A 3D line laser sensor with high-precision imaging lens

Abstract

The invention discloses a 3D line laser sensor with a high-precision imaging lens, comprising a shell, an imaging lens, a laser, a CMOS group and an aviation plug; a PCBA board is fixedly installed on the inner side of the shell; the laser is fixedly installed on the shell; the imaging lens is installed inside the shell through a lens bracket, and is used to receive reflected light from the surface of a measured object and converge the image; the CMOS group is fixedly installed at the bottom of the imaging lens, and is used to receive the image converged by the imaging lens, and convert the optical signal into an electrical signal, and output the electrical signal through the aviation plug; a light shield is fixedly installed between the imaging lens and the CMOS group; the imaging lens comprises a first lens with 0 optical power, a second lens with positive optical power, a third lens with positive optical power, a fourth lens with positive optical power, a fifth lens with positive optical power, an aperture, a sixth lens with negative optical power, a seventh lens with positive optical power and an eighth lens with positive optical power, which are sequentially arranged along the optical axis.

Description

Technical Field

[0001] The present invention relates to the field of optical imaging technology, and in particular to a 3D line laser sensor with a high-precision imaging lens. Background Art

[0002] One of the most commonly used measurement principles of 3D line laser profile measurement sensors is based on the principle of laser triangulation. The laser source of the sensor emits a laser beam, which is projected onto the surface of the object. Due to irregularities such as ups and downs on the surface of the object, the laser line will be reflected and scattered on the surface of the object. The reflected light beam passes through a specific lens group and converges to form a light spot on the photosensitive array inside the sensor. The reflected light of the light spot is imaged on the image sensor through the optical system. According to the similarity principle of triangles, the information of the object surface can be calculated by measuring the position of the light spot on the image sensor.

[0003] With the rapid development of industrial automation, the demand for 3D line laser sensors is increasing; however, the existing 3D line laser sensors have a low resolution and cannot meet the measurement requirements. Among them, the imaging lens is the core component of the 3D line laser sensor, and the resolution of the imaging lens often determines the resolution of the 3D line laser sensor. The imaging lens of the prior art cannot meet the technical requirements of the 3D line laser sensor, and the imaging quality is low; among them, the existing imaging lens is prone to distortion. When using a wide-angle lens, especially the wide-angle end of a zoom lens, the image is barrel-shaped and expanded. The straight lines near the edge of the frame in the picture are most likely to make people notice this distortion; when using a telephoto lens or the telephoto end of a zoom lens, the picture has the phenomenon of "shrinking" toward the middle. Summary of the invention

[0004] The purpose of this application is to provide a 3D line laser sensor with a high-precision imaging lens to address the technical defects in the prior art.

[0005] The technical solution adopted to achieve the purpose of this application is:

[0006] A 3D line laser sensor with a high-precision imaging lens, comprising a housing, an imaging lens, a laser, a CMOS group and an aviation plug;

[0007] A PCBA board is fixedly installed on the inner side of the shell, which is used to realize the electrical connection between the laser, the CMOS group and the aviation plug by using the circuit on the PCBA board; the laser is fixedly installed on the shell, which is used to emit laser to the object to be measured; the imaging lens is installed inside the shell through a lens bracket, which is used to receive the reflected light from the surface of the object to be measured and converge the image; the CMOS group is fixedly installed at the bottom of the imaging lens, which is used to receive the image converged by the imaging lens, and convert the optical signal into an electrical signal, and output the electrical signal through the aviation plug; a light shield is fixedly installed between the imaging lens and the CMOS group; a second mounting hole and a third mounting hole are respectively provided on the top of the shell, and the top of the imaging lens is embedded in the second mounting hole; a window is provided at the third mounting hole;

[0008] The imaging lens comprises a first lens with zero focal power, a second lens with positive focal power, a third lens with positive focal power, a fourth lens with positive focal power, a fifth lens with positive focal power, an aperture, a sixth lens with negative focal power, a seventh lens with positive focal power and an eighth lens with positive focal power, which are sequentially arranged along the optical axis;

