An optical system for trajectory tracking and its machine vision sensor system

Abstract

The present invention discloses an optical system for trajectory tracking, which includes an optical imaging system, a narrow-angle illumination system disposed on one side of the optical imaging system for projecting on a transparent surface, a mirror surface, a smooth surface or a bright surface, and a wide-angle illumination system disposed on the other side of the optical imaging system for projecting on a diffuse reflection surface. The optical imaging system is a lens group, which includes at least one imaging lens; also disclosed is a machine vision sensor system adopting the optical system, enabling the robot to project on a transparent surface, a mirror surface, a smooth surface or a bright surface, and also project on a diffuse reflection surface, a surface with irregular texture and a non-smooth rough surface, capable of identifying the attributes of various features on the surface, facilitating the robot to collect trajectory information for tracking, enabling the robot to spend exactly the same amount of time cleaning all positions, ensuring that there are no dead corners in cleaning, and enabling the robot to have higher flexibility and working efficiency.

Description

Technical Field

[0001] The present invention relates to an optical system within an optical sensor system, and particularly to an optical system for trajectory tracking and its machine vision sensor system. Background Art

[0002] In recent years, with the rapid development of computer technology, artificial intelligence technology, sensing technology, and mobile robot technology, the research and development of the control system of floor-sweeping robots have had a solid foundation and good development prospects.

[0003] A floor-sweeping robot, also known as an automatic cleaning machine, intelligent vacuum cleaner, etc., is a type of smart home device that can automatically clean the floor in a room by virtue of a certain degree of artificial intelligence. Existing floor-sweeping robot systems usually consist of four parts: a sensing system, a moving mechanism, a control system, and a dust suction system.

[0004] The sensing system is a relatively important part of the floor-sweeping robot, equivalent to the sensory organs of humans. The sensing system is used to detect the environment, analyze signals, and understand the environment through appropriate modeling methods.

[0005] Existing floor-sweeping robots generally are equipped with a lidar / or ultrasonic rangefinder system. By rotating the sensor 360 degrees, 3D modeling of the environment, creating an accurate map, and formulating obstacle avoidance routes are carried out.

[0006] In recent years, research on intelligent robots has shown that for autonomous mobile robots working in complex unstructured environments, to further improve their automation level, in addition to using the most basic ultrasonic / or lidar, contact and proximity sensors, PSD infrared wall-following sensors for automatic navigation, obstacle avoidance, and better fitting to the wall or obstacle when along the wall and passing obstacles to ensure no dead corners in cleaning, trajectory calculation for the crawling surface and detection of surface feature attributes (such as the color, texture, and dust quantity level of the crawling surface), real-time data transmission, and appropriate artificial intelligence methods are crucial for the upgrade and intelligent development of floor-sweeping robots. It can accurately determine which positions need to spend more time for careful cleaning and which positions can be quickly skipped. Therefore, the optical system in the sensors of existing floor-sweeping robots is not perfect enough to effectively detect trajectory calculation and ground surface feature attributes (such as the color, texture, and dust quantity level of the crawling surface), and cannot ensure no dead corners in cleaning. Summary of the Invention

[0007] The object of the present invention is to overcome the above-mentioned defects in the prior art, and provide an optical system for trajectory tracking and its machine vision sensor system, wherein the optical system can refract or reflect the attributes of various features on the surface (such as the color, texture of the crawling surface, and the quantity level of dust), facilitating the machine vision sensor system to collect trajectory information for tracking, enabling the robot to spend exactly the same amount of time cleaning all positions, ensuring no dead corners in cleaning, and making the robot have higher flexibility and working efficiency.

[0008] To achieve the above object, the present invention provides an optical system for trajectory tracking, which includes an optical imaging system, a narrow-angle illumination system disposed on one side of the optical imaging system for projecting on a transparent surface, a mirror surface, a smooth surface or a bright surface, and a wide-angle illumination system disposed on the other side of the optical imaging system for projecting on a diffuse reflection surface, a surface with irregular texture and a non-smooth rough surface; the optical imaging system is a lens group, which includes at least one imaging lens, the narrow-angle illumination system is disposed on one side of the imaging lens, and the wide-angle illumination system is disposed on the other side of the imaging lens.

[0009] Preferably, the depth of field range of the imaging of the optical imaging system is 1 - 100 mm.

[0010] Preferably, one or both of the narrow-angle illumination system and the wide-angle illumination system are an integrated or spliced folding optical path prism structure, or an inverted conical total reflection lens structure, or a folding mirror structure. If it is a folding optical path prism structure, it includes at least one inclined reflection surface.

[0011] Preferably, the narrow-angle illumination system is an integrated folding optical path prism structure, which includes a light incident surface A, a first reflection surface A, a second reflection surface A, and a light exit surface A; the wide-angle illumination system is an integrated folding optical path prism structure, which includes a light incident surface B, a first reflection surface B, a second reflection surface B, and a light exit surface B.

[0012] Preferably, both the light incident surface A and the light incident surface B are annular serrated Fresnel surfaces or concave surfaces. If it is an annular serrated Fresnel surface, its central part is a convex surface, and from the center to the edge direction, it includes a series of finer serrated surfaces.

[0013] Preferably, the first reflection surface A, the second reflection surface A, the first reflection surface B, and the second reflection surface B are respectively inclined plane reflection surfaces or free-form surface reflection surfaces.

[0014] Preferably, the light exit surface A and the light exit surface B are respectively inclined planes, arc surfaces, corrugated surfaces, microlens array surfaces or frosted surfaces.

[0015] Preferably, the narrow-angle illumination system is an inverted conical total reflection lens structure, which includes a concave cylindrical surface, a convex surface at the concave part, a total reflection surface, and a light-emitting surface C.

[0016] Preferably, the light-emitting surface C is a serrated surface.

[0017] Preferably, both the narrow-angle illumination system and the wide-angle illumination system are spliced folding optical path prism structures. The narrow-angle illumination system includes a first triangular prism and a second triangular prism arranged adjacent to each other, and the wide-angle illumination system includes a third triangular prism and a fourth triangular prism arranged adjacent to each other.

