CN103969658A - Close-range photogrammetry colorful three-dimensional scanning laser radar - Google Patents
Close-range photogrammetry colorful three-dimensional scanning laser radar Download PDFInfo
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- CN103969658A CN103969658A CN201410217603.7A CN201410217603A CN103969658A CN 103969658 A CN103969658 A CN 103969658A CN 201410217603 A CN201410217603 A CN 201410217603A CN 103969658 A CN103969658 A CN 103969658A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A close-range photogrammetry colorful three-dimensional scanning laser radar comprises colorful laser light sources, a transmission optical system, a scanning system, a receiving optical system, a laser spectrum detection and distance-measuring circuit, a data collection and time sequence controller and a computer data processing unit. The colorful laser light sources comprise a red light pulse laser light source, a green or yellow light pulse laser light source, a blue light pulse laser light source and an infrared pulse laser light source, lasers emitted by the colorful laser light sources are synthesized into a laser beam through the transmission optical system, and are incident to the scanning system, colorful laser three-dimensional linear scanning is performed on a target ground object through the scanning system, echo signals formed by scanning are captured by the optical receiving system, intensity of pulse lasers obtained by detection of the laser spectrum detection and distance-measuring circuit and distance information of the target ground object are transmitted to a data collecting and time sequence controller for multi-channel data collection and time sequence calculation, and the result is output to the computer data processing unit.
Description
Technical field
The present invention relates to Mapping remote sensing technology technical field, relate in particular to a kind of close-range photogrammetry color three dimension scanning laser radar.
Background technology
Ground close-range photogrammetry laser radar technique is surveyed in single wavelength mode conventionally, realizes laser three-dimensional scanning imaging detection by tilting mirror and pedestal rotation.But owing to being limited by the restriction of single optical maser wavelength, can only obtain the intensity level of single wavelength, lack the visually color information the most intuitively to people, in atural object identification and the data processing in later stage, have obvious deficiency.
Summary of the invention
The object of the invention is: a kind of close-range photogrammetry color laser Radar Technology is provided.This technology, on the basis of the single infrared laser light source of existing ground laser radar, develops into and comprises and directly obtain the cloud data with color laser spectral information by color laser light source, the imaging detection ability of General Promotion close-range photogrammetry laser radar.
The invention provides a kind of close-range photogrammetry color three dimension scanning laser radar, comprise color laser light source, optical transmitting system, scanning system, receiving optics, laser spectrum is surveyed and range-measuring circuit, data acquisition and time schedule controller, computer data processing unit, data acquisition and time schedule controller and color laser light source, scanning system, laser spectrum detection and range-measuring circuit are connected respectively with computer data processing unit, described color laser light source comprises ruddiness pulsed laser light source, green glow or gold-tinted pulsed laser light source, blue light pulsed laser light source and infrared light pulse LASER Light Source, the laser that color laser light source sends is after optical transmitting system after synthesized laser beam, incide scanning system, through scanning system, Target scalar is carried out to the three-dimensional linear sweep of color laser, the echoed signal that scanning forms is caught by optical receiving system, the signal that optical receiving system is caught is through laser spectrum detection and the intensity of the each pulse laser obtaining surveyed by range-measuring circuit and Target scalar range information is transported to data acquisition and time schedule controller carries out multi-channel data acquisition and sequential is calculated, result outputs to computer data processing unit.
And optical transmitting system comprises the first completely reflecting mirror, the second completely reflecting mirror, the 3rd completely reflecting mirror, the 4th completely reflecting mirror and the first light splitting optical filter, the second light splitting optical filter, the 3rd light splitting optical filter;
The green light pulse laser of being exported by green glow or gold-tinted pulsed laser light source, after the second completely reflecting mirror reflection, incides the first light splitting optical filter, is combined into Ray Of Light with the ruddiness pulse laser of ruddiness pulsed laser light source output; The blue light pulse laser of being exported by blue light pulsed laser light source reflects through the 3rd completely reflecting mirror, again by after the second light splitting optical filter, the light that closes bundle with green light pulse laser and ruddiness pulse laser is further combined into a branch of color laser, and export and incide the 3rd light splitting optical filter after the first completely reflecting mirror and the 4th completely reflecting mirror, the pulsed infrared laser of color laser and the output of infrared light pulse LASER Light Source synthesizes final laser beam after the 3rd light splitting optical filter.
