阅读说明：本技术 一种主从式咽拭子采样机器人控制系统 (Master-slave mode throat swab sampling robot control system ) 是由 陈富安 邓遵义 任胜杰 李苏阳 侯玉杰 张春霖 于 2021-08-18 设计创作，主要内容包括：本发明公开了一种主从式咽拭子采样机器人控制系统,包括：六自由度主机械臂和主操作手柄,六自由度从机械臂和拭子夹,主控制器,从控制器,主从学习,主从同步采样,交互界面；主从学习模式包括“对准操作”和“放回操作”两个过程的学习；在主从学习模式下,操作主机械臂动作,主控制器会将主机械臂各关节转角信息传送给从控制器,从控制器按照接收到的关节转角信息控制从机械臂运动；本发明,通过采样机器人进行采样,避免了人工进行咽拭子采样时取样人员与被检测人员面对面的情况,有效降低了取样者感染的风险；同时,通过使用机器人控制系统代替人工取样,使得采样更加稳定和准确,避免人工操作不当引起干呕的情况。(The invention discloses a master-slave type throat swab sampling robot control system, which comprises: the system comprises a six-degree-of-freedom master mechanical arm, a master operating handle, a six-degree-of-freedom slave mechanical arm, a swab clamp, a master controller, a slave controller, master-slave learning, master-slave synchronous sampling and an interactive interface; the master-slave learning mode comprises the learning of two processes of 'alignment operation' and 'put-back operation'; in a master-slave learning mode, the master mechanical arm is operated to act, the master controller transmits the joint angle information of the master mechanical arm to the slave controller, and the slave controller controls the slave mechanical arm to move according to the received joint angle information; according to the invention, the sampling robot is used for sampling, so that the situation that a sampling person faces a detected person when throat swab sampling is carried out manually is avoided, and the infection risk of the sampling person is effectively reduced; simultaneously, replace artifical sample through using robot control system for the sampling is more stable and accurate, avoids manual operation improper condition that arouses the retching.)

1. A master-slave mode pharynx swab sampling robot control system is characterized by comprising: the system comprises a six-degree-of-freedom master mechanical arm, a six-degree-of-freedom slave mechanical arm, a master operating handle, a six-degree-of-freedom slave mechanical arm, a swab clamp, a master controller, a slave controller, master-slave learning, master-slave synchronous sampling and an interactive interface;

the master-slave learning mode comprises the learning of two processes of 'alignment operation' and 'put-back operation'; in the master-slave learning mode, the master mechanical arm is operated to act, the master controller can transmit the rotation angle information of each joint of the master mechanical arm to the slave controller, the slave controller controls the slave mechanical arm to move according to the received rotation angle information of the joint, and a group of current rotation angle information of each joint and swab clamp state information can be recorded by pressing a learning button once, so that the purpose of master-slave learning is achieved;

in the operation mode, the user presses an alignment operation button with a thumb, the alignment operation process is automatically completed from the mechanical arm according to a learned alignment operation program, and the swab is sent to a preset position in front of the oral cavity; then, pressing a 'synchronous sampling' button by using a forefinger, simultaneously operating the main mechanical arm to act, and synchronously operating the auxiliary mechanical arm to finish sampling from the oral cavity; after sampling from the oral cavity, loosening a 'synchronous sampling' button, pressing a 'putting back operation' button by a thumb, automatically completing the putting back operation process from the mechanical arm according to a learned 'putting back operation' program, returning the sampled swab to a specified position, and waiting for the next operation cycle; finally, the process of 'fast pre-positioning → sampling of master-slave synchronous operation → fast putting back' is realized.

2. The master-slave pharyngeal swab sampling robot control system according to claim 1, wherein the six-degree-of-freedom master mechanical arm and the master operating handle and the six-degree-of-freedom slave mechanical arm and the swab clamp are provided, the master mechanical arm comprises 6 serial bus steering engines to form a joint part, and the master mechanical arm and the slave mechanical arm are controlled to move by operating the handle at the front end of the master mechanical arm; the slave mechanical arm comprises 6 serial bus steering engines to form a joint part.

