Vision Sensors

Abstract

The present invention discloses a visual sensor. The visual sensor includes a housing, a light source assembly, an image acquisition device, a filter assembly and a protective lens; the light source assembly is located in the internal space, and is used to emit light through the light source window, and the light includes a linear array light and / or a planar array light; the image acquisition device is located in the internal space, and is used to collect light reflected by the object to be measured through the image acquisition window; the filter assembly includes a light source filter and an image acquisition filter; the light source filter covers the light source window, and is used to filter the light emitted by the light source assembly; the image acquisition filter covers the image acquisition window, and is used to filter the light passing through the image acquisition window; the protective lens is connected to the housing, and is located on a side of the filter assembly away from the internal space, and is used to protect the filter assembly. Thus, the protective lens can protect the filter assembly and prevent the filter assembly from being contaminated.

Description

Technical Field

[0001] The present invention relates to the field of visual sensors, and in particular to visual sensors. Background Art

[0002] Today's visual sensors include filters. At least part of the filter is directly exposed to the external environment. In this way, the filter is easily contaminated and unclear. This affects the filter's ability to filter light.

[0003] To this end, the present invention provides a visual sensor to at least partially solve the above problems. Summary of the invention

[0004] A series of simplified concepts are introduced in the summary of the invention, which will be further described in detail in the specific embodiments. The summary of the invention does not mean to attempt to define the key features and essential technical features of the technical solution claimed for protection, nor does it mean to attempt to determine the scope of protection of the technical solution claimed for protection.

[0005] In order to at least partially solve the above technical problems, the present invention provides a visual sensor, the visual sensor comprising:

[0006] A housing, wherein the housing has an internal space, a light source window, and an image acquisition window separated from the light source window, wherein both the light source window and the image acquisition window are connected to the internal space;

[0007] A light source assembly, the light source assembly is located in the internal space and is used to emit light through the light source window, the light including linear array light and / or planar array light;

[0008] An image acquisition device, the image acquisition device is located in the internal space and is used to acquire light reflected by the object to be measured through the image acquisition window;

[0009] Filter assembly, the filter assembly includes:

[0010] A light source filter, which covers the light source window and is used to filter the light emitted by the light source assembly;

[0011] An image acquisition filter, the image acquisition filter covers the image acquisition window to filter the light passing through the image acquisition window;

[0012] The protective lens is connected to the housing and is located at a side of the filter assembly away from the internal space so as to protect the filter assembly.

[0013] The visual sensor of the present invention has a light source component that can emit linear array light and / or planar array light. In this way, when linear array light is needed, linear array light can be emitted, and when planar array light is needed, planar array light can be emitted. The visual sensor can be applied to more occasions. In addition, the protective lens can protect the filter component to prevent the filter component from being contaminated, thereby eliminating the need to frequently replace the filter component. In addition, when the protective lens is contaminated and affects its light transmission performance, the protective lens can be replaced, which is simple to operate.

[0014] Optionally, the visual sensor further comprises a mounting piece, which is connected to the housing and is located at a side of the filter assembly away from the internal space, and the mounting piece has an open mounting groove, and the mounting piece enters the mounting groove through the opening.

[0015] Optionally, the visual sensor also includes a first magnetic connector and a second magnetic connector, the first magnetic connector is fixedly connected to the protective lens, the second magnetic connector is fixedly connected to the shell, and the first magnetic connector and the second magnetic connector are magnetically connected to fix the protective lens to the shell.

[0016] Optionally, the light comprises a linear array of light, and the light source assembly comprises a linear laser for emitting the linear array of light; and / or

[0017] The light includes area array light, and the light source assembly includes a MEMS module for emitting the area array light.

[0018] Optionally, the light source filter includes a line light source filter for filtering a linear array of light, and a surface light source filter for filtering a surface array of light.

[0019] Optionally, the light source window includes a line light source window and a surface light source window, the line light source window and the surface light source window are separated from each other, the line light source filter covers the line light source window, and the surface light source filter covers the surface light source window.

[0020] Optionally, at least one of the line light source filter, the surface light source filter, and the image acquisition filter filters a light wavelength in the range of 635 nanometers to 850 nanometers.