And described scanning system comprises center pit catoptron and scanning mirror, pedestal, scanning system adopts center pit catoptron and scanning mirror to realize two-dimensional scan, realizes three dimensions scanning by 360 ° of rotations of pedestal;
Receiving optics comprises the 5th condenser lens, diaphragm, collimation lens, the 4th light splitting optical filter, the 5th light splitting optical filter, the 6th light splitting optical filter, the first narrow band pass filter, the second narrow band pass filter, the 3rd narrow band pass filter, the 4th narrow band pass filter, the first condenser lens, the second condenser lens, the 3rd condenser lens, the 4th condenser lens, and the first photodetector, the second photodetector, the 3rd photodetector, the 4th photodetector.
And, the final laser beam incident of optical transmitting system gained is to center pit catoptron, color laser sees through and incides scanning mirror from the center pit of center pit catoptron, carry out laser scanning by scanning mirror, Target scalar laser echo signal turns back on scanning mirror, reflex on the 5th condenser lens by center pit catoptron, the 5th condenser lens incides the 6th light splitting optical filter by echoed signal through diaphragm, collimation lens, by the 6th light splitting optical filter, colored echo laser and infrared echo laser signal is divided into two passages and receives respectively and survey; After the transmission of infrared laser echoed signal, incide the first narrow band pass filter, after the first condenser lens, incide on the first photodetector; Colored echoed signal, after the 6th light splitting optical filter reflection, incides the 5th light splitting optical filter, and blue laser echoed signal enters the second narrow band pass filter after the 5th light splitting optical filter reflection, incides on the second photodetector by the second condenser lens; Red laser echoed signal and green or yellow laser echoed signal by the 5th light splitting optical filter transmission after, incide the 4th light splitting optical filter, its Green or yellow laser echoed signal enter the 4th narrow band pass filter through the 4th light splitting optical filter reflection, by inciding after the 3rd condenser lens on the 3rd photodetector, red laser echoed signal incides the 3rd narrow band pass filter after the 4th light splitting optical filter transmission, by inciding on the 4th photodetector after the 4th condenser lens.
And green glow or gold-tinted pulsed laser light source, ruddiness pulsed laser light source, blue light pulsed laser light source, infrared light pulse LASER Light Source all adopt complete solid state pulse laser instrument.
A kind of close-range photogrammetry color laser Radar Technology provided by the invention, be different from the single infrared laser light source of existing Photogrammetry laser radar, this technology adopts the laser of three primary colors red, green, blues (RGB) optical maser wavelength and infrared laser to synthesize color laser light source as transmitting illuminant, carry out color laser spectral scan imaging detection, can obtain color laser spectral information and the laser point cloud information of Target scalar simultaneously, thereby obtain the color laser imaging of target by three-dimensionalreconstruction, strengthen the color resolution ability of laser radar.Chrominance pulse laser instrument of the present invention can adopt all solid state laser of high-peak power, high repetition, has increased the stability of system, has reduced volume and weight, comparatively safe, has improved the feasibility of system.
Brief description of the drawings
Fig. 1 is the structural representation of the close-range photogrammetry color laser radar of the embodiment of the present invention.
Fig. 2 is that the color laser of the embodiment of the present invention closes bundle emission principle figure.
Fig. 3 is the color laser scanning record principle figure of the embodiment of the present invention.
embodiment
By existing single wavelength laser Radar Technology being increased to the synthetic color laser wavelength of blue R.Y.B tri-looks of RGB R.G.B/ reddish yellow in visible-range, laser radar three-dimensional spatial information and color laser spectral information are combined, make Photogrammetry laser radar in retaining three dimensions resolution characteristic, also have chromatic spectrum discriminating power concurrently.Close-range photogrammetry color laser Radar Technology of the present invention, can there is color laser imaging data to the disposable generation of close-range target, by playing up color laser imaging data, can carry out color laser point cloud imaging to close-range target, improve the precision of laser radar atural object identification and ability and the range of application of atural object remote sensing comprehensively.Describe technical solution of the present invention in detail below in conjunction with drawings and Examples.