3. The master-slave pharyngeal swab sampling robot control system of claim 1, wherein the master controller, the serial bus steering engine send instructions through a serial port to feed current position angle information back to the STM32 master controller; the main controller records and saves the set position coordinates.

4. The master-slave pharyngeal swab sampling robot control system of claim 1, wherein the slave controller is an STM32, and when receiving the position and angle information sent by the master controller, the slave controller controls the corresponding steering engine to rotate by a corresponding angle.

5. The master-slave pharyngeal swab sampling robot control system of claim 1, wherein in the master-slave learning mode, a doctor selects a master-slave learning mode to control the motion of the master mechanical arm, and the master controller sends a master-slave learning signal to the slave controller to transmit position angle information calibrated by the master mechanical arm to the slave controller; the slave controller receives the master-slave learning signal and then processes the position angle information of each joint to control the slave mechanical arm to move; the purpose of master-slave learning is achieved by learning and recording position angle information and coordinate values of each joint from the slave controller; and automatically run the learned motion after learning the master robot motion from the robot.

6. The master-slave pharyngeal swab sampling robot control system of claim 1, wherein the learning and saving is divided into alignment learning, put-back learning; and (3) alignment process:

the method comprises the following steps: the doctor presses the synchronous sampling key to operate the master mechanical arm to set starting point coordinates S10(x10, y10, z10), S20(x20, y20, z20), S30(x30, y30, z30), S40(x40, y40, z40), S50(x50, y50, z50), S60(x60, y60, z60) of the slave mechanical arm;

step two: controlling the slave robotic arm to align coordinates of pharyngeal swab sampling strips from the non-swab box as S10(x11, y11, z11), S20(x21, y21, z21), S30(x31, y31, z31), S40(x41, y41, z41), S50(x51, y51, z51), S60(x61, y61, z 61);

step three: controlling the sampling coordinates of the pharyngeal swab clamped by the mechanical arm to be S10(x12, y11, z12), S20(x22, y22, z22), S30(x32, y32, z32), S40(x42, y42, z42), S50(x52, y52, z52), S60(x62, y62, z 62);

step four: upward snapping the pharyngeal swab to coordinates S10(x13, y13, z13), S20(x23, y23, z23), S30(x33, y33, z33), S40(x43, y43, z43), S50(x53, y53, z53), S60(x63, y63, z 63);

step five: after the pharyngeal swab is clamped upwards from the mechanical arm for sampling, 3 motion coordinate sets are calibrated in the process of moving to preset positions S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50) and S60(xP60, y P60 and z P60):

S10(x14,y14,z14)、S20(x24,y24,z24)、S30(x34,y34,z34)、S40(x44,y44,z44)、S50(x54,y54,z54)、S60(x64,y64,z64)。

S10(x15,y15,z15)、S20(x25,y25,z25)、S30(x35,y35,z35)、S40(x45,y45,z45)、S50(x55,y55,z55)、S60(x65,y65,z65)。

S10(x16,y16,z16)、S20(x26,y26,z26)、S30(x36,y36,z36)、S40(x46,y46,z46)、S50(x56,y56,z56)、S60(x66,y66,z66)；

the movement process of the slave mechanical arm is in a safe space;

the position coordinates experienced in the alignment process are stored in the master controller and the slave controller, and when the alignment operation is needed, the alignment can be automatically completed only by pressing an alignment key.

7. The master-slave pharyngeal swab sampling robot control system of claim 6, wherein the set back learning is:

the method comprises the following steps: after sampling the tested person, the doctor controls the master mechanical arm to move the slave mechanical arm to a safe region to release the synchronous sampling key, and the slave mechanical arm automatically moves to a preset position S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50), S60(xP60, y P60, z P60);

step two: moving to the coordinates above the inspected swab box via the calibrated 3 motion group coordinates is S10(x17, y17, z17), S20(x27, y27, z27), S30(x37, y37, z37), S40(x47, y47, z47), S50(x57, y57, z57), S60(x67, y67, z 67);

