3D laser radar device and system

Abstract

The present invention provides a three-dimensional laser radar device and system, the three-dimensional laser radar device includes: a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; the control unit is electrically connected to the laser emitting unit and the scanning unit respectively; the laser emitting unit is optically connected to the scanning unit, and the transflective prism is optically connected to the distance measuring unit and the imaging unit respectively; the signal unit is electrically connected to the distance measuring unit, and the data processing unit is electrically connected to the signal unit and the imaging unit respectively. Compared with the three-dimensional laser radar device integrated with a camera in the prior art, the present device uses a beam splitting device, and can simultaneously collect the position information and image information of the object to be measured through the distance measuring unit and the imaging unit, which reduces the difficulty of optical system design, reduces the size of the laser radar and reduces the cost.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of laser radar technology, and in particular, to a three-dimensional laser radar device and system. Background Art

[0002] With the continuous development of unmanned driving, high-precision mapping, assisted driving, and robot vision technology, the demand for lidar with strong ranging capability, small size and low cost is increasing. Especially in the field of unmanned driving and high-precision mapping, new requirements for the fusion of point cloud data and image data have been put forward for lidar.

[0003] However, the commonly used point cloud image data fusion system usually integrates a camera outside the lidar, which is a simple fusion of the three-dimensional lidar and camera systems. On the one hand, this method requires the coordinates of each three-dimensional lidar and its matching camera to be calibrated separately, which increases the difficulty of system installation. On the other hand, since the fusion of two separate systems cannot make reasonable use of the spatial size, the overall spatial size of the system is too large, which is not conducive to integrated use. Thirdly, the simple integration and cumbersome calibration of the two systems increase the overall cost of the system. Summary of the invention

[0004] The embodiments of the present invention provide a three-dimensional laser radar device and system, which solve the technical problems of difficult installation and adjustment, large spatial size, unfavorable integrated use and high overall cost in the point cloud image data fusion system commonly used in the prior art.

[0005] In a first aspect, an embodiment of the present invention provides a three-dimensional laser radar device, including: a laser emitting unit, a scanning unit, a control unit, a ranging unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit;

[0006] The control unit is electrically connected to the laser emitting unit and the scanning unit respectively; the laser emitting unit is optically connected to the scanning unit, and the transflective prism is optically connected to the distance measuring unit and the imaging unit respectively; the signal unit is electrically connected to the distance measuring unit, and the data processing unit is electrically connected to the signal unit and the imaging unit respectively;

[0007] The laser emitting unit is used to emit a modulated laser beam under the control of the control unit;

[0008] The scanning unit is used to deflect the modulated laser beam under the control of the control unit to complete a two-dimensional scan of a detection area;

[0009] The control unit is used to control the laser emitting unit and the scanning unit;

[0010] The distance measuring unit is used to converge the modulated laser beam and visible light reflected by the object to be measured in the detection area, initially correct the aberration of the visible light, and convert the optical signal of the modulated laser beam deflected by the transflective prism into an electrical signal;

[0011] The transflective prism is used to deflect the modulated laser beam converged by the distance measuring unit and transmit the visible light;

[0012] The imaging unit is used to continue to correct the aberration of the visible light and convert the visible light signal into image data of the object under test;

[0013] The signal processing unit is used to convert the electrical signal output by the distance measuring unit into point cloud data of the object to be measured;

[0014] The data processing unit is used to fuse the point cloud data of the object to be measured and the image data of the object to be measured, and output the detection data of the object to be measured with position information and image information.

[0015] Further, in the above device, the distance measuring unit comprises: a distance measuring lens group and a distance measuring photoelectric detector;

[0016] The distance measuring mirror group and the distance measuring photoelectric detector are optically connected via the transflective prism;

[0017] The rangefinder lens group is used to converge the modulated laser beam and visible light reflected by the object to be measured in the detection area, and initially correct the aberration of the visible light;

[0018] The distance measuring photoelectric detector is used to convert the optical signal of the modulated laser beam deflected by the transflective prism into an electrical signal.

