Distance measuring device
By introducing MEMS mirrors and multi-optical structures into the laser ranging device, the alignment problem when the laser rangefinder moves or the target object moves is solved, and the laser direction is automatically adjusted, which improves the convenience and accuracy of ranging.
Patent Information
- Application Number
- CN202421802839.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-26
- Publication Date
- 2025-08-15
- Estimated Expiration
- 2034-07-26
AI Technical Summary
When existing laser rangefinders move or target objects, users need to adjust their own posture or the attitude of the laser rangefinder to re-shoot the laser onto the target objects, resulting in inconvenient operation.
Using a combined design of a laser emitting component, a first optical path structure, a second optical path structure, a laser receiving component and at least one camera, the rotatability of the MEMS mirror is used to adjust the angle of the MEMS mirror to re-reflect the laser onto the target object, realizing automatic distance measurement.
The laser is kept at the target object without user adjustment or laser rangefinder attitude, realizing automatic ranging and multi-objective detection, improving operational convenience and ranging accuracy.
Smart Images
Figure CN223229752U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of distance measuring instruments, and in particular relates to a distance measuring device. Background Art
[0002] As a high-precision ranging solution, laser scanning ranging technology is increasingly widely used in autonomous positioning and navigation services of intelligent robots, as well as in unfamiliar environment recognition and environmental map construction, due to its long ranging limit, high beam directivity, and fast response speed.
[0003] When measuring the distance to a target object, an existing laser rangefinder needs to direct the laser emitted by a laser transmitter onto the target object and receive the laser echo reflected by the target object to measure the distance between the laser rangefinder and the target object. When the laser rangefinder moves or the target object moves, the user needs to adjust their own posture or the posture of the laser rangefinder to re-direct the laser to the target object. Utility Model Content
[0004] The present invention provides a distance measuring device, which aims to solve the problem in the prior art that when the laser rangefinder moves or the target object moves, the user needs to adjust his or her posture or the posture of the laser rangefinder to re-target the laser.
[0005] The present invention provides a distance measuring device, comprising: a laser emitting assembly, a first optical path structure arranged on a first optical axis, a second optical path structure arranged on a second optical axis, a laser receiving assembly, and at least one camera, wherein the first optical axis and the second optical axis are not coaxial;
[0006] The laser receiving assembly is aligned with the first emitting end of the second optical path structure;
[0007] The first optical path structure includes a first beam splitter and a MEMS reflector arranged on the first optical axis. The laser emitting assembly emits a laser, and the first beam splitter reflects the laser to the MEMS reflector. The MEMS reflector is arranged on the output path of the laser and reflects the laser onto the target object. The MEMS reflector is rotatable, and at least one camera is arranged on the other side of the first beam splitter on the first optical axis.
[0008] Furthermore, the second optical path structure includes an objective lens, a second beam splitter and an eyepiece arranged in sequence on the second optical axis, wherein the objective lens is set as the incident end of the second optical path structure, the reflecting side of the second beam splitter is set as the first output end of the second optical path structure, and the eyepiece is set as the second output end of the second optical path structure.
[0009] Furthermore, one side of the objective lens receives the incident echo laser and imaging light, the second spectrometer is arranged on the exit side of the objective lens, the laser receiving component is arranged on the reflection side of the second spectrometer, and the eyepiece is arranged on the exit side of the second spectrometer.
[0010] Furthermore, the second beam splitter is a dichroic mirror or a prism.
[0011] Furthermore, the first beam splitter is a dichroic mirror or a prism.
[0012] Furthermore, the laser emitting component is a laser emitter and a laser collimating lens.
[0013] Furthermore, the distance measuring device also includes a display, and at least one of the cameras is connected to the display signal.
[0014] The beneficial effects achieved by the utility model are as follows: the utility model provides a distance measuring device, in which a laser is emitted by a laser emitting component, which is reflected by a first beam splitter onto a MEMS reflector, and then reflected by the MEMS reflector onto a target object. The echo laser reflected by the target object passes through a first optical path structure and is received by a laser receiving component, thereby realizing a distance measuring function. When the target object deviates, the angle of the MEMS reflector can be adjusted so that the laser is reflected back onto the target object, without the user having to adjust his or her own posture or the posture of the laser rangefinder. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 This is a structural diagram of a distance measuring device provided by an embodiment of the present utility model;
[0016] Figure 2 This is a schematic structural diagram of a second camera of a distance measuring device provided by an embodiment of the present utility model;
[0017] Figure 3 Schematic diagram of a multi-target adaptive extraction frame provided by an embodiment of the present utility model;
[0018] Figure 4 The present invention provides a flow chart of a distance measurement method.
