Long-distance ranging and imaging integrated single-photon laser radar system and method

Abstract

The invention discloses a long-distance ranging and imaging integrated single-photon laser radar system and method, and belongs to the technical field of laser radars, a laser, a signal delayer and a single-photon detector are all connected with an upper computer, and the laser, the single-photon detector and the upper computer are all connected with the signal delayer; the laser is arranged outside the optical system and connected with a collimator, the single-photon detector is arranged on a focal plane of the optical system, a laser beam of the laser is parallel to an optical axis of the optical system, and a laser beam transmitting end of the laser faces a measured target; the surface of a photon chip of the single-photon detector is divided into a distance measuring area and an imaging area through coating, the distance measuring area is provided with a distance measuring reading circuit, the imaging area is provided with an imaging reading circuit, and the distance measuring reading circuit and the imaging reading circuit are respectively connected with the upper computer; the laser comprises a first laser and a second laser, the laser beam of the first laser returns to the ranging area, and the laser beam of the second laser returns to the imaging area.

Description

Technical Field

[0001] The present invention belongs to the field of laser radar technology, and specifically relates to a long-distance ranging and imaging integrated single-photon laser radar system and method. Background Art

[0002] Traditional LiDAR faces challenges in capturing real-time 3D images of distant targets, including insufficient energy, low imaging efficiency, and poor accuracy. The advent of single-photon array detectors has made real-time 3D imaging possible. However, limitations in the data readout speed of the imaging circuitry have made it difficult to apply free-mode 3D imaging to distant targets. This is due to the low frame rate, which prevents efficient encoding and eliminates distance ambiguity.

[0003] To this end, some studies have used range gating (only for a certain distance) to achieve long-distance three-dimensional imaging. However, this method requires knowing the approximate position of the target in advance, and then receiving distance information within a certain gating range to complete three-dimensional imaging. This mode is less efficient and it is more difficult to image moving targets in practical applications.

[0004] Furthermore, the researchers achieved ranging and imaging through two optical systems. First, they used a single-point high-frame-rate single-photon system to complete the ranging, and then used the distance information as a guide to implement a planar array single-photon system to complete three-dimensional imaging. This method is complex to build the system, requires multiple single-photon detectors, and is also costly. Summary of the Invention

[0005] The purpose of the present invention is to overcome the problem of complex design of laser radar in three-dimensional imaging, and propose a long-distance ranging and imaging integrated single-photon laser radar system and method.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a long-distance ranging and imaging integrated single-photon laser radar system, comprising an optical system, a laser, a signal delayer, a single-photon detector, a host computer, and a power supply unit, wherein the laser, the signal delayer, and the single-photon detector are all connected to the host computer, and the laser, the single-photon detector, and the host computer are all connected to the signal delayer; the laser, the signal delayer, the single-photon detector, and the host computer are all connected to the power supply unit; The laser is arranged outside the optical system, the laser is connected to a collimator, the single-photon detector is arranged on the focal plane of the optical system, the laser beam is parallel to the optical axis of the optical system, and the laser beam emitting end of the laser is directed toward the target to be measured; The surface of the photon chip of the single-photon detector is divided into a ranging area and an imaging area by coating. The ranging area is provided with a ranging readout circuit, and the imaging area is provided with an imaging readout circuit. The ranging readout circuit and the imaging readout circuit are respectively connected to the host computer; The laser includes a first laser and a second laser. The laser beam of the first laser returns to the distance measurement area, and the laser beam of the second laser returns to the imaging area.

[0007] Furthermore, the imaging area is evenly divided into a plurality of small imaging areas with the ranging area as the center, and the number of the imaging readout circuits is the same as the number of the small imaging areas.

[0008] Furthermore, the coating includes a first film and a second film, the first film is coated on the center position of the surface of the photonic chip, and the second film is coated on the remaining positions of the surface of the photonic chip; the area where the first film is located is used as the ranging area, and the area where the second film is located is used as the imaging area.

[0009] Furthermore, the wavelengths of the first laser and the second laser are different, the wavelengths of the first film and the second film are different, the wavelength of the first film is the same as the wavelength of the first laser, and the wavelength of the second film is the same as the wavelength of the second laser.