step three: moving down to S10(x18, y18, z18), S20(x28, y28, z28), S30(x38, y38, z38), S40(x48, y48, z48), S50(x58, y58, z58), S60(x68, y68, z68) unclamping the clip to lower the swab;

step four: moving up again to coordinates S10(x17, y17, z17), S20(x27, y27, z27), S30(x37, y37, z37), S40(x47, y47, z47), S50(x57, y57, z57), S60(x67, y67, z67) and then returning to the starting point S10(x10, y10, z10), S20(x20, y20, z20), S30(x30, y30, z30), S40(x40, y40, z40), S50(x50, y50, z50), S60(x60, y60, z60) for the next sampling operation;

the position coordinates experienced in the process of putting back are stored in the master controller and the slave controller, and when the swab putting operation is needed, the operation can be automatically completed only by pressing the putting back key.

8. The master-slave pharyngeal swab sampling robot control system according to claim 6, wherein the preset positions S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50), S60(xP60, y P60, z P60) are called a dangerous space, which is above the mouth of the tested person.

9. The master-slave pharyngeal swab sampling robot control system according to claim 1, wherein the master-slave sampling is performed by pressing a master-slave synchronous sampling action button by a doctor when the master-slave mechanical arm moves to a set position, the master controller sends a master-slave synchronous sampling signal to the slave controller, and the master mechanical arm is controlled to move to realize synchronous movement of the slave mechanical arm; the process realizes the sampling of the tested personnel.

10. The master-slave pharyngeal swab sampling robot control system of claim 1, wherein the sampling synchronization button, sampling synchronization is used as inching control, a doctor presses down the synchronization button to realize master-slave attitude synchronization after reaching a preset position, and the master-slave mechanical arm of the sampling synchronization button is released while keeping the current attitude to wait for master-slave synchronization sampling signals; the interactive interface consists of an LED touch screen and keys; the LED touch screen can select and display the current mode, set operation steps, set position coordinates and the like; the operation key consists of a clamping, a loosening, an ending, a determining and a knob switch.

Technical Field

The invention relates to the technical field of medical robots, in particular to a master-slave type pharyngeal swab sampling robot control system.

Background

With the development of the times, robots are applied more and more widely in various fields. The medical robot is a comprehensive medical instrument which integrates multiple fields of medicine, electronics, machinery, optics, man-machine interfaces, mode recognition and the like, a software and hardware layer often comprises a plurality of component parts which need to be communicated and controlled mutually, and the quality of each component part can directly or indirectly influence the normal operation of the whole robot system. At present, medical robots are mainly divided into two types, namely surgical robots and rehabilitation and function compensation robots, and the surgical robots are mainly divided into two types, namely master-slave remote control type robots and image guide type robots. The appearance of the surgical robot changes huge wounds caused by previous operations, the minimally invasive surgery enables patients to recover and discharge from hospital more quickly, meanwhile, the robot can replace doctors, the doctors put down a scalpel, when the surgical robot meets the operations of some accurate capillary vessels, the surgical robot is absolutely accurate and does not shake slightly like human beings, and in future development, the robot can replace doctors to act in the operations more.

When the pharynx swab sampling is carried out manually, the sampling personnel face to face with the detected personnel, the risk of infection of the sampling personnel is increased, the protection requirement on the sampling personnel is high, and meanwhile, a small number of people possibly cause retching due to improper operation when the pharynx swab is sampled, so that the sampling effect is influenced, and therefore, the master-slave type pharynx swab sampling robot control system is very necessary.

Disclosure of Invention

The invention aims to provide a master-slave type pharyngeal swab sampling robot control system, which is used for solving the problem that doctors face the risk of cross infection in the pharyngeal swab sampling process and standardizing the unified sampling process.