[0019] Among them, 100, ranging device; 1, laser emitting component; 2, first optical path structure; 21, first spectrometer; 22, MEMS reflector; 3, second optical path structure; 31, objective lens; 32, eyepiece; 33, second spectrometer; 4, laser receiving component; 5, display; 6, target object; 7, first camera; 8, second camera. DETAILED DESCRIPTION
[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0021] In the existing technical solutions, there is a problem that when the laser rangefinder moves or the target object moves, the user needs to adjust his own state or the posture of the laser rangefinder in order to re-target the laser onto the target object.
[0022] The present invention emits a laser through a laser emitting component, which is reflected by a first beam splitter onto a MEMS reflector, and then reflected by the MEMS reflector onto a target object. The echo laser reflected by the target object passes through a first optical path structure and is received by a laser receiving component to realize a ranging function. The imaging light reflected by the target object passes through a second optical path structure in sequence, and an image formed by the imaging light is collected by a first camera and transmitted to a display. And / or the imaging light reflected by the target object passes through the MEMS reflector and the first beam splitter in the first optical path structure in sequence, and an image formed by the imaging light is collected by a second camera and transmitted to a display. The user observes the image collected by the first camera through the display, or observes whether the target object deviates from the image collected by the second camera through the display, and then adjusts the angle of the MEMS reflector to make the laser reflected back onto the target object, without the need for the user to adjust his or her own posture or the posture of the laser rangefinder.
[0023] Example 1
[0024] See also Figure 1-Figure 2 As shown, Figure 1 This is a first structural diagram of a distance measuring device provided by an embodiment of the present utility model; Figure 2 This is a second structural schematic diagram of a distance measuring device provided by an embodiment of the present utility model.
[0025] The present invention provides a distance measuring device 100 for measuring the distance of a target object 6, comprising: a main control board, a laser emitting component 1, a first optical path structure 2 arranged on a first optical axis, a second optical path structure 3 arranged on a second optical axis, a laser receiving component and at least one camera.
[0026] Among them, the above-mentioned laser emitting component 1 includes a laser collimating lens, which is located at the incident end of the above-mentioned first optical path structure 2. The collimated laser hits the reflector of the above-mentioned first optical path structure 2 and is reflected. The reflected laser is incident on the MEMS reflector of the above-mentioned first optical path structure 2. The output end of the MEMS reflector of the above-mentioned first optical path structure 2 is aimed at the target object 6, and the incident end of the above-mentioned second optical path structure 3 is aimed at the target object 6. The above-mentioned second optical path structure 3 uses the second beam splitter 33. The beam splitter has two output light paths. The first output light path is that the received light laser is totally reflected on the second beam splitter 33, and the echo laser is reflected to the laser receiving component. The second output light path is that the received light visible light is transmitted on the second beam splitter 33 and is imaged through the component 7 camera.
[0027] The first optical path structure 2 directs the laser light emitted by the laser emitting assembly 1 toward the target 6. The second optical path structure 3 reflects the echo laser light reflected from the target 6 to the laser receiving assembly. The distance to the target 6 is measured using the received echo laser light to obtain the distance measurement value of the target 6. The first optical path structure 2 includes an incident end and an output end. The laser emitting assembly 1 is aligned with the incident end of the first optical path structure 2. The camera is aligned with the output end of the first optical path structure 2. The output end of the first optical path structure 2 is aligned with the target 6.
[0028] The above-mentioned laser receiving component is aligned with the first output end of the above-mentioned second optical path structure 3. The structure in the above-mentioned second optical path reflects the echo laser reflected on the target object 6 from the first output end to the laser receiving component. The above-mentioned second output end is the imaging end. The imaging light is imaged at the second output end. The user can observe the target object 6 and the scenery around the target object 6 at the second output end.
