CN114344511A - Plasma sterilization apparatus and plasma sterilization method - Google Patents
Plasma sterilization apparatus and plasma sterilization method Download PDFInfo
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- CN114344511A CN114344511A CN202111676451.3A CN202111676451A CN114344511A CN 114344511 A CN114344511 A CN 114344511A CN 202111676451 A CN202111676451 A CN 202111676451A CN 114344511 A CN114344511 A CN 114344511A
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Abstract
The application discloses a plasma sterilization device and a plasma sterilization method. The plasma sterilization device comprises a position acquisition unit, a plasma generation unit and a driving unit, wherein the position acquisition unit is used for acquiring the position information of an object to be sterilized; the plasma generating unit is used for generating plasma jet; the driving unit is in signal connection with the position acquisition unit and is used for driving the plasma generation unit to move so as to enable the plasma jet generated by the plasma generation unit to act on an object to be sterilized. The plasma sterilization device disclosed by the application can be used for accurately sterilizing an object to be sterilized.
Description
Technical Field
The application relates to the field of sterilization devices, in particular to a plasma sterilization device and a plasma sterilization method.
Background
With the rise of plasma medicine, the application of plasma jet is more and more extensive. The existing plasma sterilization is to sterilize and disinfect the surface of an object to be sterilized through plasma jet generated by a plasma jet pipe. Because the plasma jet pipe works in the atmospheric pressure environment, the plasma jet temperature is equivalent to the room temperature, and the plasma jet pipe can not damage medical instruments and human tissues, so that the plasma sterilization is widely accepted in the medical field.
Because the treatment area of plasma jet generated by a single plasma jet pipe is limited, the current plasma jet device increases the area of an object to be sterilized contacting the plasma jet by increasing the number of the jet pipes, and improves the sterilization effect. But gaps can exist between adjacent plasma jet pipes, so that a blind area exists in the sterilization process, and the sterilization is not uniform.
Disclosure of Invention
The embodiment of the application provides a plasma sterilization device and a plasma sterilization method, which can be used for accurately sterilizing an object to be sterilized.
In a first aspect, there is provided a plasma sterilization apparatus, comprising:
the position acquisition unit is used for acquiring the position information of the object to be sterilized;
a plasma generating unit for generating a plasma jet;
and the driving unit is in signal connection with the position acquisition unit and is used for driving the plasma generation unit to move so as to enable the plasma jet generated by the plasma generation unit to act on the object to be sterilized.
In a first possible implementation, the drive unit comprises:
the first moving mechanism is used for driving the plasma generating unit to move along a first direction;
the second moving mechanism is used for driving the first moving mechanism to carry the plasma generating unit to move along a second direction;
and the third moving mechanism is used for driving the first moving mechanism to carry the plasma generating unit to move along a third direction, wherein the first direction, the second direction and the third direction are pairwise vertical.
In a first possible implementation manner, the second moving mechanism includes a second guide rod and a second driving assembly, the third moving mechanism includes a third guide rod and a third driving assembly, the second guide rod and the third guide rod are vertically arranged, and the first moving mechanism is movably connected with the second guide rod and the third guide rod respectively;
the second driving assembly is used for driving the first moving mechanism and the third guide rod to move in the second direction along the second guide rod, and the third driving assembly is used for driving the first moving mechanism and the second guide rod to move in the third direction along the third guide rod.
In a first possible implementation manner, the driving unit further includes a second guide rail extending along the second direction, a third guide rail extending along the third direction, a first support slider disposed at a distance from the second guide bar, and a second support slider disposed at a distance from the third guide bar, the first support slider is movably connected with the second guide rail and connected with the third guide bar, and the second support slider is movably connected with the third guide rail and connected with the second guide bar.
In a first possible implementation manner, the second driving assembly comprises a second driving piece and a second moving block, two ends of the third guide rod are respectively connected with the first supporting sliding block and the second moving block, and the second driving piece is used for driving the second moving block to move along a second direction;
the third driving assembly comprises a third driving piece and a third moving block, two ends of the second guide rod are respectively connected with the second supporting sliding block and the third moving block, and the third driving piece is used for driving the third moving block to move along a third direction.
In a first possible implementation manner, the second driving assembly further includes a second mounting bracket supporting the second driving member, the third driving assembly includes a third mounting bracket supporting the third driving member, and the second mounting bracket, the third guide rail, the second guide rail and the third mounting bracket are connected in sequence.
In a first possible implementation manner, the first moving mechanism includes a sliding assembly, a first mounting bracket, a first driving assembly and a first guide rail, the sliding assembly is connected with the plasma generating unit, the first mounting bracket is movably connected with the second guide rod and the third guide rod respectively, the first driving assembly and the first guide rail are both arranged on the first mounting bracket, and the first driving assembly is used for driving the sliding assembly to move along the first guide rail in the first direction.