[0019] Further, in the above-mentioned device, the imaging unit comprises: an imaging lens group and an imaging photodetector;

[0020] The imaging lens group is optically connected to the imaging photoelectric detector;

[0021] The imaging lens assembly is used to continue to correct the aberration of the visible light;

[0022] The imaging photoelectric detector is used to convert the visible light signal after the aberration correction of the imaging lens group into image data of the object to be measured.

[0023] Furthermore, in the device as described above, the center of the reflective surface of the transflective prism coincides with the optical axis of the rangefinder lens group, and the reflective surface is coated with an optical film so that the optical axis of the modulated laser beam converged by the rangefinder lens group is deflected, and the visible light is transmitted through the transflective prism;

[0024] Wherein, the reflection wavelength range of the optical film is 0.85 μm-1.6 μm.

[0025] Furthermore, in the device as described above, the center of the ranging photoelectric detector is located on the focal plane of the ranging mirror group after the optical axis of the ranging mirror group is deflected.

[0026] Furthermore, in the device as described above, the rangefinder lens group includes: at least one free-form surface lens or at least two spherical mirrors.

[0027] Furthermore, in the above-mentioned device, the optical axis of the imaging lens assembly coincides with the center of the reflective surface of the transflective prism.

[0028] Furthermore, in the device as described above, the imaging photodetector is located on the focal plane of the imaging lens assembly.

[0029] Furthermore, in the device as described above, the imaging lens assembly includes: at least one free-form surface lens or at least two spherical mirrors.

[0030] Furthermore, in the device as described above, the modulated laser beam is a near-infrared modulated laser beam, and the wavelength range of the modulated laser beam is 0.85 μm-1.6 μm.

[0031] In a second aspect, an embodiment of the present invention provides a three-dimensional laser radar system, comprising the three-dimensional laser radar device described in any one of the first aspects above.

[0032] An embodiment of the present invention provides a three-dimensional laser radar device and system, the three-dimensional laser radar device includes: a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; the control unit is electrically connected to the laser emitting unit and the scanning unit respectively; the laser emitting unit is optically connected to the scanning unit, the transflective prism is optically connected to the distance measuring unit and the imaging unit respectively; the signal unit is electrically connected to the distance measuring unit, and the data processing unit is electrically connected to the signal unit and the imaging unit respectively; the laser emitting unit is used to emit a modulated laser beam under the control of the control unit; the scanning unit is used to deflect the modulated laser beam under the control of the control unit to complete a two-dimensional scan of a detection area; the A control unit is used to control the laser emitting unit and the scanning unit; the distance measuring unit is used to converge the modulated laser light beam and visible light reflected by the object to be measured in the detection area, initially correct the aberration of the visible light, and convert the optical signal of the modulated laser beam deflected by the transflective prism into an electrical signal; the transflective prism is used to deflect the modulated laser light beam converged by the distance measuring unit and transmit the visible light; the imaging unit is used to continue to correct the aberration of the visible light and convert the visible light signal into image data of the object to be measured; the signal processing unit is used to convert the electrical signal output by the distance measuring unit into point cloud data of the object to be measured; the data processing unit is used to fuse the point cloud data of the object to be measured and the image data of the object to be measured, and output the detection data of the object to be measured with position information and image information. The detection light and visible light reflected by the target gathered by the ranging unit are split through a transflective prism, and the detection light signal is converted into an electrical signal. After passing through the signal processing unit, the point cloud data of the object to be measured is output; the visible light outputs the image data of the object to be measured through the imaging unit; the point cloud data and image data of the object to be measured are output after passing through the data processing unit. The final point cloud and image fusion detection data. Compared with the three-dimensional laser radar device with integrated camera in the prior art, this device uses a beam splitting device, and can simultaneously collect the position information and image information of the object to be measured through the ranging unit and the imaging unit, which reduces the difficulty of optical system design, reduces the size of the laser radar and reduces the cost.

[0033] It should be understood that the contents described in the above summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 A schematic diagram of the structure of a three-dimensional laser radar device provided in Embodiment 1 of the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of a three-dimensional laser radar device provided in Example 2 of the present invention.