[0029] The number of the above-mentioned cameras is at least one. When there are multiple cameras, it can be a camera group or multiple independent cameras. Optionally, when there is one camera, the camera is set in the second outgoing light path of the second optical path structure 3, and the imaging light is collected by the camera to obtain an image corresponding to the camera's field of view; when there are two cameras, the first camera 7 is set in the transmission light path of the second beam splitter 33 in the second optical path structure 3. The first beam splitter 21 is a beam splitter that totally reflects laser light and transmits visible light. The second camera 8 is set in the transmission light path of the first beam splitter 21 and is coaxial with the first beam splitter 21. The imaging light of the environment is reflected by the MEMS reflector 22, transmitted by the first beam splitter 21, and finally imaged in the camera 8. Preferably, the number of cameras is one, and the camera can be set in the transmission light path of the first beam splitter 21 of the first optical path structure 2. The second optical path structure 3 receives the imaging light of the target object 6 and its surrounding scenery, and the imaging light forms a corresponding image in the second output optical path of the second optical path structure 3. The user can observe the target object 6 and its surrounding scenery through the second output optical path of the second optical path structure 3. The first camera 7 captures the image of the target object 6 and its surrounding scenery, and the user can observe the target object 6 and its surrounding scenery through the image.
[0030] The first camera 7 is aligned with the second outgoing light path of the second light path structure 3 on the second optical axis. The first optical axis and the second optical axis are not coaxial, that is, the first camera 7 and the second light path structure 3 are off-axis structures.
[0031] The above-mentioned first optical path structure 2 includes a first beam splitter 21 and a MEMS (Micro-Electro-Mechanical System) reflector 22 arranged on the above-mentioned first optical axis. The above-mentioned MEMS reflector 22 is coaxially arranged on the same side of the above-mentioned first beam splitter 21 as the above-mentioned laser emitting component 1. The laser emitting component 1 emits a laser, and the first beam splitter 21 reflects the laser to the MEMS reflector 22. The MEMS reflector 22 is arranged on the emission path of the laser and reflects the laser onto the target object 6. The above-mentioned MEMS reflector 22 is rotatable. The laser emitted by the above-mentioned laser emitting component 1 hits the above-mentioned first beam splitter 21. The second camera 8 is arranged on the first optical axis to align with the other side of the above-mentioned first beam splitter 21.
[0032] The camera is set below the first beam splitter 21 of the first optical path structure 2, and is coaxial with the MEMS mirror located on the upper and lower sides of the first beam splitter 21. The MEMS mirror 22 in the first optical path structure 2 is in a coaxial optical path with the first beam splitter 21, and the direction of laser ranging changes synchronously with the field of view of the second camera 8. That is, the user can obtain the position of the target object 6 to be measured in the imaging field of view from the image captured by the second camera 8. After determining the change of the object in the image, the user can adjust the angle of the MEMS mirror 22. By controlling the rotation of the MEMS mirror 22, the target object 6 can be locked. Then, the laser is projected onto the target object 6, so that the second optical path structure 3 receives the reverse echo laser from the target object 6 and reflects the echo laser to the laser receiving component, thereby measuring the distance of the target object 6.
[0033] The laser emitting assembly 1 emits a collimated laser, which is reflected by the first beam splitter 21 onto the MEMS reflector 22, and then by the MEMS reflector 22 onto the target 6. The echo laser reflected by the target 6 passes through the second optical path structure 3 and is received by the laser receiving assembly, thereby realizing an automatic ranging function. The imaging light reflected by the target 6 passes through the second optical path structure 3 and is imaged at the second output end. The user can observe it directly at the second output end, or the first camera 7 can capture the imaging image at the second output end to obtain an image containing the target 6 and its surrounding scenery; and / or the imaging light reflected by the target 6 passes through the MEMS reflector 22 and the first beam splitter 21 in sequence, and is received by the second camera 8 to obtain an image containing the target 6 and its surrounding scenery.
[0034] The echo laser refers to the light beam reflected by the outgoing laser after passing through the target object 6. The laser receiving component is a laser receiving device for receiving the laser emitted by the laser emitting component 1 to realize the scanning distance measurement function.