In a first possible implementation manner, the first driving assembly includes a first driving member and a driving gear, the driving gear is sleeved on the driving shaft of the first driving member, the sliding assembly includes a sliding block moving along the first guide rail and a rack connected with the sliding block, and the rack is engaged with the driving gear.
In a first possible implementation manner, the first mounting bracket includes a first sliding seat movably connected to the second guide rod, a second sliding seat movably connected to the third guide rod, and a mounting seat connecting the first sliding seat and the second sliding seat, and the first guide rail and the first driving assembly are disposed on the mounting seat.
In a first possible implementation, the position acquisition unit comprises a support bracket independent of the drive unit and a camera connected to the support bracket.
In a second aspect, there is provided a plasma sterilization method applied to the plasma sterilization apparatus as provided in the first aspect, the method including:
controlling a position acquisition unit to acquire position information of an object to be sterilized;
and controlling the driving unit to drive the plasma generating unit to move according to the position information, and controlling the plasma generating unit to generate plasma jet so that the plasma jet acts on the object to be sterilized.
In a first possible implementation manner, the step of controlling the position acquisition unit to acquire the position information of the object to be sterilized includes:
controlling a position acquisition unit to acquire an image containing an object to be sterilized;
carrying out image edge identification on the image, and extracting the image contour of the object to be sterilized in the image;
and generating position information according to the image coordinate information of the image contour in the image and a mapping table of the preset image coordinate and the actual coordinate.
Compared with the prior art, the method and the device have the advantages that the position information of the object to be sterilized can be acquired through the position acquisition unit, and the driving unit is in signal connection with the position acquisition unit, so that the driving unit can be controlled to move the plasma generation unit according to the position information, and plasma jet generated by the plasma generation unit can act on the object to be sterilized, so that the whole sterilization is automatic; the driving unit is arranged to drive the plasma generating unit to move, so that plasma jet generated by the plasma generating unit can accurately act on an object to be sterilized, and the non-uniformity of sterilization is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a plasma sterilization apparatus according to an embodiment of the present application;
FIG. 2 is a schematic perspective view of a driving unit and a plasma generating unit according to an embodiment of the present application;
fig. 3 is a partial perspective view of a driving unit according to an embodiment of the present application;
FIG. 4 is a schematic perspective view of a first movement mechanism, a second guide bar, and a third guide bar according to an embodiment of the present application;
FIG. 5 is a schematic illustration of a disassembled structure of the first movement mechanism, the second guide bar and the third guide bar of an embodiment of the present application;
FIG. 6 is a schematic perspective view of a position acquisition unit according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of a plasma sterilization method according to an embodiment of the present application;
fig. 8 is a schematic view illustrating a detailed flow of S10 in the plasma sterilization method according to an embodiment of the present application.
In the drawings:
a plasma sterilization device 100; the object to be sterilized 200; a position acquisition unit 10; a support bracket 101; a camera 102; a plasma generation unit 20; a drive unit 30;
a first moving mechanism 1; a glide assembly 11; a slider 111; a rack 112; a fixed base 113; a first mounting bracket 12; a first sliding seat 121; a first chute 121 a; a mounting base 123; an attachment plate 1231; a connecting member 1232; a mounting plate 1233; rail plates 1234; a second sliding seat 122; the second chute 122 a; a first drive assembly 13; a first driving member 131; a drive gear 132; a first guide rail 14;
a second moving mechanism 2; a second guide bar 21; a second drive assembly 22; a second driving member 221; a second moving block 222; second mounting bracket 223
A third moving mechanism 3; the third guide bar 31; a third drive assembly 32; the third driver 321; a third moving block 322; a third mounting bracket 323;
a second guide rail 4; a third guide rail 5; a first support slider 6; a second supporting slider 7.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The embodiments will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 and fig. 2, the present application provides a plasma sterilization apparatus 100, where the plasma sterilization apparatus 100 includes a position acquisition unit 10, a plasma generation unit 20, and a driving unit 30, the position acquisition unit 10 is configured to acquire position information of an object 200 to be sterilized; the plasma generating unit 20 is used for generating plasma jet; the driving unit 30 is in signal connection with the position acquisition unit 10, and the driving unit 30 is used for driving the plasma generation unit 20 to move, so that the plasma jet generated by the plasma generation unit 20 acts on the object 200 to be sterilized.
