CN114344511B - Plasma sterilization apparatus and plasma sterilization method - Google Patents
Plasma sterilization apparatus and plasma sterilization method Download PDFInfo
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- CN114344511B CN114344511B CN202111676451.3A CN202111676451A CN114344511B CN 114344511 B CN114344511 B CN 114344511B CN 202111676451 A CN202111676451 A CN 202111676451A CN 114344511 B CN114344511 B CN 114344511B
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- Apparatus For Disinfection Or Sterilisation (AREA)
Abstract
The application discloses a plasma sterilization device and a plasma sterilization method. The plasma sterilizing device comprises a position acquisition unit, a plasma generating unit and a driving unit, wherein the position acquisition unit is used for acquiring 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 accurately sterilize objects to be sterilized.
Description
Technical Field
The present application relates to the field of sterilization apparatuses, and in particular, to a plasma sterilization apparatus and a plasma sterilization method.
Background
With the advent of plasma medicine, plasma jet applications have become more and more widespread. The existing plasma sterilization is to sterilize and disinfect the surface of an object to be sterilized by plasma jet generated by a plasma jet pipe. The plasma jet pipe works in the atmospheric pressure environment, the plasma jet temperature is equivalent to the room temperature, and the damage to medical instruments and human tissues is avoided, so that the plasma sterilization is widely accepted in the medical field.
Because the treatment area of the 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, which is contacted with the plasma jet, by increasing the number of the jet pipes, so that the sterilization effect is improved. However, gaps exist between adjacent plasma jet pipes, so that dead zones exist in the sterilization process, and the sterilization is uneven.
Disclosure of Invention
The embodiment of the application provides a plasma sterilization device and a plasma sterilization method, which can accurately sterilize objects to be sterilized.
In a first aspect, there is provided a plasma sterilization apparatus, the 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;
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.
In a first possible implementation, the driving unit includes:
a first moving mechanism for driving the plasma generating unit to move in a first direction;
a second moving mechanism for driving the first moving mechanism to move along a second direction with the plasma generating unit;
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 perpendicular to each other.
In a first possible implementation manner, 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.
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 being movably connected with the second guide rail and with the third guide bar, and the second support slider being movably connected with the third guide rail and 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 the second direction;
the third driving component 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 sequentially connected.
In a first possible implementation manner, the first moving mechanism includes a sliding component, a first mounting bracket, a first driving component and a first guide rail, the sliding component 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 component and the first guide rail are both arranged on the first mounting bracket, and the first driving component is used for driving the sliding component to move along the first guide rail in a 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 a 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 meshed with the driving gear.
In a first possible implementation manner, the first mounting bracket includes a first sliding seat movably connected with the second guide rod, a second sliding seat movably connected with 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 stand independent of the drive unit and a camera connected to the support stand.
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 comprising:
the control position acquisition unit acquires position information of an object to be sterilized;
the driving unit is controlled to drive the plasma generating unit to move according to the position information, and the plasma generating unit is controlled 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 recognition 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 preset image coordinate and actual coordinate mapping table.
Compared with the prior art, 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, the plasma jet generated by the plasma generation unit can act on the object to be sterilized, and the whole sterilization is automated; the driving unit is arranged to drive the plasma generating unit to move, so that plasma jet generated by the plasma generating unit can precisely act on an object to be sterilized, and nonuniform sterilization is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed 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 that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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 schematic view of a partial perspective structure of a driving unit according to an embodiment of the present application;
fig. 4 is a schematic perspective view of a first moving mechanism, a second guide bar and a third guide bar according to an embodiment of the present application;
FIG. 5 is a schematic view of a disassembled structure of a first moving mechanism, a second guide bar, and a third guide bar according to 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 flow chart of a plasma sterilization method according to an embodiment of the present application;
fig. 8 is a schematic diagram of a refinement flow of S10 in the plasma sterilization method according to an embodiment of the present application.