[0010] Furthermore, the material of the coating includes magnesium fluoride, zinc sulfide, titanium dioxide or silicon dioxide.

[0011] Furthermore, the collimator includes a first collimator and a second collimator, the first collimator is connected to the first laser, and the second collimator is connected to the second laser.

[0012] Furthermore, the readout rate of the ranging readout circuit is at the MHz level or the GHz level, and the readout rate of the imaging readout circuit is greater than 10KHz.

[0013] Furthermore, the host computer is provided with a data acquisition card, and the data acquisition card is connected to the single photon detector.

[0014] Furthermore, the ranging readout circuit and the imaging readout circuit are synchronized.

[0015] In a second aspect, the present invention provides a method for operating a long-distance ranging and imaging integrated single-photon laser radar system, using a long-distance ranging and imaging integrated single-photon laser radar system, comprising the following steps: The first laser emits a laser beam, which is transmitted to the target and then reflected by the laser echo signal. The laser echo signal is received by the ranging area of ​​the single-photon detector, and the ranging readout circuit reads the distance data. The distance data is collected by the host computer and calculated by the time-of-flight method to obtain the target distance. The target distance is converted into a gating signal to obtain the distance gating. The second laser emits a laser beam under distance gate control, which is transmitted to the target and then reflected back. The echo is received by the imaging area of ​​the single-photon detector, and the imaging readout circuit reads out the imaging data. The imaging data is collected by the host computer and three-dimensional imaging information is generated to obtain the image of the target.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention proposes a long-distance ranging and imaging integrated single-photon lidar system. The surface of the photon chip of the single-photon detector is divided into a ranging area and an imaging area by coating. The laser beam of the first laser returns to the ranging area, and the laser beam of the second laser returns to the imaging area. The coating of the single-photon detector can achieve dual-wavelength (narrow-band) detection. In addition, the special system design enables a single-photon detector to simultaneously meet the requirements of high-speed ranging and large-array three-dimensional imaging, breaking through the limitation that multiple detectors are required for ranging and imaging. At the same time, one optical path can realize the function of two narrow-band laser acquisitions, avoiding complex splitting optical path design, reducing system development costs, and improving system development efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only schematic and are used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the components of the present invention. In the drawings: Figure 1 This is a simplified structural diagram of a long-distance ranging and imaging integrated single-photon lidar system in an embodiment of the present invention.

[0018] Figure 2 Schematic diagram of single-photon detector coating in an embodiment of the present invention.

[0019] Figure 3 Schematic diagram of the readout circuit arrangement in an embodiment of the present invention.

[0020] Figure 4 This is a flow chart of a design method for a long-distance ranging and imaging integrated single-photon lidar system in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0022] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an element centered thereon. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] It should be noted that the terms "first," "second," and the like in the description of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0025] Example 1 A long-distance ranging and imaging integrated single-photon laser radar system includes an optical system, a laser, a signal delayer, a single-photon detector, a host computer and a power supply unit. The laser, signal delayer and single-photon detector are all connected to the host computer, and the laser, single-photon detector and host computer are all connected to the signal delayer; the laser, signal delayer, single-photon detector and host computer are all connected to the power supply unit; the laser is arranged outside the optical system, the laser is connected to a collimator, and the single-photon detector is arranged on the focal plane of the optical system; the laser beam of the laser is parallel to the optical axis of the optical system, and the laser beam emitting end of the laser is directed toward the target to be measured; the surface of the photon chip of the single-photon detector is divided into a ranging area and an imaging area by coating, the ranging area is provided with a ranging readout circuit, and the imaging area is provided with an imaging readout circuit, and the ranging readout circuit and the imaging readout circuit are respectively connected to the host computer; the laser includes a first laser and a second laser, the laser beam of the first laser returns to the ranging area, and the laser beam of the second laser returns to the imaging area.