[0021] Optionally, the wavelength ranges of the light wavelengths filtered by the line light source filter, the surface light source filter, and the image acquisition filter are the same or different.

[0022] Optionally, the visual sensor also includes a controller, which is electrically connected to the image acquisition device to receive signals acquired by the image acquisition device, and the controller is configured to determine the surface area, center of gravity, length, position, and shape of the object to be measured based on the signals.

[0023] Optionally, the visual sensor further comprises an air pipe connection portion, a cooling air duct is arranged in the shell, the air pipe connection portion is connected to the cooling air duct, the air pipe connection portion is used to connect the air pipe, the cooling air duct extends to the light source assembly and the image acquisition device, so as to cool the light source assembly and the image acquisition device, and / or

[0024] The image acquisition device includes a first image acquisition device and a second image acquisition device, the image acquisition window includes a first image acquisition window and a second image acquisition window, the first image acquisition window and the second image acquisition window are separated from each other, the first image acquisition device acquires light reflected by the object to be measured through the first image acquisition window, and the second image acquisition device acquires light reflected by the object to be measured through the second image acquisition window. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the advantages of the present invention more easily understood, the present invention briefly described above will be described in more detail by referring to the specific embodiments shown in the accompanying drawings. It can be understood that these drawings only depict typical embodiments of the present invention and therefore should not be considered as limiting the scope of protection thereof, and the present invention is described and explained with additional characteristics and details through the accompanying drawings.

[0026] Figure 1 A three-dimensional schematic diagram of a visual sensor according to a preferred embodiment of the present invention;

[0027] Figure 2 for Figure 1 Schematic diagram of the visual sensor;

[0028] Figure 3 for Figure 1 A cross-sectional view of a front view of a vision sensor; and

[0029] Figure 4 for Figure 2 A local enlarged schematic diagram of point A.

[0030] Description of Reference Numerals

[0031] 110: Light source assembly 111: Line laser

[0032] 112: MEMS module 120: Image acquisition device

[0033] 121: first image acquisition device 122: second image acquisition device

[0034] 130: Filter assembly 131: Light source filter

[0035] 132: Image acquisition filter 133: Line light source filter

[0036] 134: Surface light source filter 140: Housing

[0037] 141: Front cover 142: Back cover

[0038] 143: Light source window 144: Image acquisition window

[0039] 145: Line light source window 146: Surface light source window

[0040] 147: First image acquisition window 148: Second image acquisition window

[0041] 149: Inner space 150: Protective lens

[0042] 151: Mounting hole 160: Mounting piece

[0043] 161: Opening 162: Mounting slot

[0044] 170: first magnetic connection member 180: second magnetic connection member

[0045] 190: Controller 200: Air pipe connection

[0046] 210: Indicator lens 220: Back cover DETAILED DESCRIPTION

[0047] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the embodiments of the present invention, some technical features well known in the art are not described.

[0048] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be noted that the terms "upper", "lower" and similar expressions used herein are only for the purpose of illustration and are not intended to be limiting.

[0049] Herein, ordinal numbers such as “first” and “second” cited in the present application are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of the “second component”, and the term “second component” itself does not imply the existence of the “first component”.

[0050] In order to fully understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0051] The present invention provides a visual sensor. The visual sensor can obtain the original image information (hereinafter referred to as the signal) of the object to be measured through the image acquisition device 120 hereinafter, and then process the information to determine the surface area, center of gravity, length, position, shape and other object information of the object to be measured, thereby realizing 3D measurement of the object to be measured. Please refer to Figures 1 to 4 The visual sensor includes a housing 140. The housing 140 is a bracket of the visual sensor. The housing 140 can be used to support the light source assembly 110, the image acquisition device 120, the filter assembly 130, the protective lens 150, the mounting member 160, the first magnetic connector 170, the second magnetic connector 180, the controller 190, the trachea connection part 200, and the indicator lens 210 described below.