[0009] The first lens, the second lens, the third lens, the fourth lens, the fifth lens, the sixth lens, the seventh lens and the eighth lens all include an object side surface and an image side surface; the object side surface of the first lens is a plane, the image side surface of the first lens is a plane, the object side surface of the second lens is a convex surface, the image side surface of the second lens is a convex surface, the object side surface of the third lens is a convex surface, the image side surface of the third lens is a plane, the object side surface of the fourth lens is a convex surface, the image side surface of the fourth lens is a concave surface, the object side surface of the fifth lens is a concave surface, the image side surface of the fifth lens is a convex surface, the object side surface of the sixth lens is a concave surface, the image side surface of the sixth lens is a plane, the object side surface of the seventh lens is a plane, the image side surface of the seventh lens is a convex surface, the object side surface of the eighth lens is a convex surface, and the image side surface of the eighth lens is a convex surface.

[0010] In the above technical solution, the laser is fixedly mounted on the housing via a mounting plate.

[0011] In the above technical solution, the 3D line laser sensor further includes an indicator light, and an indicator light window is provided on the shell.

[0012] In the above technical solution, a first mounting hole is provided on one side of the shell, and the aviation plug is fixedly installed in the first mounting hole.

[0013] In the above technical solution, the curvature radius of the object side surface of the first lens and the image side surface of the first lens are both infinite; the object side surface thickness / surface spacing of the first lens is 1.0000mm; the image side surface thickness / surface spacing of the first lens is 0.4565mm; the object side surface curvature radius of the second lens is 163.5699mm, the thickness / surface spacing is 1.4565mm, the image side surface curvature radius of the second lens is -162.5468mm, and the thickness / surface spacing is 0.8755mm; the object side surface curvature radius of the third lens is 27.5468mm, the thickness / surface spacing is 2.4565mm, the image side surface curvature radius of the third lens is infinite, and the thickness / surface spacing is 0.8456mm; the object side surface curvature radius of the fourth lens is 7.4584mm, the thickness / surface spacing is 4.3565mm, the image side surface curvature radius of the fourth lens is 5.8246mm, and the thickness / surface spacing is 2.0 456mm; the object side curvature radius of the fifth lens is -23.4565mm, the thickness / surface spacing is 1.9755mm, the image side curvature radius of the fifth lens is -19.4563mm, the thickness / surface spacing is 1.4565mm; the object side curvature radius of the sixth lens is -17.4565mm, the thickness / surface spacing is 2.5465mm, the image side curvature radius of the sixth lens is infinite, the thickness / surface spacing is 3.4565 mm; the object side surface radius of the seventh lens is infinite, the thickness / surface spacing is 5.7868mm, the image side surface radius of the seventh lens is -15.4565mm, and the thickness / surface spacing is 4.9880mm; the object side surface radius of the eighth lens is 82.4569mm, the thickness / surface spacing is 2.4565mm, the image side surface radius of the eighth lens is -111.4565mm, and the thickness / surface spacing is 28.4349mm.