[0018] Preferably, the optical imaging system includes a first imaging objective lens, an aperture stop for blocking stray light, a second imaging objective lens, a light-tight box for eliminating stray light, and an imaging sensor, which are respectively arranged between the narrow-angle illumination system and the wide-angle illumination system; the first imaging objective lens and the aperture stop are arranged on one side of the second imaging objective lens, the light-tight box and the imaging sensor are arranged on the other side of the second imaging objective lens, the aperture stop is arranged between the first imaging objective lens and the second imaging objective lens, and the light-tight box is arranged between the imaging sensor and the second imaging objective lens.

[0019] Preferably, the first imaging objective lens is a separately arranged lens with optical power, and both its upper and lower surfaces are curved surfaces.

[0020] Preferably, the second imaging objective lens, the narrow-angle illumination system, and the wide-angle illumination system are integrally formed components. The second imaging objective lens has optical power, and both its upper and lower surfaces are curved surfaces.

[0021] Preferably, the imaging sensor is an infrared image sensor with a pixel level above VGA.

[0022] Preferably, the first imaging objective lens includes a first optical surface A and a second optical surface A, the second imaging objective lens includes a first optical surface B and a second optical surface B, and the first optical surface A, the second optical surface A, the first optical surface B, and the second optical surface B are all even aspherical surfaces.

[0023] Compared with the prior art, the beneficial effects of an optical system for trajectory tracking provided by the present invention are as follows:

[0024] It is provided with an optical imaging system, a narrow-angle illumination system, and a wide-angle illumination system. The light source projects a light beam onto the crawling surface through the narrow-angle illumination system. Through the reflection of the smooth and shiny surface, part of the light beam enters the sensor. The image features of the shiny surface are read through the imaging lens and the optical imaging sensor. This is mainly used for feature recognition of shiny surfaces with specular reflection characteristics on smooth surfaces. The light source projects a wide-angle light beam onto the crawling surface through the wide-angle illumination system. Through the diffuse reflection of the rough surface, the details of the rough surface can be imaged through the imaging lens and feature-recognized through the optical imaging sensor. Therefore, this optical system can project onto transparent surfaces, mirrors, smooth surfaces, or shiny surfaces, such as surfaces of tiles, marble, glass, shiny metals, etc., and can also project onto diffuse reflection surfaces, surfaces with irregular textures and non-smooth rough surfaces, such as ordinary wooden floors, carpets, cement floors, sandy textures, etc. This optical system can refract or reflect the attributes of various features on the surface (such as the color, texture, and dust quantity level of the crawling surface), facilitating the machine vision sensor system to collect trajectory information for tracking, enabling the robot to spend exactly the same amount of time cleaning all positions, ensuring no dead corners in cleaning, and making the robot have higher flexibility and working efficiency. In practical applications, according to the surface features of the crawling surface, the two illumination systems can be set and used together, or only one of the illumination systems can be selected and used alone.

[0025] The present invention also provides a machine vision sensor system, which includes a substrate, a PCB board disposed on one side of the substrate, a combined prism disposed on one side of the PCB board, and an illumination device disposed on the PCB board. It also includes an optical system for trajectory tracking as described above. The combined prism includes at least one imaging lens of the narrow-angle illumination system, the wide-angle illumination system, and the optical imaging system.

[0026] Preferably, the light emitted by the illumination device is an infrared light source, a visible light source, or a terahertz source.

[0027] Preferably, the illumination device includes a first infrared LED and a second infrared LED mounted on the PCB board. The mounting position of the first infrared LED corresponds to the narrow-angle illumination system, and the mounting position of the second infrared LED corresponds to the wide-angle illumination system.

[0028] Preferably, the wavelengths of the light emitted by the first infrared LED and the second infrared LED are both between 780 nm and 1 μm.

[0029] Compared with the prior art, the beneficial effects of a machine vision sensor system provided by the present invention are as follows:

[0030] Due to the adoption of the above-mentioned optical system for trajectory tracking, the machine vision sensor system can identify transparent surfaces, mirror surfaces, smooth surfaces or shiny surfaces, such as surfaces of tiles, marble, glass, shiny metals, etc., and can also identify diffuse reflection surfaces, surfaces with irregular textures and non-smooth rough surfaces, such as surfaces of ordinary wooden floors, carpets, cement floors, sandy textures, etc. Therefore, the machine vision sensor system can identify the attributes of various surface features (such as the color, texture, and dust quantity level of the crawling surface), enabling the robot to spend exactly the same amount of time cleaning all positions, ensuring no dead corners in cleaning, and making the robot have higher flexibility and working efficiency. In practical applications, two lighting systems can be set up and used together according to the surface features of the crawling surface, or only one of the lighting systems can be selected and used alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0032] Figure 1 is an isometric exploded view of Embodiment 1 of the present invention;

[0033] Figure 2 is a front exploded view of Embodiment 1 of the present invention;

[0034] Figure 3 is a top view of Embodiment 1 of the present invention;

[0035] Figure 4 is Figure 3 a cross-sectional view taken along line A-A in

[0036] Figure 5 is an optical path diagram of the narrow-angle lighting system in Embodiment 1 of the present invention;

[0037] Figure 6 is an optical path diagram of the wide-angle lighting system in Embodiment 1 of the present invention;

[0038] Figure 7 is a schematic diagram of the front and rear depth-of-field planes of the optical imaging system in Embodiment 1 of the present invention;

[0039] Figure 8 is an optical path layout diagram of the optical imaging system in Embodiment 1 of the present invention;

[0040] Figure 9 is a schematic diagram of the modulation transfer function curve of the optical imaging system in Embodiment 1 of the present invention;

[0041] Figure 10 is the dot matrix diagram of the optical imaging system in the first embodiment of the present invention;

[0042] Figure 11 is a schematic diagram of the field curvature and distortion curves of the optical imaging system in the first embodiment of the present invention;

[0043] Figure 12 is the imaging grid diagram of the optical imaging system in the first embodiment of the present invention;

[0044] Figure 13 is the cross-sectional view of the second embodiment of the present invention;

[0045] Figure 14 is the optical path diagram of the narrow-angle illumination system in the second embodiment of the present invention;

[0046] Figure 15 is the cross-sectional view of the third embodiment of the present invention;

[0047] Figure 16 is the optical path diagram of the wide-angle illumination system in the third embodiment of the present invention;

[0048] Figure 17 is the cross-sectional view of the fourth embodiment of the present invention;