[0052] like Figure 2 As shown, the housing 140 includes a front cover 141 and a rear cover 142. The front cover 141 and the rear cover 142 are both roughly rectangular structures. The front cover 141 includes a front cover internal space. The rear cover 142 includes a rear cover internal space. The front cover 141 can be connected to the rear cover 142 by a connector (such as a screw) so that the front cover internal space is connected to the rear cover internal space. In this way, the front cover internal space and the rear cover internal space constitute the internal space 149 of the housing 140. The light source assembly 110, the image acquisition device 120, the controller 190, and the indicator light described below are all located in the internal space 149.

[0053] The front cover 141 includes a light source window 143 and an image acquisition window 144. The light source window 143 and the image acquisition window 144 are located on the front side of the front cover 141 (the side of the front cover 141 close to the protective lens 150 described later). The light source window 143 and the image acquisition window 144 are both connected to the internal space of the front cover. The light source window 143 and the image acquisition window 144 are separated.

[0054] Please refer to Figure 2 and Figure 3 The visual sensor further includes a light source assembly 110. The light source assembly 110 is located in the inner space 149 of the housing 140. The light source assembly 110 is used to emit light. The light can be irradiated to the surface of the object to be measured through the light source window 143.

[0055] Preferably, the light source assembly 110 includes a line laser 111 and a MEMS (Micro-Electro-Mechanical System) module 112. The line laser 111 is used to emit a linear array of light (the projection shape of the linear array of light on a plane is a linear shape). The MEMS module 112 is used to emit a planar array of light (the projection shape of the planar array of light on a plane is a shape with an area greater than 0). Therefore, when a linear array of light is required, the line array of light can be emitted by the line laser 111. When a planar array of light is required, the planar array of light can be emitted by the MEMS module 112.

[0056] It is understood that in an embodiment not shown, the light source assembly only includes a line laser for emitting a linear array of light, or the light source assembly only includes a MEMS module for emitting a planar array of light.

[0057] Preferably, the MEMS module 112 can emit a planar array of light by means of vibration. Further preferably, the MEMS module 112 can emit a planar array of light by means of high-frequency vibration. The MEMS module 112 can be a MEMS module produced by Zhiwei Sensing Technology Co., Ltd.

[0058] When the light emitted by the aforementioned light source assembly 110 is irradiated to the object to be measured, the object to be measured will reflect the light. The visual sensor also includes an image acquisition device 120. The image acquisition device 120 can be a camera or a camera head. The image acquisition device 120 is located in the internal space 149. The image acquisition device 120 is used to collect the light reflected by the object to be measured through the image acquisition window 144, and then send a signal (the signal represents the information of the light collected by the image acquisition device 120) to the controller 190 described later, so that the controller 190 can determine the object information of the object to be measured based on the signal.

[0059] like Figure 2 As shown, the visual sensor further includes a filter assembly 130. The filter assembly 130 is capable of transmitting light, and then filtering the light passing through the filter assembly 130, so as to retain the light with a wavelength within a predetermined wavelength range. The filter assembly 130 is connected to the housing 140.

[0060] The filter assembly 130 includes a light source filter 131 and an image acquisition filter 132. The light source filter 131 covers the light source window 143. The light source filter 131 is used to filter the light emitted by the light source assembly 110. The image acquisition filter 132 covers the image acquisition window 144. The image acquisition filter 132 is used to filter the light passing through the image acquisition window 144.

[0061] During the use of the visual sensor, the filter assembly 130 is easily contaminated and unclear. This will affect the light filtering performance of the filter assembly 130. Figure 2 As shown, the visual sensor includes a protective lens 150. The protective lens 150 can be a common glass lens or a resin lens, which is low in cost. The protective lens 150 is connected to the housing 140. The protective lens 150 is located on a side of the filter assembly 130 away from the internal space 149 of the housing 140. The protective lens 150 covers the filter assembly 130. In this way, the protective lens 150 can be used to protect the filter assembly 130.

[0062] In this embodiment, the light source assembly 110 can emit linear array light and / or planar array light, so that when linear array light is needed, linear array light can be emitted, and when planar array light is needed, planar array light can be emitted, and the visual sensor can be applied to more occasions; in addition, the protective lens 150 can protect the filter assembly 130 and prevent the filter assembly 130 from being contaminated, so that the filter assembly 130 does not need to be frequently replaced. When the protective lens 150 is contaminated and affects its light transmission performance, the protective lens 150 can be replaced, and the operation is simple.