In order to achieve the purpose, the invention adopts the following technical scheme:

a master-slave pharyngeal swab sampling robot control system, comprising: the system comprises a six-degree-of-freedom master mechanical arm, a six-degree-of-freedom slave mechanical arm, a master operating handle, a six-degree-of-freedom slave mechanical arm, a swab clamp, a master controller, a slave controller, master-slave learning, master-slave synchronous sampling and an interactive interface;

the master-slave learning mode comprises the learning of two processes of 'alignment operation' and 'put-back operation'; in a master-slave learning mode, the master mechanical arm is operated to act, the master controller can transmit the rotation angle information of each joint of the master mechanical arm to the slave controller, the slave controller controls the slave mechanical arm to move according to the received rotation angle information of the joint, and a group of current rotation angle information of each joint and swab clamp state information can be recorded by pressing a learning button once, so that the purpose of master-slave learning is achieved;

in the operation mode, the user presses an alignment operation button with a thumb, the alignment operation process is automatically completed from the mechanical arm according to a learned alignment operation program, and the swab is sent to a preset position in front of the oral cavity; then, pressing a 'synchronous sampling' button by using a forefinger, simultaneously operating the main mechanical arm to act, and synchronously operating the auxiliary mechanical arm to finish sampling from the oral cavity; after sampling from the oral cavity, loosening a 'synchronous sampling' button, pressing a 'putting back operation' button by a thumb, automatically completing the putting back operation process from the mechanical arm according to a learned 'putting back operation' program, returning the sampled swab to a specified position, and waiting for the next operation cycle; finally, the process of 'fast pre-positioning → sampling of master-slave synchronous operation → fast putting back' is realized.

As a further scheme of the invention: the six-degree-of-freedom master mechanical arm and the operating handle as well as the six-degree-of-freedom slave mechanical arm and the swab clamp are characterized in that the master mechanical arm consists of 6 serial bus steering engines to form a joint part, and the handle at the front end of the master mechanical arm is operated to control the motion of the master mechanical arm and the slave mechanical arm; the slave mechanical arm comprises 6 serial bus steering engines to form a joint part.

As a further scheme of the invention: the serial bus steering engine sends an instruction through a serial port to feed current position angle information back to the STM32 main controller; the main controller records and saves the set position coordinates.

As a further scheme of the invention: and the slave controller is STM32, and when the position and angle information sent by the master controller is received, the slave controller controls the corresponding steering engine to rotate by a corresponding angle.

As a further scheme of the invention: in the master-slave learning, a doctor presses a master-slave learning key to control the master mechanical arm to move, and the master controller sends a master-slave learning signal to the slave controller to transmit the position angle information calibrated by the master mechanical arm to the slave controller; the slave controller receives the master-slave learning signal and then processes the position angle information of each joint to control the slave mechanical arm to move; the purpose of master-slave learning is achieved by learning and recording position angle information and coordinate values of each joint from the slave controller; automatically running the learned motion after learning the motion of the master mechanical arm from the mechanical arm; the learning and saving are divided into alignment learning and replacement learning; alignment learning:

the method comprises the following steps: the doctor presses the synchronous sampling key to operate the master mechanical arm to set starting point coordinates S10(x10, y10, z10), S20(x20, y20, z20), S30(x30, y30, z30), S40(x40, y40, z40), S50(x50, y50, z50), S60(x60, y60, z60) of the slave mechanical arm;

step two: controlling the slave robotic arm to align coordinates of pharyngeal swab sampling strips from the non-swab box as S10(x11, y11, z11), S20(x21, y21, z21), S30(x31, y31, z31), S40(x41, y41, z41), S50(x51, y51, z51), S60(x61, y61, z 61);

step three: controlling the sampling coordinates of the pharyngeal swab clamped by the mechanical arm to be S10(x12, y11, z12), S20(x22, y22, z22), S30(x32, y32, z32), S40(x42, y42, z42), S50(x52, y52, z52), S60(x62, y62, z 62);

step four: upward snapping the pharyngeal swab to coordinates S10(x13, y13, z13), S20(x23, y23, z23), S30(x33, y33, z33), S40(x43, y43, z43), S50(x53, y53, z53), S60(x63, y63, z 63);

step five: after the pharyngeal swab is clamped upwards from the mechanical arm for sampling, 3 motion coordinate sets are calibrated in the process of moving to preset positions S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50) and S60(xP60, y P60 and z P60):

