Laser sensor

Abstract

The utility model provides a laser sensor, which comprises a light projection part for projecting laser; a light receiving unit that receives the laser light emitted by the light projecting unit and reflected back by an external object; the light receiving part is provided with an optical sensor, and a photosensitive element of the optical sensor is configured to be a linear array pixel type photosensitive element; the light projection part is provided with a light spot shaping part for shaping a light spot projected to the photosensitive element into a non-circular light spot of which the length direction is vertical to the linear array pixel type photosensitive element; the laser sensor is provided with a position adjusting mechanism, and the position adjusting mechanism can adjust the position of the light projecting part or the light receiving part only in a single direction. According to the utility model, through the arrangement of the linear array pixel type photosensitive element and the light spot shaping part, position adjustment in the left-right direction and the up-down direction is not needed during light receiving adjustment, and position adjustment in the front-back direction is only needed through the position adjusting mechanism, so that light receiving adjustment can be completed, and a large amount of time for light receiving adjustment is saved.

Description

Technical Field

[0001] This utility model relates to the field of laser sensor technology, specifically to laser sensors. Background Technology

[0002] Laser sensors detect objects by emitting lasers and receiving lasers reflected from objects. To ensure the measurement accuracy and stability of laser sensors, adjustments are required for both the emission and reception of light.

[0003] In existing technologies, to achieve precise positioning of the light-receiving spot on the photosensitive surface of a CMOS chip, it is typically necessary to adjust and fix the CMOS chip position with multiple degrees of freedom. (Reference) Figure 1 In existing technologies, when adjusting the light reception, the positions of the CMOS chip 201 and the CMOS substrate 202 need to be adjusted. This involves fine-tuning the CMOS chip 201 in three directions: up / down, left / right, and front / back, as well as horizontal tilting. Once the light spot is positioned appropriately on the light-receiving surface of the chip, the CMOS unit 203 is fixed to the optical base 205 using screws 204. This adjustment method has the following drawbacks: First, the need for positional adjustments in three directions and horizontal tilting during light reception leads to excessively long adjustment times. Second, after adjustment, the CMOS unit 203 needs to be fixed to the optical base 205 using screws 204 and other methods, resulting in a large number of structural components and a complex installation process. Furthermore, even after tightening the screws, the light reception position may shift again, requiring repeated adjustments. Utility Model Content

[0004] To address the above problems, this utility model provides a laser sensor that only requires positional adjustment in the front-back direction when adjusting the light reception, effectively reducing the time required for light reception adjustment.

[0005] This utility model discloses a laser sensor, comprising:

[0006] The projection section projects laser light;

[0007] The light-receiving part receives the laser light emitted by the light-projecting part and reflected back by an external object;

[0008] The light-receiving part has an optical sensor, and the photosensitive element of the optical sensor is configured as a linear pixel photosensitive element;

[0009] The projection section has a spot shaping section that shapes the spot projected onto the photosensitive element into a non-circular spot whose length direction is perpendicular to the linear pixel photosensitive element.

[0010] The laser sensor has a position adjustment mechanism that can adjust the position of the light-emitting part or the light-receiving part in only one direction.

[0011] According to the above technical solution, by configuring a linear pixel-type photosensitive element in the optical sensor, a larger lateral coverage range can be provided, ensuring that the light spot can be incident on the photosensitive element in the horizontal direction without the need for left-right light adjustment. At the same time, the light spot is shaped into a non-circular light spot with its length direction perpendicular to the linear pixel-type photosensitive element by the light spot shaping unit, ensuring that the light spot can be incident on the photosensitive element in the vertical direction without the need for up-down light adjustment. Only the focal length of the light spot needs to be adjusted in the front-back direction to complete the light adjustment, effectively reducing the time required for light adjustment.

[0012] Optionally, the laser sensor includes an optical component bracket, with both the light-emitting and light-receiving components fixed to the optical component bracket.

[0013] Optionally, the position adjustment mechanism is located on the light-receiving part.

[0014] Optionally, the position adjustment mechanism includes:

[0015] An optical sensor base is provided, in which the optical sensor of the light-receiving part is fixed and the optical sensor base has multiple mounting holes.

[0016] Multiple mounting posts are provided on the optical component bracket. The optical component bracket uses multiple mounting posts to fit into multiple mounting holes and is fixed to the optical sensor base with adhesive.

