CN211085109U - Target is tracked in three-dimensional space - Google Patents
Target is tracked in three-dimensional space Download PDFInfo
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- CN211085109U CN211085109U CN201921937540.7U CN201921937540U CN211085109U CN 211085109 U CN211085109 U CN 211085109U CN 201921937540 U CN201921937540 U CN 201921937540U CN 211085109 U CN211085109 U CN 211085109U
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Abstract
The utility model relates to a mark target is tracked in three-dimensional space, including one examine test table, it has seted up perspective hole to run through from top to bottom on examining test table, examine test table below and just erect the backlight to perspective hole, examine test table upper surface directly over the perspective hole and set firmly transparent platform, erect the second camera directly over the transparent platform, second camera one side becomes certain contained angle and aims at transparent platform and erect first camera with the second camera, the second camera opposite side becomes certain contained angle and aims at transparent platform and erect structure optical scanning mechanism with the second camera, examine test table rear side and install the triaxial motion platform, the target has set firmly on this triaxial motion platform's the Z axle, and this mark target is tracked to three-dimensional space is rational in infrastructure, can high-efficiently accomplish accurate detection process under the condition that reduces manufacturing cost and detection algorithm degree of difficulty.
Description
Technical Field
The utility model relates to a part size detection technical field, especially a mark target is tracked in three-dimensional space.
Background
At present, automatic detection methods for parts are various, but each detection method has many limitations, so that a part needs to be detected by a plurality of detection processes and can be detected by different detection instruments, and the method specifically comprises the following steps:
the monocular vision and binocular vision detection efficiency is high, but the material and surface characteristics (whether smooth, whether curved surface, light reflection degree, surface texture and the like) of the part per se have great influence on the accuracy of the detection result, parts with different materials and surface characteristics need to use light sources with different types and different structures, the polishing angles and directions are different, and the general performance of the light sources is poor; so far, only the part size parameters which can be detected by using a backlight projection mode in monocular vision have practical value. The binocular vision precision is not high, the binocular vision can only be applied to occasions with low precision requirements, the precision depends on surface textures seriously, and the more complex the surface textures are, the higher the precision is; in addition, the detection results of monocular vision and binocular vision are greatly influenced by ambient light;
structured light scanning is affected by the resolution of structured light, can be high in precision of the height of the part in the Z direction at present, but is not high in precision of the horizontal X direction and the horizontal Y direction, and is also affected by ambient light.
The precision of three-coordinate measurement X, Y, Z in three directions can be very high, but the efficiency is very low, and the measurement precision depends on the precision of a X, Y, Z three-axis motion platform, a target and an algorithm, so that the requirements on the precision of the X, Y, Z three-axis motion platform and the target are very high, the manufacturing cost and the difficulty are high, and the requirements on the use environment are also very high; the continuous contour scanning is carried out by using three coordinates, a continuous contour scanning target needs to be used, the continuous contour scanning target needs to carry out complex detection on the azimuth change of a measuring pin or a measuring ball, the actual contour of a part can be obtained by using a complex algorithm, and the manufacturing cost is high.
SUMMERY OF THE UTILITY MODEL
In view of the not enough of prior art, the utility model aims to solve the technical problem that a three-dimensional space tracking mark target is provided, not only rational in infrastructure, the cost is lower moreover, the precision is high.
In order to solve the technical problem, the technical scheme of the utility model is that: the utility model provides a mark target is tracked in three-dimensional space, is including one examining test table, examine and run through from top to bottom on the test table and seted up perspective hole, examine test table below and erect the backlight to perspective hole, examine test table upper surface directly over the perspective hole and set firmly transparent platform, erect the second camera directly over the transparent platform, second camera one side becomes certain contained angle with the second camera and aims at transparent platform and erect first camera, second camera opposite side becomes certain contained angle with the second camera and aims at transparent platform and erect structure optical scanning mechanism, examine test table rear side and install the three-axis motion platform, the epaxial mark target that has set firmly of Z of this three-axis motion platform.