[0049] Figure 18 is the optical path diagram of the narrow-angle illumination system in the fourth embodiment of the present invention;

[0050] Figure 19 is the cross-sectional view of the fifth embodiment of the present invention;

[0051] Figure 20 is the optical path diagram of the narrow-angle illumination system in the fifth embodiment of the present invention;

[0052] Figure 21 is the optical path diagram of the wide-angle illumination system in the fifth embodiment of the present invention. Detailed implementation manners

[0053] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0054] Embodiment 1

[0055] This embodiment provides a machine vision sensor system for trajectory tracking of an intelligent floor cleaning robot, which includes an optical system, and the optical system further includes the following three parts:

[0056] An optical imaging system, which is a lens group and includes more than one imaging lens;

[0057] A narrow-angle illumination system 111, which is an integrated prism structure and is mainly used for projecting onto surfaces that are transparent surfaces, mirror surfaces, smooth surfaces, and have bright surface reflections, such as surfaces of tiles, marble, glass, bright metal, etc. The light source projects a light beam onto the crawling surface through this prism, and part of the light beam enters the sensor through the reflection of the smooth bright surface. The image features of the bright surface are read through the imaging lens and the optical image sensor. This is mainly used for feature recognition of bright surfaces with specular reflection characteristics on smooth surfaces;

[0058] A wide-angle illumination system 112, which is an integrated prism structure and is mainly used for illuminating surfaces that are diffuse reflection surfaces, have irregular textures and non-smooth rough surfaces, such as ordinary wooden floors, carpets, cement floors, sandy textures, etc. The LED light source projects a wide-angle light beam onto the crawling surface through this prism, and through the diffuse reflection of the rough surface, the details of the rough surface can be imaged through the imaging lens and feature recognized through the optical image sensor.

[0059] The isometric exploded view of the machine vision sensor system described in this embodiment is as shown in Figure 1 shown, the front exploded view is as shown in Figure 2 shown, the top view is as shown in Figure 3 shown, and the cross-sectional view along the A-A direction is as shown in Figure 4 shown. It includes a combined prism 110, a first imaging objective 120, an aperture stop 130, a first infrared LED 140, a second infrared LED 150, a PCB board 160, a cassette 170, an imaging sensor 180, and a substrate 190.

[0060] Among them, the combined prism 110 integrates a narrow-angle illumination system 111, a wide-angle illumination system 112, and one of the second imaging objectives 113 of the optical imaging system.

[0061] The narrow-angle illumination system 111 is a prism structure with a folded optical path integrated body, which includes an incident light surface A111a, a first reflection surface A111b, a second reflection surface A111c, and an outgoing light surface A111d. The incident light surface A111a is a Fresnel surface with an annular serrated shape, and its central part is a convex surface. From the center to the edge direction, it includes a series of finer serrated surfaces. The first reflection surface A111b is an inclined plane reflection surface or a free-form surface reflection surface. In this embodiment, it is preferably an inclined plane reflection surface. The second reflection surface A111c is also an inclined plane reflection surface or a free-form surface reflection surface. In this embodiment, it is preferably an inclined plane reflection surface. The outgoing light surface A111d is a slightly inclined plane or an arc surface. In this embodiment, it is preferably a slightly inclined plane, and its inclination angle with the horizontal direction is 4°-10°.

[0062] The wide-angle illumination system 112 is a prism system with a folded optical path, which includes an incident light surface B112a, a first reflection surface B112b, a second reflection surface B112c, and an outgoing light surface B112d. The incident light surface B112a is a Fresnel surface with an annular serrated shape, and its central part is a convex surface. From the center to the edge direction, it includes a series of finer serrated surfaces. The first reflection surface B112b is an inclined plane reflection surface or a free-form surface reflection surface. In this embodiment, it is preferably an inclined plane reflection surface. The second reflection surface B112c is also an inclined plane reflection surface or a free-form surface reflection surface. In this specific embodiment, it is preferably an inclined free-form surface reflection surface. The outgoing light surface B112d is a slightly inclined plane or an arc surface. In this embodiment, it is preferably a slightly inclined arc surface.

[0063] A first infrared LED 140 is disposed below the narrow-angle illumination system 111. The wavelength of the first infrared LED 140 is between 780 nm and 1 μm. In this embodiment, it is preferably that the central wavelength of the first infrared LED 140 is 810 nm.

[0064] A second infrared LED 150 is disposed below the wide-angle illumination system 112. The wavelength of the second infrared LED 150 is between 780 nm and 1 μm. In this embodiment, it is preferably that the central wavelength of the infrared emission LED is 810 nm.

[0065] Both the first infrared LED 140 and the second infrared LED 150 are located on the PCB board 160 below.

[0066] The above-mentioned optical imaging system is composed of a first imaging objective lens 120, an aperture stop 130 for blocking stray light, a second imaging objective lens 113, a light-tight box 170 for eliminating stray light, and an imaging sensor 180, which are respectively arranged between the narrow-angle illumination system 111 and the wide-angle illumination system 112; the first imaging objective lens 120 and the aperture stop 130 are arranged on one side of the second imaging objective lens 113, the light-tight box 170 and the imaging sensor 180 are arranged on the other side of the second imaging objective lens 113, the aperture stop 130 is arranged between the first imaging objective lens 120 and the second imaging objective lens 113, and the light-tight box 170 is arranged between the imaging sensor 180 and the second imaging objective lens 113.

[0067] The first imaging objective lens 120 is a separately arranged lens with optical power, and its upper and lower surfaces are arc-shaped. In this embodiment, it is preferably that these two arc surfaces are aspherical surfaces.

[0068] The second imaging objective lens 113 is located at the middle position of the combined prism 110 and directly above the imaging sensor 180. It is integrated with the folding optical path prisms of the narrow-angle illumination system 111 and the wide-angle illumination system 112 on the left and right sides and is injection-molded together during production. The second imaging objective lens 113 is a lens with optical power, and its upper and lower surfaces are both arc-shaped. In this embodiment, it is preferably that these two arc surfaces are aspherical surfaces.