[0026] This embodiment has a high degree of integration. The ranging readout circuit achieves high-precision ranging by accurately measuring the time interval from the emission to the reception of a single photon. The imaging readout circuit achieves high-sensitivity, high-resolution three-dimensional imaging by accurately recording the spatial position and time information of each photon. This embodiment integrates ranging and imaging functions, reducing the size and complexity of the equipment and facilitating deployment and use. It adopts single-photon detection technology with extremely high sensitivity, which can detect single photons under extremely weak light conditions, greatly expanding the distance range of ranging and imaging and achieving long-distance precise detection. The laser and optical system are cleverly coordinated, with the laser beam parallel to the optical axis and the transmitting end facing the target, ensuring efficient energy emission and reception. The surface of the single-photon detector photonic chip is divided into ranging and imaging areas, and corresponding readout circuits are set for each area, which can simultaneously and efficiently obtain ranging and imaging data, improving information acquisition efficiency. The dual-laser design, with the first laser and the second laser corresponding to different areas, has a clear division of labor, further optimizing system performance and meeting the needs of diverse application scenarios.

[0027] A method for operating a long-distance ranging and imaging integrated single-photon laser radar system, using a long-distance ranging and imaging integrated single-photon laser radar system, includes the following steps: The first laser emits a laser beam, which is transmitted to the target and then reflected by the laser echo signal. The laser echo signal is received by the ranging area of ​​the single-photon detector, and the ranging readout circuit reads the distance data. The distance data is collected by the host computer and calculated by the time-of-flight method to obtain the target distance. The target distance is converted into a gating signal to obtain the distance gating. The second laser emits a laser beam under distance gate control, which is transmitted to the target and then reflected back. The echo is received by the imaging area of ​​the single-photon detector, and the imaging readout circuit reads out the imaging data. The imaging data is collected by the host computer and three-dimensional imaging information is generated to obtain the image of the target.

[0028] This embodiment uses a first laser to emit a laser beam for ranging, and uses the time-of-flight method to accurately calculate the target distance, providing key spatial positioning information for subsequent imaging and ensuring the accuracy of imaging; the target distance is converted into a distance gate to control the second laser to emit a laser beam for imaging. This gating mechanism effectively reduces background noise interference, improves the signal-to-noise ratio of imaging, and makes the imaging results clearer; the entire process has a clear division of labor and a compact flow. The ranging and imaging data are read by the corresponding readout circuits and collected and processed by the host computer, respectively, which improves data processing efficiency and system response speed; it fully utilizes the high sensitivity advantage of single-photon detection technology, and can quickly and accurately obtain the target distance and three-dimensional imaging information in long-distance detection, which has important application value in the fields of autonomous driving, remote sensing monitoring, military reconnaissance, etc.

[0029] The imaging area is evenly divided into multiple small imaging areas centered on the ranging area. The number of imaging readout circuits is equal to the number of small imaging areas. The coating includes a first and a second coating. The first coating is applied to the center of the photonic chip surface, while the second coating is applied to the rest of the chip surface. The area covered by the first coating serves as the ranging area, while the area covered by the second coating serves as the imaging area. The wavelengths of the first and second lasers differ, and the wavelengths of the first and second coatings differ. The wavelength of the first coating is the same as that of the first laser, while the wavelength of the second coating is the same as that of the second laser. The coating is made of materials including magnesium fluoride, zinc sulfide, titanium dioxide, or silicon dioxide. The collimator includes a first collimator and a second collimator. The first collimator is connected to the first laser, while the second collimator is connected to the second laser. The readout rate of the ranging readout circuit is in the MHz or GHz range, while the readout rate of the imaging readout circuit is greater than 10 kHz. The host computer is equipped with a data acquisition card, which is connected to the single-photon detector. The ranging readout circuit and the imaging readout circuit are synchronized.