[0063] Preferably, please continue to refer to Figure 2 The visual sensor further includes a mounting member 160. The mounting member 160 is located on a side of the filter assembly 130 away from the internal space 149. The mounting member 160 can be connected to the housing 140 by a connecting member (eg, a screw).

[0064] like Figure 2 and Figure 4 As shown, the mounting member 160 has a lens mounting window. A mounting groove 162 is provided at each lens mounting window. Figure 4 Each mounting groove 162 has a lower end ( Figure 4 Thus, the structure of the mounting member 160 is simple.

[0065] The protective lens 150 can enter the mounting groove 162 through the opening 161. The protective lens 150 covers the mounting window. In this way, the protective lens 150 is connected to the mounting member 160. Thus, the protective lens 150 is connected to the housing 140 through the mounting member 160. Thus, the protective lens 150 is easy to install.

[0066] Preferably, the mounting member 160 has two lens mounting windows. There are two protective lenses 150. One protective lens 150 is connected to one lens mounting window of the mounting member 160, and the protective lens 150 is located at the light source window 143 to protect the light source filter 131 covering the light source window 143. Another protective lens 150 is connected to another lens mounting window of the mounting member 160, and the protective lens 150 is located at the image acquisition window 144 to protect the image acquisition filter 132.

[0067] like Figure 2 and Figure 4 As shown, the visual sensor further includes a first magnetic connector 170 and a second magnetic connector 180. The protective lens 150 is provided with a mounting hole 151. The first magnetic connector 170 can be fixed in the mounting hole 151 by colloid to be fixedly connected to the protective lens 150. The second magnetic connector 180 is fixedly connected to the front cover 141.

[0068] The first magnetic connector 170 and the second magnetic connector 180 can be magnetically attracted together, thereby being magnetically connected. In this way, the first magnetic connector 170 and the second magnetic connector 180 can fix the protective lens 150 to the front cover 141. Thus, the strength of fixing the protective lens 150 to the housing 140 can be improved.

[0069] In an embodiment not shown, the first magnetic connector can also be fixed to the protective lens by a high temperature adhesive tape. The second magnetic connector can also be fixed to the front cover by a high temperature adhesive tape.

[0070] like Figure 2 and Figure 4 As shown, the light source window 143 includes a line light source window 145 and a surface light source window 146. The line light source window 145 and the surface light source window 146 are separated from each other. The line light source window 145 is a long hole. The long axis of the long hole is along the length direction of the housing 140 ( Figure 3 The line laser 111 can emit a linear array of light arranged along the long axis direction of the long hole through the line light source window 145.

[0071] The surface light source window 146 is a circular hole. The MEMS module 112 can emit a planar array of light through the surface light source window 146. Thus, the linear array of light and the planar array of light are separated to avoid mutual interference between the linear array of light and the planar array of light.

[0072] The light source filter 131 includes a line light source filter 133 and a surface light source filter 134. The line light source filter 133 covers the line light source window 145 to filter the line array light. The surface light source filter 134 covers the surface light source window 146 to filter the surface array light. Thus, the line array light and the surface array light can be filtered more effectively.

[0073] Preferably, the image acquisition device 120 includes a first image acquisition device 121 and a second image acquisition device 122. Thus, the first image acquisition device 121 and the second image acquisition device 122 can respectively acquire light reflected by the object to be measured, thereby increasing the number of samples of the acquired light and further improving the accuracy of the visual sensor.

[0074] The image acquisition window 144 includes a first image acquisition window 147 and a second image acquisition window 148. The first image acquisition window 147 and the second image acquisition window 148 are separated from each other. The first image acquisition device 121 is located at the first image acquisition window 147. The first image acquisition device 121 collects the light reflected by the object to be measured through the first image acquisition window 147. The second image acquisition device 122 is located at the second image acquisition window 148. The second image acquisition device 122 collects the light reflected by the object to be measured through the second image acquisition window 148. In this way, the light collected by the first image acquisition device 121 and the light collected by the second image acquisition device 122 are separated, so as to avoid mutual interference between the light collected by the first image acquisition device 121 and the light collected by the second image acquisition device 122.