Referring to Fig. 1, the close-range photogrammetry color laser radar of the embodiment of the present invention comprises: color laser light source 1, optical transmitting system 2, scanning system 3, receiving optics 4, laser spectrum detection and range-measuring circuit 5, data acquisition and time schedule controller 6, computer data processing unit 7.Data acquisition is connected respectively with color laser light source 1, scanning system 3, laser spectrum detection and range-measuring circuit 5 and computer data processing unit 7 with time schedule controller 6.When concrete enforcement, laser spectrum detection and range-measuring circuit 5, data acquisition and time schedule controller 6, computer data processing unit 7 can adopt existing techniques in realizing, and such as computer data processing unit 7 can adopt the equipment such as PC.
Color laser light source 1 can comprise green glow or gold-tinted pulsed laser light source, ruddiness pulsed laser light source, blue light pulsed laser light source, infrared light pulse LASER Light Source, all can adopt complete solid state pulse laser instrument.The laser that color laser light source 1 sends is after optical transmitting system 2 after synthesized laser beam, incide scanning system 3, through scanning system 3, Target scalar is carried out to the three-dimensional linear sweep of color laser, when scanning, after penetrating, detected object back scattering forms echoed signal, echoed signal is caught by optical receiving system 4, the signal that optical receiving system 4 is caught is through laser spectrum detection and the intensity of the each pulse laser obtaining surveyed by range-measuring circuit 3 and Target scalar range information is transported to data acquisition and time schedule controller 6 carries out multi-channel data acquisition and sequential is calculated, its result outputs to computer data processing unit 7, data acquisition is surveyed and is connected with the input end of range-measuring circuit 5 with scanning system 3, laser spectrum with colour solid pulsed laser 1 simultaneously with the output terminal of time schedule controller 6, can carry out sequential control to laser instrument output and scanning work, data acquisition simultaneously.
Described color laser light source 1 and optical transmitting system 2 are in conjunction with output color solid-state laser.Referring to Fig. 2, embodiment provides the scanning emitter that can close three kinds of color laser wavelength of bundle output and infrared laser wavelength, color laser light source 1 is made up of green light pulse LASER Light Source 9, ruddiness pulsed laser light source 8, blue light pulsed laser light source 10, infrared light pulse LASER Light Source 15, optical transmitting system 2 provides light beam to close beam system, and the laser of being launched by four pulsed laser light sources becomes light beam output after closing beam system.Wherein, closing beam system is made up of the first completely reflecting mirror 14, the second completely reflecting mirror 15, the 3rd completely reflecting mirror 16, the 4th completely reflecting mirror 17 and the first light splitting optical filter 12, the second light splitting optical filter 13, the 3rd light splitting optical filter 18.
Ruddiness pulsed laser light source 8 and the second completely reflecting mirror 15 output to respectively the first light splitting optical filter 12, green light pulse LASER Light Source 9 outputs to the second completely reflecting mirror 15, blue light pulsed laser light source 10 outputs to the 3rd completely reflecting mirror 16, and infrared light pulse LASER Light Source 15 outputs to the 3rd light splitting optical filter 18.The ruddiness pulse laser that ruddiness pulsed laser light source 8 is exported is through the first light splitting optical filter 12 transmissions; The green light pulse laser of being exported by green light pulse LASER Light Source 9, after the second completely reflecting mirror 15 reflects, incides the first light splitting optical filter 12, and the ruddiness pulse laser of exporting with ruddiness pulsed laser light source 8 is combined into Ray Of Light.Simultaneously, the blue light pulse laser of being exported by blue light pulsed laser light source 10 reflects through the 3rd completely reflecting mirror 16, again by after the second light splitting optical filter 13, the light that closes bundle with green light pulse laser and ruddiness pulse laser is further combined into a branch of color laser, and through one group of completely reflecting mirror group (the first completely reflecting mirror 14, the 4th completely reflecting mirror 17) after export and incide the 3rd light splitting optical filter 18, the pulsed infrared laser that this color laser light beam and infrared light pulse LASER Light Source 15 are exported is synthetic a branch of final laser beam after the 3rd light splitting optical filter 18, be optical transmitting system 2 acquired results.