Furthermore, the target comprises a shell, the outer wall of the shell is fixedly connected to the Z axis, an outer tubular permanent magnet is embedded in the inner wall of the shell near the lower end, a lower annular permanent magnet is embedded in the inner wall of the shell above the outer tubular permanent magnet, and an upper annular permanent magnet is embedded in the inner wall of the shell above the lower annular permanent magnet; the center of the inner wall of the shell is penetrated and suspended with a measuring rod, the lower end of the measuring rod is provided with a measuring ball, the top of the measuring rod extends out of the shell and is provided with a light source supporting plate, three plane light sources are uniformly distributed along the circumferential direction of the light source supporting plate, photoetching transparent standard circles are arranged on the plane light sources, a suspended annular permanent magnet is arranged on the measuring rod below the supporting plate, and the suspended annular permanent magnet is positioned between an upper annular permanent magnet and a lower annular permanent magnet; the measuring bar in the outer tubular permanent magnet is sleeved with an inner tubular permanent magnet, the inner tubular permanent magnet is fixedly connected with a side lever, the inner diameters of the upper annular permanent magnet and the lower annular permanent magnet are larger than the diameter of the measuring bar, and the inner diameter of the outer tubular permanent magnet is larger than the outer diameter of the inner tubular permanent magnet so as to guarantee the swing range of the measuring bar.
Furthermore, the light source supporting plate is circular and is arranged above the shell in parallel, and the center of the lower end of the light source supporting plate is fixedly connected with the upper end of the measuring rod.
Further, the polarity of the positions near the outer tubular permanent magnet and the inner tubular permanent magnet is the same, and the polarity of the positions near the suspension annular permanent magnet and the upper annular permanent magnet and the lower annular permanent magnet is the same.
Furthermore, the target is designed according to the magnetic suspension principle, when the measuring ball touches the surface of the part, the measuring rod and the photoetching transparent standard circle on the measuring rod swing within a certain three-dimensional space range, and the binocular scanning measuring unit calculates the coordinate of the center of the measuring ball through the position coordinate change of the three photoetching transparent standard circles so as to detect the measuring parameters of the part; the precision of the binocular scanning measuring unit depends on the precision of a camera lens and the calibration precision of a target, the correlation with the precision of a motion platform is extremely small, the three-axis motion platform is only used for driving the target to scan on a rough scanning track, the magnetic suspension structure ensures that a measuring ball of the target is always contacted with the surface of a part in the scanning process, and compared with three coordinates, the precision requirement on the motion platform is greatly reduced; compared with the existing trigger type target and the scanning type target, the target designed according to the magnetic suspension principle is the scanning type target, so that the structure is relatively simple, and the manufacturing and maintenance cost is greatly reduced; in the prior art, the precision of photoetching transparent standard circles can be very high, and the high calibration precision can be achieved by adopting the prior calibration algorithm; the photoetching transparent standard circle is provided with a light source and is equivalent to a self-luminous light source, so that the influence of ambient light on the measurement precision can be greatly reduced; the existing trigger type target and the scanning type target can reach high precision only by an algorithm with complicated software due to the interference and delay influence of a mechanical structure, an electronic circuit and a signal line of the existing trigger type target and the scanning type target, the shooting speed of the existing high-speed camera can be very high, the response speed of the existing high-speed camera can reach or exceed the response speed of the existing target, and the binocular vision detection standard circle algorithm is simple, so that compared with three-coordinate measurement, the binocular scanning measuring unit can reach the measuring precision of three coordinates, and the efficiency is greatly higher than the three coordinates.
Furthermore, a wave spring fixing ring is fixedly arranged on the inner wall of the shell between the upper annular permanent magnet and the lower annular permanent magnet, a wave spring is arranged in the wave spring fixing ring, and two driven contact rings are arranged on the wave spring at intervals; the peripheral direction of the suspension annular permanent magnet is fixedly provided with a driving contact ring; the shell penetrates through the inner wall from the outer wall inwards horizontally to form an upper safety contact plate, an upper safety contact, a lower safety contact plate and a lower safety contact in pair, the upper safety contact plate and the upper safety contact are parallel to each other and are located above the suspended annular permanent magnet, and the lower safety contact plate and the lower safety contact are parallel to each other and are located below the suspended annular permanent magnet.
Furthermore, the upper safety contact is bent upwards to form an arc-shaped bulge right above the active contact ring to form a contact matched with the upper safety contact plate, and the lower safety contact is bent downwards to form an arc-shaped bulge right below the active contact ring to form a contact matched with the lower safety contact plate.