[0035] Specifically, the target is positioned in the middle of the target object 6. The laser emitting assembly 1 automatically adjusts its direction and emits a collimated laser beam to the first beam splitter 21. The beam is then totally reflected by the first beam splitter 21 to the MEMS reflector. The beam is then reflected by the MEMS reflector 22 to the center of the target object 6. The target object 6 reflects the echoed laser beam and the imaging light to the incident end of the second optical path structure 3. The echoed laser beam is then sent to the laser receiving assembly via the first output end of the second optical path structure 3, and the imaging light is sent to the second output end of the second optical path structure 3. When the target deviates, such that the target is no longer in the center of the image, the collimated laser beam will still hit the center, and the distance cannot be measured. The first camera 7 captures an image of the degree of deviation between the target object 6 and the center of the field of view of the first camera 7, or the second camera 8 captures an image of the degree of deviation between the target object 6 and the center of the field of view of the second camera 8, and the angle of the MEMS reflector 22 is adjusted to redirect the laser beam to the target object 6. According to the field of view relationship between the rotation angle of the MEMS reflector 22 and the degree of deviation from the field of view center, and according to the field of view position of the target in the image, the MEMS reflector 22 changes the laser ranging direction, obtains the ranging value, and realizes target detection, extraction and recognition. This can achieve large field of view multi-target detection, visual range multi-target locking, and automatic ranging effect. Figure 3 As shown, Figure 3 The degree of deviation between the multiple targets 6 and the center of the camera field of view is extracted in the image through an adaptive extraction frame, and the rotation angle of the MEMS mirror 22 is adjusted by using the relationship between the rotation angle of the MEMS mirror 22 and the field of view of the imaging component to re-shoot the laser onto the multiple targets 6.
[0036] More specifically, the laser emitting assembly 1 emits a collimated laser beam onto the first beam splitter 21. The beam is then totally reflected by the first beam splitter 21 onto the MEMS mirror. The beam is then reflected by the MEMS mirror 22 onto the center of the target 6. The target 6 then reflects the imaging light onto the MEMS mirror 22. The MEMS mirror 22 then reflects the imaging light back onto the first beam splitter 21. The first beam splitter 21 then splits the imaging light onto the second camera 8. The rotation angle of the MEMS mirror 22 is adjusted based on the target's movement ratio and the relationship between the second camera 8 and the ranging field of view. At this point, the second camera 8, the MEMS mirror 22, and the first beam splitter 21 are coaxial. Therefore, it is only necessary to calibrate the relationship between the deviation degree of the second camera 8's field of view center and the rotation angle of the MEMS mirror 22. Furthermore, the relationship between the second camera 8's field of view range and the rotation angle of the MEMS mirror 22 can also be calibrated.
[0037] The first camera 7 and the first optical path structure 2 are combined to form a camera with zoom, and the target tracking and ranging function is realized by calibrating the steering relationship between the field of view of the first camera 7 and the MEMS mirror 22 under different focal length conditions.
[0038] The rotation angle of the MEMS mirror 22 corresponds one-to-one with the degree of deviation from the center of the field of view of the first camera 7 or the second camera 8, and the rotation angle of the MEMS mirror 22 corresponds one-to-one with the field of view range of the second camera 8. The imaging light reflected by the target 6 is sequentially reflected by the MEMS mirror 22 and transmitted by the first beam splitter 21 to the second camera 8. The second camera 8 is used to capture the imaging light and transmit it to the display 5 for display. By forming a coaxial system with the second camera 8, the first beam splitter 21, and the MEMS mirror 22, the rotation angle of the MEMS mirror 22 corresponds one-to-one with the degree of deviation from the center of the field of view and the field of view range of the second camera 8. When the object and the ranging device 100 move relative to each other, causing the laser spot to be off the target 6, the degree of deviation from the center of the field of view can be determined by calculating the change in the position of the object being measured by the laser in the image of the second camera 8. Based on the degree of deviation from the center of the field of view, the required rotation angle of the MEMS mirror 22 is determined, and the device automatically redirects the laser beam to the target for distance measurement. The automatic ranging system solution and the large field of view scanning ranging solution are realized by utilizing the coaxial relationship between the laser steering of the MEMS reflector 22 and the second camera 8 to realize the multi-target ranging function.
[0039] Specifically, in the image captured by the second camera 8, the object's positional relationship within the image is calculated using a target detection and extraction algorithm. When a positional change occurs, the position of the target 6 in the image also changes. The difference between the boundary pixels of the target 6 in the two images represents the degree of deviation from the center of the field of view. Using the calibrated relationship between the rotation angle of the MEMS mirror 22 and the degree of deviation from the center of the field of view, the required rotation angle is determined to reposition the light spot on the target 68, allowing for re-distance measurement.