When concrete enforcement, can be on the optical axis of the direction of beam propagation of ruddiness pulsed laser light source 8, place successively from left to right the first light splitting optical filter 12, the second light splitting optical filter 13, the first completely reflecting mirror 14, wherein the first light splitting optical filter 12, the second light splitting optical filter 13 are 135 degree angles placements with optical axis respectively, and the first completely reflecting mirror 14 is miter angle with this optical axis and places; In the catoptrical light path of the first completely reflecting mirror 14, place the 4th completely reflecting mirror 17, the four completely reflecting mirrors 17 parallel with the first completely reflecting mirror 14; In the catoptrical light path of the 4th completely reflecting mirror 17, place the 3rd light splitting optical filter 18, the three light splitting optical filters 18 parallel with the 4th completely reflecting mirror 17.The optical axis of ruddiness pulsed laser light source 8, green light pulse LASER Light Source 9,10 points of other direction of beam propagation of blue light pulsed laser light source is parallel.On the optical axis of the direction of beam propagation of green light pulse LASER Light Source 9, the second completely reflecting mirror 15 is set, the second completely reflecting mirror 15 is 135 degree angles with this optical axis and places, the green light pulse laser of being exported by green light pulse LASER Light Source 9 is after the second completely reflecting mirror 15 reflects, incide the light path of the first light splitting optical filter 12, the ruddiness pulse laser of exporting with ruddiness pulsed laser light source 8 is vertical through the light path of the first light splitting optical filter 12 transmissions, makes green light pulse laser close bundle through the first light splitting optical filter 12 with ruddiness pulse laser, on the optical axis of the direction of beam propagation of blue light pulsed laser light source 10, the 3rd completely reflecting mirror 16 is set, the 3rd completely reflecting mirror 16 is 135 degree angles with this optical axis and places, the blue light pulse laser of being exported by blue light pulsed laser light source 10 reflects through the 3rd completely reflecting mirror 16, incide the light path of the second light splitting optical filter 13, the light that closes bundle with green light pulse laser and ruddiness pulse laser is vertical through the light path of the second light splitting optical filter 13 transmissions, make blue light pulse laser further be combined into a branch of color laser through the second light splitting optical filter 13 and the light that green light pulse laser and ruddiness pulse laser close bundle.The optical axis of the direction of beam propagation of infrared light pulse LASER Light Source 15 is in the transmitted light light path of the 3rd light splitting optical filter 18, and pulsed infrared laser and the color laser reflecting through the 4th completely reflecting mirror 17 that infrared light pulse LASER Light Source 15 is exported close bundle.
Green light pulse LASER Light Source 9 also can be used gold-tinted pulsed laser light source instead.
Described scanning system 3 comprises center pit catoptron 20 and scanning mirror 19, pedestal.Scanning system 3 adopts center pit catoptron 20 and scanning mirror 19 to realize two-dimensional scan.Further, realize three dimensions scanning by 360 ° of rotations of pedestal.When concrete enforcement, can adopt machine system to be placed in the mode on can the pedestal of 360 ° of rotations, by in close-range photogrammetry color laser radar provided by the present invention except pedestal other all component integrations be machine system, then be arranged on pedestal, can realize three dimensions scanning by the rotation of this pedestal.Scanning mirror 19 can adopt polyhedral prism.Data acquisition and time schedule controller 6 can be to scanning system 3 output timing control signals, gated sweep tilting mirror 19 and pedestal divide other rotation, both respectively corresponding angle information also can turn back to data acquisition and time schedule controller 6 and output to computer data processing unit 7.Receiving optics 4 comprises the 5th condenser lens 21, diaphragm 22, collimation lens 38, the 4th light splitting optical filter 31, the 5th light splitting optical filter 27, the 6th light splitting optical filter 23, the first narrow band pass filter 24, the second narrow band pass filter 28, the 3rd narrow band pass filter 32, the 4th narrow band pass filter 35, the first condenser lens 25, the second condenser lens 29, the 3rd condenser lens 33, the 4th condenser lens 36, and the first photodetector 26, the second photodetector 30, the 3rd photodetector 34, the 4th photodetector 37.