In the accompanying drawings:
a plasma sterilization apparatus 100; an object 200 to be sterilized; a position acquisition unit 10; a support bracket 101; a camera 102; a plasma generating unit 20; a driving unit 30;
a first moving mechanism 1; a slip assembly 11; a slider 111; a rack 112; a fixing base 113; a first mounting bracket 12; a first slide seat 121; a first chute 121a; a mounting base 123; a connection plate 1231; a connection 1232; a mounting plate 1233; a guide rail plate 1234; a second sliding seat 122; a second chute 122a; a first drive assembly 13; a first driving member 131; a drive gear 132; a first 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; a third guide bar 31; a third drive assembly 32; a third driving member 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; and a second support slider 7.
Detailed Description
Features and exemplary embodiments of various aspects of the present application are 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 showing an example of the present application.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 and 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, and the position acquisition unit 10 is used to acquire position information of an object 200 to be sterilized; the plasma generating unit 20 is used for generating a 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 a medical instrument, a wound on the surface of skin, a culture medium and the like. The plasma generating unit 20 is a device capable of generating a plasma jet, and the plasma jet acts on the object 200 to be sterilized, so that microorganisms such as bacteria, fungi, actinomycetes, viruses and the like existing on the surface of the object 200 to be sterilized can be deactivated, and the object 200 to be sterilized can be sterilized. The plasma generating unit 20 may select a jet pipe, one end of which communicates with an external gas supply device and the other end of which has an opening through which 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 is sprayed out through the opening to form plasma jet. The gas provided by the external gas supply device can be nontoxic gases such as helium, oxygen, nitrogen and the like so as to expand the applicable scenes 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 from one or more angles by the cameras 102, and then position information of the object 200 to be sterilized in an 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 200 to be sterilized from one or more directions to obtain position information of the object 200 to be sterilized in an actual environment.
The position information of the object 200 to be sterilized in the actual environment may specifically be a set of coordinates based on a world coordinate system, and a relative positional 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 sterilization treatment on the surface of the object 200 to be sterilized. In this embodiment, the position information of the object 200 to be sterilized may be two-dimensional coordinate information or three-dimensional plane information. When the position information of the object to be sterilized 200 is two-dimensional coordinate information, the plasma generating unit 20 may be driven to move in a certain plane by the driving unit 30 according to the two-dimensional coordinate information, so that the surface of the object to be sterilized 200 facing the plasma generating unit 20 is sterilized. When the position information of the object to be sterilized 200 is three-dimensional coordinate information, the plasma generating unit 20 may be driven to move in a plurality of directions by the driving unit 30 according to the plane coordinate information, and the distance between the plasma generating unit 20 and the object to be sterilized 200 may be adjusted in real time according to the height coordinates of the object to be sterilized 200.
The driving unit 30 may drive the plasma generating unit 20 to move within a certain range. The driving unit 30 may be specifically a mechanical arm, a multi-axis moving device, etc. assembled by a servo motor, a hydraulic motor, a stepping motor, etc., and is not specifically limited herein, and may be selected by those skilled in the art 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, the plasma jet generated by the plasma generation unit 20 can act on the object 200 to be sterilized, and the whole sterilization is automated; 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 precisely 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 the 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 the 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 the 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 in the vertical direction, the plasma generating unit 20 can be moved by the first moving mechanism 1, 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 the plasma jet, and collision between the object 200 to be sterilized and the plasma generating unit 20 is avoided. 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 also be adjusted in real time by the first moving mechanism 1 during the process of generating the plasma jet by the plasma generating unit 20 for sterilization, so that the intensity of the plasma jet acting on the object 200 to be sterilized is uniform throughout. 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 sterilization treatment 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 a solid medium placed therein. When the plasma sterilization apparatus 100 is used for sterilization, the culture dish is first placed under the position acquisition unit 10 so that the position acquisition unit 10 can take an image of the culture dish. The plasma sterilization apparatus 100 analyzes the image to obtain the position information of the culture dish relative to the plasma sterilization apparatus 100, and controls the second moving mechanism 2 and the third moving mechanism 3 to move the plasma generation unit 20 above the culture dish according to the position information, controls the first moving mechanism 1 to move the plasma generation unit 20 to descend so that the interval distance between the plasma generation unit 20 and the solid medium is within the range of the plasma jet, controls the plasma generation unit 20 to generate the plasma jet, and controls the second moving mechanism 2 and the third moving mechanism 3 to move the plasma generation unit 20 in the horizontal plane so that the plasma jet acts on the exposed outer surface of the solid medium.