[0030] In this embodiment, the laser is external and equipped with a collimator. The laser beam is parallel to the optical axis and directed toward the target to ensure accurate emission. The single-photon detector is placed in the focal plane of the optical system to facilitate efficient signal reception. The surface of its photonic chip is coated, and the ranging and imaging areas are divided by different materials and wavelengths. The imaging area is subdivided into multiple small areas and matched with a corresponding number of readout circuits to achieve the partitioning and efficient coordination of ranging and imaging functions. Dual lasers are matched with dual collimators. The first laser and the second laser have different wavelengths, corresponding to the ranging and imaging areas respectively, to avoid signal interference and improve detection accuracy. In terms of readout circuits, the ranging readout circuit reaches the MHz or GHz level, and the imaging readout circuit has a readout rate of more than 10KHz. The two are synchronized, and can quickly acquire and process data to meet real-time requirements. The host computer is equipped with a data acquisition card connected to the single-photon detector to ensure stable data transmission. In addition, the coating uses common high-quality materials such as magnesium fluoride, which is cost-controlled and has stable performance. The system integrates long-distance, high-precision ranging and clear imaging, and has broad application prospects in autonomous driving, aerospace, terrain surveying and mapping and other fields, and can provide more efficient and accurate detection solutions for related industries.

[0031] Example 2 See also Figure 1 、 Figure 2 、 Figure 3 , a long-distance ranging and imaging integrated single-photon laser radar system, comprising: an optical system, a first laser, a second laser, a signal delay device and a host computer; in this embodiment, the first laser is Figure 1 The laser A and the second laser are Figure 1 Laser B in Laser A and laser B have different wavelengths. In this embodiment, the wavelength of laser A is 1550 nm, and the wavelength of laser B is 1570 nm. Laser A, laser B, and a signal delayer are all connected to a host computer, and the host computer controls signal synchronization. Laser A, laser B, and a single-photon detector are also connected to the signal delayer. The laser beams of laser A and laser B are parallel to the optical axis of the optical system. A data acquisition card is provided inside the host computer, and the data acquisition card analyzes and processes the received signals.

[0032] The surface of the photonic chip of the single-photon detector is coated with two films of different materials. The materials of the films can be magnesium fluoride, zinc sulfide, titanium dioxide, silicon dioxide, etc. The ranging area and the imaging area are divided according to the areas where the two films of different materials are located. The ranging area and the imaging area are respectively recorded as area A and area B. In this embodiment, when designing the film system, the coating materials are layered and combined to achieve narrow-band high transmittance of 1550nm and 1570nm. Specifically, the covering area B is sputter-coated on the area A (1550nm), and the covering area A is sputter-coated on the area B (1570nm).

[0033] The readout circuit includes a readout circuit A for ranging and a readout circuit B for imaging. The readout circuit A and the readout circuit B are arranged corresponding to the ranging area and the imaging area, and the readout circuit A and the readout circuit B are synchronized.

[0034] The ranging area is located at the center of the surface of the photonic chip, and the rest of the surface of the photonic chip is the imaging area. The area of ​​the ranging area is smaller than that of the imaging area. The ranging area is an m×m square area, such as 2×2, 3×3, etc. The specific imaging area is evenly divided into n areas with the ranging area as the center, and n readout circuits B are also correspondingly provided. In this embodiment, the size of the photonic chip surface is 512×512, and the size of the ranging area is 2×2. The number of pixels in the corresponding imaging area is 262140. In this embodiment, the imaging area is evenly divided into n areas with the ranging area as the center. It is divided into four areas, which are denoted as B1, B2, B3 and B4 respectively. B1, B2, B3 and B4 all have 65535 pixels. There are also four corresponding readout circuits B, which are denoted as readout circuit B1, readout circuit B2, readout circuit B3 and readout circuit B4 respectively. Since the ranging area has fewer pixels and readout circuit A reads data from the ranging area, the readout rate of this area reaches MHz or even GHz. The readout circuit B reads out data in parallel through readout circuits B1, B2, B3 and B4, which can reach tens of kHz.

[0035] The long-distance ranging and imaging integrated single-photon lidar system also includes a collimator, which adjusts the laser beams of laser A and laser B to be parallel to the optical axis of the optical system.

[0036] The long-distance ranging and imaging integrated single-photon laser radar system also includes a power supply system, which provides power to all components in the long-distance ranging and imaging integrated single-photon laser radar system.