S10(x14,y14,z14)、S20(x24,y24,z24)、S30(x34,y34,z34)、S40(x44,y44,z44)、S50(x54,y54,z54)、S60(x64,y64,z64)；

S10(x15,y15,z15)、S20(x25,y25,z25)、S30(x35,y35,z35)、S40(x45,y45,z45)、S50(x55,y55,z55)、S60(x65,y65,z65)；

S10(x16,y16,z16)、S20(x26,y26,z26)、S30(x36,y36,z36)、S40(x46,y46,z46)、S50(x56,y56,z56)、S60(x66,y66,z66)；

the position coordinates experienced in the alignment process are stored in the master controller and the slave controller, and when the alignment operation is needed, the alignment can be automatically completed only by pressing an alignment key;

the swab placing learning step comprises:

the method comprises the following steps: after sampling the tested person, the doctor controls the master mechanical arm to move the slave mechanical arm to a safe region to release the synchronous sampling key, and the slave mechanical arm automatically moves to a preset position S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50), S60(xP60, y P60, z P60);

step two: moving to the coordinates above the inspected swab box via the calibrated 3 motion group coordinates is S10(x17, y17, z17), S20(x27, y27, z27), S30(x37, y37, z37), S40(x47, y47, z47), S50(x57, y57, z57), S60(x67, y67, z 67);

step three: moving down to S10(x18, y18, z18), S20(x28, y28, z28), S30(x38, y38, z38), S40(x48, y48, z48), S50(x58, y58, z58), S60(x68, y68, z68) unclamping the clip to lower the swab;

step four: moving up again to coordinates S10(x17, y17, z17), S20(x27, y27, z27), S30(x37, y37, z37), S40(x47, y47, z47), S50(x57, y57, z57), S60(x67, y67, z67) and then returning to the starting point S10(x10, y10, z10), S20(x20, y20, z20), S30(x30, y30, z30), S40(x40, y40, z40), S50(x50, y50, z50), S60(x60, y60, z60) for the next sampling operation;

the position coordinates experienced in the putting back process are stored in the main controller and the slave controller, and when the putting back operation is needed, the putting back operation can be automatically completed only by pressing the putting back key.

As a further scheme of the invention: the master-slave sampling is that when the slave mechanical arm moves to a set position, a doctor presses a master-slave synchronous sampling action button, the master controller sends a master-slave synchronous sampling signal to the slave controller, and the master mechanical arm is controlled to move to realize synchronous movement of the slave mechanical arm; the process realizes the sampling of the tested personnel.

As a further scheme of the invention: the sampling synchronization key is used for inching control, a doctor presses the synchronization key to realize master-slave attitude synchronization after reaching a preset position, and the master-slave mechanical arm of the sampling synchronization key is released to simultaneously keep the current pose to wait for master-slave synchronization sampling signals; the interactive interface consists of an LED touch screen and keys. The LED touch screen can select and display the current mode, set operation steps, set position coordinates and the like; the operation key consists of a clamping, a loosening, an ending, a determining and a knob switch.

The invention has the beneficial effects that: according to the invention, the sampling robot is used for sampling, so that the situation that a sampling person faces a detected person when throat swab sampling is carried out manually is avoided, and the risk of cross infection facing a doctor in the throat swab sampling process is effectively reduced; simultaneously, replace artifical sample through using robot control system, the sample is more stable and accurate for unified sampling process is standardized, avoids manual operation improper condition that arouses the retching, leads to the sample effect to receive the influence.

Drawings

FIG. 1 is a control flow diagram of the present invention;

FIG. 2 is a flow chart of the operation of the master-slave pharyngeal swab sampling robot of the present invention;

FIG. 3 is a model diagram of a master-slave pharyngeal swab sampling robot according to the present invention;

FIG. 4 is an interactive interface of a master-slave pharyngeal swab sampling robot of the present invention;

fig. 5 shows a sampling control method according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Specific examples are given below.

