Spatial multi-point positioning method and device based on multi-line fitting, equipment and medium

Abstract

The invention provides a spatial multi-point positioning method, device and equipment based on multi-line fitting and a medium, and the method comprises the steps: controlling a manipulator to move along a Z axis, and determining a first edge point/a second edge point according to the distance between the manipulator and a first positioning bump/a second positioning bump detected by a laser sensor; controlling the manipulator to move a first preset step length along the X axis until a first edge point group/a second edge point group is obtained, and controlling the manipulator to return to the initial measurement point; the manipulator is controlled to move along the X axis, and a third edge point/a fourth edge point is determined according to the distance, detected by the laser sensor, between the manipulator and the first positioning convex block/the second positioning convex block; controlling the manipulator to move a second preset step length along the Z axis until a third edge point group/a fourth edge point group is obtained; and according to the first edge point group, the second edge point group, the third edge point group and the fourth edge point group, determining position coordinates of the thrombus instrument placement platform. According to the scheme, accurate positioning of the movement point position in the three-dimensional space is achieved.

Description

technical field [0001] The invention belongs to the technical field of positioning optimization, and in particular relates to a multi-line fitting-based spatial multi-point positioning method, device, equipment and medium. Background technique [0002] The working principle of the thromboelastography instrument is to immerse the suspension wire in the blood, drive the container containing the blood to rotate so that the blood generates shear stress to drive the suspension wire to rotate left and right, and at the same time add a magnetic field generating device around the suspension wire. During the rotation, the lines of magnetic force will be cut to generate current, and then the data will be processed by the computer to obtain the thromboelastogram curve. This means that the detection reagent cup should be kept absolutely stable during the detection process, so as to prevent the blood reagent from being disturbed and affecting the deflection angle of the suspension wire. ...

AI Technical Summary

Problems solved by technology

[0004] However, due to the relatively large volume and weight of the entire mechanical structure of the robotic arm, it is very inconvenient to carry and adjust, and some uncontrollable external force collisions when the machine is in use, it is very difficult to achieve parallelism between the robotic arm and the inspection table. To achieve the approximate parallelism between the two and the approximate equal distance on both sides, but it cannot guarantee the precise control of the point position when the machine is running. In the face of this situation, the traditional machine needs to reset all the points every time the machine is reinstalled. , heavy workload, very inconvenient

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