Furthermore, two passive contact rings, an upper safety contact plate, an upper safety contact, a lower safety contact plate and a lower safety contact which are arranged on the wave spring at intervals are respectively connected with the controller, once the measuring rod exceeds an allowable moving range due to misoperation or equipment failure, or the active contact ring is simultaneously contacted with the two passive contact rings, or the upper safety contact plate is contacted with the upper safety contact, or the lower safety contact plate is contacted with the lower safety contact, a loop can be connected, a switching signal is generated, the three-axis motion platform stops moving, and the purpose of protecting the target is achieved; the scheme of a signal connection that one active contact ring is in contact with two passive contact rings is adopted, so that a signal wire only needs to be connected to the two passive contact rings. The structure is simple and durable, and the performance is stable.
Further, structured light scanning mechanism includes structured light scanning axle, the epaxial installation structured light support of structured light scanning, structured light support side are connected with structured light through the solid fixed ring of a structured light, and structured light wears to establish in the solid fixed ring of structured light and fixes.
Further, the present structured light manufacturing technology can't be done the resolution ratio very high, leads to the precision of structured light measurement X and Y direction to be unable improvement all the time, the utility model discloses place structured light on a high accuracy scanning axle, scanning axle drive structured light is at part surface continuous scanning to acquire more scanning points, can improve the scanning precision.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the three measuring units of backlight projection, binocular scanning and structured light scanning can work independently and can be matched with each other, one or a plurality of detecting units can be selected to be combined for detection according to materials and surface characteristics of different parts, the advantages of the measuring units are fully exerted, the adaptability and the universality of an automatic detecting system are greatly widened, and the detecting process of constructing an automatic detecting assembly line is greatly reduced.
2. The scanning measurement unit composed of the three-dimensional space tracking target and the binocular vision technology is used, the three-coordinate measurement principle and the binocular vision measurement principle are ingeniously combined, a brand new measurement method with measurement accuracy irrelevant to the measurement motion platform and the target accuracy is created, and the advantages of high accuracy of three-coordinate measurement and high efficiency of binocular vision measurement are achieved simultaneously under the condition that the manufacturing cost and the assembly complexity are greatly reduced.
3. The device can be permanently used after calibration once, and needs to be calibrated again only after accessories related to the measuring unit are replaced.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic bottom view of an embodiment of the present invention;
fig. 3 is a schematic top view of an embodiment of the present invention;
fig. 4 is a schematic view of the structure of a target according to an embodiment of the present invention;
FIG. 5 is a partial cross-sectional view of FIG. 4;
fig. 6 is a schematic view of the installation of the wave spring in the embodiment of the present invention.
In the figure: 1-inspection table, 101-perspective hole, 102-part, 2-transparent platform, 3-backlight, 4-first camera, 5-second camera, 6-three-axis motion platform, 61-X axis, 62-Y axis, 63-Z axis, 7-structured light scanning mechanism, 71-structured light fixing ring, 72-structured light, 73-structured light scanning axis, 74-structured light support, 8-target, 801-ball, 802-rod, 803-housing, 804-plane light source, 805-photoetched transparent standard circle, 806-light source support plate, 807-upper annular permanent magnet, 808-upper safety touch panel, 809-upper safety contact, 810-lower safety touch panel, 811-lower safety contact, 812-wave spring fixing ring, 813-wave spring, 814-passive contact ring, 815-active contact ring, 816-floating ring permanent magnet, 817-lower ring permanent magnet, 818-inner tubular permanent magnet, 819-outer tubular permanent magnet.
Detailed Description
As shown in fig. 1-6, a three-dimensional space tracking target comprises a detection table 1, a perspective hole 101 is vertically arranged on the detection table in a penetrating mode, a backlight source 3 is arranged below the detection table and erected on the perspective hole, a transparent platform 2 is fixedly arranged on the upper surface of the detection table above the perspective hole, a second camera 5 is erected above the transparent platform, one side of the second camera and the second camera form a certain included angle and are aligned with the transparent platform to erect a first camera 4, the other side of the second camera and the second camera form a certain included angle and are aligned with the transparent platform to erect a structured light scanning mechanism 7, a three-axis motion platform 6 is installed on the rear side of the detection table, and a target 8 is fixedly arranged on a Z axis 63 of the three-axis motion platform.