[0037] When performing ranging and data acquisition, this system first powers the long-distance ranging and imaging integrated single-photon lidar system through the power supply system, connects and arranges the internal components of the long-distance ranging and imaging integrated single-photon lidar system as required, turns on laser A, laser B, signal delay device and single-photon detector, sets the acquisition of single-photon detector to be synchronized with the laser emission of laser A and laser B, collects ranging signals, and uses the high-frame-rate laser echo signal (1550nm) obtained by the pixels in the ranging area to calculate the distance information of the target through the time-of-flight method; finally, collects three-dimensional imaging data, converts the distance information into a gating signal, sets the imaging distance gating (three-dimensional imaging distance range), and uses a wavelength (1570nm) laser to obtain three-dimensional information of targets within the distance range.

[0038] See also Figure 4 A design method for a long-distance ranging and imaging integrated single-photon laser radar system is provided. The method is used for a long-distance ranging and imaging integrated single-photon laser radar system, comprising the following steps: S1: The single-photon detector is coated in different regions; according to the wavelength characteristics of the two regions, a suitable coating material is selected. The coating material can be magnesium fluoride, zinc sulfide, titanium dioxide or silicon dioxide. The film system is designed and the coating materials are layered and combined to achieve narrow-band high transmittance of 1550nm and 1570nm. The surface of the photon chip is divided into regions, and the middle region is used as the ranging region and coated with wavelength A. The remaining region is used as the imaging region and coated with wavelength B. In this way, two different wavelength response regions are obtained on the single-photon detector. In this embodiment, the surface size of the photon chip is 512×512, the ranging region is 2×2 arranged pixels, and the imaging region is 262140 pixels; S2: Single-photon detector readout circuit design. Using the existing method of reading the response of each pixel one by one, a parallel design approach is used to construct readout circuit A for the ranging area. In this embodiment, this area corresponds to very few pixels, only four pixels, and the readout efficiency of a single pixel can reach 1.2 GHz. Therefore, the readout efficiency of the ranging area readout circuit is 300 MHz. Readout circuit B is constructed for the imaging area. Area B is divided into several sections, such as B1, B2, B3, and B4 (each with 65,536 pixels) in this embodiment. Readout circuits B1, B2, B3, and B4 are constructed respectively. The imaging area accounts for the vast majority of the detector's pixels, and the readout efficiency is in the tens of kHz. In this embodiment, the readout rate of the imaging area is 18.3 kHz. A common clock source is then used for the ranging and imaging areas to trigger the signals in each area. Ranging corresponds to the central pixel area of ​​the detector, while imaging corresponds to the pixels outside the central area. By triggering the ranging signal and imaging signal uniformly, the distance between the ranging and imaging can be unified. The ranging information is used as a gate to achieve much higher-precision three-dimensional imaging. At the same time, the ranging value of the pixels in the central area can make up for the missing pixels in the three-dimensional imaging, so that the distance between the ranging and imaging can be unified. S3: System assembly and integration; design and select a simple optical system, such as an RC optical system or a transmission optical system. The full name of the RC optical system is Ritchey-Chrétien Optical System, which is a classic optical design of a double-reflector astronomical telescope; select high-frequency narrow-band lasers corresponding to wavelength A and wavelength B, respectively, and record them as laser A and laser B, respectively. The wavelengths of laser A and laser B are 1550nm and 1570nm, respectively, and the laser beams of laser A and laser B are adjusted to be parallel to the optical system through a collimator, so that an integrated optical system for ranging and imaging can be realized. Then, electrical integration is carried out, and laser A, laser B, single-photon detector and signal delay are connected to the host computer using a data transmission cable, and then the signal delay is externally triggered by connecting the single-photon detector, laser A and laser B through a radio frequency signal line; S4: Distance measurement and data acquisition; power on the long-distance ranging and imaging integrated single-photon lidar system, turn on laser A, laser B, signal delay device and single-photon detector, synchronize the acquisition of single-photon detector with the laser emission of laser A and laser B, use the laser echo signal obtained by the pixels in the ranging area, calculate the distance of the target by the time-of-flight method, convert the distance information into a gating signal, set the imaging distance gating (three-dimensional imaging distance range), and obtain the three-dimensional information of the target within the distance range.

[0039] The step S1 further comprises cleaning and pretreating the photon chip substrate before the single photon detector is coated in sections.