[0014] In the above technical solution, the object side surface of the first lens has the same refractive index and Abbe number as the image side surface of the first lens, the refractive index is 1.5200, and the Abbe number is 64.2000; the object side surface of the second lens has the same focal length, refractive index and Abbe number as the image side surface of the second lens, the focal length is 132.1583mm, the refractive index is 1.6000, and the Abbe number is 60.6000; the object side surface of the third lens has the same focal length, refractive index and Abbe number as the image side surface of the third lens, the focal length is 42.9699mm, the refractive index is 1.6200, and the Abbe number is 58.1000; the object side surface of the fourth lens has the same focal length, refractive index and Abbe number as the image side surface of the fourth lens, the focal length is -313.1087mm, the refractive index is 1.6900, and the Abbe number is 54.5000; The object side surface of the fifth lens has the same focal length, refractive index and Abbe number as the image side surface of the fifth lens, the focal length is 96.1083 mm, the refractive index is 1.9000, and the Abbe number is 31.2000; the object side surface of the sixth lens has the same focal length, refractive index and Abbe number as the image side surface of the sixth lens, the focal length is -20.1912 mm, the refractive index is 1.8100, and the Abbe number is 25.5000; the object side surface of the seventh lens has the same focal length, refractive index and Abbe number as the image side surface of the seventh lens, the focal length is 29.1518 mm, the refractive index is 1.5200, and the Abbe number is 64.2000; the object side surface of the eighth lens has the same focal length, refractive index and Abbe number as the image side surface of the eighth lens, the focal length is 56.7144 mm, the refractive index is 1.8100, and the Abbe number is 41.0000.

[0015] The beneficial effects of the present invention are as follows:

[0016] 1. The 3D line laser sensor of the present invention has a high-precision imaging lens. The high-precision imaging lens uses eight lenses with specific optical power. By reasonably allocating the optical power of the eight lenses and reasonably controlling the surface shape of the lenses, the optical lens still has good imaging quality while satisfying the Sham principle, and has small distortion and low cost.

[0017] 2. The high-precision imaging lens of the present invention sets the aperture between the fifth lens and the sixth lens, which can effectively control the angle of light entering the lens and reduce the aperture of the lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 It is a schematic structural diagram of the 3D line laser sensor described in the present invention.

[0020] Figure 2 It is a schematic structural diagram of the high-precision imaging lens of the present invention.

[0021] Figure 3 This is a graph of field curvature and distortion of the high-precision imaging lens of the present invention.

[0022] Figure 4 This is a relative illumination curve diagram of the high-precision imaging lens of the present invention.

[0023] In the figure: 1-housing, 1-1-second mounting hole, 1-2-third mounting hole, 2-imaging lens, 2-1-first lens, 2-2-second lens, 2-3-third lens, 2-4-fourth lens, 2-5-fifth lens, 2-6-sixth lens, 2-7-seventh lens, 2-8-eighth lens, 2-9-aperture, 2-10-lens bracket, 3-laser, 3-1-mounting plate, 4- CMOS group, 5- aviation plug, 6- PCBA board, 7- hood, 8- indicator light, 9- window, S1- object side surface of the first lens, S2- image side surface of the first lens, S3- object side surface of the second lens, S4- image side surface of the second lens, S5- object side surface of the third lens, S6- image side surface of the third lens, S7- object side surface of the fourth lens, S8- image side surface of the fourth lens, S9- object side surface of the fifth lens, S10- image side surface of the fifth lens, S11- object side surface of the sixth lens, S12- image side surface of the sixth lens, S13- object side surface of the seventh lens, S14- image side surface of the seventh lens, S15- object side surface of the eighth lens, S16- image side surface of the eighth lens. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with specific embodiments.

[0025] A 3D line laser sensor with a high-precision imaging lens, see Figure 1 , including a shell 1, an imaging lens 2, a laser 3, a CMOS group 4 and an aviation plug 5.

[0026] A PCBA board 6 is fixedly installed inside the housing 1 (the PCBA board 6 is fixedly installed inside the housing 1 by bolts), which is used to realize the electrical connection between the laser 3, the CMOS group 4 and the aviation plug 5 by using the circuit on the PCBA board 6; the laser 3 is fixedly installed on the housing 1, and is used to emit laser light to the object to be measured; wherein, the laser 3 is fixedly installed on the housing 1 through the mounting plate 3-1. The imaging lens 2 is installed inside the housing 1 through the lens bracket 2-10, and is used to receive the reflected light from the surface of the object to be measured and converge the image. The CMOS group 4 is fixedly installed at the bottom of the imaging lens 2, and is used to receive the image (optical signal) converged by the imaging lens 2, and convert the optical signal into an electrical signal, and output the electrical signal through the aviation plug 5 to obtain the three-dimensional coordinate data of the object to be measured. A first mounting hole is provided on one side of the housing 1, and the aviation plug 5 is fixedly installed in the first mounting hole, and is used to realize the connection between the 3D line laser sensor and other devices or systems.