The plasma sterilization device 100 provided by the application is used for performing sterilization treatment on the surface of an object 200 to be sterilized, and the object 200 to be sterilized can be medical equipment, wounds on the surface of skin, culture medium and the like. The plasma generating unit 20 is a device capable of generating plasma jet, and the plasma jet acts on the object 200 to be sterilized, so as to inactivate microorganisms such as bacteria, fungi, actinomycetes, viruses and the like existing on the surface of the object 200 to be sterilized, thereby implementing sterilization treatment on the object 200 to be sterilized. The plasma generating unit 20 may be a jet pipe having one end communicating with an external gas supply device and the other end having an opening through which the generated plasma flows out. When the gas in the external gas supply device flows to the jet pipe, the gas is ionized into plasma by the jet pipe with high voltage electricity, and then the plasma jet is formed by jetting through the opening. The gas provided by the external gas supply device may be a non-toxic gas such as helium, oxygen, nitrogen, etc. to expand the applicable scenarios of the plasma sterilization device 100.
The position acquisition unit 10 may include one or more cameras 102, and the object 200 to be sterilized is photographed by the cameras 102 from one or more angles, and then the position information of the object 200 to be sterilized in the actual environment is obtained according to the position and shape of the object 200 to be sterilized in the photographed image. The position acquisition unit 10 may further include one or more laser scanning heads to scan the object to be sterilized 200 from one or more directions, so as to obtain the position information of the object to be sterilized 200 in the actual environment.
The position information of the object 200 to be sterilized in the actual environment may specifically be a coordinate set based on a world coordinate system, and a relative position relationship between the driving device and the object 200 to be sterilized may be obtained, so that the driving unit 30 may be controlled to drive the plasma generating unit 20 to move according to the position information, so as to perform the sterilization treatment on the surface of the object 200 to be sterilized. In this embodiment, the position information of the object to be sterilized 200 may be two-dimensional coordinate information or three-dimensional plane information. When the position information of the object 200 to be sterilized is two-dimensional coordinate information, the plasma generation unit 20 may be driven by the driving unit 30 to move in a certain plane according to the two-dimensional coordinate information, so as to perform sterilization treatment on the surface of the object 200 to be sterilized, which is directly facing the plasma generation unit 20. When the position information of the object 200 to be sterilized is three-dimensional coordinate information, the plasma generation unit 20 may be driven by the driving unit 30 to move in a plurality of directions according to the planar coordinate information, and the distance between the plasma generation unit 20 and the object 200 to be sterilized may be adjusted in real time according to the height coordinate of the object 200 to be sterilized.
The driving unit 30 may drive the plasma generating unit 20 to move within a certain range. The driving unit 30 may be a mechanical arm, a multi-axis moving device, and the like assembled by a servo motor, a hydraulic motor, a stepping motor, and the like, which are not specifically limited herein, and those skilled in the art may select the driving unit according to actual needs.
In the application, the position acquisition unit 10 is arranged to acquire the position information corresponding to the object 200 to be sterilized, and the driving unit 30 is arranged to be in signal connection with the position acquisition unit 10, so that the driving unit 30 can be controlled to move the plasma generation unit 20 according to the position information, and the plasma jet generated by the plasma generation unit 20 can act on the object 200 to be sterilized, thereby automating the whole sterilization; by arranging the driving unit 30 to drive the plasma generating unit 20 to move, the plasma jet generated by the plasma generating unit 20 can accurately act on the object 200 to be sterilized, and nonuniform sterilization is avoided.
In an embodiment, the driving unit 30 includes a first moving mechanism 1, a second moving mechanism 2 and a third moving mechanism 3, the first moving mechanism 1 is used for driving the plasma generating unit 20 to move along a first direction X, the second moving mechanism 2 is used for driving the first moving mechanism 1 to carry the plasma generating unit 20 to move along a second direction Y, and the third moving mechanism 3 is used for driving the first moving mechanism 1 to carry the plasma generating unit 20 to move along a third direction Z, wherein the first direction X, the second direction Y and the third direction Z are perpendicular to each other.
In the embodiment shown in fig. 1 and 2, the first direction X is a vertical direction, and the second direction Y and the third direction Z are horizontal directions. When the object 200 to be sterilized and the plasma generating unit 20 are placed along the vertical direction, the plasma generating unit 20 can be moved by the first moving mechanism 1, so that the distance between the object 200 to be sterilized and the plasma generating unit 20 in the vertical direction is changed, the distance between the object 200 to be sterilized and the plasma generating unit 20 is ensured to be within the range of plasma jet, and the object 200 to be sterilized and the plasma generating unit 20 are prevented from colliding. When the object 200 to be sterilized has an uneven surface, the distance between the object 200 to be sterilized and the plasma generating unit 20 can be adjusted in real time by the first moving mechanism 1 during the sterilization process by generating the plasma jet by the plasma generating unit 20, so that the intensity of the plasma jet acting on each part of the object 200 to be sterilized is consistent. The first moving mechanism 1 is moved by the second moving mechanism 2 and the third moving mechanism 3, so that the position of the plasma generating unit 20 in the plane of the second direction Y and the third direction Z can be changed to perform the sterilization process on the surface of the object 200 to be sterilized facing the plasma generating unit 20.