In the embodiment of the present invention, the backlight source and the second camera form a backlight projection measurement unit, which has the characteristics of high efficiency and high precision, and is suitable for measuring parameters that can use backlight projection measurement; the binocular scanning measuring unit consists of the first camera, the second camera, the three-axis motion platform and the target, has the characteristics of high efficiency, high precision and small influence of ambient light, has wide application range of measuring parameters, and comprises curved surface measurement and continuous profile scanning; the device is matched with a backlight projection measuring unit or a structured light scanning measuring unit, and high-precision reverse modeling can be performed; the second camera and the structured light scanning mechanism form a structured light scanning measuring unit, and the device is suitable for carrying out Z-direction high-precision measurement. The three measuring units can be used independently or in combination, so that the adaptability and the general performance of the automatic detection system are greatly expanded.
In the embodiment of the present invention, the target includes a housing 803, the outer wall of the housing is fixedly connected to the Z-axis, the outer tubular permanent magnet 819 is embedded in the inner wall of the housing near the lower end, the lower annular permanent magnet 817 is embedded in the inner wall of the housing above the outer tubular permanent magnet, and the upper annular permanent magnet 807 is embedded in the inner wall of the housing above the lower annular permanent magnet; a measuring rod 802 penetrates through the center of the inner wall of the shell, a measuring ball 801 is arranged at the lower end of the measuring rod, the top of the measuring rod extends out of the shell and is provided with a light source supporting plate 806, three plane light sources 804 are uniformly distributed along the circumferential direction of the light source supporting plate, photoetching transparent standard circles 805 are arranged on the plane light sources, a suspension annular permanent magnet 816 is arranged on the measuring rod below the supporting plate, and the suspension annular permanent magnet is positioned between an upper annular permanent magnet and a lower annular permanent magnet; an inner tubular permanent magnet 818 is sleeved on the measuring rod in the outer tubular permanent magnet, and the inner tubular permanent magnet is fixedly connected with the side rod.
In the embodiment of the present invention, the light source supporting plate is circular and parallel to the housing, and the center of the lower end of the light source supporting plate is fixedly connected to the upper end of the measuring rod.
In an embodiment of the present invention, the outer tubular permanent magnet and the inner tubular permanent magnet have the same polarity, and the suspension annular permanent magnet and the upper and lower annular permanent magnets have the same polarity.
In the embodiment of the present invention, a wave spring fixing ring 812 is fixedly disposed on the inner wall of the housing between the upper and lower annular permanent magnets, a wave spring 813 is mounted in the wave spring fixing ring, and two passive contact rings 814 are disposed on the wave spring at intervals; the peripheral direction of the suspension annular permanent magnet is fixedly provided with a driving contact ring 815; the shell horizontally penetrates through the inner wall from the outer wall to the inner wall inwards to form an upper safety contact plate 808, an upper safety contact 809, a lower safety contact plate 810 and a lower safety contact 811 in pairs, the upper safety contact plate and the upper safety contact are parallel to each other and are located above the suspended annular permanent magnet, and the lower safety contact plate and the lower safety contact are parallel to each other and are located below the suspended annular permanent magnet.
The embodiment of the utility model provides an in, go up safe contact and locate upwards bending into the protruding form of arc directly over the initiative feeler ring to form and last safe touch panel matched with contact, safe contact bends down into the protruding form of arc under the initiative feeler ring directly below department down, with formation and lower safe touch panel matched with contact.
In the embodiment of the present invention, the structured light scanning mechanism includes a structured light scanning shaft 73, a structured light bracket 74 is mounted on the structured light scanning shaft, and the side edge of the structured light bracket is connected with a structured light 72 through a structured light fixing ring 71, and the structured light is fixed in the structured light fixing ring.
The embodiment of the utility model provides an in, present structured light manufacturing technology can't be done the resolution ratio very high, leads to the precision of structured light measurement X and Y direction can't improve all the time, the utility model discloses place structured light on a high accuracy scanning axle, scanning axle drive structured light is at part surface continuous scanning to acquire more scanning points, can improve the scanning precision.
The utility model discloses theory of operation of embodiment:
step S1: calibrating a camera model: calibrating a second camera lens, and establishing parameters of a backlight projection model; calibrating a first camera lens and a second camera lens, and establishing binocular vision three-dimensional projection model parameters; calibrating a second camera lens and a structured light scanning mechanism, and establishing parameters of a structured light vision three-dimensional scanning model; and 3 projection model parameters are calibrated to the same reference coordinate system during calibration.