[0017] According to the above technical solution, the position of the optical sensor base can be quickly adjusted by the matching structure of the mounting column and the mounting hole, thereby adjusting the light reception in the front and rear directions. After the adjustment is completed, only glue needs to be applied to fix the position, which reduces the number of installation components and simplifies the installation process.

[0018] Optionally, the position of the light-receiving part can be adjusted by using the insertion depth of the mounting post and the mounting hole between the optical part bracket and the optical sensor base bracket.

[0019] According to the above technical solution, by adjusting the insertion depth of the mounting post and the mounting hole, the position of the optical sensor base can be quickly adjusted accordingly, further reducing the time required for light-receiving adjustment.

[0020] Optionally, the projection section has a projection light source and a projection lens disposed in front of the projection light source, and the spot shaping section includes two projection apertures, which are respectively disposed on the front and rear sides of the projection lens.

[0021] According to the above technical solution, there is no need to use complex optical components. The light spot can be shaped by simply setting a light-emitting aperture, and then the light-receiving spot can be shaped.

[0022] Optionally, the spot shaping unit shapes the circular spot emitted by the projection light source into an elliptical spot.

[0023] According to the above technical solution, the elliptical light spot obtained by shaping is an elliptical and vertical strip light spot. The long axis of the elliptical light spot can provide a larger vertical coverage range, ensuring that the elliptical light spot can remain incident on the linear pixel photosensitive element without the need for vertical light reception adjustment or horizontal tilt adjustment.

[0024] Optionally, the major axis of the elliptical light spot is orthogonal to the extension direction of the linear pixel-type photosensitive element.

[0025] According to the above technical solution, the vertical coverage of the elliptical light spot relative to the linear pixel-type photosensitive element is further guaranteed.

[0026] Optionally, the aspect ratio of the photosensitive element is 32:1-64:1.

[0027] According to the above technical solution, the linear pixel photosensitive element can provide a larger lateral coverage area, ensuring that the light spot can be incident on the linear pixel photosensitive element within the product-defined detection distance without the need for left-right light adjustment. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the CMOS light-receiving structure in the background art;

[0029] Figure 2 This is a schematic diagram of the structure of the laser sensor in the first embodiment of the present invention;

[0030] Figure 3 This is a top view of the laser sensor in the first embodiment of the present invention;

[0031] Figure 4 This is an exploded view of the optical component support and optical sensor base in the first embodiment of this utility model;

[0032] Figure 5 This is a schematic diagram showing the connection and cooperation between the optical component support and the optical sensor base in the first embodiment of this utility model;

[0033] Figure 6 This is a schematic diagram of the light-receiving optical sensor in the first embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the light-projecting part in the first embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the position correction device in the second embodiment of the present invention;

[0036] Figure 9 This is a flowchart illustrating the light-receiving adjustment in the second embodiment of this utility model;

[0037] Figure 10 This is a schematic diagram of the light-receiving waveform during light-receiving adjustment in the second embodiment of this utility model.

[0038] Reference numerals: laser sensor 100, housing 10, protrusion 11, optical component bracket 20, protrusion 21, mounting post 22, light source 31, light projection lens 32, light projection aperture 33, optical sensor base 41, optical substrate 411, optical sensor 412, photosensitive element 4121, mounting hole 413, first protrusion 414, second protrusion 415, light receiving lens 42, CMOS chip 201, CMOS substrate 202, CMOS base 203, locking screw 204, optical base 205, position correction device 300, protective cover 301, slide rail 302, detection plate 303, spiral clamping mechanism 304, movable jaw 305. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] refer to Figure 2 and Figure 3 A laser sensor 100 in this embodiment includes a housing 10 and an optical component bracket 20 fixedly installed in the housing 10.

[0041] The optical bracket 20 has a light-projecting part and a light-receiving part fixed in it. The housing 10 has a light-transmitting window. The light-projecting part projects laser light and emits it through the light-transmitting window of the housing 10. The light-receiving part receives the laser light emitted by the light-projecting part and reflected back by the external object to detect the external object.

[0042] In existing technologies, optical components are typically mounted into the housing using screws. However, even when screws are tightened, the optical components may still shift under lateral force, causing the light-receiving position to deviate. This necessitates repeatedly tightening and loosening the screws to adjust the position of the optical components, which wastes a significant amount of adjustment time.