[0037] Reference numerals

[0038] 101-laser emitting unit 102-modulated laser beam 103-scanning unit 104-control unit 105-mixed reflected beam 106-distance measuring unit 106a-distance measuring lens group 106b-distance measuring photoelectric detector 107-transflective prism 108-deflected modulated laser beam 109-visible light 110-imaging unit 110a-imaging lens group 110b-imaging photoelectric detector 111-signal processing unit 112-data processing unit DETAILED DESCRIPTION

[0039] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0040] The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the embodiments of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] Figure 1 This is a schematic diagram of the structure of a three-dimensional laser radar device provided in Embodiment 1 of the present invention. Figure 1 As shown, the three-dimensional laser radar device provided in this embodiment includes: a laser emitting unit 101, a scanning unit 103, a control unit 104, a ranging unit 106, a transflective prism 107, an imaging unit 110, a signal processing unit 111 and a data processing unit 112.

[0042] Among them, the control unit 104 is electrically connected to the laser emitting unit 101 and the scanning unit 103 respectively; the laser emitting unit 101 is optically connected to the scanning unit 103, and the transflective prism 107 is optically connected to the distance measuring unit 106 and the imaging unit 110 respectively; the signal unit is electrically connected to the distance measuring unit 106, and the data processing unit 112 is electrically connected to the signal unit and the imaging unit 110 respectively.

[0043] In this embodiment, the laser emitting unit 101 is used to emit a modulated laser beam 102 under the control of the control unit 104 .

[0044] The modulated laser beam 102 emitted by the laser emitting unit 101 may be a near-infrared modulated laser beam, and the wavelength range of the near-infrared modulated laser beam may be 0.85 μm-1.6 μm, or other ranges, which is not limited in this embodiment.

[0045] In this embodiment, the laser emitting unit 101 emits a modulated laser beam 102 , and the modulated laser beam 102 is incident on the scanning unit 103 .

[0046] In this embodiment, the scanning unit 103 is used to deflect the modulated laser beam 102 under the control of the control unit 104 to complete a two-dimensional scan of a detection area.

[0047] Specifically, the scanning unit 103 can deflect the modulated laser beam 102 through mechanical scanning or non-mechanical scanning to complete the horizontal two-dimensional scanning of the detection area. The two-dimensional scanning method can be a two-dimensional scanning of the full field of view or a two-dimensional scanning of the local field of view, which is not limited in this embodiment.

[0048] The control unit 104 is used to control the laser emitting unit 101 and the scanning unit 103 .

[0049] In this embodiment, the control unit 104 can send a control emission instruction to the laser emitting unit 101 to control the laser emitting unit 101 to emit a modulated laser beam 102, and can send a control scanning instruction to the scanning unit 103 to control the deflection of the modulated laser beam 102 to complete a two-dimensional scan of the detection area.

[0050] The distance measuring unit 106 is used to converge the modulated laser beam 102 and the visible light 109 reflected by the object to be measured in the detection area, initially correct the aberration of the visible light 109, and convert the optical signal of the modulated laser beam deflected by the transflective prism 107 into an electrical signal. The transflective prism 107 is used to deflect the modulated laser beam 102 converged by the distance measuring unit 106 and transmit the visible light 109. The signal processing unit 111 is used to convert the electrical signal output by the distance measuring unit 106 into the point cloud data of the object to be measured.

[0051] Specifically, in this embodiment, after the scanning unit 103 performs a two-dimensional scanning of the detection area, the distance measuring unit 106 converges the modulated laser beam 102 and the visible light 109 reflected by the object to be measured in the detection area. The modulated laser beam 102 and the visible light 109 reflected by the object to be measured are a mixed reflected beam 105. The distance measuring unit 106 initially corrects the aberration of the visible light. The mixed reflected beam 105 passes through the transflective prism 107 to split the modulated laser beam 102 and the visible light 109, deflect the modulated laser beam 102 converged by the distance measuring unit 106, and transmit the visible light 109. The deflected modulated laser beam 108 is received by the distance measuring unit 106, and the optical signal of the deflected modulated laser beam is converted into an electrical signal, which is input into the signal processing unit 111, and the signal processing unit 111 converts the electrical signal into the point cloud data of the object to be measured.

[0052] The distance measuring unit 106 may include a distance measuring lens group and a distance measuring photoelectric detector, or may be composed of other devices, which is not limited in this embodiment.