[0069] The light-tight box 170 is located above the imaging sensor 180, and there is a pupil in the middle for the light of the imaging optical system to pass through for imaging. It images the surface feature attributes of the crawling surface (such as the color, texture, and dust quantity level of the crawling surface) into the imaging sensor 180, and through image processing and data analysis, it can thus guide the crawling trajectory of the intelligent floor sweeping robot in real time and the time required for cleaning and staying.

[0070] The imaging sensor 180 is an infrared image sensor with a pixel level above VGA, and it is located on the substrate 190.

[0071] In this embodiment, the narrow-angle illumination system 111 is a prism system with a folding optical path, and its optical path diagram is as Figure 5 shown. It includes an incident light surface A111a, a first reflection surface A111b, a second reflection surface A111c, and an exit light surface A111d.

[0072] The incident light surface A111a is an annular serrated Fresnel surface, and its central part is a convex surface. From the center to the edge direction, it includes a series of relatively thin serrated surfaces, which function to converge the light beam. It collimates the light incident from the first infrared LED 140 below and then incident to the position of the first reflection surface A111b above.

[0073] The first reflecting surface A111b is an inclined plane reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined plane reflecting surface, which totally reflects and turns the incident convergent light and makes it incident on the position of the second reflecting surface A111c on the left.

[0074] The second reflecting surface A111c is also an inclined plane reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined plane reflecting surface, which totally reflects and turns the light reflected from the first reflecting surface A111b again and makes it incident on the position of the light-emitting surface A111d above.

[0075] The light-emitting surface A111d is a slightly inclined plane or arc surface. In this embodiment, it is preferably a slightly inclined plane, and its inclination angle with the horizontal direction is 4° - 10°. It outputs the light reflected from the second reflecting surface A111c, and the output angle forms an angle α with the optical axis OZ, and the α is between 2 - 5°.

[0076] The narrow-angle illumination system 111 in this embodiment is mainly used for projecting on surfaces such as transparent surfaces, mirror surfaces, smooth surfaces, and surfaces with bright surface reflections, such as tiles, marble, glass, bright surface metals, etc. The LED light source projects the light beam onto the crawling surface through this prism, and part of the light beam enters the sensor through the reflection of the smooth bright surface. The image features of the bright surface are read through the imaging lens and the optical image sensor. This is mainly used for feature recognition of bright surfaces with specular reflection characteristics on smooth surfaces.

[0077] In this embodiment, the wide-angle illumination system 112 is a prism system with a folded optical path, and its optical path diagram is as Figure 6 shown. It includes a light-incident surface B112a, a first reflecting surface B112b, a second reflecting surface B112c, and a light-emitting surface B112d.

[0078] The light-incident surface B112a is an annular serrated Fresnel surface, and its central part is a convex surface. From the center to the edge direction, it includes a series of finer serrated surfaces, which serve to collimate the light incident from the second infrared LED 150 below and make it incident on the position of the first reflecting surface B112b above.

[0079] The first reflecting surface B112b is an inclined plane reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined plane reflecting surface, which totally reflects and turns the incident convergent light and makes it incident on the position of the second reflecting surface B112c on the right.

[0080] The second reflecting surface B112c is also an inclined plane reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined free-form surface reflecting surface, which totally reflects the light rays reflected from the first reflecting surface B112b again, turns them, performs light distribution at a certain angle, expands the reflected light rays, and makes the light rays after light distribution enter the position of the upper light-emitting surface B112d.

[0081] The light-emitting surface B112d is a slightly inclined plane or arc surface. In this embodiment, it is preferably a slightly inclined arc surface, which performs light distribution on the light rays reflected from the second reflecting surface B112c again. The beam angle of the light beam output after light distribution is ω. The light distribution angle ω is between more than 25° and 120°. In this specific implementation scheme 1, the light distribution angle ω is preferably 30°.

[0082] In this embodiment, the wide-angle illumination system 112 is mainly used for illuminating surfaces such as diffuse reflection surfaces, surfaces with irregular textures and non-smooth rough surfaces, such as ordinary wooden floors, carpets, cement floors, and sandy stone textures. The LED light source projects a wide-angle light beam onto the crawling surface through this prism, and through the diffuse reflection of the rough surface, the details of the rough surface can be imaged through an imaging lens and feature-recognized through an optical image sensor.

[0083] The optical imaging system in this embodiment is a lens group, which includes more than one imaging lens. Its depth of field range is 1 to 100 mm. The front and rear depths of field of this optical imaging system are as Figure 7 shown.

[0084] Assume that this optical imaging system images an object at the -l position, and it has a clear imaging range, that is, from the front -l1 and the rear -l2 positions, the imaging is clear. Then assume that the distance from -l1 to -l is Δ1, and the distance from -l to -l2 is Δ2. The two are its front and rear depths of field, and the sum of the front depth of field and the rear depth of field Δ = Δ1 + Δ2 is the total depth of field of this imaging system. Then there is the relational formula of formula (1) as follows:

[0085]

[0086] In formula (1), l, l1, and l2 are respectively the object distance, the distance from the front depth of field to the first lens 120, and the distance from the rear depth of field to the first lens 120. D is the entrance pupil diameter of the optical system, and Z is the size of the blur spot, which is the diameter of the blur circle formed by the image of the object point and the angle subtended at the center of the receiver is less than 1' viewing angle.

[0087] The optical path diagram of the optical imaging system in this embodiment is as Figure 8As shown in the figure, the optical imaging system consists of a separately provided first imaging objective lens 120, an aperture stop 130, a second imaging objective lens 113 disposed in the middle of a combined prism 110, a light-tight box 170 for eliminating stray light, and an imaging sensor 180.

[0088] The first imaging objective lens 120 has a focal power, and it includes a first optical surface A120a and a second optical surface A120b. The first optical surface A120a is a convex surface, and the second optical surface A120b is a concave surface. Both the first optical surface A120a and the second optical surface A120b are aspherical surfaces.

[0089] The second imaging objective lens 113 is disposed in the middle of the combined prism 110 and is integrated with the combined prism 110. It includes a first optical surface B113a and a second optical surface B113b. Both the first optical surface B113a and the second optical surface B113b are convex surfaces, and both the first optical surface B113a and the second optical surface B113b are aspherical surfaces.