[0043] In this embodiment, protrusions 11 are provided on the upper and lower sides of the housing 10 near the light-transmitting window. Two grooves are formed between the protrusions 11 and the sidewall. The optical component bracket 20 has protrusions 21 on each side corresponding to the grooves. The protrusions 21 and grooves form a slight interference fit. When installing the optical component bracket 20 into the housing 10, only the upper and lower parts need to be assembled using the interference fit to complete the fixed installation, effectively simplifying the sensor structure and allowing for easy and quick installation of the optical component bracket 20 into the housing 10. Furthermore, the downward-pressing assembly structure of this embodiment effectively limits the lateral displacement of the optical component bracket 20, while ensuring that the optical component bracket 20 does not deform under downward pressure after assembly to maintain a fixed light-receiving position. Even if the optical component bracket 20 shifts position, installation can be quickly completed through downward-pressing assembly, effectively reducing the time required for position adjustment.

[0044] Further, refer to Figure 4 The optical support 20 has a light-projecting part with a light-projecting light source 31 and a light-projecting lens 32 disposed in front of the light-projecting light source 31. The laser emitted by the light-projecting light source 31 can be emitted through the light-projecting lens 32. Specifically, the light-projecting light source 31, such as an LD light-projecting element, projects a pulsed laser with a certain pulse width and duration at a fixed period.

[0045] The light-receiving part of the optical component support 20 includes an optical sensor base 41, an optical substrate 411 disposed in the optical sensor base 41, an optical sensor 412 mounted on the optical substrate 411, and a light-receiving lens 42 disposed on the front side of the optical sensor base 41. The pulsed laser reflected from the outside is focused by the light-receiving lens 42 and enters the optical sensor base 41 from the optical component support 20, and irradiates the optical sensor 412 fixed to the optical sensor base 41.

[0046] In this embodiment, the projection lens 32 and the receiving lens 42 are disposed on the same side of the optical bracket 20. At the same time, the side of the optical bracket 20 where the projection lens 32 and the receiving lens 42 are disposed matches the shape of the side of the housing 10 where the light-transmitting window is disposed. After the optical bracket 20 is directly assembled into the housing 10 by interference fit, the housing 10 and the protrusion 11 can cooperate to limit the optical bracket 20 accordingly. After assembly, glue is applied to the edge of the optical bracket 20 to further ensure the stability of the position of the optical bracket 20. At the same time, the structure of the optical bracket 20 is optimized and the internal structure complexity of the sensor is reduced.

[0047] Furthermore, the laser sensor 100 in this embodiment also has a position adjustment mechanism, which can adjust the position of the light-emitting part or the light-receiving part in only one direction.

[0048] Specifically, the position adjustment mechanism is disposed in the light-receiving part, including an optical sensor base 41 and a plurality of mounting posts 22 disposed on the optical part bracket 20. The optical sensor base 41 has a plurality of mounting holes 413, which are correspondingly matched with a plurality of mounting posts 22. The optical part bracket 20 uses the plurality of mounting posts 22 to be respectively matched and inserted into the plurality of mounting holes 413, and is fixed to the optical sensor base 41 by adhesive dispensing.

[0049] In this embodiment, four mounting holes 413 are provided, corresponding to the four corner positions of the optical sensor base 41. The optical component bracket 20 is provided with four mounting posts 22 corresponding to the four mounting holes 413. The mounting holes 413 and the mounting posts 22 at the four corner positions are used for installation, which results in higher connection stability and easier assembly and positioning.

[0050] The position of the light-receiving part is adjusted by using the insertion depth of the mounting post 22 and the mounting hole 413 between the optical part bracket 20 and the optical sensor base 41.

[0051] Specifically, by controlling the insertion depth of the mounting post 22 and the mounting hole 413, the position of the optical sensor base 41 can be adjusted in the front and rear directions to adjust the light reception. After the adjustment is completed, only glue needs to be applied to fix the optical sensor base 41 to the optical bracket 20. Compared with the traditional screw fixing design, it saves some structural parts and is quick and easy to install.

[0052] refer to Figure 5 In this embodiment, the top and bottom of the optical sensor base 41 are respectively extended, and the mounting holes 413 at the four corners are respectively provided in the extension. At the same time, the extension is provided with a first protrusion 414 and a second protrusion 415. The first protrusion 414 and the second protrusion 415 provide clamping positions for clamping, for example, by the movable claw 305. When adjusting the light reception, the movable claw 305 clamps the optical sensor base 41 by clamping the first protrusion 414 and the second protrusion 415 located at both ends to perform corresponding position adjustments.

[0053] In this embodiment, the four mounting posts 22 and the four mounting holes 413 are positioned by interference fit in the up, down, left and right positions. The mounting posts 22 gradually thicken from the top to the bottom. As the insertion depth of the mounting posts 22 in the mounting holes 413 increases, the optical sensor base 41 can achieve a better positioning effect.