The final laser beam incident of optical transmitting system 2 gained is to center pit catoptron 20, color laser sees through and incides scanning mirror 19 from the center pit of center pit catoptron 20, carry out laser scanning by scanning mirror 19, Target scalar laser echo signal turns back on scanning mirror 19, reflex on the 5th condenser lens 21 by center pit catoptron 20, the 5th condenser lens 21 by echoed signal through diaphragm 22, collimation lens 38 incides the 6th light splitting optical filter 23, by the 6th light splitting optical filter 23, colored echo laser and infrared echo laser signal being divided into two passages receives respectively and surveys, after the transmission of infrared laser echoed signal, incide the first narrow band pass filter 24, after the first condenser lens 25, incide on the first photodetector 26, colored echoed signal is after the 6th light splitting optical filter 23 reflections, incide the 5th light splitting optical filter 27, blue laser echoed signal enters the second narrow band pass filter 28 after the 5th light splitting optical filter 27 reflections, incides on the second photodetector 30 by the second condenser lens 29, red laser echoed signal and green laser echoed signal by the 5th light splitting optical filter 27 transmissions after, incide the 4th light splitting optical filter 31, wherein green laser echoed signal enters the 3rd narrow band pass filter 32 through the 4th light splitting optical filter 31 reflections, by inciding after the 3rd condenser lens 33 on the 3rd photodetector 34, red laser echoed signal incides the 4th narrow band pass filter 35 after the 4th light splitting optical filter 32 transmissions, by inciding on the 4th photodetector 37 after the 4th condenser lens 36.
If green light pulse LASER Light Source 9 is used gold-tinted pulsed laser light source instead, above-mentioned green laser echoed signal should be yellow look laser echo signal mutually.
When concrete enforcement, can be on the optical axis of collimation lens 38, place successively from right to left center pit catoptron 20, the 5th condenser lens 21, collimation lens 38, the 6th light splitting optical filter 23, the first narrow band pass filter 24, the first condenser lens 25, the first photodetector 26, the 6th light splitting optical filter 23 is miter angle with this optical axis to be placed, and sets gradually the 5th light splitting optical filter 27, the 4th light splitting optical filter 31, the 4th narrow band pass filter 35, the 4th condenser lens 36, the 4th photodetector 37 on the reflected light path of the 6th light splitting optical filter 23.Parallel and the 5th light splitting optical filter 27 of the optical axis of the reflected light path of the 5th light splitting optical filter 27 and collimation lens 38 is miter angle with this optical axis to be placed, and sets gradually the second narrow band pass filter 28, the second condenser lens 29, the second photodetector 30 in this light path; Parallel and the 4th light splitting optical filter 31 of the optical axis of the reflected light path of the 4th light splitting optical filter 31 and collimation lens 38 is miter angle with this optical axis to be placed, and sets gradually the 4th narrow band pass filter 32, the 3rd condenser lens 33, the 3rd photodetector 34 in this light path.
When concrete enforcement, those skilled in the art can adopt computer software technology to preset control mode on computer data processing unit 7 voluntarily as required, realize through data acquisition and time schedule controller 6 to radar work control, Binding distance, angle-data can obtain the coordinate of each laser spots, also can adopt voluntarily computer software technology to realize follow-up data processing in 7 expansions of computer data processing unit.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendments or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (5)
1. a close-range photogrammetry color three dimension scanning laser radar, comprise color laser light source, optical transmitting system, scanning system, receiving optics, laser spectrum detection and range-measuring circuit, data acquisition and time schedule controller, computer data processing unit, data acquisition is connected respectively with color laser light source, scanning system, laser spectrum detection and range-measuring circuit and computer data processing unit with time schedule controller, it is characterized in that:
Described color laser light source comprises ruddiness pulsed laser light source, green glow or gold-tinted pulsed laser light source, blue light pulsed laser light source and infrared light pulse LASER Light Source, the laser that color laser light source sends is after optical transmitting system after synthesized laser beam, incide scanning system, through scanning system, Target scalar is carried out to the three-dimensional linear sweep of color laser, the echoed signal that scanning forms is caught by optical receiving system, the signal that optical receiving system is caught is through laser spectrum detection and the intensity of the each pulse laser obtaining surveyed by range-measuring circuit and Target scalar range information is transported to data acquisition and time schedule controller carries out multi-channel data acquisition and sequential is calculated, result outputs to computer data processing unit.