[0090] For the optical imaging system of this embodiment, the modulation transfer function of the imaging result is as Figure 9 shown, its point spread function diagram is as Figure 10 shown, its field curvature and distortion are as Figure 11 shown, and its imaging grid diagram is as Figure 12 shown. It can be seen from the modulation transfer function curve that the resolution of all fields above 60 line pairs is above 0.6. It can be seen from the point spread function diagram that for the point spread function diagrams of all fields, the root mean square of the smallest blur spot is about 1um, and the root mean square of the largest blur spot is within 3um. It can be seen from the field curvature and distortion diagram and the imaging grid diagram that the F-theta distortion of the maximum field of view is within 3.5%, and the imaging diagram is basically not deformed, which is convenient for image processing and data analysis.

[0091] For the optical imaging system described in this embodiment, its optical parameters (including the order of optical surfaces, type, radius of curvature, thickness, refractive index / Abbe number of the material, clear aperture, conic constant) are shown in Table 1. For the first imaging objective lens 120, its first optical surface A120a and second optical surface A120b are even aspherical surfaces, and its material is optical plastic. For the second imaging objective lens 113, its first optical surface B113a and second optical surface B113b are even aspherical surfaces, and its material is optical plastic.

[0092] Table 1 Parameters of the optical imaging system described in this embodiment

[0093]

[0094] The aspheric coefficients of the first optical surface A120a and the second optical surface A120b in the first imaging objective 120, and the aspheric coefficients of the first optical surface B113a and the second optical surface B113b of the second imaging objective 113 are shown in Table 2. The second-order to eighth-order terms of the first optical surface A120a in the imaging objective 120 have non-zero aspheric coefficients, and the aspheric coefficients of the tenth-order to sixteenth-order terms are zero. For several other aspheric surfaces, the second-order to sixth-order terms have non-zero aspheric coefficients, while the aspheric coefficients of the eighth-order to sixteenth-order terms are zero.

[0095] Table 2 Aspheric Coefficients of the Optical Imaging System Described in This Embodiment

[0096]

[0097] Embodiment 2

[0098] This embodiment provides a machine vision sensor system for trajectory tracking of an intelligent floor sweeping robot, which includes an optical system. Except that the wide-angle illumination system 212 described in Embodiment 1 uses a free-form reflecting surface, the folding optical path prism of the narrow-angle illumination system 211 can also use a free-form reflecting surface, and the rest of the structure is the same as that in Embodiment 1, and will not be described in detail here.

[0099] The narrow-angle illumination system 211 in this embodiment is a folding optical path prism. The light incident surface A211a close to the first infrared LED 240 can be set as a concave surface in addition to using a serrated light collecting surface. At least one of its first reflecting surface A and second reflecting surface A can be set as a free-form surface.

[0100] A machine vision sensor system for trajectory tracking of an intelligent floor sweeping robot described in this embodiment has a cross-sectional view as Figure 13 shown, and its light distribution optical path diagram is as Figure 14 shown.

[0101] The narrow-angle illumination system 211 described in this embodiment includes a light incident surface A211a, a first reflecting surface A211b, a second reflecting surface A211c, and a light output surface A211d.

[0102] As shown in the optical path Figure 14 shown, the light incident surface A211a is a concave surface, and its center of curvature is located at the center C point of the light emitting surface of the first infrared LED 240. The light rays emitted from the center C point of the light emitting surface of the first infrared LED 240, after being incident on the light incident surface A211a, travel along the original path.

[0103] The first reflecting surface A211b is a free-form surface mirror. The optical path is reflected and turned by it, and the reverse extension line of the reflected light converges at point C1. Point C1 is the virtual image of point C, that is, C1 and C are object-image conjugate with respect to the first reflecting surface A211b.

[0104] The second reflecting surface A211c has point C1 as its focus, reflects and turns the incident light, and the reflected and turned light exits parallel from the upper light-emitting surface A211d, forming a narrow-angle light beam with an angle α with the optical axis.

[0105] The light-emitting surface A211d is a slightly inclined plane or arc surface. In this embodiment, it is preferably a slightly inclined plane, and its inclination angle with the horizontal direction is 4° - 10°. It outputs the light reflected from 211c, and the output angle forms an angle α with the optical axis OZ, and the α is between 2 - 5°.

[0106] The narrow-angle illumination system 211 in this embodiment is mainly used for projecting onto surfaces such as transparent surfaces, mirror surfaces, smooth surfaces, and surfaces with bright surface reflections, such as tiles, marble, glass, bright metal surfaces, etc. The first infrared LED240 light source projects the light beam onto the crawling surface through this prism. Through the reflection of the smooth bright surface, part of the light beam enters the sensor, and the image characteristics of the bright surface are read through the imaging lens and the optical image sensor. This is mainly used for feature recognition of bright surfaces with specular reflection characteristics on smooth surfaces.

[0107] The wide-angle illumination system 212 in this embodiment is a prism system with a folded optical path, and its specific implementation method is the same as that described in the embodiment. It includes an incident light surface B212a, a first reflecting surface B212b, a second reflecting surface B212c, and an outgoing light surface B212d.

[0108] The incident light surface B212a is a ring-shaped serrated Fresnel surface, and its central part is a convex surface. From the center to the edge direction, it includes a series of finer serrated surfaces. Its function is to converge the light beam. It collimates the light incident from the second infrared LED250 below and then incident to the position of the upper first reflecting surface B212b.

[0109] The first reflecting surface B212b is an inclined plane reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined plane reflecting surface. It totally reflects and turns the incident converging light and then incident to the position of the second reflecting surface B212c on the right.

[0110] The second reflecting surface B212c is also an inclined planar reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined free-form surface reflecting surface, which totally reflects the light rays reflected from the first reflecting surface B212b again, turns them, performs light distribution at a certain angle, expands the reflected light rays, and makes the light rays after light distribution incident on the position of the upper light-emitting surface B212d.

[0111] The light-emitting surface B212d is a slightly inclined plane or arc surface. In this embodiment, it is preferably a slightly inclined arc surface, which performs light distribution on the light rays reflected from the second reflecting surface B212c again. The beam angle of the light beam output after light distribution is ω, and the light distribution angle ω is between more than 25° and 120°. In this embodiment, the light distribution angle ω is preferably 30°.