Step S2: calibrating conversion parameters of a backlight projection image coordinate system and a motion platform coordinate system: a standard smooth ring gauge is placed on a transparent platform, and a backlight projection measuring unit is used for measuring the circular profile C of the working surface of the standard smooth ring gauge1Manually controlling the motion platform to scan the circular contour of the working surface of the ring gauge and calculating C1Circle center coordinate [ C ] of circular contour1x，C1y]And the center coordinate [ V ] of the scanning track1x，V1y]Repeating the above steps for 2 times, respectively placing the smooth ring gauge on different positions of the transparent platform for detection and scanning to obtain circle center coordinates [ C ] of the circular contour at the other 2 positions of the smooth ring gauge2x，C2y]、[C3x，C3y]And the center coordinate [ V ] of the scanning track2x，V2y]、[V3x，V3y]Using the corresponding 2 pairs of four-point coordinates, [ C ]1x，C1y]、[C2x，C2y]And [ V ]1x，V1y]、[V2x，V2y]Calculating the translation and rotation parameters p1, m1 from the backlight projection image coordinate system to the motion platform coordinate system, and using [ C ] to judge whether it is the left-hand coordinate system or the right-hand coordinate system2x，C2y]、[C1x，C1y]Input order of [ V ]1x，V1y]、[V2x，V2y]Calculating translation and rotation parameters p2, m2 of the transformed coordinate system, and then calculating [ C [ [ C ]3x，C3y]Converting the calculated translation and rotation parameters to obtain x and y coordinates3x，V3y]And subtracting the x and y values to obtain absolute values, and taking the input sequence of the translation and rotation parameters and the coordinate of the backlight projection image with the smaller absolute value as the input sequence of the translation and rotation parameters and the coordinate point during conversion.
Step S3: and calibrating the conversion parameters of the structural optical vision three-dimensional coordinate system and the motion platform coordinate system. Calibrating the distances from the centers of three photoetching transparent standard circles of the target to the center of the sphere by using a backlight projection model and a binocular vision three-dimensional projection model: placing a smooth ring gauge on the transparent platform, detecting the working surface circle contour of the ring gauge by backlight projection, and calculating the center XY coordinate [ C ] of the circle contour from the circle contour1_X，C1_Y]And a series of XY coordinates [ X ] along the scanning trajectory of the circular profilei，Yi]Converting the series of scanning tracks XY coordinates to the coordinates of the motion platform, the three-axis motion platform driving the target ball to contact the working surface of the ring gauge and the transparent platform simultaneously and along the series [ X ]i，Yi]Coordinate scanning, the binocular vision system simultaneously tracks three photoetching transparent standard circles above the target, calculates the series three-dimensional circle center coordinates of the standard circles, fits the series three-dimensional circle center coordinates into three circles, and obtains the three-dimensional circle center coordinates of the three circles: [ C ]2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]Since the ball is simultaneously contacted with the working surface of the ring gauge and the transparent platform during scanning, the XY coordinate [ C ] of the circle center calculated by the circle outline1_X，C1_Y]Z-direction baseDenoted as the sphere radius R, from which is derived the sum of2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]Corresponding sphere center three-dimensional coordinate [ C ] of sphere1_X，C1_Y，R]According to the formula of the distance from the midpoint to the point in the three-dimensional space, the equation can be listed to obtain [ C [ ]2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]To [ C ]1_X，C1_Y，R]The distances d1, d2 and d3 are the distances from the centers of the three photoetching transparent standard circles to the center of the sphere of the ball.
Step S4: the binocular vision scanning measurement method comprises the following steps: during scanning, binocular vision tracks three photoetching transparent standard circles above a target, calculates a series of three-dimensional circle center coordinates of the standard circles, and calculates three-dimensional coordinate points of the circle center of the measuring sphere corresponding to the circle center coordinates of the three photoetching transparent standard circles according to a distance formula from a midpoint to a point in a three-dimensional space as the distance from the circle center coordinates to the center of the measuring sphere is obtained through calibration, and then calculates actual measurement parameters according to the radius of the measuring sphere; if the actual scanning track coordinate points of the part are obtained, the calculated three-dimensional coordinate points of the sphere center series of the measured sphere are fitted into the contours such as straight lines, circles, ellipses or curves corresponding to the type of the scanned track according to the type of the scanned track, and the fitted contours are parallel to the actual contour of the part, and the distance is equal to the radius of the measured sphere, so that the actual contour of the part can be obtained.