In some embodiments, the second moving mechanism 2 includes a second guide bar 21 and a second driving assembly 22, the third moving mechanism 3 includes a third guide bar 31 and a third driving assembly 32, the second guide bar 21 and the third guide bar 31 are vertically disposed, and the first moving mechanism 1 is movably connected with the second guide bar 21 and the third guide bar 31, respectively; the second driving assembly 22 is used for driving 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 used for driving 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 arranged at two sides of the second guide bar 21 along the third direction Z; the third driving assembly 32 and the plasma generating unit 20 are disposed at both sides of the third guide bar 31 along the second direction Y, so that the plasma generating unit 20 does not collide with the second driving assembly 22 and the third driving assembly 32 during moving. The first moving mechanism 1 may be provided with assembly holes respectively adapted to the second guide bar 21 and the third guide bar 31, so that the second guide bar 21 and the third guide bar 31 may pass through the assembly holes of the first moving mechanism 1, thereby realizing movable connection of the first moving mechanism 1 with the second guide bar 21 and the third guide bar 31, respectively. The second guide bar 21 and the third guide bar 31 are not in the same horizontal plane to avoid the first moving mechanism 1 from interfering with each other in the moving process 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 in combination, 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 from the second guide rail 21, and a second supporting slider 7 spaced from the third guide rail 31, wherein the first supporting slider 6 is movably connected to the second guide rail 4 and is connected to the third guide rail 31, and the second supporting slider 7 is movably connected to the third guide rail 5 and is connected to the second guide rail 21.
In the embodiment shown in fig. 2, the second guide rail 4 and the third guide rail 5 are disposed below the first support slider 6 and the second support slider 7, respectively, in the first direction X to provide 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, along the first direction X, or the second guide rail 4 and the third guide rail 5 may be disposed on one side of the first support slider 6 and the second support slider 7, respectively, along the horizontal direction, so as 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 floor, an operation table, a wall, etc. such that the second guide rail 4 and the third guide rail 5 may provide a stable supporting force or pulling force to the first support slider 6 and the second support slider 7.
The second support slider 7 moves along the third guide rail 5 so that the second guide bar 21 can be restrained 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 movement of the third guide bar 31 in the second direction Y can be restricted 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 guide rod 31 are respectively connected to the first supporting slider 6 and the second moving block 222, and the second driving member 221 is used for driving the second moving block 222 to move along the second direction Y. The third driving assembly 32 may have a similar structure to the second driving assembly 22, and the third driving assembly 32 includes a third driving member 321 and a third moving block 322, two ends of the second guide rod 21 are respectively connected to the second supporting slider 7 and the third moving block 322, and the third driving member 321 is used for driving the third moving block 322 to move along the third direction Z.
The second and third driving members 221 and 321 may be, in particular, motors, electric cylinders, etc. to push or pull the second and third moving blocks 222 and 322, respectively, to move in a straight line. 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 with the screws of the second driving member 221 and the third driving member 321, and 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, and the second moving block 222 and the third moving block 322 stably move along the screw with high moving precision. Optionally, the second driving member 221 and the third driving member 321 are TB6600 stepping motors, and are set to be 32 sub-divided, 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-place detector to detect whether the second moving block 222 and the third moving block 322 move to a preset position by the in-place detector, the preset position may be an initial position where the driving unit 30 does not interfere with the position acquisition unit 10 to acquire the position information of the object 200 to be sterilized, that is, after the plasma sterilization apparatus 100 acquires the position information each time, the second driving assembly 22 and the third driving assembly 32 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 interfering with the position acquisition unit 10 to acquire the position information of the object 200 to be sterilized.
The heights of the second moving block 222 and the first supporting slider 6 along the first direction X can be adjusted to adjust the heights of both ends of the third guide bar 31, and the heights of the third moving block 322 and the second supporting slider 7 along the first direction X can be adjusted to adjust 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. Also, the third driving member 321 may be directly connected to the second guide bar 21 without the third moving block 322 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, and 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 sequentially connected. The second mounting bracket 223, the third guide rail 5, the second guide rail 4 and the third mounting bracket 323 may be sequentially connected through the corner connector, so as to ensure that the second mounting bracket 223, the third guide rail 5, the second guide rail 4 and the third mounting bracket 323 form a stable frame structure.