[0112] The wide-angle illumination system 212 in this embodiment is mainly used for illuminating surfaces such as diffuse reflection surfaces, surfaces with irregular textures and non-smooth rough surfaces, such as ordinary wooden floors, carpets, cement floors, and sandy stone textures. The LED250 light source projects a wide-angle light beam onto the crawling surface through this prism. Through the diffuse reflection of the rough surface, the details of the rough surface can be imaged by the imaging lens and feature-recognized by the optical image sensor.

[0113] Embodiment III

[0114] This embodiment provides a machine vision sensor system for the trajectory tracking of an intelligent sweeping robot, which includes an optical system. In the folding optical path prism of the wide-angle illumination system in the optical system, in addition to using a free-form surface reflecting surface for large-angle light distribution as described in Embodiment I, an inclined planar reflecting surface can also be used, and a corrugated surface / micro-lens array surface / matte surface is added to the light-emitting surface for beam expansion and light distribution. The rest of the structure is the same as that in Embodiment I, and no more description will be given here.

[0115] The cross-sectional view of a machine vision sensor system for the trajectory tracking of an intelligent sweeping robot described in this embodiment is as Figure 15 shown. The light distribution optical path diagram of the wide-angle illumination system 312 is as Figure 16 shown. The wide-angle illumination system 312 is a prism structure with a folding optical path, which is composed of an incident light surface B312a, a first reflecting surface B312b, a second reflecting surface B312c, and a light-emitting surface B312d. The incident light surface B312a is a ring-shaped serrated Fresnel surface, and its central part is a convex surface. From the center to the edge direction, it includes a series of finer serrated surfaces, which have the function of converging the light beam. It collimates the light rays incident from the lower second infrared LED350 first and makes them incident on the position of the upper first reflecting surface B312b.

[0116] The first reflecting surface B312b is an inclined plane reflecting surface, which has no light distribution function. It only performs the first total reflection and turning on the light rays that are collimated and incident from the light incident surface B312a, and the light rays are incident on the position of the second reflecting surface B312c on the right side.

[0117] The second reflecting surface B312c is also an inclined plane reflecting surface, which also has no light distribution function. It only performs another total reflection and turning on the light rays reflected from the first reflecting surface B312b, and the light rays after reflection and turning are incident on the position of the light output surface B312d above.

[0118] The light output surface B312d is a corrugated surface / micro-lens array surface / matte surface, which is slightly inclined. In this embodiment, it is preferably a slightly inclined corrugated surface. It performs light distribution on the parallel light rays reflected from the second reflecting surface B312c, and the beam angle of the light beam output after light distribution is ψ. The light distribution angle ψ is between more than 25° and 120°. In this specific implementation scheme 3, the light distribution angle ψ is preferably 40°.

[0119] The wide-angle illumination system 312 in this embodiment is mainly used for illuminating surfaces that are diffuse reflection surfaces, have irregular textures and non-smooth rough surfaces, such as ordinary wooden floors, carpets, cement floors, and sandy surfaces. The second infrared LED 350 light source projects a wide-angle light beam onto the crawling surface through this prism, and through the diffuse reflection of the rough surface, the details of the rough surface can be imaged by the imaging lens and the features can be recognized by the optical image sensor.

[0120] The narrow-angle illumination system 311 in this embodiment has the same implementation scheme as that described in Embodiment 1, and it is a prism structure with a folded optical path. It includes a light incident surface A311a, a first reflecting surface A311b, a second reflecting surface A311c, and a light output surface A311d.

[0121] The light incident surface A311a is an annular serrated Fresnel surface, and its central part is a convex surface. From the center to the edge direction, it includes a circle of finer serrated surfaces, which has the function of converging light beams. It first collimates the light rays incident from the first infrared LED 340 below and then the light rays are incident on the position of the first reflecting surface A311b above.

[0122] The first reflecting surface A311b is an inclined plane reflecting surface or a free-form surface reflecting surface. In this embodiment, it is preferably an inclined plane reflecting surface. It performs total reflection and turning on the incident converging light rays and then the light rays are incident on the position of the second reflecting surface A311c on the left side.

[0123] The second reflecting surface A311c is also an inclined planar reflecting surface or a free-form reflecting surface. In this embodiment, it is preferably an inclined planar reflecting surface, which totally reflects the light reflected from the first reflecting surface A311b again and turns it, and then the light is incident on the position of the upper light-emitting surface A311d.

[0124] The light-emitting surface A311d is a slightly inclined plane or an arc surface. In this embodiment, it is preferably a slightly inclined plane, and its inclination angle with the horizontal direction is 4°-10°. It outputs the light reflected from the second reflecting surface A311c, and the output angle forms an angle α with the optical axis OZ, and the α is between 2-5°.

[0125] The narrow-angle illumination system 311 described in this embodiment is mainly used for projecting on transparent surfaces, mirror surfaces, smooth surfaces, and surfaces with bright surface reflections, such as tiles, marble, glass, bright surface metals, etc. The first infrared LED340 light source projects the light beam onto the crawling surface through this prism, and part of the light beam enters the sensor through the reflection of the smooth bright surface, and the image features of the bright surface are read through the imaging lens and the optical image sensor. This is mainly used for feature recognition of bright surfaces with specular reflection characteristics on smooth surfaces.

[0126] Embodiment 4

[0127] This embodiment provides a machine vision sensor system for trajectory tracking of an intelligent sweeping robot, which includes an optical system. In the narrow-angle / wide-angle illumination system in this optical system, in addition to using the above-mentioned inclined plane or free-form reflecting surface, the narrow-angle or wide-angle illumination system can also adopt an inverted conical total reflection lens structure, and the rest of the structure is the same as that in Embodiment 1, and will not be described in detail here.

[0128] The narrow-angle illumination system 411 described in this embodiment is an inverted conical total reflection lens structure. The cross-sectional view of a machine vision sensor system for trajectory tracking of an intelligent sweeping robot described in this embodiment is as Figure 17 shown, and its light distribution optical path diagram is as Figure 18 shown. It includes a concave cylindrical surface 411a, a convex surface at the concave part 411b, a total reflection surface 411c, and a light-emitting surface C411d.

[0129] As Figure 18 shown, the light emitted from the first infrared LED440 is divided into two parts for light distribution. One part is refracted by the concave cylindrical surface 411a and then incident on the outer reflecting surface 411c. The outer reflecting surface 411c collimates the incident light through total reflection, and the collimated light is incident on the position of the upper light-emitting surface 411d. The other part of the light is directly collimated by the concave and convex surface 411b, and the collimated light is incident on the position of the upper light-emitting surface C411d.