For example, in one embodiment, the object 200 to be sterilized is a petri dish with solid media placed therein. When the plasma sterilization apparatus 100 is used for sterilization, a culture dish is first placed below the position collection unit 10, so that the position collection unit 10 can photograph an image with the culture dish. The plasma sterilization device 100 analyzes the image, obtains the position information of the culture dish relative to the plasma sterilization device 100, controls the second moving mechanism 2 and the third moving mechanism 3 to move the plasma generating unit 20 above the culture dish according to the position information, controls the first moving mechanism 1 to move the plasma generating unit 20 to descend so that the spacing distance between the plasma generating unit 20 and the solid culture medium is within the range of the plasma jet, controls the plasma generating unit 20 to generate the plasma jet, and controls the second moving mechanism 2 and the third moving mechanism 3 to move the plasma generating unit 20 in the horizontal plane so that the plasma jet acts on the exposed outer surface of the solid culture medium.
In some embodiments, the second moving mechanism 2 includes a second guide rod 21 and a second driving assembly 22, the third moving mechanism 3 includes a third guide rod 31 and a third driving assembly 32, the second guide rod 21 and the third guide rod 31 are vertically disposed, and the first moving mechanism 1 is movably connected to the second guide rod 21 and the third guide rod 31; the second driving assembly 22 is configured to drive the first moving mechanism 1 and the third guide bar 31 to move along the second guide bar 21 in the second direction Y, and the third driving assembly 32 is configured to drive the first moving mechanism 1 and the second guide bar 21 to move along the third guide bar 31 in the third direction Z.
The second driving assembly 22 and the plasma generating unit 20 are respectively disposed at both sides of the second guide bar 21 along the third direction Z; along the second direction Y, the third driving assembly 32 and the plasma generating unit 20 are respectively disposed at two sides of the third guide rod 31, so that the plasma generating unit 20 does not collide with the second driving assembly 22 and the third driving assembly 32 during the moving process. The first moving mechanism 1 may be provided with mounting holes respectively adapted to the second guide rod 21 and the third guide rod 31, so that the second guide rod 21 and the third guide rod 31 may pass through the mounting holes of the first moving mechanism 1, thereby realizing the movable connection between the first moving mechanism 1 and the second guide rod 21 and the third guide rod 31. The second guide bar 21 and the third guide bar 31 are not in the same horizontal plane to avoid the mutual interference of the moving processes of the first moving mechanism 1 along the second guide bar 21 and the third guide bar 31. The second guide bar 21 extends in the second direction Y, and the third guide bar 31 extends in the third direction Z, and by providing the second guide bar 21 and the third guide bar 31, the moving direction of the first moving mechanism 1 and the plasma generating unit 20 is ensured.
Referring to fig. 3, the driving unit 30 further includes a second guide rail 4 extending along the second direction Y, a third guide rail 5 extending along the third direction Z, a first supporting slider 6 spaced apart from the second guide bar 21, and a second supporting slider 7 spaced apart from the third guide bar 31, wherein the first supporting slider 6 is movably connected to the second guide rail 4 and connected to the third guide bar 31, and the second supporting slider 7 is movably connected to the third guide rail 5 and connected to the second guide bar 21.
In the embodiment shown in fig. 2, the second guide rail 4 and the third guide rail 5 are respectively disposed below the first support slider 6 and the second support slider 7 in the first direction X to provide a stable supporting force to the first support slider 6 and the second support slider 7. In other embodiments, the second guide rail 4 and the third guide rail 5 may also be disposed above the first support slider 6 and the second support slider 7, respectively, in the first direction X, or the second guide rail 4 and the third guide rail 5 may be disposed at one side of the first support slider 6 and the second support slider 7, respectively, in the horizontal direction, to limit the moving direction of the first support slider 6 and the second support slider 7. The second guide rail 4 and the third guide rail 5 may be fixed to a structure such as a floor, an operation table, a wall, etc., so that the second guide rail 4 and the third guide rail 5 may provide a stable supporting force or pulling force to the first supporting slider 6 and the second supporting slider 7.
The second support slider 7 moves along the third guide rail 5 so as to be able to restrict the second guide bar 21 from moving in the third direction Z together with the third guide bar 31. Similarly, the first support slider 6 moves along the second guide rail 4, so that the third guide bar 31 can be restricted from moving in the second direction Y together with the second guide bar 21.
The second driving assembly 22 includes a second driving member 221 and a second moving block 222, two ends of the third guiding rod 31 are respectively connected to the first supporting slider 6 and the second moving block 222, and the second driving member 221 is configured to drive the second moving block 222 to move along the second direction Y. The third driving assembly 32 may adopt a structure similar to that of the second driving assembly 22, the third driving assembly 32 includes a third driving member 321 and a third moving block 322, two ends of the second guiding rod 21 are respectively connected to the second supporting slider 7 and the third moving block 322, and the third driving member 321 is configured to drive the third moving block 322 to move along the third direction Z.