Referring to fig. 4 and 5, the first moving mechanism 1 includes a sliding component 11, a first mounting bracket 12, a first driving component 13 and a first guide rail 14, the sliding component 11 is connected with the plasma generating unit 20, the first mounting bracket 12 is movably connected with a second guide rod 21 and a third guide rod 31 respectively, the first driving component 13 and the first guide rail 14 are both disposed on the first mounting bracket 12, and the first driving component 13 is used for driving the sliding component 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 that the distance between the plasma generating unit 20 and the object 200 to be sterilized is adjusted 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 through a motor, an electric cylinder, or the like.
The first driving assembly 13 comprises a first driving piece 131 and a driving gear 132, the driving gear 132 is sleeved on the driving shaft of the first driving piece 131, the sliding assembly 11 comprises a sliding block 111 moving along the first guide rail 14, and a rack 112 connected with the sliding block 111, and the rack 112 is meshed with the driving gear 132.
In the present embodiment, the output shaft of the first driving assembly 13 performs a rotational motion to rotate the driving gear 132, and the rotational motion is converted into a linear motion by the rack 112 engaged with the driving gear 132, so that the slider 111 connected to the rack 112 can perform a linear motion along the first guide rail 14.
The top surface of the slider 111, which is far from the first rail 14, is connected to the rack 112, and the top surface of the rack 112, which is far from the first rail 14, is meshed with the driving gear 132. The plasma generating 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 seat 113, and the plasma generating unit 20 is connected to the fixing seat 113 in an interference manner. In another embodiment, the side of the rack 112 away from the first driving assembly 13 and the top surface of the slider 111 form a limiting step, and an air supply pipe communicating with the plasma generating unit 20 is fixed to or limited by the limiting step to avoid interference of the air supply pipe with the first driving assembly 13.
The first mounting bracket 12 includes a first slide seat 121 movably connected to the second guide bar 21, a second slide seat 122 movably connected to the third guide bar 31, and a mounting seat 123 connecting the first slide seat 121 and the second slide seat 122, and the first guide rail 14 and the first driving assembly 13 are disposed on the mounting seat 123.
The first sliding seat 121 has a first sliding groove 121a, and the second guide bar 21 is inserted into the first sliding groove 121a such that the first sliding seat 121 can move along the second guide bar 21. The second sliding seat 122 may have a similar structure, the second sliding seat 122 has a second sliding groove 122a, and the third guide bar 31 is inserted into the second sliding groove 122a such that the second sliding seat 122 can move along the third guide bar 31. The mount pad 123 specifically includes connecting plate 1231, connecting piece 1232, mounting panel 1233 and guide rail plate 1234, and connecting plate 1231 is connected with the top surface that second guide bar 21 was kept away from to first sliding seat 121, and the top surface of connecting plate 1231 is kept away from to connecting piece 1232 and second sliding seat 122 top surface that third guide bar 31 was kept away from to second sliding seat 122, and mounting panel 1233 extends along first direction X from the one end that second driving piece 221 was kept away from to connecting plate 1231, and first driving piece 131 is connected with mounting panel 1233, realizes that first driving piece 131 is fixed with first installing support 12. The first driving member 131 and the connection plate 1231 may be separately provided at opposite sides of the second guide bar 21 in the first direction X to make the first moving mechanism 1 closely arranged. The mounting plate 1233 is further provided with a through hole, through which the driving shaft of the first driving member 131 may pass to be connected with the driving gear 132, that is, the driving gear 132 and a part of the first driving member 131 are disposed on two opposite sides of the mounting plate 1233. The rail plate 1234 is connected 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 from the mounting plate 1233 in the third direction Z, and the first rail 14 is disposed on the side of the rail plate 1234 remote from the third guide 31.