[0027] A light shield 7 is fixedly installed between the imaging lens 2 and the CMOS group 4 to prevent stray light interference, protect the lens and the CMOS sensor, prevent accidental collisions and scratches, and reduce the adhesion of dust and stains.

[0028] Furthermore, a second mounting hole 1-1 and a third mounting hole 1-2 are respectively provided on the top of the shell 1, and the top end of the imaging lens 2 is embedded in the second mounting hole 1-1 for receiving reflected light from the surface of the object to be measured; a window 9 is provided at the third mounting hole 1-2 for allowing the laser emitted by the laser 3 to pass through and be emitted to the surface of the object to be measured.

[0029] The 3D line laser sensor of this embodiment also includes an indicator light 8. An indicator light window is provided on the housing 1 (the indicator light window is not shown in the picture), which is used to embed the indicator light 8 in the indicator light window and reflect the working status of the 3D line laser sensor through the indicator light 8.

[0030] See also Figure 2 Specifically, the imaging lens 2 of this embodiment includes a first lens 2-1 with zero focal power, a second lens 2-2 with positive focal power, a third lens 2-3 with positive focal power, a fourth lens 2-4 with positive focal power, a fifth lens 2-5 with positive focal power, an aperture 2-9, a sixth lens 2-6 with negative focal power, a seventh lens 2-7 with positive focal power and an eighth lens 2-8 with positive focal power, which are arranged in sequence along the optical axis. The aperture 2-9 is arranged between the fifth lens 2-5 and the sixth lens 2-6, which can effectively control the angle of light entering the lens and reduce the aperture of the lens.

[0031] The first lens 2-1, the second lens 2-2, the third lens 2-3, the fourth lens 2-4, the fifth lens 2-5, the sixth lens 2-6, the seventh lens 2-7 and the eighth lens 2-8 all include an object-side surface and an image-side surface; the object-side surface S1 of the first lens 2-1 is a plane, the image-side surface S2 of the first lens 2-1 is a plane, the object-side surface S3 of the second lens 2-2 is a convex surface, the image-side surface S4 of the second lens 2-2 is a convex surface, the object-side surface S5 of the third lens 2-3 is a convex surface, the image-side surface S6 of the third lens 2-3 is a plane, and the The object side surface S7 of the fourth lens 2-4 is a convex surface, the image side surface S8 of the fourth lens 2-4 is a concave surface, the object side surface S9 of the fifth lens 2-5 is a concave surface, the image side surface S10 of the fifth lens 2-5 is a convex surface, the object side surface S11 of the sixth lens 2-6 is a concave surface, the image side surface S12 of the sixth lens 2-6 is a plane, the object side surface S13 of the seventh lens 2-7 is a plane, the image side surface S14 of the seventh lens 2-7 is a convex surface, the object side surface S15 of the eighth lens 2-8 is a convex surface, and the image side surface S16 of the eighth lens 2-8 is a convex surface. Eight lenses with specific optical power are used, the optical power of the eight lenses is reasonably distributed, and the surface shape of the lenses is reasonably controlled, so that the optical lens still has good imaging quality while satisfying the Sham principle, and has small distortion and low cost.