[0054] Furthermore, when adjusting the light reception of the laser sensor 100 in this embodiment, there is no need to adjust it in the left-right direction; the light reception adjustment can be completed simply by adjusting it in the front-back direction through the position adjustment mechanism, as detailed below:

[0055] Based on the principle of triangulation, when the laser is reflected at a near point or a far point, the position of the light spot on the optical sensor 412, i.e. the CMOS chip, in the light-receiving part will also change left and right accordingly. In order to ensure that the reflected light spot can be incident on the photosensitive element 4121 of the optical sensor 412, the existing technology requires the optical sensor 412 to be adjusted in the left and right direction.

[0056] refer to Figure 6 In this embodiment, the photosensitive element 4121 of the optical sensor 412 is configured as a linear pixel photosensitive element, and the aspect ratio of the photosensitive element 4121 is 32:1-64:1.

[0057] Specifically, the optical sensor 412 has a linear pixel-type photosensitive element 4121, and the aspect ratio of this linear pixel-type photosensitive element 4121 is 32:1-64:1, providing a long lateral light-receiving range. This lateral light-receiving range is much longer than that of existing photosensitive elements, ensuring that the reflected light spot is within the range of the photosensitive element 4121 regardless of whether the laser is reflected from a near or far point. Therefore, by providing a long lateral light-receiving range through the aforementioned linear pixel-type photosensitive element 4121 with an aspect ratio of 32:1-64:1, it is effectively ensured that the light spots reflected from external objects at different distances can all enter the photosensitive element 4121, eliminating the need for left-right adjustments during light reception.

[0058] In this embodiment, the laser sensor 100 does not require vertical adjustment during light reception adjustment; it can be adjusted forward and backward using the position adjustment mechanism to complete the light reception adjustment, as detailed below:

[0059] For the optical sensor 412 in the light-receiving section, i.e., the CMOS chip, the position of the received laser reflected light spot on the photosensitive element 4121 affects the change in the received light waveform, thus affecting the measurement accuracy. (Reference) Figure 6 In existing technologies, the light spot formed by reflection from external objects is generally a circular spot. For a circular spot, it is necessary to ensure that the circular light spot is completely incident on the photosensitive element 4121. Therefore, spot position A and spot position C are not suitable positions; only spot position B is suitable. To ensure that the reflected circular spot is located at spot position B, the vertical position of the CMOS chip needs to be adjusted so that the part with high light intensity is in a relatively central position on the light-receiving surface.

[0060] In this embodiment, the photosensitive element 4121 is a linear pixel photosensitive element, and the light-projecting part of the laser sensor 100 has a light spot shaping part, which shapes the light spot projected onto the photosensitive element 4121 into a non-circular light spot with the length direction perpendicular to the linear pixel photosensitive element 4121.

[0061] Specifically, refer to Figure 7The light spot shaping unit includes two projection apertures 33, which are respectively disposed on the front and rear sides of the projection lens 32. The light spot shaping unit shapes the circular light spot emitted by the projection light source 31 into an elliptical light spot. Furthermore, when the elliptical light spot formed by reflection from an external object illuminates the linear pixel-type photosensitive element 4121, the major axis of the elliptical light spot is orthogonal to the extension direction of the linear pixel-type photosensitive element 4121.

[0062] In this embodiment, Figure 7 The left aperture shown is a thin sheet attached to the front of the projection lens 32, while the right aperture is the internal structure of the optical component support 20, and is funnel-shaped. By setting projection apertures 33 on both the front and rear sides of the projection lens 32, the circular light spot emitted by the projection light source 31 is shaped into an elliptical light spot, so that the elliptical light spot formed by the reflection of external objects has a large vertical coverage range. At the same time, the major axis of the elliptical light spot is orthogonal to the extension direction of the linear pixel photosensitive element 4121, which further ensures the vertical coverage range. Even if there is a vertical offset, it can still be ensured that the light spot is incident on the linear photosensitive element 4121. When adjusting the light reception, there is no need to make vertical or horizontal tilt adjustments.

[0063] Furthermore, based on the design of the light focal point, the light spot is the smallest near the focal point. Therefore, in this embodiment, when adjusting the light reception, there is no need to make adjustments in the left-right and up-down directions; only front-back adjustments are needed to adjust the size of the elliptical light spot to the relatively smallest possible state. This completes the light reception adjustment, saving a significant amount of time while ensuring light reception accuracy.