[0075] Preferably, the wavelength ranges of the light wavelengths filtered by the line light source filter 133, the surface light source filter 134, and the image acquisition filter 132 may be the same. Thus, the visual sensor may use light with the same wavelength range.

[0076] It is understood that in an embodiment not shown, the wavelength ranges of the light wavelengths filtered by the line light source filter 133, the surface light source filter 134, and the image acquisition filter 132 may be different. Thus, light with different wavelength ranges may be used.

[0077] The wavelength range of the light wavelength filtered by at least one of the line light source filter 133, the surface light source filter 134, and the image acquisition filter 132 is 635 nanometers to 850 nanometers, so as to remove the light whose wavelength is outside the wavelength range. In this way, the accuracy of the visual sensor can be improved. In this embodiment, the wavelength range of the light wavelength filtered by the line light source filter 133, the surface light source filter 134, and the image acquisition filter 132 is 635 nanometers to 850 nanometers.

[0078] The visual sensor further includes a controller 190. The controller 190 may be configured in a plate shape. The thickness direction of the plate shape extends along the thickness direction of the housing 140. The controller 190 is electrically connected to the image acquisition device 120 to receive the aforementioned signal. The controller 190 may determine the object information of the object to be measured based on the signal.

[0079] The controller 190 may also be electrically connected to the light source assembly 110 to control the light source assembly 110 to emit light. The controller 190 may also be electrically connected to an indicator light to be described later to power the indicator light.

[0080] The visual sensor further includes an air pipe connection portion 200. The air pipe connection portion 200 is used to connect an external air pipe. A cooling air duct (not shown) is also provided in the housing 140. The air pipe connection portion 200 is connected to the cooling air duct. The cooling air duct is connected to the light source assembly 110, the controller 190, and the image acquisition device 120. In this way, air can be introduced into the cooling air duct through the external air pipe, thereby cooling the light source assembly 110, the controller 190, and the image acquisition device 120.

[0081] Preferably, the visual sensor further comprises a rear cover plate 220. The rear cover plate 220 can be connected to an end of the rear cover 142 away from the mounting member 160 by a connector (e.g., a screw). The rear cover plate 220 covers the rear cover 142. The air pipe connection part 200 is connected to the rear cover plate 220. The rear cover plate 220 is used to seal the connection between the air pipe connection part 200 and the housing 140.

[0082] The cooling air passage may also extend to the mounting groove 162 of the mounting member 160 to blow air toward the protective lens 150 , thereby blowing away dust attached to the protective lens 150 .

[0083] Preferably, the housing 140 is also provided with an indication window. The visual sensor further comprises an indication lens 210 and an indicator light (not shown). The indication lens 210 is transparent. The indication lens 210 is connected to the housing 140 and covers the indication window. The indicator light is located in the housing 140. The indicator light is electrically connected to the controller 190. The indicator light is located at the indication window. When the visual sensor is working, the indicator light emits an indication light. The indication light can pass through the indication lens 210. Thus, the user can judge whether the visual sensor is faulty by observing whether the indicator light is on.

[0084] The controller 190 of the visual sensor can be wirelessly connected to the computer of the peripheral device to communicate with the computer of the peripheral device, and then send the object information determined by it to the computer. The computer can generate a depth map, a point cloud map, an RGB map, and a grayscale map based on the object information. The computer can calculate the generated image to determine the relative position data of the object to be measured.

[0085] It is understandable that in an embodiment not shown, the controller itself may also generate a depth map, a point cloud map, an RGB map, and a grayscale map.

[0086] The visual sensor can be used to measure a larger object to be measured. At this time, the visual sensor emits a plane array of light to illuminate the object to be measured in a high-frequency vibration manner through the MEMS module. In this way, the scanning efficiency can be improved. The image acquisition device 120 collects the light reflected by the object to be measured. The controller 190 receives the signal sent by the image acquisition device 120, and determines the object information of the object to be measured based on the signal, thereby completing the measurement of the position of the object to be measured, and the measurement speed is fast.