[0040] More specifically, the second optical path structure 3 includes an objective lens 31, a second beam splitter 33 and an eyepiece 32 arranged in sequence on the second optical axis, wherein the objective lens 31 is set as the incident end of the second optical path structure 3, the reflecting side of the second beam splitter 33 is set as the first output end of the second optical path structure 3, and the eyepiece 32 is set as the second output end of the second optical path structure 3.
[0041] One side of the objective lens 31 receives the incident echo laser and imaging light, the second beam splitter 33 is set on the exit side of the objective lens 31, the laser component collimation is set on the reflection side of the second beam splitter 33, and the eyepiece 32 is set on the exit side of the second beam splitter 33.
[0042] The second beam splitter 33 is located on the side of the objective lens 31 away from the target 6, and the laser receiving assembly is located on the reflecting side of the second beam splitter 33. After passing through the objective lens 31, the echoed laser reaches the second beam splitter 33, where it is reflected back to the laser receiving assembly. The eyepiece 32 receives the imaging light reflected from the objective lens 31, corrects the imaging light, and transmits it to the first camera 7 for imaging. The first beam splitter 21 and the second beam splitter 33 are beam splitters that reflect the laser light and transmit the imaging light.
[0043] The imaging light is transmitted through the objective lens 31 via the second beam splitter 33 to the eyepiece 32, where it forms an image. The user can observe the target object 6 and the periodic scene through the image formed on the objective lens. When a first camera 7 is provided, the first camera 7 captures the image formed on the eyepiece 32 to obtain an image of the target object 6 and the periodic scene. The first camera 7 is typically an industrial camera, which can typically capture 30, 60, or 120 images per second. The MEMS mirror 22 can automatically measure laser ranging parameters for multiple targets per second. Optionally, the number of targets does not exceed the camera's capture frequency.
[0044] Optionally, the display 5 may be an LED display 5 or an LCD display 5 .
[0045] The laser receiving assembly can reuse objective lens 31. Because objective lens 31 has a large aperture and receives high light energy, it helps enhance the signal-to-noise ratio and increase the ranging range without affecting the imaging performance of the imaging assembly. The laser emitting assembly 1 can automatically adjust the laser emission direction to scan and measure targets in different directions.
[0046] More specifically, the first camera 7 can also be replaced by the human eye. In this case, the eyepiece 32, second beam splitter 33, and objective lens 31 form a telescopic system, through which the human eye can observe the target 6. Imaging light reflected from the distant target 6 reaches the human eye through the eyepiece 32, providing information about the scene in the field of view. The imaging light is reflected by the target 6 onto the MEMS mirror 22, which then reflects the imaging light onto the first beam splitter 21. The first beam splitter 21 then splits the imaging light onto the second camera 8. When the target 6 deviates from the center of the field of view, the degree of deviation of the target 6 from the center of the field of view is extracted from the image. The rotation angle of the MEMS mirror 22 is adjusted based on the calibrated correlation between the degree of deviation of the target 6 from the center of the field of view. The combination of the human eye and the imaging component forms a telescopic system. Based on the calibrated relationship between the field of view of the imaging component and the steering of the laser rangefinder under different focal length conditions, the target tracking and ranging function is realized. The user can select to obtain real-time tracking image information and ranging information from a distant object.
[0047] More specifically, the second beam splitter 33 is a dichroic mirror or a prism, which splits the laser beam and the visible light beam, causing total reflection of the laser beam and transmission of the visible light.
[0048] More specifically, the first beam splitter 21 is a dichroic mirror or a prism.
[0049] More specifically, the laser emitting assembly 1 is a laser emitter and a collimating lens.
[0050] More specifically, the ranging device 100 further includes a display 5, and at least one of the cameras is signal-connected to the display 5. Images captured by the first camera 7 or the second camera 8 are transmitted to the display 5 for display. The displayed content may be a single image or a spliced image.
[0051] Example 2
[0052] Please refer to Figure 4 , Figure 4 The present invention provides a flow chart of a distance measurement method, which is applied to a distance measurement device as described in any one of the above embodiments. Figure 4 As shown, the ranging method includes the following steps:
[0053] Step S1 : acquiring image data of at least one camera when the target object deviates from the center of the field of view of at least one camera.