The second driving member 221 and the third driving member 321 may be specifically a motor, an electric cylinder, or the like to push or pull the second moving block 222 and the third moving block 322 to move in a straight line, respectively. In an embodiment, the second driving member 221 and the third driving member 321 are ball screw driving members, the second moving block 222 and the third moving block 322 are respectively connected to the screws of the second driving member 221 and the third driving member 321, the screws are matched with the second moving block 222 and the third moving block 322 to convert the rotation motion of the screws into the linear motion of the second moving block 222 and the third moving block 322, the second moving block 222 and the third moving block 322 smoothly move along the screws, and the moving precision is high. Optionally, the second driving member 221 and the third driving member 321 are TB6600 stepping motors, and are arranged to be divided into 32 parts, so that the step angle is reduced to 0.056 °, and the control precision of the movement of the stepping motors is improved.
The second driving assembly 22 and the third driving assembly 32 each include an in-position detector to detect whether the second moving block 222 and the third moving block 322 move to a preset position through the in-position detector, where the preset position may be an initial position where the driving unit 30 does not hinder the position acquisition unit 10 from acquiring the position information of the object 200 to be sterilized, that is, after the plasma sterilization device 100 acquires the position information each time, the second driving assembly 22 and the third driving assembly 32 start to move the plasma generation unit 20 from the initial position, and after the sterilization process is completed, the second driving assembly 22 and the third driving assembly 32 move the plasma generation unit 20 back to the initial position to avoid the plasma generation unit 20 from hindering the position acquisition unit 10 from acquiring the position information of the object 200 to be sterilized.
The heights of the second moving block 222 and the first support slider 6 in the first direction X can be adjusted to adjust the heights of both ends of the third guide bar 31, the heights of the third moving block 322 and the second support slider 7 in the first direction X, and the heights of both ends of the second guide bar 21. In some embodiments, the second moving block 222 is not provided, and the driving shaft of the second driving member 221 is directly connected to the third guide bar 31. Similarly, the third driving member 321 may be directly connected to the second guide bar 21, and the third moving block 322 is not provided, so as to simplify the structure of the driving unit 30.
The second driving assembly 22 further includes a second mounting bracket 223 supporting the second driving member 221, the third driving assembly 32 includes a third mounting bracket 323 supporting the third driving member 321, and the second mounting bracket 223, the third guide rail 5, the second guide rail 4 and the third mounting bracket 323 are connected in sequence. The second mounting bracket 223, the third guide rail 5, the second guide rail 4 and the third mounting bracket 323 can be connected in sequence through an angle code, so that the second mounting bracket 223, the third guide rail 5, the second guide rail 4 and the third mounting bracket 323 can form a stable frame structure.
Referring to fig. 4 and 5, the first moving mechanism 1 includes a sliding assembly 11, a first mounting bracket 12, a first driving assembly 13 and a first guide rail 14, the sliding assembly 11 is connected to the plasma generating unit 20, the first mounting bracket 12 is movably connected to the second guide rod 21 and the third guide rod 31, the first driving assembly 13 and the first guide rail 14 are both disposed on the first mounting bracket 12, and the first driving assembly 13 is configured to drive the sliding assembly 11 to move along the first guide rail 14 in the first direction X.
The first guide rail 14 extends along the first direction X, and the sliding assembly 11 moves along the first guide rail 14, that is, the sliding assembly 11 can carry the plasma generating unit 20 to move along the first guide rail 14, so as to adjust the distance between the plasma generating unit 20 and the object 200 to be sterilized in the first direction X. The first driving assembly 13 may specifically drive the sliding assembly 11 to move along the first guide rail 14 by a motor, an electric cylinder, or the like.
The first driving assembly 13 includes a first driving member 131 and a driving gear 132, the driving gear 132 is sleeved on a driving shaft of the first driving member 131, the sliding assembly 11 includes a sliding block 111 moving along the first guide rail 14, and a rack 112 connected to the sliding block 111, and the rack 112 is engaged with the driving gear 132.
In the present embodiment, the output shaft of the first driving assembly 13 makes a rotational motion to rotate the driving gear 132, and the rotational motion is converted into a linear motion by the rack gear 112 engaged with the driving gear 132, so that the slider 111 connected to the rack gear 112 can make a linear motion along the first guide rail 14.