Referring to fig. 1-5, a master-slave pharyngeal swab sampling robot control system includes: the system comprises a six-degree-of-freedom master mechanical arm, a six-degree-of-freedom slave mechanical arm, a master operating handle, a six-degree-of-freedom slave mechanical arm, a swab clamp, a master controller, a slave controller, master-slave learning, master-slave synchronous sampling and an interactive interface;

the master-slave learning mode comprises the learning of two processes of 'alignment operation' and 'put-back operation'; in a master-slave learning mode, the master mechanical arm is operated to act, the master controller can transmit the rotation angle information of each joint of the master mechanical arm to the slave controller, the slave controller controls the slave mechanical arm to move according to the received rotation angle information of the joint, and a group of current rotation angle information of each joint and swab clamp state information can be recorded by pressing a learning button once, so that the purpose of master-slave learning is achieved;

in the operation mode, the user presses an alignment operation button with a thumb, the alignment operation process is automatically completed from the mechanical arm according to a learned alignment operation program, and the swab is sent to a preset position in front of the oral cavity; then, pressing a 'synchronous sampling' button by using a forefinger, simultaneously operating the main mechanical arm to act, and synchronously operating the auxiliary mechanical arm to finish sampling from the oral cavity; after sampling from the oral cavity, loosening a 'synchronous sampling' button, pressing a 'putting back operation' button by a thumb, automatically completing the putting back operation process from the mechanical arm according to a learned 'putting back operation' program, returning the sampled swab to a specified position, and waiting for the next operation cycle; finally, the process of 'fast pre-positioning → sampling of master-slave synchronous operation → fast putting back' is realized.

Referring to fig. 3, the six-degree-of-freedom master mechanical arm and the operating handle, and the six-degree-of-freedom slave mechanical arm and the swab clamp, wherein the master mechanical arm is composed of 6 serial bus actuators to form a joint part, and the movement of the master mechanical arm and the slave mechanical arm is controlled by operating the handle at the front end of the master mechanical arm; the slave mechanical arm consists of 6 serial bus steering engines to form a joint part;

referring to fig. 1, in the main controller, a serial bus steering engine sends an instruction through a serial port to feed current position and angle information back to an STM32 main controller; the main controller records and stores the set position coordinates;

the slave controller is an STM32, and when the position and angle information sent by the master controller is received, the slave controller controls the corresponding steering engine to rotate by a corresponding angle;

referring to fig. 1 and 2, in the master-slave learning, a doctor presses a master-slave learning key to control a master mechanical arm to move, and a master controller sends a master-slave learning signal to a slave controller to transmit position angle information calibrated by the master mechanical arm to the slave controller; the slave controller receives the master-slave learning signal and then processes the position angle information of each joint to control the slave mechanical arm to move; the purpose of master-slave learning is achieved by learning and recording position angle information and coordinate values of each joint from the slave controller; automatically running the learned motion after learning the motion of the master mechanical arm from the mechanical arm; the learning and saving are divided into alignment learning and replacement learning; alignment learning:

the method comprises the following steps: the doctor presses the synchronous sampling key to operate the master mechanical arm to set starting point coordinates S10(x10, y10, z10), S20(x20, y20, z20), S30(x30, y30, z30), S40(x40, y40, z40), S50(x50, y50, z50), S60(x60, y60, z60) of the slave mechanical arm;

step two: controlling the slave robotic arm to align coordinates of pharyngeal swab sampling strips from the non-swab box as S10(x11, y11, z11), S20(x21, y21, z21), S30(x31, y31, z31), S40(x41, y41, z41), S50(x51, y51, z51), S60(x61, y61, z 61);

step three: controlling the sampling coordinates of the pharyngeal swab clamped by the mechanical arm to be S10(x12, y11, z12), S20(x22, y22, z22), S30(x32, y32, z32), S40(x42, y42, z42), S50(x52, y52, z52), S60(x62, y62, z 62);

step four: upward snapping the pharyngeal swab to coordinates S10(x13, y13, z13), S20(x23, y23, z23), S30(x33, y33, z33), S40(x43, y43, z43), S50(x53, y53, z53), S60(x63, y63, z 63);

step five: after the pharyngeal swab is clamped upwards from the mechanical arm for sampling, 3 motion coordinate sets are calibrated in the process of moving to preset positions S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50) and S60(xP60, y P60 and z P60):