[0087] The visual sensor can be used to measure a certain feature of the object to be measured in a small range. At this time, the visual sensor can illuminate the feature to be measured of the object to be measured through the linear array light emitted by the line laser 111, and track the plastic deformation of the feature in real time.

[0088] Vision sensors can be used in processing techniques such as welding, grinding, cutting, and spraying to significantly improve process results and increase economic benefits.

[0089] After the aforementioned parts of the visual sensor are connected together, the light source assembly 110, the image acquisition device 120, the filter assembly 130, and the indicator light are all located in a space that is sealed and isolated from the external environment. In this way, dust can be prevented for the light source assembly 110, the image acquisition device 120, the filter assembly 130, and the indicator light.

[0090] The present invention has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

[0091] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art in the technical field of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "component" and the like appearing herein may represent either a single part or a combination of multiple parts. Terms such as "installation" and "setting" and the like appearing herein may represent either a component being directly attached to another component or a component being attached to another component through an intermediate. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0092] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present invention to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention.

Claims

1. A visual sensor, characterized in that: The visual sensor comprises: A housing, the housing having an internal space, a light source window, and an image acquisition window separated from the light source window, wherein both the light source window and the image acquisition window are connected to the internal space; A light source assembly, the light source assembly is located in the internal space and is used to emit light through the light source window, the light including linear array light and planar array light; An image acquisition device, the image acquisition device is located in the internal space and is used to acquire the light reflected by the object to be measured through the image acquisition window; A filter assembly, the filter assembly comprising: A light source filter, the light source filter covers the light source window and is used to filter the light emitted by the light source assembly; An image acquisition filter, the image acquisition filter covers the image acquisition window and is used to filter the light passing through the image acquisition window; A protective lens connected to the housing and located at a side of the filter assembly away from the internal space to protect the filter assembly; Wherein, the light source filter comprises a line light source filter for filtering the line array light, and a surface light source filter for filtering the surface array light; The light source window comprises a line light source window and a surface light source window, the line light source window and the surface light source window are separated from each other, the line light source filter covers the line light source window, and the surface light source filter covers the surface light source window.

2. The visual sensor according to claim 1, characterized in that: The visual sensor also includes a mounting piece, which is connected to the housing and located on a side of the filter assembly away from the internal space. The mounting piece has an open mounting groove, and the protective lens enters the mounting groove through the opening.

3. The visual sensor according to claim 1, characterized in that: The visual sensor also includes a first magnetic connector and a second magnetic connector, wherein the first magnetic connector is fixedly connected to the protective lens, and the second magnetic connector is fixedly connected to the shell, and the first magnetic connector and the second magnetic connector are magnetically connected to fix the protective lens to the shell.

4. The visual sensor according to claim 1, characterized in that: The light source assembly includes a line laser for emitting the line array light; and The light source assembly includes a MEMS module for emitting the area array light.

5. The visual sensor according to claim 1, characterized in that: The wavelength range of the light wavelength filtered by at least one of the line light source filter, the surface light source filter, and the image acquisition filter is 635 nanometers to 850 nanometers.

6. The visual sensor according to claim 1, characterized in that: The wavelength ranges of the light wavelengths filtered by the line light source filter, the surface light source filter, and the image acquisition filter are the same or different.

7. The visual sensor according to claim 1, characterized in that: The visual sensor also includes a controller, which is electrically connected to the image acquisition device to receive signals acquired by the image acquisition device. The controller is configured to determine the surface area, center of gravity, length, position, and shape of the object to be measured based on the signals.

8. The visual sensor according to claim 1, characterized in that: The visual sensor further includes an air pipe connection portion, a cooling air duct is provided in the housing, the air pipe connection portion is connected to the cooling air duct, the air pipe connection portion is used to connect an air pipe, the cooling air duct extends to the light source assembly and the image acquisition device to cool the light source assembly and the image acquisition device, and / or The image acquisition device includes a first image acquisition device and a second image acquisition device, the image acquisition window includes a first image acquisition window and a second image acquisition window, the first image acquisition window and the second image acquisition window are separated from each other, the first image acquisition device acquires the light reflected by the object to be measured through the first image acquisition window, and the second image acquisition device acquires the light reflected by the object to be measured through the second image acquisition window.

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