CN115816437A - Intelligent nucleic acid sampling robot system - Google Patents

Abstract

The invention relates to an intelligent nucleic acid sampling robot system, which comprises a main control system module, a stereoscopic vision system module and a mechanical arm, and comprises the following technical steps: step (1): scanning and recognizing the face image by using a stereoscopic vision system module, and transmitting face image information to a main control system module; step (2): the main control system module performs space coordinate operation by using a human face key point position positioning algorithm, and plans a mechanical arm motion track and a space position by adopting an RRT algorithm according to the calculated coordinates; and (3): the master control system module controls the mechanical arm to sample the throat swab according to the planned track. The invention adopts the face key point positioning algorithm, greatly optimizes the mouth and oral cavity positioning problem, accurately identifies, and has high efficiency, safety and reliability for positioning the target. The RRT algorithm adopted for the mechanical arm path planning has high flexibility and high efficiency, and is suitable for accurate sampling of the shortest path selected by the mechanical arm in space.

Description

An intelligent nucleic acid sampling robot system

technical field

The invention relates to the field of smart medical technology, in particular to an intelligent nucleic acid sampling robot system.

Background technique

Face-to-face testing by medical staff not only has the risk of infection, but is also slow and inefficient. The robotic arm technology can perfectly solve these problems, and the robot detection is efficient, safe and fast.

Contents of the invention

The technical problem to be solved by the present invention is to provide an intelligent nucleic acid sampling robot system, which can perform intelligent nucleic acid sampling for personnel who need nucleic acid detection, thereby reducing the use of manpower and ensuring safety.

In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent nucleic acid sampling robot system, comprising a main control system module, a stereo vision system module, and a mechanical arm; including the following technical steps:

Step (1): Utilize the stereo vision system module to scan and recognize the face image, and transmit the face image information to the main control system module;

Step (2): The main control system module uses the face key point position positioning algorithm to perform spatial coordinate calculations, and uses the RRT algorithm to plan the movement trajectory and spatial position of the robotic arm according to the calculated coordinates;

Step (3): The main control system module controls the robotic arm to sample throat swabs according to the planned trajectory.

The preferred scheme is that the method for the main control system module to perform spatial coordinate calculation on the face image is:

First, use the face key point position positioning algorithm to mark the key points of the mouth in the face image, roughly determine the position of the mouth, and then obtain the accurate coordinate position of the mouth according to the position deviation of the midpoint of the contour line;

Secondly, the key points of the oral cavity are marked with information, the position of the oral cavity is roughly determined, and the accurate coordinate position of the oral cavity is obtained according to the position deviation of the midpoint of the contour line;

Then, curve fit the obtained mouth coordinate position and oral cavity contour line to obtain the corresponding contour line between the mouth and the oral cavity; then find out the position deviation of the accurate midpoint of the contour line, determine the adjustment position of the contour line, and The mouth and mouth position are further adjusted.

The preferred scheme is that the control chip of the main control system module adopts a plug-in type, the bottom board adopts an STM32CPU chip, and the main control chip is STM32F103RBT6. The mechanical arm adopts a six-degree-of-freedom mechanical arm.

Compared with the prior art, the present invention has the beneficial effects as follows: (1) The present invention adopts the face key point positioning algorithm, which greatly optimizes the positioning of the mouth and oral cavity, accurate identification, efficient positioning of targets, and safety and reliability. (2) The path planning of the manipulator adopts the RRT algorithm, which has high flexibility and high efficiency, and is suitable for the manipulator to select the shortest path in space for accurate sampling.

Description of drawings

Fig. 1 is a block diagram of the system operating mode of the present invention;

Fig. 2 is the labeling of the key point information of the face key point location algorithm of the present invention;

Fig. 3 is the labeling of the key point information of the oral cavity key point positioning algorithm of the present invention;

Fig. 4 is a schematic diagram of the RRT algorithm of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", The orientation or positional relationship indicated by "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have Certain orientations, constructed and operative in certain orientations, therefore are not to be construed as limitations on the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

An intelligent nucleic acid sampling robot system that can identify the face image to determine the position of the mouth, then control the robotic arm to grab the cotton swab and move the swab to sample the throat swab according to the planned trajectory, and then take it back according to the planned trajectory and put the sample into the sampling box to complete the sampling action. The system includes a main control system module, a stereo vision system module, and a robotic arm, including the following technical steps, as shown in Figure 1:

Step (1): Use the stereo vision system module to scan and recognize the face image, and transmit the face image information to the main control system module. Among them, the control chip of the main control system module adopts plug-in card type, the bottom board adopts STM32CPU chip, and the main control chip is STM32F103RBT6; STM32F0 series products are based on the ultra-low power consumption ARM Cortex-M0 processor core, integrating enhanced technologies and functions to realize App for ultra-low-cost budgets. This series of microcontrollers closes the performance gap between devices using 8- and 16-bit microcontrollers and those using 32-bit microcontrollers, enabling advanced and complex functions in economical end products.