S10(x14,y14,z14)、S20(x24,y24,z24)、S30(x34,y34,z34)、S40(x44,y44,z44)、S50(x54,y54,z54)、S60(x64,y64,z64)；

S10(x15,y15,z15)、S20(x25,y25,z25)、S30(x35,y35,z35)、S40(x45,y45,z45)、S50(x55,y55,z55)、S60(x65,y65,z65)；

S10(x16,y16,z16)、S20(x26,y26,z26)、S30(x36,y36,z36)、S40(x46,y46,z46)、S50(x56,y56,z56)、S60(x66,y66,z66)；

the position coordinates experienced in the alignment process are stored in the master controller and the slave controller, and when the alignment operation is needed, the alignment can be automatically completed only by pressing an alignment key;

referring to fig. 2, the step of the replacement learning includes:

the method comprises the following steps: after sampling the tested person, the doctor controls the master mechanical arm to move the slave mechanical arm to a safe region to release the synchronous sampling key, and the slave mechanical arm automatically moves to a preset position S10(xP10, y P10, z P10), S20(xP20, y P20, z P20), S30(xP30, y P30, z P30), S40(xP40, y P40, z P40), S50(xP50, y P50, z P50), S60(xP60, y P60, z P60);

step two: moving to the coordinates above the inspected swab box via the calibrated 3 motion group coordinates is S10(x17, y17, z17), S20(x27, y27, z27), S30(x37, y37, z37), S40(x47, y47, z47), S50(x57, y57, z57), S60(x67, y67, z 67);

step three: moving down to S10(x18, y18, z18), S20(x28, y28, z28), S30(x38, y38, z38), S40(x48, y48, z48), S50(x58, y58, z58), S60(x68, y68, z68) unclamping the clip to lower the swab;

step four: moving up again to coordinates S10(x17, y17, z17), S20(x27, y27, z27), S30(x37, y37, z37), S40(x47, y47, z47), S50(x57, y57, z57), S60(x67, y67, z67) and then returning to the starting point S10(x10, y10, z10), S20(x20, y20, z20), S30(x30, y30, z30), S40(x40, y40, z40), S50(x50, y50, z50), S60(x60, y60, z60) for the next sampling operation;

the position coordinates experienced in the process of putting back are stored in the master controller and the slave controller, and when the putting back operation is needed, the operation can be automatically completed only by pressing a putting back key;

the master-slave sampling is that when the slave mechanical arm moves to a set position, a doctor presses a master-slave synchronous sampling action button, the master controller sends a master-slave synchronous sampling signal to the slave controller, and the master mechanical arm is controlled to move to realize synchronous movement of the slave mechanical arm; the process realizes the sampling of the tested personnel;

the sampling synchronization key is used for inching control, a doctor presses the synchronization key to realize master-slave attitude synchronization after reaching a preset position, and the master-slave mechanical arm of the sampling synchronization key is released to simultaneously keep the current pose to wait for master-slave synchronization sampling signals;

referring to fig. 3, in the drawing, S10, S20, S30, S40, S50 and S60 are slave arm serial bus actuators, and S100, S200, S300, S400, S500 and S600 are master arm serial bus actuators; the structure size of the master mechanical arm and the slave mechanical arm is 1: n and n are positive integers;

referring to fig. 4, the interactive interface is composed of an LED touch screen and keys; the LED touch screen can select and display the current mode, set operation steps, set position coordinates and the like; the operation key consists of a clamping, a loosening, an ending, a determining and a knob switch.

Therefore, the master-slave pharyngeal swab sampling robot control system can read information of the master mechanical arm in different states and operate the slave mechanical arm to move, and can perform rapid pre-positioning → master-slave synchronous operation sampling → rapid replacement of swabs; the medical staff is protected, and the sampling process is faster and safer.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.