[0064] Furthermore, a position correction method for a laser sensor 100 in this embodiment includes the following steps:

[0065] The light source 31 projects laser light, which is emitted through the projection lens 32.

[0066] After being reflected by an external object, the emitted laser light is focused by the light-receiving lens 42 and passes through the optical component bracket 20 and the optical sensor base 41. It is then received by the linear pixel-type photosensitive element 4121 in the optical sensor 412, without the need for further left-right position adjustment.

[0067] The projection apertures 33, located on both sides of the projection lens 32, shape the light spot projected onto the linear pixel photosensitive element 4121 into an elliptical light spot with its length direction perpendicular to the linear pixel photosensitive element 4121, eliminating the need for vertical position adjustments.

[0068] By controlling the insertion depth of the mounting post 22 and the mounting hole 413, the position of the optical sensor base 41 is adjusted only in the front and rear directions, thereby adjusting the position of the light-receiving part to adjust the light reception and complete the position correction of the laser sensor 100.

[0069] In this embodiment, by setting projection apertures 33 on both the front and rear sides of the projection lens 32, the circular light spot emitted by the projection light source 31 is shaped into an elliptical light spot, ensuring that the light-receiving spot can remain incident on the photosensitive element 4121 in the vertical direction, so that no vertical adjustment is required during light reception adjustment. At the same time, by setting a linear array pixel photosensitive element 4121 with an aspect ratio of 32:1-64:1 in the optical sensor 412, it is ensured that the light-receiving spot can remain incident on the photosensitive element 4121 in the horizontal direction, so that no horizontal adjustment is required during light reception adjustment. During light reception adjustment, it is only necessary to adjust the elliptical light-receiving spot to a relatively minimum state by controlling the insertion depth of the mounting post 22 and the mounting hole 413 in a single direction, thus saving a lot of time for light reception adjustment.

[0070] <Second Implementation Method>

[0071] In this embodiment, based on the laser sensor 100 in the first embodiment, the position correction device 300 is used to adjust the light projection and reception to complete the position correction of the laser sensor 100.

[0072] refer to Figure 8 The position correction device 300 in this embodiment includes a protective cover 301, a vertical slide rail 302 disposed inside the protective cover 301, and a detection plate 303 that can slide up and down in the slide rail 302. The top of the protective cover 301 is provided with a mounting groove corresponding to the vertically disposed slide rail 302, and a spiral clamping mechanism 304 is provided on both sides of the mounting groove.

[0073] Specifically, the mounting groove matches the size of the optical component bracket 20 of the laser sensor 100 in the first embodiment. The optical component bracket 20 can be placed into the mounting groove accordingly and fixed in position by the spiral clamping mechanisms on both sides. At the same time, an opening is provided in the mounting groove on the side corresponding to the slide rail 302 to allow light to pass through.

[0074] After the optical component bracket 20 of the laser sensor 100 in the first embodiment is placed in the mounting groove and fixed, the side of the optical component bracket 20 with the light-receiving lens 42 and the light-projecting lens 32 faces downward and is positioned opposite the detection plate 303 through the opening. The laser emitted by the light-projecting part will be reflected by the detection plate 303 to be received by the light-receiving part. At the same time, the side of the optical component bracket 20 with multiple mounting posts 22 will face upward.

[0075] The position correction device 300 also includes a movable jaw 305 that can open and close, which is positioned above the protective cover 301 and can move up and down. After the optical component bracket 20 is placed and fixed, the movable jaw 305 clamps the optical sensor base 41, so that the multiple mounting holes 413 in the optical sensor base 41 are aligned with the multiple mounting posts 22. By moving the movable jaw 305 up and down, the insertion depth of the mounting posts 22 and the mounting holes 413 can be controlled, thereby adjusting the position of the optical sensor base 41 in the front-back direction for light reception adjustment. Specifically, the movable jaw 305 clamps the optical sensor base 41 and moves it to control the position of the optical sensor 412. Then, the detection plate 303 moves to change the laser reflection detection position. The light reception adjustment is performed by coordinating the position movement of the detection plate 303 and the movable jaw 305 with the upper-level light reception data and judgment logic.