The present invention is not limited to the above preferred embodiments, and any one can derive other various forms of three-dimensional tracking targets according to the teaching of the present invention. All the equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.
Claims (7)
1. A three-dimensional space tracking target, comprising: including one examine test table, it has seted up perspective hole to run through from top to bottom on examining test table, examines test table below and just erects the backlight to perspective hole, examine test table upper surface directly over the perspective hole and set firmly transparent platform, erect the second camera directly over the transparent platform, second camera one side becomes certain contained angle with the second camera and aims at transparent platform and erect first camera, the second camera opposite side becomes certain contained angle with the second camera and aims at transparent platform and erect structure optical scanning mechanism, examine test table rear side and install the three-axis motion platform, this three-axis motion platform's Z is epaxial to set firmly the mark target.
2. The three-dimensional tracking target of claim 1, wherein: the target comprises a shell, the outer wall of the shell is fixedly connected to a Z shaft, an outer tubular permanent magnet is embedded in the inner wall of the shell close to the lower end, a lower annular permanent magnet is embedded in the inner wall of the shell above the outer tubular permanent magnet, and an upper annular permanent magnet is embedded in the inner wall of the shell above the lower annular permanent magnet; the center of the inner wall of the shell is penetrated and suspended with a measuring rod, the lower end of the measuring rod is provided with a measuring ball, the top of the measuring rod extends out of the shell and is fixedly provided with a light source supporting plate, three plane light sources are uniformly distributed along the circumferential direction of the light source supporting plate, photoetching transparent standard circles are all arranged on the plane light sources, a suspended annular permanent magnet is arranged on the measuring rod below the supporting plate, and the suspended annular permanent magnet is positioned between an upper annular permanent magnet and a lower annular permanent magnet; the measuring rod in the outer tubular permanent magnet is sleeved with an inner tubular permanent magnet, and the inner tubular permanent magnet is fixedly connected with the side rod.
3. The three-dimensional tracking target of claim 2, wherein: the light source supporting plate is circular and is arranged above the shell in parallel, and the center of the lower end of the light source supporting plate is fixedly connected with the upper end of the measuring rod.
4. The three-dimensional tracking target of claim 2, wherein: the polarity of the near positions of the outer tubular permanent magnet and the inner tubular permanent magnet is the same, and the polarity of the near positions of the suspension annular permanent magnet and the upper and lower annular permanent magnets is the same.
5. The three-dimensional tracking target of claim 2, wherein: a wave spring fixing ring is fixedly arranged on the inner wall of the shell between the upper annular permanent magnet and the lower annular permanent magnet, a wave spring is arranged in the wave spring fixing ring, and two driven contact rings are arranged on the wave spring at intervals; the peripheral direction of the suspension annular permanent magnet is fixedly provided with a driving contact ring; the shell penetrates through the inner wall from the outer wall inwards horizontally to form an upper safety contact plate, an upper safety contact, a lower safety contact plate and a lower safety contact in pair, the upper safety contact plate and the upper safety contact are parallel to each other and are located above the suspended annular permanent magnet, and the lower safety contact plate and the lower safety contact are parallel to each other and are located below the suspended annular permanent magnet.
6. The three-dimensional tracking target of claim 5, wherein: the upper safety contact is bent upwards to form an arc-shaped convex shape right above the active contact ring so as to form a contact matched with the upper safety contact plate, and the lower safety contact is bent downwards to form an arc-shaped convex shape right below the active contact ring so as to form a contact matched with the lower safety contact plate.
7. The three-dimensional tracking target of claim 1, wherein: structured light scanning mechanism includes structured light scanning axle, the epaxial mounting structure light support of structured light scanning, structured light support side are connected with structured light through a structured light solid fixed ring, and structured light wears to establish in the structured light solid fixed ring and fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921937540.7U CN211085109U (en) | 2019-11-11 | 2019-11-11 | Target is tracked in three-dimensional space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921937540.7U CN211085109U (en) | 2019-11-11 | 2019-11-11 | Target is tracked in three-dimensional space |
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| CN211085109U true CN211085109U (en) | 2020-07-24 |
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| CN201921937540.7U Active CN211085109U (en) | 2019-11-11 | 2019-11-11 | Target is tracked in three-dimensional space |
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