Step (2): The main control system module performs spatial coordinate calculations, and uses the RRT algorithm to plan the movement trajectory and spatial position of the manipulator according to the calculated coordinates; the method for the main control system module to perform spatial coordinate calculations on face images is :

First, use the face key point position positioning algorithm to mark the key points of the mouth in the face image, as shown in Figure 2, roughly determine the position of the mouth, and then obtain the accurate coordinate position of the mouth according to the position deviation of the midpoint of the contour line;

Secondly, the key points of the oral cavity are marked with information, as shown in Figure 3, the position of the oral cavity is roughly determined, and then the accurate coordinate position of the oral cavity is obtained according to the position deviation of the midpoint of the contour line;

Then, curve fit the obtained mouth coordinate position and oral cavity contour line to obtain the corresponding contour line between the mouth and the oral cavity; then find out the position deviation of the accurate midpoint of the contour line, determine the adjustment position of the contour line, and The mouth and mouth position are further adjusted.

Step (3): The main control system module controls the robotic arm to sample throat swabs according to the planned trajectory. The mechanical arm adopts a six-degree-of-freedom mechanical arm; the six-degree-of-freedom mechanical arm has high movement flexibility, a large working range, can bypass obstacles flexibly, and has a compact structure, which can improve work efficiency. Even better, the robotic arm is equipped with a steering gear module, and the arm part adopts LFD-06 digital steering gear, which has the characteristics of low power consumption and is not easy to break teeth; the mechanical claw part adopts LDX-335MG digital steering gear, which has anti-burning and anti-blocking turn function.

The path planning of the manipulator adopts the RRT algorithm. RRT is an efficient planning method in multi-dimensional space. The principle is shown in Figure 4. An initial point is used as the root node, and a random expansion tree is generated by adding leaf nodes through random sampling. When the leaf node in the random tree contains the target point or enters the target area, a path from the initial point to the target point can be found in the random tree, so that the robotic arm can reach the designated place to complete the collection of nucleic acid samples.

The present invention adopts the face key point positioning algorithm, which greatly optimizes the problem of difficult mouth positioning, and accurately identifies and locates the target with high efficiency, safety and reliability, and achieves the purpose of intelligent nucleic acid collection; the path planning of the mechanical arm adopts the RRT algorithm, and the algorithm has high flexibility , high efficiency, suitable for the robot arm to select the shortest path in the space for accurate sampling; using STM32 as the controller, it has the advantages of high performance, low cost, and low power consumption, and has powerful peripheral resources, which is convenient for processing analog and digital signals , suitable for designing control circuits.

Claims (4)

1. An intelligent nucleic acid sampling robot system, comprising a main control system module, a stereo vision system module, a mechanical arm, is characterized in that, comprising the following technical steps: Step (1): Utilize the stereo vision system module to scan and recognize the face image, and transmit the face image information to the main control system module; Step (2): The main control system module uses the face key point position positioning algorithm to perform spatial coordinate calculations, and uses the RRT algorithm to plan the movement trajectory and spatial position of the robotic arm according to the calculated coordinates; Step (3): The main control system module controls the robotic arm to sample throat swabs according to the planned trajectory. 2. intelligent nucleic acid sampling robot system according to claim 1, is characterized in that, the method that described main control system module carries out spatial coordinate operation to face image is: First, use the face key point position positioning algorithm to mark the key points of the mouth in the face image, roughly determine the position of the mouth, and then obtain the accurate coordinate position of the mouth according to the position deviation of the midpoint of the contour line; Secondly, the key points of the oral cavity are marked with information, the position of the oral cavity is roughly determined, and the accurate coordinate position of the oral cavity is obtained according to the position deviation of the midpoint of the contour line; Then, curve fit the obtained mouth coordinate position and oral cavity contour line to obtain the corresponding contour line between the mouth and the oral cavity; then find out the position deviation of the accurate midpoint of the contour line, determine the adjustment position of the contour line, and The mouth and mouth position are further adjusted. 3. The intelligent nucleic acid sampling robot system according to claim 1, wherein the control chip of the main control system module adopts a plug-in type, the bottom plate adopts an STM32CPU chip, and the main control chip is STM32F103RBT6. 4. The intelligent nucleic acid sampling robot system according to claim 1, wherein the robotic arm adopts a six-degree-of-freedom robotic arm.

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