[0130] The light-emitting surface C411d is a serrated surface inclined in one direction, which deflects the incident collimated light by a certain angle, and the angle between the deflected light and the optical axis OZ is α. The α is between 2-5°.

[0131] The narrow-angle illumination system 411 in this embodiment is mainly used for projecting on surfaces such as transparent surfaces, mirror surfaces, smooth surfaces, and surfaces with bright surface reflections, such as tiles, marble, glass, bright metal surfaces, etc. The first infrared LED 440 light source projects the light beam onto the crawling surface through this prism, and part of the light beam enters the sensor through the reflection of the smooth bright surface, and the image characteristics of the bright surface are read through the imaging lens and the optical image sensor. This is mainly used for feature recognition of bright surfaces with specular reflection characteristics on smooth surfaces.

[0132] The wide-angle illumination system 412 described in this embodiment has the same implementation method as that described in Embodiment 3. Its light-emitting surface B412d is a prism system with a folded optical path of a corrugated surface, which includes a light-incident surface B412a, a first reflecting surface B412b, a second reflecting surface B412c, and a light-emitting surface B412d.

[0133] The light-incident surface B412a is a Fresnel surface with an annular serrated shape, and its central part is a convex surface. From the center to the edge direction, it includes a series of finer serrated surfaces, which serve to converge the light beam. It collimates the light incident from the second infrared LED 450 below and then incident to the position of the first reflecting surface B412b above.

[0134] The first reflecting surface B412b is an inclined plane reflecting surface, which has no light distribution function. It only totally reflects and turns the light collimated and incident from the light-incident surface B412a for the first time and then incident to the position of the second reflecting surface B412c on the right.

[0135] The second reflecting surface B412c is also an inclined plane reflecting surface, which also has no light distribution function. It only totally reflects and turns the light reflected from the first reflecting surface B412b again, and the light after the reflection and turning is incident to the position of the light-emitting surface B412d above.

[0136] The light-emitting surface B412d is a corrugated surface / micro-lens array surface / matte surface, which is slightly inclined. In this embodiment, it is preferably a slightly inclined corrugated surface. It distributes the parallel light reflected from the second reflecting surface B412c, and the angle of the light beam output after the light distribution is ψ. The light distribution angle ψ is between more than 25° and 120°. In this specific implementation scheme 4, the light distribution angle ψ is preferably 40°.

[0137] The wide-angle illumination system 412 described in this embodiment is mainly used for illuminating surfaces that are diffuse reflection surfaces, have irregular textures, and are rough and non-smooth surfaces, such as ordinary wooden floors, carpets, cement floors, and sandy textures. The second infrared LED 450 light source projects a wide-angle light beam onto the crawling surface through this prism. Through the diffuse reflection of the rough surface, the details of the rough surface can be imaged by the imaging lens and feature-recognized by the optical image sensor.

[0138] Embodiment Five

[0139] This embodiment provides a machine vision sensor system for trajectory tracking of an intelligent sweeping robot, which includes an optical system. The narrow-angle / wide-angle illumination system in this optical system, in addition to using the integrated folding optical path combination prism in the above embodiment, can also adopt the method of splicing multiple prisms. As long as the folding optical path method is adopted, it is within the protection scope of the rights of the present invention. As described in the specific implementation 5 of this embodiment, the remaining structures are the same as those in Embodiment One, and no more description will be made here.

[0140] A cross-sectional view of a machine vision sensor system for trajectory tracking of an intelligent sweeping robot described in this embodiment is as Figure 19 shown. The folding optical path prisms of the narrow-angle illumination system and the wide-angle illumination system are realized by the method of splicing multiple prisms.

[0141] The implementation method is to split the folding optical path prism 111 of the narrow-angle illumination system and the folding optical path prism 112 of the wide-angle illumination system described in Embodiment One into two groups of triangular prisms respectively. The narrow-angle illumination system includes a first triangular prism 511-1 and a second triangular prism 511-2 arranged adjacent to each other. The wide-angle illumination system includes a third triangular prism 512-1 and a fourth triangular prism 512-2 arranged adjacent to each other.

[0142] An air gap can be provided between the first triangular prism 511-1 and the second triangular prism 511-2, and between the third triangular prism 512-1 and the fourth triangular prism 512-2, or they can be glued with Canada balsam, which has no influence on the light distribution optical path.

[0143] The narrow-angle illumination system described in this embodiment is a prism system with a folding optical path composed of the first triangular prism 511-1 and the second triangular prism 511-2, and its optical path diagram is as Figure 20 shown. The angle between the light beam output after the light distribution by this combined prism and the optical axis OZ is α, and the α is between 2-5°.

[0144] The narrow-angle illumination system is mainly used for projecting onto surfaces that are transparent, mirror-like, smooth, and have specular reflection, such as tiles, marble, glass, shiny metals, etc. The first infrared LEDS40 light source projects the light beam onto the crawling surface through this set of folded optical path prisms. Through the reflection of the smooth shiny surface, part of the light beam enters the sensor, and the image features of the bright surface are read through the imaging lens and the optical image sensor. This is mainly used for feature recognition of bright surfaces with specular reflection characteristics on smooth surfaces.

[0145] The wide-angle illumination system described in this embodiment is a prism system with a folded optical path composed of a third triangular prism 512-1 and a fourth triangular prism 512-2. Its optical path diagram is as Figure 21 shown. The light beam angle output after the combined prism light distribution is ω. The light distribution angle ω is between more than 25° and 120°. In this embodiment, the light distribution angle ω is preferably 30°.

[0146] The wide-angle illumination system is mainly used for illuminating surfaces that are diffuse reflection surfaces, have irregular textures, and non-smooth rough surfaces, such as ordinary wooden floors, carpets, cement floors, sandy textures, etc. The second infrared LED550 light source projects a wide-angle light beam onto the crawling surface through this prism. Through the diffuse reflection of the rough surface, the details of the rough surface can be imaged through the imaging lens and feature recognized through the optical image sensor.