[0053] In this embodiment, the imaging unit 110 is used to continue to correct the aberration of the visible light 109 and convert the visible light 109 signal into image data of the object under test.

[0054] Specifically, in this embodiment, the visible light 109 transmitted through the transflective prism 107 is received by the imaging unit 110, and the imaging unit 110 continues to correct the aberration of the visible light 109 and converts the visible light 109 signal of the object under test into image data of the object under test, and the image data of the object under test is sent to the data processing unit 112.

[0055] In this embodiment, the data processing unit 112 is used to fuse the point cloud data of the object to be measured and the image data of the object to be measured, and output the detection data of the object to be measured with position information and image information.

[0056] Specifically, in this embodiment, the data processing unit 112 receives the point cloud data of the object to be measured sent by the signal processing unit 111 and the image data of the object to be measured by the imaging unit 110, and fuses the point cloud data of the object to be measured and the image data of the object to be measured. The fused detection data of the object to be measured has position information and image information.

[0057] Among them, in the data processing unit 112, the specific method of fusing the point cloud data of the object to be measured and the image data of the object to be measured is not limited in this embodiment.

[0058] The three-dimensional laser radar device provided in this embodiment includes: a laser emitting unit 101, a scanning unit 103, a control unit 104, a distance measuring unit 106, a transflective prism 107, an imaging unit 110, a signal processing unit 111 and a data processing unit 112; the control unit 104 is electrically connected to the laser emitting unit 101 and the scanning unit 103 respectively; the laser emitting unit 101 is optically connected to the scanning unit 103, and the transflective prism 107 is optically connected to the distance measuring unit 106 and the imaging unit 110 respectively; the signal unit is electrically connected to the distance measuring unit 106, and the data processing unit 112 is electrically connected to the signal unit and the imaging unit 110 respectively; the laser emitting unit 101 is used to emit a modulated laser beam 102 under the control of the control unit 104; the scanning unit 103 is used to deflect the modulated laser beam 102 under the control of the control unit 104 to complete a two-dimensional scan of a detection area; The control unit 104 is used to control the laser emitting unit 101 and the scanning unit 103; the distance measuring unit 106 is used to converge the modulated laser beam 102 and the visible light 109 reflected by the object to be measured in the detection area, initially correct the aberration of the visible light 109, and convert the optical signal of the modulated laser beam 108 into an electrical signal after deflecting the transflective prism 107; the transflective prism 107 is used to deflect the modulated laser beam 102 converged by the distance measuring unit 106 and transmit the visible light 109; the imaging unit 110 is used to continue to correct the aberration of the visible light 109 and convert the visible light 109 signal into image data of the object to be measured; the signal processing unit 111 is used to convert the electrical signal output by the distance measuring unit 106 into point cloud data of the object to be measured; the data processing unit 112 is used to fuse the point cloud data of the object to be measured and the image data of the object to be measured, and output the detection data of the object to be measured with position information and image information. The detection light and visible light 109 reflected by the target gathered by the ranging unit 106 are split by the transflective prism 107, and the detection light signal is converted into an electrical signal, which is outputted after passing through the signal processing unit 111. The visible light 109 outputs the image data of the measured object through the imaging unit 110. The point cloud data and image data of the measured object are outputted after passing through the data processing unit 112. The final point cloud and image fused detection data are outputted. Compared with the three-dimensional laser radar device integrated with a camera in the prior art, this device uses a beam splitting device, and can simultaneously collect the position information and image information of the measured object through the ranging unit 106 and the imaging unit 110, which reduces the difficulty of optical system design, reduces the size of the laser radar and reduces the cost.

[0059] Embodiment 2

[0060] Figure 2This is a schematic diagram of the structure of a three-dimensional laser radar device provided in Embodiment 2 of the present invention, as shown in FIG. Figure 2 As shown, the three-dimensional laser radar device provided in this embodiment is based on the three-dimensional laser radar device provided in embodiment 1 of the present invention, and further refines the ranging unit 106 and the imaging unit 110. The three-dimensional laser radar device provided in this embodiment also includes the following technical solutions.

[0061] Furthermore, in this embodiment, the distance measuring unit 106 includes: a distance measuring lens group 106a and a distance measuring photodetector 106b.