[0032] The first lens 2-1, the second lens 2-2, the third lens 2-3, the fourth lens 2-4, the fifth lens 2-5, the sixth lens 2-6, the seventh lens 2-7 and the eighth lens 2-8 are made of the same material, which is glass. The curvature radius of the object side surface S1 of the first lens 2-1 and the image side surface S2 of the first lens are both infinite; the thickness / surface spacing of the object side surface S1 of the first lens 2-1 is 1.0000mm; the thickness / surface spacing of the image side surface S2 of the first lens is 0.4565mm; the refractive index and Abbe number of the object side surface S1 of the first lens 2-1 and the image side surface S2 of the first lens are the same, the refractive index is 1.5200, and the Abbe number is 64.2000; the curvature radius of the object side surface S3 of the second lens 2-2 is 163.5699mm, the thickness / surface spacing is 1.4565mm, and the curvature radius of the image side surface S4 of the second lens 2-2 is -162.5468mm, thickness / surface spacing is 0.8755mm; the object side surface S3 of the second lens 2-2 and the image side surface S4 of the second lens 2-2 have the same focal length, refractive index and Abbe number, the focal length is 132.1583mm, the refractive index is 1.6000, and the Abbe number is 60.6000; the object side surface S5 of the third lens 2-3 has a curvature radius of 27.5468mm, and the thickness / surface spacing is 2.4565mm, the image side surface S6 of the third lens 2-3 has an infinite curvature radius, and the thickness / surface spacing is 0.8456mm; the object side surface S5 of the third lens 2-3 and the image side surface of the third lens 2-3 The focal length, refractive index and Abbe number of S6 are the same, the focal length is 42.9699mm, the refractive index is 1.6200, and the Abbe number is 58.1000; the object side surface S7 of the fourth lens 2-4 has a curvature radius of 7.4584mm, a thickness / surface spacing of 4.3565mm, and the image side surface S8 of the fourth lens 2-4 has a curvature radius of 5.8246mm, and a thickness / surface spacing of 2.0456mm; the object side surface S7 of the fourth lens 2-4 has the same focal length, refractive index and Abbe number as the image side surface S8 of the fourth lens 2-4, the focal length is -313.1087mm, the refractive index is 1.6900, and the Abbe number is 54 .5000; the object side surface S9 of the fifth lens 2-5 has a curvature radius of -23.4565mm, a thickness / surface spacing of 1.9755mm, and the image side surface S10 of the fifth lens 2-5 has a curvature radius of -19.4563mm, and a thickness / surface spacing of 1.4565mm; the object side surface S9 of the fifth lens 2-5 has the same focal length, refractive index and Abbe number as the image side surface S10 of the fifth lens 2-5, the focal length is 96.1083mm, the refractive index is 1.9000, and the Abbe number is 31.2000; the object side surface S11 of the sixth lens 2-6 has a curvature radius of -17.4565mm, and a thickness / surface spacing of 2.5465mm, the image side surface S12 of the sixth lens 2-6 has an infinite curvature radius, and the thickness / surface spacing is 3.4565mm; the object side surface S11 of the sixth lens 2-6 has the same focal length, refractive index and Abbe number as the image side surface S12 of the sixth lens 2-6, the focal length is -20.1912mm, the refractive index is 1.8100, and the Abbe number is 25.5000; the object side surface S13 of the seventh lens 2-7 has an infinite curvature radius, and the thickness / surface spacing is 5.7868mm, the image side surface S14 of the seventh lens 2-7 has a curvature radius of -15.4565mm, and the thickness / surface spacing is 4.9880mm; the object side surface S13 of the seventh lens 2-7 is the same as the image side surface S12 of the seventh lens 2-6, and the refractive index is 1.8100, and the Abbe number is 25.5000; the object side surface S13 of the seventh lens 2-7 has an infinite curvature radius, and the thickness / surface spacing is 5.7868mm, and the image side surface S14 of the seventh lens 2-7 has a curvature radius of -15.4565mm, and the thickness / surface spacing is 4.9880mm; -7 has the same focal length, refractive index and Abbe number, the focal length is 29.1518mm, the refractive index is 1.5200, and the Abbe number is 64.2000; the object side S15 of the eighth lens 2-8 has a curvature radius of 82.4569mm, a thickness / surface spacing of 2.4565mm, and the image side S16 of the eighth lens 2-8 has a curvature radius of -111.4565mm, and a thickness / surface spacing of 28.4349mm; the object side S15 of the eighth lens 2-8 has the same focal length, refractive index and Abbe number as the image side S16 of the eighth lens 2-8, the focal length is 56.7144mm, the refractive index is 1.8100, and the Abbe number is 41.0000. As shown in Table 1;.