2. close-range photogrammetry color three dimension scanning laser radar according to claim 1, is characterized in that: optical transmitting system comprises the first completely reflecting mirror, the second completely reflecting mirror, the 3rd completely reflecting mirror, the 4th completely reflecting mirror and the first light splitting optical filter, the second light splitting optical filter, the 3rd light splitting optical filter;
The green light pulse laser of being exported by green glow or gold-tinted pulsed laser light source, after the second completely reflecting mirror reflection, incides the first light splitting optical filter, is combined into Ray Of Light with the ruddiness pulse laser of ruddiness pulsed laser light source output; The blue light pulse laser of being exported by blue light pulsed laser light source reflects through the 3rd completely reflecting mirror, again by after the second light splitting optical filter, the light that closes bundle with green light pulse laser and ruddiness pulse laser is further combined into a branch of color laser, and export and incide the 3rd light splitting optical filter after the first completely reflecting mirror and the 4th completely reflecting mirror, the pulsed infrared laser of color laser and the output of infrared light pulse LASER Light Source synthesizes final laser beam after the 3rd light splitting optical filter.
3. close-range photogrammetry color three dimension scanning laser radar according to claim 2, it is characterized in that: described scanning system comprises center pit catoptron and scanning mirror, pedestal, scanning system adopts center pit catoptron and scanning mirror to realize two-dimensional scan, realizes three dimensions scanning by 360 ° of rotations of pedestal;
Receiving optics comprises the 5th condenser lens, diaphragm, collimation lens, the 4th light splitting optical filter, the 5th light splitting optical filter, the 6th light splitting optical filter, the first narrow band pass filter, the second narrow band pass filter, the 3rd narrow band pass filter, the 4th narrow band pass filter, the first condenser lens, the second condenser lens, the 3rd condenser lens, the 4th condenser lens, and the first photodetector, the second photodetector, the 3rd photodetector, the 4th photodetector.
4. close-range photogrammetry color three dimension scanning laser radar according to claim 3, it is characterized in that: the final laser beam incident of optical transmitting system gained is to center pit catoptron, color laser sees through and incides scanning mirror from the center pit of center pit catoptron, carry out laser scanning by scanning mirror, Target scalar laser echo signal turns back on scanning mirror, reflex on the 5th condenser lens by center pit catoptron, the 5th condenser lens by echoed signal through diaphragm, collimation lens incides the 6th light splitting optical filter, by the 6th light splitting optical filter, colored echo laser and infrared echo laser signal being divided into two passages receives respectively and surveys, after the transmission of infrared laser echoed signal, incide the first narrow band pass filter, after the first condenser lens, incide on the first photodetector, colored echoed signal, after the 6th light splitting optical filter reflection, incides the 5th light splitting optical filter, and blue laser echoed signal enters the second narrow band pass filter after the 5th light splitting optical filter reflection, incides on the second photodetector by the second condenser lens, red laser echoed signal and green or yellow laser echoed signal by the 5th light splitting optical filter transmission after, incide the 4th light splitting optical filter, its Green or yellow laser echoed signal enter the 4th narrow band pass filter through the 4th light splitting optical filter reflection, by inciding after the 3rd condenser lens on the 3rd photodetector, red laser echoed signal incides the 3rd narrow band pass filter after the 4th light splitting optical filter transmission, by inciding on the 4th photodetector after the 4th condenser lens.
5. according to close-range photogrammetry color three dimension scanning laser radar described in claim 1 or 2 or 3 or 4, it is characterized in that: green glow or gold-tinted pulsed laser light source, ruddiness pulsed laser light source, blue light pulsed laser light source, infrared light pulse LASER Light Source all adopt complete solid state pulse laser instrument.
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