[0062] The distance measuring lens group 106a and the distance measuring photoelectric detector 106b are optically connected through the transflective prism 107. The distance measuring lens group 106a is used to converge the modulated laser beam 102 and the visible light 109 reflected by the object under test in the detection area, and initially correct the aberration of the visible light 109; The distance measuring photoelectric detector 106b is used to convert the optical signal of the modulated laser beam deflected by the transflective prism 107 into an electrical signal.

[0063] Preferably, in this embodiment, the center of the reflective surface of the transflective prism 107 coincides with the optical axis of the ranging lens group 106a, and the reflective surface is coated with an optical film to deflect the optical axis of the modulated laser light beam 102 converged by the ranging lens group 106a. After the initial correction, the visible light 109 is transmitted through the transflective prism 107, and the center of the ranging photodetector 106b is located on the focal plane of the ranging lens group 106a after the optical axis of the ranging lens group 106a is deflected.

[0064] Specifically, in the present embodiment, the ranging mirror group 106a converges the modulated laser beam 102 and the visible light 109 reflected by the object to be measured in the detection area. The modulated laser beam 102 and the visible light 109 reflected by the object to be measured are a mixed reflected beam 105. Since the optical axis of the ranging mirror group 106a coincides with the center of the reflecting surface of the transflective prism 107, the optical axis of the modulated laser beam 102 converged by the ranging mirror group 106a is deflected, so that the optical axis of the modulated laser beam 102 after the deflection forms a certain angle with the optical axis of the ranging mirror group 106a. The center of the ranging photodetector 106b is set on the focal plane of the ranging mirror group 106a after the optical axis of the ranging mirror group 106a is deflected, so that the deflected modulated laser beam 102 can be completely received by the ranging photodetector 106b, and the optical signal of the deflected modulated laser beam 108 can be more accurately converted into an electrical signal.

[0065] The reflection wavelength range of the optical film is 0.85 μm-1.6 μm.

[0066] Specifically, the reflective surface is coated with an optical film, which can reflect the modulated laser light beam 102 with a wavelength range of 0.85 μm-1.6 μm and transmit the visible light 109 .

[0067] Optionally, in this embodiment, the distance measuring lens group 106a includes: at least one free-form surface lens or at least two spherical mirrors.

[0068] In this embodiment, the ranging lens group 106a may include at least one free-form surface lens, or may include: at least two spherical lenses, which can make the ranging lens group 106a more selective to meet different needs.

[0069] Furthermore, in this embodiment, the imaging unit 110 includes: an imaging lens group 110a and an imaging photodetector 110b.

[0070] The imaging lens assembly 110a is optically connected to the imaging photodetector 110b.

[0071] Specifically, the imaging lens group 110a is used to continue to correct the aberration of the visible light 109. The imaging photodetector 110b is used to convert the visible light 109 signal after the aberration correction of the imaging lens group 110a into image data of the object to be measured.

[0072] Preferably, the optical axis of the imaging lens group 110a coincides with the center of the reflection surface of the transflective prism 107. The imaging photodetector 110b is located on the focal plane of the imaging lens group 110a.

[0073] Specifically, in this embodiment, the imaging lens group 110a receives the visible light 109 transmitted by the transmission prism, and the optical axis of the imaging lens group 110a coincides with the center of the reflection surface of the transflective prism 107, so that the imaging lens group 110a can accurately continue to correct the aberration of the visible light 109 transmitted through the transflective prism 107, so that the object to be measured forms a clear image. The imaging photodetector 110b is located on the focal plane of the imaging lens group 110a, so that the visible light 109 converged by the imaging lens group 110a is completely received by the imaging photodetector 110b, and the imaging photodetector 110b can accurately convert the visible light 109 signal after the aberration correction of the imaging lens group 110a into the image data of the object to be measured.

[0074] Optionally, the imaging lens assembly 110a includes: at least one free-form surface lens or at least two spherical mirrors.

[0075] In this embodiment, the imaging lens assembly 110a may include at least one free-form surface lens, or may include at least two spherical lenses, so that the imaging lens assembly 110a has more selectivity to meet different needs.

[0076] Furthermore, in this embodiment, the modulated laser beam 102 is a near-infrared modulated laser beam, and the wavelength range of the modulated laser beam 102 is 0.85 μm-1.6 μm.