[0040] In the step S1 of coating the single photon detector in sections, the sputtering coating is performed by covering the ranging area and the imaging area in sequence by constructing two masks, i.e. Figure 2 the area A mask and the area B mask shown in the area A mask and the area B mask.

[0041] Many embodiments and many applications other than those described herein will be apparent to those skilled in the art from consideration of the specification and practice of the teachings herein. Therefore, it is intended that the scope of the present teachings be determined by reference to the foregoing description, and not by reference to the above description taken in isolation. For purposes of comprehensiveness, various articles and references have been incorporated by reference, to the extent possible, throughout this document. Absent a specific statement to the contrary, it is intended that all such incorporated literature and similar materials be at least as much a part of the patenting application as though each were individually and specifically incorporated by reference herein. In the event of a conflict between the above description and any of the incorporated articles or references, the present teachings will control.

[0042] The above description is further detailed description of the present application, and cannot be considered as limiting the specific embodiments of the present application. For those skilled in the art, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered as falling within the scope of the present application.

Claims

1. A long-distance ranging and imaging integrated single-photon laser radar system, characterized in that: It includes an optical system, a laser, a signal delayer, a single-photon detector, a host computer and a power supply unit. The laser, signal delayer and single-photon detector are all connected to the host computer. The laser, single-photon detector and host computer are all connected to the signal delayer. The optical system, laser, signal delayer, single-photon detector and host computer are all connected to the power supply unit. The laser is arranged outside the optical system, the laser is connected to a collimator, the single-photon detector is arranged on the focal plane of the optical system, the laser beam of the laser is parallel to the optical axis of the optical system, and the laser beam emitting end of the laser is directed toward the target to be measured; The surface of the photon chip of the single-photon detector is divided into a ranging area and an imaging area by coating, the ranging area is provided with a ranging readout circuit, and the imaging area is provided with an imaging readout circuit, and the ranging readout circuit and the imaging readout circuit are respectively connected to a host computer; The laser includes a first laser and a second laser. The laser beam of the first laser returns to the distance measurement area, and the laser beam of the second laser returns to the imaging area.

2. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 1, characterized in that: The imaging area is evenly divided into a plurality of small imaging areas with the distance measuring area as the center, and the number of the imaging readout circuits is the same as the number of the small imaging areas.

3. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 1, characterized in that: The coating includes a first film and a second film, the first film is coated on the center position of the surface of the photonic chip, and the second film is coated on the remaining positions of the surface of the photonic chip; the area where the first film is located is used as a ranging area, and the area where the second film is located is used as an imaging area.

4. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 3, characterized in that: The wavelengths of the first laser and the second laser are different, and the wavelength of the first film and the wavelength of the second film are different.

5. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 4, characterized in that: The wavelength of the first film is the same as the wavelength of the first laser, and the wavelength of the second film is the same as the wavelength of the second laser.

6. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 1, characterized in that: The material of the coating includes magnesium fluoride, zinc sulfide, titanium dioxide or silicon dioxide.

7. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 1, characterized in that: The collimator includes a first collimator and a second collimator, the first collimator is connected to the first laser, and the second collimator is connected to the second laser.

8. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 1, characterized in that: The host computer is provided with a data acquisition card, and the data acquisition card is connected to the single-photon detector.

9. The long-distance ranging and imaging integrated single-photon laser radar system according to claim 1, characterized in that: The ranging readout circuit and the imaging readout circuit are synchronized.

10. A method for operating a long-distance ranging and imaging integrated single-photon laser radar system, characterized in that: A long-distance ranging and imaging integrated single-photon laser radar system according to any one of claims 1 to 9, comprising: The first laser emits a laser beam, which is transmitted to the target and then reflects a laser echo signal, which is received by the ranging area of ​​the single-photon detector. The ranging readout circuit reads the distance data, which is collected by the host computer and calculated by the time-of-flight method to obtain the target distance. The target distance is converted into a gating signal to obtain a distance gating signal. The second laser emits a laser beam under distance gating, which is transmitted to the target and then reflected back. The echo is received by the imaging area of ​​the single-photon detector, and the imaging readout circuit reads out the imaging data. The imaging data is collected by the host computer and three-dimensional imaging information is generated to obtain the image of the target.

Images