The connection plate 1231, the connection 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 disposed 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 be moved along the second guide bar 21 and the third guide bar 31. In the first direction X, the second guide rod 21 and the third guide rod 31 have a certain height difference, and when the thickness of the connection plate 1231 and the first sliding seat 121 along the first direction X is the same as the height difference, the top surface of the connection plate 1231 and the top surface of the second sliding seat 122 are on the same plane, at this time, the connection member 1232 may be in a flat plate shape, and the connection member 1232 is connected to the connection plate 1231 and the second sliding seat 122 near the bottom surface of the second guide rod 21, respectively. When the thickness of the connection plate 1231 and the first sliding seat 121 in the first direction X is smaller than the height, the top surface of the connection 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 connection member 1232 disposed in the third direction Z may be connected to the second sliding seat 122, and the bottom surface of the connection member 1232 adjacent to the second guide rod 21 is connected to the connection plate 1231; of course, the connecting member 1232 may also have a mounting step adapted to the height difference, a side surface of the mounting step extending in the second direction Y being in contact with a top surface of the second sliding seat 122 remote from the third guide bar 31, and a side surface of the mounting step disposed in the first direction X being in contact with a side surface of the second sliding seat 122 remote from the third driving assembly 32.
Referring to fig. 6, the position acquisition unit 10 includes a support bracket 101 independent of the driving unit 30 and a camera 102 connected to the support bracket 101. The support bracket 101 can be provided with a guide rail, a driving structure and the like, so that the camera 102 is movably connected with the support bracket 101, and the relative positions of the camera 102 and the support bracket 101 can be adjusted according to the requirement, so that the camera 102 can shoot pictures meeting the requirement. The support bracket 101 can be directly placed or fixed on the ground and the operation table, and the support bracket 101 and the driving unit 30 are independently arranged, so that the stability of the support bracket 101 can be prevented from being influenced by the movement of the driving unit 30.
The application also provides a plasma sterilization method, which is applied to the plasma sterilization device. Referring to fig. 7, the method includes:
s10, controlling a position acquisition unit to acquire position information of an 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.
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 dead zone acting on the object to be sterilized, the path of movement of the plasma generating unit needs to cover the contour of the object to be sterilized. How the moving path of the plasma generating unit is set is not limited in the present application.
According to the embodiment, the position acquisition unit is used for acquiring the position information of different objects to be sterilized, and the driving unit is connected with the position acquisition unit in a signal manner, 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, so that the whole sterilization is automated; the driving unit is arranged to drive the plasma generating unit to move, so that plasma jet generated by the plasma generating unit can precisely act on an object to be sterilized according to the position information, and nonuniform sterilization is avoided.
Referring to fig. 8, in an embodiment, the position acquisition unit acquires position information of an object to be sterilized through a machine vision technology, and S10 includes:
s11, controlling a position acquisition unit to acquire an image containing an object to be sterilized;
s12, carrying out image edge recognition on the image, and extracting an image contour of an object to be sterilized in the image;
s13, generating position information according to image coordinate information of the image contour in the image and a preset image coordinate and actual coordinate mapping table.
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 respectively connected with the camera and the visual identification chip driving unit in a signal mode, computer programs capable of running are stored on the control chip and the visual identification chip, and the steps of image edge identification, coordinate conversion and the like are achieved when the computer programs are respectively executed by the control chip and the visual identification chip. In an embodiment, the visual recognition chip and the camera adopt an OpenMV module. In another embodiment, the control chip uses an STM32F103C8T6 chip, and the STM32F103C8T6 chip communicates with the visual recognition chip through data signals with a baud rate of 9600 to avoid high voltage interference with the data signals. The transmitted data signal may also be checked by a CRC8 check algorithm to ensure the accuracy of the received data signal.
In S12, in order to reduce the amount of calculation of the image edge recognition, the color image acquired by the position acquisition unit may be subjected to graying processing so that the obtained color image becomes a black-and-white image. Then traversing each pixel in the black-and-white image, carrying out convolution operation on each pixel, outputting a matrix composed of a plurality of numerical elements, judging the element with the numerical 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 is located in the image; and performing binarization processing on the image according to the value jump result, so that the binarized image only comprises pixels with two colors. For example, the color of the pixel corresponding to the element with the value transition larger than the preset threshold value is set to be black, the pixels corresponding to the other elements are set to be white, and a line drawing with white background color and black lines is obtained, wherein the black lines outline the object to be sterilized. The parameters such as the convolution kernel type, the convolution kernel size, the step length and the like adopted by the convolution operation can be set by a person skilled in the art according to actual needs, so that the obtained image contour is more accurate. Optionally, the convolution kernel is a Log operator, and the convolution kernel size is ((size×2) +1) × ((size×2) +1), and the size is a step size, so as to improve the retention of the image contour.