[0076] refer to Figure 9 In this embodiment, the position correction method for the laser sensor 100 is as follows:

[0077] Keep the light source 31 on, and receive the light spot reflected from the detection plate 303 through the optical sensor 412, thereby acquiring the corresponding light data and obtaining the corresponding light waveform. Control the movable jaw 305 to clamp the optical sensor base 41 and slowly move it downwards, referring to... Figure 10 The light-receiving waveform d is moved from outside the waveform detection range to within the detection range. The optical sensor base 41 continues to move slowly downward until the mounting hole 413 of the optical sensor base 41 contacts the mounting post 22 of the optical component bracket 20, thus establishing a positioning relationship. At the same time, the light-receiving waveform is obtained through the optical sensor 412, and the light-receiving adjustment is performed according to the light-receiving waveform.

[0078] During the light-receiving adjustment process, the detection plate 303 moves up and down along the slide rail 302, reflecting light at the near, mid, and far positions respectively. The light-receiving data is acquired by the optical sensor 412 and used as a reference. Figure 10 The corresponding near-point waveform a, mid-point waveform b, and far-point waveform c are obtained. It is determined whether the pixel point where the waveform is located meets the ideal position and whether the waveform width meets the judgment criteria. If it does not meet the criteria, the optical sensor base 41 is slowly moved downward to make fine adjustments to the position, and the state of the received waveform is continuously observed until the ideal position is reached.

[0079] Furthermore, during the illumination adjustment process, the peak pixels of the CMOS waveforms at the near, mid, and far positions will move to their respective ideal pixel position ranges, and the width of the CMOS waveform will gradually narrow to the focal point, then widen again. The CMOS waveforms at these three positions must simultaneously satisfy their corresponding ideal position ranges and waveform widths to complete the illumination adjustment.

[0080] Once the received light waveform is adjusted to meet the predetermined standard, the light reception adjustment is completed. Then, it is further determined whether the received light amount is within the specified range. If not, the output of the light source 31 is adjusted accordingly. Once the received light amount meets the predetermined standard, the light reception adjustment of the laser sensor 100 is completed, thereby completing the position correction of the laser sensor 100.

[0081] Furthermore, the output of light projection has a limit. If the adjustment is not in place even after exceeding the limit, it indicates that the overall light spot is offset. Assembly personnel need to confirm whether the lens installation and the installation of the light projection element are in place.

[0082] In this embodiment, the position correction device 300 and the position correction method using the position correction device 300 can quickly and accurately complete the light projection and reception adjustment of the laser sensor 100, and ensure the measurement consistency of the laser sensor 100 throughout the entire range, effectively guaranteeing measurement accuracy and stability.

[0083] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A laser sensor, characterized in that, include: The projection section projects laser light; The light-receiving part receives the laser light emitted by the light-projecting part and reflected back by an external object; The light-receiving part has an optical sensor, and the photosensitive element of the optical sensor is configured as a linear pixel photosensitive element. The light-projecting part has a light spot shaping part, which shapes the light spot projected onto the photosensitive element into a non-circular light spot with its length direction perpendicular to the linear pixel photosensitive element; The laser sensor has a position adjustment mechanism that can adjust the position of the light-emitting part or the light-receiving part in only one direction.

2. The laser sensor as described in claim 1, characterized in that, The laser sensor includes an optical component bracket, and both the light-projecting part and the light-receiving part are fixed to the optical component bracket.

3. The laser sensor as described in claim 1, characterized in that, The position adjustment mechanism is located on the light-receiving part.

4. The laser sensor as described in claim 2, characterized in that, The position adjustment mechanism includes: An optical sensor base, wherein the optical sensor of the light-receiving part is fixed to the optical sensor base, and the optical sensor base has multiple mounting holes; Multiple mounting posts are disposed on the optical component bracket, and the optical component bracket is respectively fitted into multiple mounting holes using the multiple mounting posts, and fixed to the optical sensor base by adhesive dispensing.

5. The laser sensor as described in claim 4, characterized in that, The position of the light-receiving part is adjusted by using the insertion depth of the mounting post and the mounting hole between the optical part bracket and the optical sensor base bracket.

6. The laser sensor as described in claim 1, characterized in that, The light projection unit has a light projection source and a light projection lens disposed in front of the light projection source. The light spot shaping unit includes two light projection stops, which are respectively disposed on the front and rear sides of the light projection lens.

7. The laser sensor as described in claim 6, characterized in that, The spot shaping unit shapes the circular spot emitted by the light source into an elliptical spot.

8. The laser sensor as described in claim 7, characterized in that, The major axis of the elliptical light spot is orthogonal to the extension direction of the linear pixel-type photosensitive element.

9. The laser sensor as described in claim 1, characterized in that, The aspect ratio of the photosensitive element is 32:1-64:1.

Images