The top surface of the slider 111 remote from the first rail 14 is connected to the rack gear 112, and the top surface of the rack gear 112 remote from the first rail 14 is engaged with the driving gear 132. The plasma generation unit 20 may be mounted on the slider 111 or may be mounted on the rack 112. In one embodiment, the rack 112 is provided with a fixing base 113, and the plasma generating unit 20 is connected to the fixing base 113 in an interference manner. In another embodiment, the side of the rack 112 away from the first driving assembly 13 and the top of the sliding block 111 form a limiting step, and the gas supply pipeline communicated with the plasma generating unit 20 is fixed on or limited by the limiting step to avoid the gas supply pipeline interfering with the first driving assembly 13.
The first mounting bracket 12 includes a first sliding seat 121 movably connected to the second guide rod 21, a second sliding seat 122 movably connected to the third guide rod 31, and a mounting seat 123 connecting the first sliding seat 121 and the second sliding seat 122, and the first guide rail 14 and the first driving assembly 13 are disposed on the mounting seat 123.
The first sliding block 121 has a first slide groove 121a, and the second guide bar 21 is inserted into the first slide groove 121a such that the first sliding block 121 can move along the second guide bar 21. The second sliding block 122 may have a similar structure, the second sliding block 122 having a second slide groove 122a, and the third guide bar 31 being inserted into the second slide groove 122a such that the second sliding block 122 can move along the third guide bar 31. The mounting base 123 specifically includes a connecting plate 1231, a connecting member 1232, a mounting plate 1233, and a guide rail 1234, the connecting plate 1231 is connected to the top surface of the first sliding base 121 far away from the second guide rod 21, the connecting member 1232 connects the top surface of the connecting plate 1231 and the top surface of the second sliding base 122 far away from the third guide rod 31, the mounting plate 1233 extends along the first direction X from the end of the connecting plate 1231 far away from the second driving member 221, the first driving member 131 is connected to the mounting plate 1233, and the first driving member 131 is fixed to the first mounting bracket 12. The first driving member 131 and the coupling plate 1231 may be disposed at opposite sides of the second guide bar 21 in the first direction X, so that the first moving mechanism 1 is closely arranged. The mounting plate 1233 is further provided with a through hole, through which the driving shaft of the first driving member 131 can pass to connect with the driving gear 132, that is, the driving gear 132 and a portion of the first driving member 131 are respectively disposed on two opposite sides of the mounting plate 1233. The rail plate 1234 is coupled to the mounting plate 1233, and the first rail 14 is disposed on the rail plate 1234. In the embodiment shown in fig. 5, the rail plate 1234 extends in the third direction Z from the mounting plate 1233, and the first rail 14 is disposed on a side of the rail plate 1234 away from the third guide bar 31.
The connecting plate 1231, the connecting member 1232, the mounting plate 1233, and the rail plate 1234 may be integrally formed, or may be independently formed. Since the second guide bar 21 and the third guide bar 31 are vertically arranged and the second guide bar 21 and the third guide bar 31 are not in the same horizontal plane, the first mounting bracket 12 can move along the second guide bar 21 and the third guide bar 31. The second guide rod 21 and the third guide rod 31 have a certain height difference in the first direction X, and when the thickness of the connecting plate 1231 and the first sliding seat 121 in the first direction X is the same as the height difference, the top surface of the connecting plate 1231 and the top surface of the second sliding seat 122 are on the same plane, in this case, the connecting member 1232 may have a flat plate shape, and the bottom surface of the connecting member 1232 near the second guide rod 21 is connected to the connecting plate 1231 and the second sliding seat 122, respectively. When the thickness of the connecting plate 1231 and the first sliding seat 121 along the first direction X is smaller than the height, the top surface of the connecting plate 1231 and the top surface of the second sliding seat 122 are not on the same plane, and at this time, the side surface of the connecting member 1232 along the third direction Z may be connected to the second sliding seat 122, and the bottom surface of the connecting member 1232 near the second guide rod 21 is connected to the connecting plate 1231; of course, the connecting member 1232 may further have a mounting step adapted to the height difference, a side surface of the mounting step extending along the second direction Y contacts with a top surface of the second sliding seat 122 away from the third guide rod 31, and a side surface of the mounting step arranged along the first direction X contacts with a side surface of the second sliding seat 122 away from the third driving assembly 32.
Referring to fig. 6, the position detecting unit 10 includes a support bracket 101 independent from the driving unit 30 and a camera 102 connected to the support bracket 101. The supporting bracket 101 can also be provided with a guide rail, a driving structure and the like, so that the camera 102 can be movably connected with the supporting bracket 101, and the relative positions of the camera 102 and the supporting bracket 101 can be adjusted as required, so that the camera 102 can shoot pictures meeting requirements. The supporting bracket 101 can be directly placed or fixed on the ground or an operation table, and the supporting bracket 101 and the driving unit 30 are independently arranged, so that the influence of the movement of the driving unit 30 on the stability of the supporting bracket 101 can be avoided.