The method is influenced by the property of the detected object and the ambient light, and the extracted image contour possibly has disordered pixel points to interfere with the generation of subsequent position information, and can also carry out noise reduction processing on the binarized image.
The image coordinate information is an image coordinate set of an image contour in an image, and the actual coordinates are relative coordinate relations between the object to be sterilized and the driving unit in an actual environment. The conversion relation between each image coordinate and the actual coordinate is set in the preset image coordinate and actual coordinate mapping table. A person skilled in the art may collect a plurality of sample pictures including the sample object through the position collecting unit in advance, and establish a mapping table of preset image coordinates and actual coordinates according to the image coordinate information of the sample object in the sample picture and the relative coordinate relation between the sample object 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, one 16-bit binary representation of one coordinate, the high eight-bit number representing the position in the x-axis direction, and the low eight-bit number representing the position in the y-axis direction may be set.
Through S11 to S12, the outline image of the object to be sterilized can be identified, and the position information of the object to be sterilized can be obtained according to the outline image, so that the object to be sterilized can be precisely sterilized according to the position information, and a sterilization blind area is avoided.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be understood that in the embodiments of the present application, "B corresponding to a" means that B is associated with a, from which B may be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any equivalent modifications or substitutions will be apparent to those skilled in the art within the scope of the present application, and these modifications or substitutions should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. 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;
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 driving unit includes:
a first moving mechanism for driving the plasma generating unit to move in 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;
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 perpendicular to each other;
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 respectively and movably connected with the second guide rod and the third guide rod;
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.
2. The plasma sterilization apparatus as set forth in claim 1, wherein the driving 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 provided at a distance from the second guide rail and a second support slider provided at a distance from the third guide rail, the first support slider being movably connected with the second guide rail and with the third guide rail, the second support slider being movably connected with the third guide rail and with the second guide rail.
3. The plasma sterilization apparatus as set forth in claim 2, wherein the second driving assembly includes a second driving member and a second moving block, both ends of the third guide bar being respectively connected to the first supporting slider and the second moving block, the second driving member being for driving the second moving block to move in 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 sliding 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.
4. The plasma sterilization apparatus as recited in claim 3, wherein the second drive assembly further comprises a second mounting bracket supporting the second drive member, the third drive assembly comprises a third mounting bracket supporting the third drive member, and the second mounting bracket, the third rail, the second rail, and the third mounting bracket are sequentially connected.
5. The plasma sterilization apparatus of claim 1, wherein the first moving mechanism comprises a slip assembly, a first mounting bracket, a first driving assembly and a first guide rail, the slip 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, the first driving assembly and the first guide rail are both disposed on the first mounting bracket, and the first driving assembly is used for driving the slip assembly to move along the first guide rail in the first direction.
6. The plasma sterilization apparatus as defined in claim 5, wherein the first driving assembly includes 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 includes a slider moving along the first guide rail, and a rack connected to the slider, and the rack is meshed with the driving gear.
7. The plasma sterilization apparatus of claim 5, wherein the first mounting bracket comprises a first slide movably coupled to the second guide bar, a second slide movably coupled to the third guide bar, and a mount connecting the first slide and the second slide, the first guide rail and the first drive assembly being disposed on the mount.
8. The plasma sterilization apparatus as defined in any one of claims 1 to 7, wherein the position acquisition unit comprises a support stand independent of the drive unit and a camera connected to the support stand.
9. A plasma sterilization method, characterized in that the method is applied to the plasma sterilization apparatus as defined in any one of claims 1 to 8, 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 as to enable the plasma jet to act on the object to be sterilized.
10. The plasma sterilization method according to claim 9, wherein the step of controlling the position acquisition unit to acquire position information of an object to be sterilized comprises:
controlling the position acquisition unit to acquire an image containing an object to be sterilized;
carrying out image edge recognition on the image, and extracting an image contour of an 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 preset image coordinate and actual coordinate mapping table.
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