[0033]

[0034] See also Figure 3 , the field curvature value of the imaging lens 2 of this embodiment is within ±0.05, and the distortion is within ±0.1%; see Figure 4 From the relative illumination, it can be seen that the illumination in the field of view of the imaging lens 2 is greater than 70%. It can be seen that the imaging lens 2 has the characteristics of good imaging quality, small distortion and high illumination.

[0035] A measurement method based on a 3D line laser sensor comprises the following steps:

[0036] Step 1, start the 3D line laser sensor, the laser 3 emits laser light to the object to be measured, and the laser light is reflected by the surface of the object to be measured and enters the imaging lens 2. When the 3D line laser sensor is started (working state), the indicator light 8 is on.

[0037] Step 2, the reflected light from the surface of the object to be measured is converged into an image through the first lens 2-1, the second lens 2-2, the third lens 2-3, the fourth lens 2-4, the fifth lens 2-5, the aperture 2-9, the sixth lens 2-6, the seventh lens 2-7 and the eighth lens 2-8 of the imaging lens 2 in sequence.

[0038] Step 3: The CMOS group 4 receives the image gathered by the imaging lens 2 and converts the gathered image into an electrical signal.

[0039] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the elements described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0040] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A 3D line laser sensor with a high-precision imaging lens, characterized in that: Including housing, imaging lens, laser, CMOS group and aviation plug; A PCBA board is fixedly installed on the inner side of the shell, which is used to realize the electrical connection between the laser, the CMOS group and the aviation plug by using the circuit on the PCBA board; the laser is fixedly installed on the shell, which is used to emit laser to the object to be measured; the imaging lens is installed inside the shell through a lens bracket, which is used to receive the reflected light from the surface of the object to be measured and converge the image; the CMOS group is fixedly installed at the bottom of the imaging lens, which is used to receive the image converged by the imaging lens, and convert the optical signal into an electrical signal, and output the electrical signal through the aviation plug; a light shield is fixedly installed between the imaging lens and the CMOS group; a second mounting hole and a third mounting hole are respectively provided on the top of the shell, and the top of the imaging lens is embedded in the second mounting hole; a window is provided at the third mounting hole; The imaging lens comprises a first lens with zero focal power, a second lens with positive focal power, a third lens with positive focal power, a fourth lens with positive focal power, a fifth lens with positive focal power, an aperture, a sixth lens with negative focal power, a seventh lens with positive focal power and an eighth lens with positive focal power, which are sequentially arranged along the optical axis; The first lens, the second lens, the third lens, the fourth lens, the fifth lens, the sixth lens, the seventh lens and the eighth lens all include an object side surface and an image side surface; the object side surface of the first lens is a plane, the image side surface of the first lens is a plane, the object side surface of the second lens is a convex surface, the image side surface of the second lens is a convex surface, the object side surface of the third lens is a convex surface, the image side surface of the third lens is a plane, the object side surface of the fourth lens is a convex surface, the image side surface of the fourth lens is a concave surface, the object side surface of the fifth lens is a concave surface, the image side surface of the fifth lens is a convex surface, the object side surface of the sixth lens is a concave surface, the image side surface of the sixth lens is a plane, the object side surface of the seventh lens is a plane, the image side surface of the seventh lens is a convex surface, the object side surface of the eighth lens is a convex surface, and the image side surface of the eighth lens is a convex surface; The curvature radius of the object side surface of the first lens and the image side surface of the first lens are both infinite; the thickness / surface spacing of the object side surface of the first lens is 1.0000mm; the thickness / surface spacing of the image side surface of the first lens is 0.4565mm; the curvature radius of the object side surface of the second lens is 163.5699mm, the thickness / surface spacing is 1.4565mm, the curvature radius of the image side surface of the second lens is -162.5468mm, and the thickness / surface spacing is 0.8755mm; the curvature radius of the object side surface of the third lens is 27.5468mm, the thickness / surface spacing is 2.4565mm, the curvature radius of the image side surface of the third lens is infinite, and the thickness / surface spacing is 0.8456mm; the curvature radius of the object side surface of the fourth lens is 7.4584mm, the thickness / surface spacing is 4.3565mm, and the curvature radius of the image side surface of the fourth lens is 5.8246mm, and the thickness / surface spacing is 2.0456mm The object side surface of the fifth lens has a curvature radius of -23.4565mm, and the thickness / surface spacing is 1.9755mm. The image side surface of the fifth lens has a curvature radius of -19.4563mm, and the thickness / surface spacing is 1.4565mm. The object side surface of the sixth lens has a curvature radius of -17.4565mm, and the thickness / surface spacing is 2.5465mm. The image side surface of the sixth lens has an infinite curvature radius, and the thickness / surface spacing is 3.4565mm. The object side surface curvature radius of the seventh lens is infinite, and the thickness / surface spacing is 5.7868mm. The image side surface curvature radius of the seventh lens is -15.4565mm, and the thickness / surface spacing is 4.9880mm. The object side surface curvature radius of the eighth lens is 82.4569mm, and the thickness / surface spacing is 2.4565mm. The image side surface curvature radius of the eighth lens is -111.4565mm, and the thickness / surface spacing is 28.4349mm.