The application also provides a plasma sterilization method, and the method is applied to the plasma sterilization device. Referring to fig. 7, the method includes:
s10, controlling the position acquisition unit to acquire the position information of the object to be sterilized;
the position acquisition unit can acquire the position information of the object to be sterilized through a machine vision technology and can also acquire the position information of the object to be sterilized through a laser scanning technology.
And S20, controlling the driving unit to drive the plasma generating unit to move according to the position information, and controlling the plasma generating unit to generate plasma jet so that the plasma jet acts on the object to be sterilized.
In order to ensure that the plasma jet does not leave a blind zone and acts on the object to be sterilized, the moving path of the plasma generating unit needs to cover the outline of the object to be sterilized. How the moving path of the plasma generating unit is set is not limited in this application.
In the embodiment, the position information of different objects to be sterilized is acquired through the position acquisition unit, and the driving unit is arranged to be in signal connection with the position acquisition unit, so that the driving unit can be controlled to move the plasma generation unit according to the position information, and the plasma jet generated by the plasma generation unit acts on the objects to be sterilized, thereby realizing the automation of the whole sterilization; through setting up drive unit drive plasma generating element and removing for the plasma jet that plasma generating element produced can be according to the accurate effect of positional information on waiting to disinfect the object, avoids disinfecting inhomogeneous.
Referring to fig. 8, in an embodiment, the position collecting unit obtains the position information of the object to be sterilized through a machine vision technology, and S10 includes:
s11, controlling the position acquisition unit to acquire an image containing the object to be sterilized;
s12, carrying out image edge recognition on the image, and extracting the image contour of the object to be sterilized in the image;
and S13, generating position information according to the image coordinate information of the image contour in the image and the mapping table of the preset image coordinate and the actual coordinate.
The position acquisition unit comprises a support bracket, a camera and a visual identification chip, the plasma sterilization device further comprises a control chip, the control chip is in signal connection with the camera and a visual identification chip driving unit respectively, executable computer programs are stored on the control chip and the visual identification chip, and the computer programs are executed by the control chip and the visual identification chip respectively to realize the steps of image edge identification, coordinate conversion and the like. In one embodiment, the vision recognition chip and the camera adopt OpenMV modules. In another embodiment, the control chip adopts an STM32F103C8T6 chip, and the STM32F103C8T6 chip communicates with the visual identification chip through a data signal with a baud rate of 9600 to avoid high voltage interference with the data signal. The transmitted data signal may also be checked by a CRC8 check algorithm to ensure the accuracy of the received data signal.
When S12 is executed, in order to reduce the amount of calculation for image edge recognition, the color image acquired by the position acquisition unit may be subjected to a graying process, so that the obtained color image becomes a black-and-white image. Traversing each pixel in the black-and-white image, performing convolution operation on each pixel, outputting a matrix consisting of a plurality of numerical value elements, and judging the element with the numerical value jump larger than a preset threshold value in the matrix, wherein the pixel corresponding to the element is the area where the outline of the object to be sterilized in the image is located; and then, carrying out binarization processing on the image according to the numerical value jump result, so that the image after binarization processing only comprises pixels of two colors. For example, the color of the pixel corresponding to the element whose numerical value jump is greater than the preset threshold value may be set to be black, and the pixels corresponding to the other elements may be set to be white, so as to obtain a line drawing with a white ground color and a black line, where the black line outlines the object to be sterilized. The person skilled in the art can set the type of convolution kernel, the size of convolution kernel, the step length and other parameters used in the convolution operation according to the actual needs, so that the obtained image contour is more accurate. Optionally, the convolution kernel is a Log operator, the convolution kernel size is ((size x 2) +1) × ((size x 2) +1), and the size is a step size, to improve retention of the image profile.
Influenced by the nature of the detected object and ambient light, disordered pixel points may exist in the extracted image contour, the generation of subsequent position information is interfered, and the noise reduction processing can be performed on the image subjected to binarization processing.
The image coordinate information is an image coordinate set of the image contour in the image, and the actual coordinate is a relative coordinate relation between the object to be sterilized and the driving unit in the actual environment. And the preset image coordinate and actual coordinate mapping table is provided with conversion relations between the image coordinates and the actual coordinates. The person skilled in the art can acquire a plurality of sample pictures containing sample objects through the position acquisition unit in advance, and establish a mapping table of preset image coordinates and actual coordinates according to the image coordinate information of the sample objects in the sample pictures and the relative coordinate relationship between the sample objects and the driving unit. Therefore, each image coordinate in the image coordinate information can correspond to an actual coordinate in an actual environment, and the actual coordinate corresponding to each pixel in the image contour forms position information. In the case where the image resolution is 256 × 256, a 16-bit binary may be set to indicate a coordinate, the upper eight bits indicate the position in the x-axis direction, and the lower eight bits indicate the position in the y-axis direction.
