Abstract: Disclosed is a high-precision dynamic real-time 360-degree omnidirectional point cloud acquisition method based on fringe projection. The method comprises: firstly, by means of the fringe projection technology based on a stereoscopic phase unwrapping method, and with the assistance of an adaptive dynamic depth constraint mechanism, acquiring high-precision three-dimensional (3D) data of an object in real time without any additional auxiliary fringe pattern; and then, after a two-dimensional (2D) matching points optimized by the means of corresponding 3D information is rapidly acquired, by means of a two-thread parallel mechanism, carrying out coarse registration based on Simultaneous Localization and Mapping (SLAM) technology and fine registration based on Iterative Closest Point (ICP) technology.

Abstract: The present application provides a rubber spring, including a first mounting plate and a second mounting plate, the first mounting plate having a first V-shaped plate with an opening angle larger than 90°, and the second mounting plate having a second V-shaped plate with an opening angle larger than 90°; and a plurality of rubber layers arranged between the first V-shaped plate and the second V-shaped plate, wherein each two adjacent rubber layers are separated by an intermediate plate, the intermediate plate is a V-shaped plate with an opening angle larger than 90°, and openings of the first V-shaped plate, the second mounting plate and the intermediate plate are facing the same direction. The present application further provides a rubber suspension system and a truck.