2. The 3D line laser sensor according to claim 1, characterized in that: The laser is fixedly mounted on the housing via a mounting plate.

3. The 3D line laser sensor according to claim 1, characterized in that: The 3D line laser sensor further comprises an indicator light, and an indicator light window is arranged on the housing.

4. The 3D line laser sensor according to claim 1, characterized in that: A first mounting hole is provided on one side of the shell, and the aviation plug is fixedly mounted in the first mounting hole.

5. The 3D line laser sensor according to claim 1, characterized in that: The object side surface of the first lens has the same refractive index and Abbe number as the image side surface of the first lens, the refractive index is 1.5200, and the Abbe number is 64.2000; the object side surface of the second lens has the same focal length, refractive index and Abbe number as the image side surface of the second lens, the focal length is 132.1583mm, the refractive index is 1.6000, and the Abbe number is 60.6000; the object side surface of the third lens has the same focal length, refractive index and Abbe number as the image side surface of the third lens, the focal length is 42.9699mm, the refractive index is 1.6200, and the Abbe number is 58.1000; the object side surface of the fourth lens has the same focal length, refractive index and Abbe number as the image side surface of the fourth lens, the focal length is -313.1087mm, the refractive index is 1.6900, and the Abbe number is 54.5000; The side surface of the sixth lens has the same focal length, refractive index and Abbe number as the image side surface of the fifth lens, the focal length is 96.1083 mm, the refractive index is 1.9000, and the Abbe number is 31.2000; the object side surface of the sixth lens has the same focal length, refractive index and Abbe number as the image side surface of the sixth lens, the focal length is -20.1912 mm, the refractive index is 1.8100, and the Abbe number is 25.5000; the object side surface of the seventh lens has the same focal length, refractive index and Abbe number as the image side surface of the seventh lens, the focal length is 29.1518 mm, the refractive index is 1.5200, and the Abbe number is 64.2000; the object side surface of the eighth lens has the same focal length, refractive index and Abbe number as the image side surface of the eighth lens, the focal length is 56.7144 mm, the refractive index is 1.8100, and the Abbe number is 41.0000.

Images