[0147] In summary of the above multiple embodiments, for a machine vision sensor system for trajectory tracking of an intelligent floor cleaning robot involved in the present invention, the narrow-angle illumination system and the wide-angle illumination system, in addition to using the folded optical path prism as described above, can also adopt the method of folded mirrors. It can also adopt the combination of lenses and folded mirrors. As long as the light distribution method adopts a folded optical path and realizes narrow-angle and wide-angle illumination at the same time, it is within the scope of the patent protection of the present invention. The light source of the illumination device can be an infrared light source, a visible light source, or a terahertz source, and the form of the light source is an LED light source, a laser diode, or a VCSEL light source.

[0148] In addition, the optical imaging system can be a one-piece, two-piece, three-piece, or multi-piece type, and its material can be plastic or glass. Its surface type can be spherical, aspherical, or free-form surface.

[0149] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An optical system for trajectory tracking, characterized in that, it includes an optical imaging system, a narrow-angle illumination system disposed on one side of the optical imaging system for projecting on a transparent surface, a mirror surface, a smooth surface or a bright surface, and a wide-angle illumination system disposed on the other side of the optical imaging system for projecting on a diffuse reflection surface; the optical imaging system is a lens group, which includes at least one imaging lens, the narrow-angle illumination system is disposed on one side of the imaging lens, and the wide-angle illumination system is disposed on the other side of the imaging lens; one or both of the narrow-angle illumination system and the wide-angle illumination system is an integral or spliced folded optical path prism structure, or an inverted conical total reflection lens structure, or a folded mirror structure; the included angle between the output angle of the narrow-angle illumination system and the optical axis OZ is between 2-5°; the output angle of the wide-angle illumination system is between 25° and 120°.

2. The optical system for trajectory tracking according to claim 1, characterized in that, the depth of field range of the imaging of the optical imaging system is 1-100 mm.

3. The optical system for trajectory tracking according to claim 1, characterized in that, if one or both of the narrow-angle illumination system and the wide-angle illumination system is an integral or spliced folded optical path prism structure, it includes at least one inclined reflection surface.

4. The optical system for trajectory tracking according to claim 3, characterized in that, the narrow-angle illumination system is an integral folded optical path prism structure, which includes a light incident surface A, a first reflection surface A, a second reflection surface A and a light output surface A; the wide-angle illumination system is an integral folded optical path prism structure, which includes a light incident surface B, a first reflection surface B, a second reflection surface B and a light output surface B.

5. The optical system for trajectory tracking according to claim 4, characterized in that, both the light incident surface A and the light incident surface B are annular serrated Fresnel surfaces or concave surfaces. If it is an annular serrated Fresnel surface, its central part is a convex surface, and it includes several circles of serrated surfaces from the center to the edge.

6. The optical system for trajectory tracking according to claim 4, characterized in that, the first reflection surface A, the second reflection surface A, the first reflection surface B and the second reflection surface B are respectively inclined plane reflection surfaces or free-form surface reflection surfaces.

7. The optical system for trajectory tracking according to claim 4, characterized in that, the light output surface A and the light output surface B are respectively inclined planes, arc surfaces, corrugated surfaces, microlens array surfaces or frosted surfaces.

8. The optical system for trajectory tracking according to claim 3, characterized in that, the narrow-angle illumination system is an inverted conical total reflection lens structure, which includes an inner concave cylindrical surface, a convex surface at the inner concave part, a total reflection surface and a light output surface C.

9. The optical system for trajectory tracking according to claim 8, characterized in that, the light output surface C is a serrated surface.

10. The optical system for trajectory tracking according to claim 3, characterized in that, Both the narrow-angle illumination system and the wide-angle illumination system are of a spliced folding optical path prism structure. The narrow-angle illumination system includes a first triangular prism and a second triangular prism arranged adjacent to each other, and the wide-angle illumination system includes a third triangular prism and a fourth triangular prism arranged adjacent to each other.

11. An optical system for trajectory tracking according to claim 1, wherein, the optical imaging system includes a first imaging objective lens respectively arranged between the narrow-angle illumination system and the wide-angle illumination system, an aperture stop for blocking stray light, a second imaging objective lens, a light-tight box for eliminating stray light, and an imaging sensor; the first imaging objective lens and the aperture stop are arranged on one side of the second imaging objective lens, the light-tight box and the imaging sensor are arranged on the other side of the second imaging objective lens, the aperture stop is arranged between the first imaging objective lens and the second imaging objective lens, and the light-tight box is arranged between the imaging sensor and the second imaging objective lens.

12. An optical system for trajectory tracking according to claim 11, wherein, the first imaging objective lens is a separately arranged lens with optical power, and both its upper and lower surfaces are curved surfaces.

13. An optical system for trajectory tracking according to claim 11, wherein, the second imaging objective lens, the narrow-angle illumination system and the wide-angle illumination system are integrally formed components, the second imaging objective lens has optical power, and both its upper and lower surfaces are curved surfaces.

14. An optical system for trajectory tracking according to claim 11, wherein, the imaging sensor is an infrared image sensor with a pixel level above VGA.

15. An optical system for trajectory tracking according to claim 11, wherein, the first imaging objective lens includes a first optical surface A and a second optical surface A, the second imaging objective lens includes a first optical surface B and a second optical surface B, and the first optical surface A, the second optical surface A, the first optical surface B and the second optical surface B are all even aspherical surfaces.

16. A machine vision sensor system, wherein, it includes a substrate, a PCB board arranged on one side of the substrate, a combined prism arranged on one side of the PCB board, and an illumination device arranged on the PCB board, and also includes an optical system for trajectory tracking according to any one of claims 1-15. The combined prism includes at least one imaging lens of the narrow-angle illumination system, the wide-angle illumination system and the optical imaging system.

17. A machine vision sensor system according to claim 16, wherein, the light emitted by the illumination device is an infrared light source, a visible light source or a terahertz source.

18. A machine vision sensor system according to claim 17, wherein, the illumination device includes a first infrared LED and a second infrared LED installed on the PCB board. The installation position of the first infrared LED corresponds to the narrow-angle illumination system, and the installation position of the second infrared LED corresponds to the wide-angle illumination system.

19. A machine vision sensor system according to claim 18, wherein, The wavelengths of the light emitted by the first infrared LED and the second infrared LED are both between 780 nm and 1 μm.

Images