Through S11-S12, the contour image of the object to be sterilized can be identified, and the position information of the object to be sterilized is obtained according to the contour image, so that the object to be sterilized can be accurately sterilized according to the position information, and a sterilization blind area is avoided.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that in the embodiment of the present application, "B corresponding to a" means that B is associated with a, from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention, and these modifications or substitutions are intended to be included in the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. A plasma sterilization device, comprising:
the position acquisition unit is used for acquiring the position information of the object to be sterilized;
a plasma generating unit for generating a plasma jet;
and the driving unit is in signal connection with the position acquisition unit and is used for driving the plasma generation unit to move so as to enable the plasma jet generated by the plasma generation unit to act on the object to be sterilized.
2. The plasma sterilization device of claim 1, wherein the drive unit comprises:
the first moving mechanism is used for driving the plasma generating unit to move along a first direction;
the second moving mechanism is used for driving the first moving mechanism to carry the plasma generating unit to move along a second direction;
and the third moving mechanism is used for driving the first moving mechanism to carry the plasma generating unit to move along a third direction, wherein the first direction, the second direction and the third direction are vertical to each other.
3. The plasma sterilization device according to claim 2, wherein the second moving mechanism comprises a second guide rod and a second driving assembly, the third moving mechanism comprises a third guide rod and a third driving assembly, the second guide rod and the third guide rod are vertically arranged, and the first moving mechanism is movably connected with the second guide rod and the third guide rod respectively;
the second driving assembly is used for driving the first moving mechanism and the third guide rod to move along the second guide rod in the second direction, and the third driving assembly is used for driving the first moving mechanism and the second guide rod to move along the third guide rod in the third direction.
4. The plasma sterilization device of claim 3, wherein the drive unit further comprises a second guide rail extending in the second direction, a third guide rail extending in the third direction, a first support slider spaced from the second guide bar and a second support slider spaced from the third guide bar, the first support slider being movably connected to the second guide rail and to the third guide bar, the second support slider being movably connected to the third guide rail and to the second guide bar.
5. The plasma sterilization device according to claim 4, wherein the second driving assembly comprises a second driving member and a second moving block, two ends of the third guide rod are respectively connected with the first supporting slider and the second moving block, and the second driving member is used for driving the second moving block to move along the second direction;
the third driving assembly comprises a third driving piece and a third moving block, two ends of the second guide rod are respectively connected with the second supporting slide block and the third moving block, and the third driving piece is used for driving the third moving block to move along the third direction.
6. The plasma sterilization device of claim 5, wherein the second drive assembly further comprises a second mounting bracket supporting the second drive member, and the third drive assembly comprises a third mounting bracket supporting the third drive member, the second mounting bracket, the third guide rail, the second guide rail, and the third mounting bracket being connected in series.
7. The plasma sterilization device according to claim 3, wherein the first moving mechanism comprises a sliding assembly, a first mounting bracket, a first driving assembly and a first guide rail, the sliding assembly is connected with the plasma generation unit, the first mounting bracket is movably connected with the second guide rod and the third guide rod respectively, the first driving assembly and the first guide rail are both arranged on the first mounting bracket, and the first driving assembly is used for driving the sliding assembly to move along the first guide rail in the first direction.
8. The plasma sterilization device according to claim 7, wherein the first driving assembly comprises a first driving member and a driving gear, the driving gear is sleeved on a driving shaft of the first driving member, the sliding assembly comprises a sliding block moving along the first guide rail and a rack connected with the sliding block, and the rack is meshed with the driving gear.
9. The plasma sterilization device of claim 7, wherein the first mounting bracket comprises a first sliding seat movably connected with the second guide bar, a second sliding seat movably connected with the third guide bar, and a mounting seat connecting the first sliding seat and the second sliding seat, the first guide rail and the first drive assembly being disposed on the mounting seat.
10. The plasma sterilization device of any one of claims 1 to 9, wherein the position acquisition unit comprises a support bracket independent of the drive unit and a camera connected to the support bracket.
11. A plasma sterilization method applied to the plasma sterilization apparatus according to any one of claims 1 to 10, the method comprising:
controlling the position acquisition unit to acquire the position information of the object to be sterilized;
and controlling the driving unit to drive the plasma generating unit to move according to the position information, and controlling the plasma generating unit to generate plasma jet so that the plasma jet acts on the object to be sterilized.
12. The plasma sterilization method according to claim 11, wherein the step of controlling the position acquisition unit to acquire the position information of the object to be sterilized includes:
controlling the position acquisition unit to acquire an image containing an object to be sterilized;
carrying out image edge identification on the image, and extracting the image contour of the object to be sterilized in the image;
and generating the position information according to the image coordinate information of the image contour in the image and a mapping table of preset image coordinates and actual coordinates.
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