robot in real time, and sends the visual tracking activation message to the visual control module to control the visual tracking function of the robot system.
In summary, the application comprises a main control module, a hardware control module, a visual control module and a comprehensive control module which are sequentially connected in a communication way, so that the software control system is divided into a plurality of independent functional modules according to the functional modules, each functional module comprises a plurality of program nodes which can independently operate, the nodes communicate with each other through messages and services to realize the whole operation, the main control module is used for receiving visual tracking messages sent by the visual control module, sending prompt and running state messages to the comprehensive control module and performing execution instruction information interaction with the hardware control module to realize the function of the main control module, and secondly, the hardware control module is used for performing information interaction of a sampling mechanism with the visual control module and transmitting voice playing information to the comprehensive control module, and thirdly, the visual control module is used for transmitting voice playing or text image prompt information to the comprehensive control module and receiving visual tracking activation messages sent by the comprehensive control module, and is applied to the modularized development of an ROS1 system, and is based on the characteristics of communication, flexible and extensible, and the robot software control system uses an ROS1 operation system to realize the whole operation control of a robot, has a certain function, is convenient for later stage, the device is convenient, the expandability and can not confirm the problem of the sampling performance of a swab in a machine.
It should be noted that, the various alternative embodiments described in the embodiments of the present application may be implemented in combination with each other, or may be implemented separately, which is not limited to the embodiments of the present application.
In the description of the present application, it should be understood that the terms "upper," "lower," "left," "right," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, as well as a specific orientation configuration and operation. Therefore, it should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The embodiments described above are described with reference to the drawings, and other different forms and embodiments are possible without departing from the principle of the application, and therefore the application should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will convey the scope of the application to those skilled in the art. In the drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. The terms "comprises," "comprising," and/or "includes," when used in this specification, specify the presence of stated features, integers, components, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, components, and/or groups thereof. Unless otherwise indicated, numerical ranges are stated to include the upper and lower limits of the range and any subranges therebetween.
The foregoing description is only a partial embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.
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| CN115399809A (en) * | 2022-10-20 | 2022-11-29 | 苏州小二智能机器人有限公司 | Sample auxiliary collection robot |
| CN115922725A (en) * | 2022-12-28 | 2023-04-07 | 山东大学 | Positioning system of throat swab sampling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115399809A (en) * | 2022-10-20 | 2022-11-29 | 苏州小二智能机器人有限公司 | Sample auxiliary collection robot |
| CN115922725A (en) * | 2022-12-28 | 2023-04-07 | 山东大学 | Positioning system of throat swab sampling robot |
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