[0054] In a calibrated distance measuring device, the laser's bull's eye is the same as the center of the field of view. When the target deviates, the laser's bull's eye will continue to hit the center of the field of view, but the target is not there, so distance measurement is impossible. In this case, a camera can be used to collect image data within the field of view to determine the degree of deviation of the target.
[0055] Step S2: determining target deviation data of the target object in the image data based on the image data.
[0056] The target deviation data is the degree of deviation between the target object and the center of the camera's field of view. Generally, the calibrated center of the camera's field of view is the image center. Target deviation data can be obtained by performing target extraction and position calculation on the image.
[0057] Step S3: Control the rotation of the MEMS reflector according to the target deviation data so that the laser hits the target again.
[0058] Furthermore, in the step of rotationally controlling the MEMS mirror according to the deviation data, target rotation parameters corresponding to the target deviation data can be determined based on the correlation between the deviation data and the rotation parameters; and the MEMS mirror is rotationally controlled based on the target rotation parameters.
[0059] The above-mentioned target deviation data is the degree of deviation between the target object and the center of the camera's field of view. The degree of deviation between the target object and the center of the camera's field of view has a calibrated correspondence with the rotation angle of the MEMS reflector. Therefore, the rotation angle of the MEMS reflector can be determined based on the target deviation data, and the MEMS reflector can be rotated and controlled based on the rotation angle to make the laser hit the target again.
[0060] Step S4: receiving the echo laser on the target object, and determining the distance value of the target object according to the echo laser.
[0061] After the laser receiver receives the echo laser from the target, it will calculate the distance value of the target through the laser ranging algorithm. The laser ranging algorithm in the embodiment of the present utility model can be an existing laser ranging algorithm.
[0062] By mapping the rotation angle of the MEMS mirror to the deviation data of the target, the rotation angle of the MEMS mirror can be found according to the degree of deviation between the target in the image and the center of the camera's field of view. By adjusting the rotation angle of the MEMS mirror, the direction of laser ranging can be changed and the ranging value can be obtained. This facilitates the detection of multiple targets in a large field of view, the locking of multiple targets within the visual range, and automatic ranging. It also has the functions of target detection, extraction, and recognition.
[0063] It should be noted that the terms "including" and "having" and any variations thereof in the specification, claims and drawings of the present invention are intended to cover non-exclusive inclusions. The terms "first", "second" and the like in the specification, claims or drawings of the present invention are used to distinguish different objects, rather than to describe a specific order. Reference to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.
Claims
1. A distance measuring device, characterized in that: include: A laser emitting assembly, a first optical path structure arranged on a first optical axis, a second optical path structure arranged on a second optical axis, a laser receiving assembly, and at least one camera, wherein the first optical axis and the second optical axis are not coaxial; The laser receiving assembly is aligned with the first emitting end of the second optical path structure; The first optical path structure includes a first beam splitter and a MEMS reflector arranged on the first optical axis. The laser emitting assembly emits a laser, and the first beam splitter reflects the laser to the MEMS reflector. The MEMS reflector is arranged on the output path of the laser and reflects the laser onto the target object. The MEMS reflector is rotatable, and at least one camera is arranged on the other side of the first beam splitter on the first optical axis.
2. The distance measuring device according to claim 1, wherein The second optical path structure includes an objective lens, a second beam splitter and an eyepiece, which are sequentially arranged on the second optical axis in the incident direction of the echo laser, wherein the objective lens is set as the incident end of the second optical path structure, the reflecting side of the second beam splitter is set as the first output end of the second optical path structure, and the eyepiece is set as the second output end of the second optical path structure.
3. The distance measuring device according to claim 2, wherein: One side of the objective lens receives the echo laser and imaging light reflected by the target object, the second spectrometer is arranged on the exit side of the objective lens, the laser assembly is arranged on the reflection side of the second spectrometer, and the eyepiece is arranged on the exit side of the second spectrometer.
4. The distance measuring device according to claim 2, wherein: The second beam splitter is a dichroic mirror or a prism.
5. The distance measuring device according to claim 1, wherein: The first beam splitter is a dichroic mirror or a prism.
6. The distance measuring device according to claim 1, wherein: The laser emitting component is a laser emitter.
7. The distance measuring device according to claim 1, wherein: The distance measuring device further includes a display, and at least one of the cameras is connected to the display signal.