[0077] Embodiment 3

[0078] An embodiment of the present invention provides a three-dimensional laser radar system, which includes the three-dimensional laser radar device provided by Embodiment 1 of the present invention or Embodiment 2 of the present invention.

[0079] In this embodiment, the structure and function of the three-dimensional laser radar device are the same as the structure and function of the three-dimensional laser radar device provided in Embodiment 1 or Embodiment 2 of the present invention, and will not be described in detail here.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional laser radar device, characterized in that: It includes: a laser emitting unit, a scanning unit, a control unit, a distance measuring unit, a transflective prism, an imaging unit, a signal processing unit and a data processing unit; The control unit is electrically connected to the laser emitting unit and the scanning unit respectively; the laser emitting unit is optically connected to the scanning unit, and the transflective prism is optically connected to the distance measuring unit and the imaging unit respectively; the signal processing unit is electrically connected to the distance measuring unit, and the data processing unit is electrically connected to the signal unit and the imaging unit respectively; The laser emitting unit is used to emit a modulated laser beam under the control of the control unit; The scanning unit is used to deflect the modulated laser beam under the control of the control unit to complete a two-dimensional scan of a detection area; The control unit is used to control the laser emitting unit and the scanning unit; The distance measuring unit is used to converge the modulated laser beam and visible light reflected by the object to be measured in the detection area, initially correct the aberration of the visible light, and convert the optical signal of the modulated laser beam deflected by the transflective prism into an electrical signal; The transflective prism is used to deflect the modulated laser beam converged by the distance measuring unit and transmit the visible light; The imaging unit is used to continue to correct the aberration of the visible light and convert the visible light signal into image data of the object under test; The signal processing unit is used to convert the electrical signal output by the distance measuring unit into point cloud data of the object to be measured; The data processing unit is used to fuse the point cloud data of the object to be measured and the image data of the object to be measured, and output the detection data of the object to be measured with position information and image information; The distance measuring unit comprises: a distance measuring mirror group and a distance measuring photoelectric detector; The distance measuring mirror group and the distance measuring photoelectric detector are optically connected via the transflective prism; The rangefinder lens group is used to converge the modulated laser beam and visible light reflected by the object to be measured in the detection area, and initially correct the aberration of the visible light; The distance measuring photoelectric detector is used to convert the optical signal of the modulated laser beam deflected by the transflective prism into an electrical signal; The center of the reflective surface of the transflective prism coincides with the optical axis of the rangefinder lens group, the optical axis of the modulated laser beam of the rangefinder lens group is deflected, so that the optical axis of the modulated laser beam after the deflection has an angle with the optical axis of the rangefinder lens group, and the center of the ranging photodetector is located on the focal plane of the rangefinder lens group after the optical axis of the rangefinder lens group is deflected; The imaging unit comprises: an imaging lens group and an imaging photoelectric detector; The imaging lens group is optically connected to the imaging photoelectric detector, the optical axis of the imaging lens group coincides with the center of the reflective surface of the transflective prism, and the imaging photoelectric detector is located on the focal plane of the imaging lens group; The imaging lens assembly is used to continue to correct the aberration of the visible light; The imaging photoelectric detector is used to convert the visible light signal after the aberration correction of the imaging lens group into image data of the object to be measured.

2. The device according to claim 1, characterized in that The reflective surface is coated with an optical film so as to deflect the optical axis of the modulated laser beam converged by the rangefinder group, and the visible light is transmitted through the transflective prism; Wherein, the reflection wavelength range of the optical film is 0.85 μm-1.6 μm.

3. The device according to claim 1, characterized in that The distance measuring mirror set includes: at least one free-form surface lens or at least two spherical mirrors.

4. The device according to claim 1, characterized in that The imaging lens assembly includes: at least one free-form surface lens or at least two spherical mirrors.

5. The device according to any one of claims 1 to 4, characterized in that: The modulated laser beam is a near-infrared modulated laser beam, and the wavelength range of the modulated laser beam is 0.85 μm-1.6 μm.

6. A three-dimensional laser radar system, characterized in that: Comprising a three-dimensional laser radar device as described